WO2019109842A1 - 一种串联式电压源换流阀组的协调控制方法及装置 - Google Patents

一种串联式电压源换流阀组的协调控制方法及装置 Download PDF

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Publication number
WO2019109842A1
WO2019109842A1 PCT/CN2018/117947 CN2018117947W WO2019109842A1 WO 2019109842 A1 WO2019109842 A1 WO 2019109842A1 CN 2018117947 W CN2018117947 W CN 2018117947W WO 2019109842 A1 WO2019109842 A1 WO 2019109842A1
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WO
WIPO (PCT)
Prior art keywords
valve group
voltage
source converter
voltage source
active power
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/117947
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English (en)
French (fr)
Inventor
鲁江
卢宇
董云龙
王永平
田杰
李海英
胡兆庆
汪楠楠
王柯
丁久东
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NR Electric Co Ltd
NR Engineering Co Ltd
Original Assignee
NR Electric Co Ltd
NR Engineering Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by NR Electric Co Ltd, NR Engineering Co Ltd filed Critical NR Electric Co Ltd
Priority to CA3083838A priority Critical patent/CA3083838C/en
Priority to JP2020528153A priority patent/JP6829794B2/ja
Priority to BR112020011124-4A priority patent/BR112020011124B1/pt
Priority to AU2018378399A priority patent/AU2018378399B2/en
Priority to US16/770,458 priority patent/US11146071B2/en
Priority to MX2020005695A priority patent/MX2020005695A/es
Priority to RU2020122249A priority patent/RU2735440C1/ru
Priority to EP18885607.4A priority patent/EP3723228B1/en
Priority to KR1020207011047A priority patent/KR102136513B1/ko
Publication of WO2019109842A1 publication Critical patent/WO2019109842A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of AC power input into DC power output; Conversion of DC power input into AC power output
    • H02M7/02—Conversion of AC power input into DC power output without possibility of reversal
    • H02M7/04—Conversion of AC power input into DC power output without possibility of reversal by static converters
    • H02M7/12—Conversion of AC power input into DC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/145—Conversion of AC power input into DC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a thyratron or thyristor type requiring extinguishing means
    • H02M7/155—Conversion of AC power input into DC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a thyratron or thyristor type requiring extinguishing means using semiconductor devices only
    • H02M7/19—Conversion of AC power input into DC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a thyratron or thyristor type requiring extinguishing means using semiconductor devices only arranged for operation in series, e.g. for voltage multiplication
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/0067—Converter structures employing plural converter units, other than for parallel operation of the units on a single load
    • H02M1/0077—Plural converter units whose outputs are connected in series
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for AC mains or AC distribution networks
    • H02J3/36—Arrangements for transfer of electric power between AC networks via high-voltage DC [HVDC] links; Arrangements for transfer of electric power between generators and networks via HVDC links
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of AC power input into DC power output; Conversion of DC power input into AC power output
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of AC power input into DC power output; Conversion of DC power input into AC power output
    • H02M7/02—Conversion of AC power input into DC power output without possibility of reversal
    • H02M7/04—Conversion of AC power input into DC power output without possibility of reversal by static converters
    • H02M7/12—Conversion of AC power input into DC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/21—Conversion of AC power input into DC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/217—Conversion of AC power input into DC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M7/25—Conversion of AC power input into DC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only arranged for operation in series, e.g. for multiplication of voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/0003—Details of control, feedback or regulation circuits
    • H02M1/0025—Arrangements for modifying reference values, feedback values or error values in the control loop of a converter
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of AC power input into DC power output; Conversion of DC power input into AC power output
    • H02M7/42—Conversion of DC power input into AC power output without possibility of reversal
    • H02M7/44—Conversion of DC power input into AC power output without possibility of reversal by static converters
    • H02M7/48—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/483—Converters with outputs that each can have more than two voltages levels
    • H02M7/4835—Converters with outputs that each can have more than two voltages levels comprising two or more cells, each including a switchable capacitor, the capacitors having a nominal charge voltage which corresponds to a given fraction of the input voltage, and the capacitors being selectively connected in series to determine the instantaneous output voltage
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/60—Arrangements for transfer of electric power between AC networks or generators via a high voltage DC link [HVCD]

Definitions

  • the invention belongs to the technical field of direct current transmission, and particularly relates to a coordinated control method for a series voltage source converter valve group, and a coordinated control device for a series voltage source converter valve group.
  • HVDC transmission systems can be divided into two types: conventional direct current transmission systems based on thyristor converter valves (LCC-HVDC) and flexible direct current transmission systems based on fully-regulated voltage source converter valves (VSC-HVDC).
  • LCC-HVDC thyristor converter valves
  • VSC-HVDC fully-regulated voltage source converter valves
  • the conventional DC transmission system has low cost, low loss and mature operation technology.
  • Most of the DC transmission systems currently in operation in the world are LCC-HVDC systems, but the conventional DC transmission system is prone to commutation failure and AC exchange on the inverter side.
  • the system has strong dependence, needs to absorb a large amount of reactive power, and has a large area of converter station.
  • the new generation of flexible DC transmission system has the ability to realize active power and reactive power decoupling control, and can be used to passive networks.
  • the conventional DC transmission project uses two or more thyristor converter valve series technology to improve the DC voltage level and transmission capacity of the DC transmission system.
  • the group serial conventional DC transmission project was completed and put into operation.
  • a series hybrid DC transmission technology using a series thyristor converter valve group for one end converter station and a series voltage source converter valve group for the other end converter station, and a series connection of series voltage source converter valve groups at both ends The flexible DC transmission technology is still in the research stage, and the topology of the series voltage source converter valve group is shown in Figure 1.
  • the requirements of the control system are to coordinate the control of each converter valve group and achieve the equalization of the DC voltage of each converter valve group to ensure the stable operation of the entire DC system.
  • the coordinated control technology of the series thyristor converter valve group in the conventional DC transmission system has matured.
  • the series-type thyristor converter valve group is different due to the essential difference between the full-control device characteristics and the semi-controlled thyristor.
  • the coordinated control method cannot be applied to the series voltage source converter valve group.
  • no method for effectively realizing the DC voltage balance of the series voltage source converter valve group has been proposed. Therefore, it is necessary to combine the characteristics of the voltage source converter valve.
  • the invention provides a coordinated control method and device for a series voltage source converter valve group, which meets the operation requirements of a series hybrid DC transmission system or a series flexible DC transmission system.
  • the object of the present invention is to provide a coordinated control method for a series voltage source converter valve group and a coordinated control device for a series voltage source converter valve group for realizing a direct current power transmission system.
  • the DC pole adopts two or more voltage source converter valve groups in series operation, the DC voltage of each voltage source converter valve group is equalized, which satisfies the operation requirements of the series hybrid DC transmission system or the series flexible DC transmission system.
  • the technical solution adopted by the present invention is to provide a coordinated control method for a series voltage source converter valve group, which is commutated by two or more voltage sources.
  • the valve group is formed in series and can be disposed at a DC voltage control end or an active power control end of any DC pole of the DC transmission system, and the control method includes:
  • the series voltage source converter valve group disposed on the DC pole DC voltage control terminal includes the following steps:
  • Step a1 According to the DC voltage control target of the DC pole, obtain the total DC voltage reference value U dcref at the end of the series voltage source converter valve group and distribute according to the total number N of voltage source converter valve groups operating in series to obtain an equalization.
  • Step a2 obtaining the DC voltage measurement value U dV-i of the valve group of each operating valve group of the series voltage source converter valve group;
  • Step a3 the serial voltage source converter valve group operating valve group will be the valve group DC voltage reference value U dVref-i As the bridge arm voltage DC offset of the valve group;
  • Step a4 each operating valve group of the series voltage source converter valve group inputs the DC voltage reference value U dVref-i of the valve group and the DC voltage measurement value U dV-i of the valve group, and then inputs the DC voltage control of the valve group.
