基于MMC的多端直流输电系统控制方法研究
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摘要
多端直流输电(Multi-Terminal Direct Current, MTDC)系统,能够实现多电源供电以及多落点受电,相比于两端高压直流输电(High Voltage Direct Current, HVDC)系统运行更为经济灵活,在电网互联及新能源并网等方面优势明显。早期的MTDC系统都是采用电网换相换流器(Line Commutated Convertert, LCC),而LCC需要一定强度的交流系统支撑实现换相,还要消耗大量的无功功率,当MTDC系统用于连接可再生能源以及供电偏远地区或海岛等场合时,会存在诸如需配备大量无功补偿、容易发生换相失败、无法供电无源网络等问题,在一定程度上限制了MTDC的应用及优势发挥。
20世纪90年代以后,以全控型开关器件为基础的电压源换流器型高压直流输电(Voltage Source Converter Based HVDC, VSC-HVDC,也称为柔性直流输电)由于具有有功无功独立调节,可向无源网络供电等优势而受到人们的重视并得到快速发展。而模块化多电平换流器(Modular Multilevel Converter, MMC)作为最新一代的电压源换流器拓扑,因其开关损耗小,不依赖器件串联技术等优势,已成为VSC-HVDC工程的建设趋势。
基于MMC的多端直流输电(Multi-Terminal Direct Current Based on MMC, MMC-MTDC)系统,既能够充分发挥MMC的技术优势,又兼顾了MTDC系统的经济性、灵活性和可靠性特点。相对于两端系统,MMC-MTDC系统在仿真建模和系统控制保护策略等方面更为复杂,许多关键问题也尚未得到合理解决。因此,论文针对MMC-MTDC系统的参数设计、仿真建模及多端协调控制保护策略进行了研究,能够为MMC-MTDC工程的实施提供一定的理论依据。
(1) MMC-MTDC模型及基本控制策略
为了研究基于MMC的多端直流输电系统,有必要先对MMC本身的运行原理及控制特性进行研究。基于MMC的运行工作原理,推导了适用于暂态分析的MMC的开关函数数学模型以及适用于控制分析的三端MMC-MTDC系统dq坐标下的数学模型。并基于dq解耦控制策略思想,分别设计了供电有源系统和供电无源系统的MMC的基本控制器,以及MMC调制策略和电容电压平衡控制策略,并通过仿真测试了控制器的稳态和动态响应特性。
针对MMC中的关键器件之一桥臂电抗器,在MMC取整函数模型基础上,提出一种以抑制MMC交流侧电流大幅波动为目的的桥臂电抗器参数设计方法,为工程中桥臂电抗器的设计提供了一定的理论依据。仿真分析表明,PSCAD/EMTDC下的桥臂电抗仿真值与理论计算值非常吻合,桥臂电抗优化设计后的交流侧电流波动以及相间环流均有明显改善。
(2)适用于MMC-MTDC系统的精确电压裕度控制策略研究
多端站间协调控制是MTDC系统的核心。首先研究了主从控制、电压下降特性控制和电压裕度控制三种多端协调控制方法的控制原理,并针对MMC-MTDC系统分别设计了三种方法的控制器。其次,为避免直流输电线路较长时电压降落与线路损耗对电压裕度控制产生的影响,提出了一种精确电压裕度控制方法,并给出了精确电压裕度值选取公式,同时设计了精确电压裕度控制器。最后,在PSCAD/EMTDC环境中建立了基于MMC的三端系统仿真模型,在该模型下分别进行了一般电压裕度控制方法的运行特性分析和精确电压裕度控制法的仿真验证；并对MMC-MTDC系统发生直流电缆单极短路和双极短路故障后的故障特性进行仿真,提出了相应的控制保护策略。
(3)含大规模风电接入的MMC-MTDC系统
针对MMC-MTDC系统在大规模风电并网方面的应用,重点研究了含风电接入的MMC-MTDC系统的多端控制方法。首先,针对双馈感应发电机组(Double Fed Induction Generators, DFIG)建立了发电机数学模型以及风速及空气动力模型,并对双馈机组变流器的控制器进行了设计。然后,针对风电场功率波动幅度较大的特点,同时考虑到多端系统的电压控制效果,提出了一种阶段式电压下降控制方法,将电压下降控制同电压裕度控制有机结合,在风机出力的不同阶段采用不同的控制方式。最后,在PSCAD/EMTDC环境下,建立了与风电场连接的MMC-MTDC系统模型,对提出的阶段式电压下降控制方法的有效性进行了仿真分析。仿真结果表明,当风电场出力较大时,多端系统采用电压下降控制,能够较为灵活的平衡风机出力波动,当风电出力大幅跌落时,阶段性电压下降控制能够将换流站自动转换为直流电压控制,保证整个多端系统的直流电压不会出现较大偏离。
(4)换流站通用集成控制保护平台体系结构
MTDC系统中可基于LCC.两电平VSC、MMC或其他换流器拓扑,也可能同时含有多种换流器拓扑组成混合多端直流输电系统(Hybrid MTDC)。文中提出开发一种新型的适用于多种直流输电工程的换流站通用集成控制保护平台框架,可用于常规高压直流输电、VSC-HVDC以及混合直流输电等复杂输电形式的场合。首先提出了通用集成平台的整体功能需求和平台的设计原则,并从功能和设备两个角度出发,提出了该平台的两种体系结构方案,并阐述了平台每部分的控制保护设备、控制保护系统的功能和范围及各部分之间的隶属和通信关系。该体系框架可将不同种类直流输电的控制保护功能有效集成,为通用控制保护平台的开发奠定了基础。
Multi-Terminal Direct Current (MTDC) can achieve the function of multi power sources or multi receiving ends, and placement by electricity. And compared with the2-terminal High Voltage Direct Current (HVDC) system, it is more economical and flexible, and it has obvious advantages in grid interconnection and new energy connecting to the grid. Early MTDC system is based on Line Commutated Converter (LCC), which requires an AC system which has certain strength to realize the commutation exchange, and it also consumes a large amount of reactive power. When MTDC system is used for connecting renewable energy source and supplying power to romote area or islands, it may has problems as reactive power compensation, commutation failure and unable to supply the passive network, which to some extent limits the application and advantages of MTDC.
