CN112821439B - Feedforward control method and device for flexible direct current converter - Google Patents

Feedforward control method and device for flexible direct current converter Download PDF

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Publication number
CN112821439B
CN112821439B CN201911122075.6A CN201911122075A CN112821439B CN 112821439 B CN112821439 B CN 112821439B CN 201911122075 A CN201911122075 A CN 201911122075A CN 112821439 B CN112821439 B CN 112821439B
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feedforward control
value
set value
mode
output value
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CN112821439A (en
Inventor
李道洋
吴金龙
王先为
杨美娟
刘欣和
刘启建
牛翀
李广磊
徐征
孙树敏
程艳
李笋
袁帅
韩德顺
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State Grid Corp of China SGCC
Xuji Group Co Ltd
Electric Power Research Institute of State Grid Shandong Electric Power Co Ltd
XJ Electric Co Ltd
Xian XJ Power Electronics Technology Co Ltd
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State Grid Corp of China SGCC
Xuji Group Co Ltd
Electric Power Research Institute of State Grid Shandong Electric Power Co Ltd
XJ Electric Co Ltd
Xian XJ Power Electronics Technology 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
    • H02J3/36—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
    • H02J3/36—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

The application relates to a feedforward control method and a feedforward control device of a flexible direct current converter, which mainly comprise the steps that when the voltage of a power grid is disturbed by a small signal, feedforward control is in a static mode, and the output value of the feedforward control is constant; when the grid voltage suddenly changes, the feedforward control is in a tracking mode, and the output value of the feedforward control changes along with the change of the input value of the feedforward control. The application realizes the rapid tracking of the power grid voltage by adding the feedforward control processing link before the current inner loop control of the flexible main current converter, can regulate along with the three-phase alternating voltage when the alternating current fails, reduces the overcurrent risk of the converter valve, maintains constant output when the power grid voltage has small signal disturbance, and improves the system stability.

Description

Feedforward control method and device for flexible direct current converter
Technical Field
The application belongs to the technical field of direct current transmission, and relates to a feedforward control method and device of a flexible direct current converter.
Background
With the development of fully-controlled power electronic devices and the application of power electronic technology in power systems, flexible direct current transmission technology based on voltage source converters is increasingly paid attention to. The flexible direct current transmission converter has the capability of connecting a large power grid or an island power grid for operation, and has certain alternating current fault ride-through capability when an alternating current line in the flexible direct current transmission converter adopts a connection mode with higher fault rate such as overhead lines and the like no matter what type of alternating current network is connected. However, considering that the switching devices in the current flexible direct current converter valve mainly comprise fully-controlled devices such as IGBT (insulated gate bipolar transistor), IEGT (insulated gate bipolar transistor) and the like, the problem of insufficient overcurrent capacity exists, and normally, when the bridge arm current reaches 1.3 to 1.7pu of rated current, the converter needs to be locked, so that the fault current is prevented from continuously rising to damage the switching devices. The current closed loop response is only used for guaranteeing that the current is too large in the fault process, and global blocking and fault ride-through failure are finally caused, so that alternating-current voltage feedforward is needed to be added into the inner loop, the output voltage of the converter valve is enabled to track the voltage of a power grid in time, the current sudden rise caused by the fault is reduced, and the successful implementation of the fault ride-through is facilitated. However, after the feedforward is added, small signal disturbance in the power grid voltage is directly introduced into the controller, so that the stability of the system is poor, and oscillation is easy to generate.
Therefore, in order to solve the problem, it is necessary to provide a feedforward method applied to a flexible dc converter, which can effectively solve the contradiction between the rapid tracking and no response under small signal disturbance when the power grid fails, and realize the rapid tracking of the large fluctuation of the power grid voltage on the premise of not affecting the stability of the system so as to realize the ac fault ride-through.
Disclosure of Invention
The application aims to provide a feedforward control method and device of a flexible direct current converter, which are used for solving the problems that the stability of a system is poor, oscillation is easy to generate and quick tracking cannot be realized because small signal disturbance in the voltage of a power grid is directly introduced into a controller.
In order to solve the problems, the technical scheme of the application is as follows: a feedforward control method of a flexible DC converter,
when the power grid voltage generates small signal disturbance, the feedforward control is in a static mode, and the output value of the feedforward control is constant;
when the grid voltage suddenly changes, the feedforward control is in a tracking mode, and the output value of the feedforward control changes along with the change of the input value of the feedforward control.
