CN109861209A - A kind of modeling method and device of MMC-UPFC small signal mathematical model - Google Patents
A kind of modeling method and device of MMC-UPFC small signal mathematical model Download PDFInfo
- Publication number
- CN109861209A CN109861209A CN201910014880.0A CN201910014880A CN109861209A CN 109861209 A CN109861209 A CN 109861209A CN 201910014880 A CN201910014880 A CN 201910014880A CN 109861209 A CN109861209 A CN 109861209A
- Authority
- CN
- China
- Prior art keywords
- upfc
- mmc
- model
- bus
- equivalent circuit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000013178 mathematical model Methods 0.000 title claims abstract description 92
- 238000000034 method Methods 0.000 title claims abstract description 50
- 238000010586 diagram Methods 0.000 claims description 45
- 230000005611 electricity Effects 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000006243 chemical reaction Methods 0.000 claims description 12
- 230000009466 transformation Effects 0.000 claims description 6
- 230000010355 oscillation Effects 0.000 abstract description 5
- 238000002347 injection Methods 0.000 description 5
- 239000007924 injection Substances 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 240000000233 Melia azedarach Species 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- 230000010354 integration Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Landscapes
- Inverter Devices (AREA)
Abstract
The application provides the modeling method and device of a kind of MMC-UPFC small signal mathematical model, wherein, the modeling method according to UPFC controller, UPFC inverter, UPFC direct current system equivalent circuit dynamic model, construct small signal mathematical model of the MMC-UPFC under xy coordinate system.This method has versatility, is applicable not only to the MMC-UPFC of 2 traditional node topologies, while can be suitable for the MMC-UPFC of 3 novel node topologies.The MMC-UPFC small signal mathematical model obtained using the application is convenient in conjunction with the small-signal model of electric system rest part, to carry out small interference stability characteristic, the analysis of low-frequency oscillation characteristic and the design of MMC-UPFC of electric system.
Description
Technical field
This application involves technical field of flexible power transmission and distribution of a power system, and in particular to a kind of small signal mathematical modulo of MMC-UPFC
The modeling method and device of type.
Background technique
UPFC (Unified Power Flow Controller, THE UPFC) is that current function is the most comprehensive
FACTS (FlexibleAlternating CurrentTransmission Systems, flexible AC transmission equipment) it
One, UPFC is applied in electric system, balanced trend distribution can be played, electric system ability to transmit electricity is improved, improve electric power
The effects of low frequency oscillations characteristic.For the small interference stability characteristic and low-frequency oscillation characteristic for analyzing the electric system containing UPFC, need
Establish UPFC small signal mathematical model.
Foreign countries are for the research of UPFC and using earlier than China.Between 1998 to 2004, foreign countries have put into operation three sets altogether
UPFC based on three-level voltage source inverter.At present for the UPFC small-signal model based on three-level voltage source inverter
Modeling method comparatively perfect.But since the field of power transmission of China's electric system has the characteristics that high voltage, large capacity,
So that the UPFC engineering of China's foundation and foreign countries' UPFC engineering are distinct, one of significant difference is to use MMC
(modularmultilevel converter, modularization multi-level converter).By year ends 2017, China builds throwing in succession
3 sets of UPFC are transported.Wherein, the western looped network UPFC engineering in the Nanjing that China put into operation in 2015 has 3 node topologies, this knot
Structure category first appears.Therefore, a kind of modeling method of UPFC small signal mathematical model based on MMC is needed at present.
Summary of the invention
The application provides the modeling method and device of a kind of MMC-UPFC small signal mathematical model, to solve 3 node topologies
The modeling problem of structure MMC-UPFC small signal mathematical model.
The application's in a first aspect, provide a kind of modeling method of MMC-UPFC small signal mathematical model, the modeling side
Method is applied to the MMC-UPFC of 3 node topologies, and the MMC-UPFC of 3 node topology includes: that the first side in parallel is changed
Flow device and the first series side inverter；The first series side inverter is connected to bus L and transmission line of electricity by series transformer
Endpoint K between；It is different mothers that first side inverter in parallel, which is connected to bus N, median generatrix L and bus N by shunt transformer,
Line；
The modeling method the following steps are included:
Step 101, the control block diagram and equivalent circuit of the MMC-UPFC of 3 node topology are established, wherein described
Control block diagram is the control block diagram of UPFC controller, and the equivalent circuit includes the equivalent circuit and MMC-UPFC of UPFC inverter
The equivalent circuit of direct current system；
Step 102, according to the control block diagram and equivalent circuit, dynamic analog of the MMC-UPFC under dq coordinate system is constructed
Type；
Step 103, the dynamic model is linearized at steady-state operation point, obtains MMC-UPFC in dq coordinate system
Under small signal mathematical model；
Step 104, MMC-UPFC is converted into the small letter under xy coordinate system in the small signal mathematical model under dq coordinate system
Number mathematical model.
Optionally, according to the control block diagram and equivalent circuit, dynamic model of the MMC-UPFC under dq coordinate system is constructed,
Include:
According to the control block diagram of the UPFC controller, the dynamic model of UPFC controller is established；
According to the equivalent circuit of UPFC inverter, the dynamic model of UPFC inverter is established；
According to the equivalent circuit of the MMC-UPFC direct current system, the dynamic of the equivalent circuit of MMC-UPFC direct current system is established
States model.
Optionally, the dynamic model is linearized at steady-state operation point, obtains MMC-UPFC in dq coordinate system
Under small signal mathematical model, comprising:
The dynamic model of the equivalent circuit of UPFC controller, UPFC inverter and MMC-UPFC direct current system is transported in stable state
It is linearized respectively at row point, respectively obtains the equivalent electricity of UPFC controller, UPFC inverter and MMC-UPFC direct current system
The small signal mathematical model on road；
The small signal mathematical model of the equivalent circuit of simultaneous UPFC controller, UPFC inverter and MMC-UPFC direct current system
Corresponding equation obtains small signal mathematical model of the MMC-UPFC under dq coordinate system.
