CN106712100A - Perturbation observation-based control method for virtual grid-connected synchronous inverter and control system - Google Patents
Perturbation observation-based control method for virtual grid-connected synchronous inverter and control system Download PDFInfo
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- CN106712100A CN106712100A CN201710119607.5A CN201710119607A CN106712100A CN 106712100 A CN106712100 A CN 106712100A CN 201710119607 A CN201710119607 A CN 201710119607A CN 106712100 A CN106712100 A CN 106712100A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
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Abstract
The invention relates to a perturbation observation-based control method for a virtual grid-connected synchronous inverter and a control system. The method comprises the following steps of (S1) collecting three-phase voltage and current from a three-phase circuit connected with a three-phase inverter in real time; (S2) carrying out 3/2 conversion of coordinates on the three-phase voltage and current and obtaining active power and reactive power through a power calculation formula; (S3) obtaining a three-phase modulated wave signal from the active power and the reactive power through a VSG control algorithm; (S4) calculating a disturbance compensation quantity through the three-phase voltage and current; (S5) subtracting the disturbance compensation quantity from the three-phase modulated wave signal to obtain a compensated control signal; and (S6) comparing the compensated control signal with a triangular carrier wave and generating an SPWM wave to control the working state of the three-phase inverter. The invention further relates to the system for achieving the method.
Description
Technical field
It is the present invention relates to three-phase power electronic inverter control method more particularly to virtual grid-connected based on disturbance observer
Synchronous inverter control method.
Background technology
With increasingly highlighting for environmental problem and petering out for fossil energy, generation of electricity by new energy is more and more closed
Note, the generator unit based on regenerative resource will be as one of most important power supply in power system.Inverter is used as wherein
Primary interface device, the topmost power quality problem for existing is exactly the offset problem of voltage and frequency.Low performance it is inverse
The safety and the normal of influence user power utilization for becoming device entail dangers to load equipment are used.Early stage accesses the distributed power source capacity of power network
Smaller, the influence to power system is weaker, therefore Grid-connection standards at that time are not required for distributed power source and participate in power system
Power adjusting.As the capacity that distributed power source accesses power network is increasing, above-mentioned control mode can be to the stabilization of power system
Property, security are affected greatly.
According to the theoretical virtual synchronous generator concept for proposing of synchronous generator, when the situation that load is undergone mutation, work(
The output of rate and then load can carry out unexpected change, and this leverages the stability of system.Especially in the ring of serious interference
Under border, above mentioned problem is more prominent, it is difficult to meet the control requirement of power grid operation.
Disturbance observation technology is the practical object and nominal model (nominal mould by the way that external disturbance and model perturbation are caused
Type) output difference it is equivalent to control signal, then introduce equivalent compensation in control, realize the suppression to disturbing.From
From the point of view of having a document, disturbance observation method as a kind of instrument of disturbance suppression, in DC servo motor control, disk drive, machine
The fields such as device people, numerical control are widely used.Meanwhile, disturbance observation technology is because amount of calculation is small, need not install extra
Sensor the features such as, be highly suitable for improve control system antijamming capability.But the method is in the running of system
In run into mutation disturbance when, such as shock load, based on virtual synchronous design combining inverter circuit it is difficult to ensure that output electricity
Pressing the accuracy of tracking, and return to desired value needs the long period.
The content of the invention
To solve problem above, the invention provides a kind of virtual grid-connected synchronous inverter controlling party based on disturbance observation
Method, it is comprised the following steps：
S1：From the three-phase circuit Real-time Collection three-phase voltage and electric current that are connected to three-phase inverter；
S2：The three-phase voltage and electric current are carried out 3/2 conversion of coordinate, is led to overpowering computing formula and is drawn wattful power
Rate and reactive power；
S3：Three-phase modulations ripple signal is drawn by VSG control algolithms from the active power and reactive power；
S4：By the three-phase voltage and Current calculation interference compensation amount；
S5：The three-phase modulations signal subtracts the control signal after the interference compensation amount is compensated；
S6：Control signal after the compensation and triangular carrier are compared, produce SPWM ripples to control three contrary
Become the working condition of device.
Further, the rating formula described in S2 is
Wherein, vαAnd vβIt is the voltage expression under α β coordinate systems after inverter filtering, iαAnd iβTo be sat in α β after filtering
Current expression under mark system.
Further, VSG control algolithms described in S3 will simulate synchronous generator characteristic, and its its math equation is
Pset、QsetFor active and reactive power gives；Dp、DqIt is active-frequency and the sagging coefficient of idle-voltage；Δ ω is
Angular rate is poor, Δ ω=ωn-ω；ωn, ω be specified angular rate and actual angular rate；ΔuFor output voltage is poor, Δu
=un-uo；un、uoIt is rated voltage virtual value and output voltage virtual value；J is rotary inertia；K is inertia coeffeicent；
Further, the interference compensation amount is by by Gd-1S the output signal of () * Q (s) and the output signal of Q (s) are asked
With obtain, Gd (s)=Gn(s)=Kpwm/LCs2+ Ls/R+1, Q (s)=1/ (Ts+1)2, T=10-5, wherein KpwmIt is PWM gains, L
It is filter inductance, C is filter capacitor, and R is load resistance, and T is time constant.
