CN117650529A - Method and device for suppressing subsynchronous oscillation of grid-structured converter based on voltage compensation - Google Patents
Method and device for suppressing subsynchronous oscillation of grid-structured converter based on voltage compensation Download PDFInfo
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Abstract
The invention discloses a voltage compensation-based grid-structured converter subsynchronous oscillation suppression method, which comprises the steps of collecting an active power value and a reactive power value of a power grid, and performing droop control on the active power value and the reactive power value to obtain a reference voltage signal of a grid-connected point; collecting a current signal between equivalent filter impedance and equivalent impedance, carrying out coordinate change on the current signal, carrying out combined operation of proportion, differentiation and inertia on the current signal after coordinate transformation to obtain a compensation voltage signal, and compensating the reference voltage signal by using the compensation voltage signal to obtain a compensated voltage signal; and generating a pulse signal according to the compensated voltage signal, and providing inertia and frequency support for the circuit so as to inhibit subsynchronous oscillation in the circuit.
Description
Technical Field
The invention relates to the field of converter control, in particular to a method and a device for suppressing subsynchronous oscillation of a grid-structured converter based on voltage compensation.
Background
With the continuous rising of the proportion of the new energy power generation capacity in the power system, the network formation control can provide frequency and inertia support for the power system due to the voltage source characteristic, and the importance of the network formation control in the power system is gradually highlighted due to the functions of active frequency modulation and reactive voltage regulation.
However, the grid-structured converter still has the stability problem under the strong power grid, especially the subsynchronous oscillation problem generated by the interaction of power electronic devices, and the large-scale power failure accident can be caused when the subsynchronous oscillation problem is serious. Therefore, it is important to develop a method for effectively suppressing the subsynchronous oscillation of the grid-connected converter.
Disclosure of Invention
The invention provides a method and a device for suppressing subsynchronous oscillation of a grid-structured converter based on voltage compensation, which solve the problem that the grid-structured converter is easy to be disturbed to generate subsynchronous oscillation after the strength of a power grid is increased, so that an electric power system is unstable.
In order to solve the technical problems, the invention provides a voltage compensation-based method for suppressing subsynchronous oscillation of a grid-structured converter, which comprises the following steps:
step S1: acquiring an active power value and a reactive power value of a power grid, and performing droop control on the active power value and the reactive power value to obtain a reference voltage signal of a grid-connected point;
step S2: collecting a current signal between equivalent filter impedance and equivalent impedance, carrying out coordinate change on the current signal, carrying out combined operation of proportion, differentiation and inertia on the current signal after coordinate transformation to obtain a compensation voltage signal, and compensating the reference voltage signal by using the compensation voltage signal to obtain a compensated voltage signal;
step S3: and generating a pulse signal according to the compensated voltage signal, and providing inertia and frequency support for the circuit so as to inhibit subsynchronous oscillation in the circuit.
Preferably, the expression for droop control of the active power value and the reactive power value in step S1 is:
；
in the method, in the process of the invention,the rated voltage amplitude of the system; />Is the reactive droop voltage amplitude; />Is the reactive-voltage sag factor; />Is a reactive power reference value; />Is a reactive power feedback value; />Is the active power droop frequency; />Is the system reference frequency; />Is the active-frequency droop coefficient; />Is an active power reference value;Pis an active power feedback value; />Differentiating the voltage phase angle of the grid-connected point; />Is a differentiation over time.
Preferably, the expression for performing the coordinate change on the current signal of the bus bar in step S2 is:
；
in the method, in the process of the invention,、/>、/>respectively representing current signals under a three-phase stationary coordinate system; />、/>Respectively representing current signals under a two-phase rotation coordinate system; />The angle between the d-axis of the rotating coordinate system and the a-axis of the stationary coordinate system is shown.
