CN112542849B - Adaptive virtual inertial frequency modulation control method for flexible direct current transmission system - Google Patents
Adaptive virtual inertial frequency modulation control method for flexible direct current transmission system Download PDFInfo
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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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- 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 adaptive virtual inertial frequency modulation control method of the flexible direct current transmission system comprises the steps of firstly realizing secondary frequency modulation of an alternating current side system by controlling a reference value of active power in droop control, secondly, enabling the virtual inertial power to be equal to charge and 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 adjusted according to a fitted hyperbolic tangent function, reducing an inertia coefficient when the direct current voltage is close to a limit value, and preventing the direct current voltage from exceeding the limit; and 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 transient faults, improves the frequency stability of an alternating current system and improves the stability of an interconnection system.
Description
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, flexible direct current transmission technology has been greatly developed, and as flexible direct current transmission technology has advantages in the aspects of concentrated new energy output, asynchronous power grid interconnection, weak power grid, island power supply and the like, so far, a large number of flexible direct current transmission projects are put into operation successively. Meanwhile, the flexible direct current transmission system can conveniently form a multi-terminal flexible direct current transmission system (MTDC) to realize multi-point interconnection.
Although the flexible direct current transmission system has a plurality of advantages, as the proportion of the flexible direct current transmission system in a power grid is larger and larger, a plurality of problems to be solved urgently also appear. One of the important problems is that the MTDC system decouples the alternating current systems at all ends under the traditional control strategy, so that the interaction of the island power grid and the main network can be isolated, but the converter cannot respond to the frequency change of the alternating current power grid, and the inertia and frequency support cannot be provided for the alternating current system like a traditional synchronous generator, which is not beneficial to the frequency stabilization of the power grid. Therefore, it is necessary to research a corresponding control strategy, so that the rapid adjustment capability of the flexible direct current transmission system can be utilized to provide support for the frequency stabilization of the alternating current system.
In order to achieve the above object, frequency support control of an asynchronous interconnection system based on flexible direct current can be studied, and the control modes can be divided into the following categories: master-slave control of frequency deviation feedback, droop control of additional frequency adjustment, virtual synchronous machine type control, and the like. However, the current control strategy mainly has the following disadvantages:
(1) The master-slave control method has higher requirements on communication between stations and reliability of the main converter station.
(2) The control method of the virtual synchronous machine is complex in structure and high in parameter setting difficulty.
(3) The droop control of the additional frequency adjustment has the advantages of simple control structure, flexible end number expansion and no dependence on communication, and has higher engineering practicability; however, the frequency modulation effect is more general, transient fluctuation is larger in the frequency modulation process, and direct-current voltage can be out of limit.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a self-adaptive virtual inertia control strategy of a flexible direct current transmission system, which adopts an additional virtual inertia frequency adjustment mode to reduce frequency fluctuation in the frequency modulation process, realize more stable secondary frequency modulation control, simultaneously prevent direct current voltage from exceeding the limit and be beneficial to the frequency stabilization of an interconnected alternating current system.
