CN110768286A - Multi-terminal flexible vertical control strategy based on common voltage reference point - Google Patents

Multi-terminal flexible vertical control strategy based on common voltage reference point Download PDF

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CN110768286A
CN110768286A CN201911174910.0A CN201911174910A CN110768286A CN 110768286 A CN110768286 A CN 110768286A CN 201911174910 A CN201911174910 A CN 201911174910A CN 110768286 A CN110768286 A CN 110768286A
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converter station
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droop
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CN110768286B (en
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汪震
钱一辉
饶宏
李岩
黄伟煌
陈怡静
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China South Power Grid International Co ltd
Zhejiang University ZJU
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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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Abstract

本发明公开了一种基于公共电压参考点的多端柔直下垂控制策略。该策略针对海上风电场通过多端柔性直流输电系统向陆地侧供能这一场景，利用陆地侧换流站所连接星形直流电网的公共连接点处的直流电压偏差和有功功率偏差信号代替原下垂控制中各换流站本地的直流电压偏差和有功功率偏差信号，且计及直流输电线路电阻的影响，在发生扰动的工况下实现了对新运行点直流电压和有功功率的预测。

Figure 201911174910

The invention discloses a multi-terminal flexible droop control strategy based on a common voltage reference point. Aiming at the scenario of offshore wind farms supplying energy to the land side through a multi-terminal flexible DC transmission system, this strategy uses the DC voltage deviation and active power deviation signals at the common connection point of the star DC grid connected to the land-side converter station to replace the original sag. In the control, the local DC voltage deviation and active power deviation signals of each converter station are taken into account, and the influence of the resistance of the DC transmission line is taken into account, and the prediction of the DC voltage and active power of the new operating point is realized under the condition of disturbance.

Figure 201911174910

Description

一种基于公共电压参考点的多端柔直下垂控制策略A Multi-terminal Flexible Droop Control Strategy Based on Common Voltage Reference Point

技术领域technical field

本发明涉及一种基于公共电压参考点的多端柔直下垂控制策略，属于多端柔性直流输电领域中系统级控制策略研究领域。The invention relates to a multi-terminal flexible droop control strategy based on a common voltage reference point, and belongs to the research field of system-level control strategies in the field of multi-terminal flexible direct current transmission.

背景技术Background technique

目前，多端柔性直流系统级控制策略主要有以下3种：主从控制策略、直流电压裕额控制策略和直流电压下斜控制策略。主从控制策略的核心是由一个换流站来确定整个多端柔性直流输电系统的电压，其余的换流站按照各自的功率要求进行控制，但主从控制策略对系统有很强的依赖性。直流电压裕额控制策略与主从控制策略类似，当主站因故障退出或者满载运行时，备用换流站在检测到直流电压偏差后会从定功率控制切换到定电压控制，整个过程不需要通信，但只适用于端数较少且换流站容量差别悬殊的小型直流系统中。直流电压下垂控制策略利用直流电网电压与交流电网频率在表征能量方面的相似性，通过设置合理的下垂系数完成电压控制和功率分配任务，对通信亦无要求，适合应用于海上风电接入的多端柔性直流输电系统。At present, there are three main control strategies at the multi-terminal flexible DC system level: master-slave control strategy, DC voltage margin control strategy and DC voltage downslope control strategy. The core of the master-slave control strategy is that one converter station determines the voltage of the entire multi-terminal flexible HVDC transmission system, and the rest of the converter stations are controlled according to their respective power requirements, but the master-slave control strategy has a strong dependence on the system. The DC voltage margin control strategy is similar to the master-slave control strategy. When the master station exits due to a fault or runs at full load, the standby converter station will switch from constant power control to constant voltage control after detecting the DC voltage deviation. The whole process does not require Communication, but only suitable for small DC systems with a small number of terminals and large differences in the capacity of converter stations. The DC voltage droop control strategy utilizes the similarity of the DC grid voltage and the AC grid frequency in characterizing energy, and completes the tasks of voltage control and power distribution by setting a reasonable droop coefficient. Flexible DC transmission system.

