CN112542849A - Self-adaptive virtual inertia frequency modulation control method for flexible direct current power transmission system - Google Patents

Self-adaptive virtual inertia frequency modulation control method for flexible direct current power transmission system Download PDF

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CN112542849A
CN112542849A CN202011261479.6A CN202011261479A CN112542849A CN 112542849 A CN112542849 A CN 112542849A CN 202011261479 A CN202011261479 A CN 202011261479A CN 112542849 A CN112542849 A CN 112542849A
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inertia
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CN112542849B (en
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刘英培
谢乾
梁海平
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North China Electric Power University
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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
    • 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
    • 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
    • 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]

Abstract

A flexible direct current transmission system self-adaptive virtual inertia frequency modulation control method comprises the steps of firstly, controlling a reference value of active power in droop control to realize secondary frequency modulation of an alternating current side system, secondly, enabling the virtual inertia power to be equal to charge-discharge power of a capacitor, and establishing a coupling relation between a direct current voltage reference value and the active power; adopting self-adaptive virtual inertia control regulated according to a fitting hyperbolic tangent function, reducing an inertia coefficient when the direct-current voltage approaches a limit value, and preventing the direct-current voltage from exceeding the limit; when the direct current voltage is far away from the limit value, the inertia coefficient is increased, so that the frequency is more stable. The invention reduces the overshoot in the secondary frequency modulation process, is beneficial to the frequency recovery of instantaneous faults, improves the frequency stability of an alternating current system and improves the stability of an interconnected system.

Description

Self-adaptive virtual inertia frequency modulation control method for flexible direct current power transmission system
Technical Field
The invention relates to the technical field of direct current transmission, in particular to a frequency modulation control method in a flexible direct current transmission system.
Background
At the end of the 20 th century, a flexible direct-current transmission technology has been greatly developed, and as the flexible direct-current transmission technology has advantages in the aspects of centralized new energy delivery, asynchronous grid interconnection, weak grid, island power supply and the like, a large number of flexible direct-current transmission projects are put into operation successively so far. Meanwhile, the flexible direct current transmission system can conveniently form a multi-terminal flexible direct current transmission system (MTDC) to realize multipoint interconnection.
Although the flexible direct-current transmission system has many advantages, as the proportion of the flexible direct-current transmission system in a power grid is larger and larger, some problems to be solved urgently appear. One of the important problems is that the MTDC system decouples the ac system at each end under the conventional control strategy, which can isolate the mutual influence between the islanded grid and the main grid, but the inverter cannot respond to the frequency change of the ac grid, and cannot provide inertia and frequency support for the ac system like the conventional synchronous generator, which is not favorable for the frequency stability of the grid. Therefore, it is necessary to research a corresponding control strategy, so that the fast adjustment capability of the flexible direct current transmission system can be utilized to provide support for the frequency stability of the alternating current system.
In order to achieve the above objective, the frequency support control of the asynchronous interconnection system based on the flexible direct current can be studied, and the control methods can be classified into the following categories: master-slave control of frequency deviation feedback, droop control of additional frequency regulation, virtual synchronous machine type control, and the like. However, the current control strategy mainly has the following disadvantages:
(1) and the master-slave control method has higher requirements on inter-station communication and higher requirements on the reliability of the main converter station.
(2) The control method of the virtual synchronous machine is complex in structure and difficult in parameter setting.
(3) The droop control with additional frequency regulation has the advantages of simple control structure, flexible end number expansion, no dependence on communication and higher engineering practicability; however, the frequency modulation effect is relatively general, the transient fluctuation is large in the frequency modulation process, and the direct current voltage may be out of limit.
Disclosure of Invention
The invention aims to provide a self-adaptive virtual inertia control strategy of a flexible direct current power transmission system aiming at the defects of the prior art, which adopts an additional virtual inertia frequency regulation mode to reduce the frequency fluctuation in the frequency modulation process, realize more stable secondary frequency modulation control, prevent the direct current voltage from exceeding the limit and is beneficial to the frequency stability of an interconnected alternating current system.
