CN109830971B - Dynamic parameter adjustment method for current inner loop controller - Google Patents
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Abstract
The invention relates to a dynamic parameter adjusting method for a current inner ring controller, which comprises the following steps of 1) determining the minimum value and the maximum value of a proportional coefficient and an integral coefficient of the current inner ring controller of a d-axis channel and a q-axis channel on the premise of not causing high-frequency oscillation according to the strength of a connected alternating current system and the dynamic response speed requirement of a flexible-direct current converter station, and obtaining the dynamic parameter adjusting range; 2) dynamically adjusting the proportional coefficient and the integral coefficient of the current inner loop controller by adopting a preset controller parameter adjustment rule according to the maximum error value possibly occurring between the reference current and the actual current and the parameter dynamic adjustment range determined in the step 1) to obtain the optimal values of the proportional coefficient and the integral coefficient. The method can be widely applied to dynamic parameter adjustment of the inner ring control system in the flexible direct current transmission project, can reduce the risk of high-frequency oscillation of the flexible direct current project and improve the operation stability of the flexible direct current project under the condition of meeting the requirements of steady-state characteristics, dynamic characteristics and transient response characteristics.
Description
Technical Field
The invention relates to a parameter design method of a current controller in the field of flexible direct current transmission, which comprises a parameter adjusting method of a current inner loop controller with two ends and multiple ends and a direct current network system, and particularly relates to a dynamic parameter adjusting method of the current inner loop controller, which gives consideration to response speed and stability.
Background
High Voltage Direct Current (HVDC) transmission using a Modular Multilevel Converter (MMC) is a new generation of power transmission technology, and has been rapidly developed in the last decade. As the flexible dc technology and equipment manufacturing level matured, the voltage and power levels of flexible dc engineering increased gradually, for example, the single converter of the north-expanding dc grid engineering has reached 1500MW/500 kV. The MMC is formed by cascading a series of submodules, and an Insulated Gate Bipolar Transistor (IGBT) adopted by each submodule has the independent turn-off capability, so that the defects of dynamic voltage sharing and static voltage sharing of the IGBT of the traditional two-level converter are overcome, high-frequency electromagnetic interference is reduced, a low-order harmonic filter is omitted, the floor area of the converter station is reduced, active power and reactive power can be independently controlled, and voltage and reactive power support can be provided for a weak alternating current power grid. Just because MMC-HVDC has this kind of unique voltage support ability, have important technical advantage in cross regional connection alternating current synchronous power grid and asynchronous power grid and isolation alternating current big power grid trouble.
The control system of the flexible direct current converter station is mainly divided into a pole control part and a valve control part, wherein the pole control part generally adopts a double-closed-loop control mode, namely an outer ring part and an inner ring part. In polar control, the outer ring d-axis channel generally controls direct voltage or active power, and the outer ring q-axis channel generally controls alternating voltage or reactive power. And d-axis and q-axis of the polar control outer ring respectively output reference values of d-axis and q-axis of the current inner ring. The inner ring receives the current reference value output by the outer ring, performs difference operation with the d-axis component and the q-axis component of the actual current, and then sends the difference value to the inner ring proportional-integral controller, and finally outputs reference voltage and sends the reference voltage to the valve control, so that the purpose of controlling direct current voltage, active power, alternating current voltage and reactive power is achieved by controlling the voltage on the alternating current side.
