CN106533289B - A kind of non-linear voltage control method and system - Google Patents
A kind of non-linear voltage control method and system Download PDFInfo
- Publication number
- CN106533289B CN106533289B CN201610801549.XA CN201610801549A CN106533289B CN 106533289 B CN106533289 B CN 106533289B CN 201610801549 A CN201610801549 A CN 201610801549A CN 106533289 B CN106533289 B CN 106533289B
- Authority
- CN
- China
- Prior art keywords
- virtual synchronous
- synchronous generator
- control
- linear
- voltage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/14—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field
-
- 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
- H02J3/18—Arrangements for adjusting, eliminating or compensating reactive power in networks
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/30—Reactive power compensation
Abstract
The invention discloses a kind of non-linear voltage control method and systems, comprising: determines the calculation formula about quantity of state according to the control system of virtual synchronous generator, quantity of state includes the angular frequency and generator rotor angle of the virtual synchronous generator；Nonlinear system model is converted into Linear system model by changes in coordinates；The optimum control rate of the end voltage of virtual synchronous generator in Linear system model is solved, in the optimum control rate generation of linear system middle-end voltage, is returned in the nonlinear system, regulate and control the amplitude of the virtual synchronous motor terminal voltage, using the optimum control rate of virtual synchronous generator voltage described in nonlinear system to slow down the oscillation of system in transient process.The present invention is in the end voltage control to virtual synchronous generator, consider the influence of frequency, generator rotor angle, line impedance and rotary inertia to the end voltage of virtual synchronous generator, the oscillation for slowing down system in transient process, improves dynamic performance, improves the stability of system.
Description
Technical field
The present invention relates to field of power systems, more particularly to a kind of non-linear voltage control method and system.
Background technique
For the problems such as alleviating fossil energy shortage and environmental pollution is serious, renewable energy power generation mode is closed extensively
Note.The electric energy that renewable energy generates includes the exchange of direct current and various frequencies, need to pass through grid-connected inverters.Due to parallel network reverse
Device is static equipment, does not have inertia and damping, therefore system stability is on the hazard.Virtual synchronous generator (VSG) is because of energy
The operating mechanism for imitating synchronous generator, provides inertia and damping for system, can be used as the effective of renewable energy source power
Means.The sagging control of VSG main analog synchronous generator and inertia control, active frequency and reactive power/voltage control decoupling, this
The control means of sample make VSG show preferable characteristic in steady-state operation.However, when an error occurs, VSG can not be as true
Positive synchronous generator is the same, and by means such as additional excitation con-trols, attenuation systems oscillation improves dynamic response, improves system
System stability.
Summary of the invention
The object of the present invention is to provide a kind of non-linear voltage control method and systems, can be to virtual synchronous generator
End voltage is controlled, to reach the oscillation for slowing down system in transient process, improves the purpose of dynamic response process.
To achieve the above object, the present invention provides following schemes:
A kind of non-linear voltage control method, which comprises
The calculation formula about quantity of state is determined according to the control system of virtual synchronous generator, obtains the control system
Nonlinear system model, the quantity of state includes the angular frequency and generator rotor angle of the virtual synchronous generator；
The nonlinear system model is converted into Linear system model by changes in coordinates；
The optimum control rate of the end voltage of the virtual synchronous generator in the Linear system model is solved,
Obtain the optimum control rate of linear system middle-end voltage；
In the optimum control rate generation of the linear system middle-end voltage, is returned in the nonlinear system, nonlinear system is obtained
Described in virtual synchronous generator end voltage optimum control rate；
Regulated and controled using the optimum control rate of virtual synchronous generator voltage described in the nonlinear system described virtual
The amplitude of synchronous motor end voltage, to slow down the oscillation of system in transient process.
