Harmonic State Space Based Impedance Modeling and Virtual Impedance Based Stability Enhancement Control for LCC-HVDC Systems

Line commutated converter based high-voltage direct-current(LCC-HVDC)transmissions are prone to harmonic oscillation under weak grids.Impedance modeling is an effective method for assessing interaction stability.Firstly,this paper proposes an improved calculation method for the DC voltage and AC currents of commutation stations to address the complex linearization of the commutation process and constructs an overall harmonic state-space(HSS)model of an LCC-HVDC.Based on the HSS model,the closed-loop AC impedances on the LCC-HVDC sending and receiving ends are then derived and verified.The impedance characteristics of the LCC-HVDC are then analyzed to provide a physical explanation for the harmonic oscillation of the system.The effects of the grid strength and control parameters on system stability are also analyzed.To improve the impedance characteristics and operating stability of the LCC-HVDC system,a virtual impedance based stability enhancement control is proposed,and a parameter design method is considered to ensure satisfactory phase margins at both the sending and receiving ends.Finally,simulation results are presented to verify the validity of the impedance model and virtual impedance based stability enhancement control.

Harmonic Transfer Function Based Single-input Single-output Impedance Modeling of LCC-HVDC Systems

This study presents a harmonic transfer function(HTF)based single-input single-output(SISO)impedance modeling method.The method converts an HTF from phase domain to sequence domain and then transforms it into an SISO impedance while preserving the frequency coupling information of different sequences and different harmonics.Applications of this method to a line-commutated converter based high-voltage direct current(LCC-HVDC)system are presented.The results demonstrate the accuracy of the derived SISO impedance,and a truncation-order selection is suggested.The case study shows that the proposed method facilitates simpler impedance measurements and associated stability analysis.

Equivalent Impedance Parameter Calculation of Three-phase Symmetrical Loads for Harmonic Source Location

The equivalent impedance parameters of loads have been widely used to identify and locate the harmonic sources.However,the existing calculation methods suffer from outliers caused by the zero-crossing of the denominator.These outliers can result in inaccuracy and unreliability of harmonic source location.To address this issue,this paper proposes an innovative method of equivalent impedance parameter calculation of three-phase symmetrical loads that avoid outliers.The correctness and effectiveness of the proposed method are verified by simulations on Simulink using actual monitoring data.The results show that the proposed method is not only simple and easy to implement but also highly accurate.

Adaptive Harmonic Virtual Impedance Control for Improving Voltage Quality of Microgrids

The effects of nonlinear loads on voltage quality represent an emerging concern for islanded microgrids.Existing research works have mainly focused on harmonic power sharing among multiple inverters,which ignores the diversity of different inverters to mitigate harmonics from nonlinear loads.As a result,the voltage quality of microgrids cannot be effectively improved.To address this issue,this study proposes an adaptive harmonic virtual impedance(HVI)control for improving voltage quality of microgrids.Based on the premise that no inverter is overloaded,the main objective of the proposed control is to maximize harmonic power absorption by shaping the lowest output impedances of inverters.To achieve this,the proposed control is utilized to adjust the HVI of each inverter based on its operation conditions.In addition,the evaluation based on Monte Carlo harmonic power flow is designed to assess the performance of the proposed control in practice.Finally,comparative studies and control-in-the-loop experiments are conducted.

Joint torque-based Cartesian impedance control with friction compensations

In order to investigate the joint torque-based Cartesian impedance control strategies and the influence of compensations for friction, an experimental study on the identification of friction parameters, friction compensation and the Cartesian impedance control are developed for the harmonic drive robot, by using the sensors available in the joint itself. Different from the conventional Cartesian impedance control schemes which are mostly based on the robot end force/torque information, five joint torque-based Cartesian impedance control schemes are considered, including the force-based schemes in Cartesian/joint space, the position-based schemes in Cartesian/joint space and the stiffness control. Four of them are verified by corresponding experiments with/without friction compensations. By comparison, it is found that the force-based impedance control strategy is more suitable than the position-based one for the robot based on joint torque feedback and the friction has even a positive effect on Cartesian impedance control stability.

