基于模块化多电平换流器的直流输电系统控制策略研究
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摘要
模块化多电平换流器(Modular Multilevel Converter, MMC)通过增加桥臂中的级联子模块数目,不仅可以方便地扩展到高压大功率应用领域,而且能够得到较高的输出电平数。与基于传统电压源换流器(Voltage Source Converter, VSC)的换流站相比,MMC换流站由于具有输出波形质量较高,开关频率和开关损耗较低以及可以使用通用电力电子器件等优点。因此,MMC拓扑被认为适合用于柔性直流输电领域。基于模块化多电平换流器的柔性直流输电系统在可再生能源并网、电网互联,海上负荷供电和城市中心供电等方面具有广阔的应用前景。控制策略是MMC-HVDC系统的核心技术之一,本文对MMC-HVDC系统的主要控制策略进行了研究。全文主要内容如下：
(1).由于MMC-HVDC系统的电平数较高,将最近电平逼近调制策略(Nearest Level Modulation, NLM)引入到MMC-HVDC系统的触发控制中。给出了最近电平逼近调制策略在MMC中的实现算法,推导了NLM策略输出波形的Fourier级数形式的解析表达式,并进行了NLM策略输出波形的基波和谐波特性的理论计算。
(2).介绍了MMC电容电压平衡的基本原理。指出了在传统的电容电压平衡策略下,子模块投切较频繁,器件开关频率较高,会造成较大的开关损耗。针对传统电容电压平衡策略的问题,提出了一种适合MMC型直流输电系统的电容电压优化平衡策略,将平衡控制的重点放在电容电压越限的子模块上；对电容电压未越限的子模块,优化平衡策略通过引入保持因子使其具有一定的保持原来投切状态的能力,以降低开关器件的开关频率和开关损耗。
(3).介绍了MMC中子模块的几种常见故障原因,指出了单个子模块故障会引发直流电压和直流电流的振荡,可能导致换流器停运。对级联H桥多电平换流器几种常见的子模块故障冗余控制保护策略进行了比较,在此基础上提出了适合MMC换流站的子模块故障冗余控制保护策略。该方法将少量冗余子模块置于热备用状态,这些热备用冗余子模块能够以较快的速度接入桥臂来替换故障子模块；其余冗余子模块被置于冷备用的闭锁状态,它们的IGBT被置于关断状态。
(4).根据对称分量法将MMC的通用数学模型分解为包含正序、负序和零序分量的三个子系统,引入了MMC的正序、负序和零序电流控制器,比较了抑制负序电流和抑制直流电压波动的两种外环功率控制器,设计了电网故障期间MMC输送功率的动态限幅控制,可以根据故障的种类和程度调节输送功率的限幅值,防止开关器件过载,所提出的控制策略可以实现在交流电网正常以及故障状态下对MMC-HVDC系统的有效控制。指出了总直流电流在三个相单元之间的分配在交流系统对称状态下是基本均匀的,而在交流系统不对称故障状态下是不均匀的。
(5).根据MMC换流站的数学模型,分别设计了逆变站向小型无源网络供电的无源逆变直接电压控制器和直接电流控制器。
直接电压控制策略的电压幅值控制由参考信号的直馈和负反馈PI补偿来实现,频率控制通过给定调制信号频率来实现,保证了较好的供电质量。
直接电流控制策略根据受端交流系统的数学模型,建立了无源逆变的内环电流和外环电压的双闭环控制系统。通过给定无源逆变的同步相位,保证了供电频率的不变性。直接电流控制策略具有良好的交流电压和交流电流响应特性。
The modular multilevel converter (MMC) is well scalable to high-voltage levels of power transmission based on cascaded connection of multiple sub-modules (SMs) per arm, which also means a high number of output voltage levels. Due to the high-quality output voltage, the low switching losses as well as the use of standard power electronic devices, the MMC topology is considered suitable for high-voltage direct current (HVDC) transmission applications. The MMC based HVDC transmission system has bright prospects in renewable power integration, grid interconnection, power supply to offshore loads, city centre infeed and etc.. The control strategy, which is one of the key technologies in MMC-HVDC transmission system, is studied in this dissertation. The main contents are listed as follows:
(1). The nearest level modulation (NLM) strategy is introduced to the firing control of the MMC with a high number of voltage levels. The Fourier series representation of the output voltage waveform is derived, by which the fundamental-wave and harmonic components are calculated.
