CN107196344A - Based on motor synchronizing virtual synchronous grid-connected inverters controllers of the SPF PLL with local load and method - Google Patents
Based on motor synchronizing virtual synchronous grid-connected inverters controllers of the SPF PLL with local load and method Download PDFInfo
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- CN107196344A CN107196344A CN201710418662.4A CN201710418662A CN107196344A CN 107196344 A CN107196344 A CN 107196344A CN 201710418662 A CN201710418662 A CN 201710418662A CN 107196344 A CN107196344 A CN 107196344A
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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
- H02J3/40—Synchronising a generator for connection to a network or to another generator
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
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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
- H02J3/388—Islanding, i.e. disconnection of local power supply from the network
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/0003—Details of control, feedback or regulation circuits
- H02M1/0012—Control circuits using digital or numerical techniques
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Abstract
The invention discloses based on motor synchronizing virtual synchronous grid-connected inverters controllers of the SPF PLL with local load and method, it is made up of inverter output voltage current information acquisition module, voltage on line side information acquisition module, virtual synchronous Inverter control module, off-grid grid-connected handover module, pwm driver；The problems such as solving the dash current that virtual synchronous inverter is produced in island mode and grid-connect mode handoff procedure, realizes seamless switching of the bringing onto load virtual synchronous inverter from island mode to grid-connect mode.
Description
Technical field
The invention belongs to microgrid inverter control technology field, be related to it is a kind of based on SPF-PLL with local load from
Synchronous virtual synchronous grid-connected inverters controller and its combination method.
Background technology
With the increasingly depleted and increasingly increased environmental pressure of traditional fossil energy, energy resource structure is just being experiencing from tradition
The adjustment transitional period made full use of based on the energy to regenerative resource.China is vast in territory, wind energy resources, ocean energy resource and
Bio-energy resource enriches, and this provides basic premise for the Energy restructuring of China.Itself scattered characteristic of new energy
It is set to be more suitable for powering to the load in the form of micro-capacitance sensor as distributed power source.
Generally, micro-capacitance sensor can be run with grid-connect mode or island mode.During in island mode, distributed electrical
(DG) powers for partial load in source.Micro-capacitance sensor is generally switched to island mode under the conditions of electric network fault, recovers after fault clearance
Grid-connect mode.If however, micro-capacitance sensor does not have presynchronization when reconnecting to power network by combining inverter, will produce huge
Big dash current, serious threat is caused to power network in itself.This constrains the further genralrlization of micro-capacitance sensor to a certain extent.
It is therefore proposed that a kind of micro-capacitance sensor control strategy is to ensure that the seamless switching between two kinds of mode of operations is extremely important.
At present, in micro-capacitance sensor mainly there be typical inverter control method：Droop control, PQ controls, VF are controlled and virtual
Synchronization Control etc..Wherein " virtual synchronous control " is a kind of inversion of the simulation synchronous generator characteristic proposed by professor Zhong Qingchang
Device control strategy.It causes the electronic power inverter without machinery inertial to possess the spy for being equal to synchronous generator inertia
Property, greatly improve the dynamic property of inverter so that inverter presses down while can be generated electricity as synchronous generator
High frequency ripple in power network processed.Accordingly, with respect to other control strategies, virtual synchronous inverter is more suitable in grid-connect mode and orphan
Flexible operation under the pattern of island.However, it is identical with other inverters, in order to realize the seamless switching of grid-connect mode, virtual synchronous
The frequency and phase of inverter output voltage are also required to and synchronized.
Influence of the current existing control method in switching transient process to power network and local load has been able to notable drop
It is low.However, all these methods not only need independent PLL (phaselocked loop) unit, and also need to other compensating controllers
And communication unit.Cause system regulation structure slightly complicated, and be typically all poorly suitable for virtual synchronous inverter.