  • the outer ring performs closed-loop control of the DC voltage of the valve block;
  • the series voltage source converter valve group disposed on the DC active power control terminal includes the following steps:
  • Step b1 According to the active power control target of the DC pole, obtain the total active power reference value P ref at the end of the series voltage source converter valve group and distribute according to the total number N of voltage source converter valve groups operating in series to obtain an equalization
  • Step b2 obtaining a total DC voltage reference value U dcref at the end of the series voltage source converter valve group and distributing according to the total number N of the voltage source converter valve groups operating in series, and obtaining the commutated operating voltage source commutation
  • Step b3 obtaining the DC voltage measurement value U dV-i of the valve group of each operating valve group of the series voltage source converter valve group;
  • Step b4 the serial voltage source converter valve group operating valve group will be the valve group DC voltage reference value U dVref-i As the bridge arm voltage DC offset of the valve group;
  • Step b5 each operating valve group of the series voltage source converter valve group obtains the active power compensation amount ⁇ P Vi of the valve group which is caused by the pressure equalization of the valve group, and the active power compensation amount ⁇ P Vi of the valve group and the active power of the valve group After the reference value P Vref-i is superimposed, the active power control outer ring of the valve group is input, and the active power of the valve group is controlled.
  • the steps of the operating voltage source converter valve group to obtain the active power compensation amount ⁇ P Vi of the valve group equalizing the valve group are:
  • Step c1 the DC voltage reference value U dVref-i of the valve group is made to be different from the DC voltage measurement value U dV-i of the valve group, and the DC voltage deviation amount ⁇ U dV-i of the valve group is obtained;
  • Step c2 input the DC voltage deviation amount ⁇ U dV-i of the valve group into the valve group equalizing compensator of the valve group, and the valve group equalizing compensator of the valve group adopts a ratio of the DC voltage deviation amount ⁇ U dV-i of the valve group Or the integral or proportional plus integral method is calculated to obtain the active power compensation amount ⁇ P Vi of the valve group.
  • the current limit of the valve group is limited.
  • the values are synchronized to each of the other operating valve groups to maintain a balanced DC voltage across the operating valve blocks.
  • the current limit of the valve group is limited.
  • the values are synchronized to each of the other operating valve groups to maintain a balanced DC voltage across the operating valve blocks.
  • the invention also provides a coordinated control device for a series voltage source converter valve group, comprising a discriminating unit, an acquisition and distribution unit, a DC voltage control unit and an active power control unit, wherein:
  • the determining unit is configured to determine, according to an operating state of the DC pole, whether the end of the series voltage source converter valve group is a DC voltage control terminal;
  • the collecting and distributing unit is configured to respectively obtain a total DC voltage reference value U dcref , a total active power reference value P ref , and a running power source converter valve group of each end of the series voltage source converter valve group according to the DC pole operating state.
  • the DC voltage measurement value of the valve group U dV-i, etc., and the total DC voltage reference value U dcref and the total active power reference value P ref are respectively distributed according to the total number N of the voltage source converter valve groups operating in series to obtain an equalization After the operating voltage source converter valve group, the DC voltage reference value of the valve group U dVref-i , the active power reference value of the valve group P Vref-i ;
  • the DC voltage control unit is used for the DC pole DC voltage control terminal series voltage source converter valve group, each operating valve group according to the DC voltage reference value of the valve group U dVref-i and the DC voltage measurement value of the valve group U dV-i Performing the control of the DC voltage of the valve group, and realizing the DC voltage control of the DC pole and the DC voltage balance of each operating valve group;
  • the active power control unit is used for the DC active power control terminal series voltage source converter valve group, each operating valve group is based on the active power reference value P Vref-i of the valve group and the active power compensation amount ⁇ P Vi of the valve group.
  • the active power of the valve group is controlled, and the active power control of the DC pole and the DC voltage balance of each operating valve group are realized;
  • the DC voltage control unit includes the following subunits:
  • the DC voltage reference value calculation unit of the valve group obtains the total DC voltage reference value U dcref of the end of the series voltage source converter valve group according to the DC voltage control target of the DC pole and operates the voltage source converter valve in series
  • the total number of groups N is distributed, and the DC voltage reference value U dVref-i of the valve group of each operating voltage source converter valve group is obtained, wherein N is a positive integer;
  • the DC voltage controls the DC voltage measurement receiving subunit of the valve group, and obtains the DC voltage measurement value U dV-i of the valve group of each operating valve group of the series voltage source converter valve group;
  • the DC offset calculation subunit of the valve group, the serial voltage source converter valve group each operating valve group will be the DC voltage reference value of the valve group U dVref-i As the bridge arm voltage DC offset of the valve group;
  • the DC voltage control is controlled by the valve group control subunit, and the operation valve group of the series voltage source converter valve group is input after the DC voltage reference value U dVref-i of the valve group is compared with the DC voltage measurement value U dV-i of the valve group.
  • the DC voltage of the valve group controls the outer ring to perform closed-loop control of the DC voltage of the valve block.
  • the active power control unit includes the following subunits:
  • the active power reference value calculation sub-unit of the valve group obtains the total active power reference value P ref at the end of the series voltage source converter valve group according to the active power control target of the DC pole and operates the voltage source converter valve in series
  • the total number of groups N is allocated, and the active power reference value P Vref-i of the valve group of each operating voltage source converter valve group is obtained, wherein N is a positive integer;
  • the DC voltage reference value calculation sub-unit of the valve group obtains the total DC voltage reference value U dcref at the end of the series voltage source converter valve group and distributes according to the total number N of voltage source converter valve groups operating in series. Obtaining the DC voltage reference value U dVref-i of the valve group of each operating voltage source converter valve group after equalization, wherein N is a positive integer;
  • the DC voltage measurement receiving subunit of the valve group obtains the DC voltage measurement value U dV-i of the valve group of each operating valve group of the series voltage source converter valve group;
  • the valve group control sub-unit, the series-type voltage source converter valve group each operating valve group obtains the active power compensation amount ⁇ P Vi of the valve group which acts as a pressure equalization of the valve group, and the active power compensation amount ⁇ P of the valve group Vi is superimposed with the active power reference value P Vref-i of the valve group and then input into the active power control outer ring of the valve group to control the active power of the valve group.
  • the specific steps of the active power compensation amount ⁇ P Vi of each of the operating voltage source converter valve sub-units in the operating valve group control sub-unit to obtain the valve group equalizing action include:
  • Step c1 comparing the DC voltage reference value U dVref-i of the valve group with the DC voltage measurement value U dV-i of the valve group to obtain a DC voltage deviation amount ⁇ U dV-i of the valve group;
  • Step c2 input the DC voltage deviation amount ⁇ U dV-i of the valve group into the valve group equalizing compensator of the valve group, and the valve group equalizing compensator of the valve group adopts a ratio of the DC voltage deviation amount ⁇ U dV-i of the valve group Or the integral or proportional plus integral method is calculated to obtain the active power compensation amount ⁇ P Vi of the valve group.
  • the current inner ring limit value of the valve group is synchronously applied to the other operating valve groups. In order to maintain the DC voltage balance of each operating valve group.
  • the active power control unit when the active power control outer ring output of one of the operating valve groups is limited by the current inner ring limit value, the current inner ring limit value of the valve group is synchronously applied to the other operating valve groups. In order to maintain the DC voltage balance of each operating valve group.
  • the invention has the beneficial effects that the present invention provides a coordinated control method and device suitable for a series voltage source converter valve group, and adopts the proposed control strategy by using a DC voltage control terminal and an active power control terminal.
