CN107196318A - A kind of electric automobile based on V2G technologies participates in power grid frequency modulation control method - Google Patents
A kind of electric automobile based on V2G technologies participates in power grid frequency modulation control method Download PDFInfo
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- CN107196318A CN107196318A CN201710248040.1A CN201710248040A CN107196318A CN 107196318 A CN107196318 A CN 107196318A CN 201710248040 A CN201710248040 A CN 201710248040A CN 107196318 A CN107196318 A CN 107196318A
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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
- H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L55/00—Arrangements for supplying energy stored within a vehicle to a power network, i.e. vehicle-to-grid [V2G] arrangements
-
- 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
- H02J3/28—Arrangements for balancing of the load in a network by storage of energy
- H02J3/32—Arrangements for balancing of the load in a network by storage of energy using batteries with converting means
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- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Power grid frequency modulation control method is participated in present invention is disclosed a kind of electric automobile based on V2G technologies, the charge-discharge circuit used is 2 stage converter circuit, include PWM rectification circuits and supporting LC wave filters and Buck Boost translation circuits, two circuits are attached by dc-link capacitance, line voltage rectification is 700V DC voltages by the PWM rectification circuits, and AC filters out harmonic wave by LC wave filters, it is connected by net side inductance with power network；700V DC voltages are converted into 60V DC voltages by the Buck Boost translation circuits, and are directly connected with electric automobile；Methods described uses AC/DC control modules and DC/DC control modules, simultaneously by frequency modulation control Module-embedding into DC/DC control modules, the charge-discharge electric power reference value of electrokinetic cell is provided by frequency modulation control module, responded by current transformer realize mains frequency once, Secondary Control.
Description
Technical field
The invention belongs to electric vehicle engineering field, and power system stability operation and control, and in particular to Yi Zhongkao
Consider mains frequency operation stability and power electronic devices inertia missing problem based on V2G (Vehicle to Grid) technology
Electric automobile participate in power grid frequency modulation control method.
Background technology
Global energy crisis and environmental pollution has promoted the development of countries in the world electric automobile industry.Electric automobile number
Amount constantly increases, and is that the construction and development of power system bring huge challenge and opportunity.On the one hand substantial amounts of electric automobile conduct
New load access power network concentrates charging, if do not managed and guided, can cause the increase of power network peak of power consumption, network load
It is overweight, peak load regulation network difficulty is increased, is that Electric Power Network Planning and construction bring immense pressure.On the other hand, current power system is energetically
Develop generation of electricity by new energy, it has strong intermittence and randomness, and generated energy is more serious by natural environment influence.Electronic vapour
Car can realize the energetic interaction between power network as system reserve capacity as mobile energy storage device based on V2G technologies, can
To provide certain assistant service for power network, promote new energy to dissolve and strengthening system frequency stabilization, realize that car net is merged
(Grid Integrated Vehicle, GIV).
With the regenerative resource based on wind-powered electricity generation, photovoltaic and the development of electric automobile and use, power electronic equipment
Using gradually increasing, spinning reserve capacity and the relative reduction of rotary inertia, certain shadow is caused to grid stability in power network
Ring.In order to successfully manage this problem, it is necessary to specific electric automobile charge and discharge control strategy is changed based on V2G technologies
Enter, inertia, frequency support are provided for power network while user's charge requirement is met.There is scholar to charging electric vehicle control at present
Strategy processed is improved, and virtual synchronous machine (Virtual synchronous machine, VSM) technology is used for into Bidirectional variable-flow
Device is controlled so that electric automobile have with synchronous motor identical once frequency modulation external characteristics, it is autonomous to participate in mains frequency and electricity
Pressure regulation, while having Inertia Characteristics specific to synchronous motor, overcomes extensive electric automobile access power system to be brought
Inertia the problems such as lack.But most of control strategy simply regards electric-powered battery as a simple load at present, and
The actual charge and discharge process of electrokinetic cell and its service life problem are not accounted for；In addition do not account for adding frequency modulation frequency modulation work(
Can, it is impossible to realize the non differential regulation of frequency.Also a small amount of scholar proposes that the electric automobile based on V2G technologies participates in electric grid secondary and adjusted
The control strategy of frequency, but the realization of its frequency modulation is needed by means of communication system, and the participation of intermediate agent is needed, increase
The length of information linking and the complexity realized, to a certain extent cause information exchange delay and the increase of cost.Cause
It is contemplated that this is based on a kind of effective electric automobile charge/discharge control method of V2G technological development, and realization meets user's charging
On the basis of demand for power network provide frequency, inertia, voltage support target, it is real in the case of without communication and intermediate agent
Existing mains frequency non differential regulation, will largely ensure power network safety operation.
