CN104218590B  Unbalance voltage compensating control method based on virtual synchronous machine  Google Patents
Unbalance voltage compensating control method based on virtual synchronous machine Download PDFInfo
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 CN104218590B CN104218590B CN201410458076.9A CN201410458076A CN104218590B CN 104218590 B CN104218590 B CN 104218590B CN 201410458076 A CN201410458076 A CN 201410458076A CN 104218590 B CN104218590 B CN 104218590B
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Abstract
Description
Technical field
The present invention relates to a kind of unbalance voltage compensating control method, especially a kind of unbalance voltage compensating control method based on virtual synchronous machine。
Background technology
In recent years, virtual synchronous generator techniques, as a kind of novel power generation mode of microgrid inverter, receives a large amount of concerns of scholar。The microgrid inverter adopting virtual synchronous generator techniques is called virtual synchronous electromotor。Virtual synchronous electromotor (VirtualSynchronousGenerator, VSG) needs to run in both modes, gridconnected and isolated island parallel running。
There is substantial amounts of uncompensated load in microgrid, these uncompensated loads can have a strong impact on the output voltage power supply quality of VSG, causes output voltage uneven, thus causing the problems such as electrical equipment overvoltage。In order to reach good output voltage power supply quality, it is desirable to the degree of unbalancedness of output voltage controlled within certain scope, it is maintained with the powersharing performance that multimachine parallel connection is good。
For this, people are made that various effort, as being entitled as " Agridinterfacingpowerqualitycompensatorforthreephaseth reewiremicrogridapplications ", LiYW, VilathgamuwaDM, LohPC, " IEEETransactionsonPowerElectronics ", 2006,21 (4), the article of 10211031 (" being applied to the gridconnected power quality compensator of phase threewire three microgrid ", " IEEE journalpower electronics periodical ", the 21st volume the 4th phase in 2006 1021～1031 pages)；This article gives a kind of solution controlling voltage unbalance factor, is increase electric energy quality compensating device APF (ActivePowerFilter) or UPQC at feeder ear, and this control program adds extra device, relatively costly。
It is entitled as " AutonomousvoltageunbalancecompensationinanIslandedDroopcontrolledmicrogrid ", SavaghebiM, JalilianA, VasquezJC, etal, " IEEETransactionsonIndustrialElectronics ", 2013,60 (4), 13901402 (" being applied to the unbalance voltage automatic compensator of droop control piconet island pattern ", " IEEE journalindustrial electronic periodical ", the 60th volume the 4th phase in 2013 1390～1402 pages) article；This article proposes a kind of resonance potential controller to compensate unbalance voltage, but affects owing to not accounting for the unbalance voltage landing etc. on virtual impedance, and compensation effect is poor。
It is entitled as " Voltageunbalanceandharmonicscompensationforislandedmicro gridinverters ", LiuQ, TaoY, LiuX, etal, " PowerElectronicsIET ", 2014,7 (5), 10551063 (" Voltage unbalance of isolated island microgrid inverter and harmonic compensation control ", " IET engineering associationpower electronics periodical ", the 7th volume the 5th phase in 2014 1055～1063 pages) article；This article proposes employing multiresonant controller to suppress Voltage unbalance, but it controls narrower bandwidth, and when microgrid system frequency changes, compensation effect is poor。
It is entitled as " Amethodofthreephasebalancinginmicrogridbyphotovoltaicge nerationsystem ", HojoM, IwaseY, FunabashiT, etal, " PowerElectronicsandMotionControlConference2008.EPEPEMC ", 2008,13th.IEEE, 2008, the article of 24872491 (" the threephase equilibrium control strategy in photovoltaic generation microgrid system ", " the 13rd power electronics with motor control international conference ", the 13rd phase in 2008 2487～2491 pages)；This article proposes and adopts the method injecting negativesequence current to compensate unbalance voltage, but the injection of negativesequence current can make microgrid inverter cross conductance to cause shutdown harsh when。
In sum, prior art all fails to solve in microgrid inverter parallel running system, the equal flow problem of inverter parallel during band unbalanced load, when not only can guarantee that degree of balance that output voltage is good but also can guarantee that islet operation。
Summary of the invention
The technical problem to be solved in the present invention is the limitation overcoming abovementioned various technical scheme, during for virtual synchronous electromotor offnetwork parallel running, output voltage imbalance problem with unbalanced load, there is provided one can compensate unbalance voltage, the unbalance voltage compensating control method based on virtual synchronous machine of the equal mobility that multimachine parallel connection is good can be kept again。
