CN113725854B - Seamless switching control method applied to flexible direct-current comprehensive voltage regulating device - Google Patents
Seamless switching control method applied to flexible direct-current comprehensive voltage regulating device Download PDFInfo
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- H—ELECTRICITY
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Abstract
本发明公开了一种应用于柔性直流综合调压装置的无缝切换控制方法，包括以下步骤：实时测量柔性直流综合调压装置并网点上游的电网电压和三电平逆变器滤波电容电压；实时测量低压用户侧电流和三电平逆变器滤波电感电流；根据步骤1中装置并网点上游的电网电压、三电平逆变器滤波电容电压以及预设的开关周期计算滞环环宽值和环宽上下边界值；根据参考电压、三电平逆变器滤波电感电流和滞环环宽上下边界值进行装置的无缝切换控制。本发明无需检测电网故障状态即可有效改善低压治理装置在电网发生故障时电流源模式和电压源模式的控制稳定性问题，实现负载的不间断供电，从而实现装置并网/离网模式的无缝切换控制，具有很强的工程实用性。
The invention discloses a seamless switching control method applied to a flexible DC integrated voltage regulating device, comprising the following steps: measuring in real time the grid voltage upstream of the grid connection point of the flexible DC integrated voltage regulating device and the filter capacitor voltage of a three-level inverter; Real-time measurement of low-voltage user-side current and three-level inverter filter inductor current; calculate the hysteresis loop width value based on the grid voltage upstream of the device grid-connected point in step 1, the filter capacitor voltage of the three-level inverter, and the preset switching cycle and the upper and lower boundary values of the ring width; the seamless switching control of the device is performed according to the reference voltage, the filter inductor current of the three-level inverter and the upper and lower boundary values of the hysteresis ring width. The present invention can effectively improve the control stability of the current source mode and the voltage source mode of the low-voltage control device when the grid fails, and realize the uninterrupted power supply of the load, thereby realizing the uninterrupted operation of the device grid-connected/off-grid mode without detecting the fault state of the grid. Seam switching control, with strong engineering practicability.
Description
技术领域technical field
本发明涉及电力电子设备控制技术领域，尤其涉及一种应用于柔性直流综合调压装置的 无缝切换控制方法。The invention relates to the technical field of power electronic equipment control, in particular to a seamless switching control method applied to a flexible DC integrated voltage regulating device.
背景技术Background technique
目前“低电压”问题受到了越来越多县域电网用户的投诉，严重影响了居民生活质量。 而基于电力电子变流器的柔性直流综合调压装置受到了国家电网的青睐，用以解决变电站布 点少、输电线路过长、线路过细等导致低电压现象的问题痛点。At present, the "low voltage" problem has been complained by more and more county-level power grid users, which has seriously affected the quality of life of residents. The flexible DC integrated voltage regulating device based on power electronic converters is favored by the State Grid to solve the pain points of low voltage caused by the lack of distribution points of substations, too long transmission lines, and too thin lines.
低电压装置具有两种运行模式：并网模式和离网模式，并网模式下设备为电流源，向电 网上发送补偿电流；离网模式下设备为电压源，单独为低压负载供电。当靠近装置补偿位置 的电网发生故障，原并网运行的低压治理设备由并网运行模式切换到离网模式；当电网恢复供电时，设备还需从电压源控制切换到电流源控制，继续并网运行。The low-voltage device has two operating modes: grid-connected mode and off-grid mode. In grid-connected mode, the device is a current source, sending compensation current to the grid; in off-grid mode, the device is a voltage source, which supplies power for low-voltage loads alone. When the power grid close to the compensation position of the device fails, the low-voltage control equipment that was originally connected to the grid is switched from the grid-connected operation mode to the off-grid mode; net running.
滞环控制是一种非线性电流跟踪控制技术，常用于电力电子变换器控制领域，其控制方 法实现简单，响应速度快，稳定性好，可实现对电流的快速跟踪控制，具有较好的鲁棒性。Hysteresis control is a nonlinear current tracking control technology, which is often used in the field of power electronic converter control. Its control method is simple to implement, fast in response, and good in stability. Stickiness.
