VSC-HVDC系统有功无功独立调节的控制策略与仿真研究
|
摘要
轻型高压直流输电(VSC-HVDC)技术是在传统直流输电基础上发展起来的一种新型输电技术,其主要部件是以绝缘栅双极晶体管(IGBT)构成的电压源换流器(VSC)。VSC-HVDC凭借着其优越的特性,已经在实际电力系统中得到了广泛地成功应用,但是在理论研究和实际应用中仍然存在很多亟待解决的问题。与传统HVDC相比,VSC-HVDC可以同时控制有功功率和无功功率是一个非常重要的特点。因此,如何有效地实现有功、无功独立调节的解耦控制就成为了一个重要的研究课题。
本文首先研究了空间矢量脉宽调制技术(SVPWM)在VSC控制中的应用。在分析了SVPWM用传统方法不易于实现的情况下,讨论其等效实现方法,并提出一种新的易于实现的等效方案。在VSC稳态模型的基础上,通过坐标变换,引入中间控制量A、B,从而推导出VSC功率传输方程的直角坐标形式,消除三角函数对被控量的影响;采用逆系统方法确定VSC-HVDC系统中间控制量与被控量(直流电压、无功、有功、交流电压)以及中间量与控制量(电压的相角与幅值)之间的函数关系,分析VSC-HVDC系统在连接有源和无源系统时的控制方式和要求,提出与之对应的控制策略;并针对不同的被控制量设计有功功率、无功功率独立调节的VSC-HVDC控制系统。
采用PSCAD/EMTDC仿真软件对VSC-HVDC系统工作在有源逆变方式和无源逆变方式两种情况下分别进行了仿真试验,经反复调试,得到稳态运行波形和经整定值调节、潮流反转后各被控制量的波形变化,分析结果表明本文所采用的控制策略在VSC-HVDC系统中能够达到良好的响应速度和控制效果。
VSC-HVDC is a kind of new DC transmission technology developed from the traditional HVDC, with the IGBT based Voltage Source Converter (VSC) as its major components. Resorting to its superior characteristics, VSC-HVDC has been put into practical application successfully. But there are still many problems that need to be solved in theoretical and practical aspects. Compared with the traditional HVDC, a very important feature of VSC-HVDC is that the real and reactive power can be controlled separately and simultaneously. Therefore, how to effectively realize the decoupling control for separate adjusting of real and reactive power has become an important research topic.
First, the application of the SVPWM in the VSC-HVDC is investigated in detail. Analysis shows that SVPWM is difficult to be implemented with traditional method. So, the equivalent implementation method is discussed and a new equivalent scheme, which is more easily implemented, is proposed. Based on the steady state model of VSC and through coordinate transformation, the intermediate control variables are introduced, and the VSC's power transmitting equations in rectangular coordinates is derived, so the impact of the trigonometric function is eliminated. The function relationships between the intermediate control variables and controlled variables(dc voltage、real power、reactive power、ac voltage) as well as between the intermediate control variables and controlling variables(voltage phase angle and magnitude) are determined with the theory of inverse system. After analyzing the control modes and requirements respectively for VSC-HVDC linked to active and passive systems, the corresponding control strategy is presented. So the VSC-HVDC control system is designed for different controlled variables, this control system can realize the separate adjusting of real and reactive power.
PSCAD/EMTDC software is employed to simulate VSC-HVDC operation for active as well as passive inverter operating mode. Through repeatedly simulating, the controlled variable waveforms, for steady-state operation, setting point changing and load flow reversing respectively, are obtained. Simulation results show that the proposed VSC-HVDC control strategy can achieve sufficient response speed and good control effect.
