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WO2022142812A1 - 多端海上风电柔性直流与储能协同并网系统及其控制方法 - Google Patents

多端海上风电柔性直流与储能协同并网系统及其控制方法 Download PDF

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Publication number
WO2022142812A1
WO2022142812A1 PCT/CN2021/131065 CN2021131065W WO2022142812A1 WO 2022142812 A1 WO2022142812 A1 WO 2022142812A1 CN 2021131065 W CN2021131065 W CN 2021131065W WO 2022142812 A1 WO2022142812 A1 WO 2022142812A1
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Prior art keywords
energy storage
power
offshore
converter
wind power
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PCT/CN2021/131065
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English (en)
French (fr)
Inventor
翟冬玲
杨张斌
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中国长江三峡集团有限公司
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Priority claimed from CN202023297852.1U external-priority patent/CN214674375U/zh
Priority claimed from CN202011638471.7A external-priority patent/CN112736977B/zh
Application filed by 中国长江三峡集团有限公司 filed Critical 中国长江三峡集团有限公司
Publication of WO2022142812A1 publication Critical patent/WO2022142812A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—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
    • H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—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
    • H02J3/28—Arrangements for balancing of the load in a network by storage of energy
    • H02J3/32—Arrangements for balancing of the load in a network by storage of energy using batteries with converting means
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—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 a high-tension dc link
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—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
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers

Definitions

  • the invention belongs to the field of offshore wind power control, and in particular relates to a multi-terminal offshore wind power flexible direct current and energy storage coordinated grid-connected system and a control method thereof.
  • multi-terminal flexible DC transmission technology can be used. This technology enables multiple offshore wind power clusters to form a multi-port structure, and the transmission system shares submarine corridors and landing points, and the ports are also very easy to expand.
  • Multi-terminal flexible direct current transmission technology has been applied in many projects on land in my country, but due to the particularity of offshore wind power, there are many differences in the application methods of onshore and offshore multi-terminal flexible direct current systems, such as wiring form, energy consumption device type, whether Adopt DC circuit breaker, black start mode and control mode, etc.
  • the onshore multi-terminal flexible DC transmission system such as the Zhangbei multi-terminal flexible DC power grid, adopts the form of ring connection, and each DC terminal is equipped with a DC circuit breaker and an AC energy consumption device.
  • the multi-terminal flexible direct system should not adopt the ring wiring method, and the use of offshore DC circuit breakers will also increase the weight of the offshore platform.
  • the offshore wind power system there is no supporting power supply, and it is necessary to reverse the power to start black. Therefore, it is necessary to fully consider the characteristics of the offshore wind power flexible direct transmission system, and expand the DC terminal, so as to be suitable for the power transmission of multiple offshore wind power clusters.
  • the design capacity of the world's largest offshore wind turbine is 14MW, and the maximum single-unit capacity of my country's grid-connected offshore wind turbines has reached 10MW, and the single-unit capacity of offshore wind turbines is still on the rise.
  • the distance between offshore wind turbines is also increasing.
  • the loss of the power collection system will also increase.
  • Offshore wind farms in Europe have adopted the 66kV power collection system scheme and cancelled the offshore booster station, while my country has also developed a 66kV dynamic submarine cable. Therefore, from reducing the loss of the offshore wind power collection system and canceling the offshore booster From the perspective of meeting the demand for reducing the cost of electricity of offshore wind power in my country, the 66kV power collection system scheme has a very broad application space in my country.
  • the grid-connected consumption of offshore wind power is also the focus of the industry.
  • the grid-connected consumption of offshore wind power is closely related to the power supply scale, load and external transmission capacity of the local power grid. If the load growth rate and the growth rate of new energy installed capacity and the construction of external transmission channels cannot be balanced, and external calls do not participate in peak regulation, it will cause a peak regulation gap in the main AC network; the volatility and randomness of offshore wind power will also increase the problem of wind curtailment. .
  • onshore new energy power stations have begun to configure energy storage systems to balance the randomness of new energy power generation, and participate in grid peak regulation and frequency regulation through the auxiliary service market to improve engineering economy. Although the current cost of energy storage systems is high, with the continuous development of energy storage technology, the configuration of energy storage systems in offshore wind power projects has very good application prospects.
  • the purpose of the present invention is to solve the above problems, to provide a multi-terminal offshore wind power flexible DC and energy storage collaborative grid-connected system and its control method, adopting the multi-terminal flexible DC transmission technology, sharing submarine cable corridors and landing points, onshore converter stations Connect the energy storage subsystem, smooth the wind power output, participate in the peak regulation, voltage regulation and frequency regulation of the main power grid, and improve the stability and reliability of offshore wind power generation.
  • the technical scheme of the present invention is a multi-terminal offshore wind power flexible DC and energy storage collaborative grid-connected system, including multiple offshore wind power clusters, multiple parallel offshore converter stations, and onshore converter stations connected to the offshore converter stations; each The offshore converter station is connected to the output terminal of the corresponding offshore wind power cluster, without the need for an offshore booster station.
  • the DC output terminals of the offshore converter station are connected in parallel to form a branch-type multi-terminal offshore wind power flexible DC transmission and electronic system, sharing the submarine transmission corridor and onshore Converter station; the onshore converter station is connected to the AC mains grid.
  • the generator set of the offshore wind power cluster adopts a semi-direct drive or direct drive type wind generator set, and the AC voltage level of the offshore wind power cluster adopts 66kV.