The application also provides a feedforward control device of the flexible direct current converter, which comprises a processor and a memory, wherein the processor is used for executing the following method instructions in the memory:
when the power grid voltage generates small signal disturbance, the feedforward control is in a static mode, and the output value of the feedforward control is constant;
when the grid voltage suddenly changes, the feedforward control is in a tracking mode, and the output value of the feedforward control changes along with the change of the input value of the feedforward control.
The feedforward control method and the feedforward control device have the following effects: according to the application, the feedforward control processing link is added before the current inner loop control of the flexible main current converter, the quick tracking of the power grid voltage is realized through the feedforward control processing link, the three-phase alternating voltage can be regulated when the alternating current fails, and the overcurrent risk of the converter valve is reduced; when the small signal disturbance occurs to the power grid voltage, the output is kept constant, and the stability of the system is improved; and the output is continuous during the whole tracking, which is beneficial to the system stability.
Further, for the feedforward control method and the feedforward control device, the judgment of the occurrence of the small signal disturbance or abrupt change of the power grid voltage includes the following steps:
1) Extracting three-phase alternating voltage at the network side in real time, and performing dq conversion to obtain an input value of feedforward control;
2) Calculating an absolute value of a difference between the input value and the output value of the previous cycle;
3) Comparing the absolute value in the step 2) with a first set value, and judging that the power grid voltage generates small signal disturbance if the absolute value is smaller than the first set value; and if the absolute value is greater than or equal to the first set value, judging that the power grid voltage is suddenly changed.
Further, with the feedforward control method and apparatus, in the tracking mode, if the absolute value is equal to or greater than the second set value, the feedforward control maintains the tracking mode, and the first set value is greater than the second set value.
Further, for the feedforward control method and apparatus, in the tracking mode, the output value of the feedforward control is:
if IN (t) < OUT (t- Δt), OUT (t) =min [ (IN (t) +l1), (OUT (t- Δt) +v (t- Δt) ];
if IN (t) > OUT (t- Δt), OUT (t) =max [ (IN (t) -L1), (OUT (t- Δt) +v (t- Δt) ];
wherein IN (t) is the input value of the current period, OUT (t-Deltat) is the output value of the previous period, OUT (t) is the output value of the current period, deltat is the feedforward processing loopThe running period of the node, V (t-Deltat) is the output value change rate of the previous period, is:OUT (t-2Δt) is the output value of the first two cycles.
Further, with the feedforward control method and apparatus, in the tracking mode, if the absolute value is smaller than the second set value, the feedforward control enters the stationary mode.
Further, in order to make the output value more stable, in the tracking mode, if the absolute value is smaller than the second set value and the absolute value is greater than or equal to the third set value, the feedforward control is performed in the deceleration mode; if the absolute value is smaller than the third set value, the feedforward control enters a static mode, wherein the first set value is larger than the second set value and larger than the third set value.
Further, with the feedforward control method and apparatus, in the deceleration mode, the output value is:
OUT(t)＝OUT(t-Δt)+V(t)Δt
wherein V is end In order to set the speed, V (T) is the speed of the output value, T is the required time calculated according to the current output value and the speed according to the requirement of uniform deceleration movement to the current input value, and the calculation mode is as follows:
the application also provides a feedforward control device of the flexible direct current converter, which comprises the following modules: the module is used for controlling the feedforward control to be in a static mode when the power grid voltage is disturbed by a small signal, and the output value of the feedforward control is constant;
the system comprises a module for controlling the feedforward control in a tracking mode when the voltage of the power grid suddenly changes, wherein the output value of the feedforward control changes along with the change of the input value of the feedforward control.
Further, the judging that the grid voltage generates small signal disturbance or abrupt change comprises the following steps:
1) Extracting three-phase alternating voltage at the network side in real time, and performing dq conversion to obtain an input value of feedforward control;
2) Calculating an absolute value of a difference between the input value and the output value of the previous cycle;
3) Comparing the absolute value in the step 2) with a first set value, and judging that the power grid voltage generates small signal disturbance if the absolute value is smaller than the first set value; and if the absolute value is greater than or equal to the first set value, judging that the power grid voltage is suddenly changed.