本文首先研究了空间矢量脉宽调制技术(SVPWM)在VSC控制中的应用。在分析了SVPWM用传统方法不易于实现的情况下,讨论其等效实现方法,并提出一种新的易于实现的等效方案。在VSC稳态模型的基础上,通过坐标变换,引入中间控制量A、B,从而推导出VSC功率传输方程的直角坐标形式,消除三角函数对被控量的影响;采用逆系统方法确定VSC-HVDC系统中间控制量与被控量(直流电压、无功、有功、交流电压)以及中间量与控制量(电压的相角与幅值)之间的函数关系,分析VSC-HVDC系统在连接有源和无源系统时的控制方式和要求,提出与之对应的控制策略;并针对不同的被控制量设计有功功率、无功功率独立调节的VSC-HVDC控制系统。
采用PSCAD/EMTDC仿真软件对VSC-HVDC系统工作在有源逆变方式和无源逆变方式两种情况下分别进行了仿真试验,经反复调试,得到稳态运行波形和经整定值调节、潮流反转后各被控制量的波形变化,分析结果表明本文所采用的控制策略在VSC-HVDC系统中能够达到良好的响应速度和控制效果。
VSC-HVDC is a kind of new DC transmission technology developed from the traditional HVDC, with the IGBT based Voltage Source Converter (VSC) as its major components. Resorting to its superior characteristics, VSC-HVDC has been put into practical application successfully. But there are still many problems that need to be solved in theoretical and practical aspects. Compared with the traditional HVDC, a very important feature of VSC-HVDC is that the real and reactive power can be controlled separately and simultaneously. Therefore, how to effectively realize the decoupling control for separate adjusting of real and reactive power has become an important research topic.
First, the application of the SVPWM in the VSC-HVDC is investigated in detail. Analysis shows that SVPWM is difficult to be implemented with traditional method. So, the equivalent implementation method is discussed and a new equivalent scheme, which is more easily implemented, is proposed. Based on the steady state model of VSC and through coordinate transformation, the intermediate control variables are introduced, and the VSC's power transmitting equations in rectangular coordinates is derived, so the impact of the trigonometric function is eliminated. The function relationships between the intermediate control variables and controlled variables(dc voltage、real power、reactive power、ac voltage) as well as between the intermediate control variables and controlling variables(voltage phase angle and magnitude) are determined with the theory of inverse system. After analyzing the control modes and requirements respectively for VSC-HVDC linked to active and passive systems, the corresponding control strategy is presented. So the VSC-HVDC control system is designed for different controlled variables, this control system can realize the separate adjusting of real and reactive power.
PSCAD/EMTDC software is employed to simulate VSC-HVDC operation for active as well as passive inverter operating mode. Through repeatedly simulating, the controlled variable waveforms, for steady-state operation, setting point changing and load flow reversing respectively, are obtained. Simulation results show that the proposed VSC-HVDC control strategy can achieve sufficient response speed and good control effect.
引文
[1]浙江大学发电教研组直流输电科研组.直流输电[M].北京:水利电力出版社.1985
[2]Gunnar Asplund,Kjeil Eriksson,Ove Tollerz.HVDC Light:A Tool for Electric Power Transmission to Distant Loads.In:VI Sepope Co nference.Salvador(Brazil):1998.
[3]赵蜿君.高压直流输电工程技术.北京:中国电力出版社,2004:10-25
[4]张桂斌.新型直流输电及其相关技术研究(博士学位论文).杭州:浙江大学,2001
[5]Sakamoto Koji,Yajima Masashi,lshikawa Tadao,Sugimoto Shigeyuki.Development of a control system for a high-performance self-commutated AC/DC converter[J].IEEE Trans on Power Delivery,1998,13(1):225-232.
[6]李庚银,吕鹏飞等.轻型高压直流输电技术的发展与展望.电力系统自动化,2003,27(4):77-81
[7]胡兆庆,毛承雄.一种新型的直流输电技术--HVDC Light.电工技术学报,2005,20(7):12-16
[8]Lars Weimers,HVDC Light:A New Technology for a Better Environment,IEEE Power Engineering Review,1998:19-20
[9]Stendius L & Eriksson K.HVDC Light an excellent tool for city center infeed[C]PowerGen Conference,Singapore September 1999
[10]Vassilions G.Agelidis,Lie Xu.A novel HVDC system based on flying capacitor multilevel PWM convectors[C].CIGRE Conference Wuhan,China 2001:380-385
[11]Boon-Teck Ooi,Xiao Wang.Boost Type PWM HVDC Transmission System.IEEE Trans on Power Delivery 1991,6(4):1557-1563
[12]Xiao Wang,Boon-Tech Ooi.High Voltage Direct Current Transmission System Based on Voltage Source Converters.In:PESC'90 Record.325-332
[13]Boon-Teck Ooi,Xiao Wang.Voltage Angle Lock Loop Control of the Boost Type PWM Converter for HVDC Application.IEEE Trans on Power Electronics,1990,5(2):229-235
[14]Gunnar Asplund,Kjell Eriksson,KjeI Svensson.HVDC Light-以电压源换流器为基础的直流输电技术.国际电力,1999(3):38-43
[15]Hongbo Jiang,Ake Ekstrom.Multiterminal HVDC System in Urban Areas of Large Cities.IEEE Transactions on Power Delivery,1998,13(4):1278-1284.
