CN110535165A - A kind of MMC-MTDC transmission system control method for coordinating - Google Patents
A kind of MMC-MTDC transmission system control method for coordinating Download PDFInfo
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- CN110535165A CN110535165A CN201910887745.7A CN201910887745A CN110535165A CN 110535165 A CN110535165 A CN 110535165A CN 201910887745 A CN201910887745 A CN 201910887745A CN 110535165 A CN110535165 A CN 110535165A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 20
- 239000003990 capacitor Substances 0.000 claims description 10
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- 238000004146 energy storage Methods 0.000 claims description 3
- 238000011217 control strategy Methods 0.000 abstract description 13
- 238000004088 simulation Methods 0.000 abstract description 12
- 230000004044 response Effects 0.000 abstract description 5
- 230000001052 transient effect Effects 0.000 abstract description 3
- 238000007665 sagging Methods 0.000 abstract 2
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Classifications
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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
- H02J3/36—Arrangements for transfer of electric power between ac networks via a high-tension dc link
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
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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
- H02J3/36—Arrangements for transfer of electric power between ac networks via a high-tension dc link
- H02J2003/365—Reducing harmonics or oscillations in HVDC
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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]
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Abstract
The invention proposes a kind of MMC-MTDC transmission system control method for coordinating, MMC bridge arm instantaneous power and DC voltage is utilized into quadratic relationship, simultaneously using the DC voltage mean value of each unsteady flow station port as a common reference voltage, to optimize the power distribution and DC voltage fluctuation in sagging control under different operating statuses.It finally using four end MMC-MTDC models of PSCAD software building, improves sagging control strategy under stable state and two kinds of transient state different operating conditions and emulates to mentioning, simulation results show the feasibility of the strategy.The present invention has faster power response speed using system after proposed control strategy, effectively inhibits DC voltage fluctuation.
Description
Technical Field
The invention relates to power transmission system coordination control, in particular to a MC-MTDC power transmission system coordination control method based on improved droop control.
Background
At present, compared with the conventional Direct Current transmission technology, the flexible Direct Current transmission (MMC-HVDC) technology has the following advantages: (1) no reactive compensation problem exists; (2) no commutation failure defect; (3) active power and reactive power can be adjusted simultaneously; (4) the harmonic level is low. The MMC-MTDC system is formed by connecting a plurality of converter stations in parallel or in series, can realize multi-power-supply power supply and multi-drop power receiving based on the connection mode, is favorable for the coordination control of power among the converter stations of the MMC, and ensures that a power transmission system in a power network is more flexible and reliable. The coordinated control of the MMC-MTDC system comprises master-slave control, voltage allowance control, voltage droop control, combined control between the master-slave control and the voltage allowance control, and the like. The droop control is a multi-point direct-current voltage control, the unbalanced power can be adjusted according to the droop coefficient and the proportion, the system reliability is high, and the method is widely applied to an MMC-MTDC system.
Disclosure of Invention
The invention mainly aims to provide a MC-MTDC power transmission system coordination control method based on improved droop control.
The technical scheme adopted by the invention is as follows: a coordination control method for an MMC-MTDC power transmission system comprises the following steps:
the instantaneous power of the j-phase bridge arm of the MMC is represented as:
（1）
in the formula,andthe voltages of the sub-modules of the upper bridge arm and the lower bridge arm,andin order to pass the current of the upper and lower bridge arms,the capacity energy storage variation of the bridge arm submodule of the MMC,bridge arm loss;
the voltage and the current of a submodule in which j-phase upper and lower bridge arms are put into operation in the MMC are as follows:
（2）
（3）
wherein,is the sum of the capacitance and voltage of the upper and lower bridge arm sub-modules of the jth phase of MMC,is the sub-module capacitance, and is,andthe input coefficient of the upper and lower bridge arm sub-modules is obtained; expressed as:
（4）
when the equivalent resistance of the bridge arm is considered, the following are:
（5）
formulae (2) and (5) can be substituted for formula (1):
（6）
when the converter station is in a steady state condition, the sum of the capacitor voltages of the submodules of the MMC bridge arm is equal to the voltage of the direct current side, but the capacitor voltages of the submodules are not constant, so that a double frequency component exists in the bridge arm voltage, namely:
（7）
in the formula,a frequency doubling component;
the formula (7) may be substituted for the formula (6):
（8）
the sum of squares of voltage double frequency components on the MMC three-phase bridge arm is as follows:
（9）
considering the small, neglecting it, the sum of the MMC three-phase leg instantaneous powers under normal operating conditions is:
（10）
in the formula,the instantaneous power of any phase of the bridge arm,is a sub-module capacitor, N is the number of sub-modules of a single-phase bridge arm,is a direct-current voltage, and the voltage is,the equivalent resistance of the bridge arm;
the sum of the instantaneous power of the MMC bridge arm under normal operating conditions is obtained from the formula (10)Linear and is a constant value.
