CN112086988B - Smooth switching method for control strategy of voltage source type converter - Google Patents
Smooth switching method for control strategy of voltage source type converter Download PDFInfo
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- CN112086988B CN112086988B CN202010872898.7A CN202010872898A CN112086988B CN 112086988 B CN112086988 B CN 112086988B CN 202010872898 A CN202010872898 A CN 202010872898A CN 112086988 B CN112086988 B CN 112086988B
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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
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
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- 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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- 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
- H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
- H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
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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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Supply And Distribution Of Alternating Current (AREA)
- Dc-Dc Converters (AREA)
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Abstract
The invention discloses a smooth switching method for a control strategy of a voltage source type converter, which comprises the following steps: collecting an actual electric quantity value; confirming the current control strategy after receiving a control strategy switching signal; the control system carries out initial value setting on the proportional-integral regulator in the control loop, locks the setting value, modifies the control target and switches the control strategy. The invention can realize the fast and smooth switching of the control strategy of the voltage source type converter when the control target of the voltage source type converter is changed, reduce the transient impact and improve the stability of the power system. The invention can prevent overcurrent and overvoltage in transient state, can realize the control target of the converter station in steady state, and simultaneously ensures the rapidity of adjustment.
Description
Technical Field
The invention belongs to the technical field of power electronics, and relates to a control strategy smooth switching method of a voltage source type converter.
Background
High voltage direct current transmission technology (VSC-HVDC) based on voltage source converters has shown its particular advantages over traditional HVDC as an important technology in smart grids. VSC-HVDC can supply power for the passive network, realize that large-scale renewable energy is incorporated into the power networks, construct the multiple-terminal direct current electric wire netting, independent fast control active power and reactive power to need not voltage polarity reversal can realize reverse power supply. With the increasing demand for new energy grid connection such as photovoltaic and wind power and passive network power supply, the voltage source converter is gradually drawing attention as an important way for passive network power supply and new energy grid connection.
In recent years, in order to realize high flexibility and controllability of a flexible direct-current power grid, a control target of a voltage source type converter is more complex, and a control strategy is more diversified. When the starting process of the converter station, the response of the converter station when the converter station breaks down, the function switching of the converter station and other tasks are realized, in order to reduce the transient impact of the converter station, ensure the higher adjusting speed and realize the purpose of stabilizing the power system, the traditional mode adopts the mode of locking the converter to reduce the transient impact. In the mode, the control system integrator needs to be reset during unlocking, the control strategy is restarted, the adjusting time is increased in the whole process, and the requirement of high flexibility and controllability of flexible direct-current transmission cannot be met.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a smooth switching method of a control strategy of a voltage source type converter, which can ensure that the current control strategy is smoothly switched to a target control strategy when the control target of the voltage source type converter is changed, so that the converter does not need to be locked when the control strategy is switched, the whole process is rapid and smooth, the transient impact can be reduced, and the stability of a power system is improved.
In order to solve the technical problems, the invention provides the following technical scheme:
a control strategy smooth switching method of a voltage source type converter comprises the following steps:
(1) the control system collects an actual electric quantity value;
(2) the control system receives a control strategy switching signal;
(3) the control system confirms the current control strategy;
(4) the control system carries out initial value setting on the proportional-integral regulator in the control loop, locks the setting value, modifies the control target and switches the control strategy.
Further, the actual electrical quantity value includes the following values: the three-phase alternating current voltage, alternating current, active power and reactive power data collected from the public coupling point of the voltage source type converter utilize the phase data collected by the phase-locked loop and the direct current voltage data collected from the direct current grid-connected point.
Further, the control strategy comprises an active and reactive decoupling control strategy and an active and reactive decoupling non-control strategy.
Further, when the target control strategy to be switched in the step (2) is an active and reactive decoupling control strategy, the initial value setting of the proportional-integral regulator in the step (4) includes the following steps:
1) setting an electrical quantity reference value of a control strategy to be achieved as a current actual electrical quantity value, and setting an initial value of an outer ring integrator as the actual electrical quantity value;
2) setting an initial value of an inner ring proportional integrator for generating a modulation wave voltage in a control loop, wherein a setting formula is as follows:
wherein, UcAnd USIs the effective value of the voltage at the AC side outlet of the converter station and the effective value of the AC voltage at the point of common connection, vdresetAnd vqresetIs the integrator setting in d-axis control and the integrator setting in q-axis control, PsAnd QsIs active and reactive power i injected at a common connection pointsdAnd isqIs the dq-axis component, X, of the current on the AC side of the converter stationcIs a converter reactance of a converter station, RcIs the equivalent resistance of the converter station.
