HVDC-VSC输电系统运行与控制的研究
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摘要
在过去，要远距离输送大功率电力几乎无一例外地采用了高压直流(HVDC)输电。随着电力电子技术的发展，以电压源换流器和绝缘栅双极晶体管为基础进行直流输电的条件已经具备。它将HVDC输电的经济范围扩展到了只有数个兆瓦的程度。此外，成本竞争方面的优势也可以使其作为一种可选方案来代替常规交流输电工程的建设或者在当地建设电厂的做法。
本文首先利用状态空间平均法建立了三相换流器的数学模型，根据模型对三相换流器的交流侧和直流侧进行了分析，论证了矢量脉宽调制在三相电压源换流器上应用的可行性，对三相换流器的主电路设计有着理论指导作用。
然后，根据两端连接有源网络的HVDC-VSC系统的稳态模型，确定两种典型控制方式下，在交流系统电压不对称时，HVDC-VSC三个控制量与两个被控量之间的合理对应关系，在此基础上设计了不对称控制器，并从理论上证明了所建的不对称控制器的正确性以及控制量与被控制量之间对应关系的合理性。
最后，为了验证模型的正确性、控制变量的对应关系以及控制方式的有效性，采用Matlab／Simulink仿真软件，调试出了不对称控制器各控制参数值。在稳态条件下的仿真结果表明，所设计的不对称控制器，具有足够的响应速度和响应精度；在交流系统发生单相故障的
不对称条件下，仿真结果表明所设计的不对称控制器也具有很好的控
制效果。
In the past, HVDC links have been used almost exclusively to transmit huge power over long distance. HVDC Light is a new transmission technology based on voltage sourced converters and insulated gate bipolar transistors that extend the economical power range of HVDC transmissions down to just a few megawatts, besides being a cost-competitive alternative to conventional AC transmission and local generation.
Firstly, the mathematical model of 3-phase voltage sourced converter is established using state space average method. Theoretical analysis on the DC and AC side characteristics of the 3-phase voltage sourced converter is conducted. The applicability of the space vector pulse-width modulation in the 3-phase voltage sourced converters is demonstrated. It is instructive for the main circuit design of the 3-phase voltage sourced converters.
Next, according to the steady-state mathematical model of a HVDC-VSC system which is connected to active networks on both sides, the control strategy of HVDC-VSC system are studied for two typical control manners and under asymmetrical conditions of AC system. The corresponding decoupled relationship between three controlling variables and two controlled variables in the voltage sourced converter is determined. An asymmetrical steady-state model controller for H.DC-VSC system is proposed and its effectiveness is proved.
Finally, Matlab/Simulink simulation software is used for the controller testing. Through the testing, the parameters of the asymmetrical controller are determined. The simulation results under steady state conditions show the sufficient response speed and accuracy of the asymmetrical controller model. And the effectiveness of the proposed control strategy under asymmetrical operating conditions of the AC system is also confirmed by the simulation testing.
本文首先利用状态空间平均法建立了三相换流器的数学模型，根据模型对三相换流器的交流侧和直流侧进行了分析，论证了矢量脉宽调制在三相电压源换流器上应用的可行性，对三相换流器的主电路设计有着理论指导作用。
然后，根据两端连接有源网络的HVDC-VSC系统的稳态模型，确定两种典型控制方式下，在交流系统电压不对称时，HVDC-VSC三个控制量与两个被控量之间的合理对应关系，在此基础上设计了不对称控制器，并从理论上证明了所建的不对称控制器的正确性以及控制量与被控制量之间对应关系的合理性。
最后，为了验证模型的正确性、控制变量的对应关系以及控制方式的有效性，采用Matlab／Simulink仿真软件，调试出了不对称控制器各控制参数值。在稳态条件下的仿真结果表明，所设计的不对称控制器，具有足够的响应速度和响应精度；在交流系统发生单相故障的
不对称条件下，仿真结果表明所设计的不对称控制器也具有很好的控
制效果。
In the past, HVDC links have been used almost exclusively to transmit huge power over long distance. HVDC Light is a new transmission technology based on voltage sourced converters and insulated gate bipolar transistors that extend the economical power range of HVDC transmissions down to just a few megawatts, besides being a cost-competitive alternative to conventional AC transmission and local generation.