The content of the invention
It is contemplated that based on a kind of effective electric automobile charge/discharge control method of V2G technological development, meeting user
On the basis of charge requirement for power network provide frequency, inertia, voltage support target, without communication and intermediate agent situation
Under realize mains frequency non differential regulation, ensure power network safety operation.
The technical problems to be solved by the invention are, are largely networked for electric automobile and extensive power electronics device
The problem of part application causes power system inertia missing, frequency is unstable, calculates with reference to advanced virtual synchronous machine control at this stage
Method, realizes that electric automobile participates in the function of power grid frequency modulation, including primary frequency modulation and without frequency modulation frequency modulation under signal intelligence.
In order to solve the above problems, the present invention proposes a kind of application virtual synchronous machine technology and electronic with V2G functions
The two-way charge/discharge control method of automobile, with primary frequency modulation and without frequency modulation frequency modulation function under signal intelligence.Above-mentioned control method
The charge-discharge circuit used includes PWM rectification circuits and supporting LC wave filters and Buck-Boost for 2 stage converter circuit
Translation circuit, two circuits are attached by dc-link capacitance.Wherein line voltage rectification is that 700V is straight by PWM rectification circuits
Voltage is flowed, and AC filters out harmonic wave by LC wave filters, is connected by net side inductance with power network；Buck-Boost conversion electricity
700V DC voltages are converted into 60V DC voltages by road, and are directly connected with electric automobile.
Corresponding with Bidirectional charging-discharging owner's circuit, this control method can be divided into two big modules：AC/DC control modules and
DC/DC control modules, the AC/DC control modules are responsible for control DC bus-bar voltage and maintain 700V steady state values, and introduce void
Intend inertia, damping, accurate response is made to DC/DC power conversions；The DC/DC control modules are entered to electric automobile power battery
Row constant pressure, constant current or invariable power charge and discharge control, its charge and discharge pattern are flexibly switched according to battery status.It will adjust simultaneously
Frequency control module is embedded into DC/DC control modules, and the charge-discharge electric power for providing electrokinetic cell by frequency modulation control module is referred to
Value, responded by current transformer realize mains frequency once, Secondary Control.
The AC/DC control modules use virtual synchronous machine control technology, and it includes three submodules：Inertia damping mould
Block, power computation module, idle-voltage control module.
The inertia damping module is according to the synchronous motor equation of motionIt is designed, J is void
Intend inertia, Te is electromagnetic torque, and Tm is machine torque, and Kd is damped coefficient；By electromagnetic torque and machine torque and damping torque
Do and compare with inertia constant after making the difference, and pass through integral element, the virtual angular velocity omega of virtual synchronous machine can be obtained, will be virtual
Angular speed is integrated the virtual phase θ for obtaining virtual synchronous machine AC voltage.Machine torque is adjusted by DC bus-bar voltage PI
Save device output：Wherein KP and KI are respectively the ratio and integral coefficient of PI controllers, Vdc*
For the voltage reference value (700V) of dc bus, Vdc is the actual value of DC bus-bar voltage, passes through DC bus-bar voltage control ring
The response to rear class DC/DC power demands is realized, value and power reference is provided for the control of virtual synchronous machine.
The power computation module main function is to calculate electromagnetic torque, the reactive power that synchronous converter device AC is produced
And AC exports three-phase voltage, calculation formula is as follows：
E=Mfifωsinθ
Te=Mfif<i,sinθ>
Q=-Mfifω<i,cosθ>
Wherein：<·,·>Represent dot-product operation, e=[ea, eb, ec]TFor the electromechanical kinetic potential of virtual synchronous, MfFor virtual synchronous
Mutual inductance between machine stator and rotor, ifFor virtual exciting current, θ is virtual synchronous machine generator rotor angle, i=[ia, ib, ic]TFor virtual synchronous
Machine input current, Q is the idle output of virtual synchronous machine.
Idle-the voltage control module uses improved idle droop control, when AC voltage magnitude is referred to it
When there is error in value, i.e. Δ V=Vn- V ≠ 0, changes the idle amount that virtual synchronous machine sends/absorbed, and calculatesVnFor reference voltage amplitude, V is virtual voltage amplitude, and Δ Q is idle work variable quantity, Kq, Kqi be than
Example, integral coefficient.By idle reference value QsetQ's and made the difference with Δ without work value with reality and by integral element that gain is 1/K
Calculating obtains the virtual excitation Mfif of virtual synchronous machine, adjusts AC voltage.