Optionally, in the case where the modeling method is applied to the MMC-UPFC of 2 node topologies, the modeling side
Method the following steps are included:
Step 201, the MMC-UPFC of 2 node topology is converted to the MMC-UPFC of 3 node topologies；
Step 202, the operation of step 101 to step 104 is executed, obtains initial model, the initial model is that 3 nodes are opened up
Flutter the MMC-UPFC of the structure MMC-UPFC small signal mathematical model under xy coordinate system；
Step 203, the MMC-UPFC of 3 node topologies is carried out to the alternating current of the MMC-UPFC of 2 node topologies
Buckling is changed, and according to transformed alternating voltage, the MMC-UPFC that the initial model is converted to 2 node topologies is sat in xy
Mark is lower MMC-UPFC small signal mathematical model；
Wherein, 2 node topology includes: the second side inverter and the second series side inverter in parallel；Described
Two series side inverters are connected between bus L and the endpoint K of transmission line of electricity by series transformer；Side inverter in parallel is by simultaneously
Connection transformer is connected to bus L.
Optionally, the MMC-UPFC of 2 node topology is converted to the MMC-UPFC of 3 node topologies, wrapped
It includes:
The connected bus L of series transformer in the MMC-UPFC of 2 node topology is split as two sections, respectively
Be denoted as bus L1 and bus L2, and by between the bus L1 and the bus L2 with a no resistance connection；
The series transformer original is connected to one end reconfiguration of bus L in bus L1, the other end is still connected to circuit end points K,
And by the shunt transformer reconfiguration in bus L2.
The second aspect of the application provides a kind of model building device of MMC-UPFC small signal mathematical model, the modeling dress
The MMC-UPFC applied to 3 node topologies is set, the MMC-UPFC of 3 node topology includes: that the first side in parallel is changed
Flow device and the first series side inverter；The first series side inverter is connected to bus L and transmission line of electricity by series transformer
Endpoint K between；It is different mothers that first side inverter in parallel, which is connected to bus N, median generatrix L and bus N by shunt transformer,
Line；
The model building device includes:
First establishes module, the control block diagram and equivalent circuit of the MMC-UPFC for establishing 3 node topology,
Wherein, the control block diagram is the control block diagram of UPFC controller, and the equivalent circuit includes the equivalent circuit of UPFC inverter
With the equivalent circuit of MMC-UPFC direct current system；
Second establishes module, for constructing MMC-UPFC under dq coordinate system according to the control block diagram and equivalent circuit
Dynamic model；
Linearization block obtains MMC-UPFC and exists for linearizing the dynamic model at steady-state operation point
Small signal mathematical model under dq coordinate system；
First conversion module, for small signal mathematical model of the MMC-UPFC under dq coordinate system to be converted to xy coordinate system
Under small signal mathematical model.
Optionally, it described second establishes module and includes:
First establishing unit establishes the dynamic analog of UPFC controller for the control block diagram according to the UPFC controller
Type；
Second establishes unit, for the equivalent circuit according to UPFC inverter, establishes the dynamic model of UPFC inverter；
Third establishes unit, for the equivalent circuit according to the MMC-UPFC direct current system, establishes MMC-UPFC direct current
The dynamic model of the equivalent circuit of system.
Optionally, the linearization block includes:
Linearizer, for by the equivalent circuit of UPFC controller, UPFC inverter and MMC-UPFC direct current system
Dynamic model is linearized respectively at steady-state operation point, respectively obtains UPFC controller, UPFC inverter and MMC-UPFC
The small signal mathematical model of the equivalent circuit of direct current system；
Simultaneous unit, equivalent circuit for simultaneous UPFC controller, UPFC inverter and MMC-UPFC direct current system
The corresponding equation of small signal mathematical model obtains small signal mathematical model of the MMC-UPFC under dq coordinate system.
Optionally, in the case where the modeling method is applied to the MMC-UPFC of 2 node topologies, the modeling dress
It sets and includes:
Second conversion module, for converting 3 node topologies for the MMC-UPFC of 2 node topology
MMC-UPFC；
Execution module, the behaviour of the model building device of the MMC-UPFC small signal mathematical model for executing 3 node topologies
Make, obtain initial model, the initial model be 3 node topologies MMC-UPFC under xy coordinate system the small letter of MMC-UPFC
Number mathematical model；
Third conversion module, for the MMC-UPFC of 3 node topologies to be carried out to the MMC-UPFC of 2 node topologies
Alternating voltage transformation, according to transformed alternating voltage, the initial model is converted to the MMC- of 2 node topologies
UPFC MMC-UPFC small signal mathematical model under xy coordinate system；
Wherein, 2 node topology includes: the second side inverter and the second series side inverter in parallel；Described
Two series side inverters are connected between bus L and the endpoint K of transmission line of electricity by series transformer；Side inverter in parallel is by simultaneously
Connection transformer is connected to bus L.
Optionally, second conversion module includes:
Split cells, for tearing the connected bus L of series transformer in the MMC-UPFC of 2 node topology open
Be divided into two sections, be denoted as bus L1 and bus L2 respectively, and by between the bus L1 and the bus L2 with a no resistance line
Road connection；
Reconfiguration unit, for the series transformer original to be connected to one end reconfiguration of bus L in bus L1, the other end is still connect
In circuit end points K, and by the shunt transformer reconfiguration in bus L2.
