VSC-HVDC输电系统的协调控制与稳态分析方法研究
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摘要
电压源换流器型高压直流(VSC-HVDC)输电技术是一种基于电压源型换流器、全控型开关器件和脉冲宽度调制的新型直流输电技术。VSC-HVDC输电技术具有多种传统直流输电技术无法媲美的优点,如能够实现有功和无功功率的快速独立控制,具有一定的动态无功补偿能力,改善电能质量,向无源网络供电,容易实现潮流翻转和多端直流等等。因此,VSC-HVDC输电技术非常适用于可再生能源发电并网、城市电网和孤岛电网供电、交流系统的非同步互联以及电力市场交易等领域,具有广阔的应用前景和商业价值,受到了广大学者和工程师们的密切关注；世界范围内的工程实践正如火如荼地展开。控制策略是VSC-HVDC输电系统持续安全运行的关键。一方面,为了保证各种工况下直流系统的电压控制与功率平衡,必须对换流站的协调控制进行深入的研究,设计有效而可靠的本地直流电压控制器。另一方面,仅采用本地直流电压控制器难以保证VSC-HVDC系统在各种运行工况下的安全性和经济性,需要探索和设计基于远程通信的上层调度控制方法。
正是在这样的背景下,本文围绕两端VSC-HVDC输电系统的故障控制、电压源换流器型多端直流(VSC-MTDC)输电系统协调控制与稳态分析方法等相关的若干问题展开研究工作。本文的主要内容包括：
(1)基于滞环控制的VSC-HVDC输电系统模式切换控制策略。
分析了VSC-HVDC系统在主导换流站交流侧电网故障下的模式切换控制策略,提出了基于滞环和本地直流电压检测的模式切换控制,并给出了该控制的实现方法。推导了正常运行时直流功率与两侧换流器直流电压的关系式,给出了定有功功率控制换流器的直流电压正常工作范围的计算方法,提出了模式切换控制策略中直流电压阈值和故障穿越期间直流电压参考值的确定方法。最后,PSCAD/EMTDC仿真验证了在不同故障类型和不同运行方式下VSC-HVDC系统模式切换控制策略的有效性；仿真结果表明,该直流电压闽值与参考值的确定方法能够为模式切换控制策略的指令值整定与配合提供可靠的参考。
(2)基于附加信号的VSC-HVDC输电系统改进有功功率控制策略。
给出了改进有功功率控制器的功率特性曲线,提出了外环有功功率控制器的设计方法,推导了有功功率修正值的计算公式,并分析了该控制器在正常运行和故障两种情况下的工作原理。PSCAD/EMTDC仿真研究表明,在电网电压跌落或主导换流站停运等暂态扰动情况下,本文提出的控制策略能够维持直流电压在安全运行范围内,保证系统的安全可靠运行。
(3)四端VSC-MTDC输电系统的协调控制策略。
针对典型的应用于风电并网的四端VSC-MTDC输电系统,分析了直流网络的潮流分布,推导了直流网络的潮流计算模型,提出了基于直流电压-有功功率下降调节特性的辅助换流站有功控制方法,推导了平均控制和优先控制两种模式下系统参数的整定与计算方法。给出了主导换流站或辅助换流站因故障停运时采用泄放回路实现故障穿越的方法。PSCAD/EMTDC仿真验证了在不同工况下协调控制策略的有效性,MATLAB编程验证了直流潮流计算模型的准确性。
(4)五端VSC-MTDC输电系统的协调控制策略。
针对典型的应用于风电并网的五端直流输电系统,提出了基于本地控制器的换流站间协调控制策略,基于直流电压-有功功率调节特性给出了辅助换流站的改进下降控制策略以及APC换流站的改进控制策略,分析了两种换流站的控制模式。根据直流网络的潮流分布和最大最小运行方式给出了辅助换流站和APC换流站参数选择的依据。PSCAD/EMTDC仿真验证了正常、主导站故障和辅助站故障工况下协调控制策略的有效性。
(5) VSC-MTDC输电系统的直流侧运行特性分析与稳态工作点计算方法。
由于换流站数目、控制模式以及指令值的不同,VSC-MTDC输电系统在实际运行中具有多种运行方式,并且随着电网运行条件的变化,VSC-MTDC输电系统的运行方式也随之改变。因此,直流运行中心需要根据换流站运行特性、电网条件和系统参数等快速确定VSC-MTDC输电系统运行控制模式与系统状态量,这对系统快速调控和安全运行具有重要意义。基于此,分析了主导换流站、辅助换流站、定有功功率控制换流站和风电场换流站的直流电压-电流运行特性,推导了各换流站在不同控制模式下的特性方程,给出了各换流站不同控制模式下的电气量范围。提出了VSC-MTDC输电系统稳态工作点的计算方法,完善了换流站的控制模式修正方法。以典型的五端直流输电系统为例,MATLAB编程验证了直流运行特性分析方法和稳态工作点计算方法的准确性；计算结果表明该稳态分析方法能够快速准确地计算出VSC-MTDC输电系统的稳态工作点。
(6)基于N-1准则的VSC-MTDC输电系统稳态调控方案。
分析了VSC-MTDC输电系统的安全稳定运行条件。提出了一种基于N-1准则的VSC-MTDC输电系统稳态调控方案；基于连续潮流计算和换流站的电压、功率限制,设计了应对主导站和非主导站停运的调控策略。提出了换流站停运调控策略无解情况下有功功率指令值的优化方法,定义了优化后有功功率指令值的评价指标以用于寻找最优解。以典型的五端VSC-MTDC输电系统为例,利用MATLAB编程验证了该调控方案的可行性和准确性。计算结果表明,该调控方案能够为VSC-MTDC输电系统提供可靠安全的指令值。该稳态调控方案可用于保证系统在正常运行和换流站N-1故障下的直流电压安全和功率平衡以及系统运行方式的最优化,为直流系统的运行调度与规划设计提供一些有益的参考。
Voltage source converter based high voltage dc (VSC-HVDC) transmission technology is a kind of new dc transmission based on voltage source converter, full controlled power electronics device and pulse width modulation. VSC-HVDC technology has lots of advantages, such as fast independent control of active and reactive power, dynamic reactive power compensation ability, power energy quality improving ability, passive network power supply capacity, unaltered voltage polarity when flow is turned, easy to form multi-terminal dc (MTDC) network, etc. Therefore, it's dramatically adapted to renewable generating integration, power supply of urban grids and island networks, asynchronous interconnection of ac system, electricity market trading, etc., which has a broad application prospect and business value. What's more, it is paid close attention by many scholars and engineers and its engineering practice is in full swing within the whole world scope. Control strategy is the key of VSC-HVDC transmission system. On one side, effective and reliable local dc voltage controllers need to be designed and the coordination control between converter stations should be researched, for ensuring dc system voltage control and power balance under all operation conditions. On the other one, only with the local dc voltage controller is difficult to guarantee the VSC-MTDC system safety and economy under various operation conditions, so the upper dispatching control based on remote communication needs to be explored.
Based on the above, the key of this paper is fault control of two-terminal VSC-HVDC system, coordination control and steady-state analysis method of VSC-MTDC system. The specific research works are as follows:
(1) A hysteresis loop control based mode switching control strategy VSC-HVDC transmission system.
Mode switching control strategy under ac system fault of DC voltage control side is analyzed. A mode switching control based on hysteresis loop and local DC voltage detection is proposed and implementation of this method is given. Then, relationship between DC power and voltages of both sides under steady state is derived and a method for calculating DC voltage working range of active power control converter is given. Based on the above, a method for determining DC voltage thresholds and references in the mode switching control strategy is put forward. Finally, simulations are undertaken in PSCAD/EMTDC to verify the validity of the mode switching control strategy under various faults and operating state, and results show that this determination method can provide mode switching control strategy of VSC-HVDC system with a reliable and accurate reference.
(2) An advanced active power control strategy based on additional signal for VSC-HVDC transmission system.
Power characteristics of the advanced controller are given. The outer-loop active power controller is designed and calculation formula of active power correction is derived. Operating principle of the controller is analyzed while VSC-HVDC system operates in both normal and fault states. Simulation studies are undertaken in PSCAD/EMTDC to verify that the proposed control strategy can guarantee DC voltage within safe range when AC voltage sags or the leading converter breaks down suddenly. Results show that the control strategy can improve system security and reliability.
(3) Coordination control strategy of Four-terminal VSC-MTDC transmission system.