The problems of the invention are solved by the following technical proposal:
a flexible direct current transmission system self-adaptive virtual inertial frequency modulation control strategy comprises the following components:
and (3) a sending end system:
the strong alternating current power grid G1 is connected with a constant-power control converter station VSC1, and operates in a rectifying state to transmit power to a receiving end system;
the strong alternating current power grid G2 is connected with a constant-power control converter station VSC2, and operates in a rectifying state to transmit power to a receiving end system;
receiving end system:
the weak alternating current power grid G3 is connected with the self-adaptive virtual inertial control converter station VSC3, and the direct current power grid regulates and controls the frequency of the G3;
the weak alternating current power grid G4 is connected with the self-adaptive virtual inertial control converter station VSC4, and the frequency of the G4 is regulated and controlled by the direct current power grid;
the strong alternating current power grid G5 is connected with the sagging control converter station VSC5 to provide energy supplement for the direct current power grid, and the energy supplement is equivalent to a balance node;
each direct current side of each converter station is provided with a direct current transmission line connected with the direct current transmission line;
the frequency modulation control is carried out according to the following steps:
the method comprises the steps of firstly realizing secondary frequency modulation of an alternating-current side system by controlling a reference value of active power in droop control, secondly enabling virtual inertial power to be equal to capacitor charge and discharge power, and establishing a coupling relation between a direct-current voltage reference value and the active power; adopting self-adaptive virtual inertia control adjusted according to a fitted hyperbolic tangent function, reducing an inertia coefficient when the direct current voltage is close to a limit value, and preventing the direct current voltage from exceeding the limit; and 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 inertial frequency modulation control strategy of the flexible direct current transmission system, the voltage source converter station adopts self-adaptive virtual inertial control, and the expression is as follows:
wherein the method comprises the steps of
S VSC Rated capacity for the converter station; u (U) dcref Is an initial direct current voltage reference value; u (U) dc Is a direct current voltage; k is the sagging coefficient of the P-U sagging control; h VSC Is the actual virtual inertia coefficient; h VSCmax Is the maximum inertia coefficient; c is the direct current capacitance value; f is the alternating current system frequency; f (f) 0 Rated for ac system frequency; p (P) ref Is an initial active power reference value; p is the active power of the converter station; u (U) dcmax And U dcmin Respectively the maximum limit value and the minimum limit value of the direct current voltage; deltaU dcmax Is the maximum allowable DC voltage deviation; k (k) p And k i Respectively a proportional coefficient and an integral coefficient.
The adaptive virtual inertial frequency modulation control strategy of the flexible direct current transmission system is used for controlling the frequency variation f-f 0 Hysteresis control is introduced on the upper part, and the ring width is 2h. When the frequency deviation is within the loop width, i.e. when f 0 -h＜f＜f 0 In +h, the secondary frequency modulation control may be disabled due to the smaller frequency deviation, frequency deviation f-f 0 The output is 0 after passing through the hysteresis controller, so that the change amount of the active power reference value is set to 0. By the arrangement, the active power can be prevented from being frequently regulated, so that secondary frequency modulation control is only input when needed.
Advantageous effects
The invention firstly feeds back the frequency deviation to realize the secondary frequency modulation of the alternating current side system, combines the advantages of the additional frequency adjustment droop control and the virtual synchronous machine control method, and adopts an additional virtual inertia frequency adjustment mode to reduce the frequency fluctuation in the frequency modulation process. The virtual inertia technology is utilized to couple the direct-current side voltage reference value and the alternating-current side system frequency, so that the power flow is regulated to further stabilize the frequency, and 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 manner according to the direct-current voltage deviation, so that the direct-current voltage is prevented from being out of limit when the direct-current voltage deviation is large; when the DC voltage deviation is small, the inertia stable frequency is enhanced. The method can reduce the overshoot in the secondary frequency modulation process, is favorable for the frequency recovery of transient faults, improves the frequency stability of an alternating current system, improves the stability of an interconnection system, and is favorable for the frequency stability of the alternating current system interconnected with a direct current power grid.
Drawings
The invention is described in further detail below with reference to the accompanying drawings.
Fig. 1 is a block diagram of a five-terminal flexible dc power transmission system;
FIG. 2 is a graph showing a DC voltage reference value variation curve;
FIG. 3 is a graph of the adaptive change in virtual inertial coefficients;
FIG. 4 is a DC voltage simulation waveform after a load has been greatly increased;
FIG. 5 is a simulated waveform of DC voltage after a small reduction in load;
FIG. 6 is a simulated waveform after an instantaneous three-phase short circuit fault occurs in an AC grid;
FIG. 7 is a simulated waveform after random fluctuating load access;
the figures or symbols used herein are respectively represented as: HVDC: high voltage direct current transmission, VSC-MTDC: multi-terminal flexible direct current transmission, U dcref : initial DC voltage reference value, U dc : actual value of DC voltage, P ref : initial active power reference, P: actual value of active power at DC side, f 0 : ac frequency rating, f: frequency actual measurement value, K: sag factor of traditional voltage, H VSC : virtual inertial coefficient, S VSC : rated capacity of the converter station, h: hysteresis control loop width, C: DC capacitance, P ref ': active power reference value k controlled by secondary frequency modulation p : scaling factor, k i : integral coefficient, U dcref (t): dc voltage reference actual value, λ: margin coefficient H VSCmax : maximum coefficient of inertia, H VSC : actual inertial coefficient, deltaU dc : deviation of direct current voltage from rated voltage, deltaU dcmax : maximum allowable dc voltage deviation.
