CN110427635A - LCC-HVDC optimizes electromagnetical transient emulation method - Google Patents
LCC-HVDC optimizes electromagnetical transient emulation method Download PDFInfo
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Abstract
A kind of LCC-HVDC optimization electromagnetical transient emulation method, by establishing LCC-HVDC electro-magnetic transient Optimized model, the switch state of converter valve in adoption status matrix characterization model, and the topological structure of major and minor network is determined according to state matrix number, the electric current and voltage of converter valve on the master network under malfunction and secondary network are obtained by model and realizes transient emulation after exceptional value is corrected.The present invention is emulated using perfect switch modeling converter valve for LCC-HVDC, inverter electrical network structure is simplified, master network and secondary network are divided into according to the network topology structure of current simulation step length, master network is solved first, then according to obtained result to secondary Solution To The Network, the Current Voltage of each converter valve of the current time step of final updating.
Description
Technical field
The present invention relates to a kind of technology in Electric control field, specifically a kind of line commutation inverter (LCC-
HVDC) optimize electromagnetical transient emulation method.
Background technique
Electric system simulation is the important tool for understanding power grid characteristic.LCC-HVDC mainly by thyristor groups at, be hand over it is straight
The important component for flowing serial-parallel power grid, fast and accurately emulates it significant to the safe and stable operation of power grid.
Two-value resistance switch is mostly used in PSCAD/EMTDC and RTDS program for the electromagnetic transient simulation technology of LCC-HVDC
Opening for inverter thyristor is used small resistance and big equivalent resistance with off state by model respectively.It is handled in this way,
When system scale is smaller, computational burden can also receive.But when emulating entire AC-DC hybrid power grid, DC line is more
It up to tens of, needs switching device to be simulated hundreds of, when the variation of each switch state, requires the admittance square to system
Battle array is regenerated and is inverted, and operand increased dramatically.Therefore, this emulation mode limits the scale of emulation, needs pair
Existing electrical-magnetic model is reasonably simplified
LCC-HVDC electrical-magnetic model can carry out the standard of stable state and various transient processes to HVDC transmission system
Really emulation.But simulation scale expand after calculation amount can increase sharply with computational complexity, major embodiment in the following areas:
(1) after simulation scale expands, the number of switches for needing to emulate simultaneously increases, and converter valve uses variable resistance switch mould
Type, it is meant that the admittance matrix of system is on a grand scale, and frequently changes, and the solution of electrical network needs to invert to it
Operation consumes a large amount of computing resources.
(2) number of switches increase also imply that have more switching processes occur two neighboring simulation step length it
Between, switching process detection, interpolation and numerical value concussion elimination algorithm can consume more computing resources.
(3) after simulation scale expands, the structure and level of control system are also increasingly complex, and being solved to it can also consume
More computing resources.
Summary of the invention
The present invention In view of the above shortcomings of the prior art, proposes a kind of LCC-HVDC optimization electromagnetic transient simulation side
Method is emulated for LCC-HVDC using perfect switch modeling converter valve, is simplified to inverter electrical network structure,
It is divided into master network and secondary network according to the network topology structure of current simulation step length, master network is solved first, then
According to obtained result to secondary Solution To The Network, the Current Voltage of each converter valve of the current time step of final updating.
The present invention is achieved by the following technical solutions:
Converter valve of the present invention by establishing LCC-HVDC electro-magnetic transient Optimized model, in adoption status matrix characterization model
Switch state, and determine according to state matrix number the topological structure of major and minor network, obtained under malfunction by model
Master network and secondary network on converter valve electric current and voltage and realize transient emulation after exceptional value is corrected.
The LCC-HVDC electro-magnetic transient Optimized model, to simulate 12 pulsating wave commutation system, by rectification side and inversion
Side is constituted, and includes four six pulse wave inverters, in which: the DC side of rectification side is connected by two six pulse wave inverters, exchanges side
By transformers connected in parallel, one of transformer is star-like connection, another is triangle connection, and inverter side is with rectification side
Mutually isostructural mirror image.