From the above technical scheme, the application provides the modeling method and dress of a kind of MMC-UPFC small signal mathematical model
Set, wherein the modeling method according to UPFC controller, UPFC inverter, UPFC direct current system equivalent circuit dynamic analog
Type constructs small signal mathematical model of the MMC-UPFC under xy coordinate system.This method has versatility, is applicable not only to traditional
The MMC-UPFC of 2 node topologies, while the MMC-UPFC of 3 novel node topologies can be suitable for.Using this Shen
The MMC-UPFC small signal mathematical model that please be obtained is convenient in conjunction with the small-signal model of electric system rest part, with into
Small interference stability characteristic, the analysis of low-frequency oscillation characteristic and the design of MMC-UPFC of row electric system.
Detailed description of the invention
In order to illustrate more clearly of the technical solution of the application, letter will be made to attached drawing needed in the embodiment below
Singly introduce, it should be apparent that, for those of ordinary skills, without creative efforts, also
Other drawings may be obtained according to these drawings without any creative labor.
Fig. 1 is a kind of workflow of the modeling method of MMC-UPFC small signal mathematical model provided by the embodiments of the present application
Figure；
Fig. 2 is the MMC-UPFC of 3 node topology provided by the embodiments of the present application；
Fig. 3 is the equivalent model of the MMC-UPFC of 3 node topology provided by the embodiments of the present application；
Fig. 4 is the structural frames of the outer ring controller of the UPFC controller of 3 node topology provided by the embodiments of the present application
Figure；
Fig. 5 is that the inner loop control device of the UPFC controller of 3 node topology provided by the embodiments of the present application and UPFC are changed
Flow the structural block diagram of device model；
Fig. 6 is the equivalent circuit of the MMC-UPFC direct current system of 3 node topology provided by the embodiments of the present application；
Fig. 7 is the workflow of the modeling method of another MMC-UPFC small signal mathematical model provided by the embodiments of the present application
Cheng Tu；
Fig. 8 is the MMC-UPFC of 2 node topology provided by the embodiments of the present application；
Fig. 9 is the equivalent structure of the MMC-UPFC of 2 node topology provided by the embodiments of the present application；
Figure 10 is that a kind of structure of the model building device of MMC-UPFC small signal mathematical model provided by the embodiments of the present application is shown
It is intended to.
Specific embodiment
For the modeling problem for solving 3 node topology MMC-UPFC small signal mathematical models, the application provides one kind
The modeling method and device of MMC-UPFC small signal mathematical model.
In the embodiment of the present application, term " first ", " second " are used for description purposes only, and are not understood to indicate or imply
Relative importance.
Work flow diagram shown in referring to Fig.1, the embodiment of the present application provide a kind of MMC-UPFC small signal mathematical model
Modeling method, the modeling method is applied to the MMC-UPFC of 3 node topologies, referring to 3 node topology shown in Fig. 2
Figure, the MMC-UPFC of 3 node topology include 2 UPFC inverters, the respectively first side inverter and first in parallel
Series side inverter；The first series side inverter by series transformer be connected to bus L and transmission line of electricity endpoint K it
Between；It is different buses that first side inverter in parallel, which is connected to bus N, median generatrix L and bus N by shunt transformer,；
The modeling method the following steps are included:
Step 101, the control block diagram and equivalent circuit of the MMC-UPFC of 3 node topology are established, wherein described
Control block diagram is the control block diagram of UPFC controller, and the equivalent circuit includes the equivalent circuit and MMC-UPFC of UPFC inverter
The equivalent circuit of direct current system.
Firstly, establishing the equivalent model of the MMC-UPFC of 3 node topology, equivalent model is as shown in Figure 3.Scheming
In equivalent model shown in 3, UL, UKAnd UNFor the voltage of MMC-UPFC institute Lian Jiedian (L, K, N), IKL, ILKAnd INFor MMC-UPFC
To the Injection Current of its Lian Jiedian (L, K, N), PKL+QKL、PLK+QLK、PN+QNIt is MMC-UPFC to its Lian Jiedian (L, K, N)
Injecting power.In present specification, the amount subscript 1 of MMC-UPFC model internal parallel side is indicated, the amount of series side is used
Subscript 2 indicates that such as: the electric current dq axis component of N point injection MMC-UPFC parallel connection side is expressed as id1And iq1, route L-K injection
The electric current dq axis component of series side is expressed as id2And iq2。
Then, it is assumed that MMC-UPFC uses double close-loop decoupling control strategy, establishes the control block diagram of UPFC controller, the control
Block diagram processed includes outer loop control block diagram and inner loop control block diagram, the outer ring controller of UPFC controller shown in Fig. 4, and Fig. 5 is shown
The inner loop control device of UPFC controller and the control block diagram of UPFC inverter.The equivalent circuit of MMC-UPFC direct current system is as schemed
Shown in 6.In the embodiment of the present application, UPFC inverter, that is, MMC.
Step 102, according to the control block diagram and equivalent circuit, dynamic analog of the MMC-UPFC under dq coordinate system is constructed
Type.
In a kind of achievable mode, according to the control block diagram and equivalent circuit, MMC-UPFC is constructed in dq coordinate
Dynamic model under system, comprising the following steps:
Step 1021, according to the control block diagram of the UPFC controller, the dynamic model of UPFC controller is established.
Control block diagram according to Fig.4, can obtain the dynamic model of outer ring controller are as follows:
And have:
Wherein, Pref、QrefRespectively UPFC series side active power and reactive power reference qref, pLK、qLKRespectively UPFC
Series side active power and reactive power actual value, QNrefFor UPFC parallel connection side reactive power reference qref, Udcref、UNrefRespectively
Side DC voltage in parallel and alternating voltage reference value, udc1For side DC voltage in parallel, uNFor side alternating voltage in parallel.idref1、
iqref1、idref2、iqref2Respectively inject the dq shaft current reference value of UPFC, kpUdc、kpUs、kpPAnd kpQFor the ratio of PI controller
Coefficient, TiUdc、TiUs、kiPAnd kiQFor the integration time constant of PI controller, MUdc、MUs、MP、MQProduct respectively in PI controller
Isloation state variable.