  • the energy storage subsystem is connected with the onshore converter station, and includes a plurality of energy storage units, which are used for smoothing the fluctuation of the offshore wind power output.
  • the offshore converter station includes a first transformer and a first modular multilevel converter connected to the first transformer, and the first modular multilevel converter includes a plurality of half-bridge switch tube modules or full
  • the bridge-type switch tube modules are cascaded to form an upper bridge arm and a lower bridge arm, the lower bridge arm has the same structure as the upper bridge arm, and the connection ends of the upper bridge arm and the lower bridge arm of the offshore converter are connected to the first transformer.
  • the onshore converter station includes a second modular multi-level converter and a second transformer connected thereto, and the second modular multi-level converter includes a cascade of multiple full-bridge switch tube modules.
  • the upper bridge arm and the lower bridge arm have the same structure as the upper bridge arm.
  • the connecting ends of the upper bridge arm and the lower bridge arm of the second modular multilevel converter lead out wires as the second modular multilevel converter. the output of the streamer.
  • a starting resistor is connected between the second modular multi-level converter and the second transformer, and the connection end between the second transformer and the starting resistor is connected to the grounding device.
  • the DC side of the second modular multilevel converter is provided with an energy consumption device connected in parallel with it, and the energy consumption device is used for unloading to prevent the DC voltage from being too high.
  • both the upper bridge arm and the lower bridge arm of the first modular multilevel converter are provided with first bridge arm reactors connected in series.
  • both ends of the DC side of the second modular multilevel converter are provided with smoothing reactors connected in series.
  • both the upper bridge arm and the lower bridge arm of the second modular multilevel converter are provided with second bridge arm reactors connected in series.
  • the energy storage subsystem includes a plurality of energy storage units, a first-stage step-up transformer, and a plurality of second-stage step-up transformers connected to the first-stage step-up transformer. Transformer connection.
  • the first multi-level converter half-bridge switch tube module includes two series-connected power switch tubes, each power switch tube is anti-parallel freewheeling diode, and the capacitor C1 is connected in parallel with the series-connected power switch tubes.
  • the second full-bridge switch tube module of the multilevel converter includes four power switch tubes and a capacitor C2, and the power switch tubes are connected in parallel with the capacitor C2 after being connected in series.
  • the energy-consuming device includes a plurality of cascaded energy-consuming sub-modules
  • the energy-consuming sub-modules include a resistor R1, a resistor R2, diodes VD1 to VD3, a DC capacitor C dc , a switch Q and a switch S3, and a diode VD2
  • the anode is connected to the collector of the switch Q
  • the anode of the DC capacitor C dc is connected to the cathode of the diode VD2
  • the cathode of the DC capacitor C dc is connected to the emitter of the switch Q and the anode of the diode VD3 respectively
  • one end of the resistor R1 is connected to
  • the anode of the DC capacitor Cdc is connected
  • the other end of the resistor R1 is connected to the cathode of the diode VD3
  • one end of the resistor R2 is connected to the anode of the diode VD2
  • the control method for the above-mentioned multi-terminal offshore wind power flexible DC and energy storage coordinated grid-connected system includes the following steps:
  • Step 1 Compare the output power P wind of the offshore wind power cluster according to the dispatch command power P ord of the main power grid, and control the charging or discharging of the energy storage system and the output of the offshore converter station according to the comparison result;
  • Step 2 According to the voltage change ⁇ U of the grid connection point with the main grid, carry out constant reactive power control based on Q-U droop for onshore converter stations, and carry out constant AC voltage control for energy storage inverters or constant reactive power based on Q-U droop. Power Control;
  • Step 3 Detect the main grid frequency deviation ⁇ f, and use P-f droop control to control the power output of the multi-terminal offshore wind power flexible DC and energy storage coordinated grid-connected system to adjust the main grid frequency.
  • the multi-terminal offshore wind power flexible DC and energy storage collaborative grid-connected system also includes an energy storage control unit, a flexible DC control unit, and an energy storage and flexible direct coordination control unit.
  • the power reference value of the energy subsystem detects the frequency deviation of the power grid, and calculates the power adjustment amount;
  • the energy storage control unit controls the energy storage unit with constant active power, and controls the inverter with constant DC voltage and reactive power;
  • the flexible DC control unit Constant AC voltage control and active power control are performed for offshore converter stations, and constant DC voltage control and constant reactive power control based on Q-U droop are performed for onshore converter stations.
  • the control process of the storage control unit, flexible DC control unit, energy storage and flexible DC coordination control unit includes:
  • the discharge or charging of the energy storage unit is controlled , and the offshore converter station adopts constant frequency control ;
  • the offshore converter station adopts constant active power control
  • P t is the total rated capacity of the system
  • P i is the rated capacity of the i-th offshore converter station
  • the present invention adopts a branch-type multi-terminal offshore wind power flexible DC power transmission system, and a plurality of independent offshore converter stations integrate the scattered offshore wind power clusters, share the submarine transmission corridor and the onshore converter station, and save the submarine transmission corridor and landing point.
  • the offshore wind power flexible DC transmission system has strong scalability, and it is easy for new offshore wind power clusters to be connected through DC terminals;
  • the 66kV power collection system is adopted, the offshore booster station is cancelled, and the network loss and engineering cost of the power collection system are reduced;
  • the station is connected to the energy storage subsystem to smooth the wind power output and improve the controllability, stability and reliability of offshore wind power generation;
  • the present invention responds to the power dispatch command of the main grid and the voltage regulation and frequency regulation of the main grid through the joint control of the energy storage unit and the energy storage inverter, the offshore converter station and the onshore converter station, so that the main grid is more stable. , efficient;
  • the onshore converter station of the present invention adopts a full-bridge power switch tube module.
