CN114884092A - Dynamic reconstruction method for rapid calculation of oscillation mode of multi-terminal direct-current system - Google Patents
Dynamic reconstruction method for rapid calculation of oscillation mode of multi-terminal direct-current system 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
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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
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- 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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- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
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Abstract
The invention discloses a dynamic reconstruction method for rapid calculation of an oscillation mode of a multi-terminal direct-current system, which models VSC and direct-current load to respectively obtain transfer function models of the VSC and the direct-current load; connecting the VSC and the direct current load through a direct current transmission network so as to form a dynamic transfer function model of the multi-terminal direct current system; selecting a reference VSC, calculating the difference between the residual VSC and the reference VSC, forming a dynamic reconstruction VSC by using the parts without difference, and reducing the parts with difference into a direct current network to form a dynamic reconstruction direct current network, thereby forming a dynamically reconstructed multi-terminal direct current system; step four: and calculating the characteristic value of the dynamically reconstructed direct current network, so that the oscillation mode of the multi-terminal direct current system after dynamic reconstruction can be calculated. The stability analysis order of the multi-terminal direct current system is reduced through a dynamic reconstruction method, so that the efficiency of oscillation mode calculation is greatly improved, and the method considers the difference of dynamic characteristics and control parameters among VSCs in a real environment and can be applied to actual engineering.
Description
Technical Field
The invention belongs to the field of stability of a multi-terminal direct-current system, and particularly relates to a dynamic reconstruction method for rapid calculation of an oscillation mode of the multi-terminal direct-current system.
Background
The multi-terminal direct current system has flexible operation mode and better economy, and is more and more widely applied to the power system. However, the increase of the number of ports of the multi-port dc system may aggravate the instability risk of the multi-port dc system, and how to effectively calculate the oscillation mode of the multi-port dc system becomes the key point of the current research. The full order of the mode calculation of the multi-terminal direct current system is increased in proportion to the number of the VSCs, so that the difficulty of stability analysis of the multi-terminal direct current system is caused, and the development scale of the multi-terminal direct current system is limited. The difference between VSCs is often ignored in the prior art, so that a large error is generated, and the prior art is difficult to apply to practical engineering.
Disclosure of Invention
The invention aims to solve the technical problems in the background art and provide a dynamic reconstruction method for rapid calculation of an oscillation mode of a multi-terminal direct current system.
In order to solve the technical problem, the technical scheme of the invention is as follows:
a dynamic reconstruction method for rapid calculation of oscillation modes of a multi-terminal direct current system, the method comprising:
acquiring original VSC and direct current load;
modeling an original VSC and a direct current load to respectively obtain a first VSC transfer function model and a direct current load transfer function model;
connecting the first VSC transfer function model and the direct current load transfer function model to obtain a dynamic transfer function model of the multi-terminal direct current system;
selecting a preset reference VSC, and calculating difference results of the residual VSC in the original VSC and the reference VSC;
constructing a transfer function model of the second VSC according to the difference result;
constructing a dynamically reconstructed transfer function model of the multi-terminal direct current system based on the transfer function model of the second VSC and the dynamic transfer function model of the multi-terminal direct current system;
and calculating the mode of the dynamically reconstructed direct current network based on the dynamically reconstructed transfer function model of the multi-terminal direct current system, namely calculating the oscillation mode of the dynamically reconstructed multi-terminal direct current system.
Further, the constructing a transfer function model of the second VSC specifically includes:
based on the difference result, the parts without difference form dynamic reconfiguration VSC;
based on the difference result, the difference parts are reduced into the direct current transmission network to form a dynamic reconstruction direct current network;
and constructing a transfer function model of the second VSC according to the dynamically reconstructed VSC and the dynamically reconstructed direct current network.
Further, according to the oscillation frequency of the multi-terminal direct current system, a dynamically reconstructed direct current network model is obtained; and inputting the dynamically reconstructed direct current network model into a dynamically reconstructed transfer function model of the multi-terminal direct current system to obtain an oscillation mode of the dynamically reconstructed multi-terminal direct current system.
And further, connecting the first VSC transfer function model and the direct current load transfer function model through a direct current transmission network to obtain a dynamic transfer function model of the multi-terminal direct current system.
Further, the original VSC includes: the VSC AC power supply comprises a direct current capacitor on the direct current side of the VSC, inflow current and outflow current on the direct current capacitor of direct voltage, filter reactance and output port voltage measured by the VSC, currents on a d axis and a q axis, and voltage of a coupling node of the VSC and an alternating current system.
