CN117674239A - Direct current cooperative rapid frequency modulation control method and control device thereof - Google Patents
Direct current cooperative rapid frequency modulation control method and control device thereof Download PDFInfo
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Abstract
The application provides a direct current cooperative rapid frequency modulation control method and a control device thereof, which are applied to a multi-converter interconnected power transmission system. The multi-converter interconnected power transmission system comprises at least two converters, at least one of which is an AC-DC converter, the DC sides of the converters are connected or directly connected through a power transmission line, and the control method comprises the following steps: when the alternating current side of one of the converters is subjected to frequency disturbance, determining a frequency variation; determining additional power based on the frequency variation; the remaining at least one converter provides said additional power to regulate the ac power of the ac side of the disturbed converter.
Description
Technical Field
The application relates to the technical field of flexible direct current transmission of power systems, in particular to a direct current cooperative rapid frequency modulation control method and a control device thereof.
Background
With the continuous development of new energy and energy storage technology, the proportion of power electronic equipment connected to an alternating current power grid is continuously increased. The (current following) power electronics under conventional control techniques exhibit a current source characteristic, i.e. the power electronics connected to the ac grid do not provide the inertia necessary for the ac grid frequency to stabilize. With the proposal of net-structured control and the continuous development of power electronics, the defects are solved.
In the prior art, related researches are not lacked, for example, patent CN110649643B (a multi-terminal flexible direct control method and system of a wind farm capable of actively supporting the frequency of a power grid) proposes that the frequency of the power grid side is transmitted to the wind farm through direct-current voltage synchronous control, so that the effect of transmitting the rotational inertia of the wind farm to the power grid is achieved, and the effect of supporting the frequency stability of the power grid is achieved. However, the technical characteristics are limited by using direct-current voltage as a transmission tool of the frequency of the main network, the core purpose is to transmit inertia of the wind power plant to the alternating-current power grid, and in the technology, the direct-current network only plays a transmission role and cannot show the frequency supporting characteristic of the direct-current network to the alternating-current network.
The root cause of the disturbance of the ac grid frequency is an unbalance of the ac grid power, the grid frequency decreases when the ac power is absent, and the ac grid frequency increases when the ac power is surplus. The frequency supporting core point of the direct current power grid for the alternating current power grid is to supplement or absorb the alternating current unbalanced power quickly in time. Similarly, the direct current voltage fluctuation of the direct current network is caused by unbalance of direct current power, and the alternating current power grid can also realize voltage support of the direct current power grid through power supplement and absorption.
Disclosure of Invention
The embodiment of the application provides a direct current collaborative rapid frequency adjustment control method, which is applied to a multi-converter interconnected power transmission system, wherein the multi-converter interconnected power transmission system comprises at least two converters, at least one of which is an alternating current-direct current converter, and the direct current sides of the converters are connected or directly connected through a power transmission line, and the control method comprises the following steps: when the alternating current side of one of the converters is subjected to frequency disturbance, determining a frequency variation; determining additional power based on the frequency variation; the remaining at least one converter provides said additional power to regulate the ac power of the ac side of the disturbed converter.
According to some embodiments, the determining the frequency variation comprises:
Δω＝(ω c -ω g )，
ω c ＝ω g +L((U dc -U dcr )+k(s)(P acref -P acins ))
wherein Δω is the frequency variation, ω c To disturbed converter output frequency omega g For the frequency value or power frequency of the power grid connected with the disturbed converter, k(s) is a transfer function, U dc For the DC measured voltage of the disturbed converter, U dcr For rated DC voltage, P acref P is the power command value of the disturbed inverter acins The measured power of the disturbed converter is L, and L is a constant.
According to some embodiments, k(s) is a constant orOr constant and->Is a combination of (a) and (b).
According to some embodiments, the determining additional power based on the frequency variation comprises: determining steady-state alternating current output power of a disturbed converter, providing steady-state direct current output power of an extra power converter and steady-state control coefficients of the disturbed converter; determining transient control coefficients of the disturbed converter based on the frequency variation; the additional power is determined based on the steady state ac output power of the perturbed converter, the steady state dc output power of the providing additional power converter, the steady state control coefficient of the perturbed converter, the transient control coefficient of the perturbed converter.