  • the DC voltage of each voltage source converter valve group in series operation can be balanced to ensure stable operation of the DC system.
  • FIG. 1 is a topological schematic view of a series voltage source converter valve set in the present invention
  • FIG. 2 is a flow chart of a coordinated control method for a series voltage source converter valve group provided by the present invention
  • FIG. 3 is a schematic diagram showing the principle of a coordinated control strategy of a series voltage source converter valve group disposed at a DC-DC voltage control terminal provided by the present invention
  • FIG. 4 is a schematic diagram showing the principle of a coordinated control strategy of a series voltage source converter valve group configured on a DC active power control terminal provided by the present invention
  • FIG. 5 is a structural block diagram of a series voltage source converter valve group coordinated control device provided by the present invention.
  • the invention provides a coordinated control method for a series voltage source converter valve group, and a coordinated control device for a series voltage source converter valve group, which is used for realizing two or more DC poles of a direct current power transmission system
  • the DC voltage of each voltage source converter valve group is equalized, which satisfies the operation requirements of the series hybrid DC transmission system or the series flexible DC transmission system.
  • the topology diagram of the series voltage source converter valve group is shown in Figure 1. It can be configured on the DC voltage control terminal or active power control terminal of any DC pole of the DC transmission system.
  • the solution of the present invention is to provide a coordinated control method for a series voltage source converter valve group, as shown in FIG. 2:
  • Step a1 According to the DC voltage control target of the DC pole, obtain the total DC voltage reference value U dcref at the end of the series voltage source converter valve group and distribute according to the total number N of voltage source converter valve groups operating in series to obtain an equalization.
  • the DC voltage control target of the DC pole is generally the DC voltage reference value of the rectifier station set by the operator.
  • the total DC voltage reference value U dcref is equal to the operator setting.
  • Step a2 obtaining the DC voltage measurement value U dV-i of the valve group of each operating valve group of the series voltage source converter valve group;
  • u vjref is the j-phase AC voltage reference wave.
  • the control of the voltage source converter valve group is realized by controlling the bridge arm voltages of the upper and lower arms of each phase.
  • the bridge arm voltage includes two parts: the DC bias amount and the AC voltage reference wave.
  • the coordinated control strategy shown in Figure 3 can be used, including:
  • Step a3 the serial voltage source converter valve group operating valve group will be the valve group DC voltage reference value U dVref-i As the bridge arm voltage DC offset of the valve group;
  • each operating valve group of the series voltage source converter valve group inputs the DC voltage reference value U dVref-i of the valve group and the DC voltage measurement value U dV-i of the valve group, and then inputs the DC voltage control of the valve group.
  • the outer ring, the output of the DC voltage control outer ring is limited by the current inner ring limit value, and the d-axis current inner ring reference value i dref is generated and input into the current control inner ring of the valve group, and the current control inner ring outputs the communication of the valve group.
  • the bridge arm voltage of the upper and lower arms of each phase of the valve group can be controlled by using the bridge arm voltage DC offset of the valve group described in step a3 and the AC voltage reference wave of the valve group described in step a4.
  • each of the operating valve groups of the series voltage source converter valve group can realize the equalization control of the DC voltage of each operating valve group of the DC voltage control end by adopting the above control strategy.
  • Step b1 According to the active power control target of the DC pole, obtain the total active power reference value P ref at the end of the series voltage source converter valve group and distribute according to the total number N of voltage source converter valve groups operating in series to obtain an equalization
  • Step b2 obtaining a total DC voltage reference value U dcref at the end of the series voltage source converter valve group and distributing according to the total number N of the voltage source converter valve groups operating in series, and obtaining the commutated operating voltage source commutation
  • Step b3 obtaining the DC voltage measurement value U dV-i of the valve group of each operating valve group of the series voltage source converter valve group;
  • the coordinated control strategy shown in Figure 4 is adopted, which specifically includes:
  • Step b4 the serial voltage source converter valve group operating valve group will be the valve group DC voltage reference value U dVref-i As the bridge arm voltage DC offset of the valve group;
  • each operating valve group of the series voltage source converter valve group obtains the active power compensation amount ⁇ P Vi of the valve group which is caused by the pressure equalization of the valve group, and the active power compensation amount ⁇ P Vi of the valve group and the active power of the valve group
  • the reference value P Vref-i is superimposed, it is input into the active power control outer ring of the valve group, and the output of the active power control outer ring is limited by the inner ring current limit to generate the d-axis current inner ring reference value i dref and input into the valve block.
  • the current control inner ring, the current control inner ring outputs the AC voltage reference wave of the valve group;
  • the bridge arm voltage of the upper and lower arms of each phase of the valve group can be controlled by using the bridge arm voltage DC offset of the valve group described in step b4 and the AC voltage reference wave of the valve group described in step b5. Control of the active power of the valve block.
  • the steps of the operating voltage source converter valve group to obtain the active power compensation amount ⁇ P Vi of the valve group equalizing the valve group are:
  • Step c1 the DC voltage reference value U dVref-i of the valve group is made to be different from the DC voltage measurement value U dV-i of the valve group, and the DC voltage deviation amount ⁇ U dV-i of the valve group is obtained;
  • Step c2 input the DC voltage deviation amount ⁇ U dV-i of the valve group into the valve group equalizing compensator of the valve group, and the valve group equalizing compensator of the valve group adopts a ratio of the DC voltage deviation amount ⁇ U dV-i of the valve group Or the integral or proportional plus integral method is calculated to obtain the active power compensation amount ⁇ P Vi of the valve group.
  • the DC voltage of the valve group can be indirectly controlled;
  • the control strategy can realize the equalization control of the DC voltage of each operating valve group at the active power control end.
  • the invention also provides a coordinated control device for a series voltage source converter valve group, as shown in FIG. 5, which comprises a discriminating unit, an acquisition and distribution unit, a DC voltage control unit and an active power control unit, wherein:
  • the determining unit is configured to determine, according to an operating state of the DC pole, whether the end of the series voltage source converter valve group is a DC voltage control terminal;
  • the collecting and distributing unit is configured to respectively obtain a total DC voltage reference value U dcref , a total active power reference value P ref , and a running power source converter valve group of each end of the series voltage source converter valve group according to the DC pole operating state.
  • the DC voltage measurement value of the valve group U dV-i, etc., and the total DC voltage reference value U dcref and the total active power reference value P ref are respectively distributed according to the total number N of the voltage source converter valve groups operating in series to obtain an equalization After the operating voltage source converter valve group, the DC voltage reference value of the valve group U dVref-i , the active power reference value of the valve group P Vref-i ;
  • the DC voltage control unit is used for the DC pole DC voltage control terminal series voltage source converter valve group, each operating valve group according to the DC voltage reference value of the valve group U dVref-i and the DC voltage measurement value of the valve group U dV-i Performing the control of the DC voltage of the valve group, and realizing the DC voltage control of the DC pole and the DC voltage balance of each operating valve group;
  • the active power control unit is used for the DC active power control terminal series voltage source converter valve group, each operating valve group is based on the active power reference value P Vref-i of the valve group and the active power compensation amount ⁇ P Vi of the valve group.
  • the active power of the valve group is controlled, and the active power control of the DC pole and the DC voltage balance of each operating valve group are realized.
