WO2022041366A1 - 一种基于多端柔性直流输电系统的电网调频方法 - Google Patents

一种基于多端柔性直流输电系统的电网调频方法 Download PDF

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WO2022041366A1
WO2022041366A1 PCT/CN2020/116995 CN2020116995W WO2022041366A1 WO 2022041366 A1 WO2022041366 A1 WO 2022041366A1 CN 2020116995 W CN2020116995 W CN 2020116995W WO 2022041366 A1 WO2022041366 A1 WO 2022041366A1
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power
converter station
grid frequency
converter
station
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French (fr)
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李周
李亚洲
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Southeast University
Liyang Research Institute of Southeast University
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Liyang Research Institute of Southeast University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for AC mains or AC distribution networks
    • H02J3/36—Arrangements for transfer of electric power between AC networks via high-voltage DC [HVDC] links; Arrangements for transfer of electric power between generators and networks via HVDC links
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for AC mains or AC distribution networks
    • H02J3/001—Arrangements for handling faults or abnormalities, e.g. emergencies or contingencies
    • H02J3/0014—Arrangements for handling faults or abnormalities, e.g. emergencies or contingencies for preventing or reducing power oscillations in networks
    • H02J3/00142—Oscillations concerning frequency
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for AC mains or AC distribution networks
    • H02J3/38—Arrangements for feeding a single network from two or more generators or sources in parallel; Arrangements for feeding already energised networks from additional generators or sources in parallel
    • H02J3/46—Controlling the sharing of generated power between the generators, sources or networks
    • H02J3/48—Controlling the sharing of active power
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/60—Arrangements for transfer of electric power between AC networks or generators via a high voltage DC link [HVCD]

Definitions

  • the invention belongs to the technical field of electric power systems, relates to an analysis technology for the safety and stability of electric power systems, and in particular relates to a power grid frequency regulation method based on a multi-terminal flexible direct current transmission system.
  • VSC-HVDC Voltage Source Converter based High Direct Current Transmission
  • the flexible DC transmission system With the development of flexible DC transmission technology, the flexible DC transmission system will develop to higher voltage levels and larger transmission capacity, and the DC grid topology will be more complex. Compared with the traditional AC power grid, the flexible DC power transmission system is constructed based on a large number of power electronic equipment and has the ability to quickly adjust the transmission power. Frequency stability of interconnected AC grids.
  • the converter station directly adjusts the actual transmission power value of the converter station according to the unbalanced power of the AC system.
  • introducing the unbalanced power of the AC grid directly into the DC grid will affect the voltage stability of the DC grid.
  • the present invention provides a power grid frequency regulation method based on a multi-terminal flexible DC transmission system, which can adjust the transmission power of the converter station according to the unbalanced power of the AC system, and at the same time, the DC power grid can have strong voltage stability.
  • a power grid frequency regulation method based on a multi-terminal flexible direct current transmission system comprising the steps of: switching a converter station connected to an AC system receiving grid frequency regulation to an AC balance node control mode, and resetting a proportional score when the converter station control strategy is switched The output integral value of the converter; set the maximum value for the transmission power of the converter station working in the AC balance node control mode, and detect the transmission power of the FM converter station when it exceeds the maximum value, change the control of the converter station to power limit Transmission control method; the dispatching system selects the AC system connected to one or more converter stations to participate in the frequency regulation of the power grid through instructions; detects the transmission power of each converter station, calculates the unbalanced power of the DC transmission system, and dynamically adjusts the power balance according to the unbalanced power.
  • the power reference value of the station achieves power balance.
  • the converter station when the frequency deviation of the connected AC system exceeds the upper threshold value, the converter station automatically selects the AC system to accept grid frequency modulation, or selects whether the connected AC system accepts grid frequency modulation according to the instructions of the dispatching system.
  • it also includes the following subsequent steps: after receiving grid frequency modulation, when the frequency deviation of the grid frequency modulation AC system connected to the converter station is less than the lower threshold value, the converter station that accepts grid frequency modulation is automatically switched to constant active power control. mode, or by the dispatching system command to switch the converter station that accepts grid frequency modulation to the constant active power control mode, so that the connected AC system no longer accepts grid frequency modulation; when the converter station control strategy is switched, reset the proportional scorer. Output integral value.
  • Step (1) switch the converter station to the AC balance node control mode, control the voltage amplitude and phase angle of the AC outlet side of the converter station instead of the PCC point, make the converter station become a balance node, and ensure that the power shortage of the AC system is not delayed. Time and no deviation are introduced into the DC system;
  • the AC side outlet voltage of the converter station controlled by the AC balance node is:
  • U sd and U sq are the dq-axis components of the AC voltage at the common connection point
  • U cd and U cq are the dq-axis components of the AC side outlet voltage of the converter station
  • sd and i sq are The dq-axis components of the AC side current of the converter station
  • k p and k i are the proportional and integral coefficients of the proportional integrator
  • R c and X c are the equivalent resistance and commutation reactance of the converter station;
  • U s and U c are the rms voltage at the AC side outlet of the converter station and the rms value of the AC voltage at the common connection point
  • v dreset and v qreset are the integrator reset values in d-axis control and the integrator reset values in q-axis control
  • the integrator reset value, P s and Q s are the active and reactive power injected at the point of common connection (PCC point);
  • Step (2) set the maximum value for the transmission power of the converter station working in the AC balance node control mode and Detect the transmission power of the FM converter station, if the transmission power P s of the converter station exceeds Change the control of the converter station to power-limited transmission control, and set the AC side outlet voltage of the converter station;
  • step (3) the dispatching system selects one or more AC systems with frequency modulation capability as a power balance station through an instruction
  • Step (4) detecting the transmission power of each converter station, calculating the unbalanced power ⁇ P of the DC transmission system through the active power balancing technology, and dynamically adjusting the power reference value of the power balancing station according to ⁇ P;
  • ⁇ P ⁇ (P ref1 ,P ref2 ,...,P refm ,P m+1 ,P m+2 ,...,P n )
  • n is the number of converter stations in the system, the first m converter stations are power balance stations, and the m+1th to nth converter stations are converter stations that adopt AC balance node control or constant active power control. the actual value of the transmission power;
  • P refi is the initial active power reference value of the ith converter station
  • K i is the droop coefficient of the power balance station.