According to some embodiments, the determining the additional power based on the steady state ac output power of the perturbed converter, the steady state dc output power of the providing additional power converter, the steady state control coefficient of the perturbed converter, the transient control coefficient of the perturbed converter comprises:
ΔP' dc ＝2(H'-H 0 )s(ω c -ω g )+k c (P ac -P dc )
wherein ΔP' dc For extra power, P ac For steady state ac output power of the disturbed converter, P dc To provide steady state DC output power of the extra power converter, H 0 Omega is the steady state control coefficient of the disturbed converter c To the output frequency, omega of the perturbed converter g For the grid frequency or power frequency, k, of the perturbed converter c S is a differential sign, and H' is a transient control coefficient of the disturbed converter.
According to some embodiments, the determining transient control coefficients of the perturbed converter based on the frequency variation comprises:
when |Deltaω|>Th 1 Or (b)In the case of Δω and ∈ ->The signs are positive or negative, increasing H', if Δω and +.>In contrast, H' is reduced;
when |Deltaω|<Th 1 And is also provided withWhen H' =h 0 ；
Wherein Th is 1 Is a constant, the value range is 0-10Hz, th 2 Is a constant, and the value range is 0-50Hz/s.
According to some embodiments, the disturbed converter adopts ac power synchronous control or/and dc voltage synchronous control.
According to some embodiments, the other side of the converter is connected to an ac network or an energy storage system or a power generation device, and at least one of the converters is operated in a rectifying mode or an inverting mode.
According to some embodiments, the i-th provided additional power converter provides additional power of:
ΔP′ dci ＝λ i ΔP dc '
λ i determined from the power output capability of the ith converter itself and satisfying Σλ i ＝1。
According to some embodiments, the perturbed converter calculates Δp' dci The value is transmitted to the extra power converter i, and the extra power converter i controls the output extra power delta P' dci 。
According to some embodiments, when communication between the converter stations is interrupted, the i-th additional power provided by the additional power converter is:
ΔP′ dci ＝K vi U dcr s(U dci -U dcr )
wherein U is dcr For rated DC voltage, U dci To provide the DC measured voltage of the extra power converter i, K vi To provide a control adjustment parameter for the additional power, s is a differential sign.
The embodiment of the application also provides a direct current cooperative rapid frequency regulation control device which is applied to a multi-converter interconnected power transmission system, wherein the multi-converter interconnected power transmission system comprises at least two converters, at least one of which is an alternating current-direct current converter, the direct current sides of the converters are connected or directly connected through a power transmission line, and the control device comprises a frequency variation determining unit, an additional power determining unit and a power regulating unit, wherein the frequency variation determining unit is used for determining the frequency variation when the alternating current side of one of the converters is subjected to frequency disturbance; the additional power determining unit determines additional power based on the frequency variation; the power regulating unit is used for controlling the other at least one converter to provide the additional power so as to regulate the alternating current power of the alternating current side of the disturbed converter.
According to the technical scheme provided by the embodiment of the application, the direct current cooperative rapid frequency regulation control method and the control device thereof are provided, the concept of direct current extra power is introduced, the relation between the direct current extra power and the frequency disturbance of the alternating current power grid is established, when the alternating current power grid is subjected to frequency disturbance, the direct current power grid can rapidly output to the alternating current power grid or absorb disturbance power from the alternating current power grid, rapid frequency support of the direct current power grid to the alternating current power grid is realized from the power angle, and meanwhile, the support of the alternating current power grid to the direct current voltage is also realized. Therefore, the alternating current-direct current power bidirectional support can be realized, the power transmission capacity of the direct current system and the alternating current system is fully utilized, and the direct current system voltage stability and the frequency support of the alternating current system are maintained.
Drawings
Fig. 1 is a schematic diagram of a multi-converter interconnected power transmission system according to an embodiment of the present application.
Fig. 2 is a schematic flow chart of a direct current cooperative fast frequency adjustment control method in an embodiment of the application.
Fig. 3 a-3 b are block diagrams of a disturbed inverter output ac voltage frequency control according to embodiments of the present application.
Fig. 4 is a schematic diagram of a direct current cooperative fast frequency adjustment control device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
It should be understood that the terms "comprises" and "comprising," when used in this specification and in the claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Fig. 1 is a schematic diagram of a multi-converter interconnected power transmission system according to an embodiment of the present application.