  • the short-circuit current injected by the grid into the DC short-circuit point can be suppressed, and the system stability margin can be improved.
  • FIG. 1 is a topology circuit wiring diagram of a multi-terminal offshore wind power flexible DC and energy storage coordinated grid-connected system according to an embodiment of the present invention.
  • FIG. 2 is a wiring diagram of a topology circuit of an offshore converter station according to an embodiment of the present invention.
  • FIG. 3 is a wiring diagram of a topology circuit of an onshore converter station according to an embodiment of the present invention.
  • FIG. 4 is a wiring diagram of a topology circuit of an energy storage subsystem according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a topology circuit of an energy consuming device according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a control method according to an embodiment of the present invention.
  • the multi-terminal offshore wind power flexible DC and energy storage collaborative grid-connected system includes multiple offshore wind power clusters 1, multiple parallel offshore converter stations 2, and onshore converters connected to the offshore converter stations.
  • Station 4; each offshore converter station is connected to the output end of the corresponding offshore wind power cluster, without the need for an offshore booster station, and the DC output ends of the offshore converter station are connected in parallel to form a branch-type multi-terminal offshore wind power flexible DC transmission electronic system.
  • the flow station 2 is connected to the onshore converter station 4 via the DC transmission cable 3 , and shares the submarine transmission corridor and the onshore converter station; the onshore converter station is connected to the AC main grid 5 .
  • the offshore converter station 2 includes a first transformer 201 and a first modular multilevel converter 202 connected to the first transformer.
  • the first modular multilevel converter 202 includes a plurality of half-level converters.
  • the upper bridge arm and the lower bridge arm formed by the cascade connection of the bridge switch tube module HSM, the lower bridge arm has the same structure as the upper bridge arm, and the connection ends of the upper bridge arm and the lower bridge arm of the offshore converter are connected to the first transformer 201;
  • the upper bridge arm and the lower bridge arm of the first modular multilevel converter are both provided with first bridge arm reactors 203 connected in series.
  • the half-bridge switch tube module HSM of the first multilevel converter includes two series-connected power switch tubes, each power switch tube is anti-parallel freewheeling diode, and the voltage stabilizing capacitor C1 is connected in parallel with the series-connected power switch tubes.
  • the onshore converter station 4 includes a second modular multilevel converter 402 and a second transformer 404 connected in series therewith, and the second modular multilevel converter 402 includes a plurality of full bridges
  • the upper bridge arm and the lower bridge arm are cascaded into the FSM type switch tube module.
  • the lower bridge arm has the same structure as the upper bridge arm. as the output of the second modular multilevel converter.
  • a start-up resistor 407 is connected between the second modular multi-level converter 402 and the second transformer 404 , and the connection end of the second transformer 404 and the start-up resistance 407 is connected to the grounding device 405 .
  • Both the upper bridge arm and the lower bridge arm of the second modular multilevel converter are provided with second bridge arm reactors 403 connected in series.
  • the full-bridge switch tube module FSM of the second multi-level converter includes four power switch tubes and a capacitor C2, and the power switch tubes are connected in parallel with the capacitor C2 after being connected in series.
  • the DC side of the second modular multilevel converter 402 is provided with an energy dissipation device 406 connected in parallel therewith.
  • the energy consuming device 406 is used for unloading to prevent the DC voltage from being too high.
  • the energy storage subsystem 6 includes a plurality of energy storage units, a first-stage step-up transformer, and a plurality of second-stage step-up transformers connected to the first-stage step-up transformer.
  • the energy storage unit is connected to the corresponding inverter via the corresponding inverter. Secondary step-up transformer connection.
  • the energy storage subsystem 6 is connected to the onshore converter station.
  • the energy-consuming device 406 includes a plurality of cascaded energy-consuming sub-modules SM, and the energy-consuming sub-module SM includes a resistor R1, a resistor R2, diodes VD1-VD3, a DC capacitor C dc , a switch tube Q and a switch S3, the anode of the diode VD2 is connected to the collector of the switch Q, the anode of the DC capacitor C dc is connected to the cathode of the diode VD2, the cathode of the DC capacitor C dc is connected to the emitter of the switch Q and the anode of the diode VD3 respectively, the resistance One end of R1 is connected to the anode of the DC capacitor Cdc, the other end of the resistor R1 is connected to the cathode of the diode VD3, one end of the resistor R2 is connected to the anode of the diode VD2, the other end of the resistor
  • the energy storage subsystem 6 is incorporated into the low-voltage side of the transformer of the onshore converter station 4, but the AC on the low-voltage side of the transformer The voltage level is still very high. Therefore, in the embodiment, the AC power output by the battery block through the inverter is boosted in two stages.
  • the role of the energy storage subsystem is mainly to stabilize wind power fluctuations and participate in peak regulation, voltage regulation, and frequency regulation of the system.
  • the battery of the energy storage unit adopts electrochemical energy storage. Load and delivery channel construction, energy storage charging and discharging characteristics, and return on investment, etc.