Further, the method for coordinating and controlling the MMC-MTDC power transmission system further comprises the following steps:
the output signal deviation e is:
（12）
wherein,is the active power reference value and is,is the actual value of the active power,is a reference value of the direct-current voltage,for the reference voltage introduced, i.e. the average value of the dc voltages of the individual converter stations,is an adjustment factor;
（13）
in the formula,is the active power delivered to the ac side,is a power loss in the MMC-MTDC system;
setting a certain MMC-MTDC network to contain m converter stations, wherein in order to ensure the power stability of the whole network, the sum of the given values of the active power of all the m converter stations is 0; namely:
（14）
when the system is in a steady state, as can be seen from equation (13):
（15）
when the system stably operates:
（16）
the combined formulas (15) and (16) are as follows:
（17）
（18）。
further, the method for coordinating and controlling the MMC-MTDC power transmission system further comprises the following steps:
the droop adjustment factor is given according to the capacity of each converter station, i.e.WhereinIs as followsIs first and secondThe capacities of the converter stations are equal, and the adjustment coefficients are the same;
if one converter station exits the system due to a fault, the other converter stations can automatically distribute unbalanced power, so that the system can be quickly recovered to be stable; if the mth converter station does not act on the system any more due to the fault, the relationship between the voltage and the power of other converter stations is as follows:
（19）
（20）
in the formula:andthe power loss and the active power of the system after the fault of the mth converter station are obtained;
after the converter station m exits from operation due to faults or other reasons, the power difference between the converter station m and the converter station m which does not exit from operation is as follows:
（21）
according to the formula (21), after one converter station fails and stops operating, the rest converter stations bear the average missing power, and therefore, after the control method is adopted, when any one converter station in the system stops operating, the power can be quickly and effectively transmitted, and sudden change of direct-current voltage is reduced to a certain extent.
The invention has the advantages that:
the system has higher power response speed after adopting the proposed control strategy, and effectively inhibits the direct-current voltage fluctuation.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.
FIG. 1 is a block diagram of the improved droop control of the present invention;
FIG. 2 is a four-terminal MMC-MTDC system diagram of the present invention;
FIG. 3 is a graph of active power and DC voltage waveforms under conventional droop control;
FIG. 4 is a graph of the active power and DC voltage waveforms using the improved droop control strategy proposed by the present invention;
FIG. 5 is a waveform diagram of a simulation using conventional droop control;
fig. 6 is a waveform diagram of the improved droop control strategy of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The relationship between the direct-current side voltage and the MMC bridge arm power is as follows:
a coordination control method for an MMC-MTDC power transmission system comprises the following steps:
the instantaneous power of the j-phase bridge arm of the MMC is represented as:
（1）
in the formula,andthe voltages of the sub-modules of the upper bridge arm and the lower bridge arm,andin order to pass the current of the upper and lower bridge arms,the capacity energy storage variation of the bridge arm submodule of the MMC,bridge arm loss;
the voltage and the current of a submodule in which j-phase upper and lower bridge arms are put into operation in the MMC are as follows:
（2）
（3）
wherein,is the sum of the capacitance and voltage of the upper and lower bridge arm sub-modules of the jth phase of MMC,is the sub-module capacitance, and is,andthe input coefficient of the upper and lower bridge arm sub-modules is obtained; expressed as:
（4）
when the equivalent resistance of the bridge arm is considered, the following are:
（5）
formulae (2) and (5) can be substituted for formula (1):
（6）
when the converter station is in a steady state condition, the sum of the capacitor voltages of the submodules of the MMC bridge arm is equal to the voltage of the direct current side, but the capacitor voltages of the submodules are not constant, so that a double frequency component exists in the bridge arm voltage, namely:
（7）
in the formula,a frequency doubling component;
the formula (7) may be substituted for the formula (6):
（8）
the sum of squares of voltage double frequency components on the MMC three-phase bridge arm is as follows:
（9）
in view ofSmaller, neglecting it, the sum of the instantaneous power of the MMC three-phase bridge arm under the normal working condition is:
（10）
in the formula,the instantaneous power of any phase of the bridge arm,is a sub-module capacitor, N is the number of sub-modules of a single-phase bridge arm,is a direct-current voltage, and the voltage is,the equivalent resistance of the bridge arm;
the sum of the instantaneous power of the MMC bridge arm under the normal operation condition is in a linear relation with the equation (10) and is a fixed value.