At present, the presynchronization control strategy for possessing phase locked-loop unit is widely used.There are some scholars to propose same for voltage
The line integration methods of step and distributed generator islanding-grid-connect mode seamless switching strategy suitable for droop control, two kinds of sides
Influence of the method to power network and local load in switching transient process is all substantially reduced.However, these methods not only need independence
PLL unit, and also need to increase extra compensating controller and communication link, cause system regulation structure complex,
And all it is not directly adaptable to use virtual synchronous inverter.
There is scholar to propose the motor synchronizing inverter of another use virtual impedance and non-increasing phase-locked loop pll synchronization unit.
Seamless switching between island mode and grid-connect mode can be realized by the synchronizer.But, this new motor synchronizing
The concept of device is proposed based on the combining inverter without any local load, it is impossible to suitable for the micro-capacitance sensor with local load.
Therefore, simplifying on the premise of synchronous control system reduces cost, research one kind be generally applicable to bringing onto load with not
Load-carrying virtual synchronous inverter, realizes that synchronous grid-connected control strategy is significant.
The content of the invention
To achieve the above object, the present invention provides a kind of inverse based on motor synchronizing virtual synchronous of the SPF-PLL with local load
Become device net-connected controller and its combination method, solve virtual synchronous inverter in island mode and grid-connect mode handoff procedure
The problems such as dash current of generation, realize seamless switching of the bringing onto load virtual synchronous inverter from island mode to grid-connect mode.
The technical solution adopted in the present invention is, the motor synchronizing virtual synchronous inverter with local load based on SPF-PLL
Net-connected controller, by inverter output voltage current information acquisition module, voltage on line side information acquisition module, virtual synchronous inversion
Device control module, off-grid grid-connected handover module, pwm driver composition；
The inverter output voltage current information acquisition module, for gathering inverter output end voltage signal, inversion
Device output end current signal；
Voltage on line side information acquisition module, for gathering grid entry point voltage signal；Voltage on line side information acquisition module is gathered
Voltage signal and output inductor L at inverter outlet side filter capacitor CsOn current signal, and by voltage, current signal
The voltage and current signal input of virtual synchronous Inverter control module is sent to, while also sending voltage on line side signal to void
Intend the voltage signal inputs of synchronous inverter control module；
Off-grid grid-connected handover module, for inverter output current and the public electric wire net voltage-phase detected according to prime
Synchronous signal whether has been completed, the breaker CB2 for connecting virtual synchronous inverter output end and public electric wire net is judged
Whether need to be switched immediately to complete cutting-in control；
Pwm driver, provides for the electronic power switch device into inverter bridge and opens and cut-off signals；
Virtual synchronous Inverter control module, including virtual synchronous algorithm control unit and motor synchronizing control unit；It is described
Virtual synchronous algorithm control unit, possesses the characteristic of synchronous generator for realizing during invertor operation；The motor synchronizing control
Unit, the compensation rate for obtaining virtual synchronous inverter phase angle and frequency reference completes inverter output voltage and electricity
The synchronization of net voltage-phase.
Further, the motor synchronizing control unit, including phase autotracking control unit, PI control units；The phase
Autotracking control unit in position is used for the phase angle for locking line voltage；The PI control units are used to improve regulation performance.
Further, in the phase autotracking control unit, the line voltage under two-phase α β rest frames, such as following formula
(1)：
In formula, uα、uβRepresent α, the beta -axis component under two-phase rest frame；uga、ugb、ugcRepresent power network three-phase voltage；Eg
Voltage on line side amplitude after being converted for two-phase static coordinate；θgFor electric network voltage phase；
Control the phase angle θ produced as fixed phase angle using by virtual synchronous, changed by Park, obtain power network electricity
Press ugDq axis components, such as following formula (2)：
In formula, ugd、ugqRepresent the dq shaft voltage DC components under synchronous rotating frame；θ controls for virtual synchronous algorithm
The phase angle that unit is produced.
