CN113346535A - Coordination control method and system for phase modulator reactive power regulation and direct current control system in HVDC system and storage medium - Google Patents

Coordination control method and system for phase modulator reactive power regulation and direct current control system in HVDC system and storage medium Download PDF

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CN113346535A
CN113346535A CN202110601631.9A CN202110601631A CN113346535A CN 113346535 A CN113346535 A CN 113346535A CN 202110601631 A CN202110601631 A CN 202110601631A CN 113346535 A CN113346535 A CN 113346535A
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reactive power
control system
phase modulator
power regulation
synchronous phase
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CN113346535B (en
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王琳
王宏华
路天航
王成亮
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Hohai University HHU
Jiangsu Fangtian Power Technology Co Ltd
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Jiangsu Fangtian Power 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
    • H02J3/12—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load
    • H02J3/16—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load by adjustment of reactive power
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
    • H02P9/14—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field
    • 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
    • Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
    • Y02E40/30—Reactive power compensation

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Abstract

The invention discloses a coordination control method, a system and a storage medium for a phase modulator reactive power regulation and direct current control system in an HVDC system, wherein the method comprises the following steps: establishing a synchronous phase modulator excitation control system; adding a reactive power regulation (QPC) module into an input end of an inverter side fixed turn-off angle control system in a direct current control system; and the coordination optimization control of the reactive power regulation of the synchronous phase modulator and the direct-current control system is realized by coordinating and setting the parameters of the reactive power regulation controller of the synchronous phase modulator and the parameters of a reactive power regulation (QPC) controller in the direct-current control system. The invention not only restrains the overvoltage of the AC bus at the inversion side, but also accelerates the recovery speed of the AC bus voltage at the inversion side, enhances the interference resistance and the recovery capability of the system, simultaneously avoids the system oscillation caused by improper parameters of the controller, and improves the stable operation capability of the HVDC system.

Description

Coordination control method and system for phase modulator reactive power regulation and direct current control system in HVDC system and storage medium
Technical Field
The invention relates to a coordination optimization control method of a phase modulator reactive power regulation and direct current control system in a High Voltage Direct Current (HVDC) system, belonging to the technical field of high voltage direct current transmission systems.
Background
The high-voltage direct-current transmission adopts a direct-current mode to realize the conversion and transmission of high-voltage large-capacity power, and as a long-distance large-capacity transmission mode, a large amount of reactive power is consumed during operation, so a large amount of reactive compensation devices are required to be equipped. When the receiving-end system is weak, the inverter is easily affected by disturbance of the alternating-current system, so that a commutation failure fault occurs, and the stability of the receiving-end alternating-current system is not facilitated. The synchronous phase modulator is arranged in a weak receiving end system, so that the short-circuit ratio of an alternating current system is improved, the probability of inverter commutation failure is reduced, and the stability of the alternating current system is improved.
When the short circuit level of the alternating current system is low, the reactive compensation regulation of the synchronous phase modulator and the high-voltage direct current transmission system can have strong interaction. Different controllers and control methods should be coordinated with a direct current control system, but a corresponding coordination optimization control method is lacked at present, and a coordination control method for reactive power regulation of a phase modulator and the direct current control system in an HVDC system is urgently needed to be formulated so as to achieve the optimal recovery and operation characteristics of a high-voltage direct current transmission system and improve the capability of stable operation of the system.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: a method for coordinately controlling the reactive power regulation of the phase modulator and the dc control system in the HVDC system is needed, which can suppress the overvoltage of the ac bus at the inverter side, accelerate the recovery speed of the ac bus voltage at the inverter side, enhance the interference resistance and recovery capability of the system, avoid the system oscillation caused by the improper setting of the parameters of the controller, and help to improve the stable operation capability of the system.