  • Step 1 Obtain the actual value f of the AC voltage frequency at the common connection point of the AC system
  • Step 2 Calculate the offset ⁇ f between the voltage frequency f of the AC system connected to the converter station and the standard frequency f ref , and set an upper threshold value ⁇ f max and a lower threshold value ⁇ f min for the AC voltage frequency deviation;
  • Step 3 when the frequency deviation ⁇ f of the AC system connected to the converter station has not exceeded ⁇ f max , the converter station automatically chooses to use the self-regulating ability of the AC system to adjust the frequency, or the AC system connected to the converter station can be selected by the dispatching system command to accept. Grid frequency regulation; when ⁇ f exceeds ⁇ f max , the converter station automatically selects the connected AC system to accept grid frequency regulation.
  • the AC system includes an AC system connected to the converter station adopting a constant active power control mode and a converter station adopting a constant DC voltage control mode.
  • Step 4 when the frequency deviation ⁇ f of the connected AC system receiving grid frequency regulation is less than ⁇ f min , the dispatching system automatically switches the converter station receiving grid frequency regulation to the constant active power control mode, so that the connected AC system no longer accepts grid frequency regulation; Or the dispatching system can switch the converter station that accepts grid frequency modulation to the fixed active power control mode through instructions according to the needs, so that the connected AC system no longer accepts grid frequency modulation;
  • the output integral value of the proportional scorer is reset, and the reset value of the integrator in the outer loop control is:
  • v dreset and v qreset are the integrator reset values in the outer loop control of the d-axis and q-axis, respectively;
  • the integrator resets in the inner loop control to:
  • v dreset and v qreset are the integrator reset values in the inner loop control of the d-axis and q-axis, respectively.
  • the active power reference value P ref be equal to the actual value P of active power transmitted by the current converter station.
  • the present invention has the following advantages and beneficial effects:
  • the frequency regulation strategy proposed by the present invention can automatically carry out frequency regulation control according to the frequency deviation of the AC system, and can also carry out frequency regulation control by dispatching instructions according to actual needs;
  • the AC balance node control proposed by the present invention makes the converter station become a balance node, and the AC system power shortage can be directly introduced into the DC system without delay and deviation;
  • the power limiting strategy proposed by the present invention limits the active power allowed to be injected into the DC system according to the upper limit of the converter station capacity, thereby ensuring the safety of the DC system;
  • Active power balance technology proposed in the present invention, dispatching system designates one or more AC systems to participate in AC system frequency regulation, improves the flexibility of frequency regulation control, and the dynamic stability of power and voltage;
  • the present invention only needs to change the control strategy of the local converter station, changes the transmission power of the converter station in real time according to the unbalanced power amount of the AC system, and improves the frequency adjustment speed and accuracy of the AC system .
  • FIG. 1 is a schematic diagram of the system of the present invention.
  • Figure 2 is the control structure diagram of the AC balance node.
  • Figure 3 is the structure diagram of active and reactive power decoupling control, in which (a) the outer loop control structure diagram of constant active power control, (b) the outer loop control structure diagram of constant reactive power control, (c) the control structure diagram of constant active power control Inner loop control structure diagram, (d) inner loop control structure diagram of constant reactive power control.
  • Figure 4 is a structural diagram of the simulation model of the six-terminal flexible DC transmission system.
  • Figure 5 is a simulation waveform diagram, in which Figure 5(a) is the AC voltage frequency, Figure 5(b) is the DC voltage at each terminal, and Figure 5(c) is the active power transmitted at each terminal.
  • the converter station can automatically select whether the AC system accepts grid frequency regulation according to the frequency deviation of the connected AC system, and can also select the connected AC system according to the instructions of the dispatching system. Whether to accept grid frequency modulation.
  • the dispatching system can select the AC system connected to one or more converter stations to participate in the frequency regulation of the power grid through the command, change the control strategy of the converter station, and realize the joint frequency regulation among multiple AC systems.
  • the power system implementing the control method of the present invention includes several power balancing converter stations capable of adopting active power balancing technology, several converter stations capable of adopting constant active power control mode, and several converter stations capable of adopting AC balance node control mode.
  • the control method of the present invention comprises the following steps:
  • Step 1 Obtain the actual value f of the AC voltage frequency at the common connection point of the AC system, where the AC system includes an AC system connected to a converter station controlled by constant active power and a converter station controlled by a constant DC voltage;
  • Step 2 Calculate the offset ⁇ f between the voltage frequency f of the AC system connected to the converter station and the standard frequency f ref , and set an upper threshold value ⁇ f max and a lower threshold value ⁇ f min for the AC voltage frequency deviation;
  • Step 3 when the frequency deviation ⁇ f of the AC system connected to the converter station has not exceeded ⁇ f max , the converter station automatically chooses to use the self-regulating ability of the AC system to adjust the frequency, or the AC system connected to the converter station can be selected by the dispatching system command to accept.