The control system of the flexible direct current converter station adopts a digital control mode, the time delay of the whole link of the control system is divided into detection time delay, calculation time delay, execution time delay and the like from each link, and the time delay is divided into polar control time delay and valve control time delay from the control system framework. In the case of the current hardware equipment, the delay of the flexible direct current station control system is generally 300 us and 600 us. Due to the large delay, the flexible direct current converter station may have high-frequency harmonic oscillation interacting with the alternating current line under the condition that the response speed of the inner loop is too high. The frequency of the high-frequency oscillation is not only related to an alternating current system, but also is mainly related to the time delay and the control method of a flexible-direct control system, and the higher the time delay is, the higher the possibility of the high-frequency oscillation is. One of the methods to reduce the risk of high frequency oscillation is to reduce the link delay of the whole system or control the system mode and its parameters as much as possible. However, due to the inherent characteristics of digital control systems, delays cannot be suppressed indefinitely, and therefore consideration needs to be given to control methods with the goal of reducing the risk of high frequency oscillations and improving operational reliability and stability. The parameters which can be changed by the control system mainly comprise parameters of an outer ring controller, parameters of an inner ring controller, parameters of a valve control controller and the like, however, considering that the inner ring of the flexible direct current converter station control system directly generates reference voltage, changing the parameters of the inner ring controller is one of measures for improving the operation stability of the system and reducing the risk of high-frequency oscillation. However, changing the inner loop controller parameters requires a premise that failure-through failure cannot be caused, i.e., a current inner loop is required to have a faster dynamic response characteristic.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a method for dynamically adjusting parameters of a current inner loop controller, which can reduce the risk of high-frequency oscillation of a system, and ensure that the system has a fast response characteristic in dynamic and transient processes, so that an actual current value can quickly track a reference value.
In order to achieve the purpose, the invention adopts the following technical scheme: a dynamic parameter adjustment method for a current inner loop controller comprises the following steps: 1) according to the strength of a connected alternating current system and the dynamic response speed requirement of the flexible direct current converter station, determining the minimum value and the maximum value of the proportional coefficient and the integral coefficient of the d-axis channel and q-axis channel current inner ring controllers on the premise of not causing high-frequency oscillation to obtain a parameter dynamic adjustment range; 2) dynamically adjusting the proportional coefficient and the integral coefficient of the current inner loop controller by adopting a preset controller parameter adjustment rule according to the maximum error value possibly occurring between the reference current and the actual current and the parameter dynamic adjustment range determined in the step 1) to obtain the optimal values of the proportional coefficient and the integral coefficient.
Further, according to the strength of the connected alternating current system and the dynamic response speed requirement of the flexible direct current converter station, on the premise of not causing high-frequency oscillation, the method for determining the minimum value and the maximum value of the proportional coefficient and the integral coefficient of the d-axis channel and q-axis channel current inner ring controller to obtain the dynamic parameter adjustment range comprises the following steps: 1.1) under the condition of not generating high-frequency oscillation, determining the minimum value of a proportionality coefficient and an integral coefficient under the condition of meeting the steady-state operation characteristic of a system according to the bandwidth size or the response speed required by an inner loop part of a current; 1.2) determining the maximum value of a proportionality coefficient and an integral coefficient which can cause high-frequency oscillation under the most unfavorable condition of the alternating current system and meet the condition of the dynamic response speed according to the strength of the connected alternating current system and the requirement of the dynamic response speed of the flexible direct current converter station; 1.3) obtaining the parameter dynamic adjustment range of the current inner loop controller according to the obtained minimum value and maximum value of the proportional coefficient and the integral coefficient.
Further, in step 2), according to a maximum error value that may occur between the reference current and the actual current and the parameter dynamic adjustment range determined in step 1), a preset controller parameter adjustment rule is adopted to dynamically adjust a proportional coefficient and an integral coefficient of the current inner loop controller, so as to obtain an optimal value of the proportional coefficient and the integral coefficient, which includes the following steps: 2.1) determining an adjusting area for triggering parameter adjustment of the current inner loop controller according to a maximum error value possibly occurring between the reference current and the actual current, wherein the adjusting area is determined by a minimum dead zone value and a maximum dead zone value; and 2.2) dynamically adjusting the parameters of the current inner loop controllers of the d-axis channel and the q-axis channel by adopting a preset controller parameter adjustment rule according to the determined adjustment area and the parameter dynamic adjustment range to obtain the parameter optimal value of the current inner loop controller.