The principle of the invention is as follows: the invention provides a coordinated control method of a reactive power regulation and direct current control system of a phase modulator in an HVDC system, which comprises the following steps: the reactive power regulation module of the synchronous phase modulator comprises: taking the deviation amount of the voltage of the inversion side alternating current system as the input of a synchronous phase modulator excitation control system, and sequentially processing the input amount of the synchronous phase modulator excitation control system through a synchronous phase modulator reactive power regulation controller, a synchronous phase modulator exciter and a limiting link to obtain the excitation voltage of the synchronous phase modulator; a reactive power regulation (QPC) module in the DC control system: the output regulated by the reactive power regulation (QPC) controller is the increment delta gamma of the inverter side turn-off angle, the increment delta gamma of the inverter side turn-off angle is sent to an inverter side constant turn-off angle control system after passing through an amplitude limiting link, and the reactive power consumption of the inverter side converter station is increased by increasing the turn-off angle, so that the reactive power balance of the system is improved and the voltage is stabilized. The lower limit of the delta gamma is 0 degrees after passing through the amplitude limiting link, so that the reactive power consumption of the inverter side converter station cannot be reduced.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
a coordination control method for a phase modulator reactive power regulation and direct current control system in an HVDC system comprises the following steps:
step 1) establishing a synchronous phase modulator excitation control system, when an inverter side converter station of an HVDC system has interference or fault, taking the deviation value of the inverter side alternating current bus voltage as input, obtaining the excitation voltage of the synchronous phase modulator through a synchronous phase modulator reactive power regulation controller, a synchronous phase modulator exciter and an amplitude limiting link, and carrying out reactive power regulation by optimizing the parameters of the synchronous phase modulator reactive power regulation controller;
step 2) adding a reactive power regulation (QPC) module into an input end of an inverter side constant turn-off angle control system in the direct current control system, taking a change amount of an inverter side alternating current bus voltage as input, and sending an increment delta gamma of an inverter side turn-off angle obtained by a reactive power regulation (QPC) controller to the inverter side constant turn-off angle control system;
and 3) realizing the coordinated optimization control of the reactive power regulation of the synchronous phase modulator and the direct current control system by coordinating and setting the parameters of the reactive power regulation controller of the synchronous phase modulator and the parameters of a reactive power regulation (QPC) controller in the direct current control system.
Furthermore, in the excitation control system of the synchronous phase modulator,
transfer function G of inversion side AC bus voltage measurement linkR(s) is expressed as:
Figure BDA0003092891600000031
in the formula: t isRS is a complex variable, which is the terminal voltage sensor time constant.
Transfer function G of reactive power regulation controller of synchronous phase regulatorT(s) is expressed as:
Figure BDA0003092891600000032
in the formula: t isc、TbRespectively a lead time constant and a lag time constant of the reactive power regulation controller of the synchronous phase regulator.
In the formula (2), when the lag time constant of the denominator is greater than the lead time constant of the numerator, the voltage gain is reduced in the transient process, the dynamic response time requirement is improved, and meanwhile, the voltage precision is higher. When the lag time constant of the denominator is less than the lead time constant of the numerator, additional phase margin is provided for improving dynamic response.
Transfer function G of synchronous phase modulator exciterE(s) is expressed as:
Figure BDA0003092891600000033
in the formula: kA，TARespectively, the proportionality coefficient and the time constant of the synchronous phase modulator exciter.
When K isAWhen the voltage is increased, the output voltage difference is reduced, and the voltage gain K as large as possible is adoptedATo maintain the output voltage constant, but with an excessive KAThe system will generate oscillation type step-out, and select proper KAHas an important effect on interference stabilization.
Further, the reactive power regulation (QPC) in the dc control system comprises:
the output regulated by the reactive power regulation (QPC) controller is the increment delta gamma of the inverter side turn-off angle, the increment delta gamma of the inverter side turn-off angle is sent to an inverter side constant turn-off angle control system after passing through an amplitude limiting link, and the reactive power consumption of the inverter side converter station is increased by increasing the turn-off angle, so that the reactive power balance of the system is improved and the voltage is stabilized. The increment delta gamma of the turn-off angle of the inversion side is limited to 0 degree after passing through the amplitude limiting link, so that the reactive power consumption of the inversion side converter station cannot be reduced.
Transfer function G of a reactive power regulator (QPC) controllerq(s) is expressed as:
Gq(s)＝Kp+Ki/s (4)
in the formula: kp，KiProportional and integral coefficients, respectively, of a reactive power regulator (QPC) controller.