Firstly, the mathematical model of 3-phase voltage sourced converter is established using state space average method. Theoretical analysis on the DC and AC side characteristics of the 3-phase voltage sourced converter is conducted. The applicability of the space vector pulse-width modulation in the 3-phase voltage sourced converters is demonstrated. It is instructive for the main circuit design of the 3-phase voltage sourced converters.
Next, according to the steady-state mathematical model of a HVDC-VSC system which is connected to active networks on both sides, the control strategy of HVDC-VSC system are studied for two typical control manners and under asymmetrical conditions of AC system. The corresponding decoupled relationship between three controlling variables and two controlled variables in the voltage sourced converter is determined. An asymmetrical steady-state model controller for H.DC-VSC system is proposed and its effectiveness is proved.
Finally, Matlab/Simulink simulation software is used for the controller testing. Through the testing, the parameters of the asymmetrical controller are determined. The simulation results under steady state conditions show the sufficient response speed and accuracy of the asymmetrical controller model. And the effectiveness of the proposed control strategy under asymmetrical operating conditions of the AC system is also confirmed by the simulation testing.
引文
[1] 浙江大学发电教研组直流输电科研组，直流输电[M]，北京：水利电力出版社，1985．
[2] 张桂斌，徐政，直流输电技术的新发展，中国电力，Vol．33，No．3，Mar．2000(32-35)．
[3] Xiao Wang, Boon-Tech Ooi. High voltage direct current transmission system based on voltage source converters[C]. PESC'90 Record volume Ⅰ: 325-332.
[4] Boon-Teck Ooi, Xiao Wang. Voltage angle lock loop control of the boost type PWM converter for HVDC application[J]. IEEE Transactions on Power Electronics, 1990, 5(2): 229-235.
[5] Boon-Teck Ooi, Xiao Wang. Boost type PWM HVDC transmission system[J]. IEEE Transactions on Power Delivery, 1991, 6(1): 1557-1563.
[6] B T Ooi, F D Galiana, D McGillis, H C Lee X Wang, Y Guo. Research in pulse width modulated HVDC transmission, 17-20, Sept, 1991: 188-193.
[7] Jiang Hongbo et al. Multiterminal HVDC Systems in Urban Areas of Large Cities. IEEE Trans on Power Delivery, 1998;13(4): 1278-1284.
[8] Fidel S Correa, Leif R Wilhelmsson, Jacques F Allaire. Supply to rapidly growing cities and areas. Cigre Symposium, Kuala Lumpur, Malaysia, September 1999.
[9] Anthony S Cook, Mike Wyckmans, Lars Weimers, Kjell Eriksson. Network interconnection using HVDC Light. Dirtribution 2000 Conference, Brisbane. Australia, November 1999.
[10] Suzuki Hirokazu, Nakajima Tatsuhito et al. Development and Testing of Prototype Modules for a High-Performance 300 MW Self_Commutated AC/DC Converter. IEEE Trans. On Power Delivery, 1997; 12(4): 1589-1597.
[11] L.A.S. Pilotto, A. Bianco, M.Aredes, E.H.Watanabe. Back-to back VSC Devices: A New Solution for the Interconnectioa of Asynchronous ac systems. CIGRE, 2000.
[12] Urban Axelsson, Anders Holm, Christer Liljegren, Kjell Eriksson, Lars Weimers. Gotland HVDC Light Transmission—World's First Commercial Small Scale DC Transmission. CIRED Conference, May 1999, Nice, France.
