CN104701886A - Presynchronization control method based on virtual synchronous generator - Google Patents
Presynchronization control method based on virtual synchronous generator Download PDFInfo
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Abstract
The invention relates to a presynchronization control method based on a virtual synchronous generator. The method comprises the steps that a three-phase network voltage amplitude value Vg, a three-phase network voltage frequency omega g and a three-phase network voltage phase angle theta g are obtained; a voltage amplitude value Vo output by an inverter, voltage frequency omega o output by the inverter and a voltage phase angle theta o output by the inverter are obtained; a frequency feedback integration element is cut in; a voltage feedback integration element is cut in; a proportional integral adjuster III is cut in; and a grid connection switch is closed, so that the synchronous generator is connected into a power grid. According to the technical scheme, the fact that before virtual synchronous generator grid connection, the frequency, the amplitude, the phase and the grid voltage output by the virtual synchronous generator are the same can be guaranteed, accordingly small grid connection instant impact current is achieve, and inverter smooth friendly grid connection is guaranteed.
Description
Technical field
The present invention relates to a kind of control method, be specifically related to a kind of presynchronization control method based on virtual synchronous generator.
Background technology
Along with the exhaustion of the fossil class energy and the raising of environmental protection consciousness, the distributed generation system based on regenerative resource obtains and develops rapidly.But increase gradually along with the proportion of distributed power generation in electric power system, the impact of distributed power generation on electric power system be can not ignore.In order to promote the receiving ability of electrical network to distributed energy, a virtual synchronous generator techniques can be adopted, namely by controlling to make combining inverter simulate the inertia of synchronous generator, primary frequency modulation, a pressure regulation and field regulation characteristics, make distributed power source the same with synchronous generator, energy active participate in the power adjustments of electrical network, thus improves the stability of whole electrical network.
Fig. 1 is virtual synchronous electric generator structure figure, and it comprises direct-current input power supplying V
in, three phase inverter bridge, LC filter.Wherein v
ca, v
cb, v
ccfor inverter three-phase output voltage, i
la, i
lb, i
lcfor three-phase inverter side inductive current, i
ga, i
gb, i
gcfor three-phase inverter grid current, v
ga, v
gb, v
gcfor three-phase power grid voltage.Sampling three-phase output voltage v
cwith three-phase grid current i
gcarry out power calculation, obtain active power and the reactive power of inverter output, the active power calculated and reactive power are sent in virtual synchronous engine controller, obtains three-phase modulations ripple e by virtual synchronous engine controller
a, e
b, e
c, three-phase modulations ripple is sent in PWM device, obtains the drive singal of each power switch pipe of inverter.
Fig. 2 is the concrete control block diagram of the virtual synchronous engine controller in Fig. 1.The first half of Fig. 2 is the control of active power, wherein P
setfor active power is given, P
efor the actual active power of virtual synchronous generator, ω
nfor rated frequency.Active power controller loop simulation synchronous generator primary frequency modulation and inertial element, comprise meritorious (frequency droop control (Fig. 2 and hereafter D
prepresent frequency droop coefficient) and virtual rotation inertia control (J represents virtual rotation inertia).The latter half of Fig. 2 is the control of reactive power, wherein Q
setfor reactive power is given, Q
efor the actual reactive power of virtual synchronous generator.V
nfor rated voltage amplitude.The simulation pressure regulation of synchronous generator of Reactive Power Control loop and electromagnetic relationship, comprise that idle ((the sagging coefficient of voltage is D to voltage droop control
q) and excitation regulation control (excitation storage gain is 1/K).Frequency reference ω, amplitude reference E and the phase reference θ of modulating wave e is obtained by active power controller and Reactive Power Control.Modulating wave e makes inverter export three-phase symmetric voltage by the break-make of each switching tube in PWM Absent measures Fig. 1.
