柔性直流输电系统的功率控制研究
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摘要
随着新能源发电传输、不同电网间电力市场交易等新型输电模式的高速发展,传统输电方式已经不能满足这些新型输电模式的应用要求。基于电压源PWM整流器(VSC)技术的柔性直流输电技术是近年来发展起来的一种新型输电模式,拥有能独立控制有功、无功功率、不会增加系统短路容量、可以实现异步电网连接等巨大的优势。柔性直流输电系统的主要作用就是控制不同电网间的潮流传输方向与大小,因此,对柔性直流输电系统换流站的输出瞬时功率计算方法和功率控制策略的研究具有重要意义。
本文从建立柔性直流输电换流器数学模型入手,分别建立了基于换流站输出电压幅位、相角的稳态功率模型和基于三相静止、两相旋转坐标系下的换流器数学模型,为功率控制策略分析,控制系统设计,分析提供了理论依据。
依据柔性直流输电换流器数学模型,本文结合PWM整流器各种可用于功率控制的控制策略,分别分析了基于电压定向和基于虚拟磁链的瞬时功率计算方式的原理;并分析了基于功率滞环比较器的功率控制方式。
在分析的基础上,本文给出了三种柔性直流输电系统控制模型:基于电压定向功率控制模型,基于功率滞环比较器的功率控制模型,基于虚拟磁链的定频功率控制模型。并以电压定向功率控制模型为例详细论述了柔性直流输电系统的控制系统参数设计,详细讨论并对比了三种功率控制模型的优缺点。得出基于虚拟磁链的定频功率控制模型是最适合于柔性直流输电系统功率控制的结论,通过MATLAB/Simulink仿真软件验证了所有分析结果的有效性。
完成了15KVA的柔性直流输电系统原理样机的研制,系统稳态特性和动态特性良好,验证了所选控制策略的有效性。
With the fast development of new power energy transmission mode like new energy power transmission、transactions in different power grid market, Traditional transmission methods can not meet these new requirements. Based on the Voltage source converter (VSC) technology, the flexible HVDC technology is a highly developing mode of power transmission. It can have huge advantage like the independent control of active, reactive power; do not increase the short-circuit system capacity; asynchronous link between power grids. The main role of flexible HVDC system is to control the direction and size of tide between different power grids, so it is of great significance to research the instantaneous power calculation methods and control strategies in flexible HVDC system.
As the establishment of flexible HVDC converter mathematical models start with, we establish the converter 's steady-state model based on the rate and phrase of output voltage and the mathematical model based on the three-phase power static、two-phase rotating static. So it provides a theoretical basis to power control strategy analysis, control system design and analysis.
With the mathematical model of flexible HVDC system, and combine with all kinds of the control strategy of PWM converter, respectively, introduce the methods of instantaneous power calculation based on the analysis of orientation voltage and based on virtual flux of analysis and have analysis of the power control methods based on the hysteretic comparator.
In the basis of the analysis, three flexible HVDC system control modes have been given: the control model based on the directional voltage power, the control model based on the power hysteretic comparator, the power-control model based on virtual flux, and discuss them with the advantages and disadvantages in detail. Than have the conclusion that the power-control model of virtual flux is the most suitable for flexible HVDC system, the MATLAB / Simulink simulation results verify the validity of all the analysis results.
A 15 KVA of flexible HVDC experimental system is established. The steady state and dynamic system characteristics is good, the results verify the effectiveness of the selected control strategy.