Optionally, the calculation formula determined according to the control system of virtual synchronous generator about quantity of state, obtains
The nonlinear system model of the control system, specifically includes:
Turned according to the input of each controlling unit, the virtual synchronous generator in the control circuit of the control system
Electromagnetic torque in square, the control system determines the calculation formula of control process；
Obtain the electromagnetic torque, the electromagnetic torqueWherein, E is the virtual synchronous engine
End voltage, U is network voltage, XLFor line impedance, δ is the generator rotor angle of the virtual synchronous generator, and ω is virtual synchronous hair
Motor angular frequency；
To be brought into the calculation formula of the control process, obtain about the quantity of state formula wherein, the end voltage E of the virtual synchronous generator is control variable, and X is the quantity of state,
For the derivative of the quantity of state, X=[δ ω]T,
Optionally, described that the nonlinear system model is converted into Linear system model by changes in coordinates, it is specific to wrap
It includes:
It will be in nonlinear systemIt is transformed into linear system, is obtained by coordinate transformWherein, Z is the state variable under linear system,For the derivative of the state variable under linear system, A is shape
State variable coefficient matrix coefficient matrix, B are the coefficient matrix of corresponding control amount, and v is the optimum control of linear system end voltage
Rate,
Optionally, the optimum control of the end voltage of the virtual synchronous generator in the Linear system model
Rate is solved, and is obtained the optimum control rate of linear system middle-end voltage, is specifically included:
Obtain the performance indicator formula that linear system seeks optimum control rateWherein, Q
It is symmetrical positive definite weight matrix with R；
According to the formulaLinear optimal control is sought using linear optimal active control algorithm
Rate v processed.
A kind of non-linear voltage control system, the system comprises:
Quantity of state calculation formula determination unit, for being determined according to the control system of virtual synchronous generator about quantity of state
Calculation formula, obtain the nonlinear system model of the control system, the quantity of state includes the virtual synchronous generator
Angular frequency and generator rotor angle；
Linear system model conversion unit, for the nonlinear system model to be converted to linear system by changes in coordinates
System model；
Linear system optimum control rate computing unit, for carrying out the virtual synchronous power generation to the Linear system model
The solution of set end voltage optimum control rate obtains the optimum control rate of linear system middle-end voltage；
Nonlinear system optimal control rate computing unit, for by the optimum control rate generation of the linear system middle-end voltage
It returns in the nonlinear system, obtains the optimum control rate of virtual synchronous generator voltage described in nonlinear system；
Voltage control unit is held, for utilizing the optimal of virtual synchronous generator voltage described in the nonlinear system
Control rate regulates and controls the amplitude of the virtual synchronous motor terminal voltage, to slow down the oscillation of system in transient process.
Optionally, the quantity of state calculation formula determination unit, specifically includes:
First state amount calculation formula determines subelement, for each control in the control circuit according to the control system
Link, the input torque of the virtual synchronous generator, the electromagnetic torque in the control system determine the calculating of control process
Formula；
Electromagnetic torque obtains subelement, for obtaining the electromagnetic torque, the electromagnetic torqueIts
In, E is the end voltage of the virtual synchronous engine, and U is network voltage, XLFor line impedance, δ is virtual synchronous power generation
The generator rotor angle of machine, ω are virtual synchronous generator angular frequency；
Second quantity of state calculation formula determines subelement, and being used for willIt is brought into the meter of the control process
It calculates in formula, obtains the formula about the quantity of stateWherein, the end of the virtual synchronous generator
Voltage E is control variable, and X is the quantity of state,For the derivative of the quantity of state, X=[δ ω]T,
Optionally, the Linear system model conversion unit, specifically includes:
Linear system model transforming subunit, for by being become in nonlinear system by coordinate
It changes and is transformed into linear system, obtain wherein, Z is the state variable under linear system, is under linear system
State variable derivative, A be state variable coefficient matrix coefficient matrix, B be corresponding control amount coefficient matrix, v is line
The optimum control rate of property system end voltage,
Optionally, the linear system optimum control rate computing unit, specifically includes:
Performance indicator formula obtains subelement, and the performance indicator formula of optimum control rate is sought for obtaining linear systemWherein, Q and R is symmetrical positive definite weight matrix；
Linear system optimum control rate computation subunit, for according to the formulaBenefit
Linear optimal contro8 rate v is sought with linear optimal active control algorithm.