But, Fig. 2 only give virtual synchronous generator be connected to the grid after the control block diagram of steady operation, do not illustrate that virtual synchronous generator is from from net to grid-connected handoff procedure.It is to be noted, the control block diagram shown in Fig. 2 is adopted only to make virtual synchronous generator on controlling, simulate the external characteristic of synchronous generator, its main circuit remains and is made up of the power electronic device of fragility, and compared with the synchronous generator of reality, its anti-over-voltage and over-current ability is weak.If virtual synchronous generator adopts traditional synchronous generator to pull synchronous method into and is connected to the grid, then excessive at grid-connected moment impact electric current, can cause damage to inverter switch device and magnetic element.Therefore need to provide a kind of presynchronization control strategy, make virtual synchronous generator can be friendly grid-connected.
Summary of the invention
For solving above-mentioned deficiency of the prior art, the object of this invention is to provide a kind of presynchronization control method based on virtual synchronous generator, the frequency of its output voltage before virtual synchronous generator connecting in parallel with system, amplitude, phase place are all identical with line voltage to adopt technical scheme provided by the invention to ensure, thus it is little to realize grid-connected moment impact electric current, ensure that virtual synchronous generator inverter is level and smooth friendly grid-connected.
There is a basic understanding some aspects in order to the embodiment to disclosure, shown below is simple summary.This summarized section is not extensive overview, neither determine key/critical component or describe the protection range of these embodiments.Its sole purpose presents some concepts by simple form, in this, as the preamble of following detailed description.
The object of the invention is to adopt following technical proposals to realize:
The invention provides a kind of presynchronization control method based on virtual synchronous generator, it is characterized in that, described method comprises the steps:
(1) three-phase power grid voltage amplitude V is obtained
g, three-phase power grid voltage frequencies omega
gwith three-phase power grid voltage phase angle theta
g;
(2) inverter output voltage amplitude V is obtained
o, inverter output voltage frequencies omega
owith inverter output voltage phase angle theta
o;
(3) frequency feedback integral element is cut;
(4) cut-in voltage feedback score link;
(5) proportional and integral controller III is cut;
(6) closed grid-connected switch, makes virtual synchronous generator access electrical network;
(7) frequency feedback integral element, Voltage Feedback integral element and phase regulator is cut out; Slow increase virtual synchronous generator active power reference value P
set, controlling virtual synchronous output of a generator slowly increases;
(8) virtual synchronous generator active power reference value P is treated
setafter being increased to rated value, by frequency reference benchmark from line voltage frequencies omega
gswitch to the rated frequency ω of virtual synchronous generator
n, voltage reference is from V
gswitch to rated voltage amplitude V
n.
Further, in described step (1), three-phase power grid voltage v is obtained by voltage sensor
ga, v
gband v
gc, utilize phase-lock-loop algorithm to obtain three-phase power grid voltage amplitude V
g, three-phase power grid voltage frequencies omega
gwith three-phase power grid voltage phase angle theta
g;
In described step (2), obtain inverter output voltage v by voltage sensor
ca, v
cband v
cc, utilize phase-lock-loop algorithm to obtain inverter output voltage amplitude V
o, inverter output voltage frequencies omega
owith inverter output voltage phase angle theta
o.
Further, in described step (3), by the frequency reference of virtual synchronous generator by rated frequency ω
nreplace with three-phase power grid voltage frequencies omega
g, in meritorious frequency droop link, add frequency feedback integral element simultaneously, and cut frequency feedback integral element;
Described frequency feedback integral element is gain K
1integral element, it, as the integral part of adjuster, utilizes D
pas the proportional parts of adjuster, proportion of composing integral controller I, makes the frequencies omega of virtual synchronous generator can follow the tracks of three-phase power grid voltage frequencies omega to floating
g; Described proportional plus integral control adjuster I is voltage regulator.
Further, in described step (4), by the voltage magnitude reference of virtual synchronous generator by rated voltage amplitude V
nreplace with the amplitude V of line voltage
g, in the sagging link of reactive voltage, add Voltage Feedback integral element simultaneously, and cut-in voltage feedback score link;
Described Voltage Feedback integral element is gain K
2integral element, it, as the integral part of adjuster, utilizes D
qas the proportional parts of adjuster, proportion of composing integral controller II, makes the output voltage amplitude E of virtual synchronous generator can follow the tracks of to floating voltage Grid voltage magnitude V
g; Described proportional plus integral control adjuster II is voltage regulator.