The six pulse wave inverters include: three-phase alternating voltage instantaneously input, three-phase transformer equivalent inductance and with
Six connected arm converter bridges, in which: the thyristors of six simulation converter valves, the six arm changes of current are respectively equipped on six arm converter bridges
The output end of bridge is equipped with smoothing reactor inductance.
The switch state of the converter valve records the switch state of converter valve using four state matrixes, each respectively
Six pulse wave commutation systems record six converter valve switch states using a state matrix
The exceptional value amendment refers to: negative value, one occurs to some electric currents including flowing through thyristor being calculated
A little device both end voltages are modified around a certain numerically lower unreasonable result vibrated, are specifically included: by
Thyristor current flows are flowed through using linear interpolation method solution in the calculation procedure of EMTDC the case where negative value occur and pass through damping
Trapezoidal integration, critical damping adjusting method solve numerical oscillation.
The linear interpolation obtains t preferably through linear interpolation twice0The correct current value of+time Δt.
Technical effect
Compared with prior art, the present invention, can during to the electric system simulation for containing a large amount of LCC-HVDC
So that the admittance matrix scale of whole system reduces very big compared with existing electromagnetical transient emulation method, big system is improved
The efficiency of emulation.
The LCC-HVDC inverter electrical-magnetic model of optimization can simplify electrical network structure, reduce network matrix rule
Mould；The LCC-HVDC inverter electro-magnetic transient solution procedure of optimization is able to maintain the stability of electrical network matrix structure, is promoted
Solution procedure computational efficiency.
Detailed description of the invention
Fig. 1 is embodiment 12 pulsating wave commutation system structure chart；
Fig. 2 a and Fig. 2 b are six pulse wave commutation system electro-magnetic transient Optimized model comparison diagrams；
Fig. 3 is that topological diagram is connected in six pulse wave system converter valve VT1, VT2, VT3
Fig. 4 is that topological diagram is connected in six pulse wave system converter valve VT2, VT3, VT4, VT5；
Fig. 5 is secondary network equivalent circuit diagram；
Fig. 6 is embodiment transient emulation method schematic diagram.
Specific embodiment
As shown in fig. 6, the present embodiment is related to a kind of LCC-HVDC optimization electromagnetical transient emulation method, comprising the following steps:
Step 1) establishes LCC-HVDC electro-magnetic transient Optimized model:
For variable resistance switch model, either conducting or disconnection requires to occupy a network node, when
When system scale expands, the scale of electrical network can also be increased with it.Perfect switch model, i.e., it is electric in switch OFF
Resistance is infinitely great, and in conducting, resistance is zero.Two bridge arms and three bridges when being operated normally in view of LCC-HVDC inverter
Arm is connected in turn, and commutation process occurs between the two phases, and being modeled using perfect switch model to converter valve can be to electrical
Network makes simplification.
For the transformer in LCC-HVDC system, it is contemplated that transformer leakage reactance is affected to commutation process, encourages
Magnetic branch influences to ignore for whole system, therefore transformer model uses simplified model, ignores field excitation branch line, often
Mutually replaced using inductance.
It is the topological diagram of existing six pulse waves system as shown in Fig. 2 (a), the conducting of converter valve 1,2,3, the change of current is inscribed when shown
Valve 4,5,6 turns off.
LCC-HVDC electro-magnetic transient Optimized model described in the present embodiment includes: that three-phase alternating voltage instantaneously inputs ua, ub,
uc, three-phase transformer equivalent inductance LrAnd six arm converter bridges being attached thereto, in which: be respectively equipped with six on six arm converter bridges
Thyristor VT1~VT6 of converter valve is simulated, the output end of six arm converter bridges is equipped with smoothing reactor inductance Ld.Fig. 2 (b) table
Show under same condition, using the equivalent circuit of perfect switch.As it can be seen that if converter valve is using perfect switch, six pulse wave system electricity
Gas network only needs to occupy 2 nodes, and uses variable resistance switch model, then needs to occupy 5 nodes.
