CN113452068B - Multi-step model prediction control method for VSC (Voltage Source converter) rectifier station connected with wind power plant - Google Patents
Multi-step model prediction control method for VSC (Voltage Source converter) rectifier station connected with wind power plant Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/381—Dispersed generators
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/36—Arrangements for transfer of electric power between ac networks via a high-tension dc link
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
- H02J2300/20—The dispersed energy generation being of renewable origin
- H02J2300/28—The renewable source being wind energy
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/60—Arrangements for transfer of electric power between AC networks or generators via a high voltage DC link [HVCD]
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Abstract
The invention relates to a multi-step model prediction control method for a VSC rectifier station connected with a wind power plant. The method overcomes the defects that the traditional PI control strategy has a complex decoupling structure, needs more setting parameters, is slow in response speed and is easy to influence each other of the PI controllers of the double-fed fan, and can compensate the delay errors generated by measurement and calculation in one-step model prediction control. The response speed is high, the control accuracy is high, the electric energy quality of the alternating current bus voltage and the robustness of a control system are improved, and due to the fact that direct current capacitor current feedforward is introduced, when the direct current side voltage fluctuates, the anti-interference capacity of the system can be improved.
Description
Technical Field
The invention belongs to the technical field of electric power engineering. In particular to a multi-step model prediction control method for a VSC rectification station connected with a wind power plant.
Background
Because wind energy has randomness and intermittence, the output power of wind power generation has larger fluctuation, and a VSC (wind power converter) rectifier station (WF-VSC) connected with a wind power plant must realize the stable control of the alternating-current bus voltage of the wind power plant, thereby providing a foundation for the transmission and the grid connection of the wind energy. The traditional PI control strategy has the advantages of complex decoupling structure, more parameters needing to be set, low response speed and easiness in mutual influence of the PI controllers of the double-fed fan. The model prediction control omits a PI controller, does not need pulse width modulation, is simple in design and high in response speed, but in the traditional one-step model prediction control, a model prediction formula at the (k +1) moment is derived at the k moment, an objective function is constructed, the objective function is minimized to be an optimization target to obtain the optimal switching state at the k moment, the delay error generated by the time of measurement and calculation is ignored, and the practical application is difficult.
Disclosure of Invention
According to the method, a two-step model prediction function is deduced, future reference value prediction and direct current capacitor current feedforward are introduced, an objective function of alternating current bus voltage errors is constructed, the objective functions in all switch states at the (k +2) moment are calculated at the k moment, and the switch state with the minimum objective function acts on the (k +1) moment, so that delay errors caused by measurement and calculation time are compensated, and the anti-interference capability of the delay function is improved.
The technical scheme provided by the invention is as follows:
a multi-step model prediction control method for a VSC rectifier station connected with a wind power plant is characterized by comprising the following steps:
step 1: measuring the value of the electrical quantity at the sampling instant k, comprising: AC bus current i (k), AC bus voltage u (k), and DC capacitor voltage udc(k) d.C. capacitance current ic(k)；
Step 2: substituting the sampled values i (k), u at time k according to a one-step model prediction functiondc(k) And 8 switch states calculate the predicted value of the alternating current bus voltage and current at the time of (k +1), including i (k +1) and u (k + 1);
and step 3: sampling value u according to time kdc(k)、ic(k) Calculating the predicted value u of the DC capacitor voltage at the (k +1) momentdc(k+1)；
And 4, step 4: substituting the predicted values i (k +1), u (k +1) and u (k +1) of (k +1) according to a two-step model prediction functiondcCalculating a predicted value u (k +2) at the moment (k +2) by using the (k +1) and 8 switch states;
and 5: obtaining a future reference value of the two-step model predictive control according to a vector angle compensation method;
step 6: calculating a predicted value and a target function value corresponding to the switch state;
and 7: comparing the objective function value corresponding to each switching state, and selecting the switching state which enables the objective function to be minimum, namely the optimal switching state, to be applied to the VSC at the moment of k + 1;
and 8: in the next sampling period TsAnd (5) repeating the step 1 to the step 7.