Further, in described step (5), by the phase angle theta of line voltage
gwith inverter output voltage phase angle theta
odo difference, obtain phase angle difference Δ θ, Δ θ is input in proportional and integral controller III, the output of proportional and integral controller is added in the output frequency of virtual synchronous generator;
Described proportional and integral controller III is phase regulator, the output of described phase regulator and the output frequency sum of frequency regulator obtain the phase place of virtual synchronous generator by integration, to follow the tracks of the phase place of line voltage with ensureing the phase place floating of virtual synchronous generator output voltage.
Further, in described step (6), ensure that virtual synchronous generator output voltage is equal with voltage Grid electric voltage frequency, amplitude is equal, the identical rear closed grid-connected switch of phase place, access electrical network.
Further, described virtual synchronous generator initial conditions is P
set=0, Q
set=0, ω
r=ω
n, V
r=V
n, grid-connected switch disconnects; When carrying out described presynchronization and controlling, grid-connected switch closes, and virtual synchronous generator is grid-connected from switching to from net; Wherein: P
setrepresent virtual synchronous generator active power reference value, Q
setrepresent virtual synchronous generator reactive power reference value=0, ω
rrepresent virtual synchronous generator frequency reference value, V
rrepresent virtual synchronous generator voltage amplitude reference value.
Compared with immediate prior art, the excellent effect that technical scheme provided by the invention has is:
The present invention is on the basis of original virtual synchronous generator control structure, embed the function that presynchronization control algolithm realizes presynchronization, can ensure that the frequency of virtual synchronous generator connecting in parallel with system its output voltage front, amplitude, phase place are all identical with line voltage, thus it is little to realize grid-connected moment impact electric current, can realize presynchronization rapidly and accurately, thus the level and smooth close friend realizing virtual synchronous generator is grid-connected.
In order to above-mentioned and relevant object, will describe in detail and the feature particularly pointed out in the claims after one or more embodiment comprises.Explanation below and accompanying drawing describe some illustrative aspects in detail, and its instruction is only some modes in the utilizable various mode of principle of each embodiment.Other benefit and novel features become obvious by considering by reference to the accompanying drawings along with detailed description below, and the disclosed embodiments will comprise all these aspects and theirs is equivalent.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and forms a part for specification, together with embodiments of the present invention for explaining the present invention, is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the virtual synchronous electric generator structure figure of prior art;
Fig. 2 is the virtual synchronous electricity generating controller control block diagram of prior art;
Fig. 3 is phase lock control block diagram provided by the invention;
Fig. 4 provided by the inventionly adds the virtual synchronous electricity generating controller control block diagram after presynchronization control strategy.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail.
The following description and drawings illustrate specific embodiment of the invention scheme fully, to enable those skilled in the art to put into practice them.Other embodiments can comprise structure, logic, electric, process and other change.Unless explicitly requested, otherwise independent assembly and function are optional, and the order of operation can change.The part of some embodiments and feature can be included in or replace part and the feature of other embodiments.The scope of embodiment of the present invention comprises the gamut of claims, and all obtainable equivalent of claims.In this article, these embodiments of the present invention can be represented with term " invention " individually or always, this is only used to conveniently, and if in fact disclose the invention more than, be not the scope that automatically will limit this application is any single invention or inventive concept.
The invention provides the presynchronization control method based on virtual synchronous generator, adopt and can ensure that the frequency of its output voltage before virtual synchronous generator connecting in parallel with system, amplitude, phase place are all identical with line voltage based on the presynchronization control method of virtual synchronous generator, thus it is little to realize grid-connected moment impact electric current, ensure that inverter smoothing close friend is grid-connected.The hardware circuit that the present invention adopts is identical with existing virtual synchronous generator hardware components, as shown in Figure 1.But control method is improved, existing virtual synchronous generator control architecture basics adds presynchronization and controls, as shown in Figure 4.Concrete improvement is as follows:
(1) for the adjustment of frequency, because original virtual synchronous generator control structure is with frequency droop coefficient D
pas proportional controller, then the low-band gain of frequency adjustment loop is not high enough, and the frequencies omega of virtual synchronous generator can not follow the tracks of upper electrical network frequencies omega in floating ground
g.Therefore, as improvement, now adding gain is K
1integrator (the present invention is referred to as frequency feedback integral element) as the integral part of adjuster, utilize D
pas the proportional parts of adjuster, proportion of composing integration (proportionintegration, PI) adjuster I, can make the frequencies omega of virtual synchronous generator can follow the tracks of electrical network frequencies omega to floating like this
g.
