CN110361627A - A kind of single-ended traveling wave fault location method based on MMC-HVDC - Google Patents
A kind of single-ended traveling wave fault location method based on MMC-HVDC Download PDFInfo
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/081—Locating faults in cables, transmission lines, or networks according to type of conductors
- G01R31/086—Locating faults in cables, transmission lines, or networks according to type of conductors in power transmission or distribution networks, i.e. with interconnected conductors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/088—Aspects of digital computing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/11—Locating faults in cables, transmission lines, or networks using pulse reflection methods
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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
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- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
- Y04S10/52—Outage or fault management, e.g. fault detection or location
Abstract
The single-ended traveling wave fault location method based on MMC-HVDC that the present invention relates to a kind of, belongs to Relay Protection Technology in Power System field.When the HVDC transmission system misoperation containing modularization multi-level converter, phase-model transformation is carried out to positive and negative anodes DC voltage and obtains line mode voltage；The voltage traveling wave after phase moding is analyzed using empirical mode decomposition-Hilbert-Huang transform and fault point reflection wave head is demarcated；Ranging is carried out to failure according to the wave head of calibration.Empirical mode decomposition-Hilbert-Huang transform (HHT) is applied to the HVDC transmission system containing modularization multi-level converter by the present invention, carries out single-ended fault location.
Description
Technical field
The single-ended traveling wave fault location method based on MMC-HVDC that the present invention relates to a kind of, belongs to relay protection of power system
Technical field.
Background technique
In recent years, modularization multi-level converter is due to good with waveform quality, does not need to be reconfigured filter and set, switchs
Be lost it is low, device press simply, use modularized design, be easy expand, can to passive system power the advantages that and obtain
More and more concerns and application, but also for the research of the flexible DC transmission of modularization multi-level converter (MMC-HVDC)
It is only at the initial stage.Since China is to the HVDC transmission system DC side route based on modularization multi-level converter
The research of failure be also only on simple fault characteristic simulation analysis, after permanent monopolar grounding fault occurs for system, in order to
The line walking time is reduced, needs quickly to carry out ranging to abort situation, finds abort situation, then the route of failure is carried out timely
Reparation, thus the normal operation of recovery system.Currently, being directed to the monopolar grounding fault of modular multi-level flexible direct-current transmission
The research of ranging is also fewer.
Summary of the invention
The technical problem to be solved by the present invention is to be directed to the HVDC transmission system based on modularization multi-level converter
The existing technical problem of error protection provides a kind of single-ended traveling wave fault location method based on MMC-HVDC.
The technical scheme is that a kind of single-ended traveling wave fault location method based on MMC-HVDC, when containing module
When changing the HVDC transmission system misoperation of multilevel converter, phase-model transformation is carried out to positive and negative anodes DC voltage and obtains line
Mode voltage；The voltage traveling wave after phase moding is analyzed using empirical mode decomposition-Hilbert-Huang transform (HHT), with
And fault point reflection wave head is demarcated, and MMC-HVDC system model is built；Ranging is carried out to failure according to the wave head of calibration.
Specific steps are as follows:
Step1: when the HVDC transmission system misoperation containing modularization multi-level converter, power grid event is extracted
Positive and negative anodes DC voltage after barrier finds out line mode voltage U with Karrenbauer phase mode transformation matrix to the two poles of the earth DC voltage1
(k), transformation for mula is as follows:
In formula, U+(k)、U-It (k) is respectively faulty line positive DC voltage and negative DC voltage, k=1,2,3,4 ...
N, N are sampling sequence length；
Step2: line mode voltage U is obtained to acquired in Step11(k), empirical mode decomposition (Empirical Mode
Decomposition, EMD) the step of it is as follows:
(1) original signal U is extracted1(k) all Local modulus maximas and minimum point；
(2) U is found out with spline function1(k) upper and lower envelope, and calculate average value m (k)；
(3) each moment original signal U is calculated1(k) with the error h (k) of average value m (k)=x (k)-m (k)；
(4) judge whether h (k) meets the condition of intrinsic mode function (Intrinsic Mode Function, IMF):
1) (value of this both ends consecutive points is different for maximum and minimum point number and the signal zero-crossing that signal is included
Number) number be not more than 1；
2) the lower envelope line that the coenvelope line and local minizing point that the Local modulus maxima of signal is constituted are constituted, they
Mean value is 0, i.e., upper and lower envelope is relative to time axial symmetry.