The specific embodiment provided according to the present invention, the invention discloses following technical effects: invention introduces frequency,
The parameters such as generator rotor angle, line impedance and rotary inertia regulate and control the end voltage of virtual synchronous generator, make the control for holding voltage
Not only and voltage deviation and idle deviation it is related, also accurately embody the influence of the physical quantity in other transient processes.Pass through
Nonlinear system is linearized, linear optimal contro8 rate is sought, its generation is returned in original system, obtain under nonlinear system most
Excellent control rate.To slow down the oscillation of system in transient process, dynamic performance is improved, the stabilization of system is improved
Property.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the Basic Topological of virtual synchronous generator；
Fig. 2 is traditional virtual synchronous generator voltage control schematic diagram；
Fig. 3 is the control flow schematic diagram of the end voltage of virtual synchronous of embodiment of the present invention generator；
Fig. 4 is virtual synchronous generated power-frequency control system schematic diagram；
Fig. 5 is the structural schematic diagram of the control system of the end voltage of virtual synchronous of embodiment of the present invention generator.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of non-linear voltage control method and systems, can be to virtual synchronous generator
End voltage is controlled, to reach the oscillation for slowing down system in transient process, improves the purpose of dynamic response process.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is the Basic Topological of virtual synchronous generator, as shown in Figure 1, virtual synchronous generator includes three contraries
Become device, filter, the calculating of grid-connected port power, VSG control algolithm and SVPWM and modulates 5 submodules.Virtual synchronous generator
It (VSG) is there is inverter similar with synchronous generator by the mechanical property and electromagnetic property of imitation synchronous generator
Characteristic provides the purpose that inertia is supported and damping is supported to be reached for power grid.
As shown in Figure 1, e=[ea eb ec]T, u=[ua ub uc]T, i=[ia ib ic]T, respectively virtual synchronous power generation
Machine three-phase induction electromotive force, output end voltage and grid-connected current；RsAnd LsRespectively refer to virtual stator armature resistance and synchronous electricity
Sense；PeWith QeIt is the active power and reactive power of VSG output respectively.
As shown in Figure 1, virtual synchronous generator mainly includes main circuit and control system.Wherein, main circuit is conventional
Gird-connected inverter topology, including renewable energy source (can be considered prime mover), DC/AC converter and filter circuit etc. are (corresponding same
Walk the energy converting between mechanical process of generator)；Control system is to realize the core of virtual synchronous generator, mainly includes virtual
Synchronous generator ontology model and control algolithm, the former mainly intends the electromagnetic relationship and machinery of synchronous generator from mechanism upper mold
Movement, the latter then mainly simulate the active frequency modulation and the features such as idle pressure regulation of synchronous generator from external characteristics.
Fig. 2 is traditional virtual synchronous generator voltage control schematic diagram, as shown in Fig. 2, in traditional VSG control,
Voltage is held to be codetermined by the idle and idle reality output deviation of the deviation and setting of setting voltage and practical end voltage.
As shown in Fig. 2, the end voltage expression of VSG isIt follows that
The end voltage of VSG is only influenced by idle deviation and voltage deviation.And in actual synchronous generator, end voltage is by excitation electricity
Stream determines, the size of exciting current in addition to being influenced by active reactive, also with frequency, generator rotor angle and the multiple objects of output electric current etc.
The influence of reason amount, therefore the amplitude of its voltage real-time change in transient process can improve dynamic response and improve system
Stability.However, current VSG implements this control strategy not yet, cause its response in transient process unsatisfactory.
Renewable energy mainly passes through that VSG is grid-connected, and current VSG is mainly using sagging control or inertia control, active frequency
Rate control and the decoupling of reactive power/voltage control two parts, this control mode can guarantee VSG safe and stable operation in the steady state, but
When failure occurs, system oscillation is violent, and dynamic response deteriorates, and system stabilization is on the hazard.
Fig. 3 is the control flow schematic diagram of the end voltage of virtual synchronous of embodiment of the present invention generator, as shown in figure 3, empty
The rate-determining steps of the end voltage of quasi- synchronous generator are as follows:
Step 301: the calculation formula about quantity of state being determined according to the control system of virtual synchronous generator, obtains institute
The nonlinear system model of control system is stated, the quantity of state includes the angular frequency and generator rotor angle of the virtual synchronous generator；
Step 302: the nonlinear system model is converted into Linear system model by changes in coordinates；
Step 303: the virtual synchronous generator voltage optimum control rate being carried out to the Linear system model and is asked
Solution, obtains the optimum control rate of linear system middle-end voltage；
Step 304: the optimum control rate generation of the linear system middle-end voltage being returned in the nonlinear system, is obtained non-
The optimum control rate of virtual synchronous generator voltage described in linear system；
Step 305: being regulated and controled using the optimum control rate of virtual synchronous generator voltage described in the nonlinear system
The amplitude of the virtual synchronous motor terminal voltage, to slow down the oscillation of system in transient process.
