CN113206516A - VSC-MTDC system self-adaptive combination control method considering DC voltage stability - Google Patents

VSC-MTDC system self-adaptive combination control method considering DC voltage stability Download PDF

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CN113206516A
CN113206516A CN202110528665.XA CN202110528665A CN113206516A CN 113206516 A CN113206516 A CN 113206516A CN 202110528665 A CN202110528665 A CN 202110528665A CN 113206516 A CN113206516 A CN 113206516A
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CN113206516B (en
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刘英培
石金鹏
梁海平
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North China Electric Power University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
    • H02J3/48—Controlling the sharing of the in-phase component
    • 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
    • H02J3/12—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load
    • 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
    • H02J3/241—The oscillation concerning frequency
    • 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

Firstly, establishing a coupling relation between direct current voltage and active power, and introducing secondary regulation of the direct current voltage to realize no-difference control of the direct current voltage; secondly, adopting a self-adaptive virtual inertia coefficient which changes along with the frequency deviation, keeping a larger virtual inertia coefficient when the frequency deviation is smaller, and reducing the inertia coefficient when the frequency deviation approaches a limit value; when the frequency deviation reaches a limit value, the inertia coefficient is gradually reduced to 0 along with the change of the frequency deviation; finally, considering the direct-current voltage change and the power regulation margin of the converter station, introducing an influence factor based on the direct-current voltage deviation to realize self-adaptive droop control; the invention utilizes the two combined controls to reduce the frequency and the voltage fluctuation of the direct current side during the regulation.

