基于自抗扰控制的双馈风机次同步控制相互作用抑制策略研究
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摘要
双馈风电场经串补输电系统存在换流器控制与串联电容之间的次同步振荡问题,即次同步控制相互作用,其振荡特性受系统运行工况的影响。当系统运行工况变化时,现有抑制措施可能不再适用。为解决该问题,从双馈风机发生次同步控制相互作用的机理出发,提出一种基于自抗扰控制的双馈风机抑制策略:用自抗扰控制器替换转子侧有功内环比例积分控制环节,利用扩张状态观测器对系统次同步扰动进行实时估计并反馈补偿,从而有效抑制次同步控制相互作用。在PSCAD/EMTDC中搭建基于某实际风电场的仿真模型,分析该控制策略的运行特性。通过与比例积分控制对比,验证自抗扰控制具有良好的暂稳态运行特性;通过与现有附加阻尼控制对比,表明自抗扰控制可以实现风电场不同运行工况下次同步控制相互作用的有效抑制;该方法参数整定简单,具有较强的鲁棒性。
Subsynchronous oscillation(SSO) problem between converter control and series capacitors exists in doubly-fed induction generator(DFIG)-based wind farm connected to series compensated transmission system. This problem is also called subsynchronous control interaction(SSCI). Its oscillation characteristics are affected by system operating conditions. Existing mitigation measures may not always be effective when system operating conditions change. To solve this problem, according to SSCI mechanism in DFIG-based wind farm, a DFIG mitigation strategy based on active disturbance rejection control(ADRC) is proposed in this paper. The inner proportional-integral(PI) controller of rotor side converter is replaced with ADRC. Subsynchronous disturbances of the system are evaluated in real time and feedback compensated with extended state observer. Therefore, the SSCI is suppressed effectively. Based on an actual wind farm structure, a detailed simulation model is built in PSCAD/EMTDC. The operating characteristics of this control strategy are analyzed. Compared with PI control, ADRC has good transient and steady-state operating characteristics. Compared with existing supplementary subsynchronous damping controller(SSDC), ADRC can mitigate SSCI effectively under different operating conditions of wind farm. Parameter setting in this method is simple and very robust to the system.
Subsynchronous oscillation(SSO) problem between converter control and series capacitors exists in doubly-fed induction generator(DFIG)-based wind farm connected to series compensated transmission system. This problem is also called subsynchronous control interaction(SSCI). Its oscillation characteristics are affected by system operating conditions. Existing mitigation measures may not always be effective when system operating conditions change. To solve this problem, according to SSCI mechanism in DFIG-based wind farm, a DFIG mitigation strategy based on active disturbance rejection control(ADRC) is proposed in this paper. The inner proportional-integral(PI) controller of rotor side converter is replaced with ADRC. Subsynchronous disturbances of the system are evaluated in real time and feedback compensated with extended state observer. Therefore, the SSCI is suppressed effectively. Based on an actual wind farm structure, a detailed simulation model is built in PSCAD/EMTDC. The operating characteristics of this control strategy are analyzed. Compared with PI control, ADRC has good transient and steady-state operating characteristics. Compared with existing supplementary subsynchronous damping controller(SSDC), ADRC can mitigate SSCI effectively under different operating conditions of wind farm. Parameter setting in this method is simple and very robust to the system.
引文
[1]高本锋,刘晋,李忍,等.风电机组的次同步控制相互作用研究综述[J].电工技术学报,2015,30(16):154-161.Gao Benfeng,Liu Jin,Li Ren,et al.Studies of sub-synchronous control interaction in wind turbine generators[J].Transactions of China Electrotechnical Society,2015,30(16):154-161(in Chinese).
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[3]Adams J,Carter C,Huang S H.ERCOT experience with sub-synchronous control interaction and proposed remediation[C]//Transmission and Distribution Conference and Exposition(T&D),2012 IEEE PES.Orlando,FL,USA:IEEE,2012:1-5.
[4]Narendra K,Fedirchuk D,Midence R,et al.New microprocessor based relay to monitor and protect power systems against sub-harmonics[C]//Electrical Power and Energy Conference.Winnipeg,MB,Canada:IEEE,2011:438-443.
[5]Xie X,Zhang X,Liu H,et al.Characteristic analysis of subsynchronous resonance in practical wind farms connected to series-compensated transmissions[J].IEEE Transactions on Energy Conversion,2017,32(3):1117-1126.