Further, the transmission function G of the PI control unitsPI(s) such as following formula (3)：
In formula, kpFor the proportion adjustment parameter of PI control units, kiFor integral constant, s represents complex variable, is to believe time domain
Number it is transformed into the variable of complex frequency-domain signal；
In view of when Δ θ is close to 0, sin (Δ θ) ≈ Δ θ, the open-loop transfer function of motor synchronizing control unit (13) is simple
Turn to following formula (4)：
In formula, Gopen(s) it is the open-loop transfer function after simplifying, τPI=kp/ki,ko=kiE*(Eg=E*)；τPIControlled for PI
The ratio of proportion adjustment parameter and integral constant, k in device processedoFor integral constant in PI controllers and the product of reference voltage, τPI、
koAll for convenience of simplified open-loop transfer function setting；E*For given grid voltage reference amplitude；τfControlled for virtual synchronous algorithm
The time constant of frequency control loop in unit；
To improve the stability and dynamic response performance of motor synchronizing control unit, middle frequency range h=τPI/τfSlope should not wait
In -2, therefore τPIValue should be greater than τf, the gain of open-loop transfer function meets following formula (5)：
Accordingly, the parameter of PI control units is expressed as：
Generally, it is contemplated that h value is between 5~10, and then formula (6) can be derived to formula (7)：
By line voltage q axis components ugqIt is compared with a reference value zero, then by ugqDifference with 0 is output to PI controls
Unit, you can to obtain Δ ωsyc, Δ ωsycThe synchronization of specified angular frequency is inputted as virtual synchronous algorithm control unit (12)
Compensation rate.
Further, the drive voltage signal e of the output of virtual synchronous algorithm control unit output angular frequency ginseng
Examine shown in value ω such as following formulas (8)：
In formula, npFor active sagging coefficient, P represents the electromagnetic power of inverter output, P*Controlled for virtual synchronous algorithm single
The given active reference power of member, ω*To give reference frequency；
Meanwhile, use E*Subtract nq(Q-Q*), the result obtained after subtracting each other is integrated in idle inertial element, can be obtained
To voltage magnitude E；
Angular velocity ω is integrated the A phase phases that can obtain reference wave, it is known that voltage magnitude and A phases angle can be calculated
Go out A phase reference sine waves, counterclockwise and turn clockwise 120 degree respectively and can obtain B and C phase reference waves, this reference wave signal
The sawtooth signal sent with saw-toothed wave generator inside controller compares computing, obtains electronic power switch in inverter bridge
The control signal of device, its break-make is controlled with this；
The angular frequency of virtual synchronous inverter is gradually adjusted according to formula (8), by phase difference θ=θgWhen-θ returns cancellation,
Mark virtual synchronous inverter has been carried out synchronous with power network.
Another technical scheme of the present invention is that the motor synchronizing virtual synchronous with local load is inverse based on SPF-PLL
Become the combination method of device net-connected controller, when net side failure removal or grid-connected needs, system needs to carry out grid-connected switching, starts
Motor synchronizing control unit in virtual synchronous Inverter control module, then will be virtual same in virtual synchronous Inverter control module
The phase angle θ that step algorithm control unit is produced is input to motor synchronizing control unit as fixed phase angle, and by the net side of detection
Voltage ugAlso input wherein；By Clark conversions and Park conversions, line voltage u is obtainedgQ axis components ugq, by q axis components
ugqIt is compared with a reference value zero, difference can be then obtained into Δ ω as the input of PI controllers through overregulatingsyc, make
For the synchroballistic amount of specified angular frequency in virtual synchronous algorithm control unit；Virtual synchronous algorithm control unit output voltage
Angular frequency reference value ω gradually increases Δ ωsycSize, and be finally transitioned into steady-state value；It is zero to detect Δ θ, power network electricity
The q axis components u of pressuregqAlso it is zero, indicates that virtual synchronous inverter is synchronized with line voltage, virtual synchronous inverter control
Module output switching signal performs grid-connected order to off-grid grid-connected handover module, and close circuit breaker CB2 simultaneously removes angular frequency compensator
Compensate Δ ωsyc, during this process, the active power output of virtual synchronous inverter keeps constant.