Further, in the step 2.2), a method for dynamically adjusting the controller parameters of the d-axis channel and the q-axis channel by using a preset controller parameter adjustment rule according to the determined adjustment region and the parameter dynamic adjustment range includes the following steps:
when the absolute value of the current error is smaller than the minimum dead zone value, the parameters of the controllers of the d-axis channel and the q-axis channel are not adjusted and are maintained at the minimum value;
when the absolute value of the current error is larger than the maximum dead zone value, the parameters of the controllers of the d-axis channel and the q-axis channel are not adjusted any more and are maintained at the maximum value;
and when the current error value is in an adjustment region between the minimum dead zone value and the maximum dead zone value, dynamically adjusting the proportional coefficient and the integral coefficient of the current inner-loop controller according to a preset controller parameter adjustment rule.
Further, in the step 2.2), the preset controller parameter adjustment rule includes a controller parameter slope, a curve and a broken line adjustment method.
Further, the method for adjusting the dynamic slope of the controller parameter refers to:
when the absolute value of the current error is | △ isdI or I △ isq| less than minimum deadband value △ I1In the process, the proportional coefficients of the corresponding channels are not adjusted any more and are maintained at the minimum value;
when the absolute value of the current error is | △ isdI or I △ isqL is less than a minimum dead band value △ l'1When the channel is in use, the integral coefficient of the corresponding channel is not adjusted any more and is maintained at the minimum value;
when the absolute value of the current error is | △ isdI or I △ isqIn the adjustment region (△ I)1，ΔI2) When the channel is in the inner time, the proportional coefficient of the corresponding channel is adjusted according to a slope method;
when the absolute value of the current error is | △ isdI or I Delta isqL in the adjustment region (Δ I'1，ΔI′2) When the channel is in the inner time, the integral coefficient of the corresponding channel is adjusted according to a slope method;
when electricity is generatedAbsolute value of flow error | Δ isdI or I Delta isq| is greater than the maximum dead zone value Δ I2In the process, the proportional coefficients of the corresponding channels are not adjusted any more and are maintained at the maximum value;
when the absolute value of the current error is | Δ isdI or I Delta isqL is greater than the maximum dead zone value delta I'2When the channel is in use, the integral coefficient of the corresponding channel is not adjusted any more and is maintained at the maximum value;
wherein, Δ isdAnd Δ isqThe difference values of the actual current values and the reference current values of the d-axis channel and the q-axis channel are respectively; delta I1And Δ I2The minimum dead zone value and the maximum dead zone value delta I 'respectively trigger the proportional coefficients of the d-axis channel and the q-axis channel to carry out dynamic adjustment'1And Δ I'2And the minimum dead zone value and the maximum dead zone value are respectively used for triggering the integral coefficients of the d-axis channel and the q-axis channel to carry out dynamic adjustment.
Further, the method for adjusting the dynamic curve of the controller parameter includes:
when the absolute value of the current error is | Δ isdI or I Delta isq| is less than the minimum dead zone value Δ I1In the process, the proportional coefficients of the corresponding channels are not adjusted any more and are maintained at the minimum value;
when the absolute value of the current error is | Δ isdI or I Delta isqL is less than the minimum dead zone value delta I'1When the channel is in use, the integral coefficient of the corresponding channel is not adjusted any more and is maintained at the minimum value;
when the absolute value of the current error is | Δ isdI or I Delta isqIn the adjustment region (Δ I)1，ΔI2) When the channel is in the inner range, the proportional coefficient of the corresponding channel is adjusted according to a preset curve;
when the absolute value of the current error is | Δ isdI or I Delta isqL in the adjustment region (Δ I'1，ΔI′2) When the channel is in the inner state, the integral coefficient of the corresponding channel is adjusted according to a preset curve;
when the absolute value of the current error is | Δ isdI or I Delta isq| is greater than the maximum dead zone value Δ I2In the process, the proportional coefficients of the corresponding channels are not adjusted any more and are maintained at the maximum value;
when electricity is generatedAbsolute value of flow error | Δ isdI or I Delta isqL is greater than the maximum dead zone value delta I'2When the channel is in use, the integral coefficient of the corresponding channel is not adjusted any more and is maintained at the maximum value;
wherein, Δ isdAnd Δ isqThe difference values of the actual current values and the reference current values of the d-axis channel and the q-axis channel are respectively; delta I1And Δ I2The minimum dead zone value and the maximum dead zone value delta I 'respectively trigger the proportional coefficients of the d-axis channel and the q-axis channel to carry out dynamic adjustment'1And Δ I'2And the minimum dead zone value and the maximum dead zone value are respectively used for triggering the integral coefficients of the d-axis channel and the q-axis channel to carry out dynamic adjustment.