If h (k) meets the condition of IMF, it is exactly IMF；
If；H (k) is unsatisfactory for the condition of IMF, it is just set as initial data, step (1)-(2) is repeated, until h (k)
Until the condition for meeting IMF component；
(5) c=h (k) is enabled, first IMF found out is denoted as c1(k), first IMF component c is subtracted with original signal1
(k), remainder r is obtained1(k)=U1(k)-c1(k), then using remainder as new original signal, according to (1)-(4)
The step of seeking IMF successively seeks n-th order IMF component cn(k)；
In decomposable process, the setting of termination condition are as follows:
For h (k), judge whether the extreme point number of h (k) and zero number are equal or at most poor 1；
For r (k), judge the extreme point number of r (k) whether less than 2；
After the completion of EMD is decomposed, the criterion for carrying out detection detection catastrophe point is as follows:
1) first-order difference is carried out to the high-frequency I MF component after decomposition, it can be determined that the maximum position and direction of signal intensity,
Be considered as wavefront reach measuring end at the time of and polarity；
2) to after decomposition high-frequency I MF component carry out Hilbert transformation, and then obtain each rank IMF component instantaneous frequency,
Instantaneous phase and instantaneous amplitude；
3) extreme point is asked to the high-frequency I MF component after decomposition, calculates the difference in magnitude of adjacent maximum point and minimum point
The interval of absolute value and adjacent maximum point and minimum point, extreme value absolute value of the difference is maximum and is spaced at minimum as signal
Catastrophe point position；
Step3: reflected wave identification reliable recognition and time calibrating t2 or t3 are obtained according to step 2 result, obtain final failure
Point distance are as follows:
In formula: l1For fault distance, L is total track length, and v is the velocity of wave that frequency is 2 π f down going waves, t1For failure primary wave
Head reaches measuring end bus moment, t2The time of measuring end bus, t are reached for fault point back wave3It is arrived for opposite end bus reflected wave
Up to the time of measuring end bus.
The beneficial effects of the present invention are: the present invention by empirical mode decomposition-Hilbert-Huang transform (HHT) apply to containing
The HVDC transmission system of modularization multi-level converter carries out single-ended fault location.
Detailed description of the invention
Fig. 1 is flow chart of the invention；
Fig. 2 is MMC-HVDC system construction drawing of the present invention for emulation；
Fig. 3 is that the embodiment of the present invention 1 rectifies side line mode voltage waveform；
Fig. 4 is 1IMF1 high fdrequency component of the embodiment of the present invention；
Fig. 5 is 1HHT wave head testing result of the embodiment of the present invention；
Fig. 6 is that the embodiment of the present invention 2 rectifies side line mode voltage waveform；
Fig. 7 is 2IMF1 high fdrequency component of the embodiment of the present invention；
Fig. 8 is 2HHT wave head testing result of the embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawings and detailed description, the invention will be further described.
A kind of single-ended traveling wave fault location method based on MMC-HVDC, when the high pressure containing modularization multi-level converter
When DC transmission system misoperation, phase-model transformation is carried out to positive and negative anodes DC voltage and obtains line mode voltage；Utilize empirical modal
Decomposition-Hilbert-Huang transform analyzes the voltage traveling wave after phase moding and fault point reflection wave head is demarcated；
Ranging is carried out to failure according to the wave head of calibration.
Specific steps are as follows:
Step1: when the HVDC transmission system misoperation containing modularization multi-level converter, power grid event is extracted
Positive and negative anodes DC voltage after barrier finds out line mode voltage U with Karrenbauer phase mode transformation matrix to the two poles of the earth DC voltage1
(k), transformation for mula is as follows:
In formula, U+(k)、U-It (k) is respectively faulty line positive DC voltage and negative DC voltage, k=1,2,3,4 ...