(2). The capacitor voltage balancing problem of the MMC is investigated. The requirement to reduce the switching frequency of power electronic device is not satisfied with the straightforward capacitor voltage balancing strategy, which results in high switching losses. To solve this problem, an improved capacitor voltage balancing strategy for the MMC is proposed. The improved capacitor voltage balancing strategy focuses on the sub-modules whose capacitor voltage exceeds the limits, while the switching states of the other sub-modules are maintained to some degrees by employing the maintaining factor. Therefore, the switching frequency and the switching loss of power electronic device are reduced.
(3). The sub-module faults in MMC are analysed, which will cause oscillations in DC voltage and DC current, as well as the outage of the converter. Different redundancy control and protection strategies to deal with the sub-module faults in cascaded H-bridge converter are compared, and then a redundancy control and protection strategy for the sub-module faults in MMC is proposed. In this strategy, one or several redundant sub-modules are arranged in the hot stand-by state, which can be put into operation very quickly, while the others are arranged in the cold stand-by blocking state to protect the IGBTs in them.
(4). According to the generalized MMC model, the dynamics of the positive-, negative-, and zero-sequence components are derived. Then, a dual current control scheme with positive-and negative-sequence current controllers is applied to MMC. The power controller to eliminate the negative-sequence current components and the other one to eliminate the DC voltage ripples are compared. A zero-sequence current controller is also proposed in addition to the positive-and negative-sequence current controllers. Moreover, the dynamic power limiting control is proposed to regulate the power limitations and protect the power semiconductors under different grid fault conditions. The distribution of DC current to three phase units is equal only in balanced grid conditions, but is not equal in unbalanced grid conditions.
(5). According to the MMC mathematical model, the direct voltage control and the direct current control are proposed for the control of the MMC-HVDC system connected to small passive networks.
In the direct voltage control, the amplitude of the AC-bus voltage is regulated by feed-through of the command reference along with a PI feedback compensator. Nominal system frequency of the inverter AC-side is ensured by setting the angular frequency of the modulation signal at the nominal value.
In the direct current control, a double closed-loop controller containing an inner fast current loop and an outer voltage loop is proposed for the control of the inverter station. The angular frequency of synchronous phase angle provided for the dq transformation of the inverter controllers is set at the nominal value, and thus a constant system frequency of the inverter AC side is ensured.
(1).由于MMC-HVDC系统的电平数较高,将最近电平逼近调制策略(Nearest Level Modulation, NLM)引入到MMC-HVDC系统的触发控制中。给出了最近电平逼近调制策略在MMC中的实现算法,推导了NLM策略输出波形的Fourier级数形式的解析表达式,并进行了NLM策略输出波形的基波和谐波特性的理论计算。
(2).介绍了MMC电容电压平衡的基本原理。指出了在传统的电容电压平衡策略下,子模块投切较频繁,器件开关频率较高,会造成较大的开关损耗。针对传统电容电压平衡策略的问题,提出了一种适合MMC型直流输电系统的电容电压优化平衡策略,将平衡控制的重点放在电容电压越限的子模块上；对电容电压未越限的子模块,优化平衡策略通过引入保持因子使其具有一定的保持原来投切状态的能力,以降低开关器件的开关频率和开关损耗。
(3).介绍了MMC中子模块的几种常见故障原因,指出了单个子模块故障会引发直流电压和直流电流的振荡,可能导致换流器停运。对级联H桥多电平换流器几种常见的子模块故障冗余控制保护策略进行了比较,在此基础上提出了适合MMC换流站的子模块故障冗余控制保护策略。该方法将少量冗余子模块置于热备用状态,这些热备用冗余子模块能够以较快的速度接入桥臂来替换故障子模块；其余冗余子模块被置于冷备用的闭锁状态,它们的IGBT被置于关断状态。
(4).根据对称分量法将MMC的通用数学模型分解为包含正序、负序和零序分量的三个子系统,引入了MMC的正序、负序和零序电流控制器,比较了抑制负序电流和抑制直流电压波动的两种外环功率控制器,设计了电网故障期间MMC输送功率的动态限幅控制,可以根据故障的种类和程度调节输送功率的限幅值,防止开关器件过载,所提出的控制策略可以实现在交流电网正常以及故障状态下对MMC-HVDC系统的有效控制。指出了总直流电流在三个相单元之间的分配在交流系统对称状态下是基本均匀的,而在交流系统不对称故障状态下是不均匀的。
(5).根据MMC换流站的数学模型,分别设计了逆变站向小型无源网络供电的无源逆变直接电压控制器和直接电流控制器。
直接电压控制策略的电压幅值控制由参考信号的直馈和负反馈PI补偿来实现,频率控制通过给定调制信号频率来实现,保证了较好的供电质量。
直接电流控制策略根据受端交流系统的数学模型,建立了无源逆变的内环电流和外环电压的双闭环控制系统。通过给定无源逆变的同步相位,保证了供电频率的不变性。直接电流控制策略具有良好的交流电压和交流电流响应特性。