  • Power grid frequency modulation when ⁇ f exceeds ⁇ f max , the converter station automatically selects the connected AC system to accept grid frequency modulation; the conditions for receiving grid frequency modulation can also be further set to others as required.
  • step (1) the converter station is switched to the AC balance node control mode, the principle of which is shown in FIG. 2 .
  • the AC side outlet voltage of the converter station controlled by the AC balance node is:
  • U sd and U sq are the dq-axis components of the AC voltage at the common connection point
  • U cd and U cq are the dq-axis components of the AC side outlet voltage of the converter station
  • is sd and i sq are The dq-axis components of the AC side current of the converter station
  • k p and k i are the proportional and integral coefficients of the proportional integrator
  • R c and X c are the equivalent resistance and commutation reactance of the converter station.
  • U s and U c are the rms voltage at the AC side outlet of the converter station and the rms value of the AC voltage at the common connection point
  • v dreset and v qreset are the integrator reset values in d-axis control and the integrator reset values in q-axis control
  • the integrator reset values, Ps and Qs are the active and reactive power injected at the point of common connection (point PCC).
  • point PCC point of common connection
  • the reset of the integrator ensures the state matching of the control system parameters and the electrical parameters of the DC system, minimizes the impact caused by switching the control strategy, reduces the system oscillation, and ensures the safety and stability of the system. If the initialization is not performed, the initial value of the integrator is 0, and the controller output does not match the electrical parameters of the DC system, which will cause the system to oscillate or even become unstable.
  • Step (2) set the maximum value for the transmission power of the converter station working in the AC balance node control mode and Detect the transmission power of the FM converter station, if the transmission power P s of the converter station exceeds Change the control of the converter station to the limited power transmission control;
  • the transmission power P s of the converter station exceeds case as an example.
  • the converter station calculates the phase angle difference between the Pcc point and the voltage on the AC outlet side of the converter station, and then adjust the phase angle of the voltage on the AC outlet side of the converter station to ensure that the two phase angles change synchronously, so as to reach the limit. Therefore, the active power injected into the DC system by the converter station can be restricted, and the safety of the converter station can be guaranteed; at the same time, the capacity of the converter can be utilized to the maximum extent, and the safety and stability of the DC system can be improved.
  • step (3) the dispatching system selects one or more AC systems with frequency modulation capability as a power balance station through an instruction
  • Step (4) detecting the transmission power of each converter station, calculating the unbalanced power ⁇ P of the DC transmission system through the active power balancing technology, and dynamically adjusting the power reference value of the power balancing station according to ⁇ P;
  • ⁇ P ⁇ (P ref1 ,P ref2 ,...,P refm ,P m+1 ,P m+2 ,...,P n )
  • n is the number of converter stations in the system
  • the first m converter stations are power balance stations
  • the m+1th to nth converter stations are converter stations that adopt AC balance node control or constant active power control. the actual value of the transmission power.
  • P refi is the initial active power reference value of the ith (1 ⁇ i ⁇ m) converter station
  • K i is the droop coefficient of the power balance station.
  • the unbalanced power in the DC system can be calculated in real time, which ensures the accuracy of frequency regulation.
  • the dispatching system designates one or more AC systems to participate in the frequency regulation of the AC system, which improves the flexibility of frequency regulation control, as well as the adjustment of power and voltage. dynamic stability.
  • Step 4 when the frequency deviation ⁇ f of the connected AC system receiving grid frequency regulation is less than ⁇ f min , the dispatching system automatically switches the converter station receiving grid frequency regulation to the constant active power control mode, so that the connected AC system no longer accepts grid frequency regulation,
  • the principle is shown in Figure 3.
  • the dispatching system can flexibly and according to needs, instruct to switch the converter station receiving grid frequency modulation to fixed active power control mode, so that the connected AC system no longer accepts grid frequency modulation.
  • the active power reference value P ref is set equal to the actual value P of the active power transmitted by the current converter station.
  • the output integral value of the proportional integrator should be reset, and the reset value of the integrator in the outer loop control is:
  • v dreset and v qreset are the integrator reset values in the outer loop control of the d-axis and q-axis, respectively.
  • the integrator resets in the inner loop control to:
  • v dreset and v qreset are the integrator reset values in the inner loop control of the d-axis and q-axis, respectively.
  • the converter stations VSC2, VSC3, VSC4 and VSC5 adopt DC voltage droop control.
  • VSC1 is connected to the wind farm and VSC6 is connected to the passive power grid, both of which are controlled by amplitude and phase, and the active power is injected from the AC system into the DC system as the positive direction.
  • the transmission power of each converter station ranges from -750MW to 750MW.
  • the traditional master-slave control strategy is compared with the novel coordinated control strategy of the present invention.
  • the VSC3 station acts as the master station and adopts constant DC voltage control
  • the VSC2, VSC4, and VSC5 stations act as control slave stations and adopt constant active power control.
  • the master station exits it assumes the voltage control work in turn.
  • VSC1 and VSC6 adopt amplitude and phase control, and the voltage level of the multi-terminal flexible DC transmission system is ⁇ 500kV.
  • the frequency of the AC grid connected to the VSC5 station changes.
  • the control strategy of the VSC5 station is switched to the AC balance node control.
  • the control strategy of the VSC5 station is still AC balance node control.