The DC/DC control modules include two submodules：Current transformer control submodule and frequency modulation control submodule.
The current transformer control submodule has three kinds of control modes：Constant-voltage charge, constant-current charge and invariable power charging, when
When charging normal, three kinds of control modes are flexibly switched according to the battery status of electric automobile：If battery is in low battery
State is then charged using invariable power causes battery electric quantity rapid increase, and constant-current charge is switched to when charging current reaches designated value
Pattern, now cell voltage constantly rise, switch to constant-voltage charge when cell voltage reaches designated value.In addition, in the present invention
The control of DC/DC current transformers is more flexible, can also be using Dynamic matrix control sides such as negative pulse controls when in normal charging condition
Method.When electric automobile allows to participate in power grid frequency modulation, DC/DC parts use power limitation control mode, effectively track frequency modulation control
The value and power reference that submodule is provided.
The frequency modulation control submodule is divided into primary frequency modulation and frequency modulation frequency modulation two parts.
The primary frequency modulation uses droop control strategy, and charge power is reduced when mains frequency declines or electric discharge work(is improved
Rate, reduces discharge power when mains frequency rises or improves charge power.Add in droop control ring after difference on the frequency calculating
Enter dead band link, when mains frequency deviation be more than dead band value, i.e., | fn-f|>fdeathWhen, make Δ f=f-fn, Δ P1=KpfΔ f,
Wherein fnFor frequency rated value, f is frequency actual value, and Δ f is difference on the frequency, fdeathDead band value, K are responded for primary frequency modulationpfFor under
Hang down coefficient, Δ P1The power change values exported for primary frequency modulation link, on the occasion of representing charge power increase, negative value represents the work(that charges
Rate is reduced.Pass through Δ P1Change the charge-discharge electric power of electric automobile so that mains frequency is stabilized to certain value.When frequency fluctuation model
When enclosing in the range of very little, primary frequency modulation controlling unit does not play a role, and prevents battery charge and discharge due to small frequency disturbance
Frequently change causes the problem of battery shortens to electricity condition.
The main mains frequency deviation reached according to primary frequency modulation after stabilization of frequency modulation frequency modulation control, to electric automobile
" power instruction correction " is calculated, the charge-discharge electric power reference value for a successive step electric automobile of going forward side by side.Due to frequency modulation frequency modulation
It is to be adjusted on the basis of primary frequency modulation, therefore frequency modulation frequency modulation is longer compared to the primary frequency modulation cycle in the present invention.
According to the active power comprising electric automobile-frequency operation curve and network re-active power-frequency operation curve,
When causing frequency to be widely varied and exceed because grid generation power bust or impact, intermittent load increase/dropped suddenly
During normal frequency allowable fluctuation range (0.2Hz), that is, work as | fn-f|>0.2Hz, calculates electric automobile " power reference correction " Δ
P2, change the charge-discharge electric power reference value of electric automobile so that active-frequency operation curve of electric automobile is translated, will
Mains frequency is controlled in the error range of permission, and mains frequency is stable in f ', f ' selection principle after frequency modulation frequency modulation
To ensure that electrokinetic cell is limited after during primary frequency modulation without departing from power-adjustable, it is desirable to which frequency characteristic moves bar
Part is：When that is operating in minimum frequency, electric automobile power just reaches electric discharge maximum.Now corresponding load is transported
The abscissa of row curve and generator operation intersections of complex curve is f ' maximum boundary value, note herein frequency be f ' max, f ' selection
It should meet in interval [fmin, fmax] with [fmin, f ' max].Work as f ' max<During fn, f '=f ' max are selected, work as f ' max>
During fn, f '=fn can be selected.Therefore selection f ' principle is：
The present invention regards electric automobile as special load, it is considered to which the traditional load of other in system and electric automobile are active
Power versus frequency operation characteristic, electric automobile power instruction correction is：
As f' ∈ [fmin,fn-fdeath] when,
ΔP2=(Kpf+KG+KL)(f-f')
As f' ∈ [fn-fdeath,fn+fdeath] when,
ΔP2=KG(f-f')+(Kpf+KL)(f-fn+fdeath)
+KL(fn-fdeath-f')
As f' ∈ [fn+fdeath,fmax] when,
ΔP2=KG(f-f')+2KLfdeath
+(KL+Kpf)(f-f'+2fdeath)
F ' death are that primary frequency modulation responds dead band value in formula, and KG is the power adjusting rate of generator, and KL is routine in system
Load power regulation rate, Kpf is the sagging coefficient of electric automobile.In order to which frequency is accurately controlled in into f', the present invention is with Δ P2' conduct
ΔP2Compensation rate, carried out two-stage regulation, Δ P equivalent to frequency modulation frequency modulation2' in Δ P2Carried out on the basis of regulation further
Fine setting.F' is made the difference with actual measurement frequency, " correction-compensation amount " Δ P is obtained by integral controller2', therefore, after adjustment
Charge-discharge electric power is instructed：P'set=Pset+ΔP2+ΔP2'。
Because frequency modulation frequency modulation is that further charge and discharge power is adjusted on the basis of primary frequency modulation, frequency modulation frequency modulation
It is longer compared to the primary frequency modulation cycle, power instruction correction is repeatedly calculated in each frequency modulation frequency modulation cycle, finally
Average as electric automobile power reference correction.