Further, the method for dynamically adjusting the polyline of the controller parameter includes:
firstly, dividing different areas according to the maximum value and the minimum value of the proportional coefficient and the integral coefficient of the determined d-axis channel and the q-axis channel;
then, dividing different regions according to the magnitude of the current error value;
and finally, step adjustment is carried out on the proportional coefficient and the integral coefficient of the d-axis channel and the q-axis channel between the region intersection points according to the current error value, namely parameter adjustment is not carried out in each given current error region, and once the current error region is exceeded, the corresponding parameters are adjusted.
Due to the adoption of the technical scheme, the invention has the following advantages: 1. the invention determines a current error value adjusting area based on the reference current and the actual current, dynamically adjusts the parameters in the adjusting area based on different adjusting rules in the dynamic parameter adjusting range of the current inner loop controller determined in advance according to the actual alternating current system requirement, achieves the aim of ensuring the dynamic response speed and not exciting high-frequency oscillation, has high adjusting speed of the dynamic process and the transient process, and effectively improves the running stability of the system. 2. The dynamic adjustment range of the current inner loop controller parameters is determined on the basis of the strength of the connected alternating current system and the dynamic response speed requirement of the flexible direct current converter station on the premise of not causing high-frequency oscillation, so that the high-frequency oscillation function can be effectively inhibited, and the high-frequency oscillation risk is reduced. Therefore, the method can be widely applied to the field of parameter adjustment of the current inner loop controller.
Drawings
FIGS. 1(a) and 1(b) are schematic diagrams of a current inner loop proportional-integral controller;
FIGS. 2(a) and 2(b) illustrate the dynamic slope adjustment method of the controller parameters according to the present invention;
FIGS. 3(a) and 3(b) illustrate a method for adjusting a dynamic function curve of a controller parameter according to the present invention;
FIGS. 4(a) and 4(b) illustrate the dynamic polyline adjustment method of the controller parameters of the present invention;
Detailed Description
The invention is described in detail below with reference to the figures and examples.
As shown in fig. 1(a) and 1(b), the present invention first introduces the inner loop and outer loop control in the flexible direct current station control system. The inner ring part comprises an inner ring controller, a voltage feedforward, a current cross decoupling term and the like, wherein the current inner ring controller is shown in the figure and consists of a proportional controller and an integral controller, wherein the size of the proportional controller is called as a proportionality coefficient kpThe denominator of the integral controller is the Laplace operator s and the numerator is the integral coefficient ki. The inner ring part is composed of a d-axis channel and a q-axis channel, the d-axis channel controls d-axis current, and the q-axis channel controls q-axis current. The d-axis channel and the q-axis channel in the inner ring part respectively receive current reference values output by the outer ring
And
their actual current values i for the d-axis channel and the q-axis channel, respectivelysdAnd isqObtaining a current error value delta i by performing a difference operationsdAnd Δ isqAnd sent to the inner loop proportional-integral controllers of both channels. As can be seen from the figure, the dynamic response speed and the stability of the flexible control system can be changed by adjusting the proportional coefficient and the integral coefficient of the d axis and the q axis. The larger the proportionality coefficient and integral coefficient are, the systemThe faster the dynamic response speed, however, the worse the stability; the smaller the scaling and integration coefficients are within a feasible range, the slower the dynamic response speed of the system, however, the better the stability. Therefore, the inner loop controller parameters need to be considered in compromise to achieve both dynamic response speed and stability requirements.