Drawings
Fig. 1 is a control block diagram of a flexible dc converter of the feed forward control method of the present application;
FIG. 2 is a program flow chart of a feedforward control processing step according to a first embodiment of the feedforward control method of the present application;
FIG. 3 is an output tracking waveform of the feedforward control method of the present application after a rapid drop in AC mains voltage magnitude;
FIG. 4 is an output tracking waveform of the feedforward control method of the present application after a rapid rise in the AC mains voltage amplitude;
fig. 5 is a program flow chart of a feedforward control processing procedure according to a second embodiment of the feedforward control method of the present application.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent.
Embodiment one of the feedforward control method
The feedforward control method of the flexible direct current converter of the application is that feedforward control is added to the feedforward part of alternating voltage controlled by the current inner loop, as shown in figure 1; the feedforward control obtains an output value through control processing of the input value, and the output value is superposed on the current inner loop to be output and then sent to the modulation link, so that the feedforward control of the current inner loop is realized. Specifically, when the amplitude of the alternating current voltage suddenly changes (suddenly rises or falls), the output of the converter is enabled to timely track the change of the input value, so that the overcurrent of the converter is avoided; when the alternating voltage has small oscillation disturbance, the disturbance is not responded, and the stability of the output of the converter can be kept.
Specifically, the feedforward control method of the flexible direct current converter comprises the following implementation processes:
1) Extracting three-phase alternating voltage at the network side in real time, and performing dq conversion to obtain an input value of feedforward control;
in the embodiment, the extracted three-phase alternating voltage at the net side is converted into a rotating coordinate system to obtain Ud and Uq of d and q axes; and using Ud and Uq as input values of feedforward control respectively.
2) An absolute value of a difference between the input value and the output value of the previous cycle is calculated.
3) Comparing the absolute value in the step 2) with a first set value, and judging that the power grid voltage generates small signal disturbance if the absolute value is smaller than the first set value; and if the absolute value is greater than or equal to the first set value, judging that the power grid voltage is suddenly changed.
4) When the power grid voltage generates small signal disturbance, the feedforward control is in a static mode, and the output value of the feedforward control is constant; when the grid voltage suddenly changes, the feedforward control is in a tracking mode, and the output value of the feedforward control changes along with the change of the input value of the feedforward control.
In the following, the input value Ud is taken as an example, and at the initial time, the output value of the feedforward control is made equal to the input value, and the current operation mode is set to be the stationary mode by default. As shown in fig. 2, the workflow of feed forward control is as follows:
1) Calculating an input value IN (t) of the feedforward control IN real time, comparing the input value IN (t) with an output value OUT (t-delta t) of a previous period, and calculating a difference value between the input value IN (t) and the output value OUT (t-delta t) of the previous period;
2) If the absolute value of the difference is smaller than the set value L1, the feedforward control is in a static mode (state=0), and the output value OUT (t) of the feedforward control is the output value OUT (t- Δt) of the previous period; at this time, the output value of the feedforward control is kept constant, which does not change with the change of the input value.
3) If the absolute value of the difference between the input value IN (t) of the feedforward control and the output value OUT (t- Δt) of the previous cycle is equal to or greater than the set value L1, the feedforward control enters the tracking mode (state=1).
In this embodiment, in the tracking mode, the output value OUT (t) of the feedforward control is:
if IN (t) < OUT (t- Δt), OUT (t) =min [ (IN (t) +l1), (OUT (t- Δt) +v (t- Δt) ];
if IN (t) > OUT (t- Δt), OUT (t) =max [ (IN (t) -L1), (OUT (t- Δt) +v (t- Δt) ];
wherein IN (t) is the input value of the current period, OUT (t- Δt) is the output value of the previous period, OUT (t) is the output value of the current period, Δt is the operation period of the feedforward processing link, and V (t- Δt) is the output value change rate of the previous period, which is:OUT (t-2 Δt) is the output value of the first two cycles.
3) IN the tracking mode, if the absolute value of the difference between the input value IN (t) of the feedforward control and the output value OUT (t- Δt) of the previous period is greater than or equal to a set value L2, the feedforward control maintains the tracking mode;
4) If the absolute value of the difference between the input value IN (t) of the feedforward control and the output value OUT (t- Δt) of the previous cycle is smaller than the set value L2 and the absolute value is equal to or greater than the set value L3, the feedforward control enters the deceleration mode (state=3), that is, the output value of the feedforward control at this time is:
OUT(t)＝OUT(t-Δt)+V(t)Δt
wherein T is the required time calculated according to the current output value and the speed according to the requirement of uniform deceleration movement to the current input value, and the calculation mode is as follows:
the steps are as above4) The deceleration mode in (1) is to uniformly decelerate the output value of the current period from the current speed to the set speed V end Deceleration to near IN (t) is performed with the input value of the current cycle.