[13] A Lindberg, T Larsson. PWM and control of three level voltage source converters in an HVDC back-to-back station[C]. Conference on AC and DC Power Transmission, 29 April-3 May, 1996: 297-302.
[14] 王官洁，任震，高压直流输电技术[M]．重庆：重庆大学出版社，1997。
[15] 黄俊，王兆安．电力电子交流技术[M]．第4版．北京：机械工业出版社，2001．
[16] 李序葆，赵永健．电力电子器件及其应用[M]．北京：机械工业出版社，1996．
[17] 武娟，任震，黄雯莹，代英筠，轻型直流输电的运行机理和特性分析，华南理工大学学报(自然科学版)，Vol．29，2000(41-44)．
[18] Gunnar Asplund，Kjell Eriksson，Kjell Svensson，HVDC Light 以电压源换流器为基础的直流输电技术，国际电力，No．3，1999(38-43)．
[19] 张桂斌，徐政，王广柱，基于VSC的直流输电系统的稳态建模及其非线性控制，中国电机工程学报，Vol．22，No．1，Jan 2002(17-22)．
[20] Guibin Zhang, Zheng Xu, Hongtao Liu, Supply Passive Networks with VSC-HVDC, 2001 IEEE Meeting.
[21] F.Schettler, H. Huang, N. Christ1, HVDC Transmission Systems using Voltage Sourced Converters Design and Applications, 2000 IEEE Meeting.
[22] Gunnar Asplund, Application of HVDC Light to Power System Enhancement, 2000 IEEE Meeting.
[23] Asplund G．Eriksson K．Svensson K．基于电压源换流器的直流输电。CIGRE SC14 Colloguium，South Africa，1997．
[24] Asplund G, Eriksson K, et al. DC transmission based on voltage source converters[C]. CIGRE, 1998.
[25] Stendius L. Erisson K. HVDC Light—An excellent tool for city center infeed[C].PowerGen Conference, Singapore. 1999.
[26] Grunbaum R. Halvarsson B. Wilk-Wilezynski A. FACTS and HVDC Light for power system interconnections[S]. Power Delivery Conference. Madrid, Spain, 1999.
[27] Staff report. Making light of HVDC transmission in Gotland[R], 1998.
[28] Asplund G, Eriksson K, Svensson K. HVDC Light-DC transmission based on voltage sourced converters[J]. ABB Review, 1998(1): 4-6.
[29] Z. Zhao, M.R.Iravani, APPLICATION OF GTO VOLTAGE SOURCE INVERTERNIN A HYBRID
HVDC LINK. IEEE Transactions on Power Delivery, Vol. 9, No.1, 1994(1): 369-375.
[30] Akagi H, Kanazawa Y and Nabac A. Instantaneous reactive power compensators comprising switching device without energy storage components[J]. IEEE Transactions on Industry Applications. 1984. 20(3): 625-630.
[31] 王兆安，李民，卓放．三相电路瞬时无功功率理论的研究．电工技术学报．1992，7(3)：55-59．
[32] 张桂斌，新型直流输电及其相关技术研究(博士论文)，浙江大学，2001．
[33] Kjell Eriksson, Tomas Jonsson, Ore Tollerz. Small scale transmission to AC networks by HVDC light. The 12th Cepsi Conference in Pattaya, Thailland, November 1998.
[34] Gunnar Asplund, Kjell Eriksson, Ove Tollerz. HVDE Light, a tool for electric power transmission to distant loads[C]. Ⅵ Sepope Conference, Salvador, Brazil, May 1998.
[35] 李兴源，高压直流输电系统的运行与控制[M]，科学出版社．1998．
[36] 胡寿松，自动控制原理(第四版)[M]，科学出版社．2001．
[37] 薛定宇，反馈控制系统设计与分析—MATLAB语言应用[M]，清华大学出版社．2000．
[38] 陈桂明，张明照，戚红雨等，应用MATLAB建模与仿真[M]，科学出版社．2001．
[39] [日] 堀孝正，电力电子学[M]，科学出版社．2001．
[40] [日] 正田英介，揇本一幸，电力电子学[M]，科学出版社．2001．
[41] Katsuhiko Ogata, Modern Control Engineering (Forth Edition)[M], Prentice Hall. 2001.
