技术领域technical field
本发明属于电力系统安全运行控制领域，是一种基于故障恢复信号的VSC-HVDC附加阻尼控制方法。The invention belongs to the field of power system safety operation control, and relates to a VSC-HVDC additional damping control method based on fault recovery signals.
背景技术Background technique
我国电力系统随着大区联网的出现，低频振荡现象逐年增多，其严重性甚至超过了暂态稳定性，成为系统安全稳定运行的主要障碍。世界电力工业发展的经验已经表明：随着电力系统规模不断扩大，大区间联网，以及高增益励磁调节器的广泛采用，使得危及全网安全的低频振荡现象将呈现多发趋势。低频振荡与系统的小干扰稳定性密切相关,表现为发电机转子之间相对摇摆，输电线上功率持续振荡，极易引发大面积停电事故，极大地威胁系统的安全运行。With the emergence of large-scale interconnection in my country's power system, the phenomenon of low-frequency oscillation is increasing year by year, and its severity even exceeds the transient stability, which has become the main obstacle to the safe and stable operation of the system. The experience of the development of the world's electric power industry has shown that with the continuous expansion of the scale of the power system, large-scale inter-connection, and the widespread adoption of high-gain excitation regulators, low-frequency oscillations that endanger the safety of the entire network will show a trend of frequent occurrence. Low-frequency oscillation is closely related to the small-disturbance stability of the system. It is manifested in the relative swing between the rotors of the generator and the continuous oscillation of power on the transmission line, which can easily cause large-scale power outages and greatly threaten the safe operation of the system.
与静止无功补偿器、静止同步补偿器以及统一潮流控制器等柔性交流输电系统装置类似，在交直流混连系统中，利用基于电压源换流器的高压直流输电技术的附加阻尼控制，在输电环节能够增加系统振荡阻尼，有效抑制系统低频振荡，提高系统安全稳定性。本领域习惯称为：静止无功补偿器为SVC，静止同步补偿器为STATCOM，统一潮流控制器为UPFC，柔性交流输电系统为FACTS，电压源换流器的高压直流输电技术为VSC-HVDC。Similar to flexible AC transmission system devices such as static var compensators, static synchronous compensators, and unified power flow controllers, in an AC/DC hybrid system, using the additional damping control of HVDC technology based on voltage source converters, in The power transmission link can increase the system oscillation damping, effectively suppress the low-frequency oscillation of the system, and improve the safety and stability of the system. It is customary in this field to call it: SVC for static var compensator, STATCOM for static synchronous compensator, UPFC for unified power flow controller, FACTS for flexible AC transmission system, and VSC-HVDC for high voltage direct current transmission technology of voltage source converter.
目前VSC-HVDC附加阻尼控制器的设计得到了大量研究。其主要结构为单输入单输出形式，而且输入信号有交流线路有功功率、换流站所连母线频率、直流两端交流母线电压相角差等多种形式。针对附加阻尼控制器的设计，利用直流功率与系统低频振荡参考信号构成闭环控制系统，通过系统辨识得到开环传递函数，再根据极点配置法或相位增益裕度法设计附加阻尼控制器，但为防止换流站出现过负荷现象，需加入限幅环节。然而当直流线路运行在额定状态下，由于限幅环节的作用，导致系统受到大的扰动后，附加阻尼控制器的控制能力受到限制，难以达到预期的调制效果，对系统改善阻尼的效果变差。At present, the design of VSC-HVDC additional damping controller has been researched a lot. Its main structure is in the form of single input and single output, and the input signal has various forms such as active power of the AC line, frequency of the bus connected to the converter station, and phase angle difference of the voltage of the AC bus at both ends of the DC. For the design of the additional damping controller, the DC power and the system low-frequency oscillation reference signal are used to form a closed-loop control system, and the open-loop transfer function is obtained through system identification, and then the additional damping controller is designed according to the pole configuration method or the phase gain margin method, but for To prevent the converter station from being overloaded, it is necessary to add a limiting link. However, when the DC line is running in the rated state, the control ability of the additional damping controller is limited after the system is subjected to a large disturbance due to the effect of the limiting link, and it is difficult to achieve the expected modulation effect, and the effect of improving the damping of the system becomes worse. .