  • the DC voltage control unit includes the following subunits:
  • the DC voltage reference value calculation unit of the valve group obtains the total DC voltage reference value U dcref of the end of the series voltage source converter valve group according to the DC voltage control target of the DC pole and operates the voltage source converter valve in series
  • the total number of groups N is distributed, and the DC voltage reference value U dVref-i of the valve group of each operating voltage source converter valve group is obtained, wherein N is a positive integer;
  • the DC voltage controls the DC voltage measurement receiving subunit of the valve group, and obtains the DC voltage measurement value U dV-i of the valve group of each operating valve group of the series voltage source converter valve group;
  • the DC offset calculation subunit of the valve group, the serial voltage source converter valve group each operating valve group will be the DC voltage reference value of the valve group U dVref-i As the bridge arm voltage DC offset of the valve group;
  • the DC voltage control is controlled by the valve group control subunit, and the operation valve group of the series voltage source converter valve group is input after the DC voltage reference value U dVref-i of the valve group is compared with the DC voltage measurement value U dV-i of the valve group.
  • the DC voltage of the valve group controls the outer ring to perform closed-loop control of the DC voltage of the valve block.
  • the active power control unit includes the following subunits:
  • the active power reference value calculation sub-unit of the valve group obtains the total active power reference value P ref at the end of the series voltage source converter valve group according to the active power control target of the DC pole and operates the voltage source converter valve in series
  • the total number of groups N is allocated, and the active power reference value P Vref-i of the valve group of each operating voltage source converter valve group is obtained, wherein N is a positive integer;
  • the DC voltage reference value calculation sub-unit of the valve group obtains the total DC voltage reference value U dcref at the end of the series voltage source converter valve group and distributes according to the total number N of voltage source converter valve groups operating in series. Obtaining the DC voltage reference value U dVref-i of the valve group of each operating voltage source converter valve group after equalization, wherein N is a positive integer;
  • the DC voltage measurement receiving subunit of the valve group obtains the DC voltage measurement value U dV-i of the valve group of each operating valve group of the series voltage source converter valve group;
  • the valve group control sub-unit, the series-type voltage source converter valve group each operating valve group obtains the active power compensation amount ⁇ P Vi of the valve group which acts as a pressure equalization of the valve group, and the active power compensation amount ⁇ P of the valve group Vi is superimposed with the active power reference value P Vref-i of the valve group and then input into the active power control outer ring of the valve group to control the active power of the valve group.
  • the specific steps of the active power compensation amount ⁇ P Vi of each of the operating voltage source converter valve sub-units in the operating valve group control sub-unit to obtain the valve group equalizing action include:
  • Step c1 comparing the DC voltage reference value U dVref-i of the valve group with the DC voltage measurement value U dV-i of the valve group to obtain a DC voltage deviation amount ⁇ U dV-i of the valve group;
