CN110120676B - MMC-HVDC converter station power control method and system based on simulation synchronous motor characteristics - Google Patents
MMC-HVDC converter station power control method and system based on simulation synchronous motor characteristics Download PDFInfo
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- CN110120676B CN110120676B CN201910526512.4A CN201910526512A CN110120676B CN 110120676 B CN110120676 B CN 110120676B CN 201910526512 A CN201910526512 A CN 201910526512A CN 110120676 B CN110120676 B CN 110120676B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/60—Arrangements for transfer of electric power between AC networks or generators via a high voltage DC link [HVCD]
Abstract
The invention relates to the technical field of converter station power control, in particular to a MMC-HVDC converter station power control method and a system based on the characteristics of a simulated synchronous motor, wherein the MMC-HVDC converter station power control method comprises the following steps: adding an additional power controller in the MMC-HVDC converter station based on the characteristics of the analog synchronous motor; and performing switching control on the additional power controller, namely judging whether the additional power controller works in an active state or not, and responding to the situation that the additional power controller works in the active state, wherein the additional power controller realizes selective switching through hysteresis control of the frequency offset ferr. In order to eliminate the deviation of the transmission power of the converter station caused by the static random fluctuation of the local power grid frequency, the additional power controller for correcting the frequency nominal value in real time by using the active power offset integral is designed, the problem that the active power cannot be accurately controlled when the synchronous motor simulates and controls the static random fluctuation of the local power grid frequency is solved, and the selectivity of the main power grid participating in the regulation of the local power grid through the direct current system is realized.
Description
Technical Field
The invention relates to the technical field of converter station power control, in particular to a method and a system for MMC-HVDC converter station power control based on simulation of synchronous motor characteristics.
Background
The flexible direct-current transmission technology based on the modular multilevel converter combines the high controllability of a voltage source conversion technology and a pulse modulation technology, has the advantages of high modularization degree, good waveform quality, small switching loss, low manufacturing difficulty and the like, is suitable for high-voltage and high-power transmission occasions, and has very wide application potential.
The flexible direct-current transmission system can rapidly control active power and reactive power, and an external power supply is not needed during phase conversion, so that active power support of an interconnected power grid can be realized, and power can be supplied to a large island power grid and a passive network. Different from the main network, the short circuit ratio of the island power network is generally not high, the frequency fluctuation is large in static state, the load change is frequent, the operation condition is variable, and the island power network can also become a passive network sometimes. In the active mode, the converter station and the local power supply jointly supply power to the load; however, in a fault or overhaul state, the local grid will present a passive island, and therefore the converter station needs to have the capability of switching between networking and island modes. The following control schemes currently exist:
1) The MMC control mode switching strategy based on the local electric quantity can realize the control target of dual-mode operation, but the switching of the control mode can generate impact on a power grid.
2) The power synchronization control combining the primary frequency modulation characteristic of the synchronous motor and the voltage control of the converter station does not need a control strategy for controlling mode switching, the response characteristic of the system switching process is improved, but the transmission power of the converter station depends on the local power grid frequency during networking, and the converter station cannot accurately control the active power due to static fluctuation of the power grid frequency.
3) Based on the control technology of the synchronous converter, the running characteristic of the synchronous motor of the back-to-back MMC-HVDC system can be realized.
The scheme is similar to the virtual synchronous motor technology, and the rapid fluctuation of the local power grid frequency can be inhibited by improving the inertia parameters, but the system damping can be obviously reduced, so that the power oscillation is caused. Therefore, how to consider the original power flow control function when the MMC simulates the characteristics of the synchronous motor and realize the selectivity of the main power grid to the adjustment of the local power grid is a technical difficulty.
Disclosure of Invention
The invention provides a MMC-HVDC converter station power control method and system based on analog synchronous motor characteristics, overcomes the defects of the prior art, and can effectively solve the problem that the MMC-HVDC converter station based on analog synchronous motor characteristics cannot realize accurate active power control under the condition of analog synchronous motor characteristics when the local power grid frequency is subjected to static random fluctuation.
One of the technical schemes of the invention is realized by the following measures: a MMC-HVDC converter station power control method based on analog synchronous motor characteristics comprises the following steps:
adding an additional power controller in the MMC-HVDC converter station based on the characteristics of the analog synchronous motor;
switching control of the additional power controller, namely judging whether the additional power controller works in an active state, cutting off the additional power controller in response to the fact that the additional power controller does not work in the active state, and passing through a frequency offset f in response to the fact that the additional power controller works in the active state err The hysteresis control realizes selective switching.