[42] CARSON W．TAYLOR，Power System Voltage Stability[M]，中国电力出版社．2001．
[43] 洪维恩，魏宝琛，数学运算大师Mathematica 4[M]，人民邮电出版社．2002．
[44] PRABHA KUNDUR，Power System Stability and Control[M]，中国电力出版社．2001．
[45] 史伟伟，蒋全，胡敏强等，三相电压型PWM整流器的数学模型和主电路设计，东南大学学报．Vol．32，No．1，2002(1)：50-55．
[2] 张桂斌，徐政，直流输电技术的新发展，中国电力，Vol．33，No．3，Mar．2000(32-35)．
[3] Xiao Wang, Boon-Tech Ooi. High voltage direct current transmission system based on voltage source converters[C]. PESC'90 Record volume Ⅰ: 325-332.
[4] Boon-Teck Ooi, Xiao Wang. Voltage angle lock loop control of the boost type PWM converter for HVDC application[J]. IEEE Transactions on Power Electronics, 1990, 5(2): 229-235.
[5] Boon-Teck Ooi, Xiao Wang. Boost type PWM HVDC transmission system[J]. IEEE Transactions on Power Delivery, 1991, 6(1): 1557-1563.
[6] B T Ooi, F D Galiana, D McGillis, H C Lee X Wang, Y Guo. Research in pulse width modulated HVDC transmission, 17-20, Sept, 1991: 188-193.
[7] Jiang Hongbo et al. Multiterminal HVDC Systems in Urban Areas of Large Cities. IEEE Trans on Power Delivery, 1998;13(4): 1278-1284.
[8] Fidel S Correa, Leif R Wilhelmsson, Jacques F Allaire. Supply to rapidly growing cities and areas. Cigre Symposium, Kuala Lumpur, Malaysia, September 1999.
[9] Anthony S Cook, Mike Wyckmans, Lars Weimers, Kjell Eriksson. Network interconnection using HVDC Light. Dirtribution 2000 Conference, Brisbane. Australia, November 1999.
[10] Suzuki Hirokazu, Nakajima Tatsuhito et al. Development and Testing of Prototype Modules for a High-Performance 300 MW Self_Commutated AC/DC Converter. IEEE Trans. On Power Delivery, 1997; 12(4): 1589-1597.
[11] L.A.S. Pilotto, A. Bianco, M.Aredes, E.H.Watanabe. Back-to back VSC Devices: A New Solution for the Interconnectioa of Asynchronous ac systems. CIGRE, 2000.
[12] Urban Axelsson, Anders Holm, Christer Liljegren, Kjell Eriksson, Lars Weimers. Gotland HVDC Light Transmission—World's First Commercial Small Scale DC Transmission. CIRED Conference, May 1999, Nice, France.
[13] A Lindberg, T Larsson. PWM and control of three level voltage source converters in an HVDC back-to-back station[C]. Conference on AC and DC Power Transmission, 29 April-3 May, 1996: 297-302.
[14] 王官洁，任震，高压直流输电技术[M]．重庆：重庆大学出版社，1997。
[15] 黄俊，王兆安．电力电子交流技术[M]．第4版．北京：机械工业出版社，2001．
[16] 李序葆，赵永健．电力电子器件及其应用[M]．北京：机械工业出版社，1996．
[17] 武娟，任震，黄雯莹，代英筠，轻型直流输电的运行机理和特性分析，华南理工大学学报(自然科学版)，Vol．29，2000(41-44)．
[18] Gunnar Asplund，Kjell Eriksson，Kjell Svensson，HVDC Light 以电压源换流器为基础的直流输电技术，国际电力，No．3，1999(38-43)．
[19] 张桂斌，徐政，王广柱，基于VSC的直流输电系统的稳态建模及其非线性控制，中国电机工程学报，Vol．22，No．1，Jan 2002(17-22)．
[20] Guibin Zhang, Zheng Xu, Hongtao Liu, Supply Passive Networks with VSC-HVDC, 2001 IEEE Meeting.