N, N are sampling sequence length；
Step2: line mode voltage U is obtained to acquired in Step11(k), the step of empirical mode decomposition is as follows:
(1) original signal U is extracted1(k) all Local modulus maximas and minimum point；
(2) U is found out with spline function1(k) upper and lower envelope, and calculate average value m (k)；
(3) each moment original signal U is calculated1(k) with the error h (k) of average value m (k)=x (k)-m (k)；
(4) judge whether h (k) meets the condition of intrinsic mode function:
1) (value of this both ends consecutive points is different for maximum and minimum point number and the signal zero-crossing that signal is included
Number) number be not more than 1；
2) the lower envelope line that the coenvelope line and local minizing point that the Local modulus maxima of signal is constituted are constituted, they
Mean value is 0, i.e., upper and lower envelope is relative to time axial symmetry.
If h (k) meets the condition of IMF, it is exactly IMF；
If；H (k) is unsatisfactory for the condition of IMF, it is just set as initial data, step (1)-(2) is repeated, until h (k)
Until the condition for meeting IMF component；
(5) c=h (k) is enabled, first IMF found out is denoted as c1(k), first IMF component c is subtracted with original signal1
(k), remainder r is obtained1(k)=U1(k)-c1(k), then using remainder as new original signal, according to (1)-(4)
The step of seeking IMF successively seeks n-th order IMF component cn(k)；
In decomposable process, the setting of termination condition are as follows:
For h (k), judge whether the extreme point number of h (k) and zero number are equal or at most poor 1；
For r (k), judge the extreme point number of r (k) whether less than 2；
It can be seen that after decomposition, original signal is made of several IMF components and a residual components:
In formula, U1It (k) is original signal, ciIt (k) is each rank IMF component, rnIt (k) is residual components, it is a monotonic function.
After the completion of EMD is decomposed, the criterion for carrying out detection detection catastrophe point is as follows:
1) first-order difference is carried out to the high-frequency I MF component after decomposition, it can be determined that the maximum position and direction of signal intensity,
Be considered as wavefront reach measuring end at the time of and polarity；
2) to after decomposition high-frequency I MF component carry out Hilbert transformation, and then obtain each rank IMF component instantaneous frequency,
Instantaneous phase and instantaneous amplitude；
3) extreme point is asked to the high-frequency I MF component after decomposition, calculates the difference in magnitude of adjacent maximum point and minimum point
The interval of absolute value and adjacent maximum point and minimum point, extreme value absolute value of the difference is maximum and is spaced at minimum as signal
Catastrophe point position；
Step3: reflected wave identification reliable recognition and time calibrating t2 or t3 are obtained according to step 2 result, obtain final failure
Point distance are as follows:
In formula: l1For fault distance, L is total track length, and v is the velocity of wave that frequency is 2 π f down going waves, t1For failure primary wave
Head reaches measuring end bus moment, t2The time of measuring end bus, t are reached for fault point back wave3It is arrived for opposite end bus reflected wave
Up to the time of measuring end bus.
Embodiment 1: DC transmission system of the both ends based on modular multilevel of 77 level has been built in simulation software
Model.The capacitance C=2800uF of submodule, the rated capacity voltage Uc=8.5KV of submodule, bridge arm reactance are 50mH,
DC voltage Udc=± 300KV, the length of DC side overhead line are 400km.
Assuming that ground fault occurs away from the positive route at rectification side 100km, transition resistance is 0 Ω, and sample rate is set as
100kHz, fault wire mode voltage waveform that obtained rectification side measuring end obtains as shown in figure 3, line mode voltage traveling wave IMF1 high
Frequency component is as shown in Figure 4, and the HHT wave head testing result of line mode voltage traveling wave is as shown in Figure 5.