  • the control method for the above-mentioned multi-terminal offshore wind power flexible DC and energy storage coordinated grid-connected system includes the following steps:
  • Step 1 Compare the output power P wind of the offshore wind power cluster according to the dispatch command power P ord of the main power grid, and control the charging or discharging of the energy storage system and the output of the offshore converter station according to the comparison result;
  • Step 2 According to the voltage change ⁇ U of the grid connection point with the main grid, carry out constant DC voltage control and constant reactive power control based on Q-U droop for the onshore converter station, and carry out constant DC voltage control and AC voltage control for the energy storage inverter. Control or constant reactive power control based on Q-U droop;
  • Step 3 Detect the frequency deviation ⁇ f of the main grid, use P-f droop control, use the simulated rotor equation of motion to calculate the active power regulation amount ⁇ P, and control the power output of the multi-terminal offshore wind power flexible DC and energy storage collaborative grid-connected system to adjust the main grid frequency.
  • the equation of motion of the rotor is as follows:
  • H is the inertia time constant
  • ⁇ 0 is the rated speed
  • D is the damping parameter
  • s is the complex frequency in the complex frequency domain.
  • the P-f droop control in step 3 refers to the P-f droop control method disclosed in the paper "Adaptive Droop Control of VSC-MTDC Connected to Low Inertia Systems” published in the journal “Electric Power Automation Equipment", No. 39, 2019.
  • the Q-U droop control of the onshore converter station and the Q-U droop control of the energy storage inverter refer to the Q-U slope control method disclosed in "High Voltage Direct Current Transmission Technology Based on Voltage Source Converters" published by China Electric Power Press in 2010.
  • control process of the energy storage control unit, the flexible DC control unit, the energy storage and the flexible DC coordination control unit includes:
  • the charging limit of the energy storage subsystem is P lim1 , that is, the value of L 2 is -1, it is necessary to reduce the output power of the offshore wind farm and the active power of the offshore wind power.

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Abstract