对于交流电网而言，频率是一个全局量，交流电网中的频率处处相等。但对于直流电网而言，直流电压是一个局部量，直流电网中的直流电压一般处处不相等。现有的下垂控制策略，或通过变下垂系数或通过通信来实现各个换流站间功率的协调分配，存在着无法对扰动情况下的电压偏差和功率分配作出合理的预测或在通信延迟较严重时无法正常工作等问题。For the AC grid, the frequency is a global quantity, and the frequency in the AC grid is equal everywhere. But for the DC grid, the DC voltage is a local quantity, and the DC voltage in the DC grid is generally not equal everywhere. Existing droop control strategies, or through variable droop coefficients or through communication to achieve coordinated power distribution among converter stations, are unable to make reasonable predictions for voltage deviation and power distribution under disturbance conditions or when communication delays are more serious. not working properly, etc.

发明内容SUMMARY OF THE INVENTION

为解决上述问题，本发明提出了一种基于公共电压参考点的多端柔直下垂控制策略。利用陆地侧换流站所连接星形直流电网的公共连接点处的直流电压偏差和有功功率偏差信号代替原下垂控制中各换流站本地的直流电压偏差和有功功率偏差信号，将直流输电线路的电阻考虑在内，在发生扰动的工况下实现了对新运行点直流电压和有功功率的预测。To solve the above problems, the present invention proposes a multi-terminal flexible droop control strategy based on a common voltage reference point. Using the DC voltage deviation and active power deviation signals at the common connection point of the star DC grid connected to the land-side converter station to replace the local DC voltage deviation and active power deviation signals of each converter station in the original droop control, the DC transmission line Taking into account the resistance of , the prediction of the DC voltage and active power at the new operating point is achieved under disturbance conditions.

本发明提出的基于公共电压参考点的多端柔直下垂控制策略，其特征在于包括以下步骤：The multi-terminal flexible droop control strategy based on the common voltage reference point proposed by the present invention is characterized by comprising the following steps:

1)在多端柔性直流输电网中寻找一个直流电压公共点；1) Find a DC voltage common point in the multi-terminal flexible DC transmission network;

2)修改陆地侧换流站的外环控制结构，使其控制直流电压公共点处的电压；2) Modify the outer loop control structure of the land-side converter station to control the voltage at the DC voltage common point;

3)根据N-1原则确定下垂系数。3) Determine the sag coefficient according to the N-1 principle.

所述的步骤1)在多端柔性直流输电网中寻找一个直流电压公共点的具体方法为，寻找或经电路变换后寻找连接各陆地侧换流站的星形直流电网的中心点。The specific method of finding a DC voltage common point in the multi-terminal flexible DC transmission network in the step 1) is to find or find the center point of the star DC grid connecting each land side converter station after circuit transformation.

所述的步骤2)修改陆地侧换流站的外环控制结构，使其控制直流电压公共点处的电压的具体方法为：对每一个陆地侧换流站，均控制公共电压参考点处的直流电压稳定在额定值。对于有功功率的控制，通过为各换流站设置不同的下垂系数来实现有功功率的合理分配。The step 2) modifying the outer loop control structure of the land-side converter station to make it control the voltage at the common point of the DC voltage is as follows: for each land-side converter station, control the voltage at the common voltage reference point. The DC voltage is stabilized at the rated value. For the control of active power, the rational distribution of active power is realized by setting different droop coefficients for each converter station.

所述的步骤3)根据N-1原则确定下垂系数的具体方法为：至多考虑一台陆地侧换流站跳断的情况。对风电输送的有功功率的变化，考虑其完全中断时的影响。为了简化分析，我们定义功率分配比Ci如下：The specific method for determining the droop coefficient in the step 3) according to the N-1 principle is as follows: at most one land-side converter station trip is considered. For the change of active power transmitted by wind power, consider the impact of its complete interruption. To simplify the analysis, we define the power distribution ratio C i as follows:

Figure BDA0002289712120000021
Figure BDA0002289712120000021

Figure BDA0002289712120000022
Figure BDA0002289712120000022

其中SGSVSC代表陆地侧换流站集合，Ki代表编号为i的换流站的下垂系数，j代表被切除的换流站编号，Kj代表编号为j的换流站的下垂系数，代表所有陆地侧换流站的下垂系数之和。where S GSVSC represents the set of converter stations on the land side, K i represents the droop coefficient of the converter station numbered i, j represents the number of the removed converter station, Kj represents the droop coefficient of the converter station numbered j, Represents the sum of the droop coefficients of all land-side converter stations.