(2) for the adjustment of voltage magnitude, because original virtual synchronous generator control structure is with the sagging coefficient D of voltage magnitude
qas proportional controller, then the low-band gain of voltage magnitude regulation loop is not high enough, and the amplitude E of virtual synchronous generator output voltage can not follow the tracks of to floating the amplitude V of upper line voltage
g.Therefore, as improvement, now adding gain is K
2integrator (the present invention is referred to as Voltage Feedback integral element) as the integral part of adjuster, utilize D
qas the proportional parts of adjuster, proportion of composing integral controller II (pi regulator), makes the output voltage amplitude E of virtual synchronous generator can follow the tracks of grid voltage amplitude V to floating
g.
(3) for the adjustment of phase place, improvement of the present invention is as follows: by electric network voltage phase θ
gdeduct virtual synchronous generator output voltage phase theta
o, difference is sent into proportional and integral controller III (pi regulator, the present invention is referred to as phase regulator), the output of pi regulator is added with the output frequency of frequency regulator, itself and obtained the phase place of virtual synchronous generator by integration.Follow the tracks of the phase place of line voltage with so just can ensureing the phase place floating of virtual synchronous generator output voltage.
(4) simultaneously, because the control structure of this improvement needs the information of line voltage (to comprise the amplitude V of line voltage
g, the frequencies omega of line voltage
g, the phase angle theta of line voltage
g) and the information of inverter output voltage (comprise the amplitude V of inverter output voltage
o, the frequencies omega of inverter output voltage
o, the phase angle theta of inverter output voltage
o), so add phase-locked loop in the controlling further, the control block diagram of phase-locked loop is as shown in Figure 3.Wherein T
dq/
abcthe transformation matrix dq coordinate system is tied to from abc coordinate, G for three-phase voltage
cs () is phase-locked loop adjuster, generally select pi regulator.Due to the technology that phase-locked loop is comparatively ripe, the presynchronization of to be only this technology of application be herein virtual synchronous generator is submitted necessary information, and therefore, for the concrete enforcement of phase lock control, repeats no more herein.
The method comprises the steps:
(1) three-phase power grid voltage v is obtained by voltage sensor
ga, v
gb, v
gc, utilize phase-lock-loop algorithm to obtain the amplitude V of three-phase power grid voltage
g, the frequencies omega of three-phase power grid voltage
gwith the phase angle theta of three-phase power grid voltage
g;
(2) inverter output voltage v is obtained by voltage sensor
ca, v
cb, v
cc, utilize phase-lock-loop algorithm to obtain the amplitude V of inverter output voltage
o, the frequencies omega of inverter output voltage
owith the phase angle theta of inverter output voltage
o;
Adopt presynchronization shown in Fig. 4 to control, synchronous generator is from from net to grid-connected, and virtual synchronous generator initial conditions is P
set=0, Q
set=0, ω
r=ω
n, V
r=V
n, grid-connected switch disconnects, wherein: P
setrepresent virtual synchronous generator active power reference value, Q
setrepresent virtual synchronous generator reactive power reference value=0, ω
rrepresent virtual synchronous generator frequency reference value, V
rrepresent virtual synchronous generator voltage amplitude reference value; Concrete implementation step is as follows:
(3) frequency feedback integral element is cut (by interrupteur SW
4throw in ω
gside, closed SW
1): by the frequency reference of virtual synchronous generator by rated frequency ω
nreplace with line voltage frequencies omega
g, in meritorious frequency droop link, add integral element simultaneously;
(4) cut-in voltage feedback score link is (by SW
5throw in V
gside, closed SW
2): by the voltage magnitude reference of virtual synchronous generator by rated voltage amplitude V
nreplace with grid voltage amplitude V
g, in the sagging link of reactive voltage, add integral element simultaneously;
The object of above-mentioned steps (3) and (4) controls virtual synchronous output voltage frequency of generator equal with line voltage frequency (for control phase difference reduces to prepare) below, controls virtual synchronous generator output voltage amplitude equal with grid voltage amplitude.