In step 301, it specifically includes: according to each controlling unit, the void in the control circuit of the control system
Electromagnetic torque in the input torque of quasi- synchronous generator, the control system determines the calculation formula of control process.
Obtain the electromagnetic torque, the electromagnetic torqueWherein, E is the virtual synchronous engine
End voltage, U is network voltage, XLFor line impedance, δ is the generator rotor angle of the virtual synchronous generator, and ω is virtual synchronous hair
Motor angular frequency；
It willIt is brought into the calculation formula of the control process, obtains the calculating about the quantity of state
Formula.
Fig. 4 is virtual synchronous generated power-frequency control system schematic diagram, as shown in figure 4, TmAnd TeRespectively indicate VSG
Input torque and electromagnetic torque.ω is virtual synchronous generator angular frequency, ω0For the specified angular frequency of power grid, D and J are respectively VSG
Damped coefficient and virtual inertia.The method provided in the control system and step 301 provided according to Fig. 4, available needle
Wherein to the calculation formula about the quantity of state of the control system, the virtual synchronous power generation
The end voltage E of machine is control variable, and it is the derivative of the quantity of state, X=[δ ω] that X, which is the quantity of state,T,
It in step 302, will be in nonlinear systemLinear system is transformed by coordinate transform
In system, obtainWherein, Z is the state variable under linear system,For leading for the state variable under linear system
Number, A are state variable coefficient matrix coefficient matrix, and B is the coefficient matrix of corresponding control amount, and v is linear system end voltage
Optimum control rate,
In step 303, the performance indicator formula that linear system seeks optimum control rate is obtainedWherein, Q and R is symmetrical positive definite weight matrix；
According to the formulaLinear optimal control is sought using linear optimal active control algorithm
Rate v processed.
Before being coordinately transformed, whether can be tested first to above system with exact linearization method.One affine
Nonlinear system is capable of the necessary and sufficient condition of exact linearization method are as follows:
1) near equalization point, matrixOrder do not change, and be equal to system rank
Number；Equalization point, that is, system incipient stability operation point, referred to ω=ω0, δ=δ0It is corresponding,
WhereinRefer to g along the n rank Lie bracket in the direction f.
2) vector fieldIt is pairing at equalization point.
Since system (3) is second-order system, its single order Lie derivatives need to be only calculated, i.e.,
By calculating it is found that system can exact linearization method in region Ω={ δ, ω | δ ≠ 0, π }.For actual motion
System, generator rotor angle meet 0 < δ < π, therefore are believed that the system can be by exact linearization method.
Inspection obtain above system can be with exact linearization method after, carry out converting linear system for nonlinear system
Specific steps:
1) D is enabled1={ g }, D2={ g, adfG }, select the vector field of two Line independentsMake its satisfactionA satisfactory group selection is:
2) mapping X=F (W) is calculated, corresponding equation isX0=[δ0,ω0]T
Wherein, w1And w2For the state variable under new mapping,It indicates with X0For initial value, using w2 as independent variable,
WithFor the integral of derivative, i.e.,
Indicate withFor initial value, with w1For independent variable, withFor the integral of derivative, know accordingly
Inverse mapping is
3) by calculating in F-1Under f (X) export mappingTo obtain f(0)(w), f(0)(w) for followed by
R1Vector field needed for transformation.
It inverts first and maps F-1Jacobian matrix, i.e.,
It can thus be concluded that
Original system is turned into linear system
Calculate transformation R1
Wherein,WithIt is R1State variable under transformation.
Definition converts T
Thus it acquires
Wherein,WithFor the intermediate variable of transform.
Definition
z1=w2=δ-δ0
Transformed linear system, which can be obtained, is
Wherein, Z=[z1,z2]TFor the state variable under linear system, A is state variable coefficient matrix coefficient matrix, and B is
The coefficient matrix of corresponding control amount, value are respectively
The solution that optimum control rate is carried out to the system after linearisation, initially sets up its performance indicator
Wherein, Q and R is symmetrical positive definite weight matrix, usually be can be taken as
Linear optimal contro8 rate v* useable linear optimal control algorithm acquires, the optimum control for being optimal performance indicator
Rate is
V=-R-1BTP*Z
Wherein, P* is symmetrical constant matrices, is Riccati non trivial solution, i.e. P* meets
ATP+PA-PBR-1BTP+Q=0
It can thus be appreciated that
v*=-z1-1.73z2
In this result generation, is back to original system, can obtain the corresponding optimum control rate of former nonlinear system is
The control method of the end voltage of virtual synchronous generator provided by the invention introduces frequency, generator rotor angle, line impedance
The end voltage of virtual synchronous generator is regulated and controled with parameters such as rotary inertias, make hold voltage control not only with voltage deviation
It is related with idle deviation, also accurately embody the influence of the physical quantity in other transient processes.By to nonlinear system line
Property, linear optimal contro8 rate is sought, its generation is returned in original system, obtains the optimum control rate under nonlinear system.To
The oscillation for slowing down system in transient process, improves dynamic performance, improves the stability of system.