Above-mentioned frequency modulation frequency modulation link is changed by changing batteries of electric automobile charge-discharge electric power come responsive electricity grid frequency, and will
FREQUENCY CONTROL is in error allowed band, and frequency modulation is considered above and below electric automobile charge-discharge electric power while changing charge-discharge electric power
Limit, discharge and recharge is carried out when charge-discharge electric power exceeds electric automobile zone of reasonableness according to bound power.
The effect of the present invention, can promote following extensive electric automobile to be used as mobile energy storage device guarantee by the present invention
Mains frequency stability.Inertial supports, frequency support and power support are provided for power network, while also contemplating electrokinetic cell
The problems such as service life, the charge and discharge control of electric automobile is realized based on V2G technologies.Prime AC/DC control strategies are using virtual
Synchronous machine control strategy, introduces virtual inertia and damping link, overcome that power electronic devices response is too fast, and inertia missing is asked
Topic, inertia support is provided for power network；Idle droop control is introduced, reactive power support is provided for power network.In rear class DC/DC control methods
Both the service life problem of electrokinetic cell had been considered, charge and discharge mode had been selected according to the running status of electrokinetic cell, together
When introduce primary frequency modulation and frequency modulation frequency modulation control, the charging and discharging state of electric automobile is adjusted according to the frequency of power network, will
The FREQUENCY CONTROL of power network can also realize the indifference control of frequency in the error range of permission.
Brief description of the drawings
The hardware power circuit diagram that Fig. 1 uses for the present invention.
The AC/DC control module structure charts that Fig. 2 uses for the present invention.
The DC/DC control module structure charts that Fig. 3 uses for the present invention.
Fig. 4 is active power-frequency performance curve figure of electric automobile.
Fig. 5 is generated power-frequency operation curve figure.
Fig. 6 is that power reference correction compensates ring figure.
Fig. 7 is based on MATLAB/SIMULINK emulation platform building figures.
Fig. 8 is mains frequency and system and flow of power curve map in interconnection in analogue system.
Fig. 9 is electrokinetic cell charge-discharge electric power curve map.
Figure 10 is electrokinetic cell SOC states and charging stream voltage curve.
Embodiment
Below in conjunction with the accompanying drawings, the present invention is described in more detail.
The present invention largely networks for electric automobile and extensive power electronic devices application causes inertia in power network to lack
Lose, the problem of running frequency is unstable participates in mains frequency there is provided a kind of bidirectional electric automobile discharge and recharge based on V2G technologies and adjusted
The control method of section, inertia, frequency support can be provided for power network, realizes that no frequency-deviation is adjusted.
The hardware power circuit that the present invention is used is as shown in figure 1, two stage power translation circuit includes prime PWM rectification circuits
And supporting LC wave filters and Buck-Boost DC transfer circuits, two circuits are attached by dc-link capacitance.Wherein
Line voltage rectification is 700V DC voltages by PWM rectification circuits, and AC filters out harmonic wave by LC wave filters, by net
Side inductance is connected with power network；700V DC voltages are converted into 60V DC voltages by the Buck-Boost translation circuits, and directly
It is connected with electric automobile.