Preferably, in step S2, the expression for performing the combined operation of the proportion, the differentiation and the inertia on the current signal after the coordinate transformation is:
wherein,、/>compensation voltages for q-axis and d-axis respectively; />、/>Current signals of d axis and q axis respectively; s is the Laplace operator;Kgain of the proportional link; />Is the time constant of the inertial link.
Preferably, step S3 obtains the pulse signal by performing double closed loop control and coordinate transformation on the compensated voltage signal.
The expression for performing double closed-loop control on the compensated voltage signal is as follows:
in the method, in the process of the invention,、/>respectively isdShaft and method for producing the sameqVoltage of the shaft; />、/>Is thatdShaft and method for producing the sameqCurrent of the shaft; />、/>Respectively isdShaft and method for producing the sameqCurrent reference value of shaft->、/>The proportional coefficient and the integral coefficient, respectively.
The expression for coordinate transformation of the compensated voltage signal is:
；
in the method, in the process of the invention,、/>、/>respectively voltage signals under a three-phase static coordinate system.
The invention also provides a voltage compensation-based grid-built converter subsynchronous oscillation suppression device, which is suitable for the voltage compensation-based grid-built converter subsynchronous oscillation suppression method, and comprises a three-phase full-bridge inverter circuit; the three-phase full-bridge inverter circuit is connected with an alternating current power grid in parallel; the output end of the three-phase full-bridge inverter circuit is sequentially connected with equivalent filter impedance, equivalent impedance, actual power grid equivalent impedance and an alternating current power grid; the input end of the three-phase full-bridge inverter circuit is sequentially connected with a PWM pulse signal generator, a voltage-current double closed-loop controller and a droop controller; a grid connection point is arranged between the equivalent impedance and the actual power grid equivalent impedance; bus voltage acquisition points are arranged between the equivalent filter impedance and the equivalent impedance; the bus voltage compensator is connected with the voltage-current double closed-loop controller.
Preferably, the bus voltage compensator includes a coordinate transformer, a compensation voltage calculator, and an adder; the compensation voltage calculator is used for calculating the current signal transformed by the coordinate transformer to obtain a compensation voltage signal, and then transmitting the compensation voltage signal to the adder to compensate the reference voltage signal.
The invention has the advantages that at least comprises:
according to the method provided by the invention, the bus voltage is used as the reference voltage of the grid-connected point by adjusting the acquisition point of the reference voltage, so that the grid-connected impedance and damping of the power grid are equivalently improved on the premise of not influencing the main circuit of the power system, subsynchronous oscillation generated under the strong power grid is effectively inhibited, the probability of instability when the grid-structured converter is connected to the strong power grid is reduced, and the running safety and stability of the power system are improved.
Drawings
FIG. 1 is a topology of a device according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a bus voltage compensator according to an embodiment of the present invention;
FIG. 4 is a diagram showing the suppression effect of active power subsynchronous oscillation under the control of bus voltage compensation according to an embodiment of the present invention;
fig. 5 is a diagram showing an effect of suppressing frequency subsynchronous oscillation under bus voltage compensation control according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is evident that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by a person skilled in the art without any inventive effort, are intended to be within the scope of the present invention, based on the embodiments of the present invention.
As shown in fig. 1, the invention provides a voltage compensation-based grid-structured converter subsynchronous oscillation suppression device, which comprises a three-phase full-bridge inverter circuit 1, a direct-current power supply 2, an equivalent filtering impedance 3, an equivalent impedance 4, an actual filtering impedance 5, an actual power grid equivalent impedance 6, a grid connection point 7, a bus voltage acquisition point 8, a sagging controller 9, a bus voltage compensator 10, a voltage-current double-closed-loop controller 11, a PWM pulse signal generator 12 and an alternating-current power grid 13.
Wherein the actual filter impedance 5 is the sum of the equivalent filter impedance 3 and the equivalent impedance 4, the bus voltage compensator 10 includes a coordinate transformer 101, a compensation voltage calculator 102, and an adder 103.