5) If the absolute value is greater than the set value L3, the feedforward processing link maintains a deceleration mode; if the absolute value is smaller than or equal to the set value L3, the static mode is entered, and the output value OUT (t) at the moment is equal to the input value IN (t) of the current period.
The feedforward control is performed to determine the operation mode based on the fact that the initial time of the workflow of the feedforward control is the stationary mode, but the present application is not limited to the stationary mode, and may be the tracking mode.
In this embodiment, the feedforward control processing link performs a gentle transition through the deceleration mode, so that the output of the converter can be ensured to be more stable.
In this embodiment, in order to ensure that the feedforward processing link operates normally, it is necessary to ensure that the relationship between the difference value judgment condition set values satisfies L1 > L2 > L3.
The feedforward control method is described in detail below by taking a sudden rise or fall of the ac grid voltage amplitude as an example.
Fig. 3 is a schematic diagram of a feedforward control method for sudden drop of the grid voltage, IN which, before time t1, the input signal IN oscillates slightly, but since the oscillation range is smaller than the set value L1, the feedforward control link operates IN a stationary mode, so that the output signal is kept stationary with respect to the output value of the previous period, and does not change with the change of the input signal IN.
After the time t1, as the voltage of the power grid suddenly drops, the difference between the input signal IN and the output signal OUT' of the previous period exceeds L1, the feedforward control enters a tracking mode, the current output signal OUT tracks the change of the input signal IN and changes, and the absolute value difference IN the following process does not exceed a set value L1.
And after the time t2, the power grid voltage is stable at a new lower amplitude, and if the difference between the input signal IN of the feedforward control and the output signal OUT' of the previous period is smaller than L2, the feedforward processing link enters a deceleration mode, and the current output signal OUT starts to decelerate according to the deceleration mode.
IN the deceleration mode, whether the absolute value of the difference between the output signal OUT' and the input signal IN IN the previous period is smaller than L3 is judged IN real time, when the absolute value is smaller than L3 at the time t3, the output signal OUT of the feedforward control is set to be equal to the input signal IN of the feedforward control, and the feedforward processing link is enabled to enter the static mode again, so that the whole feedforward tracking process is completed.
Fig. 4 is a schematic diagram of a feedforward control method for sudden rise of the grid voltage, before time t1, the input signal IN oscillates slightly, but since the oscillation range is smaller than the set value L1, the feedforward control link operates IN a stationary mode, so that the output signal OUT is kept stationary with respect to the output value of the previous period, and does not change with the change of the input signal.
After the time t1, the absolute value of the difference between the input signal IN and the output signal OUT' of the previous period exceeds L1 due to sudden rise of the power grid voltage, the feedforward control enters a tracking mode, and the output signal OUT tracks the speed of the input signal IN and the absolute value of the difference does not exceed L1.
After the time t2, the power grid voltage is stable at a new lower amplitude, the difference between the input signal IN and the output signal OUT' of the previous period is smaller than L2, the feedforward control enters a deceleration mode, and the output signal OUT starts to decelerate according to a preset scheme.
And until the time t3, judging that the absolute value of the difference between the output signal number OUT' and the input signal IN of the previous period is smaller than L3, setting the output OUT of the feedforward control to be equal to the input signal IN of the feedforward control, and enabling the feedforward processing link to reenter the static mode to complete the whole feedforward tracking process.
Feedforward control method embodiment two
The difference between this embodiment and the first embodiment is that: the feedforward control processing link has only two modes: the stationary mode and the tracking mode omit the deceleration mode in the feedforward control.
Specifically, the workflow of feedforward control is shown in fig. 5, where the specific workflow regarding the stationary mode and the tracking mode is the same as that of the first embodiment, and will not be described here again.
It should be noted that, IN the tracking mode, if the absolute value of the difference between the input value IN (t) of the feedforward control and the output value OUT (t- Δt) of the previous cycle is smaller than the set value L2, the embodiment directly enters the stationary mode, and the output value OUT (t) at this time is equal to the input value IN (t) of the current cycle.