The stabilization that step 2) solves LCC-HVDC electro-magnetic transient Optimized model to keep electrical network matrix structure
Property, to improve computational efficiency, specific steps include:
2.1) using the switch state of converter valve state matrix characterization converter valve:
For six bridge arms of converter bridge, using the switch state of converter valve state matrix Condition characterization converter valve.
Such as it is as shown in Figure 2 at the time of, Condition=[1 1100 0], " 0 " indicate shutdown, " 1 " indicate conducting.State
The last simulation step length of the determination basis of each element obtains in matrix each converter valve Current Voltage and current step converter valve are opened
Close instruction.For thyristor, if its both end voltage is greater than zero, and receives trigger signal and can be connected, corresponding element
Set；When the electric current by thyristor is less than zero, thyristor shutdown, corresponding element reset.Trigger signal is by pll oscillation
Device tracks change of current busbar voltage phase, obtains compared with triggering angle signal.
When each simulation step length starts, need to determine each element of state matrix first.There may be the shape of multiple types
State matrix is numbered using Condition_Num representing matrix, determines ten's digit of the method according to Condition.Such as
When [1 1100 0] Condition=, Condition_Num=56.
2.2) topological structure for determining master network is numbered according to state matrix:
As shown in Figure 3 and Figure 4, it determines the topological structure of major and minor network, that is, forms the circuit of electrical master network, secondary network
Equation, specifically: master network circuit equation is about six pulse wave commutation system direct current output port current potential ud1、ud2, direct current
Flow idOne group of equation be primarily present two converter valves for six pulse wave commutation systems and three converter valves be connected in turn
State.For moment shown in Fig. 4, converter valve VT1, VT2, VT3 conducting, remaining change of current valve breakdown, electric current positive direction is defined as exchanging
System is directed toward direct current system, when AC system points of common connection is to obtain with reference to point
Wherein: idFor DC current, ud1, ud2Represent the positive and negative electrode potential of DC output end；ia, ibFor A, B biphase current, id=ia+ib,
The method to be replaced using numerical integration, by taking backward Euler method as an example:Wherein: i (n)
For the electric current of n-th of simulation step length, i (n+1) is the electric current of (n+1) a step-length, and Δ t is simulation step length, and arrangement obtains:
Circuit side
First item is i on the left of journey equal signd(n+1), Section 2 ud1(n+1), Section 3 ud2It (n+1), is constant term on the right side of equal sign.It is secondary
Lattice network equation is the side about ac-side current, transformer equivalent inductance voltage and electric current, each change of current threshold voltage and electric current
Journey is solved after master network solves completion.For every kind of converter valve switch combination situation, have corresponding corresponding
Master network, secondary network equation, their structures are identical, and corresponding term coefficient is different, need by analyzing to obtain in advance.When by (n+1)th
A simulation step length then includes three unknown quantitys: i on the left of equal sign as current timed, ud1, ud2, equal sign right side, idnIt is last
The simulation result of step-length, ua(n+1), ub(n+1) and uc(n+1) known quantity of current simulation step length can be regarded as, sum of the two is
Constant.
Other kinds of integration method can also be arranged circuit equation for the structure such as above formula.For loading back
Road can be split according to the type of load from direct current output port, and column write out the circuit equation of similar type.
It is similar, for there are two the circuit structure of converter valve and three converter valves on state in turn, can will
The circuit equation that circuit equation arranges as above-mentioned electrical master network.
2.3) electrical secondary analysis of networks topology:
Electrical master network equation includes the positive and negative electrode potential of DC current, DC output end of current time step, is asked it
After solution, remaining unknown quantity can further be obtained according to the solving result of master network,
To ac-side current, transformer equivalent inductance voltage and the electric current, each change of current threshold voltage and electric current of electrical secondary network
It solves.