Specifically, when the voltage phase of the power grid is generally and conventionally controlled and tracked, the voltage phase of the grid-connected point 7 is collected so as to realize the phase synchronization function, if the grid-connected voltage collection point is moved to the grid-formed converter, namely the three-phase full-bridge inverter circuit 1, a new collection point is called a bus voltage collection point 8, the new collection voltage is called a bus voltage, and at the moment, the equivalent grid-connected impedance is the sum of the actual power grid equivalent impedance 6 and the equivalent impedance 4.
Meanwhile, the bus voltage compensation control only changes the reference voltage value of the input voltage and current double closed loop controller 11, and no other substantial influence is generated on the topological structure of the grid-structured converter connected with the strong power grid.
As shown in fig. 2, the invention further provides a voltage compensation-based method for suppressing the subsynchronous oscillation of the grid-formed converter, which is implemented based on the voltage compensation-based device for suppressing the subsynchronous oscillation of the grid-formed converter, and comprises the following steps:
step S1: and acquiring the active power value and the reactive power value of the power grid, and performing droop control on the active power value and the reactive power value to obtain a reference voltage signal of the grid-connected point.
Specifically, the droop controller 9 uses classical droop control and coordinate transformation. Droop control is carried out on the collected active power feedback value and reactive power feedback value of the power grid to obtain a reference amplitude value and a phase signal of grid-connected point voltage:
；
in the method, in the process of the invention,the rated voltage amplitude of the system; />Is the reactive droop voltage amplitude; />Is the reactive-voltage sag factor; />Is a reactive power reference value; />Is a reactive power feedback value; />Is the active power droop frequency; />Is the system reference frequency; />Is the active-frequency droop coefficient; />Is an active power reference value;Pis an active power feedback value; />Differentiating the voltage phase angle of the grid-connected point; />Is a differentiation over time.
Voltage amplitude obtained by droop controlEAnd phase angleθCombining to obtain the grid-connected point reference voltageTransforming the coordinates to obtain the reference voltage of the grid-connected point of the d axis and the q axis>、/>：
；
Wherein,representing the distance between the d-axis of the rotating coordinate system and the a-axis of the stationary coordinate systemAnd an included angle.
Step S2: and collecting a current signal between the equivalent filter impedance and the equivalent impedance, carrying out coordinate change on the current signal, carrying out combined operation of proportion, differentiation and inertia on the current signal after coordinate transformation to obtain a compensation voltage signal, and compensating the reference voltage signal by using the compensation voltage signal to obtain a compensated voltage signal.
As shown in fig. 3, which is a schematic diagram of the bus voltage compensator 10, it can be seen that the compensator includes a coordinate transformer 101, a compensation voltage calculator 102, and an adder 103.
The coordinate converter 101 is used for collecting bus current、/>、/>Divide into +.>、/>That is, the d-axis and q-axis current signals 1011 are then output to the compensation voltage calculator 102, and the formula of the coordinate conversion is:
。
the compensation voltage calculator 102 is used for transforming coordinatesdShaft and method for producing the sameqThe shaft current signals are calculated and processed to obtain the shaft current signals respectivelyqShaft and method for producing the samedThe shaft compensation voltage signal 1021 is then passed to adder 103. The calculation link is formed by combining a proportion link, a differential link and an inertia link:
；
wherein,、/>compensation voltages for q-axis and d-axis respectively; />、/>Current signals of d axis and q axis respectively; s is the Laplace operator;Kthe gain of the proportional link is the size of the actual filtering impedance 5 with the value ranging from 0 times to 1 timeKThe larger the system stability improving effect is, the better; />The smaller and better the time constant of the inertia link is, the better the time constant is theoretically, and the time constant is generally 0.1 to 0.3 for ensuring the dynamic performance and the optimization effect of the system.