本文从建立柔性直流输电换流器数学模型入手,分别建立了基于换流站输出电压幅位、相角的稳态功率模型和基于三相静止、两相旋转坐标系下的换流器数学模型,为功率控制策略分析,控制系统设计,分析提供了理论依据。
依据柔性直流输电换流器数学模型,本文结合PWM整流器各种可用于功率控制的控制策略,分别分析了基于电压定向和基于虚拟磁链的瞬时功率计算方式的原理;并分析了基于功率滞环比较器的功率控制方式。
在分析的基础上,本文给出了三种柔性直流输电系统控制模型:基于电压定向功率控制模型,基于功率滞环比较器的功率控制模型,基于虚拟磁链的定频功率控制模型。并以电压定向功率控制模型为例详细论述了柔性直流输电系统的控制系统参数设计,详细讨论并对比了三种功率控制模型的优缺点。得出基于虚拟磁链的定频功率控制模型是最适合于柔性直流输电系统功率控制的结论,通过MATLAB/Simulink仿真软件验证了所有分析结果的有效性。
完成了15KVA的柔性直流输电系统原理样机的研制,系统稳态特性和动态特性良好,验证了所选控制策略的有效性。
With the fast development of new power energy transmission mode like new energy power transmission、transactions in different power grid market, Traditional transmission methods can not meet these new requirements. Based on the Voltage source converter (VSC) technology, the flexible HVDC technology is a highly developing mode of power transmission. It can have huge advantage like the independent control of active, reactive power; do not increase the short-circuit system capacity; asynchronous link between power grids. The main role of flexible HVDC system is to control the direction and size of tide between different power grids, so it is of great significance to research the instantaneous power calculation methods and control strategies in flexible HVDC system.
As the establishment of flexible HVDC converter mathematical models start with, we establish the converter 's steady-state model based on the rate and phrase of output voltage and the mathematical model based on the three-phase power static、two-phase rotating static. So it provides a theoretical basis to power control strategy analysis, control system design and analysis.
With the mathematical model of flexible HVDC system, and combine with all kinds of the control strategy of PWM converter, respectively, introduce the methods of instantaneous power calculation based on the analysis of orientation voltage and based on virtual flux of analysis and have analysis of the power control methods based on the hysteretic comparator.
In the basis of the analysis, three flexible HVDC system control modes have been given: the control model based on the directional voltage power, the control model based on the power hysteretic comparator, the power-control model based on virtual flux, and discuss them with the advantages and disadvantages in detail. Than have the conclusion that the power-control model of virtual flux is the most suitable for flexible HVDC system, the MATLAB / Simulink simulation results verify the validity of all the analysis results.
A 15 KVA of flexible HVDC experimental system is established. The steady state and dynamic system characteristics is good, the results verify the effectiveness of the selected control strategy.
引文
[1]www.abb.com.Copy right by abb co.1td
[2]浙江大学发电教研组直流输电科研组,直流输电,水利电力出版社,1985
[3]Tokuo Ohnishi.Three Phase PWM Converter/Inverter by means of Instantaneous Active and Reactive Power Control.Proc.IEEE IECON'91,819-824
[4]Review of series and parallel connection of IGBTs.N.Y.A.Shammas,R.Withan age and D.Chamund
[5]It' s time to connect- Technical description of HVDC Light(?)technology,www.abb.com,pp 4-11
[6]Boon-Teck Ooi,Xiao Wang.BOOST TYPE PWM HVDC TRANSMISSION SYSTEM.IEEE Transactions on Power Delivery.1991,6(4):1557-1563
[7]张崇巍,张兴,PWM整流器及其控制[M],北京:机械工业出版社,2003
[8]张桂斌,徐政,王广柱.基于VSC的直流输电系统的稳态建模及其非线性控制[J].中国电机工程学报,2002,22(1):17-21
[9]Boon Teck Ooi,Xiao Wang.Voltage Angle Lock Loop Control of the Boost Type PWMConverter for HVDC Application[J].IEEE Transmission on Power Electronics,1999,5(2):229-235
[10]Guibin Zhang,Zheng Xu.Steady-state model for VSC based HVDC and its controller design,IEEE Power Engineering Society Winter Meeting,2001,3:1085-1090
[11]Boon-Teck Ooi,Xiao Wang.BOOST TYPE PWM HVDC TRANSMISSION SYSTEM.IEEE Transactions on Power Delivery.1991,6(4):1557-1563
[12]Modeling and Control of an HVDC-VSC transmission,Juan Manuel Mauricio,Student,IEEE,Antonio Gomez Exposito,Fellow,IEEE 2006 IEEE
[13]Fast VSC Transmission Control,L.A.Lamont,Student Member.2004 IEEE
[14]Parameters Optimization of VSC-HVDC Control System Based on Simplex Algorithm Chengyong Zhao,Member,IEEE,Xiangdong Lu,Guangkai Li,Student Member,IEEE 2007 IEEE
[15]Chengyong Zhao,Yigong Zhang,Xiufang Jia,Hui Shi,"Parameter optimization for DC transmission control system," Electric Power,vol.32,no.1,1999.