After the1990s, full-controlled switching device based Voltage Source Converter Based HVDC (VSC-HVDC) is taken seriously by many people and rapidly developed for the advantages of adjusting active and reactive power independently and supplying power to the passive network. As the latest generation of the voltage sourced converter topology, Modular Multilevel Converter (MMC) has become the trend of the VSC-HVDC projects for its advantages of less switching losses and independent of thechnology of devices in series.
Modular Multilevel Converter Based Multi-Terminal Direct Current (MMC-MTDC) system is able to fully show the technical advantages of the MMC, and it can also make a full use of to the advantages of MTDC system such as the well economy, flexibility and reliability. Compared with the2-terminal HVDC system, the MMC-MTDC system is more complex on simulation modeling and system control and protection strategy. And many of the key issues are yet remained to be solved. Therefore, the paper focuses on the design of MMC-MTDC parameters, simulation modeling, and coordination control and protection strategy to provide some theoretical basis for the implementation of the MMC-MTDC engineering.
(1) MMC-MTDC model and control strategy
In order to study a MMC-MTDC system, it is necessary to study on the operating principle and control characteristics of MMC. Based on the operating principle of MMC, a mathematical switching model applied to the transient analysis of MMC and a mathematical model under dq coordinates of the three-terminal MMC-MTDC system which is suitable for control analysis are derived. And based on the dq decoupling control strategy, the paper designed the basic controller respectively for the active sourced side of the MMC and passive sourced side of the MMC, and it also designed the MMC modulation strategy and capacitor voltage balance control strategy, and it tested the controller on the steady-state and dynamic response through the simulation.
For one of the key components, the bridge arm, based on the MMC model using the integer function, the paper proposed a designing method for bridge arm reactor parameters to suppress the current volatility on the AC side of MMC, so as to provide a theoretical basis for the bridge arm reactor in engineering. Simulation analysis shows that PSCAD/EMTDC simulation results are very consistent with the theoretical calculation results and the current fluctuations of AC side as well as phase circulation of current are both improved greatly through the optimizing design of the bridge arm reactor.