For the moment shown in Fig. 2, the solution procedure design of secondary network is as follows:
At this point, A, B two-phase are in commutation state, C is conducted, size of current id, then C phase transformer equivalent inductance voltage
Are as follows:Wherein: iLr_C(n) indicate that a upper simulation step length flows through the transformer etc. of C phase
It is worth inductive current, then current potential u at AC system neutral pointnAre as follows: un=ud2+uLr_C-uc；Transformer equivalent inductance voltage uses square
Formation formula are as follows: uLr=[un+ua-ud1un+ub-ud1uLr_C], the converting commutating current of B phase are as follows:
According to Kirchhoff's current law (KCL) iLr_A+iLr_B+iLr_C=0, then transformer
Equivalent inductance electric current uses matrix form are as follows: iLr=[id-iLr_B iLr_B-id], ac-side current iACWith transformer equivalent inductance
Electric current is equal.The voltage of converter valve uses matrix form are as follows: uVT=[0 0 0ud2-ud1ud2-ud1ud2-ud1], the electricity of converter valve
Stream uses matrix form are as follows: iVT=[iLr_A iLr_B -id000]。
It, can by similar methods, after the completion of master network solves, to secondary network for other kinds of circuit state
Each electrical quantity successively solved.
2.4) master network under malfunction and secondary Solution To The Network process
Moment as shown in Figure 4, six pulse wave inverter converter valve VT2, VT3, VT4, VT5 are simultaneously turned on.For master network
Speech, is equivalent to and positive and negative anodes short trouble has occurred, therefore for six pulse wave system output current potential ud1, udi2For master network side
Journey ud1-ud2=0, in which: idTerm coefficient and constant term are zero；For secondary network, AC system is equivalent to that three-phase has occurred is short
Road failure, equivalent circuit diagram is as shown in figure 4, its circuit equation are as follows:It is solved simultaneously
The electric current of AC system A, C phase can be obtained after differencing processing are as follows:Transformer
Equivalent inductance electric current iLr=[iLr_A -iLr_A-iLr_C iLr_C], ac-side current iACIt can be true according to transformer equivalent inductance electric current
It is fixed；Transformer equivalent inductance voltageThe electric current of converter valve
iVT=[0id+iLr_A iLr_B -iLr_A id+iLr_B0], the voltage u of converter valveVT=[ud1-ud20 0 0 0 ud1-ud2]。
2.5) switching process detection, interpolation and numerical oscillation are eliminated: by solving to obtain to master network and secondary network topology
After the electrical quantity of current time step, it is also necessary to negative value, Yi Xieqi occur to some electric currents including flowing through thyristor being calculated
Part both end voltage is modified around a certain numerically lower unreasonable result vibrated.
Appearance flow through thyristor current flows occur the main reason for negative value be EMTP program be based on a period of time in it is a series of
The emulation of discrete point, and simulation step length is usually fixed.When switch motion occurs between two simulated points, under
One emulation moment just can be carried out the modification of state, will cause phantom error in this way.In the calculation procedure of EMTDC, pass through line
Property interpolation method solves this problem, obtains t by linear interpolation twice0The correct current value of+time Δt.
The main reason for numerical oscillation generates is that trapezoidal integration damping is poor, and calculated value can surround before and after switch motion
True value fluctuates up and down, generates the numerical oscillation of non-prototype.Damping trapezoidal integration, critical damping tune can be used in problems
The methods of whole method solves.
In the calculation procedure of EMTDC, the process that switching process detection, interpolation are eliminated with numerical oscillation is normally placed at together
It carries out.
Step 3) is as shown in Figure 1, LCC-HVDC electro-magnetic transient Optimized model is wrapped applied to being made of rectification side and inverter side
12 pulsating wave commutation system containing four six pulse wave inverters, specifically includes:
The 12 pulsating wave commutation system structure is as shown in Figure 5.For rectification side, DC side is by two six pulse wave changes of current
Device series connection, by transformers connected in parallel, one of transformer is star-like connection for exchange side, another is triangle connection.Inversion
Side is similar with rectification side.Resistance is only considered for the sake of calculating simplicity for DC line model, in which: R1, R2 are rectification side
Six pulse wave inverters number, I1, I2 are six pulse wave inverter of inverter side number, LdFor smoothing reactor, rdFor DC line electricity
Resistance, idFor DC current, udrFor rectification side output port current potential, udrxPoint is connected in series for two six pulse wave inverters of rectification side
Current potential, udiWith udixRespectively inverter side corresponding points current potential.