Step 1022, according to the equivalent circuit of UPFC inverter, the dynamic model of UPFC inverter is established.
Step 1023, according to the equivalent circuit of the MMC-UPFC direct current system, establish MMC-UPFC direct current system etc.
Imitate the dynamic model of circuit.
Wherein, it is established in step 1022 and step 1023 in the process and step 1021 of dynamic model and establishes dynamic model
Process is similar, is not repeated to derive herein.
Step 103, the dynamic model is linearized at steady-state operation point, obtains MMC-UPFC in dq coordinate system
Under small signal mathematical model.
In a kind of achievable mode, step 103 specifically includes the following steps:
Step 1031, by the dynamic analog of the equivalent circuit of UPFC controller, UPFC inverter and MMC-UPFC direct current system
Type is linearized respectively at steady-state operation point, respectively obtains UPFC controller, UPFC inverter and MMC-UPFC direct current system
The small signal mathematical model of the equivalent circuit of system；
Step 1032, the small letter of the equivalent circuit of simultaneous UPFC controller, UPFC inverter and MMC-UPFC direct current system
Number corresponding equation of mathematical model, obtains small signal mathematical model of the MMC-UPFC under dq coordinate system.
By taking the dynamic model of outer ring controller as an example, illustrate the establishment process of small signal mathematical model:
The dynamic model of outer ring controller is linearized at steady-state operation point, and by each quantity of power electric current and electricity
Pressure amount indicates, can obtain the small signal mathematical model of outer ring controller are as follows:
Wherein:
ΔxM=[Δ MUdc ΔMUs ΔMP ΔMQ]T
Δudq=[Δ uNd ΔuNq ΔuLd ΔuLq ΔuKd ΔuKq]T
Δidq=[Δ iNd ΔiNq ΔiKLd ΔiKLq ΔiLKd ΔiLKq]T
Δuref=[Δ Udcref ΔUNref ΔPref ΔQref]T
AM=[- 1/Tiudc,0,0,0]T
Wherein, udqThe vector constituted for 3 voltage dq axis components of N, L, K；idqIt is UPFC to 3 Injection Currents of N, L, K
Dq axis component constitute vector, Id2,0And Iq2,0For the steady-state value of the electric current to N point injection UPFC series side, subscript 0 is represented surely
State value.
Similarly, according to Fig. 5 and Fig. 6, corresponding dynamic model can be respectively obtained, to dynamic model at steady-state operation point
It is linearized, available corresponding small signal mathematical model, which is not described herein again for specific derivation process, only provides below most
The small signal mathematical model obtained eventually.
Control block diagram according to figure 5 can obtain the small signal mathematical model of inner loop control device and UPFC inverter are as follows:
In above formula:
Wherein, idref、iqrefRespectively inject the dq shaft current reference value of UPFC, id、iqFor the dq shaft current for injecting UPFC
Actual value, ud、uqFor the dq axis AC side voltage actual value of UPFC, kpd、kpqAnd kid、kiqRespectively inner ring current controller
The inverse of proportionality coefficient and integration time constant, R are inverter equivalent resistance, L be change of current power transformation sense and bridge arm equivalent inductance it
It is system angular frequency with, ω.
The equivalent circuit of UPFC direct current system according to figure 6 can obtain the small letter of the equivalent circuit of UPFC direct current system
Number mathematical model:
Wherein, udc1And udc2The voltage of side equivalent capacity and series side equivalent capacity both ends respectively in parallel, idc1And idc2
The electric current of side equivalent capacity and series side equivalent capacity respectively in parallel, idcTo pass through the electric current of equivalent resistance, pdc1And pdc2Point
Not Wei MMC-UPFC parallel connection side and series side inject the active power of direct current system, Cdc1And Cdc2Side respectively in parallel and series side
The equivalent capacity of inverter, RdcAnd LdcFor equivalent resistance and inductance, uNBy the voltage of MMC-UPFC even N point, uKLFor K point and L
Voltage difference between point.
The small signal mathematical model of the equivalent circuit of simultaneous UPFC controller, UPFC inverter and UPFC direct current system is corresponding
Equation, obtain small signal mathematical model of the MMC-UPFC under dq coordinate system:
Wherein:
ΔxUPFC=[Δ udc1 Δudc2 Δidc|ΔMUdc ΔMUs ΔMP ΔMQ|Δid1 Δiq1 Δid2 Δiq2|
ΔMvd1 ΔMvq1 ΔMvd2 ΔMvq2]T
Δvdq=[Δ uNd ΔuNq ΔuLd ΔuLq ΔuKd ΔuKq]T
Δuref=[Δ Udcref ΔUNref ΔPref ΔQref]T
Wherein,It is respectively as follows:
AC12=AC14=EC1=0,
AC22=AC24=0,
AC44=0,
Step 104, MMC-UPFC is converted into the small letter under xy coordinate system in the small signal mathematical model under dq coordinate system
Number mathematical model.