As shown in fig. 2(a) and fig. 2(b), based on the above analysis, the present invention provides a method for dynamically adjusting parameters of a current inner loop controller, which can meet the requirement of dynamic response speed, improve the steady-state operation stability of the system, and reduce the risk of high-frequency oscillation of the system by dynamically adjusting a proportionality coefficient and an integral coefficient. Specifically, the method comprises the following steps:
1) according to the strength of the connected alternating current system and the dynamic response speed requirement of the flexible-direct current converter station, the minimum value and the maximum value of the proportional coefficient and the integral coefficient of the d-axis channel and q-axis channel current inner ring controller are determined on the premise of not causing high-frequency oscillation, and the dynamic parameter adjustment range is obtained.
Specifically, the method comprises the following steps:
1.1) under the condition of not generating high-frequency oscillation, determining the minimum value of a proportionality coefficient and an integral coefficient under the condition of meeting the steady-state operation characteristic of a system according to the bandwidth size or the response speed required by the current inner loop part, and taking the minimum value parameter as the parameter of a steady-state current inner loop controller.
In general, the controlled currents of the d-axis channel and the q-axis channel are different in magnitude and nature, so that the minimum proportionality coefficient and the integral coefficient of the two channels can be equal or different, and thus the part needs to determine 4 parameters, namely the minimum value k of the proportionality coefficient of the d-axis channelp1dD minimum value k of integral coefficient of d-axis channeli1dQ-axis channel, minimum value k of proportionality coefficientp1qAnd the minimum value k of the proportionality coefficient of the q-axis channeli1q。
1.2) determining the maximum value of the proportionality coefficient and the integral coefficient which can cause high-frequency oscillation under the most unfavorable condition of the alternating current system and meet the condition of the dynamic response speed according to the strength of the connected alternating current system and the requirement of the dynamic response speed of the flexible direct current converter station. The principles for determining the most unfavorable situation of the communication system are well known to those skilled in the art, and the present invention is not described herein in detail.
As with step 1.1), the maximum proportionality coefficient and integral coefficient of d-axis channel and q-axis channel may be equal or different, and this part needs to determine 4 parameters, namely the maximum value k of proportionality coefficient of d-axis channelp2dMaximum value k of integral coefficient of d-axis channeli2dQ-axis channel, maximum value k of proportionality coefficientp2qMaximum value k of proportionality coefficient of sum q-axis channeli2q。
1.3) obtaining the dynamic adjustment range of the dynamic parameters of the current inner loop controller according to the obtained minimum value and maximum value of the proportional coefficient and the integral coefficient.
2) And dynamically adjusting the proportional coefficient and the integral coefficient of the current inner-loop controller by adopting a preset controller parameter adjustment rule according to the maximum error value possibly occurring between the reference current and the actual current and the parameter dynamic adjustment range determined in the step 1) to obtain the optimal value of the inner-loop controller parameter.
Specifically, the method comprises the following steps:
2.1) determining the DeltaI triggering the adjustment of the dynamic parameters on the basis of the maximum error value that may occur between the reference current and the actual current1(ΔI′1) And Δ I2(ΔI′2) Wherein, Δ I1And Δ I2The minimum dead zone value and the maximum dead zone value delta I 'respectively trigger the proportional coefficients of the d-axis channel and the q-axis channel to carry out dynamic adjustment'1And Δ I'2Respectively triggering a minimum dead zone value and a maximum dead zone value for dynamically adjusting the integral coefficients of the d-axis channel and the q-axis channel;
2.2) dynamically adjusting parameters of a d-axis channel and a q-axis channel of the current inner ring controller by adopting a preset controller parameter adjustment rule according to the determined dead zone value and the parameter dynamic adjustment range determined in the step 1) to obtain optimal values of a proportional coefficient and an integral coefficient of the inner ring controller.