And (3) improving a droop control strategy:
the MMC bridge arm instantaneous power and the direct current voltage are in a square relation under a normal operation condition and are a fixed value.
And introducing the mean value of the direct-current voltage of the converter station port as a common reference voltage to optimize power distribution and direct-current voltage fluctuation under different running states in droop control.
Referring to fig. 1, as shown in fig. 1, the MMC-MTDC power transmission system coordination control method further includes:
the output signal deviation e is:
（12）
wherein,is the active power reference value and is,is the actual value of the active power,is a reference value of the direct-current voltage,for the reference voltage introduced, i.e. the average value of the dc voltages of the individual converter stations,is an adjustment factor;
（13）
in the formula,is the active power delivered to the ac side,is a power loss in the MMC-MTDC system;
setting a certain MMC-MTDC network to contain m converter stations, wherein in order to ensure the power stability of the whole network, the sum of the given values of the active power of all the m converter stations is 0; namely:
（14）
when the system is in a steady state, as can be seen from equation (13):
（15）
when the system stably operates:
（16）
the combined formulas (15) and (16) are as follows:
（17）
（18）。
the MMC-MTDC power transmission system coordination control method of claim 1, characterized in that
The method also comprises the following steps:
the droop adjustment factor is given according to the capacity of each converter station, i.e.WhereinIs as followsIs first and secondThe capacities of the converter stations are equal, and the adjustment coefficients are the same;
if one converter station exits the system due to a fault, the other converter stations can automatically distribute unbalanced power, so that the system can be quickly recovered to be stable; if the mth converter station does not act on the system any more due to the fault, the relationship between the voltage and the power of other converter stations is as follows:
（19）
（20）
in the formula:andthe power loss and the active power of the system after the fault of the mth converter station are obtained;
after the converter station m exits from operation due to faults or other reasons, the power difference between the converter station m and the converter station m which does not exit from operation is as follows:
（21）
according to the formula (21), after one converter station fails and stops operating, the rest converter stations bear the average missing power, and therefore, after the control method is adopted, when any one converter station in the system stops operating, the power can be quickly and effectively transmitted, and sudden change of direct-current voltage is reduced to a certain extent.
Simulation analysis:
a simulation model:
the invention utilizes PSCAD software to construct a four-terminal MMC-MTDC system, and the system structure is shown in figure 2.
The MMC1 is a sending end converter station and inputs power into a direct current system; and the other three terminals are receiving end converter stations and output the power of the direct current side to the alternating current side. The topological structure is simple and easy to expand, and the four converter stations have bidirectional power transmission capability, so that the power coordination control can be realized.
The main parameters of the model are shown in table 1:
TABLE 1 simulation System principal parameters
| Item | Parameter(s) |
| Rated capacity S/MVA | 400 |
| Rated DC voltage/kV | |
| Bridge arm reactance/mH | 100 |
| Bridge arm resistance | 0.1 |
| Leakage reactance/pu of coupling transformer | 0.16 |
| Number of single-phase bridge arm sub-modules N | 40 |
| Submodule capacitor C/uF | 10000 |
And (3) verifying a simulation result:
MMC1 master control station adopts and decides direct current voltage control in MMC-MTDC, and MMC2 and MMC3 adopt and improve flagging control, and MMC4 adopts and decides active power control. The direct current voltage command value is 320kV, and the active command values of MMC2, MMC3 and MMC4 are respectively: 100MW, -150MW and-250 MW.