The multi-converter interconnected power transmission system comprises at least two converters. Wherein at least one ac-dc converter 101 is included, and the other converters may be dc-dc converted dc-dc converter 102 or/and ac-dc converted ac-dc converter 103.
The direct current side of the converter is connected or directly connected through a power transmission line, and the other side of the converter is connected with an alternating current network or an energy storage system or power generation equipment. At least one inverter in the system operates in either a rectifying mode or an inverting mode.
In this embodiment, the inverter 101 operates in an inversion mode, the inverter 102 is a DC-DC chopper circuit, and the inverter 103 operates in a rectification mode.
Fig. 2 is a schematic flow chart of a direct current cooperative fast frequency adjustment control method in an embodiment of the present application, which is applied to the multi-converter interconnected power transmission system described above.
In S10, when a frequency disturbance occurs on the ac side of one of the converters, the amount of frequency change is determined.
Δω＝(ω c -ω g )。
ω c ＝ω g +L((U dc -U dcr )+k(s)(P acref -P ac ))
Wherein Δω is the frequency variation, ω c To disturbed converter output frequency omega g For the frequency value or power frequency of the power grid connected with the disturbed converter, k(s) is a transfer function, U dc For the DC measured voltage of the disturbed converter, U dcr For rated DC voltage, P acref P is the power command value of the disturbed inverter acj The measured power of the disturbed converter is L, and L is a constant.
According to some embodiments, k(s) is a constant orOr constant and->Is a combination of (a) and (b).
In S20, the additional power is determined based on the frequency variation, specifically including the following steps S21 to S23.
S21, determining steady-state alternating current output power P of disturbed converter ac Providing steady-state DC output power P of an extra power converter dc Steady state control coefficient H of disturbed converter 0 。
S22, determining transient control coefficients of the disturbed converter based on the frequency variation.
H' is the transient control coefficient of the disturbed converter, and satisfies the following change rule.
Δω＝(ω c -ω g )。
When |Deltaω|>Th 1 Or (b)In the case of Δω and ∈ ->The signs are positive or negative, increasing H', if Δω and +.>The sign is reversed, reducing H'.
When |Deltaω|<Th 1 And is also provided withWhen H' =h 0 。
Wherein Th is 1 Is a constant, and the value range is 0-10Hz. Th (Th) 2 Is a constant, and the value range is 0-50Hz/s.
In this embodiment, H' is calculated as follows.
Wherein H is 1 、H 2 Is constant and has a value ranging from 0 to H 0 Function f 1 、f 2 The formula is as follows.
a, b, c, d are constants, where a is 0 or more and c is 0 or more.
S23, determining the extra power based on the steady-state alternating-current output power of the disturbed converter, the steady-state direct-current output power of the extra power converter, the steady-state control coefficient of the disturbed converter and the transient-state control coefficient of the disturbed converter.
The additional power is delta P dc '。
Satisfy DeltaP' dc ＝2(H'-H 0 )s(ω c -ω g )+k c (P ac -P dc )
Wherein P is ac The positive direction of the steady-state alternating current output power of the disturbed converter is directed to an alternating current power grid by the disturbed converter, P dc To provide steady-state DC output power of the extra power converter, the positive direction is to flow into the disturbed converter, H 0 To the steady-state control coefficient of the disturbed converter omega c To disturbed converter output frequency omega g For disturbed converter network frequency or power frequency, k c Is an arbitrary constant between 0 and 10000, s is a differential sign.
In S30 the remaining at least one converter provides additional power to regulate the ac power of the ac side of the perturbed converter.
As shown in the embodiment of fig. 1, when the ac test of the inverter 101 is frequency disturbance, the above formula can calculate the additional power provided by the other inverter control or controls, so as to achieve the function of supporting the ac test frequency on the dc side. The additional power can be positive or negative, and the direct current power grid can rapidly output or absorb disturbance power to or from the alternating current power grid.