我们将考虑N-1原则后的最大功率偏差定义为：We define the maximum power deviation after considering the N-1 principle as:

Figure BDA0002289712120000024
Figure BDA0002289712120000024

其中，Psend为海上风电场传送至公共电压参考点的有功功率，

Figure BDA0002289712120000025
为编号为j的换流站的有功功率。Among them, P send is the active power transmitted by the offshore wind farm to the public voltage reference point,
Figure BDA0002289712120000025
is the active power of the converter station numbered j.

假设实际电网所允许的公共电压参考点最大电压偏差量为

Figure BDA0002289712120000026
得到：Assume that the maximum voltage deviation of the public voltage reference point allowed by the actual power grid is
Figure BDA0002289712120000026
get:

Figure BDA0002289712120000031
Figure BDA0002289712120000031

由此确定各换流站下垂系数：From this, the droop coefficient of each converter station is determined:

本发明的有益效果是：The beneficial effects of the present invention are:

本发明提出的下垂控制策略可以精确的预测出当陆地侧换流站跳断或是风电场输送有功功率发生波动情况下，直流电压公共点电压的直流电压以及各换流站的有功功率。通过估算，可以确定合适的下垂系数来保证功率的合理分配，防止某个换流站发生功率过载等故障。The droop control strategy proposed by the invention can accurately predict the DC voltage of the DC voltage common point voltage and the active power of each converter station when the land-side converter station is tripped or the active power transmitted by the wind farm fluctuates. Through the estimation, the appropriate droop coefficient can be determined to ensure the reasonable distribution of power and prevent the occurrence of power overload and other faults in a certain converter station.

附图说明Description of drawings

图1多端柔性直流输电系统的拓扑结构；Fig. 1 Topological structure of multi-terminal flexible DC transmission system;

图2换流站主电路；Figure 2 The main circuit of the converter station;

图3多端柔性直流输电系统陆地侧等效电路图；Figure 3. Equivalent circuit diagram of the land side of the multi-terminal flexible DC transmission system;

图4陆地侧换流站的控制结构。Figure 4. Control structure of the land-side converter station.

具体实施方式Detailed ways

下面结合附图及具体实例对本发明作进一步详细说明。The present invention will be described in further detail below in conjunction with the accompanying drawings and specific examples.

本发明方法包括以下步骤：The method of the present invention comprises the following steps:

1)在多端柔性直流输电网中寻找一个直流电压公共点；1) Find a DC voltage common point in the multi-terminal flexible DC transmission network;

2)修改陆地侧换流站的外环控制结构，使其控制直流电压公共点处的电压；2) Modify the outer loop control structure of the land-side converter station to control the voltage at the DC voltage common point;

3)根据N-1原则确定下垂系数。3) Determine the sag coefficient according to the N-1 principle.

所述的步骤1)在多端柔性直流输电网中寻找一个直流电压公共点具体如下：The step 1) to find a DC voltage common point in the multi-terminal flexible DC transmission network is as follows:

对如图1所示的多端柔性直流输电系统的拓扑结构，取图中的直流电压公共参考点PCDC。换流站的主电路如图2所示，陆地侧等效电路图如图3所示。For the topology of the multi-terminal flexible DC transmission system shown in Figure 1, take the DC voltage common reference point PCDC in the figure. The main circuit of the converter station is shown in Figure 2, and the equivalent circuit diagram on the land side is shown in Figure 3.