In order to achieve the above objectives, the present invention also provides a kind of non-linear voltage control system, Fig. 5 is the embodiment of the present invention
The structural schematic diagram of the control system of the end voltage of virtual synchronous generator, as shown in figure 5, the system comprises:
Quantity of state calculation formula determination unit, for being determined according to the control system of virtual synchronous generator about state
The calculation formula of amount, obtains the nonlinear system model of the control system, and the quantity of state includes the virtual synchronous power generation
The angular frequency and generator rotor angle of machine；
Linear system model conversion unit, for the nonlinear system model to be converted to linear system by changes in coordinates
System model；
Linear system optimum control rate computing unit, for carrying out the virtual synchronous power generation to the Linear system model
The solution of set end voltage optimum control rate obtains the optimum control rate of linear system middle-end voltage；
Nonlinear system optimal control rate computing unit, for by the optimum control rate generation of the linear system middle-end voltage
It returns in the nonlinear system, obtains the optimum control rate of virtual synchronous generator voltage described in nonlinear system；
Voltage control unit is held, for utilizing the optimal of virtual synchronous generator voltage described in the nonlinear system
Control rate regulates and controls the amplitude of the virtual synchronous motor terminal voltage, to slow down the oscillation of system in transient process.
Wherein, the quantity of state calculation formula determination unit, specifically includes:
First state amount calculation formula determines subelement, for each control in the control circuit according to the control system
Link, the input torque of the virtual synchronous generator, the electromagnetic torque in the control system determine the calculating of control process
Formula；
Electromagnetic torque obtains subelement, for obtaining the electromagnetic torque, the electromagnetic torqueIts
In, E is the end voltage of the virtual synchronous engine, and U is network voltage, XLFor line impedance, δ is virtual synchronous power generation
The generator rotor angle of machine, ω are virtual synchronous generator angular frequency；
Second quantity of state calculation formula determines subelement, by that will be brought into based on the control process
Calculate formula in, obtain about the quantity of state formula wherein, the end of the virtual synchronous generator
Voltage E is control variable, and it is the derivative of the quantity of state, X=[δ ω] that X, which is the quantity of state,T,
The Linear system model conversion unit, specifically includes:
Linear system model transforming subunit, for by being become in nonlinear system by coordinate
It changes and is transformed into linear system, obtain wherein, Z is the state variable under linear system, is under linear system
State variable derivative, A be state variable coefficient matrix coefficient matrix, B be corresponding control amount coefficient matrix, v is line
The optimum control rate of property system end voltage,
The linear system optimum control rate computing unit, specifically includes:
Performance indicator formula obtains subelement, and the performance indicator formula of optimum control rate is sought for obtaining linear systemWherein, Q and R is symmetrical positive definite weight matrix；
Linear system optimum control rate computation subunit, for according to the formulaBenefit
Linear optimal contro8 rate v is sought with linear optimal active control algorithm.
Considered in end voltage (end voltage) control system of virtual synchronous generator provided by the invention frequency, generator rotor angle,
Influence of the parameters such as line impedance and rotary inertia to the end voltage of virtual synchronous generator, slows down system in transient process
Oscillation, improves dynamic performance, improves the stability of system.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (8)
1. a kind of non-linear voltage control method, which is characterized in that the described method includes:
The calculation formula about quantity of state is determined according to the control system of virtual synchronous generator, obtains the non-of the control system
Linear system model, the quantity of state include the angular frequency and generator rotor angle of the virtual synchronous generator；
The nonlinear system model is converted into Linear system model by changes in coordinates；
The optimum control rate of the end voltage of the virtual synchronous generator in the Linear system model is solved, is obtained
The optimum control rate of linear system middle-end voltage；
In the optimum control rate generation of the linear system middle-end voltage, is returned in the nonlinear system, institute in nonlinear system is obtained
State the optimum control rate of the end voltage of virtual synchronous generator；
Regulate and control the virtual synchronous using the optimum control rate of virtual synchronous generator voltage described in the nonlinear system
The amplitude of generator voltage, to slow down the oscillation of system in transient process.