[16]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.中国电机工程学报,2002,22(1):17-22
[17]Guibin Zhang,Zhang Xu,Hongtao Liu "Supply Passive Networks with VSC-HVDC".Power Engineering Society Summer meeting,IEEE,2001,1:332-336
[18]Guibin Zhang,Xu Zheng,Guan Wang.A Linear and decouple Control Strategy for VSC Based HVDC System.In:Proceedings of IEEE Power Engineering Society Winter Meeting,Vol 3.Piscataway(NJ):IEEE,2001,14-19
[19]Z.Zhao,M.R.Iravani,Application Of GTO Voltage Source Inverternin a Hybrid HVDC Link.IEEE Transactions on Power Delivery,1994,9(1):369-375
[20]何杰.轻型直流输电有功无功独立控制研究及其硬件实现:[硕士学位论文].保定:华北电力大学,2003
[21]陈谦,唐国庆,胡铭.采用dqo坐标的VSC-HVDC稳态模型与控制器设计.电力系统自动化,2004,28(16):61-66
[22]王维平.现代电力电子技术及应用[M].东南大学出版社,2001.11
[23]陈国呈.新型电力电子变换技术.中国电力出版社,2004.9
[24]叶斌.电力电子应用技术.清华大学出版社,2006.5
[25]感应电动机传动刚逆变器的PWM改进方法.见:国际电力电子学会会议论文集.西安整流器研究所,天津电气传动设计研究所译.北京:国防工业出版社,1987
[26]张崇巍,张兴.PWM整流器及其控制[M].机械工业出版社,2003.10
[27]窦汝振,许镇琳.一种新型空间矢量PWM控制方法.变频器世界,2004.2
[28]李波,安群涛,孙兵成.空间矢量脉宽调制的仿真研究及其实现.电机与控制应用,2006,33(6):40-44
[29]Zhou K L,Wang D W.Relationship between space-vector modulation and three-phase carrier-based PWM:a comprehensive analysis[J].IEEE Trans.on Industrial Electronics,1993,12(1):186-196
[30]张桂斌,徐政.最小开关损耗VSVPWM技术的研究与仿真[J].电工技术学报,2001,4(2):34-40
[31]Blasko V.Analysis of a Hybrid PWM based on modified space-vector and triangle-eomparison methods.IEEE Trans on IA,1997,33(3):756-764
[32]于飞,张晓峰,李槐树,宋庆国.一种简单的直接数字式空间矢量PWM实现方法.海军工程大学学报,2005,2(17):71-74
[33]Z.Zhao,M.R.Iravani,Application Of GTO Voltage Source lnverternin a Hybrid HVDC Link.IEEE Transactions on Power Delivery,1994,9(1):369-375
[34]Ake Ekstron.High Power Electronics HVDC and SVC[M].Srockholm,1990.
[35]赵成勇,李金丰,李广凯.基于有功和无功独立调节的VSC-HVDC控制策略.电力系统自动化,2005,29(9):20-24.30
[36]李国栋,毛承雄等.基于逆系统理论的VSC-HVDC新型控制.高电压技术,2005,31(8):45-48
[37]武娟,任震,黄雯莹,代英筠,轻型直流输电的运行机理和特性分析.华南理工大学学报(自然科学版),2000,29:41-44
[38]Jiang H B,Ekstrom a.Multiterminal HVDC Systems in Urban Areas of Large Cities[J].IEEE Power Engineering Review,1998,13(4):1278-1284
[39]卢强,孙元章.电力系统非线性控制.北京:科学出版社,1993
[40]Steffen Bernet.Recent Developments of High Power Converters for Industry and Traction Applications[J].Transmission on Power Electronics,2000.15(6):1102-1117.