发明内容Contents of the invention
本发明的目的是提供一种基于故障恢复信号的VSC-HVDC附加阻尼控制方法，它是在直流有功功率设定值Pset和附加阻尼信号Pmod的基础上，引入一个故障恢复信号Paux，使得VSC-HVDC在额定运行状态时，减少直流功率出现越限情况，同时使附加阻尼控制依然可以起到良好的控制作用，通过引入故障恢复信号，为Pmod提供相对充足的调制裕度，增强系统阻尼，提高系统安全稳定运行能力。The object of the present invention is to provide a VSC-HVDC additional damping control method based on a fault recovery signal, which introduces a fault recovery signal Paux on the basis of the DC active power set value Pset and the additional damping signal Pmod , When the VSC-HVDC is in the rated operating state, it can reduce the DC power over-limit situation, and at the same time, the additional damping control can still play a good control role. By introducing the fault recovery signal, it provides a relatively sufficient modulation margin for the Pmod and enhances the System damping improves the safe and stable operation of the system.
本发明的目的是由以下技术方案实现的：The purpose of the present invention is achieved by the following technical solutions:
一种基于故障恢复信号的VSC-HVDC附加阻尼控制方法，其特征在于，它包括以下步骤：A kind of VSC-HVDC additional damping control method based on fault restoration signal, it is characterized in that, it comprises the following steps:
1)选取交流线路上的有功功率Pac为控制器的输入信号，根据直流功率与交流有功功率构成闭环传递函数，对直流有功功率输入指定信号，通过对交流线路上的有功功率Pac的时域响应数据进行prony时域辨识，获取开环传递函数G(s)，设定闭环系统的主导特征根，再根据极点配置法对附加阻尼控制器进行设计和参数整定，即得到附加阻尼控制信号Pmod；1) The active power Pac on the AC line is selected as the input signal of the controller, and the closed-loop transfer function is formed according to the DC power and the AC active power, and the specified signal is input to theDC active power. The domain response data is identified in the prony time domain, the open-loop transfer function G(s) is obtained, the dominant characteristic root of the closed-loop system is set, and the additional damping controller is designed and parameter-tuned according to the pole configuration method, and the additional damping control signal is obtained Pmod ;
2)在交流系统中施加扰动，使系统出现低频振荡现象，通过步骤1)所设计的VSC-HVDC附加阻尼控制器，直流功率将随交流有功功率产生相应的功率波动，进而得到直流功率的调制波形，对其进行prony时域辨识，得出实际的主导特征根，计算振荡频率和阻尼比；2) Apply disturbance to the AC system to make the system appear low-frequency oscillation phenomenon. Through the VSC-HVDC additional damping controller designed in step 1), the DC power will generate corresponding power fluctuations with the AC active power, and then obtain the modulation of the DC power The waveform is identified in the prony time domain, the actual dominant characteristic root is obtained, and the oscillation frequency and damping ratio are calculated;
3)在VSC-HVDC附加阻尼控制器输出端并入故障恢复信号，构成基于故障恢复信号的VSC-HVDC附加阻尼控制器，产生故障恢复信号Paux的辅助控制器由故障检测环节、故障恢复信号发生环节、输出信号选择器三部分构成，故障检测环节用于检测系统受到大的扰动时，发出使能信号给另两个环节，使发生环节产生阶跃信号，使输出信号选择器动作，检测信号可选取是直流功率的变化率或所连交流母线电压等大扰动的标志性信号；故障恢复信号发生环节用于直流功率骤降后的功率恢复，产生的故障恢复信号Paux为阶跃响应，响应呈指数规律衰减，衰减速率取决于惯性环节的时间常数；输出信号选择器是针对系统发生大的扰动时，根据检测环节的使能信号，将辅助控制器投入运行状态，发出故障恢复信号；3) The fault recovery signal is incorporated into the output of the VSC-HVDC additional damping controller to form a VSC-HVDC additional damping controller based on the fault recovery signal. The generation link and the output signal selector are composed of three parts. The fault detection link is used to detect that when the system is subject to a large disturbance, it sends an enabling signal to the other two links, so that the generation link generates a step signal, and the output signal selector operates to detect The signal can be selected as a symbolic signal of large disturbances such as the rate of change of DC power or the connected AC bus voltage; the fault recovery signal generation link is used for power recovery after the DC power slump, and the generated fault recovery signal Paux is a step response , the response decays exponentially, and the decay rate depends on the time constant of the inertial link; the output signal selector is for when a large disturbance occurs in the system, according to the enabling signal of the detection link, the auxiliary controller is put into operation and sends out a fault recovery signal ;