The problems of the invention are solved by the following technical scheme:
an adaptive virtual inertia frequency modulation control strategy for a flexible direct current power transmission system, the flexible direct current power transmission system comprising:
a sending end system:
the strong alternating current grid G1 is connected with the constant power control converter station VSC1, operates in a rectification state and transmits power to a receiving end system;
the strong alternating current grid G2 is connected with the constant power control converter station VSC2, operates in a rectification state and transmits power to a receiving end system;
receiving end system:
the weak alternating current power grid G3 is connected with the self-adaptive virtual inertia control converter station VSC3, and the direct current power grid regulates and controls the G3 frequency;
the weak alternating current power grid G4 is connected with the self-adaptive virtual inertia control converter station VSC4, and the direct current power grid regulates and controls the G4 frequency;
the strong alternating current grid G5 is connected with the droop control converter station VSC5, and provides energy supplement for the direct current grid, and the energy supplement is equivalent to a balance node;
each converter station direct current side is connected with a direct current transmission line;
the frequency modulation control is carried out according to the following steps:
the method comprises the steps of firstly, controlling a reference value of active power in droop control to realize secondary frequency modulation of an alternating-current side system, secondly, enabling virtual inertia power to be equal to capacitance charging and discharging power, and establishing a coupling relation between a direct-current voltage reference value and the active power; adopting self-adaptive virtual inertia control regulated according to a fitting hyperbolic tangent function, reducing an inertia coefficient when the direct-current voltage approaches a limit value, and preventing the direct-current voltage from exceeding the limit; when the direct current voltage is far away from the limit value, the inertia coefficient is increased, so that the frequency is more stable.
According to the self-adaptive virtual inertia frequency modulation control strategy of the flexible direct current transmission system, the voltage source converter station adopts self-adaptive virtual inertia control, and the expression is as follows:
Figure BDA0002774782280000021
Figure BDA0002774782280000022
wherein
Figure BDA0002774782280000023
SVSCRated capacity for the converter station; u shapedcrefIs an initial DC voltage reference value; u shapedcIs a direct current voltage; k is the droop coefficient of P-U droop control; hVSCIs the actual virtual inertia coefficient; hVSCmaxIs the maximum inertia coefficient; c is a direct current capacitance value; f is the AC system frequency; f. of0Is an ac system frequency rating; prefIs an initial active power reference value; p is active power of the converter station; u shapedcmaxAnd UdcminMaximum and minimum limit values of the direct current voltage are respectively set; delta UdcmaxIs the maximum allowable DC voltage deviation; k is a radical ofpAnd kiRespectively, a proportionality coefficient and an integral coefficient.
The self-adaptive virtual inertia frequency modulation control strategy of the flexible direct current power transmission system is used for controlling the frequency variation f-f0Hysteresis control is introduced, and the ring width is 2 h. When the frequency deviation is within the ring width, i.e. when f0-h＜f＜f0At + h, the secondary frequency modulation control may not be operated because the frequency deviation is small, and the frequency deviation f-f0The output is 0 after passing through the hysteresis controller, so that the active power reference value is set to be 0. By the arrangement, active power can be prevented from participating in frequent adjustment, so that secondary frequency modulation control is only put into use when needed.
Advantageous effects
According to the invention, the frequency deviation is fed back to realize secondary frequency modulation of the alternating-current side system, and an additional virtual inertia frequency adjustment mode is adopted to reduce frequency fluctuation in the frequency modulation process by combining the advantages of the additional frequency adjustment droop control method and the virtual synchronous machine control method. By utilizing the virtual inertia technology, the voltage reference value at the direct current side is coupled with the system frequency at the alternating current side, so that the power flow is regulated to further stabilize the frequency, and the overshoot in the secondary frequency modulation process is reduced. On the basis, a self-adaptive virtual inertia control mode is adopted to couple the direct-current side voltage reference value with the alternating-current side system frequency, and the virtual inertia coefficient is changed in a self-adaptive mode according to the direct-current voltage deviation, so that the direct-current voltage can be prevented from exceeding the limit when the direct-current voltage deviation is large; when the deviation of the direct current voltage is small, the inertia stable frequency is enhanced. The method can reduce the overshoot in the secondary frequency modulation process, is beneficial to the frequency recovery of instantaneous faults, improves the frequency stability of the alternating current system, improves the stability of the interconnected system, and is beneficial to the frequency stability of the interconnected alternating current system with the direct current power grid.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings.