Adder 103 converts compensation voltage signal 1021 and sag control and coordinate into generated reference voltage signal、/>Adding to obtain +.>、/>Namely, compensated voltage signal 1031:
。
step S3: and generating a pulse signal according to the compensated voltage signal, and providing inertia and frequency support for the circuit so as to inhibit subsynchronous oscillation in the circuit.
Specifically, the compensated voltage, namely the bus voltage, is output to the voltage-current double-closed-loop controller 11, is subjected to double-closed-loop control and coordinate transformation, and is finally output to the PWM pulse signal generator 12, so that PWM pulse signals acting on the three-phase full-bridge inverter circuit are generated, and the control target is realized. The expression of the double closed loop control is:
；
in the method, in the process of the invention,、/>respectively isdShaft and method for producing the sameqVoltage of the shaft; />、/>Is thatdShaft and method for producing the sameqCurrent of the shaft; />、/>Respectively isdShaft and method for producing the sameqCurrent reference value of shaft->、/>The proportional coefficient and the integral coefficient, respectively.
The following is coordinate transformation, which is composed ofdqConverting the rotating coordinate system into a three-phase static coordinate system to obtain three-phase voltage、/>、：
。
Through the conception, the grid-structured converter with bus voltage compensation control is introduced, on one hand, the grid strength of the power system is increased by the connection of the grid-structured converter, inertia and frequency support are provided for the power system, the unstable operation condition of the power system caused by the connection of large-scale wind-solar new energy is reduced, and the operation stability and reliability of the power system are improved; on the other hand, bus voltage compensation control is added in the control link, so that the damping of the power grid can be equivalently increased, subsynchronous oscillation is effectively restrained, the probability of instability when the grid-structured converter is connected with a strong power grid is reduced, and the running safety and stability of the power system are improved.
And building a strong power grid system with a grid-connected access short-circuit ratio of 5 of the grid-connected transformer in the MATLAB/simulink. And setting small interference at the 3 rd second, and observing the active power and frequency response conditions of the system before and after the grid-structured converter subsynchronous oscillation control method based on bus voltage compensation, which is disclosed by the patent, wherein the active power and the frequency response conditions are shown in fig. 4 and 5. The amplitude of the active and frequency response waveforms after the bus voltage compensation control is disturbed after the 3 rd second is obviously smaller than that of the conventional control, which shows that the damping of the grid-structured converter after the bus voltage compensation control is increased, and subsynchronous oscillation is rapidly inhibited. Therefore, the implementation effect of the patent is good.
The foregoing embodiments may be combined in any way, and all possible combinations of the features of the foregoing embodiments are not described for brevity, but only the preferred embodiments of the invention are described in detail, which should not be construed as limiting the scope of the invention. The scope of the present specification should be considered as long as there is no contradiction between the combinations of these technical features.
It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (9)
1. A method for suppressing subsynchronous oscillation of a grid-structured converter based on voltage compensation is characterized by comprising the following steps of: the method comprises the following steps:
step S1: acquiring an active power value and a reactive power value of a power grid, and performing droop control on the active power value and the reactive power value to obtain a reference voltage signal of a grid-connected point;
step S2: collecting a current signal between an equivalent filter impedance and the equivalent impedance, performing coordinate transformation on the current signal, performing combined operation of proportion, differentiation and inertia on the current signal after coordinate transformation to obtain a compensation voltage signal, and compensating the reference voltage signal by using the compensation voltage signal to obtain a compensated voltage signal;
step S3: and generating a pulse signal according to the compensated voltage signal, and providing inertia and frequency support for the circuit so as to inhibit subsynchronous oscillation in the circuit.
2. The voltage compensation-based grid-formed converter subsynchronous oscillation suppression method as claimed in claim 1, wherein the method comprises the following steps of: in step S1, the expression for droop control of the active power value and the reactive power value is:
；
in the method, in the process of the invention,the rated voltage amplitude of the system; />Is the reactive droop voltage amplitude; />Is the reactive-voltage sag factor; />Is a reactive power reference value; />Is a reactive power feedback value; />Is the active power droop frequency; />Is the system reference frequency;is the active-frequency droop coefficient; />Is an active power reference value;Pis an active power feedback value; />Differentiating the voltage phase angle of the grid-connected point; />Is a differentiation over time.