4)计及系统阻尼作用，采用小干扰法分析简单系统的静态稳定性，得出系统的特征值为λ1,2＝σ±jω，进而直流有功功率的波动量ΔPdc随时间变化规律可用公式(1)表示，4) Considering the damping effect of the system, the small disturbance method is used to analyze the static stability of the simple system, and the eigenvalue of the system is obtained as λ1,2 = σ±jω, and then the variation of the DC active power fluctuation ΔPdc with time can be obtained Formula (1) expresses,
ΔPdc＝K′eσtsin(ωt+θ) (1)ΔPdc = K′eσt sin(ωt+θ) (1)
式中，K′为有功功率波动量的比例系数；σ为衰减常数；ω为低频振荡频率；θ为初相位，选取衰减振荡的包络线作为故障恢复信号，但比例系数需做调整，故Paux＝-Keσt，若σ一定，此时还需要确定故障恢复信号的比例系数K，才能构造出故障恢复信号，In the formula, K′ is the proportional coefficient of active power fluctuation; σ is the attenuation constant; ω is the low frequency oscillation frequency; Paux ＝-Keσt , if σ is constant, it is necessary to determine the proportional coefficient K of the fault recovery signal at this time to construct the fault recovery signal,
基于故障恢复信号的附加阻尼控制在一定程度上提高了功率调制的裕度，但由于直流功率的波动将导致直流线路上的电压发生波动，故不能无限制的调制直流功率，因此，关于比例系数K整定的约束条件是，以衰减振荡第一周期的峰谷差为限制目标，以额定直流功率的2*20％为限制范围，在一个周期内，对式(1)求一阶导数，得到两个极值点t1、t2，如式(2)，The additional damping control based on the fault recovery signal improves the margin of power modulation to a certain extent, but since the fluctuation of DC power will cause the voltage on the DC line to fluctuate, the DC power cannot be modulated unlimitedly. Therefore, the proportional coefficient The constraint condition of K tuning is to take the peak-to-valley difference of the first period of damping oscillation as the limiting target, and take 2*20% of the rated DC power as the limiting range, and calculate the first-order derivative of formula (1) within one period, and get Two extreme points t1 , t2 , such as formula (2),
计算出ΔPdc(t1)和ΔPdc(t2)，进而得到峰谷差Δ，如式(3)，Calculate ΔPdc (t1 ) and ΔPdc (t2 ), and then obtain the peak-to-valley difference Δ, as shown in formula (3),
Δ＝|ΔPdc(t1)-ΔPdc(t2)|≤0.4PN (3)Δ＝|ΔPdc (t1 )-ΔPdc (t2 )|≤0.4PN (3)
式中，PN为直流功率的额定值，由此求出参数K的最大值Kmax，即参数K的选择应满足式(4)，In the formula, PN is the rated value of the DC power, and the maximum value Kmax of the parameter K is obtained from this, that is, the selection of the parameter K should satisfy the formula (4),
综上得出经过附加阻尼控制调制产生的直流功率时域表达式Pref，如式(5)，In summary, the time-domain expression Pref of the DC power generated by the additional damping control modulation is obtained, such as formula (5),
Pref＝Pset+Pmod+Paux＝1.0+K′eσtsin(ωt+θ)+(-Keσt) (5)；Pref =Pset +Pmod +Paux =1.0+K'eσt sin(ωt+θ)+(-Keσt ) (5);
5)对于辅助控制器所发出的故障恢复信号的投入时机，当VSC-HVDC处在额定运行状态下，系统发生小扰动时，直流的调制功率将不会导致严重过负荷现象出现，由于故障检测环节的作用，不发出使能信号，即仅有附加阻尼控制投入运行，而系统发生大扰动后，由于附加阻尼控制的作用，直流功率发生相应的波动，为防止出现过负荷现象，加入辅助控制器所发出的故障恢复信号，给予附加阻尼控制器以充分的调制裕度，同时给予直流功率恢复时间，减小其功率骤升骤降带来的影响，即附加阻尼控制器与辅助控制器共同投入运行，随着振荡的逐渐减小，故障恢复信号随之衰减，直至系统趋于稳定，辅助控制器退出运行。5) For the input timing of the fault recovery signal sent by the auxiliary controller, when the VSC-HVDC is in the rated operating state, when a small disturbance occurs in the system, the DC modulation power will not cause a serious overload phenomenon, due to fault detection The role of the link, no enable signal is issued, that is, only the additional damping control is put into operation, and after a large disturbance occurs in the system, due to the effect of the additional damping control, the DC power fluctuates accordingly. In order to prevent overload, the auxiliary control is added The fault recovery signal sent by the controller gives the additional damping controller a sufficient modulation margin, and at the same time gives the DC power recovery time to reduce the impact of the sudden rise and fall of its power, that is, the additional damping controller and the auxiliary controller work together Putting into operation, as the oscillation gradually decreases, the fault recovery signal decays, until the system tends to be stable, and the auxiliary controller exits the operation.