SPF-PLL is based on local load the beneficial effects of the invention are as follows one kind for virtual synchronous inverter, proposition
Motor synchronizing virtual synchronous grid-connected inverters control method.Compared to traditional control method, the present invention need not increase any outer
Portion's special synchronous control unit and communication link, can complete the seamless switching between island mode and grid-connect mode, solve void
The problems such as intending the dash current that synchronous inverter is produced in island mode and grid-connect mode handoff procedure, and simplify control system
System, there is stronger practical value.It is generally applicable to local load and the situation without local load, is advantageous to virtual same
Walk further using and popularization for inverter.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the motor synchronizing virtual synchronous grid-connected inverters system topological knot of the local load of band provided in an embodiment of the present invention
Composition.
Fig. 2 is theory diagram inside virtual synchronous Inverter control module provided in an embodiment of the present invention.
Fig. 3 is virtual synchronous algorithm control unit internal algorithm structure chart provided in an embodiment of the present invention.
Fig. 4 is that PWM drive modules control signal provided in an embodiment of the present invention produces schematic diagram.
In figure, 1. inverter bridges, 2.PWM drivers, 3. virtual synchronous Inverter control modules, 4. public electric wire nets, 5. signals
Conditioning module a, 6.AD1,7.AD2,8. off-grid grid-connected handover module, 9.AD3,10. Signal-regulated kinase b, 11. local loads,
12. virtual synchronous algorithm control unit, 13. motor synchronizing control units,
Embodiment
Below in conjunction with the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely retouched
State, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based on the present invention
In embodiment, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
Based on the motor synchronizing virtual synchronous grid-connected inverters of SPF-PLL (reference synchronization coordinate system phaselocked loop) with local load
Control method, is generally applicable to local load and the virtual synchronous inverter without local load, its thinking is by void
Intend designing a PI control unit based on SPR-PLL in synchronization control module, obtain virtual synchronous inverter phase angle and frequency
The compensation rate of rate reference value, then compensation rate is adjusted to realize that inverter is synchronous with line voltage automatically, Jin Ershi
Existing seamless switching of the virtual synchronous inverter from island mode to grid-connect mode.
The motor synchronizing virtual synchronous inverter with local load, structure based on SPF-PLL as shown in figure 1,
By inverter output voltage current information acquisition module, voltage on line side information acquisition module, virtual synchronous inverter
Control module 3, off-grid grid-connected handover module 8, pwm driver 2 are constituted；
Wherein, inverter output voltage current information acquisition module, including Hall a, Signal-regulated kinase a5, AD1 6,
AD2 7, for gathering inverter output end voltage signal, inverter output end current signal；
Voltage on line side information acquisition module, including Hall b, Signal-regulated kinase b10, AD3 9, for gathering grid entry point electricity
Press signal；Voltage signal and output inductor at voltage on line side information acquisition module collection inverter outlet side filter capacitor C
LsOn current signal, and the voltage and current signal for sending voltage, current signal to virtual synchronous Inverter control module 3 is defeated
Enter end, while voltage on line side signal also to be sent to the voltage signal inputs of virtual synchronous Inverter control module 3.
Off-grid grid-connected handover module 8, for inverter output current and the public electric wire net voltage-phase detected according to prime
Whether completed synchronous signal, judge breaker CB2 (such as Fig. 1 be used for connect virtual synchronous inverter output end with it is public
The breaker CB2 of power network 4) whether need to be switched immediately to complete cutting-in control.
Pwm driver 2, provides for the electronic power switch device into inverter bridge 1 and opens and cut-off signals.