Further, the dc load includes: the direct current side filter capacitor, direct current voltage, inflow and outflow current on the direct current capacitor and the direct current side filter inductor.
Compared with the prior art, the invention has the advantages that:
the stability analysis order of the multi-terminal direct current system is reduced through a dynamic reconstruction method, so that the efficiency of oscillation mode calculation is greatly improved, and the method considers the difference of dynamic characteristics and control parameters among VSCs in a real environment and can be applied to actual engineering.
1. All VSCs are dynamically reconstructed, the reference VSC can be selected randomly, the reference VSC is selected simply, time is saved, and calculation accuracy is improved.
2. By applying the dynamic reconstruction method, the difference of VSC dynamic characteristics and control parameters is considered, the error of the oscillation mode calculated by the method and the error of the real environment are small, and the method can be applied to actual engineering.
Drawings
FIG. 1 is a diagram of a multi-terminal DC system architecture;
FIG. 2 is a schematic diagram of VSC droop control;
FIG. 3 is a diagram of a DC load control model;
FIG. 4 is a schematic diagram of a VSC dynamic reconfiguration;
FIG. 5 is a diagram of a multi-terminal DC system dynamic reconfiguration;
fig. 6 is a diagram showing the structure of a three-terminal dc system.
Detailed Description
The following describes embodiments of the present invention with reference to examples:
it should be noted that the structures, proportions, sizes, and other elements shown in the specification are included for the purpose of understanding and reading only, and are not intended to limit the scope of the invention, which is defined by the claims, and any modifications of the structures, changes in the proportions and adjustments of the sizes, without affecting the efficacy and attainment of the same.
In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
Example 1
The invention provides a dynamic reconstruction method for rapid calculation of an oscillation mode of a multi-terminal direct current system, which comprises the following steps:
modeling the VSC and the direct current load to respectively obtain transfer function models of the VSC and the direct current load;
connecting the VSC and the direct current load through a direct current transmission network so as to form a dynamic transfer function model of the multi-terminal direct current system;
selecting a reference VSC, calculating the difference between the residual VSC and the reference VSC, forming a dynamic reconstruction VSC by using the parts without difference, and reducing the parts with difference into a direct current network to form a dynamic reconstruction direct current network, thereby forming a dynamic reconstruction multi-terminal direct current system;
and calculating the characteristic value of the dynamically reconstructed direct current network, so that the oscillation mode of the multi-terminal direct current system after dynamic reconstruction can be calculated.
The stability analysis order of the multi-terminal direct current system is reduced through a dynamic reconstruction method, so that the efficiency of the oscillation mode calculation is greatly improved.
The specific method of the invention is as follows:
abbreviations and key term definitions:
VSC (Voltage Source converter) voltage Source converter;
fft (fast Fourier transform): fast Fourier transform;
1 multi-terminal direct current system
1.1 introduction to Multi-terminal DC System
Fig. 1 shows that N VSCs and M dc loads are connected to a multi-terminal dc system, wherein the other ends of the N VSCs are connected to N ac systems, and since the capacity of the external ac system is much larger than the system capacity, the external ac system can be regarded as an infinite system. Thereby dividing the multi-terminal dc system into three parts: VSC, DC load and DC network. In VSC, C k 、
Is the direct current capacitance and the direct current voltage on the direct current side of the VSC,
for the incoming and outgoing currents on DC capacitors, X k For the VS ac side filter reactance,
for the current on d-axis and q-axis of VSC AC side，
Is the voltage at the node coupling the VSC and the ac system,
measuring the voltage of an output port for VSC alternating current; in the DC load, C k 、
A filter capacitor on the dc side and a dc voltage,
for the incoming and outgoing currents on the DC capacitor, L k Is a direct current side filter inductor; the direct current network connects the VSC with the direct current load to form a multi-terminal direct current system.
1.2 VSC transfer function model
In this system, the VSC takes droop control, as shown in fig. 2, where the superscript 'ref' is the reference value for the control variable; p k Outputting alternating current power for the VSC;
is composed of
A d-axis component of (a); k dk 、K dk The respective amplification factors of the direct current voltage and the power are obtained; k pk 、K ik Proportional coefficient and integral coefficient for outer loop control;
refers to the proportionality and integration coefficients of the inner ring.