The i-th extra power converter provides the following extra power:
ΔP′ dci ＝λ i ΔP dc '
λ i determined from the power output capability of the ith converter itself and satisfying Σλ i ＝1。
According to some embodiments, the perturbed converter calculates Δp' dci The value is transmitted to the extra power converter i, and the extra power converter i controls the output extra power delta P' dci 。
According to some embodiments, the extra power converter i is provided to output extra power Δp 'when communication between converter stations is interrupted' dci It can also be calculated according to the following formula.
ΔP′ dci ＝K vi U dcr s(U dci -U dcr )
Wherein U is dcr For rated DC voltage, U dci To provide the DC measured voltage of the extra power converter i, K vi To provide a control adjustment parameter for the additional power, s is a differential sign.
The converter 101 controller adopts ac power measurement synchronous control (active power is used as an intermediate link to connect the converter with an ac system to realize synchronous operation) or dc voltage synchronous control (dc voltage is used as an intermediate link to connect the converter with the dc system to realize synchronous operation) or a combination thereof.
Fig. 3 a-3 b are block diagrams of a disturbed inverter output ac voltage frequency control according to embodiments of the present application.
The frequency omega of the ac voltage output by the inverter 101 in the embodiment of fig. 1 c The control block diagram is as shown in fig. 3 a-3 b, satisfying:
ω c ＝ω g +L((U dc -U dcr )+k(s)(P acref -P acins ))。
wherein omega g The frequency value of the power grid connected with the disturbed converter can be replaced by the frequency, and K(s) is a constant K d (as shown in FIG. 3 a) or transfer function(as shown in FIG. 3 b), U dc For the DC measured voltage of the disturbed converter, U dcr For rated DC voltage, P acref P is the power command value of the disturbed inverter acins For the actual power of the perturbed converter, L is a constant or system transfer function.
When the DC voltage fluctuates, e.g. U dc The frequency of the AC voltage output by the converter 101 is reduced, and the electric angle of the AC voltage output is delayed compared with that before fluctuation, and the delay can lead the AC voltage to support the power of the DC side, thereby achieving the function of supporting the DC voltage. And vice versa.
ΔP dc ' is the total additional power provided by other converters that are connected to the dc network, and the additional power provided by the converter 102 is as follows.
ΔP′ dc102 ＝λ 102 ΔP dc '
The extra power provided by inverter 103 is as follows.
ΔP′ dc103 ＝λ 103 ΔP dc '
When a plurality of converters are provided, the following formula is required to be satisfied.
∑λ i ＝1
In this embodiment, if only the converters 102, 103 provide this additional power, then there are: lambda (lambda) 102 +λ 103 ＝1。
When communication between the converter stations is interrupted, the converters 102, 103 may be controlled to provide additional power ΔP 'to the additional power converter i' dci The method comprises the following steps:
ΔP dci ＝K vi U dcr s(U dci -U dcr )
wherein U is dcr For rated DC voltage, U dci To provide the DC measured voltage of the extra power converter i, K vi To provide additional power control parameters, i is the converter number, representing the converter 102, the converter 103, or other converters.
Fig. 4 is a schematic diagram of a direct current cooperative fast frequency adjustment control device according to an embodiment of the present application. The direct current cooperated fast frequency modulation control device is applied to the multi-converter interconnected power transmission system.
The direct current cooperative fast frequency regulation control device comprises a frequency variation determining unit 1, an additional power determining unit 2 and a power regulating unit 3.
The frequency variation determining unit 1 is arranged to determine a frequency variation when a frequency disturbance occurs on the ac side of one of the converters. The additional power determining unit 2 determines additional power based on the frequency variation. The power regulating unit 3 is arranged to control the remaining at least one converter to provide additional power for regulating the ac power of the ac side of the disturbed converter.
The above embodiments are only for illustrating the technical ideas of the present application, and the protection scope of the present application is not limited thereto, and any modification made on the basis of the technical scheme according to the technical ideas presented in the present application falls within the protection scope of the present application.
Claims (12)
1. The direct current cooperated rapid frequency modulation control method is applied to a multi-converter interconnected power transmission system, wherein the multi-converter interconnected power transmission system comprises at least two converters, at least one of which is an alternating current-direct current converter, and the direct current sides of the converters are connected or directly connected through a power transmission line, and the control method comprises the following steps:
when the alternating current side of one of the converters is subjected to frequency disturbance, determining a frequency variation;
determining additional power based on the frequency variation;
the remaining at least one converter provides said additional power to regulate the ac power of the ac side of the disturbed converter.