The invention mainly comprises two modules：AC/DC control modules as shown in Figure 2 and DC/DC controls as shown in Figure 3
Module, wherein DC/DC control modules can be divided into two large divisions again：Frequency modulation control part and current transformer charge mode control unit
Point.Frequency modulation control is divided into primary frequency modulation and frequency modulation frequency modulation, and primary frequency modulation is realized by droop control, it is contemplated that electrokinetic cell
It is only sagging when difference on the frequency exceedes dead band setting value by a dead band link after service life, calculating difference on the frequency
Control can just be played regulatory role, and Fig. 4 is active power-frequency performance curve of electric automobile.Fig. 5 is shown electronic vapour
Car is as the system loading and generated power-frequency operation curve of specific load, and frequency modulation frequency modulation calculates work(according to the curve
The charge power reference value that rate changes electric automobile with reference to correction is realized.AC/DC control modules control DC bus-bar voltage
700V steady state values are maintained, by the control of AC voltage in reference value, and virtual inertia are introduced into control, to work(at DC/DC
Rate conversion is responded；DC/DC control sections carry out constant pressure, constant current or power limitation control to electric automobile power battery, and it fills
Power mode is switched over according to battery status.
The AC/DC control modules use virtual synchronous machine control technology, and it includes three submodules：Inertia, damping
Module, power computation module, idle-voltage control module.
Above-mentioned inertia damping module is according to the synchronous motor equation of motionIt is designed, J is void
Intend inertia, Te is electromagnetic torque, and Tm is machine torque, and Kd is damped coefficient；By electromagnetic torque and machine torque and damping torque
Do and compare with inertia constant after making the difference, and pass through integral element, the virtual angular velocity omega of virtual synchronous machine can be obtained, will be virtual
Angular speed is integrated the virtual phase θ for obtaining virtual synchronous machine AC voltage.Machine torque is adjusted by DC bus-bar voltage PI
Save device output：Wherein KP and KI are respectively the ratio and integral coefficient of PI controllers, Vdc*
For the voltage reference value (700V) of dc bus, Vdc is the actual value of DC bus-bar voltage, passes through DC bus-bar voltage control ring
The response to rear class DC/DC power demands is realized, value and power reference is provided for the control of virtual synchronous machine.
Power computation module main function be calculate electromagnetic torque, reactive power that synchronous converter device AC produces and
AC exports three-phase voltage, and calculation formula is as follows：
E=Mfifωsinθ
Te=Mfif<i,sinθ>
Q=-Mfifω<i,cosθ>
Wherein：<·,·>Represent dot-product operation, e=[ea, eb, ec]TFor the electromechanical kinetic potential of virtual synchronous, MfFor virtual synchronous
Mutual inductance between machine stator and rotor, ifFor virtual exciting current, θ is virtual synchronous machine generator rotor angle, i=[ia, ib, ic]TFor virtual synchronous
Machine input current, Q is the idle output of virtual synchronous machine.
Idle-voltage control module mould uses improved idle droop control, when AC voltage magnitude and its reference value
When there is error, i.e. Δ V=Vn- V ≠ 0, changes the idle amount that virtual synchronous machine sends/absorbed, and calculatesVnFor reference voltage amplitude, V is virtual voltage amplitude, and Δ Q is idle work variable quantity, Kq, Kqi ratio
Example, integral coefficient.By idle reference value QsetQ's and make the difference with reality and calculated by integral element without work value and obtain void with Δ
Intend the virtual excitation Mfif of synchronous machine, adjust AC voltage.
DC/DC control modules include two submodules：Current transformer control submodule and frequency modulation control submodule.
Current transformer word control module has three kinds of control modes：Constant pressure, constant current and power limitation control, when charging normal,
Three kinds of control modes are flexibly switched according to the battery status of electric automobile：Using perseverance if battery is in low battery state
Power, which charges, causes battery electric quantity rapid increase, and constant current charging mode is switched to when charging current reaches designated value, now electric
Cell voltage constantly rises, and constant-voltage charge is switched to when cell voltage reaches designated value.In addition, DC/DC current transformers in the present invention
Control is more flexible, can also be using advanced control methods such as negative pulse controls when in normal charging condition.When electronic vapour
When car allows to participate in power grid frequency modulation, DC/DC parts use power limitation control mode, and effectively tracking frequency modulation control submodule is provided
Value and power reference.