[6]Irwin G D,Jindal A K,Isaacs A L.Sub-synchronous control interactions between type 3 wind turbines and series compensated ACtransmission systems[C]//2011 IEEE Power and Energy Society General Meeting.Detroit,MI,USA:IEEE,2011:1-6.
[7]Leon A E,Solsona J A.Sub-synchronous interaction damping control for DFIG wind turbines[J].IEEE Transactions on Power Systems,2015,30(1):419-428.
[8]董晓亮,谢小荣,杨煜,等.双馈风机串补输电系统次同步谐振影响因素及稳定区域分析[J].电网技术,2015,39(1):189-193.Dong X,Xie X,Yang Y,et al.Impacting factors and stable area analysis of subsynchronous resonance in DFIG based wind farms connected to series-compensated power system[J].Power System Technology,2015,39(1):189-193(in Chinese).
[9]廖坤玉,陶顺,姚黎婷,等.考虑励磁的DFIG静止坐标系输入阻抗的频域建模与时变特性研究[J].中国电机工程学报,DOI:10.13334/j.0258-8013.pcsee.162131.Liao Kunyu,Tao Shun,Yao Liting,et al.Study on frequency-domain modeling and time-varying characteristics of DFIG input impedance with excitation under static reference frame[J].Proceedings of the CSEE,DOI:10.13334/j.0258-8013.pcsee.162131(in Chinese).
[10]王亮,谢小荣,姜齐荣,等.大规模双馈风电场次同步谐振的分析与抑制[J].电力系统自动化,2014,38(22):26-31.Wang Liang,Xie Xiaorong,Jiang Qirong,et al.Analysis and mitigation of SSR problems in large-scale wind farms with doubly-fed wind turbines[J].Automation of Electric Power Systems,2014,38(22):26-31(in Chinese).
[11]Mohammadpour H A,Ghaderi A,Santi E.Analysis of sub-synchronous resonance in doubly-fed induction generator-based wind farms interfaced with gate-controlled series capacitor[J].IETGeneration Transmission&Distribution,2014,8(12):1998-2011.
[12]Wang L,Xie X,Jiang Q,et al.Centralised solution for subsynchronous control interaction of doubly fed induction generators using voltage-sourced converter[J].IET Generation Transmission&Distribution,2015,9(16):2751-2759.
[13]董晓亮,谢小荣,田旭.双馈风机定子侧变流器的附加阻尼抑制次同步振荡方法[J].高电压技术,2016,42(9):2785-2791.Dong Xiaolaing,Xie Xiaorong,Tian Xu.Sub-synchronous resonance mitigation scheme by stator side converter in doubly fed induction generator[J].High Voltage Engineering,2016,42(9):2785-2791(in Chinese).
[14]王波,卢继平,龚建原,等.含双馈机组转子侧附加控制的风电场次同步振荡抑制方法[J].电网技术,2013,37(9):2580-2584.Wang Bo,Lu Jiping,Gong Jianyuan,et al.A method to suppress sub-synchronous oscillation of wind farm composed of doubly fed induction generators with additional rotor side control[J].Power System Technology,2013,37(9):2580-2584(in Chinese).
[15]韩京清.自抗扰控制技术[J].前沿科学,2007(1):24-31.Han Jingqing.Auto disturbances rejection control technique[J].Frontier Science,2007(1):24-31(in Chinese).
[16]Li S,Li J.Output predictor-based active disturbance rejection control for a wind energy conversion system with PMSG[J].IEEE Access,2017(5):5205-5214.
[17]姚兴佳,王晓东,单光坤,等.双馈风电机组传动系统扭振抑制自抗扰控制[J].电工技术学报,2012,27(1):136-141.Yao Xingjia,Wang Xiaodong,Shan Guangkun,et al.Torque vibration active disturbance rejection control of double-fed wind turbine drive train[J].Transactions of China Electrotechnical Society,2012,27(1):136-141(in Chinese).
[18]高本锋,姚磊.基于改进自抗扰控制的抑制光火打捆经直流送出系统的次同步振荡策略[J].电网技术,2018,42(2):533-540.Gao Benfeng,Yao Lei.Sub-synchronous oscillation suppression for photovoltaic-thermal-bundled power system based on improved active disturbance rejection control[J].Power System Technology,2018,42(2):533-540(in Chinese).
[19]Han J.From PID to Active Disturbance Rejection Control[J].IEEETransactions on Industrial Electronics,2009,56(3):900-906.