2. the method according to claim 1, wherein described determine according to the control system of virtual synchronous generator
About the calculation formula of quantity of state, the nonlinear system model of the control system is obtained, is specifically included:
According to each controlling unit in the control circuit of the control system, the input torque of the virtual synchronous generator, institute
State the calculation formula that the electromagnetic torque in control system determines control process；
Obtain the electromagnetic torque, the electromagnetic torqueWherein, E is the end of the virtual synchronous generator
Voltage, U are network voltage, XLFor line impedance, δ is the generator rotor angle of the virtual synchronous generator, and ω is virtual synchronous generator
Angular frequency；
It willIt is brought into the calculation formula of the control process, obtains the formula about the quantity of stateWherein, the end voltage E of the virtual synchronous generator is control variable, and X is the quantity of state,
For the derivative of the quantity of state, X=[δ ω]T,TmIt is virtual
The machine torque of synchronous generator, J are the factor of inertia of virtual synchronous generator, and D is the damped coefficient of virtual synchronous generator,
ω0For the specified angular frequency of virtual synchronous generator.
3. the method according to claim 1, wherein described pass through changes in coordinates for the nonlinear system model
Linear system model is converted to, is specifically included:
It will be in nonlinear systemIt is transformed into linear system, is obtained by coordinate transformWherein, Z is the state variable under linear system,For the derivative of the state variable under linear system, A is shape
State variable coefficient matrix, B are the coefficient matrix of corresponding control amount, and v is the optimum control rate of linear system end voltage,ω0For the specified angular frequency of virtual synchronous generator, δ0For virtual synchronous power generation
The specified generator rotor angle of machine.
4. the method according to claim 1, wherein described to described virtual same in the Linear system model
The optimum control rate for walking the end voltage of generator is solved, and the optimum control rate of linear system middle-end voltage is obtained, specific to wrap
It includes:
Obtain the performance indicator formula that linear system seeks optimum control rateWherein, Q and R are
Symmetrical positive definite weight matrix；
According to the formulaLinear optimal contro8 rate v is sought using linear optimal active control algorithm.
5. a kind of non-linear voltage control system, which is characterized in that the system comprises:
Quantity of state calculation formula determination unit, by being determined based on about quantity of state according to the control system of virtual synchronous generator
Formula is calculated, obtains the nonlinear system model of the control system, the quantity of state includes the angle of the virtual synchronous generator
Frequency and generator rotor angle；
Linear system model conversion unit, for the nonlinear system model to be converted to linear system mould by changes in coordinates
Type；
Linear system optimum control rate computing unit, for carrying out the virtual synchronous generator end to the Linear system model
The solution of voltage optimum control rate obtains the optimum control rate of linear system middle-end voltage；
Nonlinear system optimal control rate computing unit, for the optimum control rate generation of the linear system middle-end voltage to be gone back to institute
It states in nonlinear system, obtains the optimum control rate of virtual synchronous generator voltage described in nonlinear system；
Voltage control unit is held, for the optimum control using virtual synchronous generator voltage described in the nonlinear system
Rate regulates and controls the amplitude of the virtual synchronous generator voltage, to slow down the oscillation of system in transient process.
6. system according to claim 5, which is characterized in that the quantity of state calculation formula determination unit specifically includes:
First state amount calculation formula determines subelement, for each control ring in the control circuit according to the control system
Electromagnetic torque in section, the input torque of the virtual synchronous generator, the control system determines that the calculating of control process is public
Formula；
Electromagnetic torque obtains subelement, for obtaining the electromagnetic torque, the electromagnetic torqueWherein, E is
The end voltage of the virtual synchronous generator, U are network voltage, XLFor line impedance, δ is the function of the virtual synchronous generator
Angle, ω are virtual synchronous generator angular frequency；
Second quantity of state calculation formula determines subelement, and being used for willThe calculating for being brought into the control process is public
In formula, the formula about the quantity of state is obtainedWherein, the end voltage of the virtual synchronous generator
E is control variable, and X is the quantity of state,For the derivative of the quantity of state, X=[δ ω]T,TmFor the machine torque of virtual synchronous generator, J is virtual same
The factor of inertia of generator is walked, D is the damped coefficient of virtual synchronous generator, ω0For the specified angular frequency of virtual synchronous generator
Rate.