Frequency modulation control module is divided into primary frequency modulation and frequency modulation frequency modulation, and primary frequency modulation uses droop control strategy, when power network frequency
Charge power is reduced when rate declines or discharge power is improved, reduces discharge power when mains frequency rises or improves charging work(
Rate.In droop control ring difference on the frequency calculating after add dead band link, when mains frequency deviation be more than dead band value, i.e., | fn-f|
>fdeathWhen, make Δ f=f-fn, Δ P1=KpfΔ f, wherein fnFor frequency rated value, f is frequency actual value, and Δ f is difference on the frequency,
fdeathDead band value, K are responded for primary frequency modulationpfFor sagging coefficient, Δ P1The power change values exported for primary frequency modulation link, on the occasion of
Charge power increase is represented, negative value represents charge power reduction.Pass through Δ P1Change the charge-discharge electric power of electric automobile so that electricity
Net frequency stabilization is to certain value.When frequency fluctuation scope is in the range of very little, primary frequency modulation controlling unit does not play work
With, prevent battery due to small frequency disturb and charging and discharging state frequently change cause the problem of battery shortens.
The main mains frequency reached according to primary frequency modulation after stabilization of frequency modulation frequency modulation control changes, to electric automobile " work(
Rate refers to correction " calculated, and change the charge-discharge electric power reference value of electric automobile.Because frequency modulation frequency modulation is once to adjust
It is adjusted on the basis of frequency, frequency modulation frequency modulation is longer compared to the primary frequency modulation cycle, the setting frequency modulation frequency modulation cycle is in the present invention
20 times of primary frequency modulation controlling cycle, carry out 20 calculating in each controlling cycle to frequency modulation frequency modulation power reference correction,
Finally average as electric automobile power reference correction.
Electric automobile active power-frequency operation curve is as shown in figure 4, special negative using electric automobile as one kind herein
Carry, when its power to be represented when bearing in electric discharge working condition, wherein when frequency is in dead band interval [fn-fdeath, fn+fdeath]
When charge-discharge electric power do not change, and limited in itself by battery, its charge-discharge electric power has limitation, when frequency is beyond above-mentioned
Dead band shows droop characteristic when interval.When there are conventional load in system, load active power-frequency operation of system is bent
Line is as shown in figure 5, by rated frequency fnExtend to both sides, it is small that the slope of curve first becomes big back, be due to dead band it is interval in it is electronic
Automobile does not show droop characteristic, and slope diminishes when electric automobile reaches power limit.
According to the active power comprising electric automobile-frequency operation curve and network re-active power-frequency operation curve,
When causing frequency to be widely varied and exceed because grid generation power bust or impact, intermittent load increase/dropped suddenly
During normal frequency allowable fluctuation range (0.2Hz), that is, work as | fn-f|>0.2Hz, calculates electric automobile " power reference correction " Δ
P2, change the charge-discharge electric power reference value of electric automobile so that active-frequency operation curve of electric automobile is translated, will
Mains frequency is controlled in the error range of permission, and mains frequency is stable in f ', f ' selection principle after frequency modulation frequency modulation
To ensure that electrokinetic cell is limited after during primary frequency modulation without departing from power-adjustable, it is desirable to which frequency characteristic moves bar
Part is：When that is operating in minimum frequency, electric automobile power just reaches electric discharge maximum, as shown in Figure 5.It is now right
The maximum boundary value that the abscissa of the load operation curve answered and generator operation intersections of complex curve is f ', frequency is f ' to note herein
Max, f ' selection should meet in interval [fmin, fmax] with [fmin, f ' max].Work as f ' max<During fn, f '=f ' is selected
Max, works as f ' max>During fn, f '=fn can be selected.Therefore selection f ' principle is：
In Fig. 5, electric automobile original stable operates in A points and charged normal, a certain moment grid generation power bust, generates electricity
Operation curve drops to PG2 by PG1, and now the stable point of electric automobile will be moved from A points to B points, and now frequency error exceeds
Allow maximum magnitude, selection f' is used as final running frequency.Electric automobile set value of the power variable quantity is：
As f' ∈ [fmin,fn-fdeath] when,
ΔP2=(Kpf+KG+KL)(f-f')
As f' ∈ [fn-fdeath,fn+fdeath] when,
ΔP2=KG(f-f')+(Kpf+KL)(f-fn+fdeath)
+KL(fn-fdeath-f')
As f' ∈ [fn+fdeath,fmax] when,
ΔP2=KG(f-f')+2KLfdeath
+(KL+Kpf)(f-f'+2fdeath)
Wherein, KG is generator power adjustment factor.Power reference correction compensation ring is calculated in Fig. 6 simultaneously
" correction-compensation amount " Δ P2', the new charge-discharge electric power reference value of electric automobile is：P'set=Pset+ΔP2+ΔP2' so that system
Frequency can accurate stable in f'.New charge-discharge electric power reference value is judged whether in the normal range (NR) that electric automobile is run,
New reference value is compared with charge-discharge electric power bound, and is adjusted according to comparable situation.