Taking a typical four-terminal VSC-MTDC transmission system applied to wind power integration for example, dc power flow distribution is analyzed, dc flow calculation model is derived and active power control of assistant converter station with dc voltage-active power characteristic is proposed. A fault ride through method with damping circuit is given when master or assistant converter station outages. Simulations in PSCAD/EMTDC are conducted to verify the validity of coordination dc voltage control method under various operating state and MATLAB programming are undertaken to verify the accuracy of dc power flow model.
(4) Coordination control strategy of Five-terminal VSC-MTDC transmission system.
Using a typical five-terminal VSC-MTDC transmission system applied to wind power integration as an example, a coordination control strategy based on local controller among converter stations is proposed, improved control strategy for assistant and APC converter station are proposed respectively based on dc voltage-active power characteristic, and working modes of the two converter stations are analyzed. The parameter selection method of assistant and APC converter station is presented via dc power flow distribution and maximum/minimum operation mode. Simulations in PSCAD/EMTDC are conducted to validate the coordination dc voltage control method under normal, master converter station fault and assistant converter station fault conditions respectively.
(5) DC operation characteristic analysis and steady-state point calculation of VSC-MTDC transmission system.
VSC-MTDC transmission system is of various operating mode in practice: because of different converter numbers, converter control mode and orders. As the change of power grid operation conditions, control mode of VSC-MTDC transmission system is changed accordingly. Thus, operation center in VSC-MTDC system needs determine converter station control modes and state variables quickly based on converter operating characteristic, power grid conditions and system parameters, which is of great significance to fast dispatching and operation security. This paper analyses dc voltage-current characteristic of the master converter, assistant converter, active-power-control converter and wind-farm-side converter, while characteristic equations of all converters in all control modes are derived and electric-parameter range under different control mode is given. Steady-state-point calculation method is proposed and the correction method of converter station control mode is completed. Taking a typical fiver-terminal dc transmission system for example, MATLAB programming is conducted to verify the validity of dc characteristic analysis and steady-state-point calculation method. Results show that the proposed method can get the steady state operation point quickly and accurately.
(6) An N-1principle based steady-state control scheme of VSC-MTDC transmission system.
The requirements for maintaining VSC-MTDC transmission system safe and stable are analyzed. An N-1principle based control strategy is proposed for guaranteeing steady-state safe. Basing on continuous dc power flow calculation method and considering dc voltage limit and real power limit, control strategy is designed in detail which copes with one-converter-lost fault. A method of optimizing real power references is illustrated when there is no solution in the steady-state control strategy. An evaluation index is defined for searching the best real power references after optimization. Finally, a typical five-terminal dc system is introduced to verify feasibility and accuracy of the proposed strategy using MATLAB programming. Results show that this method can provide VSC-MTDC transmission system with reliable and safe references. The proposed steady-state control scheme can keep dc voltage safe, balance dc power and realize optimization of system operation mode under normal and N-1fault conditions, which will supply a reliable reference for dc system operation and dispatching.