Description

VSC-MTDC system self-adaptive combination control method considering DC voltage stability
Technical Field
The invention relates to the technical field of direct current transmission, in particular to a VSC-MTDC system adaptive combination control method in frequency regulation of a flexible direct current transmission system.
Background
The multi-terminal direct current transmission has the advantages of rapid reversal of power flow, active and reactive decoupling control and the like, and a feasible scheme is provided for grid connection of new energy and interconnection of cross-regional power grids. However, in the recent years, with the rapid increase of the permeability of new energy, the disturbance bearing capacity of a power grid is reduced because the grid-connected inverter of the new energy does not have rotation inertia; when the power grid is disturbed by faults, such as sudden increase or decrease of a generator or a load, system failure and the like, the frequency of the alternating current system fluctuates, and some frequencies exceed the maximum allowable range of the frequency, so that the frequency deviation and oscillation easily occur after the safe and stable operation of the system is threatened. Therefore, it is necessary to study a frequency coordination control strategy for the flexible interconnection region, so as to provide power mutual support between different regions and enhance the inertia of the system.
At home and abroad, in order to solve the problems, the modes used for the communication between stations, the droop control of a current converter, the control mode of a virtual synchronous machine and the virtual inertia control are summarized. But the traditional master-slave mode control method has higher requirements on inter-station communication; the control method of the virtual synchronous machine is complex in structure and difficult in parameter setting; the traditional droop control structure is simple, but the direct current voltage deviation is large in the adjusting process.
Disclosure of Invention
The invention aims to provide a self-adaptive combined control strategy considering voltage stability aiming at the defects of the prior art, the self-adaptive combined control strategy combines self-adaptive inertia control and self-adaptive droop control to solve the problems of frequency fluctuation and voltage deviation in the frequency adjusting process, and introduces direct-current voltage secondary adjustment to realize the non-difference control of direct-current voltage.
The problem of the invention is realized by the following technical scheme:
firstly, establishing a coupling relation between direct current voltage and active power, and introducing secondary regulation of the direct current voltage to realize no-difference control of the direct current voltage; secondly, adopting a self-adaptive virtual inertia coefficient which changes along with the frequency deviation, keeping a larger virtual inertia coefficient when the frequency deviation is smaller, and reducing the inertia coefficient when the frequency deviation approaches a limit value; when the frequency deviation reaches the limit value, the inertia coefficient is gradually reduced to 0 along with the change of the frequency deviation. Finally, considering the direct-current voltage change and the power regulation margin of the converter station, introducing an influence factor based on the direct-current voltage deviation to realize self-adaptive droop control; the invention utilizes the two combined controls to reduce the frequency and the voltage fluctuation of the direct current side during the regulation.
The self-adaptive control method comprises the following specific steps of self-adaptive combination control:
a. and (3) combining a rotor motion equation of the synchronous generator and a dynamic equation of the direct current capacitor to obtain an expression:
Figure BDA0003067302610000021
wherein HVSCIs a virtual inertia coefficient; n is the number of the direct current capacitors configured in the converter station; c is a direct current capacitance value; sVSCIs the rated capacity of the converter station; f. of0The frequency initial value of the alternating current system; u shapedcIs a measured value of the DC voltage.
b. Integrating the above equation to obtain the expression:
Figure BDA0003067302610000022
wherein U isdc0Is a measured value of the direct current voltage; f is the measured value of the AC system frequency.
c.: during the frequency regulation, an adaptive virtual inertia control can be obtained and a secondary regulation of the dc voltage is introduced in order to achieve a voltage-neutral control:
Figure BDA0003067302610000023
wherein
Figure BDA0003067302610000024
In the frequency response stage, since the deviation amount of the frequency variation is directly related to the dc voltage deviation, the virtual inertia can be divided into the following two stages:
Figure BDA0003067302610000025
wherein HmaxA maximum value of virtual inertia provided for the capacitance; Δ fminIs a threshold value, Δ fmaxIs the maximum value of the frequency deviation, η1，η2To adjust the speed.
Considering that the power provided by the capacitive energy storage is only a transient process, and a large power support can be provided in a short time to maintain the temporary stability of the frequency, and a long-term power support is provided by other grids of the multi-terminal dc transmission system, it is necessary to consider the influence of the droop coefficient on the dc voltage and the ac side frequency.
a. The voltage of the system is deviated in the stable operation stage, so that the voltage threshold U is setdmAvoiding frequent fluctuation of droop coefficient when delta Udc＞UdmAt > 0, the initial sag factor can be set as:
Figure BDA0003067302610000031
b. when Δ Udc＜Udm< 0, the initial sag factor can be set as:
Figure BDA0003067302610000032
c. the DC system stability should be prevented from being influenced by large voltage fluctuation in the capacity variation range of the converter so that when the voltage is delta UdcSag when small and near dead zone rangeThe value of the coefficient K should be kept small when the value of delta UdcThe droop coefficient K should increase when larger and close to the dead band range. According to the two initial values, an influence factor based on direct current voltage deviation can be introduced
Figure BDA0003067302610000033
Non-linear by the order of λ of the influence factor.
d. From the above analysis, an adaptive droop coefficient can be obtained:
Figure BDA0003067302610000034
in the above process η1、η2And lambda are respectively an adaptive virtual inertia regulating coefficient and an adaptive droop regulating coefficient, and the coefficients determine the change rate of the parameters.
Considering two links of inertial response and primary frequency modulation; and in the inertia link, a control method combining self-adaptive virtual inertia and self-adaptive droop control is adopted in consideration of frequency and voltage deviation. In the primary frequency modulation stage, in order to reduce the adjustment time of frequency, reduce the virtual inertia coefficient and gradually become 0, then establish the relationship between the direct current voltage and the alternating current side frequency and obtain the coupling of U-f-P by combining droop control, reduce the deviation of the direct current voltage in the adjustment process, improve the quality of the direct current voltage, reduce the impact of the direct current voltage with larger fluctuation on equipment and improve the stability of an interconnection system.
Drawings
The invention will be further explained with reference to the drawings.
Fig. 1 is a structural diagram of a five-terminal flexible direct current transmission system;
FIG. 2 is a graph of adaptive droop control characteristic variation;
FIG. 3 is a virtual inertia coefficient adaptive variation curve;
FIG. 4 is a flow chart of an adaptive virtual inertia coefficient implementation;
FIG. 5 is a flow chart of an adaptive virtual inertia implementation;