Present invention also offers a kind of virtual grid-connected synchronous inverter control system based on disturbance observation, it includes collection
Module, power computation module, VSG control algolithms module, disturbance observer module, PWM module；
The acquisition module gathers three-phase voltage and electric current, and the three-phase voltage and electric current are passed into power calculation mould
Block；
Three-phase voltage described in the power computation module and electric current carry out 3/2 conversion of coordinate, lead to overpowering calculating public
Formula draws active power and reactive power；
The VSG control algolithms module show that three-phase is adjusted from the active power and reactive power by VSG control algolithms
Ripple signal processed；
Three-phase modulations signal described in the disturbance observer module subtracts the control after the interference compensation amount is compensated
Signal；
Be compared for control signal after the compensation and triangular carrier by the PWM module, produces SPWM ripple controls
Make the working condition of the three-phase inverter.
Further, the disturbance observer module is by second-order low-pass filter module, second-order low-pass filter link and two
Rank differential circuit serial module structure and comparison module are constituted.
Control method proposed by the present invention compared with prior art, has the advantages that：
1st, the invention provides a kind of virtual synchronous inverter control method based on disturbance observation, the method can be used to solve
The interference run into when being certainly incorporated into the power networks and the problem of model perturbation.In the process of running, it is assumed that load occurs and changes, input
During the interference of voltage pulsation, the method that can be compensated by interference observation, control signal adjusts control signal in time, improves defeated
Go out voltage accuracy, shorten regulating time.
2nd, disturbance observation technology is applied in the combining inverter control based on virtual synchronous design, it is not necessary to increase electricity
The acquisition node of pressure or electric current, it is possible to very easily eliminate the influence that external disturbance is caused to circuit.Itself has knot
Structure is relatively easy, and operand is smaller, the advantages of being easy to implement, and take into account the stability of system, dynamic property with to power pulsations
The requirement of rejection ability.
Brief description of the drawings
Fig. 1 is the control block diagram of the virtual grid-connected synchronous inverter based on disturbance observation；
Fig. 2 is the grid-connected schematic diagram of voltage source inverter；
Fig. 3 is the control block diagram of virtual grid-connected synchronous inverter；
Fig. 4 is the control block diagram of disturbance observer；
Specific embodiment
Principle of the invention and feature are described below in conjunction with accompanying drawing, example is served only for explaining the present invention, and
It is non-for limiting the scope of the present invention.
Technical scheme is described in detail below in conjunction with the accompanying drawings.
Virtual grid-connected synchronous inverter control block diagram based on disturbance observer is as shown in figure 1, the virtual grid-connected synchronization
Inverter includes：Q1~Q6Composition three phase inverter bridge, inverter side inductance L1, filter capacitor C and net side inductance L2Constitute LCL type
Wave filter, power computation module, VSG control algolithms, disturbance observer module, PWM modulator module.Measure inverse using sensor
Become device circuit net side output three-phase voltage and electric current, by line voltage (electric current) and phase voltage (electric current) conversion, 3/2 coordinate transform
Two subsystems model is obtained, state, design disturbance observer (D is then reconfiguredO) disturbance is estimated, using obtaining
Estimate and construction virtual synchronous design state, draw three-phase reference sine wave signal, then modulated by SPWM and produce
Pwm signal controls turning on and off for inverter switching device pipe.It comprises the following steps：
Step 1, by the voltage (electric current) after filtering by 3/2 coordinate transform, draws vα、vβAnd iα、iβ.What is exported has
Work(power PeAnd reactive power QeIt is calculated by instantaneous power theory, i.e.,：
Wherein vαAnd vβIt is the expression formula of the fundamental wave under α β coordinate systems of the voltage after inverter filtering, iαAnd iβIt is inverse
Become expression formula of the filtered electric current of device under α β coordinate systems.
Step 2, as shown in Fig. 2 the active power and reactive power during grid-connected inverters to power network output are：
Wherein, VsIt is the voltage magnitude of inverter output, R1It is line equivalent impedance, X1It is line equivalent induction reactance, E is net
Side voltage magnitude, δ is the difference that net surveys voltage and inverter output voltage phase.Due in high-voltage fence, resistance value R1Than
Induction reactance value X1Small is more, therefore can be ignored, then above formula can be write as：
Due to the general very littles of phase angle δ, it is possible to take sin δ ≈ δ, cos δ ≈ 1.Above formula is substituted into, can be arranged
Arrive：
By above formula it is recognised that in ultra-high-tension power transmission line, active-power PsetMainly influenceed by phase angle δ, and
Reactive power QsetMainly receive voltage magnitude VsInfluence.Therefore, as shown in figure 3, we can obtain the relational expression of droop control
It is as follows：
In formula：fnIt is voltage on line side frequency rated value；kpIt is the sagging coefficient of active power；PnIt is active power rated value；Vn
It is voltage on line side amplitude rated value；kQIt is the sagging coefficient of reactive power；QnIt is reactive power rated value.