[16]Dragan Jovcic,Lisa Lamont,Lie Xu,"VSC Transmission Model for Analytical Studies," 2003 IEEE Power Engineering Society General Meeting,July 2003.
[17]M Takasaki,N Gibo,T Hayashi,"Evaluation of the relation between voltage sourced converter performance and design parameters," Seventh International Conference on AC-DC Power Transmission(IEE Conf.Publ.No.485).IEE.2001,pp.96-101.London,UK.
[18]5.G.Johansson,G.Asplund,E.Jansson,and R.Rudervall,"Power system stability benefits with vsc dc-transmission systems," Conference.Cigre Symposia 2004,Paris,France,August 2004.
[19]M.Malinowski,M.P.Kazmierkowski,S.Hansen,F.Blaabjerg,and G.D.Marques,"Virtual flux based direct power control of three-phase PWM rectifiers," IEEE Trans.Ind.Appl.,Vol.37,No.4,pp.1019-1027,Jul./Aug.2001.
[20]M.Cichowias,M.Malinoaski,M.P.Kazmierkowski,D.L.Sobczuk,P.Rodrigues,J.Pou,"Active filtering function of three-phase PWM Boost rectifier under different line voltage conditions," IEEE Trans.On Ind.Elec.,Vol.52,No.2,pp.410-419,April 2005.
[21]陈伯时,电力拖动自动控制系统(第二版),北京,机械工业出版社,2002.
[22]Toshihiko Noguchi,Hiroaki Tomiki,Seiji Kondo,Isao Takahashi.Direct Power Control of PWM Converter Without Powe-Sorce Voltage Sensors.IEEE Trans on Industry Application,1998,34(6):473-479
[23]M.Sc.Mariusz Malinnowski.Senesorless Control Strategies for Three-Phase PWM Rectifier.Warsaw University of Technology.Ph.D.Thesis,2001
[24]Toshihiko Noguchi,Hiroaki Tomiki,Seiji Kondo,Isao Takahashi.Direct Power Control of PWM Converter Without Powe-Sorce Voltage Sensors.IEEE Trans on Industry Application,1998,34(6):473-479
[25]徐小品,黄进,杨家强.瞬时功率控制在三相PWM整流中的应用.电力电子技术,2004,38(2):30-32
[26]Su Chen.Direct Power Control of Active Filter with Averaged Swithing Frequency Regulation.IEEE Trans,on Power Elactronics,2004:1187-1190
[27]赵振波,李和明,董淑惠.采用电流滞环调节器的电压矢量控制PWM整流器系统。电工技术学报,2004,19(1):31-34
[28]Mariusz,Malinowgki,Marian P.KaZmier Kowski.DSP implementation of direct power control with constant switching frequency for three-phse PWM rectifiers.28~(th)Annual Conference of the IEEE Industrial Electronics Socirty[IECON-2002],198-203
[29]熊宇,张仲超,于相旭,候振程.三相电压型单位功率因数整流器的新型间接电 流控制方案,电源技术应用,2002,9 (7): 10-15
[30] J. L. Duane, A. Van Zwam, C. Wijnands, A. Vandenput, " Reference frames tit for controlling PWM rectifiers" . IEEE Trans. On Ind. Electronics, Vol. 46, No. 3, pp. 628-630, 1999.
