CN112701676B - Arc extinguishing angle prediction and commutation failure suppression method - Google Patents

Arc extinguishing angle prediction and commutation failure suppression method Download PDF

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CN112701676B
CN112701676B CN202011468755.6A CN202011468755A CN112701676B CN 112701676 B CN112701676 B CN 112701676B CN 202011468755 A CN202011468755 A CN 202011468755A CN 112701676 B CN112701676 B CN 112701676B
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commutation
voltage
angle
phase
arc extinguishing
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CN112701676A (en
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田启东
林志贤
许伯阳
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Shenzhen Power Supply Bureau Co Ltd
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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
    • H02J3/001—Methods to deal with contingencies, e.g. abnormalities, faults or failures
    • 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
    • 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

The invention discloses a method for predicting arc extinguishing angle and inhibiting commutation failure, which comprises the following steps: step S1, fitting the commutation voltage by collecting commutation voltage data of a set period in the transient response process of a direct current system, and predicting the commutation voltage of the next period; step S2, calculating the zero crossing point moment of the commutation voltage of each commutation process in the next period according to the commutation voltage; step S3, calculating commutation ending time of each commutation process according to the commutation voltage and the zero crossing time of the commutation voltage; step S4, calculating and obtaining the predicted value of the arc quenching angle of each phase-change process according to the zero crossing point moment and the phase-change ending moment of the phase-change voltage; and S5, taking the minimum value of the predicted value of the arc extinction angle in each phase-change process and the arc extinction angle actually measured by the actually measured control strategy down, and taking the minimum value and the arc extinction angle as the arc extinction angle in the subsequent phase-change process. The invention can improve the response speed of the fixed arc extinguishing angle control.

Description

Arc extinguishing angle prediction and commutation failure suppression method
Technical Field
The invention relates to the technical field of safety analysis and control of power systems, in particular to a method for predicting an arc extinguishing angle and inhibiting commutation failure.
Background
The energy center and the load center of China are characterized by reverse distribution in geography, so that the problem of trans-regional energy transmission is effectively solved, and high-voltage direct current transmission (Line-commutated converter-based high-voltage direct current, LCC-HVDC) based on a grid converter is widely used for regional electric energy transmission due to the advantages of the high-capacity long-distance transmission, and the method is still one of main technical means of trans-regional electric energy transmission in a quite long time in the future.
While solving the energy transmission problem, the hvdc transmission system also presents a series of problems for the power system, of which commutation failure is most common and typical. When the fault is serious, in the fault recovery process of commutation failure, the inversion side converter station consumes a large amount of reactive power, and when the receiving end power grid and the inversion side reactive power compensation device cannot provide enough reactive power support, the first commutation failure fault cannot be recovered in time, which leads to continuous commutation failure in the subsequent process. Multiple consecutive commutation failures trigger the dc blocking control, resulting in a dc transmission power interruption. Single commutation failure is generally difficult to avoid, but if a proper control strategy is adopted, subsequent commutation failure can be effectively restrained, so that the fault recovery characteristic of a direct current system is improved, and the method has very important significance.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for predicting an arc extinguishing angle and inhibiting commutation failure so as to effectively inhibit subsequent commutation failure of a direct current system.
In order to solve the above technical problems, the present invention provides a method for predicting an arc extinguishing angle and suppressing commutation failure, including:
step S1, fitting the commutation voltage by collecting commutation voltage data of a set period in the transient response process of a direct current system, and predicting the commutation voltage of the next period;
step S2, calculating the zero crossing point moment of the commutation voltage of each commutation process in the next period according to the commutation voltage;
step S3, calculating commutation ending time of each commutation process according to the commutation voltage and the zero crossing time of the commutation voltage;
step S4, calculating and obtaining the predicted value of the arc quenching angle of each phase-change process according to the zero crossing point moment and the phase-change ending moment of the phase-change voltage;
and S5, taking the minimum value of the predicted value of the arc extinction angle in each phase-change process and the arc extinction angle actually measured by the actually measured control strategy down, and taking the minimum value and the arc extinction angle as the arc extinction angle in the subsequent phase-change process.