The following is further optimization or/and improvement of the technical scheme of the invention:
the additional power controller is switched according to the networking state of the local power grid, if the local power grid is networked with the main power grid through the converter station, the additional power controller is in an active state, and if the local power grid is not networked with the main power grid through the converter station, the additional power controller is in a passive state.
The additional power controller passes through a frequency offset f err The process of realizing selective switching by hysteresis control comprises the following steps:
after the additional power controller is operated in the active state, t B The second time delay is used for judging the frequency offset f in the converter station err Whether the absolute value of (a) exceeds a set threshold range;
if so, the additional power controller is put into action until the frequency offset f err After the absolute value of (a) is within a set threshold range, the additional power controller stops; if not, the additional power controller is cut off.
In response to the additional power controller operating in an active state, the additional power controller passes through the frequency offset f err The hysteresis control realizes the in-process of selective switching and adds artifical input switch, and concrete process includes:
after responding to the fact that the additional power controller works in an active state, judging the setting state of the manual input switch, if the manual input switch is set to be 0, cutting off the additional power controller, and if the manual input switch is set to be 1, cutting off the additional power controller after t B The second time delay is used for judging the frequency offset f in the converter station err Is not greater than a set threshold range.
The damping controller for suppressing the power oscillation is added into the additional power controller, and the damping controller comprises a differential term which is added into an additional power control input link and adds a first-order low-pass filter into an amplitude limiting link.
The above-mentioned addition of a proportional-integral regulator to suppress the station transmission power offset in the additional power controller.
The second technical scheme of the invention is realized by the following measures: a MMC-HVDC converter station power control system based on simulation synchronous machine characteristic is characterized by comprising an additional power controller, a controller and a controller, wherein the additional power controller is used for eliminating the deviation of the transmission power of a converter station caused by the static random fluctuation of the local power grid frequency and accurately controlling the active power;
the additional power controller comprises a controller switching strategy module, the controller switching strategy module is used for controlling switching of the additional power controller, namely whether the additional power controller works in an active state is judged, the additional power controller is cut off in response to the fact that the additional power controller does not work in the active state, and the additional power controller passes through a frequency offset f in response to the fact that the additional power controller works in the active state err The hysteresis control of (a) achieves selective operation.
The following is further optimization or/and improvement of the technical scheme of the invention:
the controller switching strategy module comprises a switching initial judgment module, a manual input switch and a hysteresis control module;
the switching initial judgment module is used for judging whether to switch the additional power controller according to whether the additional power controller works in an active state;
the manual input switch is used for manually setting switching signals of the additional power controller;
and the hysteresis control module is used for controlling whether the additional power controller is put into operation or not after the additional power controller works in an active state.
The additional power controller further comprises a damping controller and a proportional-integral regulator;
the damping controller is used for superposing a differential term of input power in an input link of the additional power controller and adding a first-order low-pass filter in an amplitude limiting link;
and the proportional-integral regulator is used for adding a proportional-integral regulator for inhibiting the transmission power offset of the converter station into the additional power controller.
Aiming at a scene that MMC-HVDC adopts a synchronous motor simulation control strategy to supply power to a large island, in order to eliminate the deviation of the transmission power of a converter station caused by the static random fluctuation of the local power grid frequency, the invention designs an additional power controller which utilizes the integral of the active power deviation amount to correct the nominal value of the frequency in real time, solves the problem that the active power can not be accurately controlled when the synchronous motor simulates and controls the static random fluctuation of the local power grid frequency, and realizes the selectivity that a main power grid participates in the regulation of the local power grid through a direct current system. In addition, the invention introduces a proportional-integral regulator and a damping controller into the additional power controller, further controls the transmission power offset of the converter station, effectively inhibits the amplification of the high-frequency component of the system by pure differential operation, and realizes the soft amplitude limiting function.
Drawings
FIG. 1 is a flow chart of example 1 of the present invention.
Fig. 2 is a flowchart of switching control of the additional power controller in embodiment 1 of the present invention.
Fig. 3 is a flowchart of implementing selective switching by hysteresis control in additional power control in embodiment 1 of the present invention.
Fig. 4 is an additional power controller including a damping controller according to embodiment 1 of the present invention.
Fig. 5 is a schematic structural diagram of a system according to embodiment 2 of the present invention.
Fig. 6 is a schematic diagram of a flexible dc power transmission system according to embodiments 3, 4, and 5 of the present invention.
Fig. 7 is a waveform diagram of power response when the passive/active switching is performed according to embodiment 3 of the present invention.
Fig. 8 is a waveform diagram of active power transmitted by the converter station when the static frequency of the power grid fluctuates according to embodiment 4 of the present invention.