  • Step c2 input the DC voltage deviation amount ⁇ U dV-i of the valve group into the valve group equalizing compensator of the valve group, and the valve group equalizing compensator of the valve group adopts a ratio of the DC voltage deviation amount ⁇ U dV-i of the valve group Or the integral or proportional plus integral method is calculated to obtain the active power compensation amount ⁇ P Vi of the valve group.
  • the current inner ring limit value of the valve group is synchronously applied to the other operating valve groups. In order to maintain the DC voltage balance of each operating valve group.
  • the active power control unit when the active power control outer ring output of one of the operating valve groups is limited by the current inner ring limit value, the current inner ring limit value of the valve group is synchronously applied to the other operating valve groups. In order to maintain the DC voltage balance of each operating valve group.

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Abstract

一种串联式电压源换流阀组的协调控制方法，包括：对直流极串联式电压源换流阀组所在端的总直流电压参考值或总有功功率参考值按照串联运行的电压源换流阀组的总个数进行分配；对于直流电压控制端，各阀组根据分配的本阀组直流电压参考值进行本阀组直流电压的控制；对于有功功率控制端，各阀组根据分配的本阀组有功功率参考值并叠加起阀组均压作用的本阀组有功功率补偿量进行本阀组有功功率的控制。相应地，提供一种串联式电压源换流阀组的协调控制装置。实现了串联式电压源换流阀组在直流电压控制端或有功功率控制端运行中各阀组的直流电压均衡。

Description

一种串联式电压源换流阀组的协调控制方法及装置 技术领域
本发明属于直流输电技术领域，具体涉及一种串联式电压源换流阀组的协调控制方法，以及一种串联式电压源换流阀组的协调控制装置。
背景技术
高压直流输电系统可分为两种类型：基于晶闸管换流阀的常规直流输电系统(LCC-HVDC)和基于全控型电压源换流阀的柔性直流输电系统(VSC-HVDC)。常规直流输电系统成本低、损耗小、运行技术成熟，目前世界上正在运行的直流输电系统绝大部分都是LCC-HVDC系统，但常规直流输电系统存在逆变侧易发生换相失败、对交流系统的依赖性强、需吸收大量无功功率、换流站占地面积大等缺点；而新一代的柔性直流输电系统则具有能够实现有功功率及无功功率解耦控制、可以向无源网络供电、结构紧凑占地面积小、不存在换相失败问题等优点，但也存在成本较高的缺陷。因此，综合常规直流输电和柔性直流输电两者优点，一端换流站采用晶闸管换流阀、另一端换流站采用电压源换流阀的混合直流输电技术具有良好的工程应用前景。远期来看，随着电压源换流阀所用全控器件价格的降低，两端换流站均采用电压源换流阀的柔性直流输电技术也将会得到越来越广泛的应用。
为了满足远距离大容量的输电需求，常规直流输电工程采用两个或多个晶闸管换流阀组串联的技术提升直流输电系统的直流电压等级和输送容量，目前国内已有多个晶闸管换流阀组串联式常规直流输电工程建成投运。对于一端换流站采用串联式晶闸管换流阀组、另一端换流站采用串联式电压源换流阀组的串联式混合直流输电技术以及两端均采用串联式电压源换流阀组的串联式柔性直流输电技术目前尚处在研究阶段，串联式电压源换流阀组的拓扑结构如图1所示。
对于采用换流阀组串联技术的直流输电系统，对控制系统的要求是能够对各换流阀组进行协调控制并实现各换流阀组直流电压的均衡，保证整个直流系统的稳定运行。目前，常规直流输电系统中串联式晶闸管换流阀组的协调控制技术已成熟。
对于串联式混合直流输电系统以及串联式柔性直流输电系统中的串联式电压源换流阀组，由于其所采用的全控器件特性与半控型晶闸管存在本质差别，串联式晶闸管换流阀组的协调控制方法不能适用于串联式电压源换流阀组，目前尚未见到能有效实现串联式电压源换流阀组直流电压均衡的方法被提出，因此有必要结合电压源换流阀的特点提供一种串联式电压源换流阀组的协调控制方法及装置，满足串联式混合直流输电系统或串联式柔性直流输电系统的运行需要。
发明内容
本发明的目的在于针对现有技术不足，提供一种串联式电压源换流阀组的协调控制方法，以及一种串联式电压源换流阀组的协调控制装置，用于实现直流输电系统的直流极采用两个或两个以上电压源换流阀组串联运行时各电压源换流阀组的直流电压均衡，满足串联式混合直流输电系统或串联式柔性直流输电系统的运行需要。
为了达成上述目的，本发明采用的技术方案是：提供一种串联式电压源换流阀组的协调控制方法，所述串联式电压源换流阀组由两个或两个以上电压源换流阀组串联而成，并可配置于直流输电系统任一直流极的直流电压控制端或有功功率控制端，所述控制方法包括：
对配置于直流极直流电压控制端的串联式电压源换流阀组，包含如下步骤：
步骤a1、根据直流极的直流电压控制目标获取串联式电压源换流阀组所在端的总直流电压参考值U dcref并按照串联运行的电压源换流阀组总个数N进行分配，得到均分后的各运行电压源换流阀组的本阀组直流电压参考值U dVref-i，其中
Figure PCTCN2018117947-appb-000001
N为正整数；
步骤a2、获取串联式电压源换流阀组各运行阀组的本阀组直流电压测量值U dV-i；
步骤a3、串联式电压源换流阀组各运行阀组将本阀组直流电压参考值U dVref-i的
Figure PCTCN2018117947-appb-000002
作为本阀组的桥臂电压直流偏置量；
步骤a4、串联式电压源换流阀组各运行阀组将本阀组直流电压参考值U dVref-i与本阀组直流电压测量值U dV-i做差后输入本阀组的直流电压控制外环，进行本阀组直流电压的闭环控制；
对配置于直流极有功功率控制端的串联式电压源换流阀组，包含如下步骤：
步骤b1、根据直流极的有功功率控制目标获取串联式电压源换流阀组所在端的总有功功率参考值P ref并按照串联运行的电压源换流阀组总个数N进行分配，得到均分后的各运行电压源换流阀组的本阀组有功功率参考值P Vref-i，其中
Figure PCTCN2018117947-appb-000003
N为正整数；
步骤b2、获取串联式电压源换流阀组所在端的总直流电压参考值U dcref并按照串联运行的电压源换流阀组总个数N进行分配，得到均分后的各运行电压源换流阀组的本阀组直流电压参考值U dVref-i，其中
Figure PCTCN2018117947-appb-000004
N为正整数；
步骤b3、获取串联式电压源换流阀组各运行阀组的本阀组直流电压测量值U dV-i；
步骤b4、串联式电压源换流阀组各运行阀组将本阀组直流电压参考值U dVref-i的
Figure PCTCN2018117947-appb-000005
作为本阀组的桥臂电压直流偏置量；
步骤b5、串联式电压源换流阀组各运行阀组获取起阀组均压作用的本阀组有功功率补偿量ΔP V-i，并将本阀组有功功率补偿量ΔP V-i与本阀组有功功率参考值P Vref-i叠加后输入本阀组的有功功率控制外环，进行本阀组有功功率的控制。
对配置于直流极有功功率控制端的串联式电压源换流阀组，所述各运行电压源换流阀组获取起阀组均压作用的本阀组有功功率补偿量ΔP V-i的步骤包括：
步骤c1、将本阀组直流电压参考值U dVref-i与本阀组直流电压测量值U dV-i做差，得到本阀组直流电压偏差量ΔU dV-i；
步骤c2、将本阀组直流电压偏差量ΔU dV-i输入本阀组的阀组均压补偿器，本阀组的阀组均压补偿器对本阀组直流电压偏差量ΔU dV-i采用比例或积分或比例加积分的方式进行计算，得到本阀组有功功率补偿量ΔP V-i。
对配置于直流极直流电压控制端的串联式电压源换流阀组，当某一个运行阀组的直流电压控制外环输出受到电流内环限值限幅时，将该阀组的电流内环限值同步作用于其他各运行阀组，以保持各运行阀组的直流电压均衡。