Further, the step S1 specifically includes:
recording device
Figure BDA0002835408830000021
Waveform for the kth sample data:
Figure BDA0002835408830000022
then
Figure BDA0002835408830000023
Fourier coefficient of->
Figure BDA0002835408830000024
Calculated according to the following formula:
Figure BDA0002835408830000025
Figure BDA0002835408830000026
the real and imaginary parts of (a) satisfy the following forms, respectively:
Figure BDA0002835408830000027
wherein, psi' n And phi n Respectively represent
Figure BDA0002835408830000028
And->
Figure BDA0002835408830000029
The corresponding functional expression, θ' n ＝θ″ n ＝θ＝{τ,μ i ,ν i I=0, 1} is a parameter of the above function; and determining a fitting coefficient according to the electrical quantity transient form obtained by the formula, and predicting the commutation voltage.
Further, the method comprises the steps of,
Figure BDA00028354088300000210
calculated from the following formula:
Figure BDA00028354088300000211
and summing the Fourier series to obtain the commutation voltage in the next period time domain.
Further, the step S2 specifically includes: and approximately solving the zero crossing time of the commutation voltage of each commutation process in the next period according to the following steps:
Figure BDA0002835408830000031
wherein m is a sampling point; fs is the sampling frequency.
Further, the step S3 calculates the commutation ending time according to the following formula:
Figure BDA0002835408830000032
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure BDA0002835408830000033
representing the predicted n-harmonic commutation voltage amplitude,/->
Figure BDA0002835408830000034
Representing predicted n-harmonic commutation voltage phase, omega 0 For the angular velocity of the fundamental frequency of the system, t β Indicates the commutation start time of the commutation process, < +.>
Figure BDA0002835408830000035
Indicating commutation ending time L in the commutation process c Is an alternating current power supply inductance, I d (t β ) For the direct current at the beginning of commutation, +.>
Figure BDA0002835408830000036
Is the direct current at the end of the commutation.
Further, in the step S4, according to the commutation voltage zero crossing time and the commutation ending time, the manner of calculating the arc extinguishing angle predicted value of each commutation process is as follows:
Figure BDA0002835408830000037
Figure BDA0002835408830000038
predicted value of arc extinction angle for each commutation process。
Further, the full response of the direct current is subjected to Laplacian inverse transformation, and the full time domain response of the direct current is obtained as follows:
Figure BDA0002835408830000039
the direct current full response is equal to the superposition of its zero state response and zero input response:
I d (s)＝I dI_zs (s)+I dI_zi (s)。
further, the step S5 specifically includes:
and taking down the predicted arc extinguishing angles corresponding to each phase-change process in the next period, delaying for a set time after the initial moment of the next period, inputting the predicted minimum value of the arc extinguishing angles into the original fixed arc extinguishing angle control, and taking down the predicted minimum value of the arc extinguishing angles and the actually measured arc extinguishing angles as the arc extinguishing angles of the subsequent phase-change process.
The embodiment of the invention has the beneficial effects that: the commutation voltage fitting prediction is carried out, the corresponding arc extinction angles when each valve in the next period is conducted are predicted based on topology calculation, and then the minimum value and the actual measurement arc extinction angle are taken as the input of the fixed arc extinction angle control, so that the defect that the actual measurement fixed arc extinction angle control system fails in the early failure stage can be effectively overcome, the arc extinction angle changes quickly, the controller fails to commutate when the controller is not regulated, and the response speed of the fixed arc extinction angle control is improved; meanwhile, the method is simple and easy to improve in the original system, is easy to apply to an actual system, is matched with an actual measurement arc extinguishing angle, and does not influence the original control strategy at the steady state moment.
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In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a method for predicting arc extinguishing angle and suppressing commutation failure according to an embodiment of the invention.
Fig. 2 is an equivalent circuit diagram of a six-pulse inverter.
Fig. 3 is a schematic diagram of the circuit of fig. 2 decomposed into two parts, zero state and zero input, and subjected to a laplace transform.
Fig. 4 is a schematic diagram of a comparison curve between the predicted value and the actual value of the inverter-side a-phase voltage in the embodiment of the invention.
Fig. 5 is a schematic diagram of a comparison curve between the predicted value and the actual value of the dc current at the inversion side in the embodiment of the invention.
FIG. 6 is a graph showing the comparison of the predicted value and the actual value of the arc extinguishing angle according to the embodiment of the present invention.
Fig. 7 is a schematic diagram of an ac voltage response curve under different control strategies.
Fig. 8 is a graphical representation of the arc-quenching angle response under different control strategies.