Step 3.1) needs to record the switch of converter valve respectively using four state matrixes for 12 pulsating wave commutation system
State, each six pulse waves commutation system record six converter valve switch states using a state matrix.Emulation starts, to each
After item data is initialized, need successively to determine the numerical value of four state matrix each elements.
Step 3.2) state matrix forms the circuit equation of electrical master network after determining, be decomposed into five portions as shown in Figure 5
Divide, i.e. four six pulse wave commutation systems and DC line.Unknown quantity i can be usedd、udr、udrx、udi、udixThe matrix of composition and often
Electrical master network circuit equation is described in the column vector C that number is constituted.If X=[id udr udrx udi udix]T, coefficient
Matrix is A.
For the electrical master network equation of four six pulse wave commutation systems, it can determine according to third section the method, carry out below
Brief description.If a certain moment, converter valve R2 is in state as shown in Figure 2, shown in circuit equation such as formula (7), the second row member of matrix A
Element are as follows:The second row element of column vector C
When converter valve I1 is in state as shown in Figure 3, the third row element of matrix A are as follows: A (3)=[0001-1], according to similar side
Method can successively determine the electrical master network circuit equation coefficient of converter valve R1, I2.
The electrical equation of the DC line and smoothing reactor isAccording to numerical integration
Method i.e. obtain matrix A, column vector C corresponds to term coefficient, solves to circuit equation AX=C, electrical major network can be obtained
Each electrical quantity of network.Wherein matrix A is the square matrix that the five-element five arrange, and C is the column vector of five elements composition.Later according to step
Rapid 2 step solves electrical secondary network.Complete 12 pulsating wave commutation system electro-magnetic transient solution procedure
It can be indicated with Fig. 6.
Compared with prior art, the electro-magnetic transient solution procedure that the present invention optimizes does not use admittance matrix to describe electrical net
Network, but analyze using the circuit topology equation of perfect switch, based on the analysis results with current circuit state, determine
Electrical master network equation.From operand, commutation system and DC line part, topology knot as shown in FIG. 6 are only considered
Structure, using the electrical-magnetic model and derivation algorithm of optimization, solution for master network, the matrix that each simulation step length solves
Scale is five dimensions.Solution for secondary network, from the access times of multiplying, transformer equivalent inductance voltage with
The calculating of electric current needs to use multiplication, at most needs 24 multiplyings.For traditional electrical-magnetic model, electrical net
Network includes at least 16 nodes and 37 branches, and the network matrix for first having to tie up to 16 is inverted, and each branch current is asked later
Solution requires to use multiplying.Therefore, the electrical-magnetic model and derivation algorithm of optimization possess biggish excellent in calculation amount
Gesture.
By specific actual experiment, under MATLAB programmed environment, 12 pulsating wave commutation system is emulated.System is opened up
It flutters as shown in figure 5, direct current system voltage rating 500kV, rated current 1kA.Smoothing reactor Ld=0.6H, DC line electricity
Hinder Rd=2.5 Ω.Meanwhile in PSCAD/EMTDC using same parameter establish the model of 12 pulsating wave commutation system into
Row comparison.Setting simulation step length is 20 μ s, simulation time 2s in MATLAB and PSCAD, is put down used in record operation 10 times
The equal time.In addition, calculating the emulation of electro-magnetic transient Optimized model on the basis of the rectification side DC voltage simulation result of PSCAD
As a result average relative error, list are as shown in table 1:
1 two kinds of model relative errors of table and simulation time compare
In four examples, compared to PSCAD, under similar precision, electro-magnetic transient Optimized model emulation proposed in this paper
Time-consuming can averagely reduce 43.9%, simulation efficiency with higher.