Droop control and VSG algorithms are combined, the output of its active ring as inverter modulating wave frequency and phase,
The output of idle ring is as the amplitude of inverter as shown in figure 3, Mathematical Modeling is
Pset、QsetFor active and reactive power gives；Dp、DqIt is active-frequency and the sagging coefficient of idle-voltage；Δ ω is
Angular rate is poor, Δ ω=ωn-ω；ωn, ω be specified angular rate and actual angular rate；ΔuFor output voltage is poor, Δu
=un-uo；un、uoIt is rated voltage virtual value and output voltage virtual value；J is rotary inertia；K is inertia coeffeicent；
Step 3, the mathematic(al) representation of combining inverter is：
Can be obtained according to equation group：
Therefore voltage on line side V (s) and inverter output voltage V can be releasediTransmission function G (s) between (s)：
When bipolar SPWM is modulated, ViV can be expressed asi=E (2s-1), wherein S are switch function.Work as S1During conducting, S
=1；Work as S2During conducting, S=0.Clearly as the presence of switch function S, makes ViDiscontinuously.Ask it switch periods average, obtain
Arrive<Vi>Ts=E (2<s>Ts- 1), wherein<Vi>TsRepresent ViSwitch periods average value.And the switch periods average value of S is<s>Ts
=D (t).Wherein D (t) is dutycycle.D=(1+vm/Vtri)/2, wherein vmReference sine wave signal；VtriIt is triangular carrier peak
Value.According to above-mentioned formula, draw<Vi>Ts=Evm/Vtri,
Therefore, it is from the transmission function that modulator is input into inverter bridge output：
Kpwm=Vi (s)/Vm(s)=E/Vtri
The final modulator that can obtain is input into the transmission function of inverter output：
Gn(s)=V (s)/Vi(s)=E/Vtri(LCs2+Ls/R+1)
Step 4, block diagram as shown in Figure 4 builds the schematic diagram of disturbance observer.In order to simplify circuit, computing is reduced
Quantity, inverse by nominal model is in series with second-order low-pass filter, on the other hand, by same second-order low-pass filter,
Its input is the output e of droop control modulem.Then the two second-order low-pass filter output signals are subtracted each other, is disturbed
Estimate signal
After disturbance estimation signal is obtained, then by a subtraction circuit, by droop control algoritic module output voltage em
With disturbance estimation signalSubtract each other, the control signal after being compensated.
Step 5, control signal is compared with the triangular carrier voltage signal in PWM controller, produces SPWM signals
Turning on and off for control inverter switching device pipe, completes the course of work of whole closed-loop system, realizes the inverter of more high-quality simultaneously
Network control system.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all it is of the invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (6)
1. a kind of virtual grid-connected synchronous inverter control method based on disturbance observation, it is characterised in that comprise the following steps：
S1：From the three-phase circuit Real-time Collection three-phase voltage and electric current that are connected to three-phase inverter；
S2：By the three-phase voltage and electric current carry out coordinate 3/2 conversion, lead to overpowering computing formula draw active power and
Reactive power；
S3：Three-phase modulations ripple signal is drawn by VSG control algolithms from the active power and reactive power；
S4：By the three-phase voltage and Current calculation interference compensation amount；
S5：The three-phase modulations signal subtracts the control signal after the interference compensation amount is compensated；
S6：Control signal after the compensation and triangular carrier are compared, produce SPWM ripples to control the three-phase inverter
Working condition.
2. control method according to claim 1, it is characterised in that the computing formula of the power described in S2 is
Wherein, vαAnd vβIt is the voltage expression under α β coordinate systems after inverter filtering, iαAnd iβFor after filtering in α β coordinate systems
Under current expression.
3. control method according to claim 1, it is characterised in that VSG control algolithms described in S3 will simulate synchronous hair
Motor characteristic, its its math equation is
Pset、QsetFor active and reactive power gives；Dp、DqIt is active-frequency and the sagging coefficient of idle-voltage；Δ ω is electric angle
Speed difference, Δ ω=ωn-ω；ωn, ω be specified angular rate and actual angular rate；ΔuFor output voltage is poor, Δu=un-
uo；un、uoIt is rated voltage virtual value and output voltage virtual value；J is rotary inertia；K is inertia coeffeicent.