Model tests and numerical analyses on horizontal impedance functions of inclined single piles embedded in cohesionless soil

Horizontal impedance functions of inclined single piles are measured experimentally for model soil-pile systems with both the effects of local soil nonlinearity and resonant characteristics.Two practical pile inclinations of 5掳 and 10掳 in addition to a vertical pile embedded in cohesionless soil and subjected to lateral harmonic pile head loadings for a wide range of frequencies are considered.Results obtained with low-to-high amplitude of lateral loadings on model soil-pile systems encased in a laminar shear box show that the local nonlinearities have a profound impact on the horizontal impedance functions of piles.Horizontal impedance functions of inclined piles are found to be smaller than the vertical pile and the values decrease as the angle of pile inclination increases.Distinct values of horizontal impedance functions are obtained for the ＇positive＇ and ＇negative＇ cycles of harmonic loadings,leading to asymmetric force-displacement relationships for the inclined piles.Validation of these experimental results is carried out through three-dimensional nonlinear finite element analyses,and the results from the numerical models are in good agreement with the experimental data.Sensitivity analyses conducted on the numerical models suggest that the consideration of local nonlinearity at the vicinity of the soil-pile interface influence the response of the soil-pile systems.

Microcontroller-Based Sinusoidal Voltage Generation for Electrical Bio-Impedance Spectroscopy Applications

A sinusoidal voltage wave generator is proposed based on the use of micro-processor digital signals with programmable duty-cycles, with application to real-time Electrical Cell-substrate Impedance Spectroscopy (ECIS) assays in cell cultures. The working principle relies on the time convolution of the programmed microcontroller (μC) digital signals. The expected frequency is easily tuned on the bio-impedance spectroscopy range [100 Hz, 1 MHz] thanks to the μC clock frequency selection. This system has been simulated and tested on the 8 bits μC ArduinoTM Uno with ATmega328 version. Results obtained prove that only three digital signals are required to fit the general specification in ECIS experiments, below 1% THD accuracy, and show the appropriateness of the system for the real-time monitoring of this type of biological experiments.

Coordinated Control for Harmonic Mitigation of Parallel Voltage-source Inverters

The increasing use of power electronic devices can deteriorate the power quality by introducing voltage and current harmonics.In islanded microgrids,the presence of nonlinear loads can distort the point of common coupling(PCC)voltage,while the dead-time effect can also bring additional circulating current harmonics among parallel inverters.To simultaneously attenuate the PCC voltage harmonics and suppress the dead-time induced circulating current harmonics,this paper proposes a coordinated control strategy for harmonic mitigation of parallel inverters.The proposed control strategy allows inverter impedances to be properly reshaped at selective harmonic frequencies.As a consequence,the PCC voltage harmonics are filtered by the inverter operating in the harmonic compensation mode(HCM),whereas the dead-time induced circulating current harmonics are suppressed by the inverter operating in the harmonic rejection mode(HRM).Experimental results from an islanded microgrid prototype with two parallel inverters are provided to validate the effectiveness of the proposed control strategy.

Nonlinear Magnetoimpedance Effect in FeCoNi Ferromagnetic Tubes

The very high (up to 820% of the magnetoimpedance ratio) and sensitive nonlinear giant magnetoimpedance effect has been studied in the FeCo1Ni magnetic tubes electroplated onto Cu(3%)Be nonmagnetic wirefor frequencies from 1-10MHz. Special annealing was carried out in order to induce the magnetic anisotropy. The high harmonic generation was observed and the harmonics show larger variations with the external magnetic field than the fundamental frequency. The super high sensitivity of the harmonics is promising as regards the increase of the sensitivity of magnetoimpedance sensors.

Influence of the Electrical Vehicle Charging on the Grid Harmonic

This paper described the impact of the electrical vehicle（EV） charging on the grid harmonic. In view of the randomness of the EV charging process, the harmonic admittance matrix method and superposition method were used to build the single and multiple EVs charging simulation model. By using Matlab as a simulation tool, we analyzed harmonic currents of single and multiple EVs chargers. The results show that the harmonic ratio is beyond the scope of the national harmonic standard. Finally a parallel hybrid active filter（PHAPF） was introduced for governance of harmonic.The experimental results show that net side harmonic currents are significantly reduced by using the PHAPF and meet the national standard GB/Z17625.6-2003 regulations limit.