For solving the technical problem of the present invention, the technical scheme adopted is: include the collection of microgrid inverter output capacitance voltage based on the unbalance voltage compensating control method of virtual synchronous machine, particularly key step is as follows:
Step 1, first gathers the output capacitance voltage U of microgrid inverter_{ca},U_{cb},U_{cc}, brachium pontis side inductive current I_{la},I_{lb},I_{lc}With output electric current I_{ox}, the component U of output capacitance voltage dq is obtained through single synchronous rotating angle_{cd},U_{cq}, the component I of brachium pontis side inductive current dq_{ld},I_{lq}Component I with output electric current dq_{od},I_{oq}, recycle output capacitance voltage U_{ca},U_{cb},U_{cc}With brachium pontis side inductive current I_{la},I_{lb},I_{lc}, the negative sequence component U of capacitance voltage is obtained through double; two synchronous rotating angle_{C_Nd},U_{C_Nq}Negative sequence component I with inductive current_{L_Nd},I_{L_Nq}；
Step 2, the component U according to the output capacitance voltage dq obtained in step 1_{cd},U_{cq}Component I with output electric current dq_{od},I_{oq}, calculate equation through active power calculating equation and reactive power and obtain average active powerAnd average reactive power
Step 3, according to the average active power obtained in step 2The active power instruction P given with microgrid inverter_{ref}, the given angular frequency instruction ω of microgrid inverter_{ref}, the angular frequency of virtual synchronous electromotor is obtained through merit angle governing equation, diagonal frequencies ω integration obtains the azimuth θ of virtual synchronous machine；
Step 4, according to the average reactive power obtained in step 2The reactive power instruction Q given with microgrid inverter_{ref}, voltage instruction U_{ref}, the terminal voltage U of virtual synchronous machine is obtained through idle governing equation^{*}；
Step 5, first according to the terminal voltage U obtained in step 4^{*}With the U obtained in step 1_{cd},U_{cq}, obtain capacitance current command signal by Control of Voltage equationFurther according to capacitance current command signalComponent I with the brachium pontis side inductive current dq in step 1_{ld},I_{lq}Component I with output electric current dq_{od},I_{oq}, obtain control signal U by electric current governing equation_{d1},U_{q1}；
Step 6, the negative sequence component U according to the capacitance voltage obtained in step 1_{C_Nd},U_{C_Nq}Negative sequence component I with inductive current_{L_Nd},I_{L_Nq}, compensate governing equation through negative sequence voltage and obtain control signal U_{d2},U_{q2}；
Step 7, the control signal U that will obtain in step 5 and step 6_{d1},U_{q1}And U_{d2},U_{q2}It is separately summed and obtains control signal U_{d},U_{q}；
Step 8, first according to the control signal U in step 7_{d},U_{q}With the azimuth θ obtained in step 3, obtain threephase brachium pontis voltage control signal U through single synchronously rotating reference frame inverse transformation_{a},U_{b},U_{c}, further according to U_{a},U_{b},U_{c}Generate the pwm control signal of microgrid inverter converter bridge switching parts pipe。
Further improvement as the unbalance voltage compensating control method based on virtual synchronous machine:
Preferably, the calculating of the active power in step 2 equation is
Wherein, Q is resonant controller quality factor, ω_{h}Needing the harmonic wave angular frequency that filters, s to be Laplace operator, τ for wave trap is the time constant of lowpass first order filter。
Preferably, the calculating of the reactive power in step 2 equation is
Wherein, Q is resonant controller quality factor, ω_{h}Needing the harmonic wave angular frequency that filters, s to be Laplace operator, τ for wave trap is the time constant of lowpass first order filter。
Preferably, the merit angle governing equation in step 3 is
Wherein, ω_{ref}For the given active power instruction P of microgrid inverter_{ref}Time specified angular frequency, m be that to control sagging coefficient, J be the simulation virtual rotation inertia time constant of synchronous generator unit, ω at merit angle_{0}For electrical network fixed angles frequency。
Preferably, in step 4, idle governing equation is
Wherein, U_{ref}For the given reactive power instruction Q of microgrid inverter_{ref}Time specified output capacitance voltage, n be the sagging coefficient of idle control。
Preferably, the Control of Voltage equation in step 5 is
Wherein, K_{p}For proportional control factor, K_{i}For integral control coefficient, K_{r}For resonant controller proportionality coefficient。
Preferably, the electric current governing equation in step 5 is
Wherein, K is proportional control factor。
Preferably, the compensation of the negative sequence voltage in step 6 governing equation is
Wherein, K_{1}For voltage compensation coefficient, K_{2}Be microgrid inverter brachium pontis side inductance value, τ for current compensation factor, L it is time constant filter。
Provide the benefit that relative to prior art:
After adopting the present invention, unbalance voltage can compensated during virtual synchronous generator operation, can keep again, on the basis of the equal mobility that multimachine parallel connection is good, being provided with following advantage:
1. need not increase extra device, reduce the cost manufacturing and running。
2. solve the difficult problem that the unbalance voltage in impedance is landed。
3. only increase a Compensation Control, just solve the problem controlling narrow bandwidth。
4. need not inject negativesequence current, stop to cross the generation of stream。
Accompanying drawing explanation
Fig. 1 is a kind of basic controlling block diagram of the present invention。
Fig. 2 is the overall control block diagram of the present invention。
Fig. 3 is the topology diagram of virtual synchronous electromotor of the present invention。
Fig. 4 is that in the present invention, method block diagram calculated by average active power and average wattless power meter。
Detailed description of the invention
Below in conjunction with accompanying drawing, the optimal way of the present invention is described in further detail。
Relevant electric parameter during the invention process is provided that
The DC busbar voltage Udc of virtual synchronous electromotor is 550V, and output AC line voltage effective value is 380V/50Hz, and rated capacity is 100KW, and alternating voltage filter inductance is 0.5mH, and filter capacitor is 200 μ F。Transformator is the Dyn11 type transformator of 100KVA270/400V。
Referring to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the implementation process of the present invention is as follows:
Step 1, first gathers the output capacitance voltage U of microgrid inverter_{ca},U_{cb},U_{cc}, brachium pontis side inductive current I_{la},I_{lb},I_{lc}With output electric current I_{ox}, the component U of output capacitance voltage dq is obtained through single synchronous rotating angle_{cd},U_{cq}, the component I of brachium pontis side inductive current dq_{ld},I_{lq}Component I with output electric current dq_{od},I_{oq}。Recycling output capacitance voltage U_{ca},U_{cb},U_{cc}With brachium pontis side inductive current I_{la},I_{lb},I_{lc}, the negative sequence component U of capacitance voltage is obtained through double; two synchronous rotating angle_{C_Nd},U_{C_Nq}Negative sequence component I with inductive current_{L_Nd},I_{L_Nq}。
Step 2, the component U according to the output capacitance voltage dq obtained in step 1_{cd},U_{cq}Component I with output electric current dq_{od},I_{oq}, calculate equation through active power calculating equation and reactive power and obtain average active powerAnd average reactive powerWherein,
Active power calculates equation
Q therein is resonant controller quality factor, ω_{h}Needing the harmonic wave angular frequency that filters, s to be Laplace operator, τ for wave trap is the time constant of lowpass first order filter；
Reactive power calculates equation
Q therein is resonant controller quality factor, ω_{h}Needing the harmonic wave angular frequency that filters, s to be Laplace operator, τ for wave trap is the time constant of lowpass first order filter。
In the present embodiment, it is considered to the overtone order mainly filtered is 2 times and 3 subharmonic, therefore chooses h=2,3, now ω_{h}=628.3186rad/s, 942.4779rad/s lowpass first order filter mainly considers to filter higher hamonic wave, and does not affect dynamic response, generally takes τ≤2e^{3}S, present case value τ=1.5e^{4}S；Quality factor q mainly considers the filter effect of wave trap, in present case, chooses Q=0.5；
The computing block diagram of average active power and average reactive power is as shown in Figure 4。
Step 3, according to the average active power obtained in step 2The active power instruction P given with microgrid inverter_{ref}, the given angular frequency instruction ω of microgrid inverter_{ref}, the angular frequency of virtual synchronous electromotor is obtained through merit angle governing equation, diagonal frequencies ω integration obtains the azimuth θ of virtual synchronous machine；Wherein,
Merit angle governing equation is
ω therein_{ref}For the given active power instruction P of microgrid inverter_{ref}Time specified angular frequency, m be that to control sagging coefficient, J be the simulation virtual rotation inertia time constant of synchronous generator unit, ω at merit angle_{0}For electrical network fixed angles frequency。
Merit angle governing equation indicates microgrid inverter active power sagging curve relation and virtual inertia size。Wherein, virtual inertia designates the rate of change of system frequency, in order to ensure system frequency change steadily, it is desirable to have bigger virtual inertia；But virtual inertia is equivalent to add in systems first order inertial loop, too big virtual inertia is likely to result in the instability of system。Thus parameter selects to need compromise to process。For ensureing system stability, in the present embodiment, inertia time constant scope is at τ_{virtual}=J ω_{0}m≤2e^{3}S；Active power sagging curve relation in the governing equation of merit angle includes three coefficients, and merit angle controls sagging Coefficient m and represents the slope of sagging curve, when value principle is the active power change of 100%, within frequency change 0.5Hz；Given active power instruction P_{ref}With corresponding specified angular frequency_{ref}Representing the position relationship of sagging curve, main consideration microgrid inverter active power of output is P_{ref}Time, its output frequency size；