In the step, the angle δ of x-axis is ahead of according to q axis in the dq coordinate system of MMC-UPFC parallel connection side and series side1With
δ2, the xy coordinate system of side in parallel and series side is obtained to the transformation matrix of coordinates T of dq coordinate system1And T2:
If:
Tu=diag (T1,T2,T2)
It, will be in MMC-UPFC small signal mathematical model according to the small signal mathematical model of the equivalent circuit of UPFC direct current system
Variable quantity [the Δ u of side in parallel alternating voltage under dq coordinate systemNd ΔuNq]TUse T1Multiplied by the top-cross galvanic electricity in parallel under xy coordinate system
Press variable quantity [Δ uNx ΔuNy]TInstead of by series side alternating voltage under dq coordinate system in MMC-UPFC small signal mathematical model
Variable quantity [Δ uLd ΔuLq ΔuKd ΔuKq]TUse diagonal matrixMultiplied by the series side alternating voltage under xy coordinate system
Variable quantity [Δ uLx ΔuLy ΔuKx ΔuKy]TInstead of the small-signal model of MMC-UPFC under xy coordinate can be obtained are as follows:
Wherein:
Δvxy=[Δ uNx ΔuNy ΔuLx ΔuLy ΔuKx ΔuKy]T
From the above technical scheme, the modeling of a kind of MMC-UPFC small signal mathematical model provided by the embodiments of the present application
In method, according to UPFC controller, UPFC inverter, UPFC direct current system equivalent circuit dynamic model, construct MMC-
Small signal mathematical model of the UPFC under xy coordinate system.This method has versatility, is applicable not only to 2 traditional node topology knots
The MMC-UPFC of structure, while the MMC-UPFC of 3 novel node topologies can be suitable for.The MMC- obtained using the application
UPFC small signal mathematical model is convenient in conjunction with the small-signal model of electric system rest part, to carry out electric system
Small interference stability characteristic, the design of the analysis of low-frequency oscillation characteristic and MMC-UPFC.
Referring to work flow diagram shown in Fig. 7, it is applied to the MMC-UPFC's of 2 node topologies in the modeling method
In the case of, the embodiment of the present application provides the modeling method of another MMC-UPFC small signal mathematical model, the modeling method packet
Include following steps:
Step 201, the MMC-UPFC of 2 node topology is converted to the MMC-UPFC of 3 node topologies.
Referring to the schematic diagram of the MMC-UPFC of 2 node topology shown in Fig. 8, MMC-UPFC includes two inverters,
Second side inverter and the second series side inverter in parallel；The second series side inverter is connected to bus by series transformer
Between L and the endpoint K of transmission line of electricity；Side inverter in parallel is connected to bus L by shunt transformer.
The MMC-UPFC of 2 node topology shown in Fig. 8 can be equivalent to the MMC-UPFC of 3 node topologies, equivalent
Structure is as shown in figure 9, equivalent method includes:
The connected bus L of series transformer in the MMC-UPFC of 2 node topology is split as two sections, respectively
Be denoted as bus L1 and bus L2, and by between the bus L1 and the bus L2 with a no resistance connection；
The series transformer original is connected to one end reconfiguration of bus L in bus L1, the other end is still connected to circuit end points K,
And by the shunt transformer reconfiguration in bus L2.
Step 202, the operation of step 101 to step 104 is executed, obtains initial model, the initial model is that 3 nodes are opened up
Flutter the MMC-UPFC of the structure MMC-UPFC small signal mathematical model under xy coordinate system.
Wherein, the concrete operations of step 202 and the specific operation process of step 101 to step 104 are consistent, can mutually join
According to the embodiment of the present application does not repeat.
Step 203, the MMC-UPFC of 3 node topologies is carried out to the alternating current of the MMC-UPFC of 2 node topologies
Buckling is changed, and according to transformed alternating voltage, the MMC-UPFC that the initial model is converted to 2 node topologies is sat in xy
Mark is lower MMC-UPFC small signal mathematical model.
Small signal mathematical model modeling is carried out using equivalent structure shown in Fig. 9, it is as follows to obtain result:
Δvxy=[Δ uL2x ΔuL2y ΔuL1x ΔuL1y ΔuKx ΔuKy]T
The alternating voltage transformation matrix T of 3 node topologies to 2 node topologies32Are as follows:
By alternating voltage variable quantity [the Δ u under 3 node topologies in equivalent small signal mathematical modelL2x ΔuL2y ΔuL1x
ΔuL1y ΔuKx ΔuKy]TUse T32Multiplied by alternating voltage variable quantity [the Δ u under 2 node topologiesLx ΔuLy ΔuKx ΔuKy]T
Instead of the small signal mathematical model for obtaining 2 node topology MMC-UPFC is as follows:
Wherein:
Δuxy2=[Δ uLx ΔuLy ΔuKx ΔuKy]T
Structural schematic diagram shown in 0 referring to Fig.1, the embodiment of the present application provide a kind of MMC-UPFC small signal mathematical model
Model building device, the model building device are applied to the MMC-UPFC, the MMC- of 3 node topology of 3 node topologies
UPFC includes: the first side inverter and the first series side inverter in parallel；The first series side inverter passes through series-transformer
Device is connected between bus L and the endpoint K of transmission line of electricity；First side inverter in parallel is connected to bus N by shunt transformer, wherein
Bus L and bus N is different buses；
The model building device includes:
First establishes module 100, for establishing the control block diagram and equivalent electricity of the MMC-UPFC of 3 node topology
Road, wherein the control block diagram is the control block diagram of UPFC controller, and the equivalent circuit includes the equivalent electricity of UPFC inverter
The equivalent circuit on road and MMC-UPFC direct current system；
Second establishes module 200, for constructing MMC-UPFC in dq coordinate system according to the control block diagram and equivalent circuit
Under dynamic model；
Linearization block 300 obtains MMC-UPFC for linearizing the dynamic model at steady-state operation point
Small signal mathematical model under dq coordinate system；
First conversion module 400 is sat for small signal mathematical model of the MMC-UPFC under dq coordinate system to be converted to xy
Small signal mathematical model under mark system.
Optionally, it described second establishes module and includes:
First establishing unit establishes the dynamic analog of UPFC controller for the control block diagram according to the UPFC controller
Type；
Second establishes unit, for the equivalent circuit according to UPFC inverter, establishes the dynamic model of UPFC inverter；
Third establishes unit, for the equivalent circuit according to the MMC-UPFC direct current system, establishes MMC-UPFC direct current
The dynamic model of the equivalent circuit of system.