(5) proportional and integral controller III (i.e. closed SW is cut
3): by the phase angle theta of line voltage
gwith the phase angle theta of inverter output voltage
odo difference, obtain phase angle difference Δ θ, Δ θ is input in proportional and integral controller, then the output of proportional and integral controller is added in the output frequency of virtual synchronous generator;
The object of this step is that control virtual synchronous generator is identical with three-phase power grid voltage phase place.
(6) ensure that virtual synchronous generator output voltage is equal with the frequency of line voltage, amplitude is equal, the identical rear closed grid-connected switch of phase place, access electrical network.
(7) cut out frequency feedback integral element, Voltage Feedback integral element and phase regulator and (namely disconnect SW
1, SW
2with SW
3).Slow increase P
set, controlling virtual synchronous output of a generator slowly increases.
(8) P is treated
setafter being increased to rated value, by frequency reference benchmark from ω
gswitch to ω
n, voltage reference is from V
gswitch to V
n(by SW
4throw in ω
nside, by SW
5throw in V
nside).The object of this step realizes frequency droop to control and voltage droop control, and virtual synchronous generator is connected to the grid completely.
Should be understood that the particular order of the step in disclosed process or level are the examples of illustrative methods.Based on design preference, should be appreciated that, the particular order of the step in process or level can be rearranged when not departing from protection range of the present disclosure.Appended claim to a method gives the key element of various step with exemplary order, and is not to be limited to described particular order or level.
In above-mentioned detailed description, various feature is combined in single embodiment together, to simplify the disclosure.This open method should be interpreted as reflecting such intention, that is, the embodiment of theme required for protection needs the more feature of feature clearly stated in each claim.On the contrary, as appending claims reflect, the present invention is in the state fewer than whole features of disclosed single embodiment.Therefore, appending claims is clearly merged in detailed description hereby, and wherein every claim is alone as the preferred embodiment that the present invention is independent.
Those skilled in the art it is also understood that various illustrative box, module, circuit and the algorithm steps combining embodiment herein and describe all can be embodied as electronic hardware, computer software or its combination.In order to the interchangeability between hardware and software is clearly described, all carry out usually describing around its function to various illustrative parts, frame, module, circuit and step above.Be embodied as hardware as this function or be embodied as software, the design constraint depending on specific application and whole system is applied.Those skilled in the art for each application-specific, can realize described function in the mode of accommodation, but, thisly realize decision-making and should not be construed as and deviate from protection range of the present disclosure.
Description above comprises the citing of one or more embodiment.Certainly, all possible combination describing parts or method in order to describe above-described embodiment is impossible, but those of ordinary skill in the art should be realized that, each embodiment can do further combinations and permutations.Therefore, embodiment described herein is intended to contain all such changes, modifications and variations fallen in the protection range of appended claims.In addition, " comprise " with regard to the term used in specification or claims, the mode that contains of this word is similar to term and " comprises ", just as " comprising, " be in the claims used as link word explain such.In addition, be used in any one term in the specification of claims " or " be to represent " non-exclusionism or ".
Finally should be noted that: above embodiment is only in order to illustrate that technical scheme of the present invention is not intended to limit; although with reference to above-described embodiment to invention has been detailed description; those of ordinary skill in the field still can modify to the specific embodiment of the present invention or equivalent replacement; these do not depart from any amendment of spirit and scope of the invention or equivalent replacement, are all applying within the claims of the present invention awaited the reply.