多端海上风电柔性直流与储能协同并网系统以及相应的控制方法，系统包括多个海上风电集群（1）和多个并联的海上换流站（2）以及与海上换流站（2）连接的陆上换流站（4）；每个海上换流站（2）直接与对应的海上风电集群（1）的输出端连接，海上换流站（2）的直流输出端并联；陆上换流站（4）连接到交流主电网（5）；储能子系统（6）与陆上换流站（4）连接，包括多个储能单元，用于平抑海上风电输出波动。采用树枝式多端海上风电柔性直流输电子系统将分散分布的多个海上风电集群（1）集成，共用海底输送走廊以及陆上换流站（4），在陆上换流站（4）连接储能子系统（6），节约海底输送走廊和登陆点资源，降低集电系统网损，平滑风电出力，提高海上风力发电的灵活性、稳定性和可靠性。

Description

多端海上风电柔性直流与储能协同并网系统及其控制方法 技术领域
本发明属于海上风电控制领域，具体涉及一种多端海上风电柔性直流与储能协同并网系统及其控制方法。
背景技术
随着我国近海风电资源的不断开发，海上风电必然会走向深远海。柔性直流输电是远海风电送出的最主要技术路线之一，并已在欧洲获得广泛应用。但是，海上风电柔性直流输电工程的造价仍旧较高，若每个远海风场都采用柔直送出技术，会存在多条并列的海上风电柔直工程，投资很大。同时，多条海上风电柔直输送线路海底走廊占用空间很大，需要多个登陆点，使得海上送出通道及登陆点资源更加紧张，且需要建设多个陆上换流站，浪费占地面积，多个陆上换流站以多馈入方式并网，也会使当地电网更加复杂。此外，由于落实项目及送出工程开工建设的时间周期较长，建设进度难以保障。
为了降低工程造价和节约海底走廊与登陆点，可以采用多端柔性直流输电技术，此技术可使多个海上风电集群组成多端口结构，送出系统共用海底走廊和登陆点，端口也非常容易扩展。多端柔性直流输电技术在我国陆地上已经有了多个工程应用，但是由于海上风电的特殊性，陆上和海上多端柔直系统的应用方式存在很多区别，比如接线形式、耗能装置类型、是否采用直流断路器、黑启动方式和控制模式等。陆上多端柔性直流输电系统，如张北多端柔直电网，采用了环形接线形式，并在每个直流端子加装直流断路器和交流耗能装置。但是针对海上风电的运行环境和工况，多端柔直系统不宜采用环形接线方式，采用海上适用的直流断路器也会增加海上平台重量。此外，对于海上风电系统，没有支撑电源，需要倒送电黑启动。因此，需要充分考虑海上风电柔直送出系统的特点，并对直流端子进行扩展，从而适用于多个海上风电集群电能送出。
此外，截止到目前，世界最大海上风电机组设计容量为14MW，我国已并网的海上风电机组最大单机容量也已达到10MW，海上风电机组单机容量仍呈上升趋势。随着海上风力发电机组单机容量的不断提升，海上风机之间的距离也不断加大，若采用传统的35kV汇集方案，集电系统的损耗也将升高。欧洲已有海上风电场采用66kV集电系统方案，并取消了海上升压站，而我国目前也已研制出了66kV的动态海底电缆，因此，从降低海上风电集电系统损耗和取消海上升压站，满足我国海上风电的度电成本降低的需求的角度，66kV集电系统方案在我国具有非常广阔的应用空间。
除以上所述的问题之外，海上风电并网消纳问题也是业界关注的焦点。海上风电的并网消纳情况与当地电网的电源规模、负荷和外送能力密切相关。若负荷增速与新能源装机增速以及外送通道建设不能保证平衡，外来电不参与调峰，会造成交流主网的调峰缺口；海上风电的波动性和随机性也会加重弃风问题。目前，陆上新能源电站已经开始配置储能系统，来平衡新能源发电的随机性，并通过辅助服务市场参与电网调峰调频，来提高工程经济性。尽管储能系统的当前造价较高，但随着储能技术的不断发展，海上风电工程配置储能系统具有非常好的应用前景。
发明内容
本发明的目的是针对上述问题，提供一种多端海上风电柔性直流与储能协同并网系统及其控制方法，采用多端柔性直流输电技术，共用海底线缆走廊和登陆点，陆上换流站连接储能子系统，平滑风电出力，参与主电网的调峰、调压和调频，提高海上风电发电的稳定性和可靠性。
本发明的技术方案是多端海上风电柔性直流与储能协同并网系统，包括多个海上风电集群和多个并联的海上换流站以及与海上换流站连接的陆上换流站；每个海上换流站与对应的海上风电集群的输出端连接，无需海上升压站，海上换流站的直流输出端并联，形成树枝式多端海上风电柔性直流输电子系统，共用海底输送走廊以及陆上换流站；陆上换流站连接到交流主电网。
优选地，海上风电集群的发电机组采用半直驱或直驱式风力发电机组，海上风电集群的交流电压等级采用66kV。
进一步地，储能子系统与陆上换流站连接，包括多个储能单元，用于平抑海上风电输出波动。
进一步地，海上换流站包括第一变压器以及与第一变压器连接的第一模块化多电平换流器，第一模块化多电平换流器包括多个半桥型开关管模块或全桥型开关管模块级联成的上桥臂、下桥臂，下桥臂与上桥臂结构相同，海上换流器的上桥臂、下桥臂的连接端与第一变压器连接。
进一步地，陆上换流站包括第二模块化多电平换流器以及与其连接的第二变压器，第二模块化多电平换流器包括多个全桥型开关管模块级联成的上桥臂、下桥臂，下桥臂与上桥臂结构相同，第二模块化多电平换流器上桥臂、下桥臂的连接端引出导线，作为第二模块化多电平换流器的输出端。
优选地，第二模块化多电平换流器与第二变压器之间连接有启动电阻，第二变压器与启动电阻的连接端与接地装置连接。
优选地，第二模块化多电平换流器的直流侧设有与其并联连接的耗能装置，耗能装置用于卸荷，防止直流电压过高。
优选地，第一模块化多电平换流器上桥臂、下桥臂均设有串联连接的第一桥臂电抗器。
优选地，第二模块化多电平换流器的直流侧两端均设有串联连接的平波电抗器。
优选地，第二模块化多电平换流器上桥臂、下桥臂均设有串联连接的第二桥臂电抗器。
进一步地，储能子系统，包括多个储能单元、一级升压变压器和多个与一级升压变压器连接的二级升压变压器，储能单元经对应的逆变器与二级升压变压器连接。
优选地，第一多电平换流器半桥型开关管模块包括两个串联的功率开关管，每个功率开关管反并联续流二极管，电容C1与串联后的功率开关管并联。
优选地，第二多电平换流器全桥型开关管模块包括四个功率开关管和电容C2，功率开关管两两串联后与电容C2并联。