所述的步骤2)修改陆地侧换流站的外环控制结构，使其控制直流电压公共点处的电压具体如下：The step 2) modifying the outer loop control structure of the land-side converter station so that it controls the voltage at the common point of the DC voltage is as follows:

本发明提出的基于公共电压参考点的多端柔直下垂控制策略的控制框图如图4所示。对每一个陆地侧换流站，均控制公共电压参考点处的直流电压稳定在额定值。利用编号为i的换流站直流电压Vdc,i减去直流电流Idc,i和直流线路电阻Ri的乘积，即可得到公共电压处的直流电压。对于有功功率的控制，通过为各换流站设置不同的下垂系数Ki来实现有功功率的合理分配。The control block diagram of the multi-terminal flexible droop control strategy based on the common voltage reference point proposed by the present invention is shown in FIG. 4 . For each land-side converter station, the DC voltage at the reference point of the common voltage is controlled to be stable at the rated value. The DC voltage at the common voltage can be obtained by subtracting the product of the DC current I dc,i and the DC line resistance R i from the DC voltage V dc,i of the converter station numbered i. For active power control, a reasonable distribution of active power is achieved by setting different droop coefficients K i for each converter station.

所述的步骤3)根据N-1原则确定下垂系数具体如下：Described step 3) according to the N-1 principle, determine the sag coefficient as follows:

对于下垂系数的确定，我们使用N-1原则，即至多考虑一台陆地侧换流站跳断的情况。对风电输送的有功功率的变化，考虑其完全中断时的影响。为了简化分析，我们定义功率分配比Ci如下：For the determination of the droop coefficient, we use the N-1 principle, that is, at most one land-side converter station is considered to be tripped. For the change of active power transmitted by wind power, consider the impact of its complete interruption. To simplify the analysis, we define the power distribution ratio C i as follows:

根据式(1)，我们可以得到：According to formula (1), we can get:

Figure BDA0002289712120000042
Figure BDA0002289712120000042

于是，某个换流站j跳断后的直流电压和有功功率可以分别估计为式(3)和式(4)，而风电场中断功率传送后的直流电压和有功功率可以分别估计为式(5)和式(6)。Therefore, the DC voltage and active power after a certain converter station j is disconnected can be estimated as equations (3) and (4), respectively, and the DC voltage and active power after the power transmission of the wind farm is interrupted can be estimated as equations (5) ) and formula (6).

Figure BDA0002289712120000043
Figure BDA0002289712120000043

Figure BDA0002289712120000044
Figure BDA0002289712120000044

Figure BDA0002289712120000045
Figure BDA0002289712120000045

Figure BDA0002289712120000046
Figure BDA0002289712120000046

经过上述简化分析，我们可以将考虑N-1原则后的最大功率偏差定义为：After the above simplified analysis, we can define the maximum power deviation after considering the N-1 principle as:

Figure BDA0002289712120000047
Figure BDA0002289712120000047

假设直流电压公共点处允许的最大电压偏差量是我们可以得到：Assuming that the maximum allowable voltage deviation at the DC voltage common point is We can get:

Figure BDA0002289712120000052
Figure BDA0002289712120000052

根据式(1)的定义，可以确定各换流站的下垂系数：According to the definition of formula (1), the droop coefficient of each converter station can be determined:

Figure BDA0002289712120000053
Figure BDA0002289712120000053

上述具体实施方式用来解释说明本发明，而不是对本发明进行限制，在本发明的精神和权利要求的保护范围内，对本发明做出的任何修改和改变，都落入本发明的保护范围。The above-mentioned specific embodiments are used to explain the present invention, rather than limit the present invention. Any modification and change made to the present invention within the spirit of the present invention and the protection scope of the claims all fall into the protection scope of the present invention.

Claims (4)