In the above multi-step model prediction control method for the inverter station supplying power to the passive network, the one-step prediction model function is based on the following formula:
wherein iα(k+1)、iβ(k +1) are respectively the alpha axis component and the beta axis component of the predicted value of the alternating bus current at the moment (k + 1); u. ofα(k+1)、uβ(k +1) are respectively the alpha axis component and the beta axis component of the predicted value of the alternating current bus voltage at the moment (k + 1); i.e. iα(k)、iβ(k) The component of the alpha axis and the component of the beta axis of the three-phase alternating current i flowing into the VSC at the moment k are respectively; u. ofα(k)、uβ(k) Respectively obtaining alpha and beta axis components of alternating current bus voltage u at the wind power plant side at the moment k; i.e. iwα(k)、iwβ(k) Respectively outputting three-phase alternating current i by the wind power plant at the moment kwα, β axis components of (a); gα、gβEach represents gkThe components on alpha and beta axes are subjected to Clark transformation; r and L are equivalent resistance and inductance of the converter transformer and the connecting reactor; c is an alternating current voltage-stabilizing capacitor; t issIs the sampling period.
In the above method for controlling the inverter station to supply power to the passive network by using the multi-step model prediction, the predicted value of the dc capacitor voltage is obtained based on the following formula:
wherein u isdc(k +1) is a predicted value of the direct current capacitor voltage at the moment (k + 1); u. ofdc(k)、ic(k) Respectively measuring the voltage and the current of the direct current capacitor at the moment k; cdA direct current voltage stabilizing capacitor; t issIs the sampling period.
In the above multi-step model prediction control method for the inverter station supplying power to the passive network, the two-step model prediction function is based on the following formula:
wherein u isα(k+2)、uβ(k +2) are respectively the alpha axis component and the beta axis component of the predicted value of the alternating-current bus voltage at the moment (k + 2); i.e. iα(k+1)、iβ(k +1) are respectively the alpha axis component and the beta axis component of the predicted value of the alternating bus current at the moment (k + 1); u. ofα(k+1)、uβ(k +1) is the alpha and beta axis components of the predicted value of the alternating bus voltage at the moment (k +1), respectively; i.e. iwα(k)、iwβ(k) Respectively outputting three-phase alternating current i by the wind power plant at the moment kwα, β axis components of (a); gα、gβEach represents gkThe components on alpha and beta axes are subjected to Clark transformation; r and L are equivalent resistance and inductance of the converter transformer and the connecting reactor; c is an alternating current voltage-stabilizing capacitor; t issIs the sampling period.
In the above method for controlling the inverter station to supply power to the passive network, the future reference value for the two-step model predictive control is based on the following formula, which is obtained according to the vector angle compensation method:
wherein u' (k +2) is a predicted value of the alternating-current bus voltage reference value at the moment (k + 2); u' (k) is the vector amplitude of the reference value of the alternating-current bus voltage at the moment k; theta (k) is a vector phase of the reference value of the alternating-current bus voltage at the moment k; ω is its angular velocity of rotation; t is a unit ofsIs the sampling period.
In the above method for controlling the multi-step model prediction of the inverter station supplying power to the passive network, the objective function value is obtained based on the following formula:
Z＝[u′α(k+2)-uα(k+2)]2+[u′β(k+2)-uβ(k+2)]2；
wherein u'α(k+2)、u'β(k +2) are respectively the alpha axis component and the beta axis component of the alternating current bus voltage reference value at the moment of (k + 2); u. uα(k+2)、uβAnd (k +2) are respectively the alpha axis component and the beta axis component of the predicted value of the alternating-current bus voltage at the time of (k + 2).