优选地，耗能装置包括多个级联的耗能子模块，所述耗能子模块包括括电阻R1、电阻R2、二极管VD1～VD3、直流电容C dc、开关管Q和开关S3，二极管VD2的阳极与开关管Q的集电 极连接，直流电容C dc的正极与二极管VD2的阴极连接，直流电容C dc的负极分别与开关管Q的发射极、二极管VD3的阳极连接，电阻R1的一端与直流电容Cdc的正极连接，电阻R1的另一端与二极管VD3的阴极连接，电阻R2的一端与二极管VD2的阳极连接，电阻R2的另一端与二极管VD3的阴极连接，开关S3与二极管VD3并联，开关管Q反并联续流二极管VD1；耗能装置的两端分别设有开关S1、S2。
上述多端海上风电柔性直流与储能协同并网系统的控制方法，包括以下步骤：
步骤1：根据主电网的调度指令功率P ord，比较海上风电集群的输出功率P wind，根据比较结果，控制储能系统充电或放电以及海上换流站的输出；
步骤2：根据与主电网的并网点电压变化ΔU，对陆上换流站进行基于Q-U下垂的定无功功率控制，对储能逆变器进行定交流电压控制或基于Q-U下垂的定无功功率控制；
步骤3：检测主电网频率偏差Δf，采用P-f下垂控制，控制多端海上风电柔性直流与储能协同并网系统的功率输出以调节主电网频率。
多端海上风电柔性直流与储能协同并网系统还包括储能控制单元、柔性直流控制单元以及储能和柔直协调控制单元，储能和柔直协调控制单元根据主电网的调度指令功率计算储能子系统的功率参考值，检测电网频率偏差，计算功率调节量；储能控制单元对储能单元进行定有功功率控制，对逆变器进行定直流电压控制和无功控制；柔性直流控制单元对海上换流站进行定交流电压控制和有功控制，对陆上换流站进行定直流电压控制和基于Q-U下垂的定无功功率控制。
储控制单元、柔性直流控制单元、储能和柔直协调控制单元的控制过程包括：
1)计算有功功率控制参考值P ref＝P ord-P wind，-P lim2≤P ref≤P lim1时，储能单元的定有功功率控制参考值P batt＝P ref，P lim1表示储能单元充电功率的临界值，P lim2表示储能单元放电功率的临界值，根据P ref的大小，控制储能单元放电或充电，海上换流站采用定频率控制；P ref＞P 1im1，即超过储能单元充电功率临界值时，P batt＝P lim1，海上换流站采用定有功功率控制，第i个海上换流站的有功功率参考值P refi＝(P ord-P batt)/P t*P i，P t为系统总额定容量，P i为第i个海上换流站的额定容量；
2)检测并网点电压变化ΔU，-ΔU 1≤ΔU≤ΔU 2时，储能控制单元逆变器采用定交流电压控制；ΔU＜-ΔU 1或ΔU＞ΔU 2时，储能控制单元逆变器、陆上换流站均采用基于Q-U下垂的定无功功率控制；
3)检测主电网频率偏差Δf，采用P-f下垂控制，运用模拟转子运行方程(Hω 0s+D)Δf＝ΔP计算有功功率变化量ΔP，计算储能单元的功率输出调整值P s＝ΔP+P batt，若-P lim2≤P s≤P lim1，此时，储能单元有功功率参考值变化量ΔP batt＝ΔP，新的有功功率参考值为P s；若P s＜-P lim2，说明有功功率调节超出储能单元放电功率临界值，令P batt＝-P lim2；若P s＞P lim1，说明有功功率调节超出储能单元充电功率临界值时，令P batt＝P lim1，此时，海上换流站采用定有功功率控制，第i个海上换流站的有功功率参考值P refi＝(P ord-P batt)/P t*P i，P t为系统总额定容量，P i为第i个海上换流站的额定容量。
相比现有技术，本发明的有益效果：
1)本发明采用树枝式多端海上风电柔性直流输电系统，多个独立的海上换流站将分散分布的海上风电集群集成，共用海底输送走廊以及陆上换流站，节约海底输送走廊和登陆点资源，海上风电柔性直流输电系统扩展性强，易于新海上风电集群通过直流端子接 入；采用66kV集电系统，取消海上升压站，减少集电系统网损和工程造价；在陆上换流站连接储能子系统，平滑风电出力，提高海上风力发电的可控性、稳定性和可靠性；
2)本发明通过储能单元与储能逆变器、海上换流站和陆上换流站的联合控制，响应主电网的功率调度指令和主电网的调压、调频，使得主电网更稳定、高效；
3)本发明的陆上换流站采用全桥的功率开关管模块，当直流系统发生短路故障时，可抑制电网注入直流短路点的短路电流，提升了系统稳定裕度。
附图说明
下面结合附图和实施例对本发明作进一步说明。
图1为本发明实施例的多端海上风电柔性直流与储能协同并网系统的拓扑电路接线图。
图2为本发明实施例的海上换流站的拓扑电路接线图。
图3为本发明实施例的陆上换流站的拓扑电路接线图。
图4为本发明实施例的储能子系统的拓扑电路接线图。
图5为本发明实施例的耗能装置的拓扑电路示意图。
图6为本发明实施例的控制方法的示意图。
具体实施方式
如图1-4所示，多端海上风电柔性直流与储能协同并网系统，包括多个海上风电集群1和多个并联的海上换流站2以及与海上换流站连接的陆上换流站4；每个海上换流站与对应的海上风电集群的输出端连接，无需海上升压站，海上换流站的直流输出端并联，形成树枝式多端海上风电柔性直流输电子系统，海上换流站2经直流输电电缆3与陆上换流站4连接，共用海底输送走廊以及陆上换流站；陆上换流站连接到交流主电网5。
如图2所示，海上换流站2包括第一变压器201以及与第一变压器连接的第一模块化多电平换流器202，第一模块化多电平换流器202包括多个半桥型开关管模块HSM级联成的上桥臂、下桥臂，下桥臂与上桥臂结构相同，海上换流器的上桥臂、下桥臂的连接端与第一变压器201连接；第一模块化多电平换流器上桥臂、下桥臂均设有串联连接的第一桥臂电抗器203。
第一多电平换流器的半桥型开关管模块HSM包括两个串联的功率开关管，每个功率开关管反并联续流二极管，稳压电容C1与串联后的功率开关管并联。