  • the system is stable. It is known that the power transmitted by the VSC5 required by the system after the load is removed is 450MW. At this time, the system is switched to constant active power control and constant reactive power control.
  • FIG. 5 The simulation waveform is shown in Figure 5, in which Figure 5(a) is the AC voltage frequency, Figure 5(b) is the active power transmitted at each terminal, and Figure 5(c) is the DC voltage at each terminal.
  • the new frequency regulation control strategy AC system with power disturbance (AC grid5), the unbalanced power converter station flows directly into the DC grid, and under the DC grid fast power regulation strategy, the unbalanced power is quickly Import a suitable AC system to complete the supplement, and the response speed of frequency adjustment is fast.
  • the minimum frequency of 49.78Hz is smaller than the 49.09Hz deviation of traditional frequency control; at the same time, the active power balance technology ensures the dynamic stability of the DC voltage.

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Abstract

本发明提供一种基于多端柔性直流输电系统的电网调频方法，换流站可依据所接交流系统的频率偏差自动选择该交流系统是否接受电网调频，也可依据调度系统的指令选择所接交流系统是否接受电网调频。同时，调度系统可通过指令选择一个或多个换流站所接的交流系统参与电网调频。该调频方法通过改变换流站的控制策略，结合若干采取主动功率平衡技术的功率平衡换流站，实现多个交流系统之间的联合调频。与现有技术相比，本发明只需改变本地换流站的控制策略，根据交流系统的不平衡功率量实时改变换流站的传输功率，且能够实现不同控制策略之间的平滑切换，提高了交流系统的频率调节速度与精确度。

Description

一种基于多端柔性直流输电系统的电网调频方法 技术领域
本发明属于电力系统技术领域，涉及电力系统安全稳定分析技术，具体涉及一种基于多端柔性直流输电系统的电网调频方法。
背景技术
基于电压源换流器的高压直流输电(Voltage Source Converter based High Direct Current Transmission,VSC-HVDC)技术也被称为柔性直流输电技术，具有可实现有功功率与无功功率解耦控制、可向无源网络供电、不会出现换相失败、换流站间无需通信以及易于构成多端直流系统等优点，是用于构建智能电网的重要技术之一，将得到广泛应用。
随着柔性直流输电技术的发展，柔性直流输电系统将向更高电压等级、更大输电容量发展，直流电网拓扑将更加复杂。相比于传统的交流电网，柔性直流输电系统基于大量电力电子设备构建而成，具有快速调节传输功率的能力，可用于互联交流电网之间的频率调节，实现互联电网间旋转备用的共享，提高互联交流电网的频率稳定性。
针对未来复杂结构下的直流电网，要实现互联电网的频率平衡，最直接的方法是换流站根据交流系统的不平衡功率直接调节换流站的实际传输功率值。但是，将交流电网不平衡功率直接引入直流电网，将影响直流电网的电压稳定。
发明内容
为解决上述问题，本发明提供一种基于多端柔性直流输电系统的电网调频方法，可根据交流系统不平衡功率调节换流站传输功率，同时，直流电网能够具有较强电压稳定性。
为了解决上述技术问题，本发明是通过以下技术方案实现的：
一种基于多端柔性直流输电系统的电网调频方法，包括如下步骤：将接受电网调频的交流系统所接换流站切换为交流平衡节点控制方式，当换流站控制策略切换时重置比例计分器的输出积分值；对工作于交流平衡节点控制方式下的换流站传输功率设置最大值，检测调频换流站的传输功率当其超过最大值时，将换流站的控制改为限功率传输控制方式；调度系统通过指令选择一个或多个换流站所接的交流系统参与电网调频；检测各换流站传输功率，计算直流输电系统的不平衡功率，根据不平衡功率动态调整功率平衡站的功率参考值实现功率平衡。
进一步的，还包括如下前提步骤：换流站在所接交流系统的频率偏差超过上门槛值时自 动选择该交流系统接受电网调频，或依据调度系统的指令选择所接交流系统是否接受电网调频。
进一步的，还包括如下后续步骤：在接受电网调频后，当换流站所连接的接受电网调频交流系统的频率偏差小于下门槛值时自动将接受电网调频的换流站切换为定有功功率控制方式，或由调度系统指令将接受电网调频的换流站切换为定有功功率控制方式，以使得所接交流系统不再接受电网调频；当换流站控制策略切换时重置比例计分器的输出积分值。
进一步的，具体包括以下步骤：