Specifically, the method for performing dynamic adjustment comprises the following steps:
when the current error is absoluteValue less than minimum dead zone value Δ I1(ΔI′1) In the process, the controller parameters of the d-axis channel and the q-axis channel are not adjusted and are maintained at the minimum value;
when the absolute value of the current error is larger than the maximum dead zone value delta I2(ΔI′2) In the process, the controller parameters of the d-axis channel and the q-axis channel are not adjusted any more and are maintained at the maximum value;
when the current error value is in the adjustment region (Δ I)1，ΔI2) Or (delta I'1，ΔI′2) And dynamically adjusting the proportional coefficient and the integral coefficient of the inner loop controller according to a preset controller parameter adjustment rule.
The preset controller parameter adjustment rule can adopt a slope method, a curve method or a broken line method, and the specific adjustment method is introduced as follows:
as shown in fig. 2(a) and 2(b), the method for dynamically adjusting the parameters of the inner loop controller by using the dynamic slope adjustment method of the controller parameters comprises the following steps:
when the absolute value of the current error is | Δ isdI or I Delta isq| is less than the minimum dead zone value Δ I1In the process, the proportional coefficients of the corresponding channels are not adjusted any more and are maintained at the minimum value;
when the absolute value of the current error is | Δ isdI or I Delta isqL is less than the minimum dead zone value delta I'1When the channel is in use, the integral coefficient of the corresponding channel is not adjusted any more and is maintained at the minimum value;
when the absolute value of the current error is | △ isdI or I △ isqIn the adjustment region (△ I)1，△I2) When the channel is in the inner time, the proportionality coefficients of the corresponding channels are adjusted according to the slope straight line shown in the figure;
when the absolute value of the current error is | △ isdI or I △ isqL in the adjustment region (△ I'1，△I′2) When the channel is in the inner period, the integral coefficient of the corresponding channel starts to be adjusted;
when the absolute value of the current error is | △ isdI or I △ isq| is greater than the maximum deadband value △ I2In the process, the proportional coefficients of the corresponding channels are not adjusted any more and are maintained at the maximum value;
when the absolute value of the current error is | △ isdI or I △ isqL is greater than the maximum dead zone value △ I'2And in the process, the integral coefficient of the corresponding channel is not adjusted any more and is maintained at the maximum value.
As shown in fig. 3(a) and 3(b), when the parameters of the inner loop controller are adjusted by using the method for adjusting the dynamic function curve of the controller parameters, the proportional coefficient and the integral coefficient, such as a quadratic function, a cubic function curve, a hyperbolic function, etc., are dynamically adjusted within a dead zone value range according to a smooth continuous function, wherein the dynamic curve functions of the d-axis channel and the q-axis channel may be the same or different, and the dynamic curve functions of the proportional coefficient and the integral coefficient may be the same or different.
As shown in fig. 4(a) and 4(b), when the parameters of the inner loop controller are adjusted by the controller parameter dynamic polyline adjustment method,
firstly, dividing different areas according to the maximum value and the minimum value of the proportional coefficient and the integral coefficient of the d-axis channel and the q-axis channel of the current inner ring controller determined in the step 1); the specific number of the divided regions is determined according to actual needs, for example, the number of the regions may be 1, 2, or even 3,4 …;
then, dividing different regions according to the magnitude of the current error value, wherein the number of the regions can be 1, 2, even 3,4 …, and the like, and the specific number of the divided regions is determined according to actual needs;
finally, the dynamic adjustment of the proportional coefficient and the integral coefficient according to the d-axis channel and the q-axis channel is to perform step adjustment between the intersection points of the regions according to the magnitude of the current error value, namely, no parameter adjustment is performed in each given current error region, and once the current error region is exceeded, the current error region is adjusted to the corresponding parameter.
The above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: it is to be understood that modifications may be made to the above-described arrangements in the embodiments or equivalents may be substituted for some of the features of the embodiments without departing from the spirit or scope of the present invention.