Fig. 9 is a frequency waveform diagram of a local power grid and a power loop command when the transient frequency of the power grid fluctuates according to embodiment 4 of the present invention.
Fig. 10 is a waveform diagram of active power transmitted by the converter station when the transient frequency of the power grid fluctuates according to embodiment 4 of the present invention.
Fig. 11 is a waveform diagram of active power transmitted by the converter station when the ac system fails according to embodiment 5 of the present invention.
Fig. 12 is a waveform diagram of the frequency of the converter station in case of ac system failure according to embodiment 5 of the present invention.
Fig. 13 is a waveform diagram of the d-axis component of the ac current in the converter station in case of ac system failure according to embodiment 5 of the present invention.
Fig. 14 is a waveform diagram of q-axis component of ac current of converter station in case of ac system failure according to embodiment 5 of the present invention.
Detailed Description
The present invention is not limited by the following examples, and specific embodiments may be determined according to the technical solutions and practical situations of the present invention.
The invention is further described with reference to the following examples and figures:
example 1: as shown in fig. 1, 2, 3 and 4, the power control method for the MMC-HVDC converter station based on the analog synchronous motor characteristics includes the following steps:
s1, adding an additional power controller in the MMC-HVDC converter station based on the analog synchronous motor characteristics.
S2, switching control of the additional power controller specifically comprises the following processes:
s21, if the local power grid is not networked with the main power grid through the converter station, and BRK1=0, the additional power controller works in a passive state, and at the moment, an input/cut-off signal S of the additional power controller is set p =0, additional power controller auto-switch off;
s22, if the local power grid is networked with the main power grid through the converter station, and BRK1=1, the additional power controller works in an active state, and selective switching of the additional power controller is achieved through hysteresis control at the moment, and the method specifically comprises the following steps:
a, let BRK1=1 pass through t B After the second delay, judging the frequency offset f in the converter station err (found value f) g Minus a reference value f 0 ) Whether or not the absolute value of (f) exceeds a set threshold range (f) errmin ，f errmax )；
b, if the input signal exceeds the preset threshold value, setting an additional power controller input/cut-off signal S p =1, the additional power controller starts to be put into action until the frequency offset f err Is in a set threshold range (f) errmin ，f errmax ) In addition, an additional power controller input/cut signal S is set p =0, the additional power controller is switched off; if not, setting an additional power controller on/off signalNumber S p =0, the additional power controller is not active.
The hysteresis control is introduced, so that frequent switching of the additional power controller is effectively prevented, and the additional power controller is reliably cut off when an alternating current system fails.
The following is further optimization or/and improvement of the technical scheme of the invention:
as shown in fig. 3 and 4, in S22, in response to the additional power controller operating in the active state, the additional power controller passes through the frequency offset f err The hysteresis control realizes the in-process of selective switching and adds artifical input switch, and concrete process includes:
judging the setting state of the manual input switch after responding to the operation of the additional power controller in the active state, and setting an input/cut-off signal S of the additional power controller if the manual input switch is set to be 0 p =0, cut additional power controller, if manual input switch is set to 1, then go through t B The second time delay is used for judging the frequency offset f in the converter station err Is not greater than a set threshold range.
In the actual operation, the manual input switch is introduced, so that the switching selectivity of the controller can be improved.
As shown in fig. 4, a proportional-integral regulator for suppressing the transmission power offset of the converter station is added to the additional power controller.
After introducing the proportional-integral regulator, the mathematical model of the synchronous machine simulation control strategy can be written as:
the frequency domain relationships of Δ Pref → Δ P and Δ fg → Δ P are:
in the formula, k p And k i PI parameter for additional power controllerAnd (4) counting.
From the above, the steady-state power offset after introducing the additional power controller is Δ P ref = Δ P, indicating that the control objective can be achieved on the design side.
As shown in fig. 4, a damping controller for suppressing power oscillation is added in the additional power controller, and the damping controller comprises a differential term which is superposed on the input link of the additional power controller and a first-order low-pass filter is added in the amplitude limiting link.
The differential term of the input power P is superposed at the input link of the additional power controller, and the coefficient is k d The amplification of the high-frequency component of the system by pure differential operation can be effectively inhibited; and a first-order low-pass filter is added in the amplitude limiting link, so that an incomplete differential factor is formed by the low-order low-pass filter and the differential term, and the soft amplitude limiting function is realized.
After adding the damping controller, the mathematical model of the synchronous machine simulation control strategy can be written as:
when only the power loop is considered, Δ P ref → Δ P and Δ f g The frequency domain relationship of → Δ P is:
by comparing the above two formulas, k p And k i When the damping controller is not changed, the damping controller is introduced to not change the order number and the zero point of the power loop, and only change the position of the pole. Moderate increase of k i The value of (c) can increase the natural frequency of the dominant pole to ensure steady state accuracy.