如图3所示，陆上换流站4包括第二模块化多电平换流器402以及与其串联连接的第二变压器404，第二模块化多电平换流器402包括多个全桥型开关管模块FSM级联成的上桥臂、下桥臂，下桥臂与上桥臂结构相同，第二模块化多电平换流器上桥臂、下桥臂的连接端引出导线，作为第二模块化多电平换流器的输出端。第二模块化多电平换流器402与第二变压器404之间连接有启动电阻407，第二变压器404与启动电阻407的连接端与接地装置405连接。第二模块化多电平换流器上桥臂、下桥臂均设有串联连接的第二桥臂电抗器403。第二模块化多电平换流器402的直流侧两端均设有串联连接的平波电抗器401。第二多电平换流器的全桥型开关管模块FSM包括四个功率开关管和电容C2，功率开关管两两串联后与电容C2并联。
第二模块化多电平换流器402的直流侧设有与其并联连接的耗能装置406。耗能装置406在交流电网侧出现交流故障时，用于卸荷，防止直流电压过高。
如图4所示，储能子系统6包括多个储能单元、一级升压变压器和多个与一级升压变压器连接的二级升压变压器，储能单元经对应的逆变器与二级升压变压器连接。储能子系统6与陆上换流站连接。
如图5所示，耗能装置406包括多个级联的耗能子模块SM，耗能子模块SM包括括电阻R1、电阻R2、二极管VD1～VD3、直流电容C dc、开关管Q和开关S3，二极管VD2的阳极与开关管Q的集电极连接，直流电容C dc的正极与二极管VD2的阴极连接，直流电容C dc的负极分别与开关管Q的发射极、二极管VD3的阳极连接，电阻R1的一端与直流电容Cdc的正极连接，电阻R1的另一端与二极管VD3的阴极连接，电阻R2的一端与二极管VD2的阳极连接，电阻R2的另一端与二极管VD3的阴极连接，开关S3与二极管VD3并联，开关管Q反并联续流二极管VD1；耗能装置406的两端分别设有开关S1、S2。
考虑海上风电场容量较高，需要送入超高电压等级电网进行消纳，实施例中将储能子系统6并入陆上换流站4的变压器的低压侧，但是变压器的低压侧的交流电压等级仍旧很高，因此，实施例中对电池组块经逆变器输出的交流电进行二级升压。
实施例中，储能子系统的作用主要在于风电波动平抑和参与系统调峰、调压、调频，储能单元的电池采用电化学储能，具体配置容量综合考虑地方政策要求、工程项目具体的负荷和送出通道建设情况、储能充放电特性和投资回报率等。
上述多端海上风电柔性直流与储能协同并网系统的控制方法，包括以下步骤：
步骤1：根据主电网的调度指令功率P ord，比较海上风电集群的输出功率P wind，根据比较结果，控制储能系统充电或放电以及海上换流站的输出；
步骤2：根据与主电网的并网点电压变化ΔU，对陆上换流站进行定直流电压控制和基于Q-U下垂的定无功功率控制，对储能逆变器进行定直流电压控制和交流电压控制或基于Q-U下垂的定无功功率控制；
步骤3：检测主电网频率偏差Δf，采用P-f下垂控制，运用模拟转子运动方程计算有功功率调节量ΔP，控制多端海上风电柔性直流与储能协同并网系统的功率输出以调节主电网频率，模拟转子运动方程如下：
(Hω 0s+D)Δf＝ΔP
式中H为惯性时间常数，ω 0为额定转速，D为阻尼参数，s表示复频域中的复频率。
步骤3的P-f下垂控制参照期刊《电力自动化设备》2019年39期刊登的论文《连接低惯量系统的VSC-MTDC的自适应下垂控制》公开的P-f下垂控制方法。
陆上换流站的Q-U下垂控制和储能逆变器的Q-U下垂控制参照中国电力出版社2010年出版的《基于电压源换流器的高压直流输电技术》公开的Q-U斜率控制方法。
如图6所示，储能控制单元、柔性直流控制单元、储能和柔直协调控制单元的控制过程包括：
(1)当储能子系统处于充放电状态时，逻辑值L 1取值为0，海上换流站采用定频率控制，储能单元的有功功率控制参考值P batt＝P ref，P ref＝P ord-P wind，其中P ord为电网调度指令，P wind为风电场所发功率；
(2)当调度指令P ord小于海上风电出力P wind时，且储能子系统已经充满到限值时， 即P ref的大小超过了储能单元充电功率的临界值P lim1，逻辑值L 1取值为-1，储能子系统的有功功率控制参考值P batt＝P lim1，同时，海上风电的有功控制模式将由定频率控制切换为定有功功率控制，第i个海上换流站的有功功率参考值P refi＝(P ord-P batt)/P t*P i，P t为系统总额定容量，P i为第i个海上换流站的额定容量，其中i∈{1，2，3}，分别代表海上换流站#1、#2、#3；
(3)当储能子系统响应系统频率变化Δf而需要进行有功调整ΔP时，计算储能单元的功率输出调整值P s＝ΔP+P batt，若P s＞P lim1，逻辑值L 2取值为-1，储能子系统的有功功率控制参考值设为P lim1，若P s＜-P lim2，逻辑值L 2取值为1，储能子系统的有功功率控制参考值设为P lim2，P lim2为储能单元放电功率的临界值，同时，在储能子系统的充电限制为P lim1时，即L 2取值为-1，需要减少海上风电场送出功率，海上风电的有功控制模式将由定频率控制切换为定有功功率控制，第i个海上换流站的有功功率参考值P refi＝(P ord-P batt)/P t*P i，P t为系统总额定容量，P i为第i个海上换流站的额定容量，其中i∈{1，2，3}，分别代表海上换流站#1、#2、#3；
(4)当多端海上风电柔性直流与储能协同并网系统响应并网点电压变化ΔU，当ΔU值在系统允许的范围-ΔU 1～ΔU 2内时，逻辑值L 3取值为0，储能控制单元逆变器的无功控制模式为定交流电压控制；
(5)当多端海上风电柔性直流与储能协同并网系统响应并网点电压变化ΔU，当ΔU＜-ΔU 1时，逻辑值L 3取值为-1，当ΔU＞ΔU 2时，逻辑值L 3取值为1，逆变器的无功功率控制模式为基于Q-U下垂的定无功功率控制，与陆上换流站共同对电网提供无功功率支撑。