3. The voltage compensation-based grid-formed converter subsynchronous oscillation suppression method as claimed in claim 1, wherein the method comprises the following steps of: in the step S2, the expression for performing coordinate change on the current signal of the bus is:
；
in the method, in the process of the invention,、/>、/>respectively representing current signals under a three-phase stationary coordinate system; />、/>Respectively representing the current signals in the two-phase rotating coordinate system, ">The angle between the d-axis of the rotating coordinate system and the a-axis of the stationary coordinate system is shown.
4. The voltage compensation-based grid-formed converter subsynchronous oscillation suppression method as claimed in claim 1, wherein the method comprises the following steps of: in step S2, the expression of the combined operation of the proportion, the differentiation and the inertia of the current signal after the coordinate transformation is:
；
wherein,、/>compensation voltages for q-axis and d-axis respectively; />、/>Current signals of d axis and q axis respectively; s is LaplaraA stoneley operator;Kgain of the proportional link; />Is the time constant of the inertial link.
5. The voltage compensation-based grid-formed converter subsynchronous oscillation suppression method as claimed in claim 1, wherein the method comprises the following steps of: and step S3, performing double closed-loop control and coordinate transformation on the compensated voltage signal to obtain a pulse signal.
6. The voltage compensation-based grid-formed converter subsynchronous oscillation suppression method as claimed in claim 5, wherein the method comprises the following steps of: the expression for performing double closed-loop control on the compensated voltage signal is as follows:
；
in the method, in the process of the invention,、/>respectively isdShaft and method for producing the sameqVoltage of the shaft; />、/>Is thatdShaft and method for producing the sameqCurrent of the shaft; />、/>Respectively isdShaft and method for producing the sameqCurrent reference value of shaft->、/>The proportional coefficient and the integral coefficient, respectively.
7. The voltage compensation-based grid-formed converter subsynchronous oscillation suppression method as claimed in claim 5, wherein the method comprises the following steps of: the expression for coordinate transformation of the compensated voltage signal is:
；
in the method, in the process of the invention,、/>、/>respectively voltage signals under a three-phase static coordinate system.
8. A voltage compensation-based grid-structured converter subsynchronous oscillation suppression device, which is applicable to the voltage compensation-based grid-structured converter subsynchronous oscillation suppression method as claimed in any one of claims 1 to 7, and is characterized in that: comprises a three-phase full-bridge inverter circuit (1);
the three-phase full-bridge inverter circuit (1) is connected with the direct current power supply (2) in parallel;
the output end of the three-phase full-bridge inverter circuit (1) is sequentially connected with an equivalent filter impedance (3), an equivalent impedance (4), an actual power grid equivalent impedance (6) and an alternating current power grid (13);
the input end of the three-phase full-bridge inverter circuit (1) is sequentially connected with a PWM pulse signal generator (12), a voltage-current double closed-loop controller (11) and a droop controller (9);
a grid connection point (7) is arranged between the equivalent impedance (4) and the actual power grid equivalent impedance (6);
a bus voltage acquisition point (8) is arranged between the equivalent filter impedance (3) and the equivalent impedance (4);
the bus voltage compensator (10) is connected with the voltage-current double closed-loop controller (11).
9. The voltage compensation-based grid-formed converter subsynchronous oscillation suppression device as claimed in claim 8, wherein: the bus voltage compensator (10) comprises a coordinate converter (101), a compensation voltage calculator (102) and an adder (103);
the compensation voltage calculator (102) is used for calculating the current signal converted by the coordinate converter (101) to obtain a compensation voltage signal (1021), and then transmitting the compensation voltage signal to the adder (103) to compensate the reference voltage signal.
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