1.一种基于公共电压参考点的多端柔直下垂控制策略，其特征在于，针对海上风电场通过多端柔性直流输电系统向陆地侧供能的场景，利用陆地侧换流站所连接星形直流电网的公共连接点处的直流电压偏差和有功功率偏差信号代替下垂控制中各换流站本地的直流电压偏差和有功功率偏差信号，且考虑直流输电线路电阻的影响，对发生扰动后新的平衡状态的直流电压和有功功率分配进行预测。1. A multi-terminal flexible droop control strategy based on a common voltage reference point, characterized in that, for the scenario in which offshore wind farms supply energy to the land side through a multi-terminal flexible DC transmission system, the use of the star DC power connected to the land-side converter station is used. The DC voltage deviation and active power deviation signals at the common connection point of the grid replace the local DC voltage deviation and active power deviation signals of each converter station in the droop control, and the influence of the resistance of the DC transmission line is considered, which will affect the new balance after the disturbance. The state of the DC voltage and active power distribution are predicted. 2.根据权利要求1所述的基于公共电压参考点的多端柔直下垂控制策略，其特征在于，该策略包括以下步骤：2. The multi-terminal flexible droop control strategy based on a common voltage reference point according to claim 1, wherein the strategy comprises the following steps: 1)在多端柔性直流输电网中寻找连接各陆地侧换流站的星形直流电网的中心点，即直流电压公共点；1) Find the center point of the star-shaped DC grid connecting each land-side converter station in the multi-terminal flexible DC transmission network, that is, the DC voltage common point; 2)修改陆地侧换流站的外环控制结构，使其控制直流电压公共点处的电压；2) Modify the outer loop control structure of the land-side converter station to control the voltage at the DC voltage common point; 3)根据N-1原则确定下垂系数。3) Determine the sag coefficient according to the N-1 principle. 3.根据权利要求1所述的基于公共电压参考点的多端柔直下垂控制策略，其特征在于：所述的步骤2)中修改陆地侧换流站的外环控制结构，使其控制直流电压公共点处的电压的具体方法为：对每一个陆地侧换流站，均控制公共电压参考点处的直流电压稳定在额定值；对于有功功率的控制，通过为各换流站设置不同的下垂系数来实现有功功率的合理分配。3. The multi-terminal flexible droop control strategy based on the common voltage reference point according to claim 1, characterized in that: in the described step 2), the outer loop control structure of the land-side converter station is modified to control the DC voltage The specific method for the voltage at the common point is: for each land-side converter station, control the DC voltage at the common voltage reference point to stabilize at the rated value; for the control of active power, set different droop values for each converter station coefficient to achieve a reasonable distribution of active power. 4.根据权利要求1所述的基于公共电压参考点的多端柔直下垂控制策略，其特征在于：所述的步骤3)根据N-1原则确定下垂系数的具体方法为：至多考虑切除一台陆地侧换流站的情况，对风电输送的有功功率的变化，考虑其完全中断时的影响；定义功率分配比Ci如下：4. The multi-terminal flexible droop control strategy based on a common voltage reference point according to claim 1, wherein the step 3) determines the specific method of the droop coefficient according to the N-1 principle as follows: at most consider cutting off one In the case of the converter station on the land side, the change of the active power transmitted by the wind power should be taken into account when it is completely interrupted; the power distribution ratio C i is defined as follows:
Figure FDA0002289712110000011
Figure FDA0002289712110000011
Figure FDA0002289712110000012
Figure FDA0002289712110000012
 其中SGSVSC代表陆地侧换流站集合，Ki代表编号为i的换流站的下垂系数，j代表被切除的换流站编号，Kj代表编号为j的换流站的下垂系数，代表所有陆地侧换流站的下垂系数之和。where S GSVSC represents the set of converter stations on the land side, K i represents the droop coefficient of the converter station numbered i, j represents the number of the removed converter station, Kj represents the droop coefficient of the converter station numbered j, Represents the sum of the droop coefficients of all land-side converter stations. 基于N-1原则，定义最大功率偏差：Based on the N-1 principle, define the maximum power deviation:
Figure FDA0002289712110000022
Figure FDA0002289712110000022
 其中，Psend为海上风电场传送至公共电压参考点的有功功率，
Figure FDA0002289712110000023
为编号为j的换流站的有功功率；Among them, P send is the active power transmitted by the offshore wind farm to the public voltage reference point,
Figure FDA0002289712110000023
is the active power of the converter station numbered j; 假设实际电网所允许的公共电压参考点最大电压偏差量为
Figure FDA0002289712110000024
得到：Assume that the maximum voltage deviation of the public voltage reference point allowed by the actual power grid is
Figure FDA0002289712110000024
get:
Figure FDA0002289712110000025
Figure FDA0002289712110000025
 由此确定各换流站下垂系数：From this, the droop coefficient of each converter station is determined:
Figure FDA0002289712110000026
Figure FDA0002289712110000026
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