Optionally, the linearization block includes:
Linearizer, for by the equivalent circuit of UPFC controller, UPFC inverter and MMC-UPFC direct current system
Dynamic model is linearized respectively at steady-state operation point, respectively obtains UPFC controller, UPFC inverter and MMC-UPFC
The small signal mathematical model of the equivalent circuit of direct current system；
Simultaneous unit, equivalent circuit for simultaneous UPFC controller, UPFC inverter and MMC-UPFC direct current system
The corresponding equation of small signal mathematical model obtains small signal mathematical model of the MMC-UPFC under dq coordinate system.
Optionally, in the case where the modeling method is applied to the MMC-UPFC of 2 node topologies, the modeling dress
It sets and includes:
Second conversion module, for converting 3 node topologies for the MMC-UPFC of 2 node topology
MMC-UPFC；
Execution module, the behaviour of the model building device of the MMC-UPFC small signal mathematical model for executing 3 node topologies
Make, obtain initial model, the initial model be 3 node topologies MMC-UPFC under xy coordinate system the small letter of MMC-UPFC
Number mathematical model；
Third conversion module, for the MMC-UPFC of 3 node topologies to be carried out to the MMC-UPFC of 2 node topologies
Alternating voltage transformation, according to transformed alternating voltage, the initial model is converted to the MMC- of 2 node topologies
UPFC MMC-UPFC small signal mathematical model under xy coordinate system；
Wherein, 2 node topology includes: the second side inverter and the second series side inverter in parallel；Described
Two series side inverters are connected between bus L and the endpoint K of transmission line of electricity by series transformer；Side inverter in parallel is by simultaneously
Connection transformer is connected to bus L.
Optionally, second conversion module includes:
Split cells, for tearing the connected bus L of series transformer in the MMC-UPFC of 2 node topology open
Be divided into two sections, be denoted as bus L1 and bus L2 respectively, and by between the bus L1 and the bus L2 with a no resistance line
Road connection；
Reconfiguration unit, for the series transformer original to be connected to one end reconfiguration of bus L in bus L1, the other end is still connect
In circuit end points K, and by the shunt transformer reconfiguration in bus L2.
It is required that those skilled in the art can be understood that the technology in the embodiment of the present invention can add by software
The mode of general hardware platform realize.Based on this understanding, the technical solution in the embodiment of the present invention substantially or
Say that the part that contributes to existing technology can be embodied in the form of software products, which can deposit
Storage is in storage medium, such as ROM/RAM, magnetic disk, CD, including some instructions are used so that computer equipment (can be with
It is personal computer, server or the network equipment etc.) execute certain part institutes of each embodiment of the present invention or embodiment
The method stated.
Same and similar part may refer to each other between each embodiment in this specification.Implement especially for device
For example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring in embodiment of the method
Explanation.
Combine detailed description and exemplary example that the application is described in detail above, but these explanations are simultaneously
It should not be understood as the limitation to the application.It will be appreciated by those skilled in the art that without departing from the application spirit and scope,
A variety of equivalent substitution, modification or improvements can be carried out to technical scheme and embodiments thereof, these each fall within the application
In the range of.The protection scope of the application is determined by the appended claims.
Claims (10)
1. a kind of modeling method of MMC-UPFC small signal mathematical model, which is characterized in that the modeling method is applied to 3 nodes
The MMC-UPFC of topological structure, the MMC-UPFC of 3 node topology include: the first side inverter in parallel and the first series connection
Side inverter；The first series side inverter is connected between bus L and the endpoint K of transmission line of electricity by series transformer；The
It is different buses that one side inverter in parallel, which is connected to bus N, median generatrix L and bus N by shunt transformer,；
The modeling method the following steps are included:
Step 101, the control block diagram and equivalent circuit of the MMC-UPFC of 3 node topology are established, wherein the control
Block diagram is the control block diagram of UPFC controller, and the equivalent circuit includes the equivalent circuit and MMC-UPFC direct current of UPFC inverter
The equivalent circuit of system；
Step 102, according to the control block diagram and equivalent circuit, dynamic model of the MMC-UPFC under dq coordinate system is constructed；
Step 103, the dynamic model is linearized at steady-state operation point, obtains MMC-UPFC under dq coordinate system
Small signal mathematical model；
Step 104, MMC-UPFC is converted into the small signal number under xy coordinate system in the small signal mathematical model under dq coordinate system
Learn model.
2. modeling method according to claim 1, which is characterized in that according to the control block diagram and equivalent circuit, building
Dynamic model of the MMC-UPFC under dq coordinate system, comprising:
According to the control block diagram of the UPFC controller, the dynamic model of UPFC controller is established；
According to the equivalent circuit of UPFC inverter, the dynamic model of UPFC inverter is established；
According to the equivalent circuit of the MMC-UPFC direct current system, the dynamic analog of the equivalent circuit of MMC-UPFC direct current system is established
Type.
3. modeling method according to claim 2, which is characterized in that carry out the dynamic model at steady-state operation point
Linearisation, obtains small signal mathematical model of the MMC-UPFC under dq coordinate system, comprising:
By the dynamic model of the equivalent circuit of UPFC controller, UPFC inverter and MMC-UPFC direct current system in steady-state operation point
Place is linearized respectively, respectively obtains the equivalent circuit of UPFC controller, UPFC inverter and MMC-UPFC direct current system
Small signal mathematical model；
The small signal mathematical model of the equivalent circuit of simultaneous UPFC controller, UPFC inverter and MMC-UPFC direct current system is corresponding
Equation, obtain small signal mathematical model of the MMC-UPFC under dq coordinate system.