正是在这样的背景下,本文围绕两端VSC-HVDC输电系统的故障控制、电压源换流器型多端直流(VSC-MTDC)输电系统协调控制与稳态分析方法等相关的若干问题展开研究工作。本文的主要内容包括：
(1)基于滞环控制的VSC-HVDC输电系统模式切换控制策略。
分析了VSC-HVDC系统在主导换流站交流侧电网故障下的模式切换控制策略,提出了基于滞环和本地直流电压检测的模式切换控制,并给出了该控制的实现方法。推导了正常运行时直流功率与两侧换流器直流电压的关系式,给出了定有功功率控制换流器的直流电压正常工作范围的计算方法,提出了模式切换控制策略中直流电压阈值和故障穿越期间直流电压参考值的确定方法。最后,PSCAD/EMTDC仿真验证了在不同故障类型和不同运行方式下VSC-HVDC系统模式切换控制策略的有效性；仿真结果表明,该直流电压闽值与参考值的确定方法能够为模式切换控制策略的指令值整定与配合提供可靠的参考。
(2)基于附加信号的VSC-HVDC输电系统改进有功功率控制策略。
给出了改进有功功率控制器的功率特性曲线,提出了外环有功功率控制器的设计方法,推导了有功功率修正值的计算公式,并分析了该控制器在正常运行和故障两种情况下的工作原理。PSCAD/EMTDC仿真研究表明,在电网电压跌落或主导换流站停运等暂态扰动情况下,本文提出的控制策略能够维持直流电压在安全运行范围内,保证系统的安全可靠运行。
(3)四端VSC-MTDC输电系统的协调控制策略。
针对典型的应用于风电并网的四端VSC-MTDC输电系统,分析了直流网络的潮流分布,推导了直流网络的潮流计算模型,提出了基于直流电压-有功功率下降调节特性的辅助换流站有功控制方法,推导了平均控制和优先控制两种模式下系统参数的整定与计算方法。给出了主导换流站或辅助换流站因故障停运时采用泄放回路实现故障穿越的方法。PSCAD/EMTDC仿真验证了在不同工况下协调控制策略的有效性,MATLAB编程验证了直流潮流计算模型的准确性。
(4)五端VSC-MTDC输电系统的协调控制策略。
针对典型的应用于风电并网的五端直流输电系统,提出了基于本地控制器的换流站间协调控制策略,基于直流电压-有功功率调节特性给出了辅助换流站的改进下降控制策略以及APC换流站的改进控制策略,分析了两种换流站的控制模式。根据直流网络的潮流分布和最大最小运行方式给出了辅助换流站和APC换流站参数选择的依据。PSCAD/EMTDC仿真验证了正常、主导站故障和辅助站故障工况下协调控制策略的有效性。
(5) VSC-MTDC输电系统的直流侧运行特性分析与稳态工作点计算方法。
由于换流站数目、控制模式以及指令值的不同,VSC-MTDC输电系统在实际运行中具有多种运行方式,并且随着电网运行条件的变化,VSC-MTDC输电系统的运行方式也随之改变。因此,直流运行中心需要根据换流站运行特性、电网条件和系统参数等快速确定VSC-MTDC输电系统运行控制模式与系统状态量,这对系统快速调控和安全运行具有重要意义。基于此,分析了主导换流站、辅助换流站、定有功功率控制换流站和风电场换流站的直流电压-电流运行特性,推导了各换流站在不同控制模式下的特性方程,给出了各换流站不同控制模式下的电气量范围。提出了VSC-MTDC输电系统稳态工作点的计算方法,完善了换流站的控制模式修正方法。以典型的五端直流输电系统为例,MATLAB编程验证了直流运行特性分析方法和稳态工作点计算方法的准确性；计算结果表明该稳态分析方法能够快速准确地计算出VSC-MTDC输电系统的稳态工作点。
(6)基于N-1准则的VSC-MTDC输电系统稳态调控方案。
分析了VSC-MTDC输电系统的安全稳定运行条件。提出了一种基于N-1准则的VSC-MTDC输电系统稳态调控方案；基于连续潮流计算和换流站的电压、功率限制,设计了应对主导站和非主导站停运的调控策略。提出了换流站停运调控策略无解情况下有功功率指令值的优化方法,定义了优化后有功功率指令值的评价指标以用于寻找最优解。以典型的五端VSC-MTDC输电系统为例,利用MATLAB编程验证了该调控方案的可行性和准确性。计算结果表明,该调控方案能够为VSC-MTDC输电系统提供可靠安全的指令值。该稳态调控方案可用于保证系统在正常运行和换流站N-1故障下的直流电压安全和功率平衡以及系统运行方式的最优化,为直流系统的运行调度与规划设计提供一些有益的参考。
Voltage source converter based high voltage dc (VSC-HVDC) transmission technology is a kind of new dc transmission based on voltage source converter, full controlled power electronics device and pulse width modulation. VSC-HVDC technology has lots of advantages, such as fast independent control of active and reactive power, dynamic reactive power compensation ability, power energy quality improving ability, passive network power supply capacity, unaltered voltage polarity when flow is turned, easy to form multi-terminal dc (MTDC) network, etc. Therefore, it's dramatically adapted to renewable generating integration, power supply of urban grids and island networks, asynchronous interconnection of ac system, electricity market trading, etc., which has a broad application prospect and business value. What's more, it is paid close attention by many scholars and engineers and its engineering practice is in full swing within the whole world scope. Control strategy is the key of VSC-HVDC transmission system. On one side, effective and reliable local dc voltage controllers need to be designed and the coordination control between converter stations should be researched, for ensuring dc system voltage control and power balance under all operation conditions. On the other one, only with the local dc voltage controller is difficult to guarantee the VSC-MTDC system safety and economy under various operation conditions, so the upper dispatching control based on remote communication needs to be explored.
