CN104078993B - A kind of VSC-HVDC additional longitudinal forces methods based on fault recovery signal - Google Patents
A kind of VSC-HVDC additional longitudinal forces methods based on fault recovery signal Download PDFInfo
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Abstract
A kind of VSC HVDC additional longitudinal forces methods based on fault recovery signal, its main feature is that：In alternating current-direct current combined hybrid system,Straight-flow system operates under rated power state,AC system is caused low-frequency oscillation by large disturbances,At this time,Due to the effect of additional damping controller,Dc power will follow the oscillation of AC power to generate corresponding modulation,Dc power will be caused overload phenomenon occur,To prevent the appearance of overload phenomenon,Improve security and stability,Propose the additional longitudinal forces based on fault recovery signal,Characteristic root according to system,Fault recovery signal is introduced in DC power modulation early period,After making dc power rapid drawdown,It slowly climbs and restores reset condition,Increase modulation nargin of the additional longitudinal forces to dc power simultaneously,Promote AC system damping,Effectively inhibit the low-frequency oscillation of AC system,Improve system safe and stable operation ability,It is reasonable with methodological science,Control effect is good,The advantages that practical value is high.
Description
Technical field
It is that a kind of VSC-HVDC based on fault recovery signal is attached the invention belongs to safe operation of power system control field
Add damping control method.
Background technology
With the appearance of interconnection of large-scale power grids, low-frequency oscillation increases China's electric system year by year, and seriousness is even more than
Transient stability, becomes the major obstacle of system safe and stable operation.World power industrial development experience have shown that：With
Electric system scale constantly to expand, the networking of big section and high-gain field regulator it is widely used so that jeopardize the whole network
Multiple trend will be presented in the low-frequency oscillation of safety.The small signal stability of low-frequency oscillation and system is closely related, shows as
Opposite between generator amature to wave, power persistent oscillation on power transmission line easily causes large area blackout, greatly threatens
The safe operation of system.
It is filled with flexible AC transmitting systems such as Static Var Compensator, static synchronous compensator and THE UPFCs
It sets similar, in alternating current-direct current mixed connection system, utilizes the additional damping control of the high voltage dc transmission technology based on voltage source converter
System, in the energy saving enough increases system oscillation damping of contact ring, effective suppression system low-frequency oscillation improves system security and stability.This
Field custom is known as：Static Var Compensator is SVC, static synchronous compensator STATCOM, and THE UPFC is
The high voltage dc transmission technology of UPFC, flexible AC transmitting system FACTS, voltage source converter are VSC-HVDC.
The design of VSC-HVDC additional damping controllers is studied much at present.Its primary structure is that single input list is defeated
Go out form, and input signal has the connected busbar frequency of alternating current circuit active power, current conversion station, direct current both ends ac bus voltage
The diversified forms such as phase angle difference.For the design of additional damping controller, dc power and low frequency oscillations reference signal are utilized
Closed-loop control system is constituted, open-loop transfer function is obtained by System Discrimination, further according to Method of Pole Placement or phase gain nargin
Method designs additional damping controller, but to prevent current conversion station from overload phenomenon occur, amplitude limit link need to be added.However work as AC line
Road operates under rated condition, due to the effect of amplitude limit link, cause system by big disturbance after, additional damping controller
Control ability is restricted, it is difficult to be reached expected modulation effect, is deteriorated to the effect of system enhancement damping.
Invention content
The VSC-HVDC additional longitudinal forces methods based on fault recovery signal that the object of the present invention is to provide a kind of, it is
In direct current active power setting value PsetWith additional damping signal PmodOn the basis of, introduce a fault recovery signal PauxSo that
VSC-HVDC reduces dc power and out-of-limit situation occurs in specified operating status, while making additional longitudinal forces still can be with
Good control action is played, is P by introducing fault recovery signalmodRelatively sufficient modulation nargin is provided, system is enhanced
Damping improves system safe and stable operation ability.