(2) Precision voltage margin control method applied to the MMC-MTDC system
Coordinated control among stations is the key of MTDC system. First, the control principles of master-slave control method, DC voltage droop control and voltage margin control method are researched and the corresponding controllers are designed based on MTDC system. Second, a kind of precise voltage margin control method is proposed to avoid the influence cause by voltage drop and line loss of long DC transmission lines on the margin control, the formula to calculate the margin value of precise margin control is deduced and the corresponding precise margin controller is designed. At last, a3-terminal MMC-MTDC simulation model is established in PSCAD/EMTDC. Based on the simulation model, the operation performance of the general margin control is analyzed, the precise margin controller is validated and the fault characteristic when pole-to-ground fault and pole-to-pole fault occur to MMC-MTDC system is simulated. The corresponding control and protection scheme are given.
(3)MMC-MTDC system with large-scale wind farm connected
The control method of MMC-MTDC system with wind farm connected to is researched. First, the mathematical model of the generator and the model of wind speed and aerodynamic are established and the controller for double-fed wind turbine converter is designed. Considering the control performance of DC voltage control of MMC-MTDC system, a stage-style DC voltage droop control is proposed based on the large power fluctuation of wind farm. The control combines the DC voltage droop control and voltage margin control, different control modes are adapted at different stages of the wind farm operating. At last, the MMC-MTDC system model with wind farm connected to is established in PSCAD/EMTDC and the proposed stage-style DC voltage droop control is validated and analyzed. The simulation results show that when the power of wind farm is large, the MTDC system adapts DC voltage droop control and the fluctuation can be balanced flexibly, when the power of wind farm drops sharply, the stage-style DC voltage droop control can make the master station DC voltage control so that the DC voltage of MMC-MTDC system will not have a significant deviation.
(4) System Architecture of a Universal Integrated Control and Protection Platform for Converter Stations
MTDC system can be based on LCC, two-level VSC, MMC or other converter types; also it may contain some types of the converters simultaneously, composing hybrid MTDC system. In this dissertation, a novel universal integrated platform of control and protection for converter stations of various HVDC projects was proposed, which can be used for conventional HVDC, VSC-HVDC, and more complex hybrid HVDC systems, etc. The integral function demands and design principles for the universal integrated platform were presented. Then from the function and equipment points of view, two different system architecture schemes were proposed. In each part, the control and protection devices, functions and control areas, and interrelationship of subordination and communication were elaborated. The architecture can make the integration of control and protection functions for different HVDC projects, which lays the foundation for future development of the universal platform.