对配置于直流极有功功率控制端的串联式电压源换流阀组，当某一个运行阀组的有功功率控制外环输出受到电流内环限值限幅时，将该阀组的电流内环限值同步作用于其他各运行阀组，以保持各运行阀组的直流电压均衡。
本发明还提供一种串联式电压源换流阀组的协调控制装置，其包括判别单元、采集分配单元、直流电压控制单元和有功功率控制单元，其中：
所述判别单元用于依据直流极的运行状态判断串联式电压源换流阀组所在端是否为直流电压控制端；
所述采集分配单元用于根据直流极运行状态分别获取串联式电压源换流阀组所在端的总直流电压参考值U dcref、总有功功率参考值P ref、各运行电压源换流阀组的本阀组直流电压测量值U dV-i等，并按照串联运行的电压源换流阀组总个数N分别对总直流电压参考值U dcref、总有功功率参考值P ref进行分配，得到均分后的各运行电压源换流阀组的本阀组直流电压参考值U dVref-i、本阀组有功功率参考值P Vref-i；
所述直流电压控制单元用于直流极直流电压控制端串联式电压源换流阀组各运行阀组根据本阀组直流电压参考值U dVref-i及本阀组直流电压测量值U dV-i进行本阀组直流电压的控制，并实现对直流极的直流电压控制及各运行阀组的直流电压均衡；
所述有功功率控制单元用于直流极有功功率控制端串联式电压源换流阀组各运行阀组根据本阀组有功功率参考值P Vref-i及本阀组有功功率补偿量ΔP V-i进行本阀组有功功率的控制，并实现对直流极的有功功率控制及各运行阀组的直流电压均衡；
所述直流电压控制单元包括如下子单元：
直流电压控制本阀组直流电压参考值计算子单元，根据直流极的直流电压控制目标获取串联式电压源换流阀组所在端的总直流电压参考值U dcref并按照串联运行的电压源换流阀组总个数N进行分配，得到均分后的各运行电压源换流阀组的本阀组直流电压参考值U dVref-i，其中
Figure PCTCN2018117947-appb-000006
N为正整数；
直流电压控制本阀组直流电压测量值接收子单元，获取串联式电压源换流阀组各运行阀组的本阀组直流电压测量值U dV-i；
直流电压控制本阀组直流偏置量计算子单元，串联式电压源换流阀组各运行阀组将本阀组直流电压参考值U dVref-i的
Figure PCTCN2018117947-appb-000007
作为本阀组的桥臂电压直流偏置量；
直流电压控制本阀组控制子单元，串联式电压源换流阀组各运行阀组将本阀组直流电压参考值U dVref-i与本阀组直流电压测量值U dV-i做差后输入本阀组的直流电压控制外环，进行本阀组直流电压的闭环控制。
所述有功功率控制单元包括如下子单元：
有功功率控制本阀组有功功率参考值计算子单元，根据直流极的有功功率控制目标获取串联式电压源换流阀组所在端的总有功功率参考值P ref并按照串联运行的电压源换流阀组总个数N进行分配，得到均分后的各运行电压源换流阀组的本阀组有功功率参考值P Vref-i，其中
Figure PCTCN2018117947-appb-000008
N为正整数；
有功功率控制本阀组直流电压参考值计算子单元，获取串联式电压源换流阀组所在端的总直流电压参考值U dcref并按照串联运行的电压源换流阀组总个数N进行分配，得到均分后的各运行电压源换流阀组的本阀组直流电压参考值U dVref-i，其中
Figure PCTCN2018117947-appb-000009
N为正整数；
有功功率控制本阀组直流电压测量值接收子单元，获取串联式电压源换流阀组各运行阀组的本阀组直流电压测量值U dV-i；
有功功率控制本阀组直流偏置量计算子单元，串联式电压源换流阀组各运行阀组将本阀组直流电压参考值U dVref-i的
Figure PCTCN2018117947-appb-000010
作为本阀组的桥臂电压直流偏置量；
有功功率控制本阀组控制子单元，串联式电压源换流阀组各运行阀组获取起阀组均压作用的本阀组有功功率补偿量ΔP V-i，并将本阀组有功功率补偿量ΔP V-i与本阀组有功功率参考值P Vref-i叠加后输入本阀组的有功功率控制外环，进行本阀组有功功率的控制。
所述有功功率控制本阀组控制子单元中各运行电压源换流阀组获取起阀组均压作用的本阀组有功功率补偿量ΔP V-i的具体步骤包括：
步骤c1、将本阀组直流电压参考值U dVref-i与本阀组直流电压测量值U dV-i进行比较，得到本阀组直流电压偏差量ΔU dV-i；
步骤c2、将本阀组直流电压偏差量ΔU dV-i输入本阀组的阀组均压补偿器，本阀组的阀组均压补偿器对本阀组直流电压偏差量ΔU dV-i采用比例或积分或比例加积分的方式进行计算，得到本阀组有功功率补偿量ΔP V-i。
所述直流电压控制单元中，当某一个运行阀组的直流电压控制外环输出受到电流内环限值限幅时，将该阀组的电流内环限值同步作用于其他各运行阀组，以保持各运行阀组的直流电压均衡。
所述有功功率控制单元中，当某一个运行阀组的有功功率控制外环输出受到电流内环限值限幅时，将该阀组的电流内环限值同步作用于其他各运行阀组，以保持各运行阀组的直流电压均衡。
本发明的有益效果是：本发明提供了一种适用于串联式电压源换流阀组的协调控制方法及装置，通过在直流极直流电压控制端和有功功率控制端采取所提出的控制策略，可以实现串联运行的各电压源换流阀组的直流电压均衡，保证直流系统的稳定运行。
附图说明
图1是本发明中串联式电压源换流阀组的拓扑示意图；
图2是本发明提供的串联式电压源换流阀组的协调控制方法的流程图；
图3是本发明提供的配置于直流极直流电压控制端的串联式电压源换流阀组协调控制策略原理示意图；
图4是本发明提供的配置于直流极有功功率控制端的串联式电压源换流阀组协调控制策略原理示意图；
图5是本发明提供的串联式电压源换流阀组协调控制装置的结构框图。
具体实施方式
以下将结合附图及具体实施例，对本发明的技术方案进行详细说明。
本发明提供一种串联式电压源换流阀组的协调控制方法，以及一种串联式电压源换流阀组的协调控制装置，用于实现直流输电系统的直流极采用两个或两个以上电压源换流阀组串联运行时各电压源换流阀组的直流电压均衡，满足串联式混合直流输电系统或串联式柔性直流输电系统的运行需要。串联式电压源换流阀组的拓扑示意图如图1所示，其可配置于直流输电系统任一直流极的直流电压控制端或有功功率控制端。
为了达成上述目的，本发明的解决方案是提供一种串联式电压源换流阀组的协调控制方法，如图2所示：
对配置于直流极直流电压控制端的串联式电压源换流阀组，包括如下实施步骤：
步骤a1、根据直流极的直流电压控制目标获取串联式电压源换流阀组所在端的总直流电压参考值U dcref并按照串联运行的电压源换流阀组总个数N进行分配，得到均分后的各运行电压源换流阀组的本阀组直流电压参考值U dVref-i，其中
Figure PCTCN2018117947-appb-000011
N为正整数；
直流极的直流电压控制目标一般为运行人员设定的整流站直流电压参考值，当串联式电压源换流阀组所在端为整流站时，其总直流电压参考值U dcref等于运行人员设定的整流站直流电压参考值；当串联式电压源换流阀组所在端为逆变站时，其总直流电压参考值U dcref等于运行人员设定的整流站直流电压参考值减去直流线路的电压降。
步骤a2、获取串联式电压源换流阀组各运行阀组的本阀组直流电压测量值U dV-i；
对于电压源换流阀组，其运行特性如式(1)所示：
Figure PCTCN2018117947-appb-000012
其中，u pj和u nj分别为电压源换流阀组j(j＝a，b，c)相上、下桥臂电压，
Figure PCTCN2018117947-appb-000013
为桥臂电压直流偏执量，u vjref为j相的交流电压参考波。
对电压源换流阀组的控制是通过控制各相上、下桥臂的桥臂电压来实现的，由式(1)可见，桥臂电压包含直流偏执量和交流电压参考波两部分，因此可采用如图3所示的协调控制策略，具体包括：
步骤a3、串联式电压源换流阀组各运行阀组将本阀组直流电压参考值U dVref-i的
Figure PCTCN2018117947-appb-000014
作为本阀组的桥臂电压直流偏置量；
步骤a4、串联式电压源换流阀组各运行阀组将本阀组直流电压参考值U dVref-i与本阀组直流电压测量值U dV-i做差后输入本阀组的直流电压控制外环，直流电压控制外环的输出经电流内环限值限幅后产生d轴电流内环参考值i dref并输入本阀组的电流控制内环，电流控制内环输出本阀组的交流电压参考波；
采用步骤a3中所述本阀组的桥臂电压直流偏置量和步骤a4中所述本阀组的交流电压参考波对本阀组各相上、下桥臂的桥臂电压进行控制，可以实现对本阀组直流电压的控制；串联式电压源换流阀组各运行阀组通过采用上述控制策略，可以实现直流电压控制端各运行阀组直流电压的均衡控制。
对配置于直流极有功功率控制端的串联式电压源换流阀组，包括如下实施步骤：