目前两种模式下的控制方法较多，如下垂控制、并网PQ控制、虚拟同步发电机技术、 离网VF(恒压恒频)控制等，但在不停机情况下实现模式间无缝切换仍旧是一个巨大的挑战。 上述控制方法需要一直监测电网状态，若判定为故障状态，则相应地改变其参考电流和参考 电压，但却难以保证负载供电电压和负载电流不产生畸变。At present, there are many control methods in the two modes, such as droop control, grid-connected PQ control, virtual synchronous generator technology, off-grid VF (constant voltage and constant frequency) control, etc., but seamless switching between modes is realized without stopping Still a huge challenge. The above control method needs to monitor the state of the power grid all the time, and if it is judged to be a fault state, the reference current and reference voltage will be changed accordingly, but it is difficult to ensure that the load supply voltage and load current will not be distorted.
发明内容Contents of the invention
本发明针对现有技术存在的不足和缺陷，提供了一种应用于柔性直流综合调压装置的无 缝切换控制方法，有效改善了低压治理装置在电网发生故障时电流源模式和电压源模式的控 制稳定性问题，实现了负载的不间断供电，从而实现装置并网/离网模式的无缝切换控制。Aiming at the deficiencies and defects of the existing technology, the present invention provides a seamless switching control method applied to a flexible DC integrated voltage regulating device, which effectively improves the current source mode and voltage source mode of the low-voltage control device when the power grid fails. The problem of stability is controlled, and the uninterrupted power supply of the load is realized, so as to realize the seamless switching control of the device on-grid/off-grid mode.
本发明的目的可以通过以下技术方案来实现：The purpose of the present invention can be achieved through the following technical solutions:
一种应用于柔性直流综合调压装置的无缝切换控制方法，所述柔性直流综合调压装置安 装在长距离输电线后的低压负载用户前，其包括三电平整流器、三电平逆变器、滤波电路以 及直流储能元件；其中三电平逆变器包括连接直流储能元件的输入侧和连接滤波电路的逆变侧，三电平整流器包括连接直流储能元件的输出侧和连接滤波电路的整流侧；整流器直流储 能元件与逆变器直流储能元件之间的通过直流输电线连接；A seamless switching control method applied to a flexible DC integrated voltage regulating device. The flexible DC integrated voltage regulating device is installed in front of a low-voltage load user behind a long-distance transmission line, which includes a three-level rectifier and a three-level inverter The three-level inverter includes the input side connected to the DC energy storage element and the inverter side connected to the filter circuit, and the three-level rectifier includes the output side connected to the DC energy storage element and the connection side The rectification side of the filter circuit; the DC energy storage element of the rectifier and the DC energy storage element of the inverter are connected through a DC transmission line;
所述方法包括以下步骤：The method comprises the steps of:
步骤1：实时测量柔性直流综合调压装置并网点上游的电网电压和三电平逆变器滤波电 容电压；Step 1: Measure the grid voltage upstream of the grid connection point of the flexible DC integrated voltage regulating device and the filter capacitor voltage of the three-level inverter in real time;
步骤2：实时测量低压用户侧电流和三电平逆变器滤波电感电流；Step 2: Real-time measurement of low-voltage user-side current and three-level inverter filter inductor current;
步骤3：根据步骤1中装置并网点上游的电网电压、三电平逆变器滤波电容电压以及预 设的开关周期计算滞环环宽值和环宽上下边界值；Step 3: Calculate the hysteresis loop width and the upper and lower boundary values of the loop width according to the grid voltage upstream of the grid-connected point of the device in step 1, the filter capacitor voltage of the three-level inverter, and the preset switching cycle;
步骤4：根据参考电压、三电平逆变器滤波电感电流和滞环环宽上下边界值进行柔性直 流综合调压装置的无缝切换控制。Step 4: According to the reference voltage, the three-level inverter filter inductor current and the upper and lower boundary values of the hysteresis loop width, the seamless switching control of the flexible DC integrated voltage regulating device is carried out.