Aiming at the scene that the MMC-HVDC converter station adopts a synchronous motor simulation control strategy to supply power to a large island, the invention provides an additional power controller which utilizes the integral of the active power offset to correct the nominal value of the frequency in real time in order to eliminate the offset of the transmission power of the converter station caused by the static random fluctuation of the frequency of a local power grid, solves the problem that the synchronous motor simulation control cannot accurately control the active power in a steady state, and realizes the selectivity that a main power grid participates in the regulation of the local power grid through a direct current system. In addition, the invention introduces a proportional-integral regulator and a damping controller into the additional power controller, further controls the transmission power offset of the converter station, effectively inhibits the amplification of the high-frequency component of the system by pure differential operation, and realizes the soft amplitude limiting function.
Example 2: as shown in fig. 5, an MMC-HVDC converter station power control system based on analog synchronous motor characteristics includes an additional power controller for eliminating the deviation of the converter station transmission power caused by the static random fluctuation of the local grid frequency and accurately controlling the active power;
the additional power controller comprises a controller switching strategy module, the controller switching strategy module is used for controlling switching of the additional power controller, namely whether the additional power controller works in an active state is judged, the additional power controller is cut off in response to that the additional power controller does not work in the active state, and the additional power controller realizes selective work through hysteresis control of frequency offset ferr in response to that the additional power controller works in the active state.
The following are further optimization or/and improvement on the technical scheme of the invention:
as shown in fig. 5, the controller switching strategy module includes a switching initial judgment module, a manual input switch, and a hysteresis control module;
the switching initial judgment module is used for judging whether to switch the additional power controller according to whether the additional power controller works in an active state;
the manual input switch is used for manually setting switching signals of the additional power controller;
and the hysteresis control module is used for controlling whether the additional power controller is put into operation or not after the additional power controller works in an active state.
As shown in fig. 5, the additional power controller further includes a damping controller and a proportional-integral regulator;
the damping controller is used for superposing a differential term of input power in an input link of the additional power controller and adding a first-order low-pass filter in an amplitude limiting link;
and the proportional-integral regulator is used for adding a proportional-integral regulator for inhibiting the transmission power offset of the converter station into the additional power controller.
Example 3: taking the system simulation model shown in fig. 6 as an example, the simulation verification is performed on the switching scheme of the additional power controller, and the specific result is as follows:
in fig. 7, the additional power controller is switched on at t =22.9s, the tie switch BRK1 is tripped at t =25s, the converter station is switched to the passive power supply mode, and it can be known from fig. 7 that the switching on the additional power controller does not adversely affect the dynamic process of the operation mode switching.
Example 4: taking the system simulation model shown in fig. 6 as an example, the simulation verification is performed on the condition of power grid frequency fluctuation, and the specific result is as follows:
fig. 8 shows that the influence of the power grid frequency fluctuation on the active power is small after the additional power controller is adopted, the active power is quickly regressed to the command value after only a very short time, and the maximum power fluctuation is only within a range of 3MW, so that the scheme can be considered to realize accurate power control and make up for the defects of synchronous motor analog control.
Fig. 9 to 10 show simulation results of variables of the converter station when the transient frequency of the power grid fluctuates. If the local grid frequency is increased to 50.1Hz when t =24s, the additional power controller is provided with a factor f err And the absolute value is out of limit and is automatically cut off, and the main power grid participates in power regulation of the local power grid at the moment. As shown in fig. 9, when t =26s, the grid frequency is reduced to 49.98Hz, which is static frequency fluctuation, and it is undesirable to participate in power regulation of the main grid. As shown in FIG. 10, with the introduction of the additional power controller, the converter station does not participate in power regulation at this time, and the transmission power thereof is maintained at the command value of 200MW, thereby achieving the selectivity of the converter station in participating in power regulation.
Example 5: taking the system simulation model shown in fig. 6 as an example, the simulation verification is performed on the condition of the alternating current system when the fault occurs, and the specific result is as follows:
setting the networked operation of the converter stations to t =2The three-phase short-circuit fault occurs at the PCC2 at 5s, and is cleared after 0.1s, and the waveforms of all variables are shown in the accompanying drawings 11 to 14. It can be known that the inertia coefficient T is influenced when the synchronous motor simulation control strategy is adopted J The synchronization time of the converter station and the power grid is long, great power impact appears after the fault, but the transient fluctuation of the instruction frequency of the power loop is small; after introducing the additional power controller, the additional power control factor f is in failure err The absolute value is automatically cut off when being out of limit, and after a fault occurs, the converter station can realize power and power synchronization in a short time, effectively inhibit power oscillation and realize power rapid control. Although the transient fluctuation of the command frequency becomes large when the fault occurs, the fault can be quickly synchronized with the power grid. And the overcurrent capacity of the converter station is set to be 1.1 times of rated current, and as can be seen from figures 13 and 14, the alternating current of the converter station is kept in a safe range during the fault period.