fig. 6 is a flow chart of an adaptive droop coefficient implementation.
The reference numbers used in the figures or text represent respectively:
HVDC: high voltage direct current transmission, VSC-MTDC: the multi-end flexible direct-current power transmission,
Uref: reference value of DC voltage, Udc: the measured value of the DC voltage is measured,
Pref: direct current side active power reference value, P: the measured value of the active power at the direct current side,
f: measured value of frequency, f0: the initial value of the frequency is set to be,
k: conventional voltage sag factor, K*: the frequency droop coefficient is self-adapted,
HVSC: virtual coefficient of inertia, Hmax: maximum virtual inertia coefficient
C: direct-current capacitance value, N: the number of the capacitors on the direct current side,
SVSC: rated capacity, P, of converter stationmin: minimum value of active power
U0: initial value of dc voltage, U': the intercept of the P-U droop curve on the U axis,
Udm: width of hysteresis loop of DC voltage, fdm: the width of the frequency hysteresis loop is greater,
Figure BDA0003067302610000041
considering the active power reference value after the frequency change, Δ f: the difference between the measured frequency value and the initial value,
η1、η2: adaptive virtual inertia adjustment coefficient, λ: adaptive droop coefficient of adjustment
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and embodiments.
Referring to fig. 1, a five-terminal flexible dc power transmission system includes:
a sending end system: the heavy alternating current grid GS1 is connected to a constant power control converter station VSC1, which operates in a rectified state and delivers power to the receiving system. The heavy alternating current grid GS2 is connected to a constant power control converter station VSC2, which operates in a rectified state and delivers power to the receiving system.
Receiving end system: the weak alternating current grid GS3 is connected with the self-adaptive combined control converter station VSC3, and the direct current grid regulates and controls the GS3 frequency. The weak alternating current grid GS4 is connected with the self-adaptive combined control converter station VSC4, and the direct current grid regulates and controls the GS4 frequency. The strong alternating current grid GS5 is connected with the converter station VSC5 controlled by the self-adaptive droop, and the direct current grid regulates the GS5 frequency.
The method comprises the following specific steps:
the first step is as follows: and (3) combining a rotor motion equation of the synchronous generator and a dynamic equation of the direct current capacitor to obtain an expression:
Figure BDA0003067302610000051
wherein HVSCIs a virtual inertia coefficient; n is the number of the direct current capacitors configured in the converter station; c is a direct current capacitance value; sVSCIs the rated capacity of the converter station; f. of0The frequency initial value of the alternating current system; f is the measured value of the frequency of the AC system; u shapedcIs a measured value of the direct current voltage; u shapedc0Is an initial reference value of the direct current voltage.
The second step is that: during the frequency regulation, an adaptive virtual inertia control can be obtained and a secondary regulation of the dc voltage is introduced in order to achieve a voltage-neutral control:
Figure BDA0003067302610000052
wherein
Figure BDA0003067302610000053
The third step: in the frequency response stage (during which the frequency does not reach the maximum deviation value), the virtual inertia can be divided into the following two stages because the deviation amount according to the frequency change is directly related to the dc voltage deviation:
Figure BDA0003067302610000054
wherein HmaxA maximum value of virtual inertia provided for the capacitance; Δ fminIs a threshold value, Δ fmaxIs the maximum value of the frequency deviation, η1，η2To adjust the speed.
The fourth step: the droop control initial value is established taking into account the effect of the droop coefficient on the dc voltage and frequency.
The voltage of the system is deviated in the stable operation stage, so that the voltage threshold U is setdmAvoiding frequent fluctuation of droop coefficient when delta Udc＞UdmAt > 0, the initial sag factor can be set as:
Figure BDA0003067302610000061
when Δ Udc＜Udm< 0, the initial sag factor can be set as:
Figure BDA0003067302610000062
the fifth step: and obtaining the self-adaptive droop coefficient.
The DC system stability should be prevented from being influenced by large voltage fluctuation in the capacity variation range of the converter so that when the voltage is delta UdcWhen the value of the droop coefficient K is small and close to the dead zone range, the value of the droop coefficient K is kept small, and when the value of the droop coefficient is delta UdcThe droop coefficient K should increase when larger and close to the dead band range. According to the two initial values, an influence factor based on direct current voltage deviation can be introduced
Figure BDA0003067302610000063
Non-linear by the order of λ of the influence factor.
Figure BDA0003067302610000064
And a sixth step: and synthesizing the self-adaptive combined control strategy scheme to obtain a complete expression of the self-adaptive control strategy:
Figure BDA0003067302610000065
wherein:
Figure BDA0003067302610000066
Figure BDA0003067302610000067
Figure BDA0003067302610000068
in the above process η1、η2And lambda are respectively an adaptive virtual inertia regulating coefficient and an adaptive droop regulating coefficient, and the coefficients determine the change rate of the parameters.
According to the invention, by utilizing a self-adaptive virtual inertia combination control technology, a coupling relation between a direct-current voltage reference value and alternating-current side frequency is established, a self-adaptive virtual inertia control strategy is obtained according to a frequency response curve, and the frequency regulation time is reduced while the system inertia and the stable frequency are enhanced; then, considering the influence of droop control on the direct-current voltage, a self-adaptive droop control method is provided; finally, alternating current side frequency and direct current side voltage fluctuations are reduced by combined control of adaptive virtual inertia and adaptive droop.
Fig. 2 is a diagram of the whole process of frequency modulation of the power system.
According to the graph, the frequency adjustment can be divided into three parts, namely an inertia action stage, a primary frequency modulation stage and a secondary frequency modulation stage; the virtual inertia coefficient can be divided into three stages according to the frequency change. In the conventional virtual inertia control, a virtual inertia coefficient is a constant, and a reference voltage expression of the virtual inertia coefficient is as follows:
Figure BDA0003067302610000071
fig. 3 is a graph of adaptive virtual inertia.
When the power shortage of the direct current system occurs, if virtual larger inertia is adopted, the direct current voltage deviation is easy to be larger, and the response time is prolonged, so that when the frequency deviation is smaller, a larger virtual inertia coefficient is kept, and when the frequency deviation is close to the maximum value or the minimum value, the self-adaption is reduced. The virtual inertia coefficient gradually decreases to 0 when the frequency reaches a maximum or minimum value.
Figure BDA0003067302610000072
Fig. 4 is a graph of adaptive droop coefficients.
Figure BDA0003067302610000073
When Δ UdcWhen the value of the droop coefficient K is small and close to the dead zone range, the value of the droop coefficient K is kept small, and when the value of the droop coefficient is delta UdcWhen the droop coefficient K is large and is close to the dead zone range, the droop coefficient K should be increased
Fig. 5 and fig. 6 are a flow chart of the adaptive virtual inertia implementation and a flow chart of the adaptive droop coefficient implementation, respectively.