进一步地，在柔性直流综合调压装置补偿位置前的电网区域发生故障时，柔性直流综合 调压装置并网点上游的电网电压不受影响。Further, when a fault occurs in the grid area before the compensation position of the flexible DC integrated voltage regulating device, the grid voltage upstream of the grid-connected point of the flexible DC integrated voltage regulating device will not be affected.
进一步地，所述步骤1中柔性直流综合调压装置并网点上游的电网电压作为滞环控制参 考电压。Further, in the step 1, the grid voltage upstream of the grid connection point of the flexible DC integrated voltage regulating device is used as the hysteresis control reference voltage.
进一步地，所述步骤1中的三电平逆变器滤波电容电压参与有源阻尼控制量的计算，用 有源阻尼调节系数乘以柔性直流综合调压装置并网点上游的电网电压与三电平逆变器滤波电 容电压之间的差值得到有缘阻尼控制量，注意是先作差再乘以系数。Further, the filter capacitor voltage of the three-level inverter in the step 1 participates in the calculation of the active damping control amount, and the active damping adjustment coefficient is multiplied by the grid voltage upstream of the grid-connected point of the flexible DC integrated voltage regulating device and the three-power The difference between the filter capacitor voltages of the flat inverter is used to obtain the control value of the active damping. Note that the difference is made first and then multiplied by the coefficient.
进一步地，所述步骤2中得到的低压用户侧电流值作为滞环控制参考电流值。Further, the low-voltage user-side current value obtained in step 2 is used as a hysteresis control reference current value.
进一步地，所述步骤3中滞环环宽上下边界的计算过程中有有源阻尼控制量的参与，用 滞环控制参考电流值减去有源阻尼控制量后再加上滞环的一半环宽值得到环宽上边界值，用 滞环控制参考电流值减去有源阻尼控制量后再减去滞环的一半环宽值得到环宽下边界值。Further, in the calculation process of the upper and lower boundaries of the hysteresis loop width in step 3, the active damping control quantity is involved, and the hysteresis control reference current value is used to subtract the active damping control quantity and then add half of the hysteresis loop The upper boundary value of the ring width is obtained by the width value, and the active damping control value is subtracted from the hysteresis control reference current value, and then half of the ring width value of the hysteresis is subtracted to obtain the lower boundary value of the ring width.
进一步地，所述步骤4中进行柔性直流综合调压装置无缝切换控制的具体规则为：Further, the specific rules for the seamless switching control of the flexible DC integrated voltage regulating device in the step 4 are as follows:
当滞环控制参考电压为正时，如果三电平逆变器滤波电感电流大于滞环环宽上边界，则 逆变器输出正电平，使滤波电感电流减小；如果滤波电感电流小于环宽下边界，则逆变器输 出零电平，使滤波电感电流增大。When the hysteresis loop control reference voltage is positive, if the filter inductor current of the three-level inverter is greater than the upper boundary of the hysteresis loop width, the inverter outputs a positive level to reduce the filter inductor current; if the filter inductor current is smaller than the loop width If the lower boundary is wide, the inverter outputs zero level, which increases the filter inductor current.
当滞环控制参考电压为负时，如果三电平逆变器滤波电感电流大于滞环环宽上边界，则 逆变器输出零电平，使滤波电感电流减小；如果滤波电感电流小于环宽下边界，则逆变器输 出负电平，使滤波电感电流增大。When the hysteresis loop control reference voltage is negative, if the filter inductor current of the three-level inverter is greater than the upper limit of the hysteresis loop width, the inverter will output zero level to reduce the filter inductor current; if the filter inductor current is smaller than the loop width If the lower boundary is wide, the inverter outputs a negative level, which increases the filter inductor current.
本发明的有益技术效果：无需检测电网故障状态即可有效改善柔性直流综合调压装置在 电网发生故障时电流源模式和电压源模式的控制稳定性问题，实现负载的不间断供电，无需 切换模式控制方法即可实现装置并网/离网模式的无缝切换控制，具有很强的工程实用性。Beneficial technical effects of the present invention: it can effectively improve the control stability of the flexible DC integrated voltage regulating device in the current source mode and the voltage source mode when the grid fails, and realize uninterrupted power supply of the load without switching modes The control method can realize the seamless switching control of the device on-grid/off-grid mode, and has strong engineering practicability.