Claims (10)

  1. 多端海上风电柔性直流与储能协同并网系统，其特征在于，包括多个海上风电集群(1)和多个并联的海上换流站(2)以及与海上换流站连接的陆上换流站(4)；每个海上换流站与对应的海上风电集群的输出端连接，海上换流站的直流输出端并联，形成树枝式多端海上风电柔性直流输电子系统，共用海底输送走廊以及陆上换流站；陆上换流站连接到交流主电网(5)；
    储能子系统(6)与陆上换流站连接，包括多个储能单元，用于平抑海上风电输出波动；
    海上换流站(2)包括第一变压器(201)以及与第一变压器连接的第一模块化多电平换流器(202)，第一模块化多电平换流器(202)包括多个半桥型开关管模块或全桥型开关管模块级联成的上桥臂、下桥臂，下桥臂与上桥臂结构相同，海上换流器的上桥臂、下桥臂的连接端与第一变压器连接；
    陆上换流站(4)包括第二模块化多电平换流器(402)以及与其连接的第二变压器(404)，第二模块化多电平换流器(402)包括多个全桥型开关管模块级联成的上桥臂、下桥臂，下桥臂与上桥臂结构相同，第二模块化多电平换流器上桥臂、下桥臂的连接端引出导线，作为第二模块化多电平换流器的输出端。
  2. 根据权利要求1所述的多端海上风电柔性直流与储能协同并网系统，其特征在于，第二模块化多电平换流器与第二变压器之间连接有启动电阻(407)。
  3. 根据权利要求1所述的多端海上风电柔性直流与储能协同并网系统，其特征在于，第二模块化多电平换流器的直流侧设有与其并联连接的耗能装置(406)，耗能装置(406)用于卸荷，防止直流电压过高。
  4. 根据权利要求1所述的多端海上风电柔性直流与储能协同并网系统，其特征在于，第一模块化多电平换流器的上桥臂、下桥臂均设有串联连接的第一桥臂电抗器(203)。
  5. 根据权利要求1所述的多端海上风电柔性直流与储能协同并网系统，其特征在于，第二模块化多电平换流器的直流侧两端均设有串联连接的平波电抗器(401)。
  6. 根据权利要求1所述的多端海上风电柔性直流与储能协同并网系统，其特征在于，储能子系统，包括多个储能单元(604)、一级升压变压器(601)和多个与一级升压变压器连接的二级升压变压器(602)，储能单元经对应的逆变器(603)与二级升压变压器连接。
  7. 根据权利要求1所述的多端海上风电柔性直流与储能协同并网系统，其特征在于，第一多电平换流器包括两个串联的功率开关管，每个功率开关管反并联续流二极管，电容C1与串联后的功率开关管并联。
  8. 根据权利要求1所述的多端海上风电柔性直流与储能协同并网系统，其特征在于，第二多电平换流器包括四个功率开关管和电容C2，功率开关管两两串联后与电容C2并联。
  9. 如权利要求1-8任意一项所述的多端海上风电柔性直流与储能协同并网系统的控制方法，其特征在于，包括以下步骤：
    步骤1：根据主电网的调度指令功率P ord，比较海上风电集群的输出功率P wind，根据比较结果，控制储能系统充电或放电以及海上换流站的输出；
    步骤2：根据与主电网的并网点电压变化ΔU，对陆上换流站进行基于Q-U下垂的定无功功率控制，对储能逆变器进行定交流电压控制或基于Q-U下垂的定无功功率控制；
    步骤3：检测主电网频率偏差Δf，采用P-f下垂控制，控制多端海上风电柔性直流与储能协同并网系统的功率输出以调节主电网频率。
  10. 根据权利要求9所述的控制方法，其特征在于，多端海上风电柔性直流与储能协同并网系统还包括储能控制单元、柔性直流控制单元以及储能和柔直协调控制单元，储能和柔直协调控制单元根据主电网的调度指令功率计算储能子系统的功率参考值，检测电网频率偏差，计算功率调节量；储能控制单元对储能单元进行定有功功率控制，对逆变器进行定直流电压控制和无功控制；柔性直流控制单元对海上换流站进行定交流电压控制和有功控制，对陆上换流站进行定直流电压控制和基于Q-U下垂的定无功功率控制；
    储能控制单元、柔性直流控制单元、储能和柔直协调控制单元的控制过程包括：
    1)计算有功功率控制参考值P ref＝P ord-P wind，-P lim2≤P ref≤P lim1时，储能单元的定有功功率控制参考值P batt＝P ref，P lim1表示储能单元充电功率的临界值，P lim2表示储能单元放电功率的临界值，根据P ref的大小，控制储能单元放电或充电，海上换流站采用定频率控制；P ref＞P lim1，即超过储能单元充电功率临界值时，P batt＝P lim1，海上换流站采用定有功功率控制，第i个海上换流站的有功功率参考值P refi＝(P ord-P batt)/P t*P i，P t为系统总额定容量，P i为第i个海上换流站的额定容量；
    2)检测并网点电压变化ΔU，-ΔU 1≤ΔU≤ΔU 2时，储能控制单元逆变器采用定交流电压控制；ΔU＜-ΔU 1或ΔU＞ΔU 2时，储能控制单元逆变器、陆上换流站均采用基于Q-U下垂的定无功功率控制；
    3)检测主电网频率偏差Δf，采用P-f下垂控制，运用模拟转子运行方程(Hω 0s+D)Δf＝ΔP计算有功功率变化量ΔP，计算储能单元的功率输出调整值P s＝ΔP+P batt，若-P lim2≤P s≤P lim1，此时，储能单元有功功率参考值变化量ΔP batt＝ΔP，新的有功功率参考值为P s；若P s＜-P lim2，说明有功功率调节超出储能单元放电功率临界值，令P batt＝-P lim2；若P s＞P lim1，说明有功功率调节超出储能单元充电功率临界值时，令P batt＝P lim1，此时，海上换流站采用定有功功率控制，第i个海上换流站的有功功率参考值P refi＝(P ord-P batt)/P t*P i，P t为系统总额定容量，P i为第i个海上换流站的额定容量。
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