Based on the system model shown in MATLAB/SIMULINK emulation platform buildings Fig. 7, using type control strategy of the present invention
Control Bidirectional charging-discharging machine, frequency modulation frequency modulation control be added without before 1s, set primary frequency modulation controlling unit dead band for ±
0.005Hz.Frequency modulation frequency modulation controlling unit, and frequency modulation frequency modulation control action are added when adding load 4,1s during 0.3s in system 1
Dead band value is set to ± 0.02Hz, and it is 15kW to set electrokinetic cell maximum charge power, and maximum discharge power is 10kW.Shown in Fig. 8
For mains frequency in analogue system and system and flow of power curve map in interconnection, Fig. 9 is electrokinetic cell charge-discharge electric power
Curve map (negative value represents charging, on the occasion of expression electric discharge), Figure 10 is electrokinetic cell SOC states and charging stream voltage curve
(electric current negative value represents to be in charged state).
The load of system 1 increase during 0.3s, generated output deficiency causes system frequency to decline, due to the control of Bidirectional charging-discharging machine
In there is primary frequency modulation controlling unit, system frequency is slowly stabilized to certain value, during this power battery charging power reduce,
Charging voltage and current has declined, and SOC growth rate slightly slow down, and last charge power is stable in 4.3kW or so.Add during 1s
Enter frequency modulation frequency modulation controlling unit, the frequency modulation frequency modulation cycle is 20 times of primary frequency modulation cycle, it is 49.98Hz to take f', due to system this
When frequency be 49.96Hz, exceeded frequency modulation frequency modulation control action dead band setting value ± 0.02Hz, frequency modulation frequency modulation control produces work
With, system frequency slowly rises, and stably in ± 0.02Hz error ranges, power battery charging power is reduced during this,
Charging voltage and current has declined, and growth slows down apparently by SOC, and last charge power is stable in 1.5kW or so.By above-mentioned
Emulation understands that the present invention effectively can participate in power system frequency-modulating process using electric automobile as power system spare capacity
In, and there is certain inertia in frequency change procedure, overcome power electronic devices and act too fast shortcoming, provided for power network
Inertia, frequency support.
Control method provided by the present invention considers electrokinetic cell service life, power network inertia missing various problems,
Frequency, inertia, voltage support are provided for power network while automobile user charge requirement is met, can in electric automobile
The non differential regulation of mains frequency is realized in the case of calling capacity enough.
Technical scheme is described in detail above.It is apparent that the present invention is not limited described is interior
Hold.Based on the embodiment in the present invention, those skilled in the art can also make a variety of changes, but any and sheet accordingly
Invention is equivalent or similar change belongs to the scope of protection of the invention.
Claims (5)
1. a kind of electric automobile based on V2G technologies participates in power grid frequency modulation control method, it is characterised in that the discharge and recharge electricity of use
Road is 2 stage converter circuit, includes PWM rectification circuits and supporting LC wave filters and Buck-Boost translation circuits, two circuits
It is attached by dc-link capacitance, line voltage rectification is 700V DC voltages by the PWM rectification circuits, and is exchanged
Side filters out harmonic wave by LC wave filters, is connected by net side inductance with power network；The Buck-Boost translation circuits are straight by 700V
Stream photovoltaic conversion is 60V DC voltages, and is directly connected with electric automobile；Methods described uses AC/DC control modules and DC/DC
Control module, while by frequency modulation control Module-embedding into DC/DC control modules, electrokinetic cell is provided by frequency modulation control module
Charge-discharge electric power reference value, responded by current transformer realize mains frequency once, Secondary Control；The AC/DC controls
Module is responsible for control DC bus-bar voltage and maintains 700V steady state values, and introduces virtual inertia, damping, to DC/DC power conversions
Make accurate response；The DC/DC control modules carry out constant pressure, constant current or invariable power charge and discharge to electric automobile power battery
Control, its charge and discharge pattern is flexibly switched according to battery status.