Further, the actual electrical magnitude value includes at least: and controlling the active power, the reactive power and the direct-current voltage reference value before switching.
Further, the active and reactive decoupling control strategy includes: the method comprises a fixed active reactive power control strategy, a fixed direct current voltage reactive power control strategy, a fixed active alternating current voltage control strategy, a fixed direct current voltage alternating current voltage control strategy and a direct current voltage slope control strategy.
Further, when the target control strategy to be switched in the step (2) is an active and reactive decoupling-free control strategy, the initial value setting of the proportional-integral regulator in the step (4) includes the following steps:
1) setting an electrical quantity reference value of a control strategy to be achieved as a current actual electrical quantity value, and setting an initial value of a proportional integrator in a control loop as the actual electrical quantity value;
2) in the control loop, the phase tracking is carried out on the alternating-current side voltage, the phase is kept during switching, and the initial phase angle of amplitude-phase control after switching is adjusted.
Further, the actual electrical quantity value includes: the amplitude of the ac voltage before switching.
Further, the active and reactive non-decoupling control strategy comprises an amplitude-phase control strategy.
Compared with the prior art, the invention has the following beneficial effects:
1. the scheme of the invention has ingenious and reasonable design, and realizes the fast and smooth switching process, reduces transient impact and ensures the stable operation of the system by setting the initial value of the proportional integrator in the control system and the reference value of the control strategy without locking the converter when the control strategy of the voltage source converter is switched.
2. The method can prevent overcurrent and overvoltage in transient state, can realize the control target of the converter station in steady state, and simultaneously ensures the rapidity of adjustment.
3. The method improves the stability of the voltage source type converter and the stability of a power system connected with the voltage source type converter, and can be widely applied to the field of power electronics, such as the starting process of a converter station, the response when the converter station has faults, the functional switching of the converter station and the like.
Drawings
Fig. 1 is a schematic diagram of a smooth switching method of a control strategy of a voltage source converter according to the present invention;
fig. 2 is a frame diagram of a control strategy used by a VSC (voltage source converter) in the present invention, wherein (a) is an active and reactive decoupling control frame of the VSC, and (b) is an amplitude-phase control frame of the VSC;
FIG. 3 is a diagram of a simulation model for verifying the double-ended VSC system of the present invention;
fig. 4 is a graph of the results of dynamic simulation of the present invention switching to amplitude-phase control in a two-terminal VSC system model, where (a) is the PCC line voltage (effective) and phase a current (real) of VSC1, (b) is the PCC active and reactive power of VSC1, and (c) is the dc voltage and dc current of VSC 1.
Description of reference numerals:
Udc-a PCC point dc voltage measurement; u shapedcref-a PCC point dc voltage reference;
uac-alternating voltage measurement of PCC points; u. ofacref—PCC point AC voltage reference value;
Ps-PCC point active power measurement; psref-PCC point active power reference value;
Qs-PCC point reactive power measurement; qsref-PCC point reactive power reference value.
Detailed Description
For the purposes of promoting an understanding and appreciation of the invention, reference will now be made to the following further descriptions and illustrations taken in conjunction with the accompanying drawings.
Example 1:
referring to fig. 1 and 2, the control strategy of the voltage source type converter includes active and reactive decoupling control and active and reactive decoupling non-control. The active and reactive decoupling control includes but is not limited to constant active and reactive control, constant direct current voltage and reactive control, constant active and alternating current voltage control, constant direct current voltage and alternating current voltage control, direct current voltage slope control and the like. The active and reactive non-decoupling control includes but is not limited to amplitude and phase control and the like. The control strategy smooth switching method provided by the invention is suitable for switching of the control strategies.
Specifically, the smooth switching method of the control strategy of the voltage source type converter provided by the invention comprises the following steps:
(1) the control system collects actual electrical quantity values, and specifically comprises the following steps: three-phase alternating voltage, alternating current, active power and reactive power data are respectively collected from an alternating current common coupling point of the voltage source type current converter, phase data are collected by utilizing a phase-locked loop, and direct current voltage data are collected from a direct current grid-connected point. The control system is an existing control system of the voltage source type current converter and acquires actual electric quantity values constantly.
(2) The control system receives a control strategy switching signal; the step can ensure that the current control strategy switching process to be carried out by the system is the switching process of system operation, and if amplitude-phase control is switched to a constant active and reactive control strategy, the wrong control strategy switching can be prevented.