Therefore, the invention has the following advantages: 1. the invention provides a multi-step model prediction control strategy for solving the delay error caused by measuring and calculating time in one-step model prediction, and realizes delay compensation. 2. When the power of the wind power grid-connected side alternating current system fluctuates or the direct current side has short-time short-circuit fault, the direct current capacitance current feedforward introduced in the two-step prediction control algorithm is beneficial to reducing the influence of voltage ripples at the direct current side of the VSC rectifier on alternating current voltage output by the WF-VSC system and enhancing the disturbance resistance of the system when the short-time short-circuit fault occurs at the direct current side.
Drawings
FIG. 1 is a WF-VSC topology.
FIG. 2 is a flow chart of two-step model predictive control.
Fig. 3 is a schematic diagram of a vector angle compensation method.
Detailed Description
The principle of the method of the present invention will be described first.
A two-step model prediction function of the WF-VSC alternating bus voltage is firstly deduced.
According to the topological structure and the reference direction of the WF-VSC shown in the figure 1 and combined with kirchhoff voltage and current law, a continuous mathematical model of the WF-VSC under a three-phase static coordinate is obtained
In the formula ukFor the wind farm side AC bus voltage, ikFor three-phase AC current flowing into the VSC rectifier, iwFor wind farm outlet alternating current udcK is a phase a, a phase b, a phase c, and g is a rectification side direct current voltagekAs a switching function of the kth leg of the rectifier.
Switching function gkThe switching state of each phase bridge arm of the rectifier is reflected, and the formula (2) is defined.
And (4) converting the three-phase static coordinate system into an alpha beta two-phase static coordinate system according to a Clark formula (3), and obtaining a VSC rectifier station mathematical model under the alpha beta two-phase static coordinate system and 7 switch states of a three-phase bridge arm.
In the formula iα、iβAre the alpha and beta axis components of the three-phase ac current i flowing into the VSC rectifier, respectively; u. uα、uβRespectively are alpha axis components and beta axis components of an alternating current bus voltage u at the side of the wind power plant; g is a radical of formulaα、gβEach represents gkAfter Clark transformation, the components are in alpha and beta axes.
In order to make the model more stable and iterate faster, a discrete model matching the prediction calculation can be obtained by discretization. Discretizing the equation (6) according to a first-order forward difference method
And (3) obtaining a one-step model predictive control discrete mathematical model formula (7) of WF-VSC under the alpha and beta two-phase stationary coordinate system according to the formula (6).
Calculating the predicted value at the moment of (k +1) according to the formula (7), and taking the predicted value equal to the actual value to obtain a two-step model prediction control discrete mathematical model formula (8)
When the power of the alternating current system at the grid-connected side of the wind power generation system fluctuates or the direct current side has short-circuit fault, the voltage of the direct current side fluctuates, and further the voltage value u of the direct current side in the two-step model prediction formula is causeddcA change occurs, as in formula (9):
udc(k+1)≠udc(k) (9)
at the moment, a direct-current voltage prediction function needs to be introduced according to the voltage-current relation of the direct-current side capacitor, the prediction of direct-current voltage is increased, the input variable of the system model at the (k +1) moment is obtained through more accurate calculation of two-step model prediction control, the predicted value at the (k +2) moment is obtained through calculation of a two-step model prediction formula, and the precision is higher. The influence of voltage ripples on the direct current side of the VSC rectifier on the alternating current bus voltage of the system is favorably reduced, and the disturbance resistance of the system is enhanced when short-time short circuit faults occur on the direct current side.
Now deduce udc(k +1) and udc(k) The relationship between them. The direct current side capacitance-voltage-current relation (10) can be obtained according to the WF-VSC topological structure shown in FIG. 1
Derivation derived DC capacitance voltage prediction formula (11)
The two-step model prediction formula (12) for introducing DC capacitance current feedforward can be obtained by combining the vertical type (8) and the formula (11)
A reasonable objective function is then constructed.