7. system according to claim 5, which is characterized in that the Linear system model conversion unit specifically includes:
Linear system model transforming subunit, for will be in nonlinear systemTurned by coordinate transform
It changes in linear system, obtainsWherein, Z is the state variable under linear system,For the shape under linear system
The derivative of state variable, A are state variable coefficient matrix, and B is the coefficient matrix of corresponding control amount, and v is linear system end voltage
Optimum control rate,ω0For the specified angular frequency of virtual synchronous generator, δ0
For the specified generator rotor angle of virtual synchronous generator.
8. system according to claim 5, which is characterized in that the linear system optimum control rate computing unit, specifically
Include:
Performance indicator formula obtains subelement, and the performance indicator formula of optimum control rate is sought for obtaining linear systemWherein, Q and R is symmetrical positive definite weight matrix；
Linear system optimum control rate computation subunit, for according to the formulaUtilize line
Property optimal control algorithm seeks linear optimal contro8 rate v.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610801549.XA CN106533289B (en) | 2016-09-05 | 2016-09-05 | A kind of non-linear voltage control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610801549.XA CN106533289B (en) | 2016-09-05 | 2016-09-05 | A kind of non-linear voltage control method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106533289A CN106533289A (en) | 2017-03-22 |
| CN106533289B true CN106533289B (en) | 2019-02-26 |
Family
ID=58343855
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610801549.XA Active CN106533289B (en) | 2016-09-05 | 2016-09-05 | A kind of non-linear voltage control method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106533289B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107346885B (en) * | 2017-08-24 | 2019-04-19 | 华北电力大学（保定） | A kind of DC/DC bi-directional inverter stable DC busbar voltage method for optimally controlling |
| CN109301858A (en) * | 2018-09-07 | 2019-02-01 | 南昌大学 | A kind of control method based on adaptive Dynamic Programming optimization virtual synchronous machine photovoltaic combining inverter |
| FR3101739A1 (en) * | 2019-10-02 | 2021-04-09 | Schneider Electric Industries Sas | Modification of the parameter values of the control law of a generator |
| CN111614112B (en) * | 2020-06-11 | 2023-07-14 | 内蒙古工业大学 | Virtual synchronous generator control method and system of matrix converter |
| CN113193793A (en) * | 2021-03-18 | 2021-07-30 | 武汉科力源电气有限公司 | VSG technology-based synchronous motor back-to-back speed regulation method and related equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104716886A (en) * | 2015-03-31 | 2015-06-17 | 西安交通大学 | Virtual impedance voltage converter-based control method of virtual synchronous motor |
| CN104993521A (en) * | 2015-07-23 | 2015-10-21 | 国家电网公司 | Energy storage method based on virtual synchronization inversion control |
| CN105680714A (en) * | 2014-11-19 | 2016-06-15 | 国家电网公司 | Control method and device for output voltage of inverter |
| CN105826949A (en) * | 2016-05-20 | 2016-08-03 | 国网浙江省电力公司电力科学研究院 | Transient control method for controlling synchronous stability of virtual synchronous control inverter |
| CN105915140A (en) * | 2016-04-22 | 2016-08-31 | 广东电网有限责任公司电力科学研究院 | Decoupling control method based on virtual synchronous generator and decoupling control device thereof |
-
2016
- 2016-09-05 CN CN201610801549.XA patent/CN106533289B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105680714A (en) * | 2014-11-19 | 2016-06-15 | 国家电网公司 | Control method and device for output voltage of inverter |
| CN104716886A (en) * | 2015-03-31 | 2015-06-17 | 西安交通大学 | Virtual impedance voltage converter-based control method of virtual synchronous motor |
| CN104993521A (en) * | 2015-07-23 | 2015-10-21 | 国家电网公司 | Energy storage method based on virtual synchronization inversion control |
| CN105915140A (en) * | 2016-04-22 | 2016-08-31 | 广东电网有限责任公司电力科学研究院 | Decoupling control method based on virtual synchronous generator and decoupling control device thereof |
| CN105826949A (en) * | 2016-05-20 | 2016-08-03 | 国网浙江省电力公司电力科学研究院 | Transient control method for controlling synchronous stability of virtual synchronous control inverter |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106533289A (en) | 2017-03-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106533289B (en) | A kind of non-linear voltage control method and system | |