2. method according to claim 1, it is characterised in that the AC/DC control modules control skill using virtual synchronous machine
Art, it includes three submodules：That is, inertia damping module, power computation module, idle-voltage control module；
The inertia damping module is according to the synchronous motor equation of motionIt is designed, J is virtual used
Amount, Te is electromagnetic torque, and Tm is machine torque, and Kd is damped coefficient；Electromagnetic torque is made the difference with machine torque and damped coefficient
Do and compare with inertia constant afterwards, and pass through integral element, the virtual angular velocity omega of virtual synchronous machine can be obtained, by virtual angle speed
Degree is integrated the virtual phase θ for obtaining virtual synchronous machine AC voltage, and machine torque is by DC bus-bar voltage pi regulator
Output：Wherein, KP and KI are respectively the ratio and integral coefficient of PI controllers, and Vdc* is
The voltage reference value (700V) of dc bus, Vdc is the actual value of DC bus-bar voltage, real by DC bus-bar voltage control ring
Now to the response of rear class DC/DC power demands, value and power reference is provided for the control of virtual synchronous machine；
The effect of the power computation module is to calculate electromagnetic torque, reactive power and friendship that synchronous converter device AC is produced
Side output three-phase voltage is flowed, calculation formula is as follows：
E=Mfifωsinθ
Te=Mfif<i,sinθ>
Q=-Mfifω<i,cosθ>
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Wherein：<·,·>Represent dot-product operation, e=[ea, eb, ec]TFor the electromechanical kinetic potential of virtual synchronous, MfDetermine for virtual synchronous machine,
Mutual inductance between rotor, ifFor virtual exciting current, θ is virtual synchronous machine generator rotor angle, i=[ia, ib, ic]TIt is defeated for virtual synchronous machine
Enter electric current, Q is the idle output of virtual synchronous machine；
Idle-the voltage control module uses improved idle droop control, when AC voltage magnitude is joined with it
When examining value and there is error, i.e. Δ V=Vn- V ≠ 0, changes the idle amount that virtual synchronous machine sends/absorbed, and calculatesVnFor reference voltage amplitude, V is virtual voltage amplitude, and Δ Q is idle work variable quantity, Kq, Kqi be than
Example, integral coefficient, by idle reference value QsetQ's and made the difference with Δ without work value with reality and by integral element that gain is 1/K
Calculating obtains the virtual excitation Mfif of virtual synchronous machine, adjusts AC voltage.
3. method according to claim 1, it is characterised in that the DC/DC control modules include two submodules, i.e. become
Flow device control submodule and frequency modulation control submodule；
The current transformer control submodule has three kinds of control modes, i.e. constant-voltage charge, constant-current charge and invariable power charging, such as
Fruit battery, which is in low battery state and then charged using invariable power, causes battery electric quantity rapid increase, when charging current reaches designated value
When switch to constant current charging mode, now cell voltage constantly rises, and switches to constant pressure to fill when cell voltage reaches designated value
Electricity；
The frequency modulation control submodule is divided into primary frequency modulation and frequency modulation frequency modulation two parts, and the primary frequency modulation uses droop control,
Charge power is reduced when mains frequency declines or discharge power is improved, reduces discharge power or raising when mains frequency rises
Charge power；The frequency modulation frequency modulation is that the mains frequency deviation after stabilization is reached according to primary frequency modulation, to electric automobile " power
Instruction correction " is calculated, and the charge-discharge electric power for a successive step electric automobile of going forward side by side refers to correction.
4. method according to claim 3, it is characterised in that electric automobile " power instruction correction " the Δ P2For：
As f' ∈ [fmin,fn-fdeath] when,
ΔP2=(Kpf+KG+KL)(f-f')
As f' ∈ [fn-fdeath,fn+fdeath] when,
ΔP2=KG(f-f')+(Kpf+KL)(f-fn+fdeath)
+KL(fn-fdeath-f')
As f' ∈ [fn+fdeath,fmax] when,
ΔP2=KG(f-f')+2KLfdeath
+(KL+Kpf)(f-f'+2fdeath)
In formula, f' is mains frequency after frequency modulation frequency modulation, and f ' max are f ' maximum boundary value, and f ' min are f ' minimum border
Value, f ' death are that primary frequency modulation responds dead band value, and KG is the power adjusting rate of generator, and KL is conventional load power in system
Regulation rate, Kpf is the sagging coefficient of electric automobile；
Charge-discharge electric power after adjustment, which is instructed, is：P′set=Pset+ΔP2+ΔP2', in formula, Δ P2' it is Δ P2Compensation rate, be f'
Make the difference, obtained by integral controller with actual measurement frequency.
5. method according to claim 1, it is characterised in that respond electricity by changing batteries of electric automobile charge-discharge electric power
Net frequency changes, and by FREQUENCY CONTROL in error allowed band, frequency modulation considers electric automobile while changing charge-discharge electric power
Charge-discharge electric power bound, when charge-discharge electric power exceeds electric automobile zone of reasonableness, discharge and recharge is carried out according to bound power
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2
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