Detailed Description
The following description of embodiments refers to the accompanying drawings, which illustrate specific embodiments in which the invention may be practiced.
Referring to fig. 1, an embodiment of the present invention provides a method for predicting an arc extinguishing angle and suppressing commutation failure, including:
step S1, fitting the commutation voltage by collecting commutation voltage data of a set period in the transient response process of a direct current system, and predicting the commutation voltage of the next period;
step S2, calculating the zero crossing point moment of the commutation voltage of each commutation process in the next period according to the commutation voltage;
step S3, calculating commutation ending time of each commutation process according to the commutation voltage and the zero crossing time of the commutation voltage;
step S4, calculating and obtaining the predicted value of the arc quenching angle of each phase-change process according to the zero crossing point moment and the phase-change ending moment of the phase-change voltage;
and S5, taking the minimum value of the predicted value of the arc extinction angle in each phase-change process and the arc extinction angle actually measured by the actually measured control strategy down, and taking the minimum value and the arc extinction angle as the arc extinction angle in the subsequent phase-change process.
In particular, the method comprises the steps of,
1) Commutation voltage fitting
Because of the existence of energy storage elements such as inductance, capacitance and the like in the HVDC system, the change of the electric quantity of each part in the system can be represented by a high-order differential equation in the transition process after the fault. Since the higher order components decay very quickly, the response of the system in the late phase of the fault can be approximated by a first order RL response. For a first-order RL equivalent circuit, its transient response:
f(t)＝a(t)+x(t)＝a(t)+be -t/τ (1)
wherein a (t) is the f (t) steady state response; x (t) is the f (t) transient response; τ represents the equivalent system feature root, and b is a constant related to the initial state of the system and system parameters.
Definition t=2pi/ω 0 Is the sampling period, wherein omega 0 =100 pi rad/s is the system fundamental angular velocity. Therefore, the Fourier coefficients A of a (t) and x (t) n And X n Can be calculated according to the following formula:
Figure BDA0002835408830000051
where j represents the imaginary unit.
Recording device
Figure BDA0002835408830000052
Waveform for the kth sample data:
Figure BDA0002835408830000053
then
Figure BDA0002835408830000054
Fourier coefficient of->
Figure BDA0002835408830000055
Can be calculated according to the following formula:
Figure BDA0002835408830000056
as can be readily seen from the above description,
Figure BDA0002835408830000057
the real and imaginary parts of (a) satisfy the following forms, respectively:
Figure BDA0002835408830000061
wherein psi' n And phi n Respectively represent
Figure BDA0002835408830000062
And->
Figure BDA0002835408830000063
The corresponding functional expression, θ' n ＝θ″ n ＝θ＝{τ,μ i ,ν i I=0, 1} is a parameter of the above function. And (3) predicting the commutation voltage by determining a fitting coefficient according to the transient form of the electric quantity obtained in the formula (5). According to the invention, the commutation voltage is fitted by collecting the commutation voltage data of the first four periods in the transient response process of the direct current system, so that the commutation voltage of the next period is predicted.
Figure BDA0002835408830000064
Can be calculated from the following formula:
Figure BDA0002835408830000065
and the phase-change voltage data in the time domain of the next period can be obtained by summing the Fourier series, and meanwhile, the zero crossing moment of the phase-change voltage of each phase-change process in the next period can be approximately solved according to the formula (7).
Figure BDA0002835408830000066
Wherein: m is a sampling point; fs is the sampling frequency.
2) DC current prediction
The six-pulse current converter adopts a three-phase bridge circuit, and three valves of the upper bridge arm and the lower bridge arm are conducted in turn in the power frequency period. To predict the dc current from the predicted ac voltage, it is necessary to obtain the topology of the circuit at different times in one cycle. The on-state of the valves at two sides of the system can be obtained by the trigger pulse of each valve in one period, so that the circuit can be simplified, and the equivalent circuit can be obtained. Taking the inversion side valve 1 to the valve 3 for phase inversion as an example, the phase inversion overlapping process is omitted, and the equivalent circuit is shown in fig. 2.
In the figure: e, e aR 、e bR 、e cR E aI 、e bI 、e cI Three-phase instantaneous voltages, L, on the rectifying side and on the inverting side, respectively c Is an alternating current power supply inductance, I dR And I dI The direct current is rectified and inverted.