Feedforward control device
The application also provides a feedforward control device of the flexible direct current converter, which is actually a device with data processing capability such as a computer, and the device comprises a processor and a memory, wherein the processor can be a general processor, and the processor is used for executing computer program instructions stored in the memory to realize the feedforward control method of the flexible direct current converter.
Feedforward control device
The application also provides a feedforward control device of the flexible direct current converter, which comprises the following modules: the module is used for controlling the feedforward control to be in a static mode when the power grid voltage is disturbed by a small signal, and the output value of the feedforward control is constant; the system comprises a module for controlling the feedforward control in a tracking mode when the voltage of the power grid suddenly changes, wherein the output value of the feedforward control changes along with the change of the input value of the feedforward control.
The device in the embodiment of the device is actually based on a computer solution of the method flow, namely a functional module framework, and the modules are the processing processes corresponding to the method flow. The software may be run in the control device or the smart device. Since the description of the above method is sufficiently clear and complete, the device claimed in this embodiment is actually a functional module framework, and will not be described in detail.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), computer program products according to embodiments, it being understood that each flowchart and/or block of the flowchart illustrations and/or block diagrams, and combinations of flowcharts and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions; these computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing embodiments are merely illustrative of the present application, and various implementation steps of the method may be changed, and all equivalent changes and modifications performed on the basis of the technical solutions of the present application should not be excluded from the protection scope of the present application.

Claims (5)

1. A feedforward control method of a flexible direct current converter is characterized in that:
when the power grid voltage generates small signal disturbance, the feedforward control is in a static mode, and the output value of the feedforward control is constant;
when the voltage of the power grid suddenly changes, the feedforward control is in a tracking mode, and the output value of the feedforward control changes along with the change of the input value of the feedforward control;
the judgment of the small signal disturbance or abrupt change of the power grid voltage comprises the following steps:
1) Extracting three-phase alternating voltage at the network side in real time, and performing dq conversion to obtain an input value of feedforward control;
2) Calculating an absolute value of a difference between the input value and the output value of the previous cycle;
3) Comparing the absolute value in the step 2) with a first set value, and judging that the power grid voltage generates small signal disturbance if the absolute value is smaller than the first set value; if the absolute value is larger than or equal to the first set value, judging that the power grid voltage is suddenly changed;
in the tracking mode, if the absolute value is larger than or equal to a second set value, the feedforward control maintains the tracking mode, and the first set value is larger than the second set value;
in tracking mode, the output value of the feedforward control is:
if IN (t) < OUT (t- Δt)
OUT(t)＝min[(IN(t)+L1),(OUT(t-△t)+V(t-△t)△t)]；
If IN (t) is not less than OUT (t-Deltat), then
OUT(t)＝max[(IN(t)-L1),(OUT(t-△t)+V(t-△t)△t)]；
Wherein IN (t) is an input value of a current period, OUT (t- Δt) is an output value of a previous period, OUT (t) is an output value of the current period, Δt is an operation period of a feedforward processing link, L1 is a first set value, V (t- Δt) is an output value change rate of the previous period, and the change rate is:OUT (t-2Δt) is the output value of the first two cycles.
2. The feed-forward control method of a flexible direct current converter according to claim 1, wherein,
in the tracking mode, if the absolute value is smaller than the second set value, the feedforward control enters the stationary mode.
3. The feedforward control method of a flexible dc converter according to claim 1, wherein in the tracking mode, if the absolute value is less than the second set value and the absolute value is greater than or equal to the third set value, the feedforward control enters the deceleration mode; if the absolute value is smaller than the third set value, the feedforward control enters a static mode, wherein the first set value is larger than the second set value and larger than the third set value.
4. A method of feed-forward control of a flexible dc converter according to claim 3, characterized in that in the deceleration mode the output value is:
OUT(t)＝OUT(t-△t)+V(t)△t
wherein IN (t) is the input value of the current period, V end In order to set the speed, V (T) is the speed of the output value, T is the required time calculated according to the current output value and the speed according to the requirement of uniform deceleration movement to the current input value, and the calculation mode is as follows:
5. a feed-forward control device of a flexible direct current converter, comprising a processor and a memory, characterized in that the processor executes a stored computer program in the memory, implementing a feed-forward control method of a flexible direct current converter according to any of claims 1-4.
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