20世纪90年代以后,以全控型开关器件为基础的电压源换流器型高压直流输电(Voltage Source Converter Based HVDC, VSC-HVDC,也称为柔性直流输电)由于具有有功无功独立调节,可向无源网络供电等优势而受到人们的重视并得到快速发展。而模块化多电平换流器(Modular Multilevel Converter, MMC)作为最新一代的电压源换流器拓扑,因其开关损耗小,不依赖器件串联技术等优势,已成为VSC-HVDC工程的建设趋势。
基于MMC的多端直流输电(Multi-Terminal Direct Current Based on MMC, MMC-MTDC)系统,既能够充分发挥MMC的技术优势,又兼顾了MTDC系统的经济性、灵活性和可靠性特点。相对于两端系统,MMC-MTDC系统在仿真建模和系统控制保护策略等方面更为复杂,许多关键问题也尚未得到合理解决。因此,论文针对MMC-MTDC系统的参数设计、仿真建模及多端协调控制保护策略进行了研究,能够为MMC-MTDC工程的实施提供一定的理论依据。
(1) MMC-MTDC模型及基本控制策略
为了研究基于MMC的多端直流输电系统,有必要先对MMC本身的运行原理及控制特性进行研究。基于MMC的运行工作原理,推导了适用于暂态分析的MMC的开关函数数学模型以及适用于控制分析的三端MMC-MTDC系统dq坐标下的数学模型。并基于dq解耦控制策略思想,分别设计了供电有源系统和供电无源系统的MMC的基本控制器,以及MMC调制策略和电容电压平衡控制策略,并通过仿真测试了控制器的稳态和动态响应特性。
针对MMC中的关键器件之一桥臂电抗器,在MMC取整函数模型基础上,提出一种以抑制MMC交流侧电流大幅波动为目的的桥臂电抗器参数设计方法,为工程中桥臂电抗器的设计提供了一定的理论依据。仿真分析表明,PSCAD/EMTDC下的桥臂电抗仿真值与理论计算值非常吻合,桥臂电抗优化设计后的交流侧电流波动以及相间环流均有明显改善。
(2)适用于MMC-MTDC系统的精确电压裕度控制策略研究
多端站间协调控制是MTDC系统的核心。首先研究了主从控制、电压下降特性控制和电压裕度控制三种多端协调控制方法的控制原理,并针对MMC-MTDC系统分别设计了三种方法的控制器。其次,为避免直流输电线路较长时电压降落与线路损耗对电压裕度控制产生的影响,提出了一种精确电压裕度控制方法,并给出了精确电压裕度值选取公式,同时设计了精确电压裕度控制器。最后,在PSCAD/EMTDC环境中建立了基于MMC的三端系统仿真模型,在该模型下分别进行了一般电压裕度控制方法的运行特性分析和精确电压裕度控制法的仿真验证；并对MMC-MTDC系统发生直流电缆单极短路和双极短路故障后的故障特性进行仿真,提出了相应的控制保护策略。
(3)含大规模风电接入的MMC-MTDC系统
针对MMC-MTDC系统在大规模风电并网方面的应用,重点研究了含风电接入的MMC-MTDC系统的多端控制方法。首先,针对双馈感应发电机组(Double Fed Induction Generators, DFIG)建立了发电机数学模型以及风速及空气动力模型,并对双馈机组变流器的控制器进行了设计。然后,针对风电场功率波动幅度较大的特点,同时考虑到多端系统的电压控制效果,提出了一种阶段式电压下降控制方法,将电压下降控制同电压裕度控制有机结合,在风机出力的不同阶段采用不同的控制方式。最后,在PSCAD/EMTDC环境下,建立了与风电场连接的MMC-MTDC系统模型,对提出的阶段式电压下降控制方法的有效性进行了仿真分析。仿真结果表明,当风电场出力较大时,多端系统采用电压下降控制,能够较为灵活的平衡风机出力波动,当风电出力大幅跌落时,阶段性电压下降控制能够将换流站自动转换为直流电压控制,保证整个多端系统的直流电压不会出现较大偏离。
(4)换流站通用集成控制保护平台体系结构
MTDC系统中可基于LCC.两电平VSC、MMC或其他换流器拓扑,也可能同时含有多种换流器拓扑组成混合多端直流输电系统(Hybrid MTDC)。文中提出开发一种新型的适用于多种直流输电工程的换流站通用集成控制保护平台框架,可用于常规高压直流输电、VSC-HVDC以及混合直流输电等复杂输电形式的场合。首先提出了通用集成平台的整体功能需求和平台的设计原则,并从功能和设备两个角度出发,提出了该平台的两种体系结构方案,并阐述了平台每部分的控制保护设备、控制保护系统的功能和范围及各部分之间的隶属和通信关系。该体系框架可将不同种类直流输电的控制保护功能有效集成,为通用控制保护平台的开发奠定了基础。
Multi-Terminal Direct Current (MTDC) can achieve the function of multi power sources or multi receiving ends, and placement by electricity. And compared with the2-terminal High Voltage Direct Current (HVDC) system, it is more economical and flexible, and it has obvious advantages in grid interconnection and new energy connecting to the grid. Early MTDC system is based on Line Commutated Converter (LCC), which requires an AC system which has certain strength to realize the commutation exchange, and it also consumes a large amount of reactive power. When MTDC system is used for connecting renewable energy source and supplying power to romote area or islands, it may has problems as reactive power compensation, commutation failure and unable to supply the passive network, which to some extent limits the application and advantages of MTDC.
After the1990s, full-controlled switching device based Voltage Source Converter Based HVDC (VSC-HVDC) is taken seriously by many people and rapidly developed for the advantages of adjusting active and reactive power independently and supplying power to the passive network. As the latest generation of the voltage sourced converter topology, Modular Multilevel Converter (MMC) has become the trend of the VSC-HVDC projects for its advantages of less switching losses and independent of thechnology of devices in series.