In Fig. 5, a is the initial traveling wave of failure, and b is fault point back wave, and c is opposite end inverter side back wave, the t in figure0
=0.75ms, t1=1.42ms, t2=2.76ms, according to formula (4), taking velocity of wave v is 2.985 × 102km/ms, so that it may be calculated
Fault distance x=99.9975km, i.e., distance of the abort situation apart from rectification side be 99.9975km, with physical fault apart from phase
Poor 2.5m.
Embodiment 2: assuming that ground fault occurs away from the positive route at rectification side 350km, transition resistance is 0 Ω, sampling
Rate is set as 100kHz, and the fault wire mode voltage waveform that obtained rectification side measuring end obtains is as shown in fig. 6, line mode voltage traveling wave
IMF1 high fdrequency component it is as shown in Figure 7, the HHT wave head testing result of line mode voltage traveling wave is as shown in Figure 8.
It is the initial traveling wave of failure in Fig. 8, a, b is fault point back wave, and c is opposite end inverter side back wave, the t in figure0=
1.63ms t1=3.98ms, t2=1.96ms, according to formula (3), taking velocity of wave v is 2.985 × 102km/ms, so that it may be calculated
The distance of x=350.7475km, i.e. abort situation apart from rectification side is 350.7475km, is differed with physical fault distance
747.5m。
Similarly, it is analyzed in the case where different abort situation, different transition resistance, ranging as shown in Table 1 can be obtained
As a result.
Table 1: the single end distance measurement result in the case of different faults
Analytical table 1 is not it is found that the result of fault localization is influenced by transition resistance, and the error of fault localization is in 2km range
Within, meet the requirement of fault localization.
In conjunction with attached drawing, the embodiment of the present invention is explained in detail above, but the present invention is not limited to above-mentioned
Embodiment within the knowledge of a person skilled in the art can also be before not departing from present inventive concept
Put that various changes can be made.
Claims (2)
1. a kind of single-ended traveling wave fault location method based on MMC-HVDC, it is characterised in that: changed when containing modular multilevel
When flowing the HVDC transmission system misoperation of device, phase-model transformation is carried out to positive and negative anodes DC voltage and obtains line mode voltage；Benefit
The voltage traveling wave after phase moding is analyzed with empirical mode decomposition-Hilbert-Huang transform and fault point back wave
Head is demarcated；Ranging is carried out to failure according to the wave head of calibration.
2. the single-ended traveling wave fault location method according to claim 1 based on MMC-HVDC, it is characterised in that specific step
Suddenly are as follows:
Step1: when the HVDC transmission system misoperation containing modularization multi-level converter, after extracting electric network fault
Positive and negative anodes DC voltage, line mode voltage U is found out with Karrenbauer phase mode transformation matrix to the two poles of the earth DC voltage1(k), become
It is as follows to change formula:
In formula, U+(k), U- (k) is respectively faulty line positive DC voltage and negative DC voltage, and k=1,2,3,4 ... N, N are
Sampling sequence length；
Step2: line mode voltage U is obtained to acquired in Step11(k), the step of empirical mode decomposition is as follows:
(1) original signal U is extracted1(k) all Local modulus maximas and minimum point；
(2) U is found out with spline function1(k) upper and lower envelope, and calculate average value m (k)；
(3) each moment original signal U is calculated1(k) with the error h (k) of average value m (k)=x (k)-m (k)；
(4) judge whether h (k) meets the condition of intrinsic mode function:
1) number of signal is included maximum and minimum point number and signal zero-crossing is not more than 1；
2) the lower envelope line that the coenvelope line and local minizing point that the Local modulus maxima of signal is constituted are constituted, their mean value
It is 0；
If h (k) meets the condition of IMF, it is exactly IMF；
If；H (k) is unsatisfactory for the condition of IMF, it is just set as initial data, repeats step (1)-(2), until h (k) meets
Until the condition of IMF component；
(5) c=h (k) is enabled, first IMF found out is denoted as c1(k), first IMF component c is subtracted with original signal1(k),
Obtain remainder r1(k)=U1(k)-c1(k), it is then sought using remainder as new original signal according to (1)-(4)