4. modeling method according to claim 1, which is characterized in that be applied to 2 node topology knots in the modeling method
In the case where the MMC-UPFC of structure, the modeling method the following steps are included:
Step 201, the MMC-UPFC of 2 node topology is converted to the MMC-UPFC of 3 node topologies；
Step 202, the operation of step 101 to step 104 is executed, obtains initial model, the initial model is 3 node topology knots
The MMC-UPFC of structure MMC-UPFC small signal mathematical model under xy coordinate system；
Step 203, the MMC-UPFC of 3 node topologies is carried out to the alternating current buckling of the MMC-UPFC of 2 node topologies
It changes, according to transformed alternating voltage, the initial model is converted into the MMC-UPFC of 2 node topologies in xy coordinate system
Lower MMC-UPFC small signal mathematical model；
Wherein, 2 node topology includes: the second side inverter and the second series side inverter in parallel；Second string
Connection side inverter is connected between bus L and the endpoint K of transmission line of electricity by series transformer；Side inverter in parallel is become by parallel
Depressor is connected to bus L.
5. modeling method according to claim 4, which is characterized in that turn the MMC-UPFC of 2 node topology
Turn to the MMC-UPFC of 3 node topologies, comprising:
The connected bus L of series transformer in the MMC-UPFC of 2 node topology is split as two sections, is denoted as respectively
Bus L1 and bus L2, and by between the bus L1 and the bus L2 with a no resistance connection；
The series transformer original is connected to one end reconfiguration of bus L in bus L1, the other end is still connected to circuit end points K, and will
The shunt transformer reconfiguration is in bus L2.
6. a kind of model building device of MMC-UPFC small signal mathematical model, which is characterized in that the model building device is applied to 3 nodes
The MMC-UPFC of topological structure, the MMC-UPFC of 3 node topology include: the first side inverter in parallel and the first series connection
Side inverter；The first series side inverter is connected between bus L and the endpoint K of transmission line of electricity by series transformer；The
It is different buses that one side inverter in parallel, which is connected to bus N, median generatrix L and bus N by shunt transformer,；
The model building device includes:
First establishes module, the control block diagram and equivalent circuit of the MMC-UPFC for establishing 3 node topology,
In, the control block diagram be UPFC controller control block diagram, the equivalent circuit include UPFC inverter equivalent circuit and
The equivalent circuit of MMC-UPFC direct current system；
Second establishes module, for it is dynamic under dq coordinate system to construct MMC-UPFC according to the control block diagram and equivalent circuit
States model；
Linearization block obtains MMC-UPFC and sits in dq for linearizing the dynamic model at steady-state operation point
Small signal mathematical model under mark system；
First conversion module, for being converted under xy coordinate system MMC-UPFC in the small signal mathematical model under dq coordinate system
Small signal mathematical model.
7. model building device according to claim 6, which is characterized in that described second, which establishes module, includes:
First establishing unit establishes the dynamic model of UPFC controller for the control block diagram according to the UPFC controller；
Second establishes unit, for the equivalent circuit according to UPFC inverter, establishes the dynamic model of UPFC inverter；
Third establishes unit, for the equivalent circuit according to the MMC-UPFC direct current system, establishes MMC-UPFC direct current system
Equivalent circuit dynamic model.
8. model building device according to claim 7, which is characterized in that the linearization block includes:
Linearizer, for by the dynamic of the equivalent circuit of UPFC controller, UPFC inverter and MMC-UPFC direct current system
Model is linearized respectively at steady-state operation point, respectively obtains UPFC controller, UPFC inverter and MMC-UPFC direct current
The small signal mathematical model of the equivalent circuit of system；
Simultaneous unit, the small letter of the equivalent circuit for simultaneous UPFC controller, UPFC inverter and MMC-UPFC direct current system
Number corresponding equation of mathematical model, obtains small signal mathematical model of the MMC-UPFC under dq coordinate system.
9. model building device according to claim 6, which is characterized in that be applied to 2 node topology knots in the modeling method
In the case where the MMC-UPFC of structure, the model building device includes:
Second conversion module, for converting the MMC-UPFC of 2 node topology to the MMC- of 3 node topologies
UPFC；
Execution module, the operation of the model building device of the MMC-UPFC small signal mathematical model for executing 3 node topologies, obtains
To initial model, the initial model be 3 node topologies MMC-UPFC under xy coordinate system the small signal number of MMC-UPFC
Learn model；
Third conversion module, the friendship of the MMC-UPFC for the MMC-UPFC of 3 node topologies to be carried out to 2 node topologies
Stream voltage transformation exists the MMC-UPFC that the initial model is converted to 2 node topologies according to transformed alternating voltage
MMC-UPFC small signal mathematical model under xy coordinate system；
Wherein, 2 node topology includes: the second side inverter and the second series side inverter in parallel；Second string
Connection side inverter is connected between bus L and the endpoint K of transmission line of electricity by series transformer；Side inverter in parallel is become by parallel
Depressor is connected to bus L.