步骤(1)，将换流站切换为交流平衡节点控制方式，控制换流站交流出口侧电压幅值和相角而非PCC点，使得换流站成为平衡节点，保证交流系统功率缺额无延时和无偏差导入直流系统中；
dq坐标系下，采取交流平衡节点控制的换流站的交流侧出口电压为：
Figure PCTCN2020116995-appb-000001
其中s是拉普拉斯算子，U sd和U sq是公共连接点交流电压的dq轴分量，U cd和U cq是换流站交流侧出口电压的dq轴分量，i sd和i sq是换流站交流侧电流的dq轴分量，k p和k i是比例积分器的比例系数和积分系数，R c和X c是换流站的等效电阻和换流电抗；
切换控制策略的过程中，重置比例计分器的输出积分值：
Figure PCTCN2020116995-appb-000002
其中，U s和U c是换流站交流侧出口的电压有效值和公共连接点的交流电压有效值，v dreset和v qreset是d轴控制中的积分器重置值和q轴控制中的积分器重置值，P s和Q s是公共连接点(PCC点)处注入的有功功率和无功功率；
步骤(2)，对工作于交流平衡节点控制方式下的换流站传输功率设置最大值
Figure PCTCN2020116995-appb-000003
和
Figure PCTCN2020116995-appb-000004
检测调频换流站的传输功率，如果换流站传输功率P s超过
Figure PCTCN2020116995-appb-000005
将换流站的控制改为限功率传输控制，整定换流站交流侧出口电压；
dq坐标轴下，当换流站传输功率P s超出
Figure PCTCN2020116995-appb-000006
时，整定换流站的交流侧出口电压为：
Figure PCTCN2020116995-appb-000007
dq坐标轴下，当换流站传输功率P s超出
Figure PCTCN2020116995-appb-000008
时，整定换流站的交流侧出口电压为：
Figure PCTCN2020116995-appb-000009
其中，
Figure PCTCN2020116995-appb-000010
和
Figure PCTCN2020116995-appb-000011
为换流站传输功率最大值，其中
Figure PCTCN2020116995-appb-000012
代表整流方向传输功率最大值，即代表有功功率由交流系统注入换流站；
Figure PCTCN2020116995-appb-000013
代表逆变方向传输功率最大值，即有功功率由换流站注入交流系统；
步骤(3)，调度系统通过指令选择一个或多个具有调频能力的交流系统作为功率平衡站；
步骤(4)，检测各换流站传输功率，通过主动功率平衡技术计算直流输电系统的不平衡功率ΔP，根据ΔP动态调整功率平衡站的功率参考值；
直流输电系统的不平衡功率ΔP：
ΔP＝∑(P ref1,P ref2,...,P refm,P m+1,P m+2,...,P n)
上式中，n为系统中换流站个数，前m个换流站为功率平衡站，第m+1至第n个换流站为采取交流平衡节点控制或定有功功率控制换流站的传输功率的实际值；
根据ΔP动态调整功率平衡站的功率参考值：
Figure PCTCN2020116995-appb-000014
其中，P refi为第i个换流站初始的有功功率参考值，
Figure PCTCN2020116995-appb-000015
为第i个换流站调整后的有功功率参考值，1≤i≤m，K i为功率平衡站的下垂系数。
进一步的，还包括如下前提步骤：
步骤1，获取交流系统公共连接点交流电压频率的实际值f；
步骤2，计算换流站所接交流系统电压频率f与标准频率f ref的偏移量Δf，并对交流电压频率偏差设置一个上门槛值Δf max，以及一个下门槛值Δf min；
步骤3，当换流站所接交流系统频率偏差Δf尚未超过Δf max时，换流站自动选择利用交流 系统自身调节能力进行频率调节，或可由调度系统指令选择该换流站所接交流系统接受电网调频；当Δf超过Δf max时，换流站自动选择所接交流系统接受电网调频。
进一步的，所述交流系统包括与采取定有功功率控制方式换流站和采取定直流电压控制方式换流站相连的交流系统。
进一步的，还包括如下后续步骤：
步骤4，当所接接受电网调频交流系统的频率偏差Δf小于Δf min时，调度系统自动将接受电网调频的换流站切换为定有功功率控制方式，以使得所接交流系统不再接受电网调频；或调度系统根据需要，通过指令将接受电网调频的换流站切换为定有功功率控制方式，以使得所接交流系统不再接受电网调频；
切换控制策略的过程中，重置比例计分器的输出积分值，外环控制中积分器重置值为：
Figure PCTCN2020116995-appb-000016
其中，v dreset和v qreset分别为d轴和q轴的外环控制中的积分器重置值；
内环控制中积分器重置为：
Figure PCTCN2020116995-appb-000017
其中，v dreset和v qreset分别为d轴和q轴的内环控制中的积分器重置值。
进一步的，令有功功率参考值P ref等于当前换流站传输的有功功率实际值P。
与现有技术相比，本发明具有如下优点和有益效果：
(1)本发明所提的调频策略可依据交流系统频率偏差自动进行调频控制，也可以根据实际需求由调度指令进行调频控制；
(2)当交流系统因功率缺额造成频率偏差时，本发明所提出的交流平衡节点控制使得换流站成为平衡节点，可将交流系统功率缺额无延时无偏差的直接导入直流系统中；
(3)当换流站进行控制策略切换时，重置积分器值保证了控制系统参数与直流系统电气参数的状态匹配，减小了切换控制过程的冲击和震荡，保证了系统的平稳运行；
(4)本发明所提出的限功率策略依据换流站容量上限限制了允许注入直流系统中的有功功率，保证了直流系统的安全性；
(5)本发明中所提出的主动功率平衡技术，调度系统指定一个或多个交流系统参与交流 系统频率调节，提高了调频控制的灵活性，以及功率和电压的动态稳定性；