Above-mentioned specific implementation can by those skilled in the art under the premise of without departing substantially from the principle of the invention and objective with difference
Mode carry out local directed complete set to it, protection scope of the present invention is subject to claims and not by above-mentioned specific implementation institute
Limit, each implementation within its scope is by the constraint of the present invention.
Claims (6)
1. a kind of LCC-HVDC optimizes electromagnetical transient emulation method, which is characterized in that excellent by establishing LCC-HVDC electro-magnetic transient
Change model, the switch state of the converter valve in adoption status matrix characterization model, and determines major and minor net according to state matrix number
The topological structure of network obtains the electric current and voltage and through different of master network under malfunction and converter valve on secondary network by model
Transient emulation is realized after constant value amendment；
The LCC-HVDC electro-magnetic transient Optimized model, to simulate 12 pulsating wave commutation system, by rectification side and inverter side structure
At comprising four six pulse wave inverters, in which: the DC side of rectification side is connected by two six pulse wave inverters, and exchange side passes through
Transformers connected in parallel, one of transformer are star-like connection, another is triangle connection, and inverter side is identical knot with rectification side
The mirror image of structure.
2. according to the method described in claim 1, it is characterized in that, the six pulse wave inverters include: three-phase alternating voltage wink
When input, three-phase transformer equivalent inductance and six arm converter bridges being attached thereto, in which: be respectively equipped with six on six arm converter bridges
The thyristor of a simulation converter valve, the output end of six arm converter bridges are equipped with smoothing reactor inductance.
3. according to the method described in claim 1, it is characterized in that, the switch state of the converter valve, using four state squares
Battle array records the switch state of converter valve respectively, and each six pulse waves commutation system records six converter valves using a state matrix and opens
Off status.
4. according to the method described in claim 1, it is characterized in that, the topological structure of the major and minor network of the determination, that is, formed electricity
The circuit equation of gas master network, secondary network, specifically:
Wherein: idFor the DC current under (n+1) a simulation step length, ud1, ud2Represent the positive and negative electrode potential of DC output end, Δ t
For simulation step length, ua, ub, ucRespectively three-phase alternating voltage instantaneously inputs, LrFor three-phase transformer equivalent inductance.
5. according to the method described in claim 1, it is characterized in that, the change of current on master network under the malfunction and secondary network
The electric current and voltage of valve pass through second to the 5th change of current of six pulse wave inverters in simulation LCC-HVDC electro-magnetic transient Optimized model
Valve simultaneously turns on, i.e., is equivalent to master network and positive and negative anodes short trouble has occurred, and master network exports terminal potential ud1-ud2=0,
In: idTerm coefficient and constant term are zero；Secondary network is equivalent to, three phase short circuit fault has occurred, circuit equation are as follows:The electric current of AC system A, C phase is solved and can obtained after differencing processing to it are as follows:Transformer equivalent inductance electric current iLr=[iLr_A -iLr_A-iLr_C iLr_C], exchange side
Electric current iACIt can be determined according to transformer equivalent inductance electric current；Transformer equivalent inductance voltage
The electric current i of converter valveVT=[0 id+iLr_A iLr_B-iLr_A id+iLr_B0], the voltage u of converter valveVT=[ud1-ud2 0 0 0 0
ud1-ud2]。
6. according to the method described in claim 1, it is characterized in that, the described exceptional value amendment refers to: being calculated to some
There is negative value, some device both end voltages around a certain numerically lower unreasonable knot vibrated in electric current including flowing through thyristor
Fruit is modified, and specifically includes: being gone out by using linear interpolation method solution to flow through thyristor current flows in the calculation procedure of EMTDC
Now numerical oscillation is solved the case where negative value and by damping trapezoidal integration, critical damping adjusting method.
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| CN113746877A (en) * | 2020-05-28 | 2021-12-03 | 南京南瑞继保电气有限公司 | Method and system for downloading procedure of converter valve control unit in batch |
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