步骤b1、根据直流极的有功功率控制目标获取串联式电压源换流阀组所在端的总有功功率参考值P ref并按照串联运行的电压源换流阀组总个数N进行分配，得到均分后的各运行电压源换流阀组的本阀组有功功率参考值P Vref-i，其中
Figure PCTCN2018117947-appb-000015
N为正整数；
步骤b2、获取串联式电压源换流阀组所在端的总直流电压参考值U dcref并按照串联运行的电压源换流阀组总个数N进行分配，得到均分后的各运行电压源换流阀组的本阀组直流电压参考值U dVref-i，其中
Figure PCTCN2018117947-appb-000016
N为正整数；
步骤b3、获取串联式电压源换流阀组各运行阀组的本阀组直流电压测量值U dV-i；
采用如图4所示的协调控制策略，具体包括：
步骤b4、串联式电压源换流阀组各运行阀组将本阀组直流电压参考值U dVref-i的
Figure PCTCN2018117947-appb-000017
作为本阀组的桥臂电压直流偏置量；
步骤b5、串联式电压源换流阀组各运行阀组获取起阀组均压作用的本阀组有功功率补偿量ΔP V-i，并将本阀组有功功率补偿量ΔP V-i与本阀组有功功率参考值P Vref-i叠加后输入本阀组的有功功率控制外环，有功功率控制外环的输出经内环电流限值限幅后产生d轴电流内环参考值i dref并输入本阀组的电流控制内环，电流控制内环输出本阀组的交流电压参考波；
采用步骤b4中所述本阀组的桥臂电压直流偏置量和步骤b5中所述本阀组的交流电压参考波对本阀组各相上、下桥臂的桥臂电压进行控制，可以实现对本阀组有功功率的控制。
对配置于直流极有功功率控制端的串联式电压源换流阀组，所述各运行电压源换流阀组获取起阀组均压作用的本阀组有功功率补偿量ΔP V-i的步骤包括：
步骤c1、将本阀组直流电压参考值U dVref-i与本阀组直流电压测量值U dV-i做差，得到本阀组直流电压偏差量ΔU dV-i；
步骤c2、将本阀组直流电压偏差量ΔU dV-i输入本阀组的阀组均压补偿器，本阀组的阀组均压补偿器对本阀组直流电压偏差量ΔU dV-i采用比例或积分或比例加积分的方式进行计算，得到本阀组有功功率补偿量ΔP V-i。
通过在本阀组有功功率参考值P Vref-i基础上叠加本阀组有功功率补偿量ΔP V-i，动态调整本阀组的有功功率输出，可以间接的实现对本阀组直流电压的控制；通过所述控制策略，可以实现有功功率控制端各运行阀组直流电压的均衡控制。
对配置于直流极直流电压控制端的串联式电压源换流阀组，当某一个运行阀组由于内环电流限值i d max减小导致直流电压控制外环输出受到内环电流限值限幅时，该阀组将因为功率输出受限导致其直流电压偏离本阀组直流电压参考值，为此将该阀组的内环电流限值同步作用于其他各运行阀组，保持各运行阀组的直流电压均衡。
对配置于直流极有功功率控制端的串联式电压源换流阀组，当某一个运行阀组由于内环电流限制值i d max减小导致有功功率控制外环输出受到内环电流限值限幅时，该阀组将因为功率输出受限导致其直流电压偏离本阀组直流电压参考值，为此将该阀组的内环电流限值同步作用于其他各运行阀组，保持各运行阀组的直流电压均衡。
本发明还提供一种串联式电压源换流阀组的协调控制装置，如图5所示，其包括判别单元、采集分配单元、直流电压控制单元和有功功率控制单元，其中：
所述判别单元用于依据直流极的运行状态判断串联式电压源换流阀组所在端是否为直流电压控制端；
所述采集分配单元用于根据直流极运行状态分别获取串联式电压源换流阀组所在端的总直流电压参考值U dcref、总有功功率参考值P ref、各运行电压源换流阀组的本阀组直流电压测量值U dV-i等，并按照串联运行的电压源换流阀组总个数N分别对总直流电压参考值U dcref、总有功功率参考值P ref进行分配，得到均分后的各运行电压源换流阀组的本阀组直流电压参考值U dVref-i、本阀组有功功率参考值P Vref-i；
所述直流电压控制单元用于直流极直流电压控制端串联式电压源换流阀组各运行阀组根据本阀组直流电压参考值U dVref-i及本阀组直流电压测量值U dV-i进行本阀组直流电压的控制，并实现对直流极的直流电压控制及各运行阀组的直流电压均衡；
所述有功功率控制单元用于直流极有功功率控制端串联式电压源换流阀组各运行阀组根据本阀组有功功率参考值P Vref-i及本阀组有功功率补偿量ΔP V-i进行本阀组有功功率的控制，并实现对直流极的有功功率控制及各运行阀组的直流电压均衡。
所述直流电压控制单元包括如下子单元：
直流电压控制本阀组直流电压参考值计算子单元，根据直流极的直流电压控制目标 获取串联式电压源换流阀组所在端的总直流电压参考值U dcref并按照串联运行的电压源换流阀组总个数N进行分配，得到均分后的各运行电压源换流阀组的本阀组直流电压参考值U dVref-i，其中
Figure PCTCN2018117947-appb-000018
N为正整数；
直流电压控制本阀组直流电压测量值接收子单元，获取串联式电压源换流阀组各运行阀组的本阀组直流电压测量值U dV-i；
直流电压控制本阀组直流偏置量计算子单元，串联式电压源换流阀组各运行阀组将本阀组直流电压参考值U dVref-i的
Figure PCTCN2018117947-appb-000019
作为本阀组的桥臂电压直流偏置量；
直流电压控制本阀组控制子单元，串联式电压源换流阀组各运行阀组将本阀组直流电压参考值U dVref-i与本阀组直流电压测量值U dV-i做差后输入本阀组的直流电压控制外环，进行本阀组直流电压的闭环控制。
所述有功功率控制单元包括如下子单元：
有功功率控制本阀组有功功率参考值计算子单元，根据直流极的有功功率控制目标获取串联式电压源换流阀组所在端的总有功功率参考值P ref并按照串联运行的电压源换流阀组总个数N进行分配，得到均分后的各运行电压源换流阀组的本阀组有功功率参考值P Vref-i，其中
Figure PCTCN2018117947-appb-000020
N为正整数；
有功功率控制本阀组直流电压参考值计算子单元，获取串联式电压源换流阀组所在端的总直流电压参考值U dcref并按照串联运行的电压源换流阀组总个数N进行分配，得到均分后的各运行电压源换流阀组的本阀组直流电压参考值U dVref-i，其中
Figure PCTCN2018117947-appb-000021
N为正整数；
有功功率控制本阀组直流电压测量值接收子单元，获取串联式电压源换流阀组各运行阀组的本阀组直流电压测量值U dV-i；
有功功率控制本阀组直流偏置量计算子单元，串联式电压源换流阀组各运行阀组将本阀组直流电压参考值U dVref-i的
Figure PCTCN2018117947-appb-000022
作为本阀组的桥臂电压直流偏置量；
有功功率控制本阀组控制子单元，串联式电压源换流阀组各运行阀组获取起阀组均压作用的本阀组有功功率补偿量ΔP V-i，并将本阀组有功功率补偿量ΔP V-i与本阀组有功 功率参考值P Vref-i叠加后输入本阀组的有功功率控制外环，进行本阀组有功功率的控制。
所述有功功率控制本阀组控制子单元中各运行电压源换流阀组获取起阀组均压作用的本阀组有功功率补偿量ΔP V-i的具体步骤包括：
步骤c1、将本阀组直流电压参考值U dVref-i与本阀组直流电压测量值U dV-i进行比较，得到本阀组直流电压偏差量ΔU dV-i；
步骤c2、将本阀组直流电压偏差量ΔU dV-i输入本阀组的阀组均压补偿器，本阀组的阀组均压补偿器对本阀组直流电压偏差量ΔU dV-i采用比例或积分或比例加积分的方式进行计算，得到本阀组有功功率补偿量ΔP V-i。
所述直流电压控制单元中，当某一个运行阀组的直流电压控制外环输出受到电流内环限值限幅时，将该阀组的电流内环限值同步作用于其他各运行阀组，以保持各运行阀组的直流电压均衡。
所述有功功率控制单元中，当某一个运行阀组的有功功率控制外环输出受到电流内环限值限幅时，将该阀组的电流内环限值同步作用于其他各运行阀组，以保持各运行阀组的直流电压均衡。
以上实施例仅为说明本发明的技术思想，不能以此限定本发明的保护范围，凡是按照本发明提出的技术思想，在技术方案基础上所做的任何改动，均落入本发明保护范围之内。

Claims (8)

  1. 一种串联式电压源换流阀组的协调控制方法，所述串联式电压源换流阀组由两个或两个以上电压源换流阀组串联而成，并可配置于直流输电系统任一直流极的直流电压控制端或有功功率控制端，其特征在于，所述控制方法包括：
    对配置于直流极直流电压控制端的串联式电压源换流阀组，包含如下步骤：
    步骤a1、根据直流极的直流电压控制目标获取串联式电压源换流阀组所在端的总直流电压参考值U dcref并按照串联运行的电压源换流阀组总个数N进行分配，得到均分后的各运行电压源换流阀组的本阀组直流电压参考值U dVref-i，其中
    Figure PCTCN2018117947-appb-100001
    i∈(1，…，N)，N为正整数；
    步骤a2、获取串联式电压源换流阀组各运行阀组的本阀组直流电压测量值U dV-i；