Claims (7)
1. based on a presynchronization control method for virtual synchronous generator, it is characterized in that, described method comprises the steps:
(1) three-phase power grid voltage amplitude V is obtained
g, three-phase power grid voltage frequencies omega
gwith three-phase power grid voltage phase angle theta
g;
(2) inverter output voltage amplitude V is obtained
o, inverter output voltage frequencies omega
owith inverter output voltage phase angle theta
o;
(3) frequency feedback integral element is cut;
(4) cut-in voltage feedback score link;
(5) proportional and integral controller III is cut;
(6) closed grid-connected switch, makes virtual synchronous generator access electrical network;
(7) frequency feedback integral element, Voltage Feedback integral element and phase regulator is cut out; Slow increase virtual synchronous generator active power reference value P
set, controlling virtual synchronous output of a generator slowly increases;
(8) virtual synchronous generator active power reference value P is treated
setafter being increased to rated value, by frequency reference benchmark from line voltage frequencies omega
gswitch to the rated frequency ω of virtual synchronous generator
n, voltage reference is from V
gswitch to rated voltage amplitude V
n.
2. presynchronization control method as claimed in claim 1, is characterized in that, in described step (1), obtain three-phase power grid voltage v by voltage sensor
ga, v
gband v
gc, utilize phase-lock-loop algorithm to obtain three-phase power grid voltage amplitude V
g, three-phase power grid voltage frequencies omega
gwith three-phase power grid voltage phase angle theta
g;
In described step (2), obtain inverter output voltage v by voltage sensor
ca, v
cband v
cc, utilize phase-lock-loop algorithm to obtain inverter output voltage amplitude V
o, inverter output voltage frequencies omega
owith inverter output voltage phase angle theta
o.
3. presynchronization control method as claimed in claim 1, is characterized in that, in described step (3), by the frequency reference of virtual synchronous generator by rated frequency ω
nreplace with three-phase power grid voltage frequencies omega
g, in meritorious frequency droop link, add frequency feedback integral element simultaneously, and cut frequency feedback integral element;
Described frequency feedback integral element is gain K
1integral element, it, as the integral part of adjuster, utilizes D
pas the proportional parts of adjuster, proportion of composing integral controller I, makes the frequencies omega of virtual synchronous generator can follow the tracks of three-phase power grid voltage frequencies omega to floating
g; Described proportional plus integral control adjuster I is voltage regulator.
4. presynchronization control method as claimed in claim 1, is characterized in that, in described step (4), by the voltage magnitude reference of virtual synchronous generator by rated voltage amplitude V
nreplace with the amplitude V of line voltage
g, in the sagging link of reactive voltage, add Voltage Feedback integral element simultaneously, and cut-in voltage feedback score link;
Described Voltage Feedback integral element is gain K
2integral element, it, as the integral part of adjuster, utilizes D
qas the proportional parts of adjuster, proportion of composing integral controller II, makes the output voltage amplitude E of virtual synchronous generator can follow the tracks of to floating voltage Grid voltage magnitude V
g; Described proportional plus integral control adjuster II is voltage regulator.
5. presynchronization control method as claimed in claim 1, is characterized in that, in described step (5), by the phase angle theta of line voltage
gwith inverter output voltage phase angle theta
odo difference, obtain phase angle difference Δ θ, Δ θ is input in proportional and integral controller III, the output of proportional and integral controller is added in the output frequency of virtual synchronous generator;
Described proportional and integral controller III is phase regulator, the output of described phase regulator and the output frequency sum of frequency regulator obtain the phase place of virtual synchronous generator by integration, to follow the tracks of the phase place of line voltage with ensureing the phase place floating of virtual synchronous generator output voltage.
6. presynchronization control method as claimed in claim 1, it is characterized in that, in described step (6), ensure that virtual synchronous generator output voltage is equal with voltage Grid electric voltage frequency, amplitude is equal, the identical rear closed grid-connected switch of phase place, access electrical network.
7. presynchronization control method as claimed in claim 1, it is characterized in that, described virtual synchronous generator initial conditions is P
set=0, Q
set=0, ω
r=ω
n, V
r=V
n, grid-connected switch disconnects; When carrying out described presynchronization and controlling, grid-connected switch closes, and virtual synchronous generator is grid-connected from switching to from net; Wherein: P
setrepresent virtual synchronous generator active power reference value, Q
setrepresent virtual synchronous generator reactive power reference value=0, ω
rrepresent virtual synchronous generator frequency reference value, V
rrepresent virtual synchronous generator voltage amplitude reference value.
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