Further, the inverter side constant turn-off angle control system includes:
and taking the deviation value of the turn-off angle as the input value of the inverter side fixed turn-off angle control system, sequentially passing through a turn-off angle controller, a limiting link, an inverter side converter station and a turn-off angle measuring link, and changing the reactive power consumption of the inverter side converter station by adjusting the parameters of the turn-off angle controller.
Transfer function G of turn-off angle controller0(s) is expressed as:
G0(s)＝Knp+Kni/s (5)
in the formula: knp，KniProportional coefficients and integral coefficients of the turn-off angle controller are respectively;
transfer function G of inversion side converter station1(s) is expressed as:
Figure BDA0003092891600000041
in the formula: k1＝sinβ0/sinγ0≈2.389，T1＝0.02/12≈1.667×10-3s are respectivelyA proportionality coefficient and a time constant of the inversion side converter station; beta is a0＝38.2°，γ015 degrees are respectively an advance trigger angle and a turn-off angle when the system is stable.
Transfer function G of turn-off angle measurement link2(s) is expressed as:
Figure BDA0003092891600000042
in the formula: k2＝1，TmThe proportional coefficient and the time constant of the turn-off angle measurement link are 0.02s respectively.
Transfer function G of inverter side fixed turn-off angle control systemn(s) is expressed as:
Figure BDA0003092891600000051
further, the synchronous phase modulator reactive power regulation and the direct current control system are coordinated and adjusted through the reactive power regulation (QPC) controller parameters in the synchronous phase modulator and the direct current control system, so that the coordinated optimization control of the synchronous phase modulator reactive power regulation and the direct current control system is realized. The method specifically comprises the following steps:
firstly, optimizing and setting parameters of a reactive power regulation controller of a synchronous phase modulator according to the frequency response characteristic of an excitation control system of the synchronous phase modulator.
Evaluating the stability of the excitation control system of the synchronous phase modulator by using the frequency response characteristic expressed by the open-loop transfer function of the excitation control system of the synchronous phase modulator, and setting a corresponding index range, wherein the value of the index range is as follows:
amplitude margin: 10dB to 20dB (decibel); phase margin: 20 to 80 degrees.
The time constant of the inverter side AC bus voltage measurement link is neglected and untimed, and the transient gain KtExpressed as:
Figure BDA0003092891600000052
transient gain KtAnd a cut-off frequency omegacThe relation of (A) is as follows:
Kt＝ωc×TA (10)
transient gain K obtained by comparing equation (9) with equation (10)tValue, selecting a transient gain KtA suitable value of.
In order to ensure the stability of the system, the slope of the logarithmic amplitude-frequency characteristic of the intermediate frequency band is-20 dB/dec (decibel/decade frequency), so that the necessary amplitude margin and phase margin can be ensured, and the lead time constant T of the correction linkcThe value is obtained as follows:
Figure BDA0003092891600000053
the lead time constant T of the reactive power regulation controller of the synchronous phase regulator in the formula (2) is obtained by the formula (10) and the formula (11)cWith a lag time constant TbThe ratio of (a) to (b).
And then, reactive power consumption of the inverter side converter station is regulated by optimizing reactive power regulation (QPC) controller parameters in the direct current control system and turn-off angle controller parameters of the inverter side fixed turn-off angle control system, and a group of optimal reactive power regulation controller parameter values of the synchronous phase modulator and reactive power regulation (QPC) controller parameter values in the direct current control system are screened out from recovery data of a plurality of groups of inverter side alternating current bus voltages.
A coordinated control system of a phase modulator reactive power regulation and direct current control system in an HVDC system comprises the following program modules:
synchronous phase modifier module: establishing a synchronous phase modulator excitation control system, when interference or fault occurs in an inversion side converter station of the HVDC system, taking the deviation amount of the voltage of an inversion side alternating current bus as input, obtaining the excitation voltage of the synchronous phase modulator through a synchronous phase modulator reactive power regulation controller, a synchronous phase modulator exciter and a limiting link, and carrying out reactive power regulation by optimizing the parameters of the synchronous phase modulator reactive power regulation controller;
a reactive power module: adding a reactive power regulation (QPC) module into an input end of an inverter side constant turn-off angle control system in the direct current control system, taking a change quantity of an inverter side alternating current bus voltage as input, and sending an increment delta gamma of an inverter side turn-off angle obtained by a reactive power regulation (QPC) controller to the inverter side constant turn-off angle control system;
a coordination setting module: and the coordination optimization control of the reactive power regulation of the synchronous phase modulator and the direct-current control system is realized by coordinating and setting the parameters of the reactive power regulation controller of the synchronous phase modulator and the parameters of a reactive power regulation (QPC) controller in the direct-current control system.