In order to simplify the model, in the objective function equation of the model predictive control, it is often assumed that the reference value at the future time is approximately equal to the reference value at the current time, i.e., u '(k + n) ═ u' (k), and this assumption causes a lag of n sampling periods when the actual value tracks the reference value, resulting in an error. In order to overcome the influence of the target function error, a vector angle compensation method is adopted to predict a future reference value.
The control target of the WF-VSC is to stabilize the alternating-current bus voltage at the side of the wind power plant, the reference value of the alternating-current bus voltage is expressed by a vector, and then the future voltage reference value is predicted according to the vector angle conversion of sampling time.
u′(k)＝U′(k)ejθ(k) (13)
In steady state, the voltage vector magnitude U is kept constant, and rotates at an angular velocity ω, the vector angle at time (k +2) is
θ(k+2)＝θ(k+1)+ωTs＝θ(k)+2ωTs (14)
The reference value of the AC bus voltage at the time (k +2) is
Considering the future reference value, the objective function of WF-VSC is constructed as
Z＝[u′α(k+2)-uα(k+2)]2+[u′β(k+2)-uβ(k+2)]2 (16)
In the formula uα、uβIs to output a stable AC bus voltage as a control target, two-step predicted voltage values u 'of alpha and beta axes in a two-phase stationary coordinate system'α、u′βIs an alpha-axis and beta-axis alternating current bus under a two-phase static coordinate systemA voltage reference value.
Finally, the theory is adopted for prediction, and the method mainly comprises the following eight execution steps:
the method comprises the following steps: measuring the value of the electrical quantity at the sampling instant k, comprising: i (k), udc(k)、ic(k)。
Step two: substituting the sampling values i (k), u at the time k according to the one-step model prediction formula (7)dc(k) And 8 switch states calculate the predicted value of the alternating current bus voltage and current at the time of (k +1), including i (k +1) and u (k + 1).
Step three: substituting the sampling value u at the time k into the DC capacitor voltage prediction formula (11)dc(k)、ic(k) Calculating the predicted value u of the DC capacitor voltage at the (k +1) momentdc(k+1)。
Step four: substituting the predicted values i (k +1), u of (k +1) into the predicted values i (k +1), u of (k +1) according to the two-step model prediction formula (12)dcThe predicted value u (k +2) at the time of (k +2) is calculated for the (k +1) and 8 switching states.
Step five: and obtaining a future reference value (15) of the two-step model predictive control according to a vector angle compensation method.
Step six: and according to the target function expression (16), calculating the obtained predicted value and the target function value corresponding to the switch state.
Step seven: and comparing the objective function value corresponding to each switching state, selecting the switching state which enables the objective function to be minimum, namely the optimal switching state, and applying the switching state to the VSC at the moment of k + 1.