The modular multilevel converter (MMC) is well scalable to high-voltage levels of power transmission based on cascaded connection of multiple sub-modules (SMs) per arm, which also means a high number of output voltage levels. Due to the high-quality output voltage, the low switching losses as well as the use of standard power electronic devices, the MMC topology is considered suitable for high-voltage direct current (HVDC) transmission applications. The MMC based HVDC transmission system has bright prospects in renewable power integration, grid interconnection, power supply to offshore loads, city centre infeed and etc.. The control strategy, which is one of the key technologies in MMC-HVDC transmission system, is studied in this dissertation. The main contents are listed as follows:
(1). The nearest level modulation (NLM) strategy is introduced to the firing control of the MMC with a high number of voltage levels. The Fourier series representation of the output voltage waveform is derived, by which the fundamental-wave and harmonic components are calculated.
(2). The capacitor voltage balancing problem of the MMC is investigated. The requirement to reduce the switching frequency of power electronic device is not satisfied with the straightforward capacitor voltage balancing strategy, which results in high switching losses. To solve this problem, an improved capacitor voltage balancing strategy for the MMC is proposed. The improved capacitor voltage balancing strategy focuses on the sub-modules whose capacitor voltage exceeds the limits, while the switching states of the other sub-modules are maintained to some degrees by employing the maintaining factor. Therefore, the switching frequency and the switching loss of power electronic device are reduced.
(3). The sub-module faults in MMC are analysed, which will cause oscillations in DC voltage and DC current, as well as the outage of the converter. Different redundancy control and protection strategies to deal with the sub-module faults in cascaded H-bridge converter are compared, and then a redundancy control and protection strategy for the sub-module faults in MMC is proposed. In this strategy, one or several redundant sub-modules are arranged in the hot stand-by state, which can be put into operation very quickly, while the others are arranged in the cold stand-by blocking state to protect the IGBTs in them.
(4). According to the generalized MMC model, the dynamics of the positive-, negative-, and zero-sequence components are derived. Then, a dual current control scheme with positive-and negative-sequence current controllers is applied to MMC. The power controller to eliminate the negative-sequence current components and the other one to eliminate the DC voltage ripples are compared. A zero-sequence current controller is also proposed in addition to the positive-and negative-sequence current controllers. Moreover, the dynamic power limiting control is proposed to regulate the power limitations and protect the power semiconductors under different grid fault conditions. The distribution of DC current to three phase units is equal only in balanced grid conditions, but is not equal in unbalanced grid conditions.
(5). According to the MMC mathematical model, the direct voltage control and the direct current control are proposed for the control of the MMC-HVDC system connected to small passive networks.
In the direct voltage control, the amplitude of the AC-bus voltage is regulated by feed-through of the command reference along with a PI feedback compensator. Nominal system frequency of the inverter AC-side is ensured by setting the angular frequency of the modulation signal at the nominal value.
In the direct current control, a double closed-loop controller containing an inner fast current loop and an outer voltage loop is proposed for the control of the inverter station. The angular frequency of synchronous phase angle provided for the dq transformation of the inverter controllers is set at the nominal value, and thus a constant system frequency of the inverter AC side is ensured.
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