Based on the above, the key of this paper is fault control of two-terminal VSC-HVDC system, coordination control and steady-state analysis method of VSC-MTDC system. The specific research works are as follows:
(1) A hysteresis loop control based mode switching control strategy VSC-HVDC transmission system.
Mode switching control strategy under ac system fault of DC voltage control side is analyzed. A mode switching control based on hysteresis loop and local DC voltage detection is proposed and implementation of this method is given. Then, relationship between DC power and voltages of both sides under steady state is derived and a method for calculating DC voltage working range of active power control converter is given. Based on the above, a method for determining DC voltage thresholds and references in the mode switching control strategy is put forward. Finally, simulations are undertaken in PSCAD/EMTDC to verify the validity of the mode switching control strategy under various faults and operating state, and results show that this determination method can provide mode switching control strategy of VSC-HVDC system with a reliable and accurate reference.
(2) An advanced active power control strategy based on additional signal for VSC-HVDC transmission system.
Power characteristics of the advanced controller are given. The outer-loop active power controller is designed and calculation formula of active power correction is derived. Operating principle of the controller is analyzed while VSC-HVDC system operates in both normal and fault states. Simulation studies are undertaken in PSCAD/EMTDC to verify that the proposed control strategy can guarantee DC voltage within safe range when AC voltage sags or the leading converter breaks down suddenly. Results show that the control strategy can improve system security and reliability.
(3) Coordination control strategy of Four-terminal VSC-MTDC transmission system.
Taking a typical four-terminal VSC-MTDC transmission system applied to wind power integration for example, dc power flow distribution is analyzed, dc flow calculation model is derived and active power control of assistant converter station with dc voltage-active power characteristic is proposed. A fault ride through method with damping circuit is given when master or assistant converter station outages. Simulations in PSCAD/EMTDC are conducted to verify the validity of coordination dc voltage control method under various operating state and MATLAB programming are undertaken to verify the accuracy of dc power flow model.
(4) Coordination control strategy of Five-terminal VSC-MTDC transmission system.
Using a typical five-terminal VSC-MTDC transmission system applied to wind power integration as an example, a coordination control strategy based on local controller among converter stations is proposed, improved control strategy for assistant and APC converter station are proposed respectively based on dc voltage-active power characteristic, and working modes of the two converter stations are analyzed. The parameter selection method of assistant and APC converter station is presented via dc power flow distribution and maximum/minimum operation mode. Simulations in PSCAD/EMTDC are conducted to validate the coordination dc voltage control method under normal, master converter station fault and assistant converter station fault conditions respectively.
(5) DC operation characteristic analysis and steady-state point calculation of VSC-MTDC transmission system.
VSC-MTDC transmission system is of various operating mode in practice: because of different converter numbers, converter control mode and orders. As the change of power grid operation conditions, control mode of VSC-MTDC transmission system is changed accordingly. Thus, operation center in VSC-MTDC system needs determine converter station control modes and state variables quickly based on converter operating characteristic, power grid conditions and system parameters, which is of great significance to fast dispatching and operation security. This paper analyses dc voltage-current characteristic of the master converter, assistant converter, active-power-control converter and wind-farm-side converter, while characteristic equations of all converters in all control modes are derived and electric-parameter range under different control mode is given. Steady-state-point calculation method is proposed and the correction method of converter station control mode is completed. Taking a typical fiver-terminal dc transmission system for example, MATLAB programming is conducted to verify the validity of dc characteristic analysis and steady-state-point calculation method. Results show that the proposed method can get the steady state operation point quickly and accurately.
(6) An N-1principle based steady-state control scheme of VSC-MTDC transmission system.
The requirements for maintaining VSC-MTDC transmission system safe and stable are analyzed. An N-1principle based control strategy is proposed for guaranteeing steady-state safe. Basing on continuous dc power flow calculation method and considering dc voltage limit and real power limit, control strategy is designed in detail which copes with one-converter-lost fault. A method of optimizing real power references is illustrated when there is no solution in the steady-state control strategy. An evaluation index is defined for searching the best real power references after optimization. Finally, a typical five-terminal dc system is introduced to verify feasibility and accuracy of the proposed strategy using MATLAB programming. Results show that this method can provide VSC-MTDC transmission system with reliable and safe references. The proposed steady-state control scheme can keep dc voltage safe, balance dc power and realize optimization of system operation mode under normal and N-1fault conditions, which will supply a reliable reference for dc system operation and dispatching.
引文
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