The equivalent transmission line can be represented by a T-shaped network, the conduction voltage drop of the thyristor is ignored, the circuit can be decomposed into a zero state and a zero input part according to the superposition theorem, and the Laplace transformation is carried out, as shown in fig. 3:
in the figure: e (E) acRn (s) and E bcIn (s) frequency domain responses representing n-harmonics of the rectified and inverted side voltages, respectively; i dIn_zs (s) represents zero state response of direct current n times frequency domain, I dI_zi (s) represents zero input response of direct current n times frequency domain, I dR (0 - )、I dI (0 - ) U c (0 - ) Respectively DC current and initial state value of capacitor voltage to ground; s=σ+jω represents a complex variable.
I can be solved according to the Kramer rule dIn_zs (s) and I dI_zi (s)：
Figure BDA0002835408830000071
Wherein det represents solving a determinant function, D' sn 、D″ s And D s The expression form of (a) is as shown in the formula (9):
Figure BDA0002835408830000072
the direct current full response is equal to the superposition of the zero state response and the zero input response, and is as follows:
I d (s)＝I dI_zs (s)+I dI_zi (s) (10)
the full time domain response of the dc current can be found by inverse laplace transformation:
Figure BDA0002835408830000073
3) Next-cycle minimum arc extinction angle prediction
According to the basic definition of the power system, the predicted value of the arc extinction angle can be calculated according to the following formula:
Figure BDA0002835408830000074
the commutation voltage zero crossings can be calculated from the predicted voltage. Bringing the predicted commutation voltage into (13),
Figure BDA0002835408830000075
i.e. calculated according to the following formula:
Figure BDA0002835408830000081
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure BDA0002835408830000082
representing the predicted n-harmonic commutation voltage amplitude,/->
Figure BDA0002835408830000083
Representing predicted n-harmonic commutation voltage phase, omega 0 For the angular velocity of the fundamental frequency of the system, t β Indicates the commutation start time of the commutation process, < +.>
Figure BDA0002835408830000084
Indicating commutation ending time L in the commutation process c Is an alternating current power supply inductance, I d (t β ) For the direct current at the beginning of commutation, +.>
Figure BDA0002835408830000085
Is the direct current at the end of the commutation.
Thus, the arc extinction angle corresponding to each valve in one period can be calculated, and the input of taking the small value as the fixed arc extinction angle is performed. Furthermore, it should be noted that equation (13) is essentially an transcendental equation and therefore cannot be solved analytically, and is solved numerically herein.
Further, in the step S5, the predicted value of the arc extinction angle in the subsequent commutation process is introduced into the original fixed arc extinction angle control, and the specific method is as follows:
taking the arc extinguishing angles corresponding to each phase change process in the next period obtained by prediction, considering that the arc extinguishing angles are predicted to have a certain time, considering 2ms delay, and obtaining the minimum value of the arc extinguishing angles obtained by prediction 2ms after the initial moment of the next period
Figure BDA0002835408830000086
The original fixed arc extinguishing angle control is input, and the fixed arc extinguishing angle is taken as the arc extinguishing angle of the subsequent phase change process, so that the response speed of the control is improved.
The invention sets that when the system has no fault or the predicted arc extinction angle values are all 7.2 degrees larger than the minimum arc extinction angle within 10 continuous periods after the prediction program is started, the prediction program exits, and the prediction program outputs a large value (100 rad) at the moment, so that the structure of the original control system is not influenced.
As can be seen from the above description, the embodiment of the present invention has the following beneficial effects: the commutation voltage fitting prediction is carried out, the corresponding arc extinction angles when each valve in the next period is conducted are predicted based on topology calculation, and then the minimum value and the actual measurement arc extinction angle are taken as the input of the fixed arc extinction angle control, so that the defect that the actual measurement fixed arc extinction angle control system fails in the early failure stage can be effectively overcome, the arc extinction angle changes quickly, the controller fails to commutate when the controller is not regulated, and the response speed of the fixed arc extinction angle control is improved; meanwhile, the method is simple and easy to improve in the original system, is easy to apply to an actual system, is matched with an actual measurement arc extinguishing angle, and does not influence the original control strategy at the steady state moment.
The foregoing disclosure is illustrative of the present invention and is not to be construed as limiting the scope of the invention, which is defined by the appended claims.