Steady state simulation:
fig. 3 shows waveforms of active power and dc voltage under conventional droop control, and it can be seen from fig. 3 that the MMC3 active power command value abruptly changes from-150 MW to-50 MW at 4s, the MMC2 active power abruptly changes from 100MW to-50 MW at 6s, the power deviation is borne by the main station MMC1 after the power change, the active power changes from 300MW to 200MW at 4s, and from 200MW to 350MW at 6 s. The dc voltage also fluctuates significantly between 4s and 6s due to sudden changes in power, but returns to near the system voltage rating over time.
Fig. 4 shows the waveforms of active power and dc voltage under the improved droop control strategy proposed by the present invention, and it can be seen from the figure that the MMC3 has a sudden change at 4s, the MMC2 has a power reversal at 6s, the unbalanced power of the system is all borne by the MMC1, and the power change is smooth.
As can be seen from comparing fig. 3 and fig. 4, under two different control strategies, the active power of the system changes at a given time, but the improved droop control strategy proposed by the present invention has the unbalanced power borne by the master control station when the power is disturbed, so that the response speed is faster; and the direct-current voltage can be recovered to be close to a rated value in a short time, so that the stability and reliability of the system are guaranteed.
Transient simulation:
the active command of MMC2 is adjusted to 100MW, and those of MMC3 and MMC4 are both-150 MW, assuming that the host station MMC1 exits operation at 4s due to a fault. Fig. 5 is a simulation waveform using the conventional droop control, and it can be seen from the diagram that after the host station MMC1 goes back due to a fault, unbalanced power is distributed by MMC2 and MMC3 together, and the amount of power borne is the same because the droop coefficients are the same, and the MMC4 power remains the same; from the simulation waveform of the direct voltage, when the power is changed at a given time, the direct voltage fluctuates within a certain range.
Fig. 6 is a waveform under the modified droop control strategy, when the host station MMC1 exits from operation, the MMC2 and the MMC3 share the power shortage, and because the controller parameters and the droop coefficients of the MMC2 and the MMC3 are consistent, the balanced distribution of power change can be realized, the response speed is faster, and the direct-current voltage fluctuation is smaller.
According to simulation results, when power of the converter stations 2 and 3 suddenly changes, the main control station MMC1 bears power shortage, and balance of system power is guaranteed; when the main station is out of operation due to faults, the converter station MMC2 and MMC3 share unbalanced power, through comparative analysis and compared with the traditional droop control, after the improved droop strategy provided by the invention is adopted, direct-current voltage fluctuation and system power oscillation caused by converter station power disturbance are avoided, an N-1 safe operation rule is met, and the system can be quickly recovered to stably operate.
The invention adopts a parallel type four-terminal MMC-MTDC topology, and when the sum of the given values of the active power of the four-terminal converter stations is zero, the actual voltage values of the direct-current sides of all the MMC are equal to the given voltage value. When the system reaches a stable operation state, the instantaneous power of a bridge arm of the modular multilevel converter is proportional to the square of the direct-current voltage and is a constant value, so that the mean value of the voltage is selected as a reference voltage in the multi-terminal direct-current power transmission system, and an improved droop control method based on the square of the voltage is provided.
Aiming at the problems of power distribution among converter stations, change of direct-current voltage and the like in droop control, an improved droop control strategy is provided by deducing a relational expression between the instantaneous power and the direct-current voltage of an MMC bridge arm, and the direct-current voltage mean value of each converter station port is used as a common voltage to correct a droop coefficient. And finally, constructing a four-terminal MMC-MTDC model by using PSCAD software, simulating the improved droop control strategy under two different operating conditions of a steady state and a transient state, and verifying the feasibility of the strategy by using a simulation result.