2. The control method according to claim 1, wherein the determining the frequency variation amount includes:
Δω＝(ω c -ω g )，
ω c ＝ω g +L((U dc -U dcr )+k(s)(P acref -P acins ))
wherein Δω is the frequency variation, ω c To disturbed converter output frequency omega g For the frequency value or power frequency of the power grid connected with the disturbed converter, k(s) is a transfer function, U dc For the DC measured voltage of the disturbed converter, U dcr For rated DC voltage, P acref P is the power command value of the disturbed inverter acins The measured power of the disturbed converter is L, and L is a constant.
3. The control method according to claim 2, wherein k(s) is a constant orOr constant and->Is a combination of (a) and (b).
4. The control method of claim 2, wherein the determining additional power based on the frequency variation comprises:
determining steady-state alternating current output power of a disturbed converter, providing steady-state direct current output power of an extra power converter and steady-state control coefficients of the disturbed converter;
determining transient control coefficients of the disturbed converter based on the frequency variation;
the additional power is determined based on the steady state ac output power of the perturbed converter, the steady state dc output power of the providing additional power converter, the steady state control coefficient of the perturbed converter, the transient control coefficient of the perturbed converter.
5. The control method of claim 4, wherein the determining the additional power based on the steady state ac output power of the perturbed converter, the steady state dc output power of the providing additional power converter, the steady state control coefficient of the perturbed converter, the transient control coefficient of the perturbed converter comprises:
ΔP' dc ＝2(H'-H 0 )s(ω c -ω g )+k c (P ac -P dc )
wherein ΔP' dc For extra power, P ac For steady state ac output power of the disturbed converter, P dc To provide steady state DC output power of the extra power converter, H 0 Omega is the steady state control coefficient of the disturbed converter c To the output frequency, omega of the perturbed converter g For the grid frequency or power frequency, k, of the perturbed converter c S is a differential sign, and H' is a transient control coefficient of the disturbed converter.
6. The control method of claim 4, wherein the determining transient control coefficients of the perturbed converter based on the frequency variation comprises:
when |Deltaω|>Th 1 Or (b)In the case of Δω and ∈ ->The signs are positive or negative, increasing H', if Δω and +.>In contrast, H' is reduced;
when |Deltaω|<Th 1 And is also provided withWhen H' =h 0 ；
Wherein Th is 1 Is a constant, the value range is 0-10Hz, th 2 Is a constant, and the value range is 0-50Hz/s.
7. A control method according to claim 1, wherein the perturbed converter is ac power synchronous control or/and dc voltage synchronous control.
8. A control method according to claim 1, wherein the other side of the converter is connected to an ac network or an energy storage system or a power plant, and at least one of the converters is operated in a rectifying mode or an inverting mode.
9. The control method of claim 5, wherein the i-th additional power provided by the additional power converter is:
ΔP′ dci ＝λ i ΔP dc '
λ i determined from the power output capability of the ith converter itself and satisfying Σλ i ＝1。
10. A control method according to claim 9, wherein the perturbed converter calculates Δp' dci The value is transmitted to the extra power converter i, and the extra power converter i controls the output extra power delta P' dci 。
11. The control method according to claim 5, wherein the i-th additional power converter provides additional power when communication between the converter stations is interrupted, the additional power being:
ΔP′ dci ＝K vi U dcr s(U dci -U dcr )
wherein U is dcr For rated DC voltage, U dci To provide the DC measured voltage of the extra power converter i, K vi To provide a control adjustment parameter for the additional power, s is a differential sign.
12. The utility model provides a direct current cooperatees quick frequency modulation controlling means, is applied to many converters interconnection transmission system, wherein, many converters interconnection transmission system includes two at least converters, and wherein at least one is the alternating current-direct current converter, the direct current side of converter is through transmission line connection or direct connection, controlling means includes:
a frequency variation determining unit for determining a frequency variation when a frequency disturbance occurs on an ac side of one of the converters;
an additional power determination unit that determines additional power based on the frequency variation;
and the power regulating unit is used for controlling the rest at least one converter to provide the additional power so as to regulate the alternating current power of the alternating current side of the disturbed converter.
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