The purpose of the present invention is what is realized by following technical scheme：
A kind of VSC-HVDC additional longitudinal forces methods based on fault recovery signal, which is characterized in that it includes following
Step：
1) active-power P on alternating current circuit is chosenacThe input signal of device in order to control, according to dc power with exchange it is active
Power constitutes closed loop transfer function, is inputted to direct current active power and specifies signal, by the active-power P on alternating current circuitac
Time domain response data carry out prony time domain identifications, obtain open-loop transfer function G (s), set the dominant characteristics of closed-loop system
Root, is designed additional damping controller further according to Method of Pole Placement and parameter tuning is to get to additional longitudinal forces signal
Pmod；
2) apply disturbance in AC system, so that system low-frequency oscillation is occurred, pass through the VSC- designed by step 1)
HVDC additional damping controllers, dc power will generate corresponding power swing with exchange active power, and then obtain direct current work(
The modulation waveform of rate carries out it prony time domain identifications, obtains actual dominant characteristics root, calculates frequency of oscillation and damping ratio；
3) it is incorporated to fault recovery signal in VSC-HVDC additional damping controller output ends, constitutes and is based on fault recovery signal
VSC-HVDC additional damping controllers, generate fault recovery signal PauxPilot controller it is extensive by fault detect link, failure
Complex signal Risk factor, output signal selection device three parts are constituted, and fault detect link is for detecting system by big disturbance
When, it sends out enable signal and gives another two link, Risk factor is made to generate step signal, output signal selection device is made to act, detection
Signal can choose the significant signal of the large disturbances such as the change rate for being dc power or connected ac bus voltage；Fault recovery is believed
Number Risk factor restores for the power after dc power rapid drawdown, the fault recovery signal P of generationauxFor step response, response is in
Exponential law is decayed, and rate of decay depends on the time constant of inertial element；Output signal selection device is occurred greatly for system
Disturbance when, according to the enable signal of detection, pilot controller is put into operation state, fault recovery signal is sent out；
4) meter and system damping effect, the static stability of single system is analyzed using small disturbance method, obtains the spy of system
Value indicative is λ1,2=σ ± j ω, and then the undulate quantity Δ P of direct current active powerdcChanging over time rule can use formula (1) to indicate,
ΔPdc=K ' eσtsin(ωt+θ) (1)
In formula, K ' is the proportionality coefficient of active power fluctuation amount；σ is attenuation constant；ω is low-frequency oscillation frequency；θ is first
Phase chooses the envelope of damped oscillation as fault recovery signal, but proportionality coefficient need to adjust, therefore Paux=-KeσtIf σ
Centainly, the Proportional coefficient K for also needing to determine fault recovery signal at this time, can just construct fault recovery signal,
Additional longitudinal forces based on fault recovery signal improve the nargin of algorithm for power modulation to a certain extent, but due to
The fluctuation of dc power will cause the voltage on DC line to fluctuate, thus cannot unconfined modulation dc power, therefore,
The constraints adjusted about Proportional coefficient K is, using the peak-valley difference of damped oscillation period 1 as limited target, with nominal DC
The 2*20% of power is that limitation range seeks first derivative to formula (1), obtain two extreme point t in one cycle1、t2, such as formula
(2),
Calculate Δ Pdc(t1) and Δ Pdc(t2), and then peak-valley difference Δ is obtained, such as formula (3),
Δ=| Δ Pdc(t1)-ΔPdc(t2)|≤0.4PN (3)
In formula, PNFor the rated value of dc power, the maximum value K of parameter K is thus found outmax, i.e. the selection of parameter K should expire
Sufficient formula (4),
To sum up obtain the dc power time-domain expression P generated by additional longitudinal forces modulationref, such as formula (5),
Pref=Pset+Pmod+Paux=1.0+K ' eσtsin(ωt+θ)+(-Keσt) (5)；
5) timing input of the fault recovery signal sent out for pilot controller, when VSC-HVDC is in specified operation
Under state, when microvariations occur for system, the modulation power of direct current, which will not result in serious overload phenomenon, to be occurred, since failure is examined
After the effect for surveying link, does not send out enable signal, i.e., only additional longitudinal forces put into operation, and large disturbances occur for system, by
In the effect of additional longitudinal forces, corresponding fluctuation occurs for dc power, and to prevent overload phenomenon, auxiliary control is added
The fault recovery signal that device is sent out, gives additional damping controller adequately to modulate nargin, while it is extensive to give dc power
The multiple time reduces its power and rises sharply the influence that rapid drawdown brings, i.e. additional damping controller puts into operation jointly with pilot controller,
With being gradually reduced for oscillation, fault recovery signal is decayed therewith, until system tends towards stability, pilot controller is out of service.
A kind of VSC-HVDC additional longitudinal forces methods based on fault recovery signal of the present invention, due to utilizing auxiliary control
The fault recovery signal that device processed generates provides sufficient modulation nargin for original additional damping controller, improves system peace
The advantages that full stable operation ability, has methodological science reasonable, and control effect is good, and practical value is high.