| CN107863786B (en) | Bidirectional power converter control method based on virtual synchronous motor | |
| CN106356884B (en) | It is a kind of based on the grid-connected control method of virtual synchronous machine, apparatus and system | |
| CN108347058B (en) | Stability judgment method and device for grid-connected subsynchronous oscillation of doubly-fed wind turbine generator | |
| CN108493984B (en) | Virtual synchronous generator control method suitable for photovoltaic grid-connected system | |
| CN108270241B (en) | Control method of virtual synchronous generator of fan grid-connected inverter | |
| CN107968591A (en) | Gird-connected inverter virtual inertia power decoupled control method based on prediction common point voltage | |
| CN103066876B (en) | Inverter controller with synchronous generator characteristic | |
| CN105811825A (en) | Current compensation based power decoupling method of virtual synchronous power generator | |
| CN107565599B (en) | Wind power grid-connected semi-physical simulation system based on VSG | |
| CN105024607B (en) | Matrix converter excitation-based DFIG control method under unbalanced network voltage | |
| CN106712115B (en) | A kind of virtual synchronous engine controller without current feedback | |
| CN109921421B (en) | Method for establishing harmonic current output model of doubly-fed wind turbine generator | |
| CN107919681A (en) | A kind of quasi- virtual synchronous machine control method | |
| CN108599264A (en) | A kind of voltage to frequency non differential regulation method based on virtual synchronous generator control | |
| CN104852652B (en) | Synchronous wind driven generator closed-loop vector control method and system | |
| CN110365051A (en) | A kind of virtual synchronous motor control method of adaptive instruction filtering inverting | |
| CN108573094B (en) | The method for building up and system of the VBR electromagnetic transient simulation model of synchronous generator | |
| CN110676874A (en) | Direct-drive fan subsynchronous oscillation electrical quantity analysis method considering frequency coupling effect | |
| CN109217365A (en) | A kind of brushless dual-feed motor virtual synchronous control method | |
| CN109066793A (en) | A kind of virtual diesel-generator set control method of microgrid inverter | |
| Xiaolin et al. | Test method for inertia and damping of photovoltaic virtual synchronous generator based on power angle transfer function | |
| CN105099320A (en) | Method and device for controlling output active power of permanent magnet direct-drive wind driven generator | |
| CN106026138A (en) | Plug-and-play power system stabilizer design algorithm | |
| CN107221957B (en) | Control method for optical storage grid-connected interface system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 710000 auspicious road 179, Yanta District, Shaanxi, Xi'an Applicant after: Shaanxi Local Power Design Co., Ltd. Applicant after: Tsinghua University Address before: 100000 Tsinghua Yuan, Beijing, Haidian District No. 1 Applicant before: Tsinghua University Applicant before: Shaanxi Local Power Design Co., Ltd. |
|
| CB02 | Change of applicant information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Sun Zhenquan Inventor after: Guo Yan Inventor after: Liu Wei Inventor after: Chen Laijun Inventor after: Zheng Tianwen Inventor after: Mei Shengwei Inventor after: Hu Changjin Inventor after: Wang Ren Inventor after: Ren Zhengmou Inventor after: Wang Yuyang Inventor before: Chen Laijun Inventor before: Guo Yan Inventor before: Sun Zhenquan Inventor before: Liu Wei Inventor before: Zheng Tianwen Inventor before: Mei Shengwei Inventor before: Hu Changjin Inventor before: Wang Ren Inventor before: Ren Zhengmou Inventor before: Wang Yuyang |
|
| CB03 | Change of inventor or designer information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201112 Address after: Room 326, zone 4, Chongwen tower scenic spot, Chongwen Town, Jinghe new town, Xixian New District, Xi'an City, Shaanxi Province Patentee after: Shaanxi Electric Power Construction Group Co., Ltd Address before: 710000 No. 179 Jixiang Road, Yanta District, Shaanxi, Xi'an Patentee before: SHAANXI REGIONAL ELECTRIC POWER DESIGN Co.,Ltd. Patentee before: TSINGHUA University |
|
| TR01 | Transfer of patent right |