[31] P J. M. Smidt, J.L. Duane, "An Unity power factor converter without current measurement ". EPE'95, Sevilla. pp. 3 275-3 280, 1995
[32] Direct power control with virtual flux estimation for three-phase PWM rectifierso Mariusz Malinowski Marian P. Kazmierkowski Andrzej Trzynadlowski 2000
[33] Simulation study of virtual flux based direct power control for three-phase PWM rectifiers Mariusz Malinowski Marian P. Kazmierkowski 2000
[34] Virtual-flux-based direct power control of three-phase PWM rectifiers . Mariusz Malinowski, Student Member, IEEE, Marian P. Kazmierkowski, Fellow, IEEE, Steffan Hansen, Member, IEEE, Frede Blaabjerg, Senior Member, IEEE, and G. D. Marques, Member, IEEE 2001
[35] Simple direct power control of three-phase PWM rectifier using space-vector modulation (DPC-SVM). Mariusz Malinowski, Member, IEEE, Marek Jasin'ski, Student Member, IEEE, and Marian P. Kazmierkowski, Fellow, IEEE 2004
[36] Direct power control of three-phase PWM rectifier using space vector modulation-simulation study . Mariusz Malinowski, Marian P. Kazmierkowski. 2002
[37] New direct power control of three-phase PWM boost rectifiers under distorted and imbalanced line voltage conditions. Mariusz Member, IEEE, G il MARQUES2, Member, IEEE, Mariusz CICH0WLAS3, Student Member, EEE, Marian P. KAZMIERK0WSK14, Fellow, EEE, 2003
[38] Active filtering function erent line voltage conditions Mariusz Cichowlas, Student Member, IEEE, Mariusz Malinowski, Member, IEEE, Marian P. Kazmierkowski, Fellow, Member, Dariusz L. Sobczuk, Pedro Rodriguez, Member, IEEE, andJosep Pou, Member, IEEE 2005
[39] Direct power control for three-phase PWM rectifier with active filtering function. Mariusz Cichowlas*, Mariusz Malinowski, Marian P. Kazmierkowski, Frede Blaabjerg 2003
[40] H. Akagi, Y. Kanazawa, A. Nabae, "Instantaneous reactive power compensators comprising switching devices without energy storage components",IEEE Trans.on Ind.Applications,vol.20,no.3,pp.625-630,May/June 1984.
[41]郑超,基于电压源换流器的高压直流输电系统数学建模与仿真分析,中国电力科学院博士论文
[42]胡兆庆,基于VSC的HVDC控制及其动态特性研究,华中科技大学博士学位论文
[43]梁海峰,李庚银,李广凯,等.向无源网络供电的VSC-HVDC系统仿真研究[J].电网技术,2005,29(8):45-50.
[44]C.Du,A.Sannino,and M.H.J.Bollen,"Analysis of the controlalgorithms of voltage-source converter HVDC," in IEEE Powertech 2005,Petersburg,Russia,June 2005.