附图说明Description of drawings
图1是本发明实施例中柔性直流综合调压装置的结构示意图和电气连接图。Fig. 1 is a structural schematic diagram and an electrical connection diagram of a flexible DC integrated voltage regulating device in an embodiment of the present invention.
图2和3是本发明实施例中滞环控制的基本原理图。2 and 3 are the basic principle diagrams of the hysteresis control in the embodiment of the present invention.
图4是本发明的总体流程图。Fig. 4 is an overall flow chart of the present invention.
附图标号：A为柔性直流综合调压装置补偿位置B上游的电网电压采样位置，S为线路 开关；1为变电站，2和3为线路阻抗，4和5为旁路负载，6为末端低电压负载；7为三电 平整流器，71和72为整流侧滤波电感，73为整流侧滤波电容，74为整流侧上母线电容，75 为整流侧下母线电容；8为三电平逆变器，81为逆变侧滤波电感，82为逆变侧滤波电容，84 为逆变侧上母线电容，85为逆变侧下母线电容；T1、T2、T3和T4为逆变器的IGBT。Reference numerals: A is the grid voltage sampling position upstream of the compensation position B of the flexible DC integrated voltage regulator, S is the line switch; 1 is the substation, 2 and 3 are line impedances, 4 and 5 are bypass loads, and 6 is the end low Voltage load; 7 is the three-level rectifier, 71 and 72 are the rectification side filter inductors, 73 is the rectification side filter capacitor, 74 is the rectification side upper bus capacitor, 75 is the rectification side lower bus capacitor; 8 is the three-level inverter , 81 is the inverter side filter inductor, 82 is the inverter side filter capacitor, 84 is the inverter side upper bus capacitor, 85 is the inverter side lower bus capacitor; T1, T2, T3 and T4 are the IGBTs of the inverter.
具体实施方式Detailed ways
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发 明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不限定 本发明。In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
实施例Example
如图4所示，一种应用于柔性直流综合调压装置的无缝切换控制方法，包括以下步骤：As shown in Figure 4, a seamless switching control method applied to a flexible DC integrated voltage regulating device includes the following steps:
步骤1：如图1所示，实时测量柔性直流综合调压装置补偿位置B上游A处的电网电压 UGridA和三电平逆变器滤波电容电压UCap。Step 1: As shown in Figure 1, measure the grid voltage U GridA at upstream A of the compensation position B of the flexible DC integrated voltage regulating device and the filter capacitor voltage U Cap of the three-level inverter in real time.
UGridA作为滞环控制的参考电压，即低压侧负载电压的期望值，目的是让低压侧负载电压 始终跟随UGridA，当并网/离网模式切换时，负载电压不会产生畸变；U GridA is used as the reference voltage for hysteresis control, that is, the expected value of the load voltage on the low-voltage side. The purpose is to make the load voltage on the low-voltage side always follow U GridA . When the grid-connected/off-grid mode is switched, the load voltage will not be distorted;
根据UGridA和UCap计算有源阻尼控制量，有源阻尼控制量IDamp的计算公式为：The active damping control quantity is calculated according to U GridA and U Cap , and the calculation formula of the active damping control quantity I Damp is:
IDamp＝Kd*(UGridA-UCap)I Damp ＝K d *(U GridA -U Cap )
上式中，Kd为有源阻尼调节系数。In the above formula, K d is the active damping adjustment coefficient.
步骤2：实时测量低压用户侧电流ILoad和三电平逆变器滤波电感电流Iinv。Step 2: Measure the low-voltage user-side current I Load and the filter inductor current I inv of the three-level inverter in real time.
ILoad作为滞环控制的参考电流Iref，即iref＝iLoad，目的是让逆变器提供负载所需的全部 电流。I Load is used as a reference current I ref for hysteresis control, that is, i ref =i Load , so that the inverter can provide all the current required by the load.