(6)现有技术相比，本发明只需改变本地换流站的控制策略，根据交流系统的不平衡功率量实时改变换流站的传输功率，提高了交流系统的频率调节速度与精确度。
附图说明
图1为本发明系统的原理图。
图2为交流平衡节点控制结构图。
图3为有功无功解耦控制结构图，其中(a)定有功功率控制的外环控制结构图，(b)定无功功率控制的外环控制结构图，(c)定有功功率控制的内环控制结构图，(d)定无功功率控制的内环控制结构图。
图4为六端柔性直流输电系统仿真模型结构图。
图5为仿真波形图，其中图5(a)为交流电压频率，图5(b)为各端直流电压，图5(c)为各端传输有功功率，图中无调频控制用虚线表示。
具体实施方式
以下将结合具体实施例对本发明提供的技术方案进行详细说明，应理解下述具体实施方式仅用于说明本发明而不用于限制本发明的范围。
本发明提供的基于多端柔性直流输电系统的电网调频方法中，换流站可依据所接交流系统的频率偏差自动选择该交流系统是否接受电网调频，也可依据调度系统的指令选择所接交流系统是否接受电网调频。同时，调度系统可通过指令选择一个或多个换流站所接的交流系统参与电网调频，改变换流站的控制策略，实现多个交流系统之间的联合调频。实现本发明控制方法的电力系统包括若干能够采取主动功率平衡技术的功率平衡换流站，若干能够采取定有功功率控制方式的换流站及若干能够采取交流平衡节点控制方式的换流站。本发明的控制方法包括以下步骤：
步骤1，获取交流系统公共连接点交流电压频率的实际值f，所述交流系统包括与定有功功率控制的换流站和采取定直流电压控制换流站相连的交流系统；
步骤2，计算换流站所接交流系统电压频率f与标准频率f ref的偏移量Δf，并对交流电压频率偏差设置一个上门槛值Δf max，以及一个下门槛值Δf min；
步骤3，当换流站所接交流系统频率偏差Δf尚未超过Δf max时，换流站自动选择利用交流系统自身调节能力进行频率调节，或可由调度系统指令选择该换流站所接交流系统接受电网调频；当Δf超过Δf max时，换流站自动选择所接交流系统接受电网调频；接受电网调频的条 件也可进一步根据需要设定为其他。
具体的说，当换流站所接交流系统需要接受电网调频时，包括如下步骤：
步骤(1)，将换流站切换为交流平衡节点控制方式，其原理如图2所示。控制换流站交流出口侧电压幅值和相角而非PCC点，使得换流站成为平衡节点，保证交流系统功率缺额无延时和无偏差导入直流系统中；
dq坐标系下，采取交流平衡节点控制的换流站的交流侧出口电压为：
Figure PCTCN2020116995-appb-000018
其中s是拉普拉斯算子，U sd和U sq是公共连接点交流电压的dq轴分量，U cd和U cq是换流站交流侧出口电压的dq轴分量，i sd和i sq是换流站交流侧电流的dq轴分量，k p和k i是比例积分器的比例系数和积分系数，R c和X c是换流站的等效电阻和换流电抗。
切换控制策略的过程中，应重置比例计分器的输出积分值：
Figure PCTCN2020116995-appb-000019
其中，U s和U c是换流站交流侧出口的电压有效值和公共连接点的交流电压有效值，v dreset和v qreset是d轴控制中的积分器重置值和q轴控制中的积分器重置值，P s和Q s是公共连接点(PCC点)处注入的有功功率和无功功率。积分器的重置保证了控制系统参数和直流系统电气参数的状态匹配，最大程度的减小了因切换控制策略而造成的冲击，减小了系统震荡，保证了系统的安全稳定性。如不进行初始化，则积分器初始值为0，那么控制器输出和直流系统电气参数状态不匹配，会造成系统较大震荡甚至失稳。
步骤(2)，对工作于交流平衡节点控制方式下的换流站传输功率设置最大值
Figure PCTCN2020116995-appb-000020
和
Figure PCTCN2020116995-appb-000021
检测调频换流站的传输功率，如果换流站传输功率P s超过
Figure PCTCN2020116995-appb-000022
将换流站的控制改为限功率传输控制；
dq坐标轴下，当换流站传输功率P s超出
Figure PCTCN2020116995-appb-000023
时，整定换流站的交流侧出口电压为：
Figure PCTCN2020116995-appb-000024
dq坐标轴下，当换流站传输功率P s超出
Figure PCTCN2020116995-appb-000025
时，整定换流站的交流侧出口电压为：
Figure PCTCN2020116995-appb-000026
附图1中以换流站传输功率P s超出
Figure PCTCN2020116995-appb-000027
的情况为例。
本步骤根据换流站传输容量上限，计算Pcc点和换流站交流出口侧电压的相角差，进而调整换流站交流出口侧电压的相角，保证二者相角同步变化，从而达到限功率作用，从而能够约束由换流站注入直流系统的有功功率，保证换流站的安全性；同时能最大限度利用换流器容量，提高了直流系统的安全性和稳定性。
步骤(3)，调度系统通过指令选择一个或多个具有调频能力的交流系统作为功率平衡站；
步骤(4)，检测各换流站传输功率，通过主动功率平衡技术计算直流输电系统的不平衡功率ΔP，根据ΔP动态调整功率平衡站的功率参考值；
直流输电系统的不平衡功率ΔP：
ΔP＝∑(P ref1,P ref2,...,P refm,P m+1,P m+2,...,P n)
上式中，n为系统中换流站个数，前m个换流站为功率平衡站，第m+1至第n个换流站为采取交流平衡节点控制或定有功功率控制换流站的传输功率的实际值。
根据ΔP动态调整功率平衡站的功率参考值：
Figure PCTCN2020116995-appb-000028
其中，P refi为第i(1≤i≤m)个换流站初始的有功功率参考值，
Figure PCTCN2020116995-appb-000029