Compensation of Unbalanced Impedance of Asymmetric Wind Power PMSG Compensated by External Circuits in Series

The unbalanced impedance of the asymmetric 3-phase wind power permanent magnet synchronous generator(PMSG)compensated by external circuits in series with the 3-phase windings is investigated in this paper.The asymmetric impedance includes the unbalanced resistances,unbalanced self-inductances,and unbalanced mutual inductances.From the perspective of the second harmonic inductances in dq-frame and from the perspective of the second harmonic power,it is theoretically demonstrated that the original asymmetric 3-phase system with asymmetric impedance can be modified to a balanced system by external circuits consisting of resistances and inductances.Therefore,the second harmonic power and DC bus voltage due to the asymmetries can be suppressed naturally without any software modifications.The feasibility of this compensation method is validated by elaborate experiments at different speeds and under different load condition,although the effectiveness might be slightly affected by the non-linearity of the compensation inductance in practice.

基于盲源分离的工业谐波源负荷分类识别方法

针对传统谐波源辨识方法无法实现工业用户谐波源具体类型的非侵入式识别的问题,该文提出一种基于盲源分离的工业谐波源负荷分类识别方法。该方法仅依据工业用户进线处电压、电流数据即可实现谐波源负荷具体类型的非侵入式识别。首先,从负荷等值阻抗模型入手,建立工业用户多负荷等值阻抗并联电路模型;其次,采用集合经验模态分解与奇异值分解相结合的方法确定构成用户进线处监测点综合等值阻抗信号的源阻抗信号数目;然后,采用快速独立分量分析实现将谐波源负荷等值阻抗信号从综合负荷等值阻抗信号中分离;最后,将分离出谐波源负荷等值阻抗信号频率特征与典型谐波源负荷进行匹配,进而实现分类识别。仿真与实测实验结果均表明,所提方法能够准确识别工业用户所含多种谐波源负荷的具体类型,具有较好的可行性和实用性。

基于谐波状态空间理论的12脉动换流站阻抗建模

为分析谐波对电网换相型换流器高压直流输电系统(line commutated converter based high voltage direct current,LCC-HVDC)稳定性的影响,亟需建立一个考虑谐波耦合效应的LCC-HVDC精确模型。基于谐波状态空间(harmonic state space,HSS)理论,考虑频率耦合效应和控制系统建立了12脉动LCC的阻抗模型,所建交直流谐波阻抗模型能在更宽的频带与扫频结果吻合。最后通过PSCAD电磁暂态仿真结果与HSS阻抗模型计算结果对比,验证了所提出的LCC-HSS阻抗模型的正确性。LCC-HSS阻抗建模方法提高了对LCC换流站进行数学建模的精确性,且可以适应多种模式下LCC换流站阻抗建模,为LCC系统稳定性分析及参数优化提供了较为精确的模型。

带自适应谐波补偿功能的谐波阻抗控制策略

针对工业园区高比例电力电子负荷接入带来的电能质量问题,提出一种基于APF的带自适应谐波补偿限流功能的谐波阻抗控制策略。谐波阻抗控制策略可以对系统的指令电流进行无差控制并对各谐波分量进行独立控制,自适应谐波补偿限流可以有针对性地进行谐波补偿,两者相结合后可以对选取的各谐波分量进行单独控制,使限流后的谐波补偿效果明显提高。该控制策略在系统容量不超限时在Matlab/Simulink中搭建仿真模型,结果表明,该控制策略响应速度快,治理后的谐波总畸变率为2.91%,减少了27.08%,三相不平衡度为8.52%,减少了16.15%,补偿效果明显。

基于加权高斯混合概率模型的系统谐波阻抗估计

针对现有方法受背景谐波随机波动影响而导致系统谐波阻抗估计误差大的问题,提出一种基于概率统计的系统谐波阻抗估计方法。采用3阶加权高斯混合分布函数建立系统谐波电压概率模型,以反映背景谐波的随机波动性。构建系统谐波阻抗的对数似然方程,采用确定性退火算法对期望最大化方法进行改进,提高了隐变量的估计精度和迭代速度,实现对背景谐波随机性波动下系统谐波阻抗估计。采用KL散度和误差对该方法背景谐波概率模型的准确性和系统谐波阻抗的估计精度进行评价,并采用仿真实验分析和实测数据实验对该方法的估计效果进行分析,实验分析表明,该方法对系统谐波阻抗估计具有较强的稳健性和较高的准确性。