Detailed Description
Referring to the five-terminal flexible direct current transmission system shown in fig. 1, comprising:
and (3) a sending end system:
the strong ac power grid G1 is connected to a fixed power control converter station VSC1, which operates in a rectifying state, delivering power to the receiving end system.
The strong ac power grid G2 is connected to a fixed power control converter station VSC2, which operates in a rectifying state, delivering power to the receiving end system.
Receiving end system:
the weak alternating current power grid G3 is connected with the self-adaptive virtual inertial control converter station VSC3, and the direct current power grid regulates and controls the frequency of the G3.
The weak alternating current power grid G4 is connected with the self-adaptive virtual inertial control converter station VSC4, and the direct current power grid regulates and controls the frequency of the G4.
The strong ac grid G5 is connected to the droop control converter station VSC5, providing energy supplementary for the dc grid, equivalent to a balancing node.
The DC side of each converter station is connected with a respective DC transmission line.
The self-adaptive virtual inertial frequency modulation control strategy of the flexible direct current transmission system provided by the invention is obtained by the following processes:
the first step: the secondary frequency modulation of the alternating current side system is realized by changing the active power reference value to increase the corresponding power in a frequency deviation feedback mode, and the obtained expression is as follows:
P ref '＝P ref +k p (f-f 0 )+k i ∫(f-f 0 )dt
wherein P is ref ' is the reference value of the active power after secondary frequency modulation; p (P) ref Is an initial active power reference value; k (k) p And k i Proportional integral coefficients respectively; f is the measured frequency; f (f) 0 Is the rated frequency of the system.
And a second step of: establishing a virtual inertia relation between a direct-current voltage reference value and alternating-current frequency by using a rotor motion equation of the synchronous generator and a dynamic equation of a direct-current capacitor:
wherein U is dcref (t) is the actual direct current voltage reference value after virtual inertia control is adopted; h VSC Is a virtual inertia coefficient; s is S VSC Rated capacity for the converter station; c is a direct current capacitance value; u (U) dcref Is the initial dc voltage reference.
And a third step of: analyzing the above, fixing the inertia coefficient H VSC The maximum allowable DC voltage deviation limits the capability of providing inertia, and the maximum value expression of the inertia coefficient of the fixed inertia control can be deduced:
where λ is a margin factor accounting for secondary frequency modulation and droop control effects, typically less than 1; deltaU dcmax Is the maximum allowable dc voltage deviation.
Fourth step: and fitting an inertia coefficient self-adaptive change curve according to the inertia coefficient self-adaptive control requirement, wherein the expression is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,
H VSCmax is the maximum inertia coefficient; h VSC Is the actual inertia coefficient; deltaU dc Is the deviation between the direct current voltage and the rated voltage; deltaU dcmax Is the maximum allowable dc voltage deviation.
Fifth step: the self-adaptive virtual inertia control scheme is integrated, and the traditional P-U droop control is combined, so that a complete expression of the self-adaptive virtual inertia frequency modulation control strategy is obtained:
wherein the method comprises the steps of
S VSC Rated capacity for the converter station; u (U) dcref Is an initial direct current voltage reference value; u (U) dc Is a direct current voltage; k is the sagging coefficient of the P-U sagging control; h VSC Is the actual virtual inertia coefficient; h VSCmax Is the maximum inertia coefficient; c is the direct current capacitance value; f is the alternating current system frequency; f (f) 0 Rated for ac system frequency; p (P) ref Is an initial active power reference value; p is the active power of the converter station; u (U) dcmax And U dcmin Respectively the maximum limit value and the minimum limit value of the direct current voltage; deltaU dcmax Is the maximum allowable DC voltage deviation; k (k) p And k i Respectively a proportional 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 secondary frequency modulation control output of the converter station is 0.