A computer readable storage medium is used for storing a coordination control method of a reactive power regulation and direct current control system of a phase modifier in the HVDC system.
Compared with the prior art, the method for coordinately controlling the reactive power regulation of the phase modulator and the direct current control system in the HVDC system has the advantages that: when interference or fault occurs in an inversion side converter station of an HVDC system, voltage of an inversion side alternating current bus falls off, reactive power support can be provided instantly by putting a synchronous phase modulator in the inversion side converter station, and overvoltage of the inversion side alternating current bus can occur after the fault is eliminated. The invention provides a coordination control method of a phase modulator reactive power regulation and direct current control system in an HVDC system, which is characterized in that a reactive power regulation (QPC) is added at the input end of an inverter side constant turn-off angle control system in the direct current control system, and the parameters of a synchronous phase modulator reactive power regulation controller and the parameters of a reactive power regulation (QPC) controller in the direct current control system are coordinated and set, so that the overvoltage of an inverter side alternating current bus can be inhibited, the recovery speed of the inverter side alternating current bus voltage is accelerated, the interference resistance and the recovery capability of the system are enhanced, the system oscillation caused by improper setting of the parameters of the controller is avoided, and the stable operation capability of the system is improved.
Drawings
Fig. 1 is a schematic flow chart of a coordinated control method of a reactive power regulation and direct current control system of a phase modulator in an HVDC system according to an embodiment of the present invention;
FIG. 2 is a block diagram of an excitation control system of a synchronous phase modulator in an embodiment of the present invention;
FIG. 3 is a block diagram of a DC control system incorporating a reactive power regulator (QPC) controller in an embodiment of the present invention;
FIG. 4 is a schematic diagram of the voltage recovery of the AC bus at the inversion side under different operating conditions in the embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Example 1
When the short circuit level of the alternating current system is low, the reactive compensation regulation of the synchronous phase modulator and the high-voltage direct current transmission system may have strong interaction, and different controllers and control methods are coordinated with the direct current control system, so the embodiment provides a coordinated control method of the reactive power regulation of the phase modulator and the direct current control system in the HVDC system, which comprehensively considers the above factors, establishes an excitation control system of the synchronous phase modulator, adds a reactive power regulation (QPC) into the direct current control system, coordinates and sets the parameters of the reactive power regulation controller of the synchronous phase modulator and the parameters of the reactive power regulation (QPC) controller in the direct current control system, inhibits the overvoltage of the alternating current bus at the inversion side, accelerates the recovery speed of the alternating current bus voltage at the inversion side, enhances the interference resistance and the recovery capability of the system, and avoids the system oscillation caused by improper setting of the parameters of the controllers, the capability of stable operation of the system is improved.
As shown in fig. 1, a coordinated control method for a phase modulator reactive power regulation and direct current control system in an HVDC system provided in an embodiment of the present invention specifically includes the following steps:
step 1) establishing a synchronous phase modulator excitation control system, when interference or fault occurs in a converter station at an inversion side of an HVDC system, taking the deviation value of the voltage of an alternating current bus at the inversion side as input, obtaining the excitation voltage of the synchronous phase modulator through a reactive power regulation controller of the synchronous phase modulator, an exciter of the synchronous phase modulator and an amplitude limiting link, and carrying out reactive power regulation by optimizing the parameters of the reactive power regulation controller of the synchronous phase modulator.
As shown in fig. 2, the excitation control system of the synchronous phase modulator mainly includes:
transfer function G of inversion side AC bus voltage measurement linkR(s) is expressed as:
Figure BDA0003092891600000081
in the formula: t isRS is a complex variable, which is the terminal voltage sensor time constant.