Claims (4)
1. A dynamic parameter adjustment method for a current inner loop controller is characterized by comprising the following steps:
1) according to the strength of a connected alternating current system and the dynamic response speed requirement of the flexible direct current converter station, determining the minimum value and the maximum value of the proportional coefficient and the integral coefficient of the d-axis channel and q-axis channel current inner ring controllers on the premise of not causing high-frequency oscillation to obtain a parameter dynamic adjustment range;
2) dynamically adjusting a proportional coefficient and an integral coefficient of a current inner loop controller by adopting a preset controller parameter adjustment rule according to a maximum error value between a reference current and an actual current and a parameter dynamic adjustment range determined in the step 1) to obtain optimal values of the proportional coefficient and the integral coefficient, and the method comprises the following steps:
2.1) determining an adjusting area for triggering parameter adjustment of the current inner loop controller according to a maximum error value between the reference current and the actual current, wherein the adjusting area is determined by a minimum dead zone value and a maximum dead zone value;
2.2) dynamically adjusting the parameters of the current inner loop controllers of the d-axis channel and the q-axis channel by adopting a preset controller parameter adjustment rule according to the determined adjustment area and the parameter dynamic adjustment range to obtain the parameter optimal value of the current inner loop controller;
according to the determined adjusting area and the parameter dynamic adjusting range, the method for dynamically adjusting the parameters of the current inner ring controllers of the d-axis channel and the q-axis channel by adopting the preset controller parameter adjusting rule comprises the following steps:
when the absolute value of the current error is smaller than the minimum dead zone value, the parameters of the controllers of the d-axis channel and the q-axis channel are not adjusted and are maintained at the minimum value;
when the absolute value of the current error is larger than the maximum dead zone value, the parameters of the controllers of the d-axis channel and the q-axis channel are not adjusted any more and are maintained at the maximum value;
when the current error value is in an adjustment region between the minimum dead zone value and the maximum dead zone value, dynamically adjusting a proportional coefficient and an integral coefficient of the current inner-loop controller according to a preset controller parameter adjustment rule;
the preset controller parameter adjustment rule comprises a controller parameter dynamic slope, a curve and a broken line adjustment method;
the dynamic adjustment of the parameters of the current inner ring controllers of the d-axis channel and the q-axis channel according to the method for adjusting the dynamic slope of the parameters of the controllers refers to the following steps:
when the absolute value of the current error is | Δ isdI or I Delta isq| is less than the minimum dead zone value Δ I1In the process, the proportional coefficients of the corresponding channels are not adjusted any more and are maintained at the minimum value;
when the absolute value of the current error is | Δ isdI or I Delta isq| is less than the minimum dead zone value Δ I1When the channel is in a normal state, the integral coefficient of the corresponding channel is not adjusted and is maintained at the minimum value;
when the absolute value of the current error is | Δ isdI or I Delta isqIn the adjustment region (Δ I)1，ΔI2) When the channel is in the inner time, the proportional coefficient of the corresponding channel is adjusted according to a slope method;
when the absolute value of the current error is | Δ isdI or I Delta isqIn the adjustment region (Δ I)1'，ΔI'2) When the channel is in the inner time, the integral coefficient of the corresponding channel is adjusted according to a slope method;
when the absolute value of the current error is | Δ isdI or I Delta isq| is greater than the maximum dead zone value Δ I2In the process, the proportional coefficients of the corresponding channels are not adjusted any more and are maintained at the maximum value;
when the absolute value of the current error is | Δ isdI or I Delta isqL is greater than the maximum dead zone value delta I'2When the channel is in use, the integral coefficient of the corresponding channel is not adjusted any more and is maintained at the maximum value;
wherein, Δ isdAnd Δ isqThe difference values of the actual current values and the reference current values of the d-axis channel and the q-axis channel are respectively; delta I1And Δ I2Minimum dead zone for dynamically adjusting scaling coefficients for triggering d-axis and q-axis channels, respectivelyValue and maximum dead band value,. DELTA.I1'and Δ I'2And the minimum dead zone value and the maximum dead zone value are respectively used for triggering the integral coefficients of the d-axis channel and the q-axis channel to carry out dynamic adjustment.