采用双二阶广义积分器锁相环的MMC多谐波线性化阻抗建模与分析

与传统单同步坐标系锁相环相比,双二阶广义积分器锁相环(dual ge neralized integrator phase-locked loop,D SOGIPLL)能够在三相电压不平衡、畸变和谐波复杂情况下快速、准确锁相。然而,目前鲜有关于采用DSOGI-PLL的模块化多电平换流器(modular multilevel converters,MMC)阻抗模型。基于多谐波线性化法建立了采用DSOGI-PLL的MMC阻抗模型,并验证了所建立模型的准确性。基于此模型,分析了控制参数对MMC阻抗特性的影响,并对比分析了接入不同强度电网时的系统稳定性。结果表明,与传统锁相环相比,DSOGI-PLL特有的阻尼系数会对MMC阻抗特性产生影响,阻尼系数的减小有利于提高系统稳定性,在其他控制器参数变化或电网强度变化导致并网MMC不稳定时,可通过减小阻尼系数使系统达到稳定状态。

并网逆变器整体序阻抗建模方法及其稳定性分析

在高比例新能源电力系统中,并网逆变器与电网的动态交互作用使得系统谐波谐振问题凸显且日趋复杂。以三相平衡系统为研究对象,研究abc坐标系下考虑正负序频率耦合以及逆变器与电网阻抗交互影响的并网系统整体序阻抗建模方法,以避免行列式计算,并率先提出并网系统整体阻抗测量方法;进而在整体阻抗模型基础上,提出一种频域阻抗稳定性判据和振荡频率预测方法,可建立频域阻抗判据与并网系统物理环节的联系,以大幅降低频域阻抗判据误判的风险;最后,通过MATLAB/Simulink仿真扫频验证了系统整体阻抗模型的正确性,并通过RTLAB硬件在环实验证明其可用于新能源并网系统的稳定性判断,并具有谐振频率预测精度高的优点。

基于多电平滞环电流控制的牵引供电系统可控宽频带阻抗测量技术

精确获取牵引供电系统的宽频带阻抗特性,是分析车-网耦合系统的宽频带振荡问题的关键途径,对保障电气化铁路的安全稳定运行具有重要意义。目前的阻抗测量技术大多难以兼顾大功率与频带可控的测量要求,因此,该文提出一种基于多电平滞环电流控制的牵引供电系统可控宽频带阻抗测量技术,测量频带为10 Hz~5 kHz,可通过一次谐波扰动注入快速获取目标频带的系统阻抗,相比于传统的滞环电流控制方法,具有更低的开关频率,并且能有效避免死区效应,改善输出电流的波形,更适用于宽频信号的跟踪控制。最后,通过仿真和硬件在环实验验证了该测量技术的有效性。

基于勒让德多项式拟合的变谐波阻抗估计方法

传统的谐波阻抗估计方法往往在研究时段内将其假设为恒定值,但伴随着光伏等新能源接入电网,以及可能存在的运行方式改变,这种假设不再成立。为此,提出一种基于勒让德多项式拟合的变谐波阻抗估计方法。采用勒让德多项式对谐波阻抗曲线进行拟合,根据系统侧谐波电压和谐波阻抗的变化特性建立目标函数约束。求解目标函数最小值得到拟合函数的系数,进而实现变谐波阻抗估计。基于此,同时讨论了勒让德多项式阶数的选取和谐波阻抗突变点识别方法,提高了方法的适用性。基于诺顿等效电路和10节点测试系统进行了仿真。仿真结果表明,与传统方法相比,所提方法可以跟踪谐波阻抗的变化,提高谐波阻抗估计的精度。

计及交直流谐波传递的MMC-BTB系统阻抗特性分析及环流配合策略

基于模块化多电平换流器的背靠背系统(back-to-back system based on modular multilevel converter,MMC-BTB)中换流器间控制交互密切,导致振荡事故频发。现有研究中忽略谐波传递的单端模型无法准确刻画MMC-BTB阻抗特性,也较少从振荡抑制层面考虑两换流器间的协同配合。为此,该文考虑MMC-BTB中换流器间谐波传递与衰减机理,依据多种环流控制方式的阻抗等价性提出一种基于环流协调控制的振荡抑制策略。首先,基于等效电路定性分析谐波的流通路径,并定量推导MMC-BTB的双端模型;然后,沿谐波路径对两侧环流控制的交互机理开展分析,证明其对改善MMC-BTB阻抗特性的关键作用,并提出环流控制的协调配合与参数优化策略;最终,通过Matlab/Simulink仿真验证理论分析与所提策略的正确性。