The invention establishes the coupling relation between the DC voltage reference value and the AC side frequency by utilizing the virtual inertia technology, obtains the self-adaptive virtual inertia control strategy, enhances the system inertia and the stable frequency, reduces the transient fluctuation and overshoot in the frequency modulation control process, prevents the DC voltage from exceeding the limit and improves the frequency stability of the interconnected AC system.
When adopting fixed inertial control, the expression of the reference value of the direct current voltage is as follows:
wherein U is dcref (t) is the actual direct current voltage reference value after virtual inertia control is adopted; h VSC Is a virtual inertial systemA number; s is S VSC Rated capacity for the converter station; c is a direct current capacitance value; u (U) dcref Is the initial dc voltage reference.
Referring to FIG. 2, a curve of the virtual inertial control DC voltage reference value is shown, when the inertia coefficient H is fixed VSC When the value is too large, the variation range of the reference value of the direct current voltage may be far beyond the allowable variation range of the direct current voltage, so that the direct current voltage is out of limit, and the safe operation of the direct current transmission system is seriously affected. The maximum value of the direct current system is as follows in order to ensure the safety of the direct current system:
where λ is a margin factor accounting for secondary frequency modulation and droop control effects, typically less than 1; deltaU dcmax Is the maximum allowable dc voltage deviation.
In order to ensure that the direct voltage does not exceed the limit in the extreme case, it is seen that the coefficient value is very small in the fixed inertia control, which greatly limits the ability of the VSC converter station to provide inertia when the direct voltage variation range is small, while a virtually greater inertia may be originally adopted at this time. On the basis, a method of self-adaptively adjusting the inertia coefficient according to the DC voltage margin is adopted, so that the direct voltage deviation is ensured not to be beyond the boundary when the direct voltage deviation is large, and the inertia coefficient is enabled to be larger as much as possible and the frequency is enabled to be more stable when the direct voltage deviation is small.
Fig. 3 is a graph of a virtual inertia factor adaptation.
To control the DC voltage deviation, the DC voltage U should be used dc Near the maximum value U of DC voltage dcmax Or the minimum value U of the DC voltage dcmin H remains low when VSC . Conversely, H should remain high when it is far from its value VSC . At the same time along with U dc From U dc0 Gradually approach the limit value, H VSC The value should be gradually reduced, eventually 0.
By mathematically fitting the above trend using a hyperbolic tangent function, the expression is found as:
wherein the method comprises the steps of
H VSCmax Is the maximum inertia coefficient; h VSC Is the actual inertia coefficient; deltaU dc Is the deviation between the direct current voltage and the rated voltage; deltaU dcmax Is the maximum allowable dc voltage deviation.
Thus, a self-adaptive virtual inertial frequency modulation control mode can be obtained.
Examples
In order to verify the effect of the provided control method, the five-end flexible direct current transmission system is built based on a PSCAD/EMTDC electromagnetic transient simulation environment, inertia-free control, fixed inertia control and self-adaptive virtual inertia control are respectively simulated, and frequency modulation effects of different methods are compared. The method is characterized in that four different working conditions of large load suddenly input, small load suddenly cut-off, 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, so that the effect of the control method provided under the different working conditions is intuitively analyzed. The control strategy effects under different working conditions can be intuitively compared by referring to fig. 4-7.
As can be seen from fig. 4, when the load increase amplitude is large, in order to maintain the ac side frequency stable, the dc voltage change amplitude is large, and when the fixed inertia control is adopted, the dc voltage deviation is maximum, and reaches the minimum limit value of the dc voltage, and the limit is already in the limit. And the DC voltage is far from the limit value when the self-adaptive virtual inertia control is adopted.
As can be seen from FIG. 5, when the load is increased by a small amount, the rated value can be recovered by the frequency of the three control modes due to the secondary frequency modulation control, but when the self-adaptive virtual inertia control is adopted, the frequency fluctuation is smaller, the overshoot is obviously reduced, and the frequency is more stable.