步骤3：根据UGridA和UCap计算滞环环宽值H和滞环环宽上下边界值。Step 3: Calculate the hysteresis loop width value H and the upper and lower boundary values of the hysteresis loop width according to U GridA and U Cap .
滞环环宽值的计算公式如下：The formula for calculating the hysteresis loop width is as follows:
当参考电压UGridA为正时，When the reference voltage U GridA is positive,
当参考电压UGridA为负时，When the reference voltage U GridA is negative,
式中，L为逆变侧滤波电感的感值，UdcPos为逆变侧上母线电压，UdcNeg为逆变侧下母线 电压，TPWM为逆变侧IGBT的开关周期。In the formula, L is the inductance of the filter inductor on the inverter side, UdcPos is the upper bus voltage on the inverter side, UdcNeg is the lower bus voltage on the inverter side, and T PWM is the switching period of the IGBT on the inverter side.
滞环环宽的上边界值IrefH和下边界值IrefL的计算公式为：The formula for calculating the upper boundary value I refH and the lower boundary value I refL of the hysteresis loop width is:
IrefH＝Iref-IDamp+H/2I refH =I ref -I Damp +H/2
IrefL＝Iref-IDamp-H/2I refL =I ref -I Damp -H/2
参考图2、3。Refer to Figures 2 and 3.
步骤4：根据参考电压UgridA、Iinv和滞环环宽上下边界值进行柔性直流综合调压装置的 无缝切换控制。Step 4: Perform seamless switching control of the flexible DC integrated voltage regulating device according to the reference voltage U gridA , I inv and the upper and lower boundary values of the hysteresis loop width.
当参考电压UgridA为正时，如果逆变器滤波电感电流Iinv大于滞环环宽上边界IrefH，打开 T1、T2，关闭T3、T4，逆变器输出正电平Udc+，使滤波电感电流Iinv减小；如果逆变器滤波电感电流Iinv小于环宽下边界IrefL，打开T3、T2，关闭T1、T4，逆变器输出零电平Udc0，使 滤波电感电流Iinv增大。When the reference voltage U gridA is positive, if the inverter filter inductor current I inv is greater than the upper boundary of the hysteresis loop width I refH , turn on T1 and T2, turn off T3 and T4, and the inverter outputs a positive level U dc+ to make the filter The inductor current I inv decreases; if the inverter filter inductor current I inv is smaller than the lower boundary of the ring width I refL , open T3, T2, close T1, T4, the inverter outputs zero level U dc0 , so that the filter inductor current I inv increase.
当参考电压UgridA为负时，如果逆变器滤波电感电流Iinv大于滞环环宽上边界IrefH，打开 T2、T3，关闭T4、T1，逆变器输出零电平Udc0，使滤波电感电流Iinv减小；如果逆变器滤波电感电流Iinv小于环宽下边界IrefL，打开T4、T3，关闭T2、T1，逆变器输出负电平Udc-，使 滤波电感电流Iinv增大。When the reference voltage U gridA is negative, if the inverter filter inductor current I inv is greater than the upper boundary of the hysteresis loop width I refH , turn on T2, T3, turn off T4, T1, and the inverter outputs zero level U dc0 , making the filter The inductor current I inv decreases; if the inverter filter inductor current I inv is smaller than the lower boundary of the ring width I refL , open T4, T3, close T2, T1, the inverter outputs a negative level U dc- , so that the filter inductor current I inv increase.
上述实施例是对本发明的具体实施方式的说明，而非对本发明的限制，有关技术领域的 技术人员在不脱离本发明的精神和范围的情况下，还可做出各种变换和变化以得到相对应的 等同的技术方案，因此所有等同的技术方案均应归入本发明的专利保护范围。The foregoing embodiments are descriptions of specific implementations of the present invention, rather than limitations of the present invention. Those skilled in the art may also make various transformations and changes without departing from the spirit and scope of the present invention to obtain Corresponding equivalent technical solutions, therefore all equivalent technical solutions should fall into the patent protection scope of the present invention.
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