Transfer function G of reactive power regulation controller of synchronous phase regulatorT(s) is expressed as:
Figure BDA0003092891600000082
in the formula: t isc，TbRespectively a lead time constant and a lag time constant of the reactive power regulation controller of the synchronous phase regulator.
When the time constant of the denominator is larger than that of the numerator, the voltage gain is reduced in the transient process, the dynamic response time requirement is improved, and meanwhile, the voltage precision is higher. When the time constant of the denominator is less than the time constant of the numerator, additional phase margin is provided for improving dynamic response.
Transfer function G of synchronous phase modulator exciterE(s) is expressed as:
Figure BDA0003092891600000083
in the formula: kA，TARespectively, the proportionality coefficient and the time constant of the synchronous phase modulator exciter.
When K isAWhen the voltage is increased, the output voltage difference is reduced, and the voltage gain K as large as possible is adoptedATo maintain the output voltage constant, but with an excessive KAThe system will generate oscillation type step-out, and select proper KAHas an important effect on interference stabilization.
And 2) adding a reactive power regulation (QPC) module into an input end of the inverter side constant turn-off angle control system in the direct current control system, taking a change amount of the inverter side alternating current bus voltage as input, and transmitting the increment delta gamma of the inverter side turn-off angle obtained by the reactive power regulation (QPC) controller to the inverter side constant turn-off angle control system.
As shown in fig. 3, reactive power regulation (QPC) in the dc control system includes:
the output regulated by a reactive power regulation (QPC) controller is the increment delta gamma of the inverter side turn-off angle, the increment delta gamma of the inverter side turn-off angle is sent to an inverter side constant turn-off angle control system after passing through an amplitude limiting link, and the reactive power consumption of the inverter side converter station is increased by increasing the turn-off angle, so that the reactive power balance of the system is improved and the voltage is stabilized. The increment delta gamma of the turn-off angle of the inversion side is limited to 0 degree after passing through the amplitude limiting link, so that the reactive power consumption of the inversion side converter station cannot be reduced.
Transfer function G of a reactive power regulator (QPC) controllerq(s) is expressed as:
Gq(s)＝Kp+Ki/s (4)
in the formula: kp，KiProportional and integral coefficients, respectively, of a reactive power regulator (QPC) controller.
The inverter side constant turn-off angle control system comprises:
and taking the deviation value of the turn-off angle as the input value of the inverter side fixed turn-off angle control system, sequentially passing through a turn-off angle controller, a limiting link, an inverter side converter station and a turn-off angle measuring link, and changing the reactive power consumption of the inverter side converter station by adjusting the parameters of the turn-off angle controller.
Transfer function G of turn-off angle controller0(s) is expressed as:
G0(s)＝Knp+Kni/s (5)
in the formula: knp，KniProportional and integral coefficients of the turn-off angle controller, respectively.
Transfer function G of inversion side converter station1(s) is expressed as:
Figure BDA0003092891600000091
in the formula: k1＝sinβ0/sinγ0≈2.389，T1＝0.02/12≈1.667×10-3s is a proportionality coefficient and a time constant of the inversion side converter station respectively; beta is a0＝38.2°，γ015 degrees are respectively an advance trigger angle and a turn-off angle when the system is stable.
Transfer function G of turn-off angle measurement link2(s) is expressed as:
Figure BDA0003092891600000101
in the formula: k2＝1，TmThe proportional coefficient and the time constant of the turn-off angle measurement link are 0.02s respectively.
Transfer function G of inverter side fixed turn-off angle control systemn(s) is expressed as:
Figure BDA0003092891600000102
and 3) realizing the coordinated optimization control of the reactive power regulation of the synchronous phase modulator and the direct current control system by coordinating and setting the parameters of the reactive power regulation controller of the synchronous phase modulator and the parameters of a reactive power regulation (QPC) controller in the direct current control system.