As can be seen from fig. 6, when the ac side transient three-phase short circuit fault occurs, the three control modes are not greatly different during the fault period, but the frequency recovery is faster by adopting the adaptive virtual inertia control frequency during the frequency recovery, and the recovery process is more stable.
As can be seen from fig. 7, when the fluctuating load is used to simulate the new energy access, the frequency fluctuation in the adaptive virtual inertial control mode is minimal. It should be noted that, the frequency fluctuation of other weak ac systems connected to the dc power grid is also minimized under the adaptive virtual inertial control, which is beneficial to the frequency stabilization of the interconnected ac systems.
In summary, compared with the prior art, the adaptive virtual inertial frequency modulation control strategy of the flexible direct current transmission system couples the direct current side voltage reference value and the alternating current side system frequency, and adaptively changes the virtual inertial coefficient according to the direct current voltage deviation, so that the direct current voltage is prevented from being out of limit when the direct current voltage deviation is large; when the DC voltage deviation is small, the inertia stable frequency is enhanced. The method can reduce the overshoot in the secondary frequency modulation process, is favorable for the frequency recovery of transient faults, improves the frequency stability of an alternating current system, and improves the stability of an interconnection system.
Claims (2)
1. The adaptive virtual inertial frequency modulation control strategy of the flexible direct current transmission system is characterized in that the flexible direct current transmission system comprises the following components:
and (3) a sending end system:
the strong alternating current power grid G1 is connected with a constant-power control converter station VSC1, and operates in a rectifying state to transmit power to a receiving end system;
the strong alternating current power grid G2 is connected with a constant-power control converter station VSC2, and operates in a rectifying state to transmit power to a receiving end system;
receiving end system:
the weak alternating current power grid G3 is connected with the self-adaptive virtual inertial control converter station VSC3, and the direct current power grid regulates and controls the frequency of the G3;
the weak alternating current power grid G4 is connected with the self-adaptive virtual inertial control converter station VSC4, and the frequency of the G4 is regulated and controlled by the direct current power grid;
the strong alternating current power grid G5 is connected with the sagging control converter station VSC5 to provide energy supplement for the direct current power grid, and the energy supplement is equivalent to a balance node;
each direct current side of each converter station is provided with a direct current transmission line connected with the direct current transmission line;
the frequency modulation control is carried out according to the following steps:
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 inertial power to be equal to capacitor charge and discharge power, and establishing a coupling relation between a direct current voltage reference value and the active power; adopting self-adaptive virtual inertia control adjusted according to a fitted hyperbolic tangent function, reducing an inertia coefficient when the direct current voltage is close to 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 voltage source converter station adopts self-adaptive virtual inertial control, and the expression is:
wherein the method comprises the steps of
，S VSC Rated capacity for the converter station; u dcref is the initial DC voltage reference value; u dc is direct current voltage; k is the sagging coefficient of the P-U sagging control; h VSC Is the actual virtual inertia coefficient; h VSCmax Is the maximum inertia coefficient; c is the direct current capacitance value; f is the alternating current system frequency; f (f) 0 Rated for ac system frequency; p (P) ref Is an initial active power reference value; p is the active power of the converter station; u (U) dcmax And U dcmin Respectively the maximum limit value and the minimum limit value of the direct current voltage; ΔU dcmax is the maximum allowable DC voltage deviation; k (k) p And k i Respectively a proportional coefficient and an integral coefficient.
2. The adaptive virtual inertial frequency modulation control strategy for a flexible direct current transmission system according to claim 1, wherein the frequency deviation f-f is determined by 0 Hysteresis control is introduced, and the ring width is 2h; when the frequency deviation is within the loop width, i.e. when f 0 -h＜f＜f 0 +h time, frequencyThe frequency deviation is small, the secondary frequency modulation control does not act, and the frequency deviation f-f 0 The output is 0 after passing through the hysteresis controller, so that the change amount of the active power reference value is set to 0.
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