[20]张剑,肖湘宁,高本锋,等.双馈风力发电机的次同步控制相互作用机理与特性研究[J].电工技术学报,2013,28(12):142-149.Zhang Jian,Xiao Xiangning,Gao Benfeng,et al.Mechanism and characteristic study on sub-synchronous control interaction of a DFIG-based wind-power generator[J].Transactions of China Electrotechnical Society,2013,28(12):142-149(in Chinese).
[21]韩京清.自抗扰控制技术--估计补偿不确定因素的控制技术[M].北京:国防工业出版社,2008:243-287.
[22]Fan L,Kavasseri R,Miao Z L,et al.Modeling of DFIG-based wind farms for SSR analysis[J].IEEE Transactions on Power Delivery,2010,25(4):2073-2082.
[23]Liu H,Xie X,Li Y,et al.Mitigation of SSR by embedding subsynchronous notch filters into DFIG converter controllers[J].IETGeneration Transmission&Distribution,2017,11(11):2888-2896.
[24]贺益康,胡家兵,徐烈.并网双馈异步风力发电机运行控制[M].北京:中国电力出版社,2012:85-92.
[25]董晓亮,田旭,张勇,等.沽源风电场串补输电系统次同步谐振典型事件及影响因素分析[J].高电压技术,2017,43(1):321-328.Dong Xiaoliang,Tian Xu,Zhang Yong,et al.Practical SSR incidence and influencing factor analysis of DFIG-based series-compensated transmission system in Guyuan farms[J].High Voltage Engineering,2017,43(1):321-328(in Chinese).
[26]Fernandez L M,Jurado F,Saenz J R.Aggregated dynamic model for wind farms with doubly fed induction generator wind turbines[J].Renewable Energy,2008,33(1):129-140.
[2]边晓燕,施磊,宗秀红,等.多运行方式下风电机组变频器参与次同步相互作用的分析与抑制[J].电工技术学报,2017,32(11):38-47.Bian Xianyan,Shi Lei,Zong Xiuhong,et al.Analysis and mitigation of wind turbine converters in sub-synchronous interaction under multi-operating conditions[J].Transactions of China Electrotechnical Society,2017,32(11):38-47(in Chinese).
[3]Adams J,Carter C,Huang S H.ERCOT experience with sub-synchronous control interaction and proposed remediation[C]//Transmission and Distribution Conference and Exposition(T&D),2012 IEEE PES.Orlando,FL,USA:IEEE,2012:1-5.
[4]Narendra K,Fedirchuk D,Midence R,et al.New microprocessor based relay to monitor and protect power systems against sub-harmonics[C]//Electrical Power and Energy Conference.Winnipeg,MB,Canada:IEEE,2011:438-443.
[5]Xie X,Zhang X,Liu H,et al.Characteristic analysis of subsynchronous resonance in practical wind farms connected to series-compensated transmissions[J].IEEE Transactions on Energy Conversion,2017,32(3):1117-1126.
[6]Irwin G D,Jindal A K,Isaacs A L.Sub-synchronous control interactions between type 3 wind turbines and series compensated ACtransmission systems[C]//2011 IEEE Power and Energy Society General Meeting.Detroit,MI,USA:IEEE,2011:1-6.
[7]Leon A E,Solsona J A.Sub-synchronous interaction damping control for DFIG wind turbines[J].IEEE Transactions on Power Systems,2015,30(1):419-428.
[8]董晓亮,谢小荣,杨煜,等.双馈风机串补输电系统次同步谐振影响因素及稳定区域分析[J].电网技术,2015,39(1):189-193.Dong X,Xie X,Yang Y,et al.Impacting factors and stable area analysis of subsynchronous resonance in DFIG based wind farms connected to series-compensated power system[J].Power System Technology,2015,39(1):189-193(in Chinese).
[9]廖坤玉,陶顺,姚黎婷,等.考虑励磁的DFIG静止坐标系输入阻抗的频域建模与时变特性研究[J].中国电机工程学报,DOI:10.13334/j.0258-8013.pcsee.162131.Liao Kunyu,Tao Shun,Yao Liting,et al.Study on frequency-domain modeling and time-varying characteristics of DFIG input impedance with excitation under static reference frame[J].Proceedings of the CSEE,DOI:10.13334/j.0258-8013.pcsee.162131(in Chinese).
[10]王亮,谢小荣,姜齐荣,等.大规模双馈风电场次同步谐振的分析与抑制[J].电力系统自动化,2014,38(22):26-31.Wang Liang,Xie Xiaorong,Jiang Qirong,et al.Analysis and mitigation of SSR problems in large-scale wind farms with doubly-fed wind turbines[J].Automation of Electric Power Systems,2014,38(22):26-31(in Chinese).