The system has higher power response speed after adopting the proposed control strategy, and effectively inhibits the direct-current voltage fluctuation.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (3)
1. A coordination control method for an MMC-MTDC power transmission system is characterized by comprising the following steps:
the instantaneous power of the j-phase bridge arm of the MMC is represented as:
（1）
in the formula,andthe voltages of the sub-modules of the upper bridge arm and the lower bridge arm,andin order to pass the current of the upper and lower bridge arms,the capacity energy storage variation of the bridge arm submodule of the MMC,bridge arm loss;
the voltage and the current of a submodule in which j-phase upper and lower bridge arms are put into operation in the MMC are as follows:
（2）
（3）
wherein,is the sum of the capacitance and voltage of the upper and lower bridge arm sub-modules of the jth phase of MMC,is the sub-module capacitance, and is,andthe input coefficient of the upper and lower bridge arm sub-modules is obtained; expressed as:
（4）
when the equivalent resistance of the bridge arm is considered, the following are:
（5）
formulae (2) and (5) can be substituted for formula (1):
（6）
when the converter station is in a steady state condition, the sum of the capacitor voltages of the submodules of the MMC bridge arm is equal to the voltage of the direct current side, but the capacitor voltages of the submodules are not constant, so that a double frequency component exists in the bridge arm voltage, namely:
（7）
in the formula,a frequency doubling component;
the formula (7) may be substituted for the formula (6):
（8）
the sum of squares of voltage double frequency components on the MMC three-phase bridge arm is as follows:
（9）
considering the small, neglecting it, the sum of the MMC three-phase leg instantaneous powers under normal operating conditions is:
（10）
in the formula,the instantaneous power of any phase of the bridge arm,is a sub-module capacitor, N is the number of sub-modules of a single-phase bridge arm,is a direct-current voltage, and the voltage is,the equivalent resistance of the bridge arm;
the sum of the instantaneous power of the MMC bridge arm under the normal operation condition is in a linear relation with the equation (10) and is a fixed value.
2. The MMC-MTDC power transmission system coordination control method according to claim 1, further comprising:
the output signal deviation e is:
（12）
wherein,is the active power reference value and is,is the actual value of the active power,is a reference value of the direct-current voltage,for the reference voltage introduced, i.e. the average value of the dc voltages of the individual converter stations,is an adjustment factor;
（13）
in the formula,is the active power delivered to the ac side,is a power loss in the MMC-MTDC system;
setting a certain MMC-MTDC network to contain m converter stations, wherein in order to ensure the power stability of the whole network, the sum of the given values of the active power of all the m converter stations is 0; namely:
（14）
when the system is in a steady state, as can be seen from equation (13):
（15）
when the system stably operates:
（16）
the combined formulas (15) and (16) are as follows:
（17）
（18）。
3. the MMC-MTDC power transmission system coordination control method of claim 1, characterized in that
The method also comprises the following steps:
the droop adjustment factor is given according to the capacity of each converter station, i.e.WhereinIs as followsIs first and secondThe capacities of the converter stations are equal, and the adjustment coefficients are the same;
if one converter station exits the system due to a fault, the other converter stations can automatically distribute unbalanced power, so that the system can be quickly recovered to be stable; if the mth converter station does not act on the system any more due to the fault, the relationship between the voltage and the power of other converter stations is as follows:
（19）
（20）
in the formula:andthe power loss and the active power of the system after the fault of the mth converter station are obtained;
after the converter station m exits from operation due to faults or other reasons, the power difference between the converter station m and the converter station m which does not exit from operation is as follows:
（21）
according to the formula (21), after one converter station fails and stops operating, the rest converter stations bear the average missing power, and therefore, after the control method is adopted, when any one converter station in the system stops operating, the power can be quickly and effectively transmitted, and sudden change of direct-current voltage is reduced to a certain extent.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111711217A (en) * | 2020-05-21 | 2020-09-25 | 东北电力大学 | Direct-current voltage control method of multi-terminal flexible direct-current system facing alternating-current power fluctuation |
| CN113315125A (en) * | 2021-07-01 | 2021-08-27 | 中国南方电网有限责任公司 | Direct current power recovery characteristic control method for improving alternating current voltage stability |
| CN113567871A (en) * | 2020-04-28 | 2021-10-29 | 中国电力科学研究院有限公司 | Method and system for verifying frequency voltage response consistency of multi-type energy storage equipment |
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2019
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113567871A (en) * | 2020-04-28 | 2021-10-29 | 中国电力科学研究院有限公司 | Method and system for verifying frequency voltage response consistency of multi-type energy storage equipment |
| CN113567871B (en) * | 2020-04-28 | 2024-03-15 | 中国电力科学研究院有限公司 | Frequency-voltage response consistency verification method and system for multi-type energy storage equipment |
| CN111711217A (en) * | 2020-05-21 | 2020-09-25 | 东北电力大学 | Direct-current voltage control method of multi-terminal flexible direct-current system facing alternating-current power fluctuation |
| CN113315125A (en) * | 2021-07-01 | 2021-08-27 | 中国南方电网有限责任公司 | Direct current power recovery characteristic control method for improving alternating current voltage stability |
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