Claims (2)

1. A VSC-MTDC system self-adaptive combination control method considering direct-current voltage stability is characterized in that firstly, a coupling relation between direct-current voltage and active power is established, and secondary regulation of the direct-current voltage is introduced to realize no-difference control of the direct-current voltage; secondly, adopting a self-adaptive virtual inertia coefficient which changes along with the frequency deviation, keeping a larger virtual inertia coefficient when the frequency deviation is smaller, and reducing the inertia coefficient when the frequency deviation approaches a limit value; when the frequency deviation reaches the limit value, the inertia coefficient is gradually reduced to 0 along with the change of the frequency deviation. And finally, considering the direct-current voltage change and the power regulation margin of the converter station, and introducing an influence factor based on the direct-current voltage deviation to realize the self-adaptive droop control.
2. The adaptive control method according to claim 1, wherein the adaptive combination control comprises the steps of:
a: and (3) combining a rotor motion equation of the synchronous generator and a dynamic equation of the direct current capacitor to obtain an expression:
Figure FDA0003067302600000011
wherein HVSCIs a virtual inertia coefficient; n is the number of the direct current capacitors configured in the converter station; c is a direct current capacitance value; sVSCIs the rated capacity of the converter station; f. of0The frequency initial value of the alternating current system; f is the measured value of the frequency of the AC system; u shapedcIs a measured value of the direct current voltage; u shapedc0Is an initial reference value of the direct current voltage.
b: during the frequency regulation, an adaptive virtual inertia control can be obtained and a secondary regulation of the dc voltage is introduced in order to achieve a voltage-neutral control:
Figure FDA0003067302600000012
wherein P is the measured value of the active power, PrefIs the initial value of the active power,
Figure FDA0003067302600000013
to take into account the power reference value after voltage quadratic regulation,
Figure FDA0003067302600000014
c: in the frequency response stage, the deviation amount according to the frequency change is directly related to the DC voltage deviation, so that the virtual inertia can be divided into the following two stages:
Figure FDA0003067302600000021
wherein HmaxA maximum value of virtual inertia provided for the capacitance; Δ fminIs a threshold value, Δ fmaxIs the maximum value of the frequency deviation, η1，η2To adjust the speed.
d: the droop control initial value is established taking into account the effect of the droop coefficient on the dc voltage and frequency.
The voltage of the system is deviated in the stable operation stage, so that the voltage threshold U is setdmAvoiding frequent fluctuation of droop coefficient when delta Udc＞UdmAt > 0, the initial sag factor can be set as:
Figure FDA0003067302600000022
when Δ Udc＜Udm< 0, the initial sag factor can be set as:
Figure FDA0003067302600000023
e: and obtaining the self-adaptive droop coefficient.
The DC system stability should be prevented from being influenced by large voltage fluctuation in the capacity variation range of the converter so that when the voltage is delta UdcWhen the value of the droop coefficient K is small and close to the dead zone range, the value of the droop coefficient K is kept small, and when the value of the droop coefficient is delta UdcThe droop coefficient K should increase when larger and close to the dead band range. According to the two initial values, an influence factor based on direct current voltage deviation can be introduced
Figure FDA0003067302600000024
Non-linear by the order of λ of the influence factor.
Figure FDA0003067302600000025
f: and synthesizing the self-adaptive combined control strategy scheme to obtain a complete expression of the self-adaptive control strategy:
Figure FDA0003067302600000026
wherein:
Figure FDA0003067302600000027
Figure FDA0003067302600000031
Figure FDA0003067302600000032
in the formula eta1、η2And lambda is the self-adaptive virtual inertia regulating coefficient and the self-adaptive droop regulating coefficient respectively, and the change rate of the parameters is determined by the self-adaptive virtual inertia regulating coefficient and the self-adaptive droop regulating coefficient.
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CN115864415B (en) * 2023-02-16 2023-04-25 中国科学院电工研究所 Flexible AC/DC power distribution system stable control method in weak network interconnection scene

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