    步骤a3、串联式电压源换流阀组各运行阀组将本阀组直流电压参考值U dVref-i的
    Figure PCTCN2018117947-appb-100002
    作为本阀组的桥臂电压直流偏置量；
    步骤a4、串联式电压源换流阀组各运行阀组将本阀组直流电压参考值U dVref-i与本阀组直流电压测量值U dV-i做差后输入本阀组的直流电压控制外环，进行本阀组直流电压的闭环控制；
    对配置于直流极有功功率控制端的串联式电压源换流阀组，包含如下步骤：
    步骤b1、根据直流极的有功功率控制目标获取串联式电压源换流阀组所在端的总有功功率参考值P ref并按照串联运行的电压源换流阀组总个数N进行分配，得到均分后的各运行电压源换流阀组的本阀组有功功率参考值P Vref-i，其中
    Figure PCTCN2018117947-appb-100003
    i∈(1，…，N)，N为正整数；
    步骤b2、获取串联式电压源换流阀组所在端的总直流电压参考值U dcref并按照串联运行的电压源换流阀组总个数N进行分配，得到均分后的各运行电压源换流阀组的本阀组直流电压参考值U dVref-i，其中
    Figure PCTCN2018117947-appb-100004
    i∈(1，…，N)，N为正整数；
    步骤b3、获取串联式电压源换流阀组各运行阀组的本阀组直流电压测量值U dV-i；
    步骤b4、串联式电压源换流阀组各运行阀组将本阀组直流电压参考值U dVref-i的
    Figure PCTCN2018117947-appb-100005
    作为本阀组的桥臂电压直流偏置量；
    步骤b5、串联式电压源换流阀组各运行阀组获取起阀组均压作用的本阀组有功功率补偿量ΔP V-i，并将本阀组有功功率补偿量ΔP V-i与本阀组有功功率参考值P Vref-i叠加后输入本阀组的有功功率控制外环，进行本阀组有功功率的控制。
  2. 如权利要求1所述的一种串联式电压源换流阀组的协调控制方法，其特征在于：对配置于直流极有功功率控制端的串联式电压源换流阀组，所述步骤b5中各运行电压源换流阀组获取起阀组均压作用的本阀组有功功率补偿量ΔP V-i的具体步骤包括：
    步骤c1、将本阀组直流电压参考值U dVref-i与本阀组直流电压测量值U dV-i做差，得到本阀组直流电压偏差量ΔU dV-i；
    步骤c2、将本阀组直流电压偏差量ΔU dV-i输入本阀组的阀组均压补偿器，本阀组的阀组均压补偿器对本阀组直流电压偏差量ΔU dV-i采用比例或积分或比例加积分的方式进行计算，得到本阀组有功功率补偿量ΔP V-i。
  3. 如权利要求1所述的一种串联式电压源换流阀组的协调控制方法，其特征在于：对配置于直流极直流电压控制端的串联式电压源换流阀组，当某一个运行阀组的直流电压控制外环输出受到电流内环限值限幅时，将该阀组的电流内环限值同步作用于其他各运行阀组，以保持各运行阀组的直流电压均衡。
  4. 如权利要求1所述的一种串联式电压源换流阀组的协调控制方法，其特征在于：对配置于直流极有功功率控制端的串联式电压源换流阀组，当某一个运行阀组的有功功率控制外环输出受到电流内环限值限幅时，将该阀组的电流内环限值同步作用于其他各运行阀组，以保持各运行阀组的直流电压均衡。
  5. 一种串联式电压源换流阀组的协调控制装置，所述串联式电压源换流阀组由两个或两个以上电压源换流阀组串联而成，并可配置于直流输电系统任一直流极的直流电压控制端或有功功率控制端，其特征在于：包括判别单元、采集分配单元、直流电压控制单元和有功功率控制单元，其中：
    所述判别单元用于依据直流极的运行状态判断串联式电压源换流阀组所在端是否为直流电压控制端；
    所述采集分配单元用于根据直流极运行状态分别获取串联式电压源换流阀组所在 端的总直流电压参考值U dcref、总有功功率参考值P ref、各运行电压源换流阀组的本阀组直流电压测量值U dV-i等，并按照串联运行的电压源换流阀组总个数N分别对总直流电压参考值U dcref、总有功功率参考值P ref进行分配，得到均分后的各运行电压源换流阀组的本阀组直流电压参考值U dVref-i、本阀组有功功率参考值P Vref-i；
    所述直流电压控制单元用于直流极直流电压控制端串联式电压源换流阀组各运行阀组根据本阀组直流电压参考值U dVref-i及本阀组直流电压测量值U dV-i进行本阀组直流电压的控制，并实现对直流极的直流电压控制及各运行阀组的直流电压均衡；
    所述有功功率控制单元用于直流极有功功率控制端串联式电压源换流阀组各运行阀组根据本阀组有功功率参考值P Vref-i及本阀组有功功率补偿量ΔP V-i进行本阀组有功功率的控制，并实现对直流极的有功功率控制及各运行阀组的直流电压均衡；
    所述直流电压控制单元包括如下子单元：
    直流电压控制本阀组直流电压参考值计算子单元，根据直流极的直流电压控制目标获取串联式电压源换流阀组所在端的总直流电压参考值U dcref并按照串联运行的电压源换流阀组总个数N进行分配，得到均分后的各运行电压源换流阀组的本阀组直流电压参考值U dVref-i，其中
    Figure PCTCN2018117947-appb-100006
    i∈(1，…，N)，N为正整数；
    直流电压控制本阀组直流电压测量值接收子单元，获取串联式电压源换流阀组各运行阀组的本阀组直流电压测量值U dV-i；
    直流电压控制本阀组直流偏置量计算子单元，串联式电压源换流阀组各运行阀组将本阀组直流电压参考值U dVref-i的
    Figure PCTCN2018117947-appb-100007
    作为本阀组的桥臂电压直流偏置量；
    直流电压控制本阀组控制子单元，串联式电压源换流阀组各运行阀组将本阀组直流电压参考值U dVref-i与本阀组直流电压测量值U dV-i做差后输入本阀组的直流电压控制外环，进行本阀组直流电压的闭环控制；
    所述有功功率控制单元包括如下子单元：
    有功功率控制本阀组有功功率参考值计算子单元，根据直流极的有功功率控制目标获取串联式电压源换流阀组所在端的总有功功率参考值P ref并按照串联运行的电压源换流阀组总个数N进行分配，得到均分后的各运行电压源换流阀组的本阀组有功功率参考 值P Vref-i，其中
    Figure PCTCN2018117947-appb-100008
    i∈(1，…，N)，N为正整数；
    有功功率控制本阀组直流电压参考值计算子单元，获取串联式电压源换流阀组所在端的总直流电压参考值U dcref并按照串联运行的电压源换流阀组总个数N进行分配，得到均分后的各运行电压源换流阀组的本阀组直流电压参考值U dVref-i，其中
    Figure PCTCN2018117947-appb-100009
    i∈(1，…，N)，N为正整数；
    有功功率控制本阀组直流电压测量值接收子单元，获取串联式电压源换流阀组各运行阀组的本阀组直流电压测量值U dV-i；
    有功功率控制本阀组直流偏置量计算子单元，串联式电压源换流阀组各运行阀组将本阀组直流电压参考值U dVref-i的
    Figure PCTCN2018117947-appb-100010
    作为本阀组的桥臂电压直流偏置量；
    有功功率控制本阀组控制子单元，串联式电压源换流阀组各运行阀组获取起阀组均压作用的本阀组有功功率补偿量ΔP V-i，并将本阀组有功功率补偿量ΔP V-i与本阀组有功功率参考值P Vref-i叠加后输入本阀组的有功功率控制外环，进行本阀组有功功率的控制。
  6. 如权利要求5所述的一种串联式电压源换流阀组的协调控制装置，其特征在于：所述有功功率控制本阀组控制子单元中各运行电压源换流阀组获取起阀组均压作用的本阀组有功功率补偿量ΔP V-i的具体步骤包括：
    步骤c1、将本阀组直流电压参考值U dVref-i与本阀组直流电压测量值U dV-i进行比较，得到本阀组直流电压偏差量ΔU dV-i；
    步骤c2、将本阀组直流电压偏差量ΔU dV-i输入本阀组的阀组均压补偿器，本阀组的阀组均压补偿器对本阀组直流电压偏差量ΔU dV-i采用比例或积分或比例加积分的方式进行计算，得到本阀组有功功率补偿量ΔP V-i。
  7. 如权利要求5所述的一种串联式电压源换流阀组的协调控制装置，其特征在于：所述直流电压控制单元中，当某一个运行阀组的直流电压控制外环输出受到电流内环限值限幅时，将该阀组的电流内环限值同步作用于其他各运行阀组，以保持各运行阀组的直流电压均衡。
  8. 如权利要求5所述的一种串联式电压源换流阀组的协调控制装置，其特征在于：所述有功功率控制单元中，当某一个运行阀组的有功功率控制外环输出受到电流内环限 值限幅时，将该阀组的电流内环限值同步作用于其他各运行阀组，以保持各运行阀组的直流电压均衡。
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