本发明的一种基于故障恢复信号的VSC-HVDC附加阻尼控制方法，由于利用辅助控制器产生的故障恢复信号，为原始附加阻尼控制器提供了充足的调制裕度，提高了系统安全稳定运行能力，具有方法科学合理，控制效果好，实用价值高等优点。The VSC-HVDC additional damping control method based on the fault recovery signal of the present invention provides sufficient modulation margin for the original additional damping controller by using the fault recovery signal generated by the auxiliary controller, and improves the safe and stable operation capability of the system , has the advantages of scientific and reasonable method, good control effect and high practical value.
附图说明Description of drawings
图1是基于VSC-HVDC的交直流混联测试系统图；Figure 1 is a diagram of the AC-DC hybrid test system based on VSC-HVDC;
图2是带有附加阻尼控制的VSC双环控制器结构图；Figure 2 is a structural diagram of a VSC dual-loop controller with additional damping control;
图3是具有直流附加控制的系统闭环传递函数图；Fig. 3 is a system closed-loop transfer function diagram with DC additional control;
图4是基于故障恢复信号的附加阻尼控制结构图；Fig. 4 is a structure diagram of additional damping control based on fault recovery signal;
图5是原始附加阻尼控制的直流功率调制曲线示意图；Fig. 5 is a schematic diagram of the DC power modulation curve of the original additional damping control;
图6是基于故障恢复信号附加阻尼控制的直流功率调制曲线示意图；Fig. 6 is a schematic diagram of the DC power modulation curve based on the additional damping control of the fault restoration signal;
图7是无附加阻尼控制的直流功率实际值与参考值曲线图；Fig. 7 is a graph of the actual value and the reference value of DC power without additional damping control;
图8是带有原始附加阻尼控制的直流功率实际值与参考值曲线图；Fig. 8 is a graph of actual value and reference value of DC power with original additional damping control;
图9是带有基于故障恢复信号附加阻尼控制的直流功率实际值与参考值曲线图；Fig. 9 is a curve diagram of the actual value and the reference value of DC power with additional damping control based on the fault restoration signal;
图10是采用三种不同控制方式的发电机功角振荡对比图；Figure 10 is a comparison diagram of generator power angle oscillation using three different control methods;
图11是采用三种不同控制方式的交流联络线功率振荡对比图；Figure 11 is a comparison diagram of AC tie line power oscillation using three different control methods;
图12是采用三种不同控制方式的B1节点电压对比图；Figure 12 is a comparison diagram of B1 node voltage using three different control methods;
图13是采用三种不同控制方式的直流电压波动对比图。Figure 13 is a comparison chart of DC voltage fluctuations using three different control methods.