Description of the drawings
Fig. 1 is the alternating current-direct current series-parallel connection measurement system diagram based on VSC-HVDC；
Fig. 2 is the VSC dual-loop controller structure charts with additional longitudinal forces；
Fig. 3 is the system closed loop transfer function, figure for having HVDC supplementary control；
Fig. 4 is the additional longitudinal forces structure chart based on fault recovery signal；
Fig. 5 is the DC power modulation curve synoptic diagram of original additional longitudinal forces；
Fig. 6 is the DC power modulation curve synoptic diagram based on fault recovery signal additional longitudinal forces；
Fig. 7 is the dc power actual value and reference value curve graph of no additional longitudinal forces；
Fig. 8 is dc power actual value and reference value curve graph with original additional longitudinal forces；
Fig. 9 is with dc power actual value and reference value curve graph based on fault recovery signal additional longitudinal forces；
Figure 10 is the generator's power and angle oscillation comparison diagram using three kinds of different control modes；
Figure 11 is the alternating current interconnection oscillation of power comparison diagram using three kinds of different control modes；
Figure 12 is the B1 node voltage comparison diagrams using three kinds of different control modes；
Figure 13 is the DC voltage fluctuation comparison diagram using three kinds of different control modes.
Specific implementation mode
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
The present invention is a kind of VSC-HVDC additional longitudinal forces methods based on fault recovery signal, is included the following steps：
1) active-power P on alternating current circuit is chosenacThe input signal of device in order to control, according to dc power with exchange it is active
Power constitutes closed loop transfer function, is inputted to direct current active power and specifies signal, by the active-power P on alternating current circuitac
Time domain response data carry out prony time domain identifications, obtain open-loop transfer function G (s), set the dominant characteristics of closed-loop system
Root, is designed additional damping controller further according to Method of Pole Placement and parameter tuning is to get to additional longitudinal forces signal
Pmod；
2) apply disturbance in AC system, so that system low-frequency oscillation is occurred, pass through the VSC- designed by step 1)
HVDC additional damping controllers, dc power will generate corresponding power swing with exchange active power, and then obtain direct current work(
The modulation waveform of rate carries out it prony time domain identifications, obtains actual dominant characteristics root, calculates frequency of oscillation and damping ratio；
3) it is incorporated to fault recovery signal in VSC-HVDC additional damping controller output ends, constitutes and is based on fault recovery signal
VSC-HVDC additional damping controllers, generate fault recovery signal PauxPilot controller it is extensive by fault detect link, failure
Complex signal Risk factor, output signal selection device three parts are constituted, and fault detect link is for detecting system by big disturbance
When, it sends out enable signal and gives another two link, Risk factor is made to generate step signal, output signal selection device is made to act, detection
Signal can choose the significant signal of the large disturbances such as the change rate for being dc power or connected ac bus voltage；Fault recovery is believed
Number Risk factor restores for the power after dc power rapid drawdown, the fault recovery signal P of generationauxFor step response, response is in
Exponential law is decayed, and rate of decay depends on the time constant of inertial element；Output signal selection device is occurred greatly for system
Disturbance when, according to the enable signal of detection, pilot controller is put into operation state, fault recovery signal is sent out；
4) meter and system damping effect, the static stability of single system is analyzed using small disturbance method, obtains the spy of system
Value indicative is λ1,2=σ ± j ω, and then the undulate quantity Δ P of direct current active powerdcChanging over time rule can use formula (1) to indicate,
ΔPdc=K ' eσtsin(ωt+θ) (1)
In formula, K ' is the proportionality coefficient of active power fluctuation amount；σ is attenuation constant；ω is low-frequency oscillation frequency；θ is first
Phase chooses the envelope of damped oscillation as fault recovery signal, but proportionality coefficient need to adjust, therefore Paux=-KeσtIf σ
Centainly, the Proportional coefficient K for also needing to determine fault recovery signal at this time, can just construct fault recovery signal,
Additional longitudinal forces based on fault recovery signal improve the nargin of algorithm for power modulation to a certain extent, but due to