Claims (7)

1. The arc extinguishing angle prediction and commutation failure suppression method is characterized by comprising the following steps of:
step S1, fitting the commutation voltage by collecting commutation voltage data of a set period in the transient response process of a direct current system, and predicting the commutation voltage of the next period;
step S2, calculating the zero crossing point moment of the commutation voltage of each commutation process in the next period according to the commutation voltage;
step S3, calculating commutation ending time of each commutation process according to the commutation voltage and the zero crossing time of the commutation voltage;
step S4, calculating and obtaining the predicted value of the arc quenching angle of each phase-change process according to the zero crossing point moment and the phase-change ending moment of the phase-change voltage;
s5, taking the minimum value of the predicted value of the arc extinction angle in each phase-change process and the arc extinction angle actually measured by the actually measured control strategy down to be used as the arc extinction angle in the subsequent phase-change process;
the step S5 specifically includes:
and taking down the predicted arc extinguishing angles corresponding to each phase-change process in the next period, delaying for a set time after the initial moment of the next period, inputting the predicted minimum value of the arc extinguishing angles into the original fixed arc extinguishing angle control, and taking down the predicted minimum value of the arc extinguishing angles and the actually measured arc extinguishing angles as the arc extinguishing angles of the subsequent phase-change process.
2. The method for predicting arc extinguishing angle and suppressing commutation failure according to claim 1, wherein the step S1 specifically includes:
recording device
Figure FDA0004195469400000011
Waveform for the kth sample data:
Figure FDA0004195469400000012
then
Figure FDA0004195469400000013
Fourier coefficient of->
Figure FDA0004195469400000014
Calculated according to the following formula:
Figure FDA0004195469400000015
Figure FDA0004195469400000016
the real and imaginary parts of (a) satisfy the following forms, respectively:
Figure FDA0004195469400000021
wherein f (t) is the transient response of the first-order RL equivalent circuit; t is a sampling period; omega 0 Is the fundamental frequency angular velocity of the system; τ represents an equivalent system feature root; psi' n And phi n Respectively represent
Figure FDA0004195469400000022
And->
Figure FDA0004195469400000023
The corresponding functional expression, θ' n ＝θ″ n ＝θ＝{τ,μ i ,ν i I=0, 1} is a parameter of the above function; and determining a fitting coefficient according to the electrical quantity transient form obtained by the formula, and predicting the commutation voltage.
3. The method for predicting arc extinguishing angle and suppressing commutation failure according to claim 2, wherein,
Figure FDA0004195469400000024
calculated from the following formula:
Figure FDA0004195469400000025
and summing the Fourier series to obtain the commutation voltage in the next period time domain.
4. The method for predicting arc extinguishing angle and suppressing commutation failure according to claim 3, wherein the step S2 specifically includes: and approximately solving the zero crossing time of the commutation voltage of each commutation process in the next period according to the following steps:
Figure FDA0004195469400000026
wherein m is a sampling point; fs is the sampling frequency.
5. The method of arc angle prediction and commutation failure suppression according to claim 4, wherein the step S3 calculates the commutation ending time according to the following equation:
Figure FDA0004195469400000027
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure FDA0004195469400000028
representing the predicted n-harmonic commutation voltage amplitude,/->
Figure FDA0004195469400000029
Representing predicted n-harmonic commutation voltage phase, omega 0 For the angular velocity of the fundamental frequency of the system, t β Indicates the commutation start time of the commutation process, < +.>
Figure FDA00041954694000000210
Indicating commutation ending time L in the commutation process c Is an alternating current power supply inductance, I d (t β ) For the direct current at the beginning of commutation, +.>
Figure FDA00041954694000000211
Is the direct current at the end of the commutation.
6. The method for predicting an arc extinguishing angle and suppressing commutation failure according to claim 5, wherein in the step S4, the manner of calculating the predicted value of the arc extinguishing angle in each commutation process according to the zero crossing time and the commutation ending time of the commutation voltage is as follows:
Figure FDA0004195469400000031
Figure FDA0004195469400000032
predicted values of arc extinction angles for each phase change process.
7. The method of claim 5, wherein the inverse laplace transform is performed on the full response of the direct current, and the full time domain response of the direct current is obtained by:
Figure FDA0004195469400000033
the direct current full response is equal to the superposition of its zero state response and zero input response:
I d (s)＝I dI_zs (s)+I dI_zi (s)
wherein I is d (s) is the full response of direct current, I d And (t) is the full time domain response of the direct current.
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