具体实施方式Detailed ways
下面结合附图和具体实施方式对本发明进行详细说明。The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
本发明是一种基于故障恢复信号的VSC-HVDC附加阻尼控制方法，包括以下步骤：The invention is a VSC-HVDC additional damping control method based on a fault recovery signal, comprising the following steps:
1)选取交流线路上的有功功率Pac为控制器的输入信号，根据直流功率与交流有功功率构成闭环传递函数，对直流有功功率输入指定信号，通过对交流线路上的有功功率Pac的时域响应数据进行prony时域辨识，获取开环传递函数G(s)，设定闭环系统的主导特征根，再根据极点配置法对附加阻尼控制器进行设计和参数整定，即得到附加阻尼控制信号Pmod；1) The active power Pac on the AC line is selected as the input signal of the controller, and the closed-loop transfer function is formed according to the DC power and the AC active power, and the specified signal is input to theDC active power. The domain response data is identified in the prony time domain, the open-loop transfer function G(s) is obtained, the dominant characteristic root of the closed-loop system is set, and the additional damping controller is designed and parameter-tuned according to the pole configuration method, and the additional damping control signal is obtained Pmod ;
2)在交流系统中施加扰动，使系统出现低频振荡现象，通过步骤1)所设计的VSC-HVDC附加阻尼控制器，直流功率将随交流有功功率产生相应的功率波动，进而得到直流功率的调制波形，对其进行prony时域辨识，得出实际的主导特征根，计算振荡频率和阻尼比；2) Apply disturbance to the AC system to make the system appear low-frequency oscillation phenomenon. Through the VSC-HVDC additional damping controller designed in step 1), the DC power will generate corresponding power fluctuations with the AC active power, and then obtain the modulation of the DC power The waveform is identified in the prony time domain, the actual dominant characteristic root is obtained, and the oscillation frequency and damping ratio are calculated;
3)在VSC-HVDC附加阻尼控制器输出端并入故障恢复信号，构成基于故障恢复信号的VSC-HVDC附加阻尼控制器，产生故障恢复信号Paux的辅助控制器由故障检测环节、故障恢复信号发生环节、输出信号选择器三部分构成，故障检测环节用于检测系统受到大的扰动时，发出使能信号给另两个环节，使发生环节产生阶跃信号，使输出信号选择器动作，检测信号可选取是直流功率的变化率或所连交流母线电压等大扰动的标志性信号；故障恢复信号发生环节用于直流功率骤降后的功率恢复，产生的故障恢复信号Paux为阶跃响应，响应呈指数规律衰减，衰减速率取决于惯性环节的时间常数；输出信号选择器是针对系统发生大的扰动时，根据检测环节的使能信号，将辅助控制器投入运行状态，发出故障恢复信号；3) The fault recovery signal is incorporated into the output of the VSC-HVDC additional damping controller to form a VSC-HVDC additional damping controller based on the fault recovery signal. The generation link and the output signal selector are composed of three parts. The fault detection link is used to detect that when the system is subject to a large disturbance, it sends an enabling signal to the other two links, so that the generation link generates a step signal, and the output signal selector operates to detect The signal can be selected as a symbolic signal of large disturbances such as the rate of change of DC power or the connected AC bus voltage; the fault recovery signal generation link is used for power recovery after the DC power slump, and the generated fault recovery signal Paux is a step response , the response decays exponentially, and the decay rate depends on the time constant of the inertial link; the output signal selector is for when a large disturbance occurs in the system, according to the enabling signal of the detection link, the auxiliary controller is put into operation and sends out a fault recovery signal ;
4)计及系统阻尼作用，采用小干扰法分析简单系统的静态稳定性，得出系统的特征值为λ1,2＝σ±jω，进而直流有功功率的波动量ΔPdc随时间变化规律可用公式(1)表示，4) Considering the damping effect of the system, the small disturbance method is used to analyze the static stability of the simple system, and the eigenvalue of the system is obtained as λ1,2 = σ±jω, and then the variation of the DC active power fluctuation ΔPdc with time can be obtained Formula (1) expresses,