2. The method of claim 1, wherein the method comprises the following steps: in the step 1), according to the strength of the connected alternating current system and the dynamic response speed requirement of the flexible direct current converter station, on the premise of not causing high-frequency oscillation, determining the minimum value and the maximum value of the proportional coefficient and the integral coefficient of the d-axis channel and q-axis channel current inner ring controller to obtain the dynamic parameter adjustment range, which comprises the following steps:
1.1) under the condition of not generating high-frequency oscillation, determining the minimum value of a proportionality coefficient and an integral coefficient under the condition of meeting the steady-state operation characteristic of a system according to the bandwidth size or the response speed required by an inner loop part of a current;
1.2) determining the maximum value of a proportionality coefficient and an integral coefficient of the alternating current system which can cause high-frequency oscillation under the most unfavorable condition and meet the condition of the dynamic response speed according to the strength of the connected alternating current system and the requirement of the dynamic response speed of the flexible direct current converter station;
1.3) obtaining the parameter dynamic adjustment range of the current inner loop controller according to the obtained minimum value and maximum value of the proportional coefficient and the integral coefficient.
3. The method of claim 1, wherein the method comprises the following steps: the method for adjusting the dynamic curve of the controller parameter comprises the following steps:
when the absolute value of the current error is | Δ isdI or I Delta isq| is less than the minimum dead zone value Δ I1In the process, the proportional coefficients of the corresponding channels are not adjusted any more and are maintained at the minimum value;
when the absolute value of the current error is | Δ isdI or I Delta isqL is less than the minimum dead zone value delta I'1When the channel is in use, the integral coefficient of the corresponding channel is not adjusted any more and is maintained at the minimum value;
when the absolute value of the current error is zeroΔisdI or I Delta isqIn the adjustment region (Δ I)1，ΔI2) When the channel is in the inner range, the proportional coefficient of the corresponding channel is adjusted according to a preset curve;
when the absolute value of the current error is | Δ isdI or I Delta isqL in the adjustment region (Δ I'1，ΔI'2) When the channel is in the inner state, the integral coefficient of the corresponding channel is adjusted according to a preset curve;
when the absolute value of the current error is | Δ isdI or I Delta isq| is greater than the maximum dead zone value Δ I2In the process, the proportional coefficients of the corresponding channels are not adjusted any more and are maintained at the maximum value;
when the absolute value of the current error is | Δ isdI or I Delta isqL is greater than the maximum dead zone value delta I'2When the channel is in use, the integral coefficient of the corresponding channel is not adjusted any more and is maintained at the maximum value;
wherein, Δ isdAnd Δ isqThe difference values of the actual current values and the reference current values of the d-axis channel and the q-axis channel are respectively; delta I1And Δ I2The minimum dead zone value and the maximum dead zone value delta I 'respectively trigger the proportional coefficients of the d-axis channel and the q-axis channel to carry out dynamic adjustment'1And Δ I'2And the minimum dead zone value and the maximum dead zone value are respectively used for triggering the integral coefficients of the d-axis channel and the q-axis channel to carry out dynamic adjustment.
4. The method of claim 1, wherein the method comprises the following steps: the method for dynamically adjusting the broken line of the controller parameter comprises the following steps:
firstly, dividing different areas according to the maximum value and the minimum value of the proportional coefficient and the integral coefficient of the determined d-axis channel and the q-axis channel;
then, dividing different regions according to the magnitude of the current error value;
and finally, step adjustment is carried out on the proportional coefficient and the integral coefficient of the d-axis channel and the q-axis channel between the region intersection points according to the current error value, namely parameter adjustment is not carried out in each given current error region, and once the current error region is exceeded, the corresponding parameters are adjusted.
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