Firstly, optimizing and setting parameters of a synchronous phase modulator reactive power regulation controller in a synchronous phase modulator excitation control system, then regulating reactive power consumption of an inverter side converter station by optimizing parameters of a reactive power regulation (QPC) controller in a direct current control system and parameters of a turn-off angle controller of an inverter side fixed turn-off angle control system, and screening out a group of optimal values of the parameters of the synchronous phase modulator reactive power regulation controller and the parameters of the reactive power regulation (QPC) controller in the direct current control system from recovery data of multiple groups of inverter side alternating current bus voltages through repeated experiments. Therefore, overvoltage of the alternating current bus at the inversion side is restrained, the voltage recovery speed of the alternating current bus at the inversion side is accelerated, and system oscillation caused by improper setting of parameters of the controller is avoided.
When the HVDC system runs for 2s, a single-phase short-circuit fault is set at an inversion side AC bus of the HVDC system, and the fault is cleared 0.2s after the fault, and fig. 4 shows that the voltage recovery condition of the inversion side AC bus under 3 working conditions is coordinately controlled by a synchronous phase modulator, a synchronous phase modulator and a DC control system when the single-phase short-circuit fault occurs at the inversion side AC bus. From FIG. 4, further Table 1 shows the inverter side AC bus voltage Us＝1p.u.(230kV)。
TABLE 1 inverse side AC bus voltage recovery under different conditions
Figure BDA0003092891600000111
As can be seen from fig. 4 and table 1, when the voltage of the inverter-side ac bus falls to 0.7p.u., after the phase modulator is put into operation, the minimum voltage of the inverter-side ac bus is 0.85p.u., and the recovery time of the inverter-side ac bus is 140ms, which indicates that the voltage compensation effect of the inverter-side ac bus is significant and the recovery time of the inverter-side ac bus is shortened. But the maximum voltage of the inverter side alternating current bus after the fault is eliminated is 1.19p.u. After the reactive power regulation of the synchronous phase modulator and the coordinated optimization control of the direct current control system, the recovery time of the alternating current bus at the inverter side is shortened to 80ms, compared with the method only using the phase modulator, the method adopting the reactive power regulation of the synchronous phase modulator and the coordinated optimization control of the direct current control system not only inhibits the overvoltage of the alternating current bus voltage at the inverter side, but also accelerates the recovery speed of the alternating current bus voltage at the inverter side, and avoids system oscillation caused by improper setting of controller parameters, thereby achieving the optimal recovery and operation characteristics of the system and improving the stable operation capability of the system.
A coordinated control system of a phase modulator reactive power regulation and direct current control system in an HVDC system comprises the following program modules:
synchronous phase modifier module: establishing a synchronous phase modulator excitation control system, when interference or fault occurs in an inversion side converter station of the HVDC system, taking the deviation amount of the voltage of an inversion side alternating current bus as input, obtaining the excitation voltage of the synchronous phase modulator through a synchronous phase modulator reactive power regulation controller, a synchronous phase modulator exciter and a limiting link, and carrying out reactive power regulation by optimizing the parameters of the synchronous phase modulator reactive power regulation controller;
a reactive power module: adding a reactive power regulation (QPC) module into an input end of an inverter side constant turn-off angle control system in the direct current control system, taking a change quantity of an inverter side alternating current bus voltage as input, and sending an increment delta gamma of an inverter side turn-off angle obtained by a reactive power regulation (QPC) controller to the inverter side constant turn-off angle control system;
a coordination setting module: and the coordination optimization control of the reactive power regulation of the synchronous phase modulator and the direct-current control system is realized by coordinating and setting the parameters of the reactive power regulation controller of the synchronous phase modulator and the parameters of a reactive power regulation (QPC) controller in the direct-current control system.
A computer readable storage medium is used for storing a coordination control method of a reactive power regulation and direct current control system of a phase modifier in the HVDC system.
Example 2
In the step 3), the method specifically comprises the following steps:
step 301: firstly, optimizing and setting parameters of a reactive power regulation controller of a synchronous phase modulator according to the frequency response characteristic of an excitation control system of the synchronous phase modulator.
Evaluating the stability of the excitation control system of the synchronous phase modulator by using the frequency response characteristic expressed by the open-loop transfer function of the excitation control system of the synchronous phase modulator:
amplitude margin: 10dB to 20dB (decibel); phase margin: 20 to 80 degrees.