为第i(1≤i≤m)个换流站调整后的有功功率参考值，K i为功率平衡站的下垂系数。
本步骤能够实时计算直流系统中的不平衡功率，保证了频率调节的精确性，同时调度系统指定一个或多个交流系统参与交流系统频率调节，提高了调频控制的灵活性，以及功率和电压的动态稳定性。
步骤4，当所接接受电网调频交流系统的频率偏差Δf小于Δf min时，调度系统自动将接受电网调频的换流站切换为定有功功率控制方式，以使得所接交流系统不再接受电网调频，其 原理如图3所示。调度系统可灵活根据需要，指令将接受电网调频的换流站切换为定有功功率控制方式，以使得所接交流系统不再接受电网调频。
为实现换流站的控制策略的稳定切换，令有功功率参考值P ref等于当前换流站传输的有功功率实际值P。切换控制策略的过程中，应重置比例计分器的输出积分值，外环控制中积分器重置值为：
Figure PCTCN2020116995-appb-000030
其中，v dreset和v qreset分别为d轴和q轴的外环控制中的积分器重置值。
内环控制中积分器重置为：
Figure PCTCN2020116995-appb-000031
其中，v dreset和v qreset分别为d轴和q轴的内环控制中的积分器重置值。
采用图4所示的六端柔性直流输电系统为例对本发明提出的协调控制策略进行具体说明。换流站VSC2、VSC3、VSC4和VSC5采取直流电压下垂控制，VSC1与风场相连和VSC6与无源电网相连，均采用幅相控制，以有功功率由交流系统注入直流系统为正方向。各换流站的传输功率范围为-750MW至750MW。
将传统主从控制策略与本发明新型协调控制策略进行对比。在主从控制策略下，VSC3站作为主站，采用定直流电压控制，VSC2、VSC4、VSC5站作为控制从站，采用定有功功率控制，当主站退出后依次承担电压控制工作。VSC1和VSC6采取幅相控制，多端柔性直流输电系统的电压等级为±500kV。
案例：VSC5站所连交流系统负荷突增，该仿真场景中，初始时刻，VSC1、VSC2、VSC3、VSC4、VSC5和VSC6的传输功率分别为700MW、600MW、230MW、-400MW、-450MW和-600MW。6s时VSC5站所连交流系统负荷突增200MW，16s时交流电网切除200MW负荷。设控制系统的功率基准值为750WVA，交电压基准值为500kV，直流电压基准值为500kV，换流电抗的标幺值为0.15。
对于本发明所提的本发明新型调频控制策略：
6s时VSC5站所连的交流电网的频率发生变化，频率变化超过门槛值Δfmax＝0.05Hz后，VSC5站的控制策略切换为交流平衡节点控制。控制切换过程中，d轴电压和q轴电压重置值 为：v dreset＝0.996，v qreset＝0。
16s时，调节VSC5站所连的交流电网的负荷，切除200MW有功负荷，交流电网功率缺额低于VSC3的传输功率下限Pmin＝-750MW，VSC5站的控制策略仍为交流平衡节点控制。
26s时，系统稳定。已知切除负荷后系统所需VSC5传输的功率为450MW，此时将系统切换为定有功功率控制和定无功功率控制，有功功率参考值为-450MW，无功功率参考值为0MVA，控制切换过程中，各积分器重置值为：i qreset＝-0.6，i dreset＝0，v dreset＝0.007，v qreset＝0.012。
仿真波形如图5所示，其中图5(a)为交流电压频率，图5(b)为各端传输有功功率，图5(c)为各端直流电压。
由图5可以看出，新型调频控制策略：发生功率扰动的交流系统(AC grid5)，其不平衡功率换流站经直接流入直流电网，在直流电网快速功率调节策略下，不平衡功率被迅速导入合适的交流系统完成补充，频率调节的响应速度快。频率最低值为49.78Hz较传统的频率控制的49.09Hz偏差更小；同时，主动功率平衡技术保证直流电压的动态稳定。
以上仿真验证了本发明协调控制策略优于传统控制策略，动态响应速度快，稳态时系统直流电压处于标准工作电压，除幅相控制换流站以外，各换流站功率均为参考值，稳态控制性能良好。
本发明方案所公开的技术手段不仅限于上述实施方式所公开的技术手段，还包括由以上技术特征任意组合所组成的技术方案。应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也视为本发明的保护范围。

Claims (8)

  1. 一种基于多端柔性直流输电系统的电网调频方法，其特征在于，包括如下步骤：将接受电网调频的交流系统所接换流站切换为交流平衡节点控制方式，当换流站控制策略切换时重置比例计分器的输出积分值；对工作于交流平衡节点控制方式下的换流站传输功率设置最大值，检测调频换流站的传输功率当其超过最大值时，将换流站的控制改为限功率传输控制方式；调度系统通过指令选择一个或多个换流站所接的交流系统参与电网调频；检测各换流站传输功率，计算直流输电系统的不平衡功率，根据不平衡功率动态调整功率平衡站的功率参考值实现功率平衡。
  2. 根据权利要求1所述的基于多端柔性直流输电系统的电网调频方法，其特征在于，还包括如下前提步骤：换流站在所接交流系统的频率偏差超过上门槛值时自动选择该交流系统接受电网调频，或依据调度系统的指令选择所接交流系统是否接受电网调频。
  3. 根据权利要求1或2所述的基于多端柔性直流输电系统的电网调频方法，其特征在于，还包括如下后续步骤：在接受电网调频后，当换流站所连接的接受电网调频交流系统的频率偏差小于下门槛值时自动将接受电网调频的换流站切换为定有功功率控制方式，或由调度系统指令将接受电网调频的换流站切换为定有功功率控制方式，以使得所接交流系统不再接受电网调频；当换流站控制策略切换时重置比例计分器的输出积分值。
  4. 根据权利要求1所述的基于多端柔性直流输电系统的电网调频方法，其特征在于，具体包括以下步骤：
    步骤(1)，将换流站切换为交流平衡节点控制方式，控制换流站交流出口侧电压幅值和相角而非PCC点，使得换流站成为平衡节点，使得交流系统功率缺额无延时和无偏差导入直流系统中；