[2]浙江大学发电教研组直流输电科研组,直流输电,水利电力出版社,1985
[3]Tokuo Ohnishi.Three Phase PWM Converter/Inverter by means of Instantaneous Active and Reactive Power Control.Proc.IEEE IECON'91,819-824
[4]Review of series and parallel connection of IGBTs.N.Y.A.Shammas,R.Withan age and D.Chamund
[5]It' s time to connect- Technical description of HVDC Light(?)technology,www.abb.com,pp 4-11
[6]Boon-Teck Ooi,Xiao Wang.BOOST TYPE PWM HVDC TRANSMISSION SYSTEM.IEEE Transactions on Power Delivery.1991,6(4):1557-1563
[7]张崇巍,张兴,PWM整流器及其控制[M],北京:机械工业出版社,2003
[8]张桂斌,徐政,王广柱.基于VSC的直流输电系统的稳态建模及其非线性控制[J].中国电机工程学报,2002,22(1):17-21
[9]Boon Teck Ooi,Xiao Wang.Voltage Angle Lock Loop Control of the Boost Type PWMConverter for HVDC Application[J].IEEE Transmission on Power Electronics,1999,5(2):229-235
[10]Guibin Zhang,Zheng Xu.Steady-state model for VSC based HVDC and its controller design,IEEE Power Engineering Society Winter Meeting,2001,3:1085-1090
[11]Boon-Teck Ooi,Xiao Wang.BOOST TYPE PWM HVDC TRANSMISSION SYSTEM.IEEE Transactions on Power Delivery.1991,6(4):1557-1563
[12]Modeling and Control of an HVDC-VSC transmission,Juan Manuel Mauricio,Student,IEEE,Antonio Gomez Exposito,Fellow,IEEE 2006 IEEE
[13]Fast VSC Transmission Control,L.A.Lamont,Student Member.2004 IEEE
[14]Parameters Optimization of VSC-HVDC Control System Based on Simplex Algorithm Chengyong Zhao,Member,IEEE,Xiangdong Lu,Guangkai Li,Student Member,IEEE 2007 IEEE
[15]Chengyong Zhao,Yigong Zhang,Xiufang Jia,Hui Shi,"Parameter optimization for DC transmission control system," Electric Power,vol.32,no.1,1999.
[16]Dragan Jovcic,Lisa Lamont,Lie Xu,"VSC Transmission Model for Analytical Studies," 2003 IEEE Power Engineering Society General Meeting,July 2003.
[17]M Takasaki,N Gibo,T Hayashi,"Evaluation of the relation between voltage sourced converter performance and design parameters," Seventh International Conference on AC-DC Power Transmission(IEE Conf.Publ.No.485).IEE.2001,pp.96-101.London,UK.
[18]5.G.Johansson,G.Asplund,E.Jansson,and R.Rudervall,"Power system stability benefits with vsc dc-transmission systems," Conference.Cigre Symposia 2004,Paris,France,August 2004.
[19]M.Malinowski,M.P.Kazmierkowski,S.Hansen,F.Blaabjerg,and G.D.Marques,"Virtual flux based direct power control of three-phase PWM rectifiers," IEEE Trans.Ind.Appl.,Vol.37,No.4,pp.1019-1027,Jul./Aug.2001.
[20]M.Cichowias,M.Malinoaski,M.P.Kazmierkowski,D.L.Sobczuk,P.Rodrigues,J.Pou,"Active filtering function of three-phase PWM Boost rectifier under different line voltage conditions," IEEE Trans.On Ind.Elec.,Vol.52,No.2,pp.410-419,April 2005.
[21]陈伯时,电力拖动自动控制系统(第二版),北京,机械工业出版社,2002.