Virtual synchronous Inverter control module 3, including virtual synchronous algorithm control unit 12 and motor synchronizing control unit 13
Two parts.Wherein, virtual synchronous algorithm control unit 12, possesses the characteristic of synchronous generator for realizing during invertor operation；
Motor synchronizing control unit 13, the compensation rate for obtaining virtual synchronous inverter phase angle and frequency reference completes inverter
Output voltage is synchronous with electric network voltage phase.
Virtual synchronous algorithm control unit 12 in virtual synchronous Inverter control module 3 is with inverter output current signal
isVirtual synchronous inverter is used as to input and being multiplied by voltage of now three-phase voltage reference value by rating formula
The active reactive power input of control module 3, then tabs are received under the active inertia in virtual synchronous algorithm control unit 12
Made the difference after active power input with given active power value, difference is multiplied by active sagging coefficient, controlled with virtual synchronous algorithm
The new input reference of unit 12 subtracts product and integrated again, can obtain reference wave angular velocity omega, while angular velocity is carried out
Integration, obtains the phase angle of reference wave；Tabs receive reactive power under idle inertia in virtual synchronous algorithm control unit 12
Made the difference after input with given reactive power value, difference is multiplied by idle sagging coefficient, subtract product with reference voltage amplitude accumulates again
Point, voltage magnitude E can be obtained.Finally, the amplitude is multiplied by the sine value at reference wave phase angle as virtual synchronous inverter control
One of output of molding block 3.
Motor synchronizing control unit 13 in virtual synchronous Inverter control module 3 includes two parts：
1st, phase autotracking control unit, the phase angle θ for locking line voltageg。
First in phase autotracking control unit, the line voltage such as following formula (1) under two-phase α β rest frames：
In formula, uα、uβRepresent α, the beta -axis component under two-phase rest frame；uga、ugb、ugcRepresent power network three-phase voltage；Eg
Voltage on line side amplitude after being converted for two-phase static coordinate；θgFor electric network voltage phase.
The phase angle θ produced is controlled to be used as fixed phase angle using by virtual synchronous.Changed by Park, obtain power network electricity
Press ugDq axis components such as following formula (2)：
In formula, ugd、ugqRepresent the dq shaft voltage DC components under synchronous rotating frame；θ controls for virtual synchronous algorithm
The phase angle θ that unit is produced.
2nd, PI control units, for improving regulation performance.
By line voltage q axis components ugqIt is compared with a reference value zero, then by ugqDifference with 0 is output to PI controls
Unit, you can to obtain Δ ωsyc, Δ ωsycThe synchronous of specified angular frequency is inputted as virtual synchronous algorithm control unit 12 to mend
The amount of repaying.
The design principle of PI control units in motor synchronizing control unit 13 of the present invention is further described.PI first is controlled
The transmission function G of unitPI(s) such as following formula (3)：
In formula, kpFor the proportion adjustment parameter of PI control units, kiFor integral constant, s represents complex variable, is to believe time domain
The variable of complex frequency-domain signal number is transformed into, variable s is also known as " complex frequency ".
In view of when Δ θ is close to 0, sin (Δ θ) ≈ Δ θ, the open-loop transfer function block diagram of motor synchronizing control unit 13
Following formula (4) can be reduced to：
In formula, Gopen(s) it is the open-loop transfer function after simplifying, τPI=kp/ki,ko=kiE*(Eg=E*)；τPIControlled for PI
The ratio of proportion adjustment parameter and integral constant, k in device processedoFor integral constant in PI controllers and the product of reference voltage, τPI、
koAll for convenience of simplified open-loop transfer function setting；E*For given grid voltage reference amplitude；τfControlled for virtual synchronous algorithm
The time constant of frequency control loop in unit.