ΔPdc＝K′eσtsin(ωt+θ) (1)ΔPdc = K′eσt sin(ωt+θ) (1)
式中，K′为有功功率波动量的比例系数；σ为衰减常数；ω为低频振荡频率；θ为初相位，选取衰减振荡的包络线作为故障恢复信号，但比例系数需做调整，故Paux＝-Keσt，若σ一定，此时还需要确定故障恢复信号的比例系数K，才能构造出故障恢复信号，In the formula, K′ is the proportional coefficient of active power fluctuation; σ is the attenuation constant; ω is the low frequency oscillation frequency; Paux ＝-Keσt , if σ is constant, it is necessary to determine the proportional coefficient K of the fault recovery signal at this time to construct the fault recovery signal,
基于故障恢复信号的附加阻尼控制在一定程度上提高了功率调制的裕度，但由于直流功率的波动将导致直流线路上的电压发生波动，故不能无限制的调制直流功率，因此，关于比例系数K整定的约束条件是，以衰减振荡第一周期的峰谷差为限制目标，以额定直流功率的2*20％为限制范围，在一个周期内，对式(1)求一阶导数，得到两个极值点t1、t2，如式(2)，The additional damping control based on the fault recovery signal improves the margin of power modulation to a certain extent, but since the fluctuation of DC power will cause the voltage on the DC line to fluctuate, the DC power cannot be modulated unlimitedly. Therefore, the proportional coefficient The constraint condition of K tuning is to take the peak-to-valley difference of the first period of damping oscillation as the limiting target, and take 2*20% of the rated DC power as the limiting range, and calculate the first-order derivative of formula (1) within one period, and get Two extreme points t1 , t2 , such as formula (2),
计算出ΔPdc(t1)和ΔPdc(t2)，进而得到峰谷差Δ，如式(3)，Calculate ΔPdc (t1 ) and ΔPdc (t2 ), and then obtain the peak-to-valley difference Δ, as shown in formula (3),
Δ＝|ΔPdc(t1)-ΔPdc(t2)|≤0.4PN (3)Δ＝|ΔPdc (t1 )-ΔPdc (t2 )|≤0.4PN (3)
式中，PN为直流功率的额定值，由此求出参数K的最大值Kmax，即参数K的选择应满足式(4)，In the formula, PN is the rated value of the DC power, and the maximum value Kmax of the parameter K is obtained from this, that is, the selection of the parameter K should satisfy the formula (4),
综上得出经过附加阻尼控制调制产生的直流功率时域表达式Pref，如式(5)，In summary, the time-domain expression Pref of the DC power generated by the additional damping control modulation is obtained, such as formula (5),
Pref＝Pset+Pmod+Paux＝1.0+K′eσtsin(ωt+θ)+(-Keσt) (5)；Pref =Pset +Pmod +Paux =1.0+K'eσt sin(ωt+θ)+(-Keσt ) (5);
5)对于辅助控制器所发出的故障恢复信号的投入时机，当VSC-HVDC处在额定运行状态下，系统发生小扰动时，直流的调制功率将不会导致严重过负荷现象出现，由于故障检测环节的作用，不发出使能信号，即仅有附加阻尼控制投入运行，而系统发生大扰动后，由于附加阻尼控制的作用，直流功率发生相应的波动，为防止出现过负荷现象，加入辅助控制器所发出的故障恢复信号，给予附加阻尼控制器以充分的调制裕度，同时给予直流功率恢复时间，减小其功率骤升骤降带来的影响，即附加阻尼控制器与辅助控制器共同投入运行，随着振荡的逐渐减小，故障恢复信号随之衰减，直至系统趋于稳定，辅助控制器退出运行。5) For the input timing of the fault recovery signal sent by the auxiliary controller, when the VSC-HVDC is in the rated operating state, when a small disturbance occurs in the system, the DC modulation power will not cause a serious overload phenomenon, due to fault detection The role of the link, no enable signal is issued, that is, only the additional damping control is put into operation, and after a large disturbance occurs in the system, due to the effect of the additional damping control, the DC power fluctuates accordingly. In order to prevent overload, the auxiliary control is added The fault recovery signal sent by the controller gives the additional damping controller a sufficient modulation margin, and at the same time gives the DC power recovery time to reduce the impact of the sudden rise and fall of its power, that is, the additional damping controller and the auxiliary controller work together Putting into operation, as the oscillation gradually decreases, the fault recovery signal decays, until the system tends to be stable, and the auxiliary controller exits the operation.