The time constant of the inverter side AC bus voltage measurement link is neglected and untimed, and the transient gain KtExpressed as:
Figure BDA0003092891600000121
transient gain KtAnd a cut-off frequency omegacThe relation of (A) is as follows:
Kt＝ωc×TA (10)
transient gain K obtained by comparing equation (9) with equation (10)tValue, selecting a transient gain KtA suitable value of.
In order to ensure the stability of the system, the slope of the logarithmic amplitude-frequency characteristic of the intermediate frequency band is-20 dB/dec (decibel/decade frequency), so that the necessary amplitude margin and phase margin, TcThe value is obtained as follows:
Figure BDA0003092891600000122
the lead time constant T of the reactive power regulation controller of the synchronous phase regulator in the formula (2) is obtained by the formula (10) and the formula (11)cWith a lag time constant TbThe ratio of (a) to (b).
Step 302: reactive power consumption of the inverter side converter station is adjusted by optimizing reactive power adjustment (QPC) controller parameters in the direct current control system and turn-off angle controller parameters of the inverter side fixed turn-off angle control system, and a group of optimal reactive power adjustment controller parameter values of the synchronous phase modulator and reactive power adjustment (QPC) controller parameter values in the direct current control system are screened out from recovery data of multiple groups of inverter side alternating current bus voltages.
Other technical features are the same as those of embodiment 1.
As will be appreciated by one skilled in the art, 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 above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims (9)

1. A coordination control method for a phase modulator reactive power regulation and direct current control system in an HVDC system is characterized by comprising the following steps:
step 1) establishing a synchronous phase modulator excitation control system, when an inverter side converter station of an HVDC system has interference or fault, taking the deviation value of the inverter side alternating current bus voltage as input, obtaining the excitation voltage of the synchronous phase modulator through a synchronous phase modulator reactive power regulation controller, a synchronous phase modulator exciter and an amplitude limiting link, and carrying out reactive power regulation by optimizing the parameters of the synchronous phase modulator reactive power regulation controller;
step 2) adding a reactive power adjusting module at the input end of an inverter side constant turn-off angle control system in the direct current control system, taking the change quantity of the voltage of an inverter side alternating current bus as input, and sending the increment delta gamma of the inverter side turn-off angle obtained by a reactive power adjusting controller to the inverter side constant turn-off angle control system;
and 3) realizing the coordinated optimization control of the reactive power regulation of the synchronous phase modulator and the direct current control system by coordinating and setting the parameters of the reactive power regulation controller of the synchronous phase modulator and the parameters of the reactive power regulation controller in the direct current control system.
2. The method for coordinately controlling reactive power regulation of a phase modulator and a direct current control system in an HVDC system according to claim 1, wherein: in the step 1), in the excitation control system of the synchronous phase modulator,
transfer function G of inversion side AC bus voltage measurement linkR(s) is expressed as:
Figure FDA0003092891590000011
in the formula: t isRIs the terminal voltage sensor time constant, s is a complex variable;
transfer function G of reactive power regulation controller of synchronous phase regulatorT(s) is expressed as:
Figure FDA0003092891590000012
in the formula: t isc、TbRespectively a lead time constant and a lag time constant of the reactive power regulation controller of the synchronous phase regulator;
transfer function G of synchronous phase modulator exciterE(s) is expressed as:
Figure FDA0003092891590000021
in the formula: kA，TARespectively, the proportionality coefficient and the time constant of the synchronous phase modulator exciter.
3. The method for coordinately controlling reactive power regulation of a phase modulator and a direct current control system in an HVDC system according to claim 1, wherein: in step 2), the transfer function G of the reactive power regulating controllerq(s) is expressed as:
Gq(s)＝Kp+Ki/s (4)
in the formula: kp，KiThe proportional and integral coefficients of the reactive power regulating controller are respectively.