Fig. 1 is a structural diagram of a five-terminal flexible direct current transmission system;
FIG. 2 is a DC voltage reference value variation curve;
FIG. 3 is a virtual inertia coefficient adaptive variation curve;
FIG. 4 is a DC voltage simulation waveform after a large increase in load;
FIG. 5 is a DC voltage simulation waveform after a small reduction in load;
FIG. 6 is a simulation waveform after an instantaneous three-phase short-circuit fault occurs in an AC power grid;
FIG. 7 is a simulation waveform after random fluctuating load access;
the symbols used in the drawings and the text are respectively represented as: HVDC: high voltage direct current transmission, VSC-MTDC: multi-terminal flexible DC power transmission Udcref: initial DC voltage reference value, Udc: actual value of DC voltage, Pref: initial active power reference value, P: actual value of active power on the DC side, f0: ac frequency rating, f: frequency measured value, K: conventional voltage sag factor, HVSC: virtual coefficient of inertia，SVSC: rated capacity of converter station, h: ring width of hysteresis control, C: DC capacitance value, Pref': secondary frequency modulation control of active power reference value, kp: coefficient of proportionality, ki: integral coefficient, Udcref(t): direct-current voltage reference actual value, λ: margin coefficient, HVSCmax: maximum coefficient of inertia, HVSC: actual coefficient of inertia, Δ Udc: deviation of DC voltage from rated voltage, Delta Udcmax: maximum allowable dc voltage deviation.
Detailed Description
Referring to fig. 1, the five-terminal flexible dc power transmission system includes:
a sending end system:
the heavy alternating current grid G1 is connected to a constant power control converter station VSC1, which operates in a rectified state and delivers power to the receiving system.
The heavy alternating current grid G2 is connected to a constant power control converter station VSC2, which operates in a rectified state and delivers power to the receiving system.
Receiving end system:
the weak alternating current grid G3 is connected with the adaptive virtual inertia control converter station VSC3, and the direct current grid regulates and controls the G3 frequency.
The weak alternating current grid G4 is connected with the adaptive virtual inertia control converter station VSC4, and the direct current grid regulates and controls the G4 frequency.
The heavy alternating current grid G5 is connected to a droop control converter station VSC5, which provides energy replenishment to the direct current grid, equivalent to a balancing node.
And each direct current side of each converter station is connected with a direct current transmission line.
The self-adaptive virtual inertia frequency modulation control strategy of the flexible direct current power transmission system provided by the invention is obtained by the following processes:
the first step is as follows: by using a frequency deviation feedback mode, the secondary frequency modulation of the alternating current side system is realized by changing the reference value of active power to increase corresponding power, and the expression is obtained as follows:
Pref'＝Pref+kp(f-f0)+ki∫(f-f0)dt
wherein, Pref' consider the active power reference value after the secondary frequency modulation; prefIs an initial active power reference value; k is a radical ofpAnd kiRespectively are proportional integral coefficients; f is the actual measurement frequency; f. of0The system nominal frequency.
The second step is that: establishing a virtual inertia relation between a direct-current voltage reference value and an alternating-current frequency by utilizing a rotor motion equation of the synchronous generator and a dynamic equation of a direct-current capacitor:
Figure BDA0002774782280000051
wherein, Udcref(t) is the actual DC voltage reference value after virtual inertia control is adopted; hVSCIs a virtual inertia coefficient; sVSCRated capacity for the converter station; c is a direct current capacity value; u shapedcrefIs the initial DC voltage reference value.
The third step: the above formula is analyzed, and the inertia coefficient H is fixedVSCThe value is restricted by the maximum allowable direct current voltage deviation, the capability of providing inertia is limited, and a fixed inertia control inertia coefficient maximum value expression can be deduced:
Figure BDA0002774782280000052
wherein λ is a margin coefficient taking into account the influence of the secondary frequency modulation and droop control, and is usually less than 1; delta UdcmaxIs the maximum allowable dc voltage deviation.
The fourth step: fitting an inertia coefficient self-adaptive change curve according to the self-adaptive control requirement of the inertia coefficient, wherein the expression is as follows:
Figure BDA0002774782280000053
wherein the content of the first and second substances,
Figure BDA0002774782280000054
HVSCmaxis the maximum inertia coefficient; hVSCIs the actual inertia coefficient; delta UdcThe deviation between the direct current voltage and the rated voltage is obtained; delta UdcmaxIs the maximum allowable dc voltage deviation.
The fifth step: and (3) synthesizing the self-adaptive virtual inertia control scheme and combining the traditional P-U droop control to obtain a complete expression of the self-adaptive virtual inertia frequency modulation control strategy:
Figure BDA0002774782280000055
Figure BDA0002774782280000056
wherein
Figure BDA0002774782280000057
SVSCRated capacity for the converter station; u shapedcrefIs an initial DC voltage reference value; u shapedcIs a direct current voltage; k is the droop coefficient of P-U droop control; hVSCIs the actual virtual inertia coefficient; hVSCmaxIs the maximum inertia coefficient; c is a direct current capacitance value; f is the AC system frequency; f. of0Is an ac system frequency rating; prefIs an initial active power reference value; p is active power of the converter station; u shapedcmaxAnd UdcminMaximum and minimum limit values of the direct current voltage are respectively set; delta UdcmaxIs the maximum allowable DC voltage deviation; k is a radical ofpAnd kiRespectively, a proportionality coefficient and an integral coefficient.