(3) The control system confirms the current control strategy;
(4) the control system carries out initial value setting on the proportional-integral regulator in the control loop, then locks the setting value, modifies the control target and switches the control strategy.
The following examples detail the initial value setting of the proportional integral regulator:
fig. 2(a) is an active and reactive decoupling control block diagram, and different control targets can be achieved by setting control parameters, including fixed active and reactive control, fixed direct voltage and reactive control, and direct voltage slope control, and a series of improved control strategies extended based on the control targets. When the target control strategy after switching is active and reactive decoupling control, the invention needs to keep unchanged quantity during switching control for ensuring smoothness and rapidity before and after switching control, and the quantity comprises a control target reference value, an outer ring and an inner ring
And integrating the integral value of the proportional integral element. The initial value setting mode of the proportional-integral regulator is as follows:
1) setting an electric quantity reference value of a control strategy to be achieved as a current actual electric quantity value, such as an active power reference value, a reactive power reference value, a direct-current voltage reference value and the like before control switching, wherein the control strategy comprises an outer ring proportional integrator, and an initial value of the outer ring integrator needs to be correspondingly set as the actual electric quantity value; and collecting the actual electric quantity value in real time.
2) Setting an initial value of an inner ring proportional integrator for generating a modulation wave voltage in a control loop, wherein a setting formula is as follows:
wherein, UcAnd USIs the effective value of the voltage at the AC side outlet of the converter station and the effective value of the AC voltage at the point of common connection, vdresetAnd vqresetThe integrator setting value in d-axis control and the integrator setting value in q-axis control. PsAnd QsIs the active and reactive power injected at the Point of Common Coupling (PCC). i.e. isdAnd isqIs the dq-axis component, X, of the current on the AC side of the converter stationcIs a converter reactance of a converter station, RcIs the equivalent resistance of the converter station.
Referring to fig. 2(b), a typical amplitude and phase control block diagram is shown, wherein the amplitude and phase control adopts indirect current control, and active power and reactive power are mutually coupled. When the target control strategy after switching is amplitude-phase control, in order to ensure the smoothness and rapidity before and after switching control, the invention needs to keep unchanged quantity during switching control, mainly comprising alternating voltage amplitude and phase. The initial value setting mode of the proportional-integral regulator is as follows:
1) and setting the electric quantity reference value of the to-be-achieved control strategy as the current actual electric quantity value. And setting the initial value of the proportional integrator in the control loop to be an actual electrical quantity value, namely an alternating voltage amplitude value before switching, and acquiring the actual electrical quantity value in real time.
2) In the control loop, the phase tracking is carried out on the voltage at the AC side, the phase is kept during switching, the initial phase angle of amplitude-phase control after switching is set, the phase angle before switching is set, and corresponding modulation waves can be output through the set phase angle and the amplitude of the AC voltage.
The application example is as follows:
the present invention will be described in further detail with reference to specific examples, which are provided by way of illustration and are not intended to limit the invention thereto.
Referring to fig. 3, the double-end seven-level voltage source type converter system has an alternating current bus voltage of 500kV, an MMC alternating current voltage of 255kV, a direct current voltage of ± 250kV, a sub-module capacitor of 1000uF, an equivalent generator outputting 700MW active power, an equivalent motor consuming 100MW active power, and a direct current grid responsible for 600MW output. And generating a power switching control signal at 6s, switching from constant active and reactive power control to amplitude-phase control, and adopting the smooth switching method provided by the invention. And carrying out PSCAD simulation according to the model to obtain the dynamic characteristics of the voltage source type converter during control strategy switching.
Referring to fig. 4, after the 6s control strategy is switched, the original constant active reactive control is switched to amplitude-phase control, the voltage on the VSC direct current side is oscillated by the original 502kV to a small extent, the oscillation amplitude is about ± 3kV, and the direct current is hardly affected. The PCC voltage effective value on the VSC alternating current side is oscillated in a small amplitude of +/-2 kV from 501kV, the alternating current is oscillated in a small amplitude of +/-0.15 kA from 1kA, the active power is oscillated in a small amplitude of +/-40 MW from 600MW, and the reactive support is changed from 0 to-10 MVar.
In the dynamic process, small oscillation is caused due to small reactive support deviation of amplitude-phase control after switching, the whole oscillation process lasts for about 1s, and the oscillation amplitude of each electric quantity is small, so that the method has the characteristics of good rapidity and smoothness, improves the stability of the voltage source type converter, and improves the stability of a power system connected with the voltage source type converter.
It should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and equivalents and substitutions made on the basis of the above-mentioned embodiments are included in the scope of the present invention.