[21] F.Schettler, H. Huang, N. Christ1, HVDC Transmission Systems using Voltage Sourced Converters Design and Applications, 2000 IEEE Meeting.
[22] Gunnar Asplund, Application of HVDC Light to Power System Enhancement, 2000 IEEE Meeting.
[23] Asplund G．Eriksson K．Svensson K．基于电压源换流器的直流输电。CIGRE SC14 Colloguium，South Africa，1997．
[24] Asplund G, Eriksson K, et al. DC transmission based on voltage source converters[C]. CIGRE, 1998.
[25] Stendius L. Erisson K. HVDC Light—An excellent tool for city center infeed[C].PowerGen Conference, Singapore. 1999.
[26] Grunbaum R. Halvarsson B. Wilk-Wilezynski A. FACTS and HVDC Light for power system interconnections[S]. Power Delivery Conference. Madrid, Spain, 1999.
[27] Staff report. Making light of HVDC transmission in Gotland[R], 1998.
[28] Asplund G, Eriksson K, Svensson K. HVDC Light-DC transmission based on voltage sourced converters[J]. ABB Review, 1998(1): 4-6.
[29] Z. Zhao, M.R.Iravani, APPLICATION OF GTO VOLTAGE SOURCE INVERTERNIN A HYBRID
HVDC LINK. IEEE Transactions on Power Delivery, Vol. 9, No.1, 1994(1): 369-375.
[30] Akagi H, Kanazawa Y and Nabac A. Instantaneous reactive power compensators comprising switching device without energy storage components[J]. IEEE Transactions on Industry Applications. 1984. 20(3): 625-630.
[31] 王兆安，李民，卓放．三相电路瞬时无功功率理论的研究．电工技术学报．1992，7(3)：55-59．
[32] 张桂斌，新型直流输电及其相关技术研究(博士论文)，浙江大学，2001．
[33] Kjell Eriksson, Tomas Jonsson, Ore Tollerz. Small scale transmission to AC networks by HVDC light. The 12th Cepsi Conference in Pattaya, Thailland, November 1998.
[34] Gunnar Asplund, Kjell Eriksson, Ove Tollerz. HVDE Light, a tool for electric power transmission to distant loads[C]. Ⅵ Sepope Conference, Salvador, Brazil, May 1998.
[35] 李兴源，高压直流输电系统的运行与控制[M]，科学出版社．1998．
[36] 胡寿松，自动控制原理(第四版)[M]，科学出版社．2001．
[37] 薛定宇，反馈控制系统设计与分析—MATLAB语言应用[M]，清华大学出版社．2000．
[38] 陈桂明，张明照，戚红雨等，应用MATLAB建模与仿真[M]，科学出版社．2001．
[39] [日] 堀孝正，电力电子学[M]，科学出版社．2001．
[40] [日] 正田英介，揇本一幸，电力电子学[M]，科学出版社．2001．
[41] Katsuhiko Ogata, Modern Control Engineering (Forth Edition)[M], Prentice Hall. 2001.
[42] CARSON W．TAYLOR，Power System Voltage Stability[M]，中国电力出版社．2001．
[43] 洪维恩，魏宝琛，数学运算大师Mathematica 4[M]，人民邮电出版社．2002．
[44] PRABHA KUNDUR，Power System Stability and Control[M]，中国电力出版社．2001．
[45] 史伟伟，蒋全，胡敏强等，三相电压型PWM整流器的数学模型和主电路设计，东南大学学报．Vol．32，No．1，2002(1)：50-55．