4. The method for coordinately controlling reactive power regulation of a phase modulator and a direct current control system in an HVDC system according to claim 1, wherein: in step 2), in the inverter-side constant-turn-off angle control system:
transfer function G of turn-off angle controller0(s) is expressed as:
G0(s)＝Knp+Kni/s (5)
in the formula: knp，KniProportional coefficients and integral coefficients of the turn-off angle controller are respectively;
transfer function G of inversion side converter station1(s) is expressed as:
Figure FDA0003092891590000022
in the formula: k1，T1Respectively representing a proportionality coefficient and a time constant of the inversion side converter station;
transfer function G of turn-off angle measurement link2(s) is expressed as:
Figure FDA0003092891590000023
in the formula: k2，TmProportional coefficients and time constants of a turn-off angle measurement link are respectively;
transfer function G of inverter side fixed turn-off angle control systemn(s) is expressed as:
Figure FDA0003092891590000031
5. the method for coordinately controlling reactive power regulation of a phase modulator and a direct current control system in an HVDC system according to claim 1, wherein: in the step 3), the method specifically comprises the following steps:
31) optimizing and setting parameters of a reactive power regulation controller of the synchronous phase modulator according to the frequency response characteristic of an excitation control system of the synchronous phase modulator;
32) evaluating the stability of the excitation control system of the synchronous phase modulator by using the frequency response characteristic expressed by the open-loop transfer function of the excitation control system of the synchronous phase modulator, and setting a corresponding index range;
transient gain KtExpressed as:
Figure FDA0003092891590000032
transient gain KtAnd cuttingStop frequency omegacThe relation of (A) is as follows:
Kt＝ωc×TA (10)
transient gain K obtained by comparing equation (9) with equation (10)tA value;
reactive power consumption of the inverter side converter station is adjusted by optimizing reactive power adjusting controller parameters in the direct current control system and turn-off angle controller parameters of the inverter side fixed turn-off angle control system, and a group of optimal reactive power adjusting controller parameter values of the synchronous phase modulator and reactive power adjusting controller parameter values in the direct current control system are screened out from multiple groups of recovery data of the inverter side alternating current bus voltage.
6. The method for coordinately controlling reactive power regulation of a phase modulator and a direct current control system in an HVDC system according to claim 5, wherein: in step 3), the time constant T is advancedcThe value is obtained as follows:
Figure FDA0003092891590000033
the lead time constant T of the reactive power regulation controller of the synchronous phase regulator in the formula (2) is obtained by the formula (10) and the formula (11)cWith a lag time constant TbThe ratio of (a) to (b).
7. The method for coordinately controlling reactive power regulation of a phase modulator and a direct current control system in an HVDC system according to claim 5, wherein: in step 3), the index range has the following values:
amplitude margin: 10dB to 20 dB;
phase margin: 20 to 80 degrees.
8. A coordinated control system of a phase modulator reactive power regulation and direct current control system in an HVDC system is characterized by comprising the following program modules:
synchronous phase modifier module: establishing a synchronous phase modulator excitation control system, when interference or fault occurs in an inversion side converter station of the HVDC system, taking the deviation amount of the voltage of an inversion side alternating current bus as input, obtaining the excitation voltage of the synchronous phase modulator through a synchronous phase modulator reactive power regulation controller, a synchronous phase modulator exciter and a limiting link, and carrying out reactive power regulation by optimizing the parameters of the synchronous phase modulator reactive power regulation controller;
a reactive power module: adding a reactive power adjusting module into an input end of an inverter side constant turn-off angle control system in a direct current control system, taking a change quantity of an inverter side alternating current bus voltage as input, and sending an increment delta gamma of an inverter side turn-off angle obtained by a reactive power adjusting controller to the inverter side constant turn-off angle control system;
a coordination setting module: and the coordination optimization control of the reactive power regulation of the synchronous phase modulator and the direct current control system is realized by coordinating and setting the parameters of the reactive power regulation controller of the synchronous phase modulator and the parameters of the reactive power regulation controller in the direct current control system.
9. A computer-readable storage medium, characterized in that: method for storing the coordinated control of a phase modifier reactive power regulation and direct current control system in an HVDC system according to any of the claims 1-7.
CN202110601631.9A 2021-05-31 2021-05-31 Coordination control method, system and storage medium for phase modulator reactive power regulation and direct current control system in HVDC system Active CN113346535B (en)

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