Claims (7)
1. A smooth switching method for a control strategy of a voltage source type converter is characterized by comprising the following steps:
(1) the control system collects an actual electric quantity value;
(2) the control system receives a control strategy switching signal; the control strategies comprise an active and reactive decoupling control strategy and an active and reactive decoupling control strategy;
(3) the control system confirms the current control strategy;
(4) the control system carries out initial value setting on a proportional-integral regulator in a control loop, locks a setting value, modifies a control target and switches a control strategy;
when the target control strategy to be switched in the step (2) is an active and reactive decoupling control strategy, the initial value setting of the proportional-integral regulator in the step (4) comprises the following steps:
1) setting an electrical quantity reference value of a control strategy to be achieved as a current actual electrical quantity value, and setting an initial value of an outer ring integrator as the actual electrical quantity value;
2) setting an initial value of an inner ring proportional integrator for generating a modulation wave voltage in a control loop;
when the target control strategy to be switched in the step (2) is an active and reactive decoupling-free control strategy, the initial value setting of the proportional-integral regulator in the step (4) comprises the following steps:
1) setting an electric quantity reference value of a control strategy to be achieved as a current actual electric quantity value, and setting an initial value of a proportional integrator in a control loop as the actual electric quantity value;
2) in the control loop, the phase tracking is carried out on the alternating-current side voltage, the phase is kept during switching, and the initial phase angle of amplitude-phase control after switching is adjusted.
2. The voltage source converter control strategy smooth switching method according to claim 1, characterized in that the actual electrical magnitude value comprises the following values: the three-phase alternating current voltage, alternating current, active power and reactive power data collected from the public coupling point of the voltage source type converter utilize the phase data collected by the phase-locked loop and the direct current voltage data collected from the direct current grid-connected point.
3. The method for smoothly switching the control strategy of the voltage source converter according to claim 1, wherein when the target control strategy to be switched in step (2) is an active and reactive decoupling control strategy, the initial setting formula of the proportional-integral regulator in step (4) is as follows:
wherein, UcAnd USIs the effective value of the voltage at the AC side outlet of the converter station and the effective value of the AC voltage at the point of common connection, vdresetAnd vqresetIs the integrator setting in d-axis control and the integrator setting in q-axis control, PsAnd QsIs active power injected at the point of common connectionAnd reactive power isdAnd isqIs the dq-axis component, X, of the current on the AC side of the converter stationcIs a converter reactance of the converter station, RcIs the equivalent resistance of the converter station.
4. The method for smoothly switching the control strategy of the voltage source converter according to claim 1, wherein when the target control strategy to be switched is an active and reactive decoupling control strategy, the actual electric quantity value at least comprises: and controlling the active power, the reactive power and the direct-current voltage reference value before switching.
5. The method for smoothly switching the control strategy of the voltage source converter according to claim 1, wherein the active and reactive decoupling control strategy comprises: the method comprises a fixed active reactive power control strategy, a fixed direct current voltage reactive power control strategy, a fixed active alternating current voltage control strategy, a fixed direct current voltage alternating current voltage control strategy and a direct current voltage slope control strategy.
6. The method for smoothly switching the control strategy of the voltage source converter according to claim 1, wherein when the target control strategy to be switched is an active and reactive non-decoupling control strategy, the actual electric quantity value comprises: the amplitude of the ac voltage before switching.
7. The method for smoothly switching the control strategy of the voltage source converter according to claim 1, wherein the active and reactive non-decoupling control strategy comprises an amplitude-phase control strategy.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010872898.7A CN112086988B (en) | 2020-08-26 | 2020-08-26 | Smooth switching method for control strategy of voltage source type converter |
| PCT/CN2020/116988 WO2022041364A1 (en) | 2020-08-26 | 2020-09-23 | Smooth switching method for control policy of voltage-source-type converter |
| ZA2023/03832A ZA202303832B (en) | 2020-08-26 | 2023-03-24 | Smooth switching method for control policy of voltage-source-type converter |
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| CN202010872898.7A CN112086988B (en) | 2020-08-26 | 2020-08-26 | Smooth switching method for control strategy of voltage source type converter |
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| CN117458506B (en) * | 2023-10-30 | 2024-09-13 | 国家电网有限公司华东分部 | Control method and device for wind power flexible direct-sending system voltage |
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| Publication number | Publication date |
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| CN112086988A (en) | 2020-12-15 |
| WO2022041364A1 (en) | 2022-03-03 |
| ZA202303832B (en) | 2024-07-31 |
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