[22]Toshihiko Noguchi,Hiroaki Tomiki,Seiji Kondo,Isao Takahashi.Direct Power Control of PWM Converter Without Powe-Sorce Voltage Sensors.IEEE Trans on Industry Application,1998,34(6):473-479
[23]M.Sc.Mariusz Malinnowski.Senesorless Control Strategies for Three-Phase PWM Rectifier.Warsaw University of Technology.Ph.D.Thesis,2001
[24]Toshihiko Noguchi,Hiroaki Tomiki,Seiji Kondo,Isao Takahashi.Direct Power Control of PWM Converter Without Powe-Sorce Voltage Sensors.IEEE Trans on Industry Application,1998,34(6):473-479
[25]徐小品,黄进,杨家强.瞬时功率控制在三相PWM整流中的应用.电力电子技术,2004,38(2):30-32
[26]Su Chen.Direct Power Control of Active Filter with Averaged Swithing Frequency Regulation.IEEE Trans,on Power Elactronics,2004:1187-1190
[27]赵振波,李和明,董淑惠.采用电流滞环调节器的电压矢量控制PWM整流器系统。电工技术学报,2004,19(1):31-34
[28]Mariusz,Malinowgki,Marian P.KaZmier Kowski.DSP implementation of direct power control with constant switching frequency for three-phse PWM rectifiers.28~(th)Annual Conference of the IEEE Industrial Electronics Socirty[IECON-2002],198-203
[29]熊宇,张仲超,于相旭,候振程.三相电压型单位功率因数整流器的新型间接电 流控制方案,电源技术应用,2002,9 (7): 10-15
[30] J. L. Duane, A. Van Zwam, C. Wijnands, A. Vandenput, " Reference frames tit for controlling PWM rectifiers" . IEEE Trans. On Ind. Electronics, Vol. 46, No. 3, pp. 628-630, 1999.
[31] P J. M. Smidt, J.L. Duane, "An Unity power factor converter without current measurement ". EPE'95, Sevilla. pp. 3 275-3 280, 1995
[32] Direct power control with virtual flux estimation for three-phase PWM rectifierso Mariusz Malinowski Marian P. Kazmierkowski Andrzej Trzynadlowski 2000
[33] Simulation study of virtual flux based direct power control for three-phase PWM rectifiers Mariusz Malinowski Marian P. Kazmierkowski 2000
[34] Virtual-flux-based direct power control of three-phase PWM rectifiers . Mariusz Malinowski, Student Member, IEEE, Marian P. Kazmierkowski, Fellow, IEEE, Steffan Hansen, Member, IEEE, Frede Blaabjerg, Senior Member, IEEE, and G. D. Marques, Member, IEEE 2001
[35] Simple direct power control of three-phase PWM rectifier using space-vector modulation (DPC-SVM). Mariusz Malinowski, Member, IEEE, Marek Jasin'ski, Student Member, IEEE, and Marian P. Kazmierkowski, Fellow, IEEE 2004
[36] Direct power control of three-phase PWM rectifier using space vector modulation-simulation study . Mariusz Malinowski, Marian P. Kazmierkowski. 2002
[37] New direct power control of three-phase PWM boost rectifiers under distorted and imbalanced line voltage conditions. Mariusz Member, IEEE, G il MARQUES2, Member, IEEE, Mariusz CICH0WLAS3, Student Member, EEE, Marian P. KAZMIERK0WSK14, Fellow, EEE, 2003
[38] Active filtering function erent line voltage conditions Mariusz Cichowlas, Student Member, IEEE, Mariusz Malinowski, Member, IEEE, Marian P. Kazmierkowski, Fellow, Member, Dariusz L. Sobczuk, Pedro Rodriguez, Member, IEEE, andJosep Pou, Member, IEEE 2005
[39] Direct power control for three-phase PWM rectifier with active filtering function. Mariusz Cichowlas*, Mariusz Malinowski, Marian P. Kazmierkowski, Frede Blaabjerg 2003
[40] H. Akagi, Y. Kanazawa, A. Nabae, "Instantaneous reactive power compensators comprising switching devices without energy storage components",IEEE Trans.on Ind.Applications,vol.20,no.3,pp.625-630,May/June 1984.
[41]郑超,基于电压源换流器的高压直流输电系统数学建模与仿真分析,中国电力科学院博士论文
[42]胡兆庆,基于VSC的HVDC控制及其动态特性研究,华中科技大学博士学位论文
[43]梁海峰,李庚银,李广凯,等.向无源网络供电的VSC-HVDC系统仿真研究[J].电网技术,2005,29(8):45-50.
[44]C.Du,A.Sannino,and M.H.J.Bollen,"Analysis of the controlalgorithms of voltage-source converter HVDC," in IEEE Powertech 2005,Petersburg,Russia,June 2005.