Modular Multilevel Converter Based Multi-Terminal Direct Current (MMC-MTDC) system is able to fully show the technical advantages of the MMC, and it can also make a full use of to the advantages of MTDC system such as the well economy, flexibility and reliability. Compared with the2-terminal HVDC system, the MMC-MTDC system is more complex on simulation modeling and system control and protection strategy. And many of the key issues are yet remained to be solved. Therefore, the paper focuses on the design of MMC-MTDC parameters, simulation modeling, and coordination control and protection strategy to provide some theoretical basis for the implementation of the MMC-MTDC engineering.
(1) MMC-MTDC model and control strategy
In order to study a MMC-MTDC system, it is necessary to study on the operating principle and control characteristics of MMC. Based on the operating principle of MMC, a mathematical switching model applied to the transient analysis of MMC and a mathematical model under dq coordinates of the three-terminal MMC-MTDC system which is suitable for control analysis are derived. And based on the dq decoupling control strategy, the paper designed the basic controller respectively for the active sourced side of the MMC and passive sourced side of the MMC, and it also designed the MMC modulation strategy and capacitor voltage balance control strategy, and it tested the controller on the steady-state and dynamic response through the simulation.
For one of the key components, the bridge arm, based on the MMC model using the integer function, the paper proposed a designing method for bridge arm reactor parameters to suppress the current volatility on the AC side of MMC, so as to provide a theoretical basis for the bridge arm reactor in engineering. Simulation analysis shows that PSCAD/EMTDC simulation results are very consistent with the theoretical calculation results and the current fluctuations of AC side as well as phase circulation of current are both improved greatly through the optimizing design of the bridge arm reactor.
(2) Precision voltage margin control method applied to the MMC-MTDC system
Coordinated control among stations is the key of MTDC system. First, the control principles of master-slave control method, DC voltage droop control and voltage margin control method are researched and the corresponding controllers are designed based on MTDC system. Second, a kind of precise voltage margin control method is proposed to avoid the influence cause by voltage drop and line loss of long DC transmission lines on the margin control, the formula to calculate the margin value of precise margin control is deduced and the corresponding precise margin controller is designed. At last, a3-terminal MMC-MTDC simulation model is established in PSCAD/EMTDC. Based on the simulation model, the operation performance of the general margin control is analyzed, the precise margin controller is validated and the fault characteristic when pole-to-ground fault and pole-to-pole fault occur to MMC-MTDC system is simulated. The corresponding control and protection scheme are given.
(3)MMC-MTDC system with large-scale wind farm connected
The control method of MMC-MTDC system with wind farm connected to is researched. First, the mathematical model of the generator and the model of wind speed and aerodynamic are established and the controller for double-fed wind turbine converter is designed. Considering the control performance of DC voltage control of MMC-MTDC system, a stage-style DC voltage droop control is proposed based on the large power fluctuation of wind farm. The control combines the DC voltage droop control and voltage margin control, different control modes are adapted at different stages of the wind farm operating. At last, the MMC-MTDC system model with wind farm connected to is established in PSCAD/EMTDC and the proposed stage-style DC voltage droop control is validated and analyzed. The simulation results show that when the power of wind farm is large, the MTDC system adapts DC voltage droop control and the fluctuation can be balanced flexibly, when the power of wind farm drops sharply, the stage-style DC voltage droop control can make the master station DC voltage control so that the DC voltage of MMC-MTDC system will not have a significant deviation.
(4) System Architecture of a Universal Integrated Control and Protection Platform for Converter Stations
MTDC system can be based on LCC, two-level VSC, MMC or other converter types; also it may contain some types of the converters simultaneously, composing hybrid MTDC system. In this dissertation, a novel universal integrated platform of control and protection for converter stations of various HVDC projects was proposed, which can be used for conventional HVDC, VSC-HVDC, and more complex hybrid HVDC systems, etc. The integral function demands and design principles for the universal integrated platform were presented. Then from the function and equipment points of view, two different system architecture schemes were proposed. In each part, the control and protection devices, functions and control areas, and interrelationship of subordination and communication were elaborated. The architecture can make the integration of control and protection functions for different HVDC projects, which lays the foundation for future development of the universal platform.
引文
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