    dq坐标系下，采取交流平衡节点控制的换流站的交流侧出口电压为：
    Figure PCTCN2020116995-appb-100001
    其中s是拉普拉斯算子，U sd和U sq是公共连接点交流电压的dq轴分量，U cd和U cq是换流站交流侧出口电压的dq轴分量，i sd和i sq是换流站交流侧电流的dq轴分量，k p和k i是比例积分器的比例系数和积分系数，R c和X c是换流站的等效电阻和换流电抗；
    切换控制策略的过程中，重置比例计分器的输出积分值：
    Figure PCTCN2020116995-appb-100002
    其中，U s和U c是换流站交流侧出口的电压有效值和公共连接点的交流电压有效值，v dreset和v qreset是d轴控制中的积分器重置值和q轴控制中的积分器重置值，P s和Q s是公共连接点(PCC点)处注入的有功功率和无功功率；
    步骤(2)，对工作于交流平衡节点控制方式下的换流站传输功率设置最大值
    Figure PCTCN2020116995-appb-100003
    和
    Figure PCTCN2020116995-appb-100004
    检测调频换流站的传输功率，如果换流站传输功率Ps超过
    Figure PCTCN2020116995-appb-100005
    将换流站的控制改为限功率传输控制，整定换流站交流侧出口电压；
    dq坐标轴下，当换流站传输功率P s超出
    Figure PCTCN2020116995-appb-100006
    时，整定换流站的交流侧出口电压为：
    Figure PCTCN2020116995-appb-100007
    dq坐标轴下，当换流站传输功率P s超出
    Figure PCTCN2020116995-appb-100008
    时，整定换流站的交流侧出口电压为：
    Figure PCTCN2020116995-appb-100009
    其中，
    Figure PCTCN2020116995-appb-100010
    和
    Figure PCTCN2020116995-appb-100011
    为换流站传输功率最大值，其中
    Figure PCTCN2020116995-appb-100012
    代表整流方向传输功率最大值，即代表有功功率由交流系统注入换流站；
    Figure PCTCN2020116995-appb-100013
    代表逆变方向传输功率最大值，即有功功率由换流站注入交流系统；
    步骤(3)，调度系统通过指令选择一个或多个具有调频能力的交流系统作为功率平衡站；
    步骤(4)，检测各换流站传输功率，通过主动功率平衡技术计算直流输电系统的不平衡功率ΔP，根据ΔP动态调整功率平衡站的功率参考值；
    直流输电系统的不平衡功率ΔP：
    ΔP＝∑(P ref1,P ref2,...,P refm,P m+1,P m+2,...,P n)
    上式中，n为系统中换流站个数，前m个换流站为功率平衡站，第m+1至第n个换流站为采取交流平衡节点控制或定有功功率控制换流站的传输功率的实际值；
    根据ΔP动态调整功率平衡站的功率参考值：
    Figure PCTCN2020116995-appb-100014
    其中，P refi为第i个换流站初始的有功功率参考值，
    Figure PCTCN2020116995-appb-100015
    为第i个换流站调整后的有功功率参考值，1≤i≤m，K i为功率平衡站的下垂系数。
  5. 根据权利要求4所述的基于多端柔性直流输电系统的电网调频方法，其特征在于，还包括如下前提步骤：
    步骤1，获取交流系统公共连接点交流电压频率的实际值f；
    步骤2，计算换流站所接交流系统电压频率f与标准频率f ref的偏移量Δf，并对交流电压频率偏差设置一个上门槛值Δf max，以及一个下门槛值Δf min；
    步骤3，当换流站所接交流系统频率偏差Δf尚未超过Δf max时，换流站自动选择利用交流系统自身调节能力进行频率调节，或可由调度系统指令选择该换流站所接交流系统接受电网调频；当Δf超过Δf max时，换流站自动选择所接交流系统接受电网调频。
  6. 根据权利要求5所述的基于多端柔性直流输电系统的电网调频方法，其特征在于，所述交流系统包括与采取定有功功率控制方式换流站和采取定直流电压控制方式换流站相连的交流系统。
  7. 根据权利要求5或6所述的基于多端柔性直流输电系统的电网调频方法，其特征在于，还包括如下后续步骤：
    步骤4，当所接接受电网调频交流系统的频率偏差Δf小于Δf min时，调度系统自动将接受电网调频的换流站切换为定有功功率控制方式，以使得所接交流系统不再接受电网调频；或调度系统根据需要，通过指令将接受电网调频的换流站切换为定有功功率控制方式，以使得所接交流系统不再接受电网调频；
    切换控制策略的过程中，重置比例计分器的输出积分值，外环控制中积分器重置值为：
    Figure PCTCN2020116995-appb-100016
    其中，v dreset和v qreset分别为d轴和q轴的外环控制中的积分器重置值；
    内环控制中积分器重置为：
    Figure PCTCN2020116995-appb-100017
    其中，v dreset和v qreset分别为d轴和q轴的内环控制中的积分器重置值。
  8. 根据权利要求7所述的基于多端柔性直流输电系统的电网调频方法，其特征在于，令有功功率参考值P ref等于当前换流站传输的有功功率实际值P。
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