[11]Mohammadpour H A,Ghaderi A,Santi E.Analysis of sub-synchronous resonance in doubly-fed induction generator-based wind farms interfaced with gate-controlled series capacitor[J].IETGeneration Transmission&Distribution,2014,8(12):1998-2011.
[12]Wang L,Xie X,Jiang Q,et al.Centralised solution for subsynchronous control interaction of doubly fed induction generators using voltage-sourced converter[J].IET Generation Transmission&Distribution,2015,9(16):2751-2759.
[13]董晓亮,谢小荣,田旭.双馈风机定子侧变流器的附加阻尼抑制次同步振荡方法[J].高电压技术,2016,42(9):2785-2791.Dong Xiaolaing,Xie Xiaorong,Tian Xu.Sub-synchronous resonance mitigation scheme by stator side converter in doubly fed induction generator[J].High Voltage Engineering,2016,42(9):2785-2791(in Chinese).
[14]王波,卢继平,龚建原,等.含双馈机组转子侧附加控制的风电场次同步振荡抑制方法[J].电网技术,2013,37(9):2580-2584.Wang Bo,Lu Jiping,Gong Jianyuan,et al.A method to suppress sub-synchronous oscillation of wind farm composed of doubly fed induction generators with additional rotor side control[J].Power System Technology,2013,37(9):2580-2584(in Chinese).
[15]韩京清.自抗扰控制技术[J].前沿科学,2007(1):24-31.Han Jingqing.Auto disturbances rejection control technique[J].Frontier Science,2007(1):24-31(in Chinese).
[16]Li S,Li J.Output predictor-based active disturbance rejection control for a wind energy conversion system with PMSG[J].IEEE Access,2017(5):5205-5214.
[17]姚兴佳,王晓东,单光坤,等.双馈风电机组传动系统扭振抑制自抗扰控制[J].电工技术学报,2012,27(1):136-141.Yao Xingjia,Wang Xiaodong,Shan Guangkun,et al.Torque vibration active disturbance rejection control of double-fed wind turbine drive train[J].Transactions of China Electrotechnical Society,2012,27(1):136-141(in Chinese).
[18]高本锋,姚磊.基于改进自抗扰控制的抑制光火打捆经直流送出系统的次同步振荡策略[J].电网技术,2018,42(2):533-540.Gao Benfeng,Yao Lei.Sub-synchronous oscillation suppression for photovoltaic-thermal-bundled power system based on improved active disturbance rejection control[J].Power System Technology,2018,42(2):533-540(in Chinese).
[19]Han J.From PID to Active Disturbance Rejection Control[J].IEEETransactions on Industrial Electronics,2009,56(3):900-906.
[20]张剑,肖湘宁,高本锋,等.双馈风力发电机的次同步控制相互作用机理与特性研究[J].电工技术学报,2013,28(12):142-149.Zhang Jian,Xiao Xiangning,Gao Benfeng,et al.Mechanism and characteristic study on sub-synchronous control interaction of a DFIG-based wind-power generator[J].Transactions of China Electrotechnical Society,2013,28(12):142-149(in Chinese).
[21]韩京清.自抗扰控制技术--估计补偿不确定因素的控制技术[M].北京:国防工业出版社,2008:243-287.
[22]Fan L,Kavasseri R,Miao Z L,et al.Modeling of DFIG-based wind farms for SSR analysis[J].IEEE Transactions on Power Delivery,2010,25(4):2073-2082.
[23]Liu H,Xie X,Li Y,et al.Mitigation of SSR by embedding subsynchronous notch filters into DFIG converter controllers[J].IETGeneration Transmission&Distribution,2017,11(11):2888-2896.
[24]贺益康,胡家兵,徐烈.并网双馈异步风力发电机运行控制[M].北京:中国电力出版社,2012:85-92.
[25]董晓亮,田旭,张勇,等.沽源风电场串补输电系统次同步谐振典型事件及影响因素分析[J].高电压技术,2017,43(1):321-328.Dong Xiaoliang,Tian Xu,Zhang Yong,et al.Practical SSR incidence and influencing factor analysis of DFIG-based series-compensated transmission system in Guyuan farms[J].High Voltage Engineering,2017,43(1):321-328(in Chinese).
[26]Fernandez L M,Jurado F,Saenz J R.Aggregated dynamic model for wind farms with doubly fed induction generator wind turbines[J].Renewable Energy,2008,33(1):129-140.