The fluctuation of dc power will cause the voltage on DC line to fluctuate, thus cannot unconfined modulation dc power, therefore,
The constraints adjusted about Proportional coefficient K is, using the peak-valley difference of damped oscillation period 1 as limited target, with nominal DC
The 2*20% of power is that limitation range seeks first derivative to formula (1), obtain two extreme point t in one cycle1、t2, such as formula
(2),
Calculate Δ Pdc(t1) and Δ Pdc(t2), and then peak-valley difference Δ is obtained, such as formula (3),
Δ=| Δ Pdc(t1)-ΔPdc(t2)|≤0.4PN (3)
In formula, PNFor the rated value of dc power, the maximum value K of parameter K is thus found outmax, i.e. the selection of parameter K should expire
Sufficient formula (4),
To sum up obtain the dc power time-domain expression P generated by additional longitudinal forces modulationref, such as formula (5),
Pref=Pset+Pmod+Paux=1.0+K ' eσtsin(ωt+θ)+(-Keσt) (5)；
5) timing input of the fault recovery signal sent out for pilot controller, when VSC-HVDC is in specified operation
Under state, when microvariations occur for system, the modulation power of direct current, which will not result in serious overload phenomenon, to be occurred, since failure is examined
After the effect for surveying link, does not send out enable signal, i.e., only additional longitudinal forces put into operation, and large disturbances occur for system, by
In the effect of additional longitudinal forces, corresponding fluctuation occurs for dc power, and to prevent overload phenomenon, auxiliary control is added
The fault recovery signal that device is sent out, gives additional damping controller adequately to modulate nargin, while it is extensive to give dc power
The multiple time reduces its power and rises sharply the influence that rapid drawdown brings, i.e. additional damping controller puts into operation jointly with pilot controller,
With being gradually reduced for oscillation, fault recovery signal is decayed therewith, until system tends towards stability, pilot controller is out of service.
Simulation analysis
Fig. 1 is to test system using the alternating current-direct current series-parallel connection that Matlab/Simulink simulation softwares are built；Fig. 2 is typical
Flexible direct current dual-loop controller can find out the access point of additional damping controller from figure；Fig. 3 be DC reference power with exchange
The closed loop transfer function, that circuit active power is constituted is used for calculation of transfer function H (s)；Fig. 4 is based on fault recovery signal
VSC-HVDC additional longitudinal forces block diagrams comprising additional damping controller and pilot controller two parts；Fig. 5 and Fig. 6 difference
It gives dc power and passes through the comparison of wave shape that different control modes are adjusted out.
- Fig. 6 referring to Fig.1, the design for additional damping controller parameter, the desired character root of closed-loop system is selected as-
0.20751+j1.054079, corresponding damping ratio are 0.19315.Characteristic value design additional damping controller parameter be：T1=
10, T2=10, T3=0.55, T4=0.2, K '=0.25.Pilot controller parameter K chooses 0.2, corresponding inertial element when
Between constant T=4.82, j indicates the imaginary part of plural number.System puts into operation in t=0s, when t=5s busbar B1 be arranged one it is instantaneous
Three phase short circuit fault continues 0.1s, causes oscillation of power, respectively to no additional longitudinal forces, former additional longitudinal forces and Ben Fa
The additional longitudinal forces mode based on fault recovery signal of bright proposition is emulated.
With reference to Fig. 7-Fig. 9, the modulation feelings of the VSC-HVDC direct current active power of three kinds of different control modes are set forth
Condition.As seen from Figure 8, dc power operates under rated power 1.0p.u., after low-frequency oscillation occurs for system, due to VSC's
Overload limit, dc power are acted on by the amplitude limit of 0.1p.u., and modulation waveform is not complete sinusoidal decay waveform.
After the additional control based on fault recovery signal, dc power can reach the control effect of anticipation, be not in overload
Phenomenon significantly reduces requirement of the VSC current conversion stations to cooling system.
0- Figure 13 referring to Fig.1, simulation result show：The VSC-HVDC of additional longitudinal forces can improve system damping；And
VSC-HVDC based on fault recovery signal additional longitudinal forces is more notable to the inhibition of low frequency oscillations, enhances
Inhibiting effect of the VSC-HVDC to low frequency oscillations early period.Power swing on alternating current circuit is fully suppressed, and for
It influences to be within the allowable range caused by B1 node voltages and VSC-HVDC line voltage distributions.