[41]Ruihua Song,Chao Zheng,Ruomei Li,Xiaoxin Zhou.VSCs based HVDC and its control strategy.IEEE/PES Transmission and Distribution Conference & Exhibition.2005
[42]李春文,冯元琨.多变量非线性控制的逆系统方法.清华大学出版社,1991
[43]Asplund G Eriksson K,Svensson K.DC transmission based on voltage sourve converters[C].CIGRE SC 14 Colloquium,South Africa,1997
[44]Guibin Zhang,Zhang Xu,Hongtao Liu "Supply Passive Networks with VSC-HVDC".Power Engineering Society Summer meeting,IEEE,2001,1:332-336
[45]梁海峰,李庚银等.向无源网络供电的VSC-HVDC系统仿真研究[J].电网技术.2005,29(8)
[46]任震,欧开健,荆勇,余军.基于PSCAD/EMTDC软件的直流输电系统数字仿真[J].电力自动化设备,2002,22(9):11-12
[47]林良真,叶林.电磁暂态分析软件包PSCAD/EMTDC[J].电网技术,2000.1,24(1):65-66
[48]陈礼义,顾强.电力系统数字仿真及其发展[J].电力系统自动化,1999.12,23(23):1-6
[2]Gunnar Asplund,Kjeil Eriksson,Ove Tollerz.HVDC Light:A Tool for Electric Power Transmission to Distant Loads.In:VI Sepope Co nference.Salvador(Brazil):1998.
[3]赵蜿君.高压直流输电工程技术.北京:中国电力出版社,2004:10-25
[4]张桂斌.新型直流输电及其相关技术研究(博士学位论文).杭州:浙江大学,2001
[5]Sakamoto Koji,Yajima Masashi,lshikawa Tadao,Sugimoto Shigeyuki.Development of a control system for a high-performance self-commutated AC/DC converter[J].IEEE Trans on Power Delivery,1998,13(1):225-232.
[6]李庚银,吕鹏飞等.轻型高压直流输电技术的发展与展望.电力系统自动化,2003,27(4):77-81
[7]胡兆庆,毛承雄.一种新型的直流输电技术--HVDC Light.电工技术学报,2005,20(7):12-16
[8]Lars Weimers,HVDC Light:A New Technology for a Better Environment,IEEE Power Engineering Review,1998:19-20
[9]Stendius L & Eriksson K.HVDC Light an excellent tool for city center infeed[C]PowerGen Conference,Singapore September 1999
[10]Vassilions G.Agelidis,Lie Xu.A novel HVDC system based on flying capacitor multilevel PWM convectors[C].CIGRE Conference Wuhan,China 2001:380-385
[11]Boon-Teck Ooi,Xiao Wang.Boost Type PWM HVDC Transmission System.IEEE Trans on Power Delivery 1991,6(4):1557-1563
[12]Xiao Wang,Boon-Tech Ooi.High Voltage Direct Current Transmission System Based on Voltage Source Converters.In:PESC'90 Record.325-332
[13]Boon-Teck Ooi,Xiao Wang.Voltage Angle Lock Loop Control of the Boost Type PWM Converter for HVDC Application.IEEE Trans on Power Electronics,1990,5(2):229-235
[14]Gunnar Asplund,Kjell Eriksson,KjeI Svensson.HVDC Light-以电压源换流器为基础的直流输电技术.国际电力,1999(3):38-43
[15]Hongbo Jiang,Ake Ekstrom.Multiterminal HVDC System in Urban Areas of Large Cities.IEEE Transactions on Power Delivery,1998,13(4):1278-1284.