4. the control method according to any one of claim 1-3, it is characterised in that the interference compensation amount is by by Gd-1S the output signal summation of the output signal and Q (s) of () * Q (s) is obtained, Gd (s)=Gn(s)=Kpwm/LCs2+ Ls/R+1, Q
(s)=1/ (Ts+1)2, T=10-5, wherein KpwmIt is PWM gains, L is filter inductance, and C is filter capacitor, and R is load resistance, T
It is time constant.
5. a kind of virtual grid-connected synchronous inverter control system based on disturbance observation according to claim 1, its feature
It is, including acquisition module, power computation module, VSG control algolithms module, disturbance observer module, PWM module；
The acquisition module gathers three-phase voltage and electric current, and the three-phase voltage and electric current are passed into power computation module；
The power computation module is that three-phase voltage and electric current are carried out 3/2 conversion of coordinate, leads to overpowering computing formula and obtains
Go out active power and reactive power；
The VSG control algolithms module draws three-phase modulations ripple from the active power and reactive power by VSG control algolithms
Signal；
The three-phase modulations signal is subtracted the letter of the control after the interference compensation amount is compensated by the disturbance observer module
Number；
Be compared for control signal after the compensation and triangular carrier by the PWM module, produces SPWM ripples control institute
State the working condition of three-phase inverter.
6. the virtual grid-connected synchronous inverter control system based on disturbance observation according to claim 5, it is characterised in that
The disturbance observer module is by second-order low-pass filter module, second-order low-pass filter link and second differentiator serial module structure
Constituted with comparison module.
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| CN107887928A (en) * | 2017-11-27 | 2018-04-06 | 广州智光电气股份有限公司 | The control method and device of a kind of energy-storage system |
| CN108429501A (en) * | 2018-01-23 | 2018-08-21 | 江苏大学 | A kind of observation procedure of PMSM with Load Disturbance |
| CN109193707A (en) * | 2018-08-17 | 2019-01-11 | 江苏大学 | Negative sequence voltage compensation double loop control and system based on virtual synchronous generator |
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| CN110635707A (en) * | 2019-09-18 | 2019-12-31 | 华中科技大学 | Three-phase LCL inverter control method and device based on harmonic interference observer |
| CN111725799A (en) * | 2019-03-18 | 2020-09-29 | 中国电力科学研究院有限公司 | Impedance calculation method and system based on coordinate transformation |
| CN111987952A (en) * | 2020-09-06 | 2020-11-24 | 西北工业大学 | Voltage stability control method of aviation three-stage variable-frequency alternating-current power generation system based on disturbance observer |
| JP2021056109A (en) * | 2019-09-30 | 2021-04-08 | 大崎電気工業株式会社 | Computer program for discriminating wiring connection state of electronic watthour meter |
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| CN109193707A (en) * | 2018-08-17 | 2019-01-11 | 江苏大学 | Negative sequence voltage compensation double loop control and system based on virtual synchronous generator |
| CN111725799B (en) * | 2019-03-18 | 2023-11-03 | 中国电力科学研究院有限公司 | Impedance calculation method and system based on coordinate transformation |
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| CN110176780A (en) * | 2019-04-15 | 2019-08-27 | 江苏大学 | A kind of low voltage ride through control method based on the compensation virtual self-induction of armature winding |
| CN110176780B (en) * | 2019-04-15 | 2022-12-16 | 江苏大学 | Low-voltage ride through control method based on virtual self-inductance of compensation armature winding |
| CN110594093A (en) * | 2019-08-29 | 2019-12-20 | 湖北工业大学 | Double-fed fan inertia control method based on second-order frequency differential of power system |
| CN110635707B (en) * | 2019-09-18 | 2020-10-30 | 华中科技大学 | Three-phase LCL inverter control method and device based on harmonic interference observer |
| CN110635707A (en) * | 2019-09-18 | 2019-12-31 | 华中科技大学 | Three-phase LCL inverter control method and device based on harmonic interference observer |
| JP2021056109A (en) * | 2019-09-30 | 2021-04-08 | 大崎電気工業株式会社 | Computer program for discriminating wiring connection state of electronic watthour meter |
| CN111987952B (en) * | 2020-09-06 | 2021-11-26 | 西北工业大学 | Voltage stability control method of aviation three-stage variable-frequency alternating-current power generation system based on disturbance observer |
| CN111987952A (en) * | 2020-09-06 | 2020-11-24 | 西北工业大学 | Voltage stability control method of aviation three-stage variable-frequency alternating-current power generation system based on disturbance observer |
| CN113949076A (en) * | 2021-10-19 | 2022-01-18 | 湖南工业大学 | Active oscillation suppression method of grid-connected VSG |
| CN113949076B (en) * | 2021-10-19 | 2023-07-21 | 湖南工业大学 | Active oscillation suppression method for grid-connected VSG |
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