In order to prevent the active power command value of the converter station from being adjusted too frequently, frequency hysteresis control can be introduced, the hysteresis width is set to be 2h, and if the frequency deviation is within the loop width, the output of the secondary frequency modulation control of the converter station is 0.
The invention utilizes the virtual inertia technology to establish the coupling relation between the direct current voltage reference value and the alternating current side frequency, obtains the self-adaptive virtual inertia control strategy, enhances the system inertia and the stable frequency, reduces the transient fluctuation and the overshoot in the frequency modulation control process, and simultaneously prevents the direct current voltage from exceeding the limit and improves the frequency stability of the interconnected alternating current system.
When fixed inertia control is adopted, a direct-current voltage reference value expression is as follows:
Figure BDA0002774782280000061
wherein, Udcref(t) is the actual DC voltage reference value after virtual inertia control is adopted; hVSCIs a virtual inertia coefficient; sVSCRated capacity for the converter station; c is a direct current capacity value; u shapedcrefIs the initial DC voltage reference value.
Referring to fig. 2, the curve for controlling the change of the dc voltage reference value by the virtual inertia is shown, as the inertia coefficient H is fixedVSCWhen the value is too large, the variation range of the direct-current voltage reference value may far exceed the variation range allowed by the direct-current voltage, so that the direct-current voltage is out of limit, and the safe operation of the direct-current power transmission system is seriously influenced. The maximum value of the direct current system for ensuring the safety is as follows:
Figure BDA0002774782280000062
wherein λ is a margin coefficient taking into account the influence of the secondary frequency modulation and droop control, and is usually less than 1; delta UdcmaxIs the maximum allowable dc voltage deviation.
In order to ensure that the direct-current voltage does not exceed the limit under extreme conditions, the coefficient value is very small during fixed inertia control, so that the capability of providing inertia when the direct-current voltage variation range is small is greatly limited, and the VSC converter station can originally adopt virtual larger inertia. On the basis, a method for adaptively adjusting the inertia coefficient according to the DC voltage margin is adopted, so that the situation that the direct current voltage is out of range when the deviation is large is ensured, and the inertia coefficient is made to be larger as much as possible and the frequency is more stable when the deviation is small.
Fig. 3 is a virtual inertia coefficient adaptive variation curve.
For controlling the DC voltage deviation, the DC voltage U should be controlleddcNear maximum value U of DC voltagedcmaxOr minimum value U of DC voltagedcminH kept lowVSC. Whereas the H should remain high when moving away from its valueVSC. While following UdcSlave Udc0Gradually approaching the limit value, HVSCThe value should be gradually reduced to 0.
By mathematically fitting the above trend using a hyperbolic tangent function, the expression can be obtained as:
Figure BDA0002774782280000063
wherein
Figure BDA0002774782280000071
HVSCmaxIs the maximum inertia coefficient; hVSCIs the actual inertia coefficient; delta UdcThe deviation between the direct current voltage and the rated voltage is obtained; delta UdcmaxIs the maximum allowable dc voltage deviation.
Therefore, an adaptive virtual inertia frequency modulation control mode can be obtained.
Examples
In order to verify the effect of the control method, the five-terminal flexible direct-current power transmission system is built based on a PSCAD/EMTDC electromagnetic transient simulation environment, non-inertial control, fixed inertial control and adaptive virtual inertial control are simulated respectively, and frequency modulation effects of different methods are compared. Four different working conditions of sudden large load input, sudden small load removal, instantaneous three-phase short circuit fault of the alternating current power grid and random fluctuation load access are arranged at the position of the alternating current power grid G3, and the effects of the control method under the different working conditions are visually analyzed. The effects of the control strategies under different working conditions can be visually compared by referring to fig. 4-7.
As can be seen from fig. 4, when the load increase amplitude is large, and the dc voltage variation amplitude is large in order to maintain the frequency stability of the ac side, the dc voltage deviation is maximum when the fixed inertia control is adopted, and reaches the minimum limit value of the dc voltage, which is close to the threshold. And the direct current voltage is far away from the limit value when the self-adaptive virtual inertia control is adopted.