仿真分析simulation analysis
图1为采用Matlab/Simulink仿真软件搭建的交直流混联测试系统；图2为典型的柔性直流双环控制器，从图中能看出附加阻尼控制器的接入点；图3为直流参考功率与交流线路有功功率构成的闭环传递函数，用于计算传递函数H(s)；图4为基于故障恢复信号的VSC-HVDC附加阻尼控制框图，其包括附加阻尼控制器和辅助控制器两部分；图5和图6分别给出了直流功率经过不同控制方式调节出的波形对比。Figure 1 is the AC-DC hybrid test system built using Matlab/Simulink simulation software; Figure 2 is a typical flexible DC double-loop controller, from which the access point of the additional damping controller can be seen; Figure 3 is the DC reference power The closed-loop transfer function formed with the active power of the AC line is used to calculate the transfer function H(s); Figure 4 is a block diagram of the VSC-HVDC additional damping control based on the fault recovery signal, which includes two parts: the additional damping controller and the auxiliary controller; Figure 5 and Figure 6 respectively show the comparison of the waveforms of the DC power adjusted by different control methods.
参照图1-图6，对于附加阻尼控制器参数的设计，将闭环系统的期望特征根选为-0.20751+j1.054079，对应的阻尼比为0.19315。特征值设计的附加阻尼控制器参数为：T1＝10，T2＝10，T3＝0.55，T4＝0.2，K′＝0.25。辅助控制器参数K选取0.2，对应的惯性环节的时间常数T＝4.82，j表示复数的虚部。系统在t＝0s投入运行，t＝5s时在母线B1设置一个瞬时三相短路故障，持续0.1s，引起功率振荡，分别对无附加阻尼控制、原附加阻尼控制和本发明提出的基于故障恢复信号的附加阻尼控制方式进行仿真。Referring to Figures 1-6, for the design of additional damping controller parameters, the expected characteristic root of the closed-loop system is selected as -0.20751+j1.054079, and the corresponding damping ratio is 0.19315. The additional damping controller parameters for eigenvalue design are: T1 =10, T2 =10, T3 =0.55, T4 =0.2, K′=0.25. The parameter K of the auxiliary controller is selected as 0.2, and the time constant of the corresponding inertia link is T=4.82, and j represents the imaginary part of the complex number. The system is put into operation at t=0s, and an instantaneous three-phase short-circuit fault is set on bus B1 during t=5s, which lasts for 0.1s, causing power oscillation, respectively for no additional damping control, original additional damping control and the fault recovery based on the present invention. The additional damping control mode of the signal is simulated.
参照图7-图9，分别给出了三种不同控制方式的VSC-HVDC直流有功功率的调制情况。由图8可以看出，直流功率运行在额定功率1.0p.u.下，系统发生低频振荡后，由于VSC的过负荷限制，直流功率受到0.1p.u.的限幅作用，调制波形不是完整的正弦衰减振荡波形。采用基于故障恢复信号的附加控制后，直流功率可达到预想的控制效果，不会出现过负荷现象，有效地降低了VSC换流站对冷却系统的要求。Referring to Fig. 7-Fig. 9, the modulation situations of VSC-HVDC DC active power in three different control modes are given respectively. It can be seen from Figure 8 that the DC power operates at the rated power of 1.0p.u. After low-frequency oscillation occurs in the system, due to the overload limit of the VSC, the DC power is limited by 0.1p.u., and the modulation waveform is not a complete sinusoidal attenuation oscillation waveform. After adopting the additional control based on the fault recovery signal, the DC power can achieve the expected control effect, and there will be no overload phenomenon, which effectively reduces the cooling system requirements of the VSC converter station.
参照图10-图13，仿真结果表明：附加阻尼控制的VSC-HVDC能够提高系统阻尼；而基于故障恢复信号附加阻尼控制的VSC-HVDC对系统低频振荡的抑制效果更加显著，增强了VSC-HVDC对系统低频振荡前期的抑制作用。交流线路上的功率波动得到充分抑制，而对于B1节点电压和VSC-HVDC线路电压所产生的影响是在允许范围内。Referring to Figures 10-13, the simulation results show that the VSC-HVDC with additional damping control can improve the system damping; while the VSC-HVDC with additional damping control based on the fault recovery signal has a more significant suppression effect on the low-frequency oscillation of the system, which enhances the VSC-HVDC Inhibition of the early stage of low-frequency oscillation of the system. The power fluctuation on the AC line is fully suppressed, and the influence on the B1 node voltage and the VSC-HVDC line voltage is within the allowable range.
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