The step of IMF, successively seeks n-th order IMF component cn(k)；
In decomposable process, the setting of termination condition are as follows:
For h (k), judge whether the extreme point number of h (k) and zero number are equal or at most poor 1；
For r (k), judge the extreme point number of r (k) whether less than 2；
After the completion of EMD is decomposed, the criterion for carrying out detection detection catastrophe point is as follows:
1) first-order difference is carried out to the high-frequency I MF component after decomposition, it can be determined that the maximum position and direction of signal intensity, it can be with
Regard as wavefront reach measuring end at the time of and polarity；
2) Hilbert transformation is carried out to the high-frequency I MF component after decomposition, and then obtains the instantaneous frequency, instantaneous of each rank IMF component
Phase and instantaneous amplitude；
3) extreme point is asked to the high-frequency I MF component after decomposition, calculates the absolute of the difference in magnitude of adjacent maximum point and minimum point
The interval of value and adjacent maximum point and minimum point, extreme value absolute value of the difference is maximum and is spaced at minimum as sign mutation
Point position；
Step3: obtaining reflected wave identification reliable recognition and time calibrating t2 or t3 according to step 2 result, obtain final fault point away from
From are as follows:
In formula: l1For fault distance, L is total track length, and v is the velocity of wave that frequency is 2 π f down going waves, t1It is arrived for fault initial wave head
Up to measuring end bus moment, t2The time of measuring end bus, t are reached for fault point back wave3It reaches and surveys for opposite end bus reflected wave
Measure the time of end bus.
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| CN110954786A (en) * | 2019-12-25 | 2020-04-03 | 青岛科技大学 | Hybrid multi-terminal direct current transmission line traveling wave distance measurement method based on HHT |
| CN111308267A (en) * | 2019-12-25 | 2020-06-19 | 青岛科技大学 | C-EVT-based hybrid multi-terminal direct current transmission line traveling wave distance measurement method |
| CN111398851A (en) * | 2020-03-30 | 2020-07-10 | 云南电网有限责任公司电力科学研究院 | MMC-HVDC direct current transmission line fault detection method |
| CN111537832A (en) * | 2020-04-10 | 2020-08-14 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | Line fault positioning method, terminal and system for multi-terminal flexible direct current transmission system |
| CN111537776A (en) * | 2020-04-10 | 2020-08-14 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | Traveling wave head calibration method, device, terminal and medium |
| CN113466605A (en) * | 2021-05-07 | 2021-10-01 | 中国矿业大学 | MMC (Modular multilevel converter) -based pseudo-random code fault distance measurement method and system |
| CN114152840A (en) * | 2021-11-29 | 2022-03-08 | 昆明理工大学 | LCC-MMC hybrid direct current transmission line fault distance measurement method and system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110954786A (en) * | 2019-12-25 | 2020-04-03 | 青岛科技大学 | Hybrid multi-terminal direct current transmission line traveling wave distance measurement method based on HHT |
| CN111308267A (en) * | 2019-12-25 | 2020-06-19 | 青岛科技大学 | C-EVT-based hybrid multi-terminal direct current transmission line traveling wave distance measurement method |
| CN111398851A (en) * | 2020-03-30 | 2020-07-10 | 云南电网有限责任公司电力科学研究院 | MMC-HVDC direct current transmission line fault detection method |
| CN111537832A (en) * | 2020-04-10 | 2020-08-14 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | Line fault positioning method, terminal and system for multi-terminal flexible direct current transmission system |
| CN111537776A (en) * | 2020-04-10 | 2020-08-14 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | Traveling wave head calibration method, device, terminal and medium |
| CN113466605A (en) * | 2021-05-07 | 2021-10-01 | 中国矿业大学 | MMC (Modular multilevel converter) -based pseudo-random code fault distance measurement method and system |
| CN113466605B (en) * | 2021-05-07 | 2022-08-05 | 中国矿业大学 | MMC (Modular multilevel converter) -based pseudo-random code fault distance measurement method and system |
| CN114152840A (en) * | 2021-11-29 | 2022-03-08 | 昆明理工大学 | LCC-MMC hybrid direct current transmission line fault distance measurement method and system |
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Application publication date: 20191022 |