[16]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.中国电机工程学报,2002,22(1):17-22
[17]Guibin Zhang,Zhang Xu,Hongtao Liu "Supply Passive Networks with VSC-HVDC".Power Engineering Society Summer meeting,IEEE,2001,1:332-336
[18]Guibin Zhang,Xu Zheng,Guan Wang.A Linear and decouple Control Strategy for VSC Based HVDC System.In:Proceedings of IEEE Power Engineering Society Winter Meeting,Vol 3.Piscataway(NJ):IEEE,2001,14-19
[19]Z.Zhao,M.R.Iravani,Application Of GTO Voltage Source Inverternin a Hybrid HVDC Link.IEEE Transactions on Power Delivery,1994,9(1):369-375
[20]何杰.轻型直流输电有功无功独立控制研究及其硬件实现:[硕士学位论文].保定:华北电力大学,2003
[21]陈谦,唐国庆,胡铭.采用dqo坐标的VSC-HVDC稳态模型与控制器设计.电力系统自动化,2004,28(16):61-66
[22]王维平.现代电力电子技术及应用[M].东南大学出版社,2001.11
[23]陈国呈.新型电力电子变换技术.中国电力出版社,2004.9
[24]叶斌.电力电子应用技术.清华大学出版社,2006.5
[25]感应电动机传动刚逆变器的PWM改进方法.见:国际电力电子学会会议论文集.西安整流器研究所,天津电气传动设计研究所译.北京:国防工业出版社,1987
[26]张崇巍,张兴.PWM整流器及其控制[M].机械工业出版社,2003.10
[27]窦汝振,许镇琳.一种新型空间矢量PWM控制方法.变频器世界,2004.2
[28]李波,安群涛,孙兵成.空间矢量脉宽调制的仿真研究及其实现.电机与控制应用,2006,33(6):40-44
[29]Zhou K L,Wang D W.Relationship between space-vector modulation and three-phase carrier-based PWM:a comprehensive analysis[J].IEEE Trans.on Industrial Electronics,1993,12(1):186-196
[30]张桂斌,徐政.最小开关损耗VSVPWM技术的研究与仿真[J].电工技术学报,2001,4(2):34-40
[31]Blasko V.Analysis of a Hybrid PWM based on modified space-vector and triangle-eomparison methods.IEEE Trans on IA,1997,33(3):756-764
[32]于飞,张晓峰,李槐树,宋庆国.一种简单的直接数字式空间矢量PWM实现方法.海军工程大学学报,2005,2(17):71-74
[33]Z.Zhao,M.R.Iravani,Application Of GTO Voltage Source lnverternin a Hybrid HVDC Link.IEEE Transactions on Power Delivery,1994,9(1):369-375
[34]Ake Ekstron.High Power Electronics HVDC and SVC[M].Srockholm,1990.
[35]赵成勇,李金丰,李广凯.基于有功和无功独立调节的VSC-HVDC控制策略.电力系统自动化,2005,29(9):20-24.30
[36]李国栋,毛承雄等.基于逆系统理论的VSC-HVDC新型控制.高电压技术,2005,31(8):45-48
[37]武娟,任震,黄雯莹,代英筠,轻型直流输电的运行机理和特性分析.华南理工大学学报(自然科学版),2000,29:41-44
[38]Jiang H B,Ekstrom a.Multiterminal HVDC Systems in Urban Areas of Large Cities[J].IEEE Power Engineering Review,1998,13(4):1278-1284
[39]卢强,孙元章.电力系统非线性控制.北京:科学出版社,1993
[40]Steffen Bernet.Recent Developments of High Power Converters for Industry and Traction Applications[J].Transmission on Power Electronics,2000.15(6):1102-1117.
[41]Ruihua Song,Chao Zheng,Ruomei Li,Xiaoxin Zhou.VSCs based HVDC and its control strategy.IEEE/PES Transmission and Distribution Conference & Exhibition.2005
[42]李春文,冯元琨.多变量非线性控制的逆系统方法.清华大学出版社,1991
[43]Asplund G Eriksson K,Svensson K.DC transmission based on voltage sourve converters[C].CIGRE SC 14 Colloquium,South Africa,1997
[44]Guibin Zhang,Zhang Xu,Hongtao Liu "Supply Passive Networks with VSC-HVDC".Power Engineering Society Summer meeting,IEEE,2001,1:332-336
[45]梁海峰,李庚银等.向无源网络供电的VSC-HVDC系统仿真研究[J].电网技术.2005,29(8)
[46]任震,欧开健,荆勇,余军.基于PSCAD/EMTDC软件的直流输电系统数字仿真[J].电力自动化设备,2002,22(9):11-12
[47]林良真,叶林.电磁暂态分析软件包PSCAD/EMTDC[J].电网技术,2000.1,24(1):65-66
[48]陈礼义,顾强.电力系统数字仿真及其发展[J].电力系统自动化,1999.12,23(23):1-6