It can be seen from fig. 5 that, when the load is increased by a small amplitude, the frequency can recover the rated value due to the secondary frequency modulation control, but when the adaptive virtual inertia control is adopted, the frequency fluctuation amount is small, the overshoot is obviously reduced, and the frequency is more stable.
It can be seen from fig. 6 that, when an instantaneous three-phase short circuit fault occurs on the ac side, the three control modes are not very different during the fault, but the frequency recovery is faster by adopting the adaptive virtual inertia control during the frequency recovery, and the recovery process is more stable.
As can be seen from fig. 7, when the new energy access is simulated by using the fluctuating load, the frequency fluctuation in the adaptive virtual inertia control mode is minimal. It should be noted that other weak ac systems connected to the dc grid also have the smallest frequency fluctuation under the adaptive virtual inertia control, which is beneficial to the frequency stability of the interconnected ac systems.
In summary, compared with the prior art, the adaptive virtual inertia frequency modulation control strategy of the flexible direct current power transmission system couples the direct current side voltage reference value with the alternating current side system frequency, and adaptively changes the virtual inertia coefficient according to the direct current voltage deviation, so that the direct current voltage can be prevented from exceeding the limit when the direct current voltage deviation is large; when the deviation of the direct current voltage is small, the inertia stable frequency is enhanced. The method can reduce the overshoot in the secondary frequency modulation process, is beneficial to the frequency recovery of instantaneous faults, improves the frequency stability of an alternating current system, and improves the stability of an interconnected system.

Claims (3)

1. A flexible direct current power transmission adaptive virtual inertia frequency modulation control strategy is characterized in that a flexible direct current power transmission system comprises the following components:
a sending end system:
the strong alternating current grid G1 is connected with the constant power control converter station VSC1, operates in a rectification state and transmits power to a receiving end system;
the strong alternating current grid G2 is connected with the constant power control converter station VSC2, operates in a rectification state and transmits power to a receiving end system;
receiving end system:
the weak alternating current power grid G3 is connected with the self-adaptive virtual inertia control converter station VSC3, and the direct current power grid regulates and controls the G3 frequency;
the weak alternating current power grid G4 is connected with the self-adaptive virtual inertia control converter station VSC4, and the direct current power grid regulates and controls the G4 frequency;
the strong alternating current grid G5 is connected with the droop control converter station VSC5, and provides energy supplement for the direct current grid, and the energy supplement is equivalent to a balance node;
each converter station direct current side is connected with a direct current transmission line;
the frequency modulation control is carried out according to the following steps:
the method comprises the steps of firstly, controlling a reference value of active power in droop control to realize secondary frequency modulation of an alternating-current side system, secondly, enabling virtual inertia power to be equal to capacitance charging and discharging power, and establishing a coupling relation between a direct-current voltage reference value and the active power; adopting self-adaptive virtual inertia control regulated according to a fitting hyperbolic tangent function, reducing an inertia coefficient when the direct-current voltage approaches a limit value, and preventing the direct-current voltage from exceeding the limit; when the direct current voltage is far away from the limit value, the inertia coefficient is increased, so that the frequency is more stable.
2. The adaptive virtual inertia frequency modulation control strategy of the flexible direct current transmission system according to claim 1, wherein the voltage source converter station adopts adaptive virtual inertia control, and the expression is as follows:
Figure FDA0002774782270000011
Figure FDA0002774782270000012
wherein
Figure FDA0002774782270000021
SVSCRated capacity for the converter station; u shapedcrefIs an initial DC voltage reference value; u shapedcIs a direct current voltage; k is the droop coefficient of P-U droop control; hVSCIs the actual virtual inertia coefficient; hVSCmaxIs the maximum inertia coefficient; c is a direct current capacitance value; f is the AC system frequency; f. of0Is an ac system frequency rating; prefIs an initial active power reference value; p is active power of the converter station; u shapedcmaxAnd UdcminMaximum and minimum limit values of the direct current voltage are respectively set; delta UdcmaxIs the maximum allowable DC voltage deviation; k is a radical ofpAnd kiRespectively, a proportionality coefficient and an integral coefficient.
3. The adaptive virtual inertial frequency modulation control strategy for a flexible direct current power transmission system according to claim 1, characterized by frequency variance f-f0Hysteresis control is introduced, and the ring width is 2 h; when the frequency deviation is within the ring width, i.e. when f0-h＜f＜f0At + h, the secondary frequency modulation control may not be operated because the frequency deviation is small, and the frequency deviation f-f0The output is 0 after passing through the hysteresis controller, so that the active power reference value is set to be 0.
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