10. model building device according to claim 9, which is characterized in that second conversion module includes:
Split cells, for the connected bus L of series transformer in the MMC-UPFC of 2 node topology to be split as
Two sections, it is denoted as bus L1 and bus L2 respectively, and will be connected between the bus L1 and the bus L2 with a no resistance route
It connects；
Reconfiguration unit, for the series transformer original to be connected to one end reconfiguration of bus L in bus L1, the other end is still connected to line
Terminal point K, and by the shunt transformer reconfiguration in bus L2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910014880.0A CN109861209A (en) | 2019-01-08 | 2019-01-08 | A kind of modeling method and device of MMC-UPFC small signal mathematical model |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910014880.0A CN109861209A (en) | 2019-01-08 | 2019-01-08 | A kind of modeling method and device of MMC-UPFC small signal mathematical model |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109861209A true CN109861209A (en) | 2019-06-07 |
Family
ID=66894063
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910014880.0A Pending CN109861209A (en) | 2019-01-08 | 2019-01-08 | A kind of modeling method and device of MMC-UPFC small signal mathematical model |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109861209A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103123664A (en) * | 2012-07-13 | 2013-05-29 | 中电普瑞科技有限公司 | Modeling method for dynamic model of modular multi-level convector |
| CN105140914A (en) * | 2015-08-17 | 2015-12-09 | 东南大学 | Method for accessing unified power flow controller (UPFC) into system and three-node power injection model |
| CN105896558A (en) * | 2016-04-26 | 2016-08-24 | 中国电力科学研究院 | VSC-based UPFC electromechanical transient modular modeling method |
| CN106253288A (en) * | 2016-07-19 | 2016-12-21 | 河海大学 | A kind of optimal load flow algorithm containing THE UPFC based on automatic differential |
| CN107104431A (en) * | 2017-05-10 | 2017-08-29 | 四川大学 | A kind of MMC HVDC transmission systems MMC module Approach for Modeling of Small-Signal |
| CN107800137A (en) * | 2017-11-10 | 2018-03-13 | 国网江苏省电力公司经济技术研究院 | A kind of UPFC electromechanical transient simulation methods based on MMC |
| CN108336751A (en) * | 2018-03-16 | 2018-07-27 | 云南电网有限责任公司 | A kind of electromechanical transient modeling method of LCC-MMC mixed DCs power grid |
| CN108390378A (en) * | 2018-04-25 | 2018-08-10 | 合肥工业大学 | A kind of MMC-UPFC Reliability Modelings |
-
2019
- 2019-01-08 CN CN201910014880.0A patent/CN109861209A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103123664A (en) * | 2012-07-13 | 2013-05-29 | 中电普瑞科技有限公司 | Modeling method for dynamic model of modular multi-level convector |
| CN105140914A (en) * | 2015-08-17 | 2015-12-09 | 东南大学 | Method for accessing unified power flow controller (UPFC) into system and three-node power injection model |
| CN105896558A (en) * | 2016-04-26 | 2016-08-24 | 中国电力科学研究院 | VSC-based UPFC electromechanical transient modular modeling method |
| CN106253288A (en) * | 2016-07-19 | 2016-12-21 | 河海大学 | A kind of optimal load flow algorithm containing THE UPFC based on automatic differential |
| CN107104431A (en) * | 2017-05-10 | 2017-08-29 | 四川大学 | A kind of MMC HVDC transmission systems MMC module Approach for Modeling of Small-Signal |
| CN107800137A (en) * | 2017-11-10 | 2018-03-13 | 国网江苏省电力公司经济技术研究院 | A kind of UPFC electromechanical transient simulation methods based on MMC |
| CN108336751A (en) * | 2018-03-16 | 2018-07-27 | 云南电网有限责任公司 | A kind of electromechanical transient modeling method of LCC-MMC mixed DCs power grid |
| CN108390378A (en) * | 2018-04-25 | 2018-08-10 | 合肥工业大学 | A kind of MMC-UPFC Reliability Modelings |
Non-Patent Citations (3)
| Title |
|---|
| 刘涳: "《电气及自动化专业毕业设计宝典》", 1 March 2008 * |
| 蔡晖等: "基于PSS/E的MMC-UPFC机电暂态仿真方法", 《电力系统保护与控制》 * |
| 鲁晓军等: "基于模块化多电平换流器的直流电网小信号建模", 《中国电机工程学报》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108418253B (en) | Impedance modeling and stability analysis method of current control type virtual synchronous generator | |
| Lal et al. | Control and performance analysis of a single-stage utility-scale grid-connected PV system | |
| CN103986357B (en) | Suppress the method for the circulation in HVDC Transmission modularization multi-level converter | |
| CN106712088A (en) | Low-voltage micro-grid inverter control system based on virtual impedance and virtual power source | |
| CN103971026B (en) | General method for calculating tide of positive power distribution networks | |
| CN111245004B (en) | Composite robust control method of high-frequency SiC photovoltaic grid-connected inverter under weak current network | |
| CN103580032B (en) | Power network compensation system and control method thereof | |
| CN109449999B (en) | Low pressure micro-capacitance sensor distributed control method and system based on adaptive virtual impedance | |
| CN113285486B (en) | Droop control-based control method for loop current between parallel inverters | |
| CN106655199A (en) | VSC-HVDC power control method for improving voltage stability | |
| CN107611971A (en) | For the net side inverter resonance full-order sliding mode control method of Voltage Harmonic distortion operating mode | |
| CN107332244A (en) | The level SAPF of three-phase four-wire system NPC types three nonlinear control method | |
| CN107276091A (en) | NPC type three-level three-phase four-wire system SAPF nonlinear passive control methods | |
| CN107431355A (en) | Electric power transmission network | |
| Cvetkovic et al. | Un-terminated, low-frequency terminal-behavioral dq model of three-phase converters | |
| CN111478565A (en) | Design method of higher harmonic suppression controller of VIENNA rectifier | |
| CN114337343A (en) | Method and device for establishing MMC broadband three-port frequency coupling impedance model | |
| CN104573384B (en) | A kind of improvement DC power flow algorithm suitable for power distribution network on-line analysis | |
| CN109861209A (en) | A kind of modeling method and device of MMC-UPFC small signal mathematical model | |
| CN111555343B (en) | Universal distributed control method and system for cascading inverter | |
| CN111711198A (en) | FMS-based power distribution network feeder interconnection control method | |
| CN115995813B (en) | Grid-connected inverter oscillation suppression strategy based on hybrid damping | |
| CN110048442B (en) | Differential smooth nonlinear control method and device for modular multilevel converter | |
| CN106611461A (en) | Rapid calculating method for static voltage stability limit of VSC-HVDC (Voltage Source Converter based on High Voltage Direct Current) electric power system | |
| CN112039105A (en) | Alternating current power grid frequency oscillation suppression method for high-voltage direct current transmission line interconnection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190607 |