Step eight: and repeating the first step to the seventh step in the next control period.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (3)
1. A multi-step model prediction control method for a VSC rectifier station connected with a wind power plant is characterized by comprising the following steps:
step 1: measuring the value of the electrical quantity at the sampling instant k, comprising: AC bus current i (k), AC bus voltage u (k), and DC capacitor voltage udc(k) d.C. capacitance current ic(k)；
Step 2: substituting the sampled values i (k), u at time k according to a one-step model prediction functiondc(k) And 8 switch states calculate the predicted value of the alternating current bus voltage and current at the time of (k +1), including i (k +1) and u (k + 1);
and step 3: sampling value u according to time kdc(k)、ic(k) Calculating the predicted value u of the DC capacitor voltage at the (k +1) momentdc(k+1)；
And 4, step 4: substituting the predicted values i (k +1), u (k +1) and u (k +1) of (k +1) according to a two-step model prediction functiondcCalculating a predicted value u (k +2) at the moment (k +2) by using the (k +1) and 8 switch states;
and 5: obtaining a future reference value of the two-step model predictive control according to a vector angle compensation method;
step 6: calculating a predicted value and a target function value corresponding to the switch state;
and 7: comparing the objective function value corresponding to each switch state, and selecting the switch state which enables the objective function to be minimum, namely the optimal switch state, to be applied to the VSC at the moment of k + 1;
and step 8: in the next sampling period TsRepeating the step 1 to the step 7;
the one-step predictive model function is based on the following formula:
wherein iα(k+1)、iβ(k +1) are respectively the alpha axis component and the beta axis component of the predicted value of the alternating bus current at the moment (k + 1); u. ofα(k+1)、uβ(k +1) are respectively the alpha axis component and the beta axis component of the predicted value of the alternating current bus voltage at the moment (k + 1); i.e. iα(k)、iβ(k) Alpha and beta axis components of three-phase alternating current i flowing into the VSC converter at the time k；uα(k)、uβ(k) Respectively obtaining alpha and beta axis components of alternating current bus voltage u at the wind power plant side at the moment k; i.e. iwα(k)、iwβ(k) Respectively outputting three-phase alternating current i by the wind power plant at the moment kwα, β axis components of (a); gα、gβEach represents gkThe components on alpha and beta axes are subjected to Clark transformation; r and L are equivalent resistance and inductance of the converter transformer and the connecting reactor; c is an alternating current voltage-stabilizing capacitor; t issIs the sampling period, gkThe switching function of a k-th phase bridge arm of the rectifier is obtained;
the two-step model prediction function is based on the following formula:
wherein u isα(k+2)、uβ(k +2) are respectively the alpha axis component and the beta axis component of the predicted value of the alternating current bus voltage at the moment (k + 2); i.e. iα(k+1)、iβ(k +1) are respectively the alpha axis component and the beta axis component of the predicted value of the alternating bus current at the moment (k + 1); u. ofα(k+1)、uβ(k +1) are respectively the alpha axis component and the beta axis component of the predicted value of the alternating current bus voltage at the moment (k + 1); i.e. iwα(k)、iwβ(k) Respectively outputting three-phase alternating current i by the wind power plant at the moment kwα, β axis components of (a); gα、gβRespectively represent gkThe components on alpha and beta axes are subjected to Clark transformation; r and L are equivalent resistance and inductance of the converter transformer and the connecting reactor; c is an alternating current voltage-stabilizing capacitor; t issIs a sampling period;
the future reference value of the two-step model predictive control is based on the following formula, which is obtained according to a vector angle compensation method:
wherein u' (k +2) is a predicted value of the alternating-current bus voltage reference value at the moment (k + 2); u' (k) is the vector amplitude of the reference value of the alternating-current bus voltage at the moment k; theta (k) is k time alternating current busVector phase of line voltage reference value; omega is its angular velocity of rotation; t is a unit ofsIs the sampling period.
2. The method for the multi-step model predictive control over the VSC rectifier station connected with the wind power plant according to claim 1, characterized in that a direct current capacitor voltage predicted value is obtained based on the following formula:
wherein u isdc(k +1) is a predicted value of the direct current capacitor voltage at the moment (k + 1); u. ofdc(k)、ic(k) Respectively measuring the voltage and the current of the direct current capacitor at the moment k; cdA direct current voltage stabilizing capacitor; t issIs the sampling period.
3. The method for the multi-step model predictive control of the VSC rectifier station connected with the wind power plant according to claim 1, characterized in that the objective function value is obtained based on the following formula:
Z＝[u′α(k+2)-uα(k+2)]2+[u′β(k+2)-uβ(k+2)]2；
wherein u'α(k+2)、u'β(k +2) are respectively the alpha axis component and the beta axis component of the alternating current bus voltage reference value at the moment of (k + 2); u. ofα(k+2)、uβAnd (k +2) are respectively the alpha axis component and the beta axis component of the predicted value of the alternating current bus voltage at the time (k + 2).
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