Claims (1)
1. a kind of VSC-HVDC additional longitudinal forces methods based on fault recovery signal, which is characterized in that it includes following step
Suddenly：
1) active-power P on alternating current circuit is chosenacThe input signal of device in order to control, according to dc power with exchange active power
Closed loop transfer function, is constituted, direct current active power is inputted and specifies signal, by the active-power P on alternating current circuitacWhen
Domain response data carry out prony time domain identifications, obtain open-loop transfer function G (s), set the dominant characteristics root of closed-loop system, then
Additional damping controller is designed according to Method of Pole Placement and parameter tuning is to get to additional longitudinal forces signal Pmod；
2) apply disturbance in AC system, so that system low-frequency oscillation is occurred, pass through the VSC-HVDC designed by step 1)
Additional damping controller, dc power will generate corresponding power swing with exchange active power, and then obtain dc power
Modulation waveform carries out it prony time domain identifications, obtains actual dominant characteristics root, calculates frequency of oscillation and damping ratio；
3) it is incorporated to fault recovery signal in VSC-HVDC additional damping controller output ends, constituted based on fault recovery signal
VSC-HVDC additional damping controllers generate fault recovery signal PauxPilot controller by fault detect link, fault recovery
Signal Risk factor, output signal selection device three parts are constituted, when fault detect link is used for detecting system by big disturbance,
It sends out enable signal and gives another two link, Risk factor is made to generate step signal, output signal selection device is made to act, detect signal
The change rate for being dc power or connected ac bus voltage can be chosen；Fault recovery signal Risk factor is rapid for dc power
Power after drop restores, the fault recovery signal P of generationauxFor step response, exponentially rule decays for response, and rate of decay takes
Certainly in the time constant of inertial element；Output signal selection device is when big disturbance occurs for system, according to detection
Pilot controller is put into operation state, sends out fault recovery signal by enable signal；
4) meter and system damping effect, the static stability of single system is analyzed using small disturbance method, obtains the characteristic value of system
For λ1,2=σ ± j ω, and then the undulate quantity Δ P of direct current active powerdcChanging over time rule can use formula (1) to indicate,
ΔPdc=K ' eσtsin(ωt+θ) (1)
In formula, K ' is the proportionality coefficient of active power fluctuation amount；σ is attenuation constant；ω is low-frequency oscillation frequency；θ is initial phase,
The envelope of damped oscillation is chosen as fault recovery signal, but proportionality coefficient need to adjust, therefore Paux=-KeσtIf σ is certain,
The Proportional coefficient K for also needing to determine fault recovery signal at this time, can just construct fault recovery signal,
Additional longitudinal forces based on fault recovery signal improve the nargin of algorithm for power modulation to a certain extent, but due to direct current
The fluctuation of power will cause the voltage on DC line to fluctuate, thus cannot unconfined modulation dc power, accordingly, with respect to
The constraints that Proportional coefficient K is adjusted is, using the peak-valley difference of damped oscillation period 1 as limited target, with nominal DC power
2*20% be limitation range first derivative is asked to formula (1), obtains two extreme point t in one cycle1、t2, such as formula (2),
Calculate Δ Pdc(t1) and Δ Pdc(t2), and then peak-valley difference Δ is obtained, such as formula (3),
Δ=| Δ Pdc(t1)-ΔPdc(t2)|≤0.4PN (3)
In formula, PNFor the rated value of dc power, the maximum value K of parameter K is thus found outmax, i.e. the selection of parameter K should meet formula
(4),
To sum up obtain the dc power time-domain expression P generated by additional longitudinal forces modulationref, such as formula (5),
Pref=Pset+Pmod+Paux=1.0+K ' eσtsin(ωt+θ)+(-Keσt) (5)；
5) timing input of the fault recovery signal sent out for pilot controller, when VSC-HVDC is in specified operating status
Under, when microvariations occur for system, the modulation power of direct current, which will not result in serious overload phenomenon, to be occurred, due to fault detect ring
After the effect of section does not send out enable signal, i.e., only additional longitudinal forces put into operation, and large disturbances occur for system, due to attached
Add the effect of damping control, dc power that corresponding fluctuation occurs, to prevent overload phenomenon, pilot controller institute is added
The fault recovery signal sent out, gives additional damping controller adequately to modulate nargin, at the same give dc power restore when
Between, reducing its power and rises sharply the influence that rapid drawdown brings, i.e. additional damping controller puts into operation jointly with pilot controller, with
Oscillation is gradually reduced, and fault recovery signal is decayed therewith, until system tends towards stability, pilot controller is out of service.
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| HRP20220280T1 (en) * | 2018-03-13 | 2022-05-13 | Supergrid Institute | Method for controlling a power transmission link comprising a high voltage direct current line |
| CN110727899A (en) * | 2019-09-12 | 2020-01-24 | 广西电网有限责任公司电力科学研究院 | Power grid oscillation damping ratio calculation method |
| CN111082447B (en) * | 2019-12-16 | 2023-02-21 | 华北电力大学 | Additional phase change rate negative feedback control method for improving VSC-HVDC stability of connected weak alternating current power grid |
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