It is assumed that in the VSC droop control,
control on d-axis, at this time
Comprises the following steps:
the dynamic equation on the direct current capacitor is as follows:
meanwhile, the dynamic equation of the alternating current on the d-axis is:
according to the control of the VSC inner loop in figure 2,
bringing formula (4) into formula (3), there are
In formula (5):
in the same way, the VSC outer loop control,
combining equations (1), (2), (5) and (6), the transfer function of the VSC is:
in the formula (7), the reaction mixture is,
1.3 direct current load transfer function model
According to the dynamic equation of the dc side of the dc load in fig. 3, there is,
in the formula (8), P lj Is the dc load power. According to the control strategy of the DC load, in order to accurately control the output power, the DC load adopts constant power control with delta P lj The transfer function model of the dc load obtained from equation (8) is 0:
1.4 transfer function model of a multi-terminal DC system
As can be seen from the DC network in FIG. 1, the admittance matrix Y net The dynamic equation of (a) is:
in the formula (10), the compound represented by the formula (10),
As can be seen from equation (9), the transfer functions of the M dc loads are:
in the formula (11), the reaction mixture is,
bringing formula (11) into formula (10) is
Simplifying formula (12), obtaining the relationship between the VSC voltage and the current as follows:
in the formula (13), the reaction mixture is,
in the formula (7), the multi-terminal dc transfer function model is represented by formula (13):
Y d (s)F d (s)+E＝0； (14)
in the formula (14), 0 and E are a zero matrix and an identity matrix;
as can be seen from equation (14), the order of a single VSC is H order, the order of the dc network is T order, and the order of the whole multi-terminal dc system is NH + T.
2 multi-terminal direct current system dynamic reconstruction model
As can be seen from equation (14), when the number of VSCs increases, the order of the multi-terminal dc system also increases by a factor, which greatly increases the calculation time and difficulty, and at this time, the order of the system needs to be decreased.
Assuming that the first VSC parameter is the reference value, the reference value that thereby specifies equation (7) is:
the rest VSCs are mutually independent, and the difference from the reference VSC is as follows:
according to equation (16), a transfer function model of the kth VSC is obtained, as shown in fig. 4,
in the formula (17), the compound represented by the formula (I),
r in the formula (17) e0 (s) the dynamic transfer function composition reconstructs the VSC, and Δ R e1,k (s)、ΔR e2,k (s) are reduced to the reconstructed dc network as shown in fig. 5. Wherein
Is a voltage node in the dc network. The transfer function model of the dynamic reconstruction of the multi-terminal direct current system is obtained by the following steps:
in the formula (18), the reaction mixture,
ΔY e2 (s)、ΔY e3 (s) and Δ Y e4 (s) is Δ R of N VSCs e2,k (s) -1 And the system is formed by interacting with a direct current network. Similar to equation (13), equation (18) can be simplified as:
in the formula (19), the compound represented by the formula (I),
combining formula (17) and formula (19), the dynamic reconstruction model of the transfer function of the multi-terminal dc system is:
Y e (s)F e (s)+E＝0； (20)
in the formula (20), the reaction mixture is,
calculation method for dynamic reconfiguration of 3 multi-terminal direct current system
According to the oscillation frequency omega of the multi-terminal direct current system d The direct current network model after dynamic reconfiguration is calculated to have the following characteristics:
in the formula (20) of the formula (21), the oscillation mode of the dynamically reconstructed multi-terminal direct current system is calculated as:
R e0 (s)[ρ Rk +ρ Mk s]+1＝0； (22)
in the formula (22), p Rk ＝Re[ρ k ]，ρ Mk ＝Im[ρ k ]/ω d . From the equation (22), the oscillation mode of the multi-terminal DC system is obtained by dynamic reconstruction methodThe order of formula calculation becomes H + T, and the calculation time is greatly reduced. The reference transfer function of the formula (7) is substituted into the formula (22), and the calculation of the dynamically reconstructed multi-terminal direct current system oscillation mode is expanded as follows:
[z 1,0 (s)ρ Mk +g 1,0 (s)]s 2 )+[z 2,0 (s)ρ Mk +z 1,0 (s)ρ Rk +g 2,0 (s)]s+z 2,0 (s)ρ Rk +g 3,0 (s)＝0；(23)
example 2:
the benefits brought by the invention are:
according to fig. 6, two VSCs and one dc load are used to verify the dynamic reconfiguration method for the multi-terminal dc system and calculate the correctness of the oscillation mode, the VSC uses droop control, the dc load uses constant power control, both models are introduced, and the transfer function is calculated as shown in equation (7):
the admittance matrix of the dc network is:
in the formula (25), Z 1 ＝0.06677s+0.03562，Z 2 ＝0.178s+0.095
Use first VSC as benchmark VSC, have:
the differentiation of the remaining VSCs is calculated by using the formula (17), the formula (24) and the formula (27) as follows:
according to the formulas (25) and (27), the FFT is used for calculating the oscillation mode frequency of the multi-terminal direct current system as follows: 53.6rad/s, the reconstructed DC network admittance matrix is:
the eigenvalues calculated by equation (28) are-0.5937 + j0.1167, thus bringing equation (22) to:
7.4298s 2 +0.1038s+0.1597＝0 (29)
the oscillation mode calculated according to equation (29) is-2.63 + j55.2, and the oscillation mode calculated from the full order model of the multi-terminal DC system is: -2.15+ j 53.76. The error is as follows:
the error of the multi-terminal direct current system oscillation mode calculated by the formula (22) is within an acceptable range, which shows the correctness of the dynamic reconstruction method for the multi-terminal direct current system oscillation mode fast calculation, and the method can fast judge the actual multi-terminal direct current engineering oscillation mode, thereby greatly improving the stability of the system;
while the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Many other changes and modifications can be made without departing from the spirit and scope of the invention. It is to be understood that the invention is not to be limited to the specific embodiments, but only by the scope of the appended claims.
Claims (6)
1. A dynamic reconstruction method for rapid calculation of an oscillation mode of a multi-terminal direct current system is characterized by comprising the following steps:
acquiring original VSC and direct current load;
modeling an original VSC and a direct current load to respectively obtain a first VSC transfer function model and a direct current load transfer function model;
connecting the first VSC transfer function model and the direct current load transfer function model to obtain a dynamic transfer function model of the multi-terminal direct current system;
selecting a preset reference VSC, and calculating difference results of the residual VSC in the original VSC and the reference VSC;
constructing a transfer function model of the second VSC according to the difference result;
constructing a dynamically reconstructed transfer function model of the multi-terminal direct current system based on the transfer function model of the second VSC and the dynamic transfer function model of the multi-terminal direct current system;
based on the transfer function model of the dynamic reconstruction of the multi-terminal direct current system, the direct current network mode after the dynamic reconstruction is calculated, namely the oscillation mode of the dynamic reconstruction multi-terminal direct current system can be calculated.
2. The dynamic reconstruction method for the rapid calculation of the oscillation mode of the multi-terminal direct current system according to claim 1, wherein the constructing a transfer function model of the second VSC specifically includes:
dynamically reconstructing VSC by using the parts without difference based on the difference result;
based on the difference result, the difference parts are reduced into the direct current transmission network to form a dynamic reconstruction direct current network;
and constructing a transfer function model of the second VSC according to the dynamically reconstructed VSC and the dynamically reconstructed direct current network.
3. The dynamic reconstruction method for the rapid calculation of the oscillation mode of the multi-terminal direct current system according to claim 1, wherein a dynamically reconstructed direct current network model is obtained according to the oscillation frequency of the multi-terminal direct current system; and inputting the dynamically reconstructed direct current network model into a dynamically reconstructed transfer function model of the multi-terminal direct current system to obtain an oscillation mode of the dynamically reconstructed multi-terminal direct current system.
4. The dynamic reconstruction method for the multi-terminal direct current system oscillation mode fast calculation according to claim 1, wherein the first VSC transfer function model and the direct current load transfer function model are connected through a direct current power transmission network to obtain a dynamic transfer function model of the multi-terminal direct current system.
5. The dynamic reconfiguration method according to claim 1, wherein said original VSC comprises: the VSC AC power supply comprises a direct current capacitor on the direct current side of the VSC, inflow current and outflow current on the direct current capacitor of direct voltage, filter reactance and output port voltage measured by the VSC, currents on a d axis and a q axis, and voltage of a coupling node of the VSC and an alternating current system.
6. The dynamic reconstruction method for the rapid calculation of the oscillation mode of the multi-terminal direct current system according to claim 1, wherein the direct current load comprises: the direct current side filter capacitor, direct current voltage, inflow and outflow current on the direct current capacitor and the direct current side filter inductor.
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