The technical characteristics form the best embodiment of the invention, the best embodiment has stronger adaptability and best implementation effect, and unnecessary technical characteristics can be increased or decreased according to actual needs to meet the requirements of different situations.
Claims (8)
1. A MMC-HVDC converter station power control method based on analog synchronous motor characteristics is characterized by comprising the following steps:
adding an additional power controller in the MMC-HVDC converter station based on the characteristics of the analog synchronous motor;
the additional power controller is switched according to the networking state of the local power grid, if the local power grid is networked with the main power grid through the converter station, the additional power controller is in an active state, and if the local power grid is not networked with the main power grid through the converter station, the additional power controller is in a passive state; the additional power controller is switched off in response to the additional power controller not operating in the active state, and the additional power controller is switched on by the frequency offset f in response to the additional power controller operating in the active state err The hysteresis control realizes selective switching.
2. MM based on simulated synchronous machine characteristics according to claim 1Method for power control in a C-HVDC converter station, characterized in that said additional power controller is arranged to pass a frequency offset f err The process of realizing selective switching by hysteresis control comprises the following steps:
after the additional power controller is operated in the active state, t B The second time delay is used for judging the frequency offset f in the converter station err Whether the absolute value of (a) exceeds a set threshold range;
if so, the additional power controller is put into action until the frequency offset f err After the absolute value of (a) is within a set threshold range, the additional power controller stops; if not, the additional power controller is cut off.
3. The MMC-HVDC converter station power control method based on analog synchronous machine characteristics of claim 2, wherein additional power control passes through frequency offset f in response to the additional power controller operating in an active state err The hysteresis control realizes the in-process of selective switching and adds artifical input switch, and concrete process includes:
after responding to the fact that the additional power controller works in an active state, judging the setting state of the manual input switch, if the manual input switch is set to be 0, cutting off the additional power controller, and if the manual input switch is set to be 1, cutting off the additional power controller after t B The second time delay is used for judging the frequency offset f in the converter station err Is not greater than a set threshold range.
4. The MMC-HVDC converter station power control method based on analog synchronous machine characteristics of claim 1, 2 or 3, characterized in that a damping controller for suppressing power oscillations is added to said additional power controller, the damping controller comprising a superposition of a derivative term of the input power at the additional power control input stage and a first order low pass filter at the clipping stage.
5. A method for power control of an MMC-HVDC converter station based on modelling the behaviour of a synchronous machine according to claim 1, 2 or 3, characterized by the addition of a proportional-integral regulator to suppress converter station transmission power excursions in said additional power controller.
6. A system of MMC-HVDC converter station power control method based on simulation synchronous machine characteristics of any of claims 1-5, characterized by including additional power controller, is used for eliminating the skew that causes the converter station transmission power by the static random fluctuation of local electric wire netting frequency, control the active power accurately;
the additional power controller comprises a controller switching strategy module, the controller switching strategy module is used for controlling switching of the additional power controller, namely whether the additional power controller works in an active state or not is judged, the additional power controller is switched off when the additional power controller does not work in the active state, and selective work of the additional power controller is realized through hysteresis control of the frequency offset ferr when the additional power controller works in the active state.
7. The MMC-HVDC converter station power control system based on simulation synchronous machine characteristic of claim 6, characterized in that the controller switching strategy module comprises a switching initial judgment module, a manual input switch, a hysteresis control module;
the switching initial judgment module is used for judging whether to switch the additional power controller according to whether the additional power controller works in an active state;
the manual input switch is used for manually setting switching signals of the additional power controller;
and the hysteresis control module is used for controlling whether the additional power controller is put into operation or not after the additional power controller works in an active state.
8. The MMC-HVDC converter station power control system based on analog synchronous machine characteristics of claim 6 or 7, wherein the additional power controller further comprises a damping controller and a proportional-integral regulator;
the damping controller is used for superposing a differential term of input power in an input link of the additional power controller and adding a first-order low-pass filter in an amplitude limiting link;
and the proportional-integral regulator is used for adding a proportional-integral regulator for inhibiting the transmission power offset of the converter station into the additional power controller.
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