In the present embodiment, electrical network angular frequency adopts the angular frequency that rated frequency is corresponding when being 50Hz, i.e. ω_{0}=314.1593rad/s, merit angle controls sagging coefficient value and isτ is taken according to inertia time constant value principle_{virtual}=J ω_{0}M=1.5e^{3}S, can obtain J=0.2Kg m^{2}, during for ensureing to control to run, energy does not flow to DC side, and given active power instruction value is P_{ref}=1KW, now corresponding specified angular frequency value is ω_{ref}=314.1593rad/s；
Step 4, according to the average reactive power obtained in step 2The reactive power instruction Q given with microgrid inverter_{ref}, voltage instruction U_{ref}, the terminal voltage U of virtual synchronous machine is obtained through idle governing equation^{*}；Wherein,
Idle governing equation is
U therein_{ref}For the given reactive power instruction Q of microgrid inverter_{ref}Time specified output capacitance voltage, n be the sagging coefficient of idle control。
When the sagging coefficient n value principle of idle control is the reactive power change of 100%, voltage magnitude changes within 2%；Given reactive power instruction Q_{ref}With corresponding specified output capacitance voltage U_{ref}Representing the position relationship of sagging curve, main consideration microgrid inverter output reactive power is Q_{ref}Time, its output voltage size；
In the present embodiment, the sagging coefficient n value of idle control isGiven reactive power instruction Q_{ref}Consideration system output reactive power is Q_{ref}=0, now corresponding specified output capacitance voltage U_{ref}=380V；
Step 5, first according to the terminal voltage U obtained in step 4^{*}With the U obtained in step 1_{cd},U_{cq}, obtain capacitance current command signal by Control of Voltage equationWherein,
Control of Voltage equation is
K therein_{p}For proportional control factor, K_{i}For integral control coefficient, K_{r}For resonant controller proportionality coefficient。
Further according to capacitance current command signalComponent I with the brachium pontis side inductive current dq in step 1_{ld},I_{lq}Component I with output electric current dq_{od},I_{oq}, obtain control signal U by electric current governing equation_{d1},U_{q1}；Wherein,
Electric current governing equation is
K therein is proportional control factor。
Parameter in voltage and current governing equation mainly considers the stability of control system and dynamic steadystate behaviour；In the present embodiment, K is taken_{p}=0.03, K_{i}=0.8, K_{r}=120, Q=16, K=0.05；
The control process of step 1～5 can referring to Fig. 1。
Step 6, the negative sequence component U according to the capacitance voltage obtained in step 1_{C_Nd},U_{C_Nq}Negative sequence component I with inductive current_{L_Nd},I_{L_Nq}, compensate governing equation through negative sequence voltage and obtain control signal U_{d2},U_{q2}；Wherein,
Negative sequence voltage compensates governing equation
K therein_{1}For voltage compensation coefficient, K_{2}Be microgrid inverter brachium pontis side inductance value, τ for current compensation factor, L it is time constant filter。
Penalty coefficient mainly considers the effectiveness that dynamic output impedance compensates, general value 0.5≤K_{1}=K_{2}≤ 1。In order to filter the negative sequence component U of capacitance voltage_{C_Nd},U_{C_Nq}Negative sequence component I with inductive current_{L_Nd},I_{L_Nq}Harmonic component, it is considered to the timeconstantτ≤2e of lowpass first order filter^{3}S。In the present embodiment, K is taken_{1}=K_{2}=1, τ=0.0015。
Step 7, the control signal U that will obtain in step 5 and step 6_{d1},U_{q1}And U_{d2},U_{q2}It is separately summed and obtains control signal U_{d},U_{q}；
Step 8, first according to the control signal U in step 7_{d},U_{q}With the azimuth θ obtained in step 3, obtain threephase brachium pontis voltage control signal U through single synchronously rotating reference frame inverse transformation_{a},U_{b},U_{c}, further according to U_{a},U_{b},U_{c}Generate the pwm control signal of microgrid inverter converter bridge switching parts pipe。
Obviously, the unbalance voltage compensating control method based on virtual synchronous machine of the present invention can be carried out various change and modification without deviating from the spirit and scope of the present invention by those skilled in the art。So, if these amendments and modification to the present invention belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these and changes and modification。
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