As can be seen that open-loop transfer function is a typical II type second-order system, to improve motor synchronizing control unit
Stability and dynamic response performance, middle frequency range h=τPI/τfSlope should not be equal to -2, therefore τPIValue should be greater than τf, open loop biography
The gain of delivery function has to comply with following formula (5)：
In formula, E*For given grid voltage reference amplitude；τfFor the frequency control loop in virtual synchronous algorithm control unit
Time constant；H=τPI/τfFor middle frequency range.
Accordingly, the parameter of PI control units can be expressed as：
Generally, it is contemplated that h value is between 5~10, and then formula (6) can be derived to formula (7)：
In addition, in real application systems, in order to avoid the great fluctuation process of virtual synchronous inverter frequency during presynchronization,
Amplitude limit is answered in the output of PI control units.
Then by the phase angular frequency Δ ω after PI compensation adjustmentssycIt is supplied in virtual synchronous Inverter control module 3
Virtual synchronous algorithm control unit 12.Then the angular frequency for the drive voltage signal e that virtual synchronous algorithm control unit 12 is exported is joined
Examine shown in value ω such as following formulas (8) derivation：
In formula, npFor active sagging coefficient, P represents the electromagnetic power of inverter output, P*Controlled for virtual synchronous algorithm single
The given active reference power of member, ω*To give reference frequency；
The core control thought of motor synchronizing control unit 13 is the angular frequency by adjusting virtual synchronous inverter in the present invention
Phase difference θ is returned cancellation, the q axis components u of line voltage by rategqAlso it is zero, realizes the combining inverter with local load
With the motor synchronizing of utility network.
Further, the switching signal that off-grid grid-connected handover module 8 is exported using virtual synchronous Inverter control module 3 is defeated
Enter signal, carry out the switching of virtual synchronous inverter system off-grid grid-connected.
The present invention control method be：When the operation of system island mode, breaker CB2 disconnects, virtual synchronous inverter control
The off-grid grid-connected handover module 8 of motor synchronizing control unit 13 in molding block 3 and outside does not work, virtual synchronous inverter it is defeated
Go out voltage x current to be sent to virtually together by inverter output voltage current information acquisition module and voltage on line side information acquisition module
Inverter control module 3 is walked, virtual synchronous inverter of the control with local load 11 is normally run.
When net side failure removal or grid-connected needs, system needs to carry out grid-connected switching, starts virtual synchronous inverter control
Motor synchronizing control unit 13 in molding block 3, then the virtual synchronous algorithm in virtual synchronous Inverter control module 3 is controlled into list
The phase angle θs that member 12 is produced are input to motor synchronizing control unit 13 as fixed phase angle, and by the voltage on line side u of detectiong
Input is wherein.By Clark conversions and Park conversions, line voltage u is obtainedgQ axis components ugq.By q axis components ugqWith benchmark
Value zero is compared, and difference can then be obtained into Δ ω through overregulating as the input of PI controllerssyc, as virtual same
Walk the synchroballistic amount of specified angular frequency in algorithm control unit.The angular frequency of the output voltage of virtual synchronous algorithm control unit 12
Reference value ω gradually increases Δ ωsycSize, and be finally transitioned into steady-state value.It is zero to detect Δ θ, the q axles of line voltage
Component ugqAlso it is zero, indicates that virtual synchronous inverter is synchronized with line voltage, virtual synchronous Inverter control module 3 is defeated
Go out switching signal and perform grid-connected order to off-grid grid-connected handover module 8, close circuit breaker CB2 simultaneously removes the compensation of angular frequency compensator
Δωsyc.During this process, the active power output of virtual synchronous inverter keeps constant.
Embodiment
As shown in figure 1, by direct voltage source Udc, the inverter bridge of three-phase, pwm driver, local load, inverter side impedance
(Rs、Ls), line equivalent impedance (Rg、Lg), public electric wire net, inverter output LC wave filters (LsAnd C), inverter output voltage electricity
Flowing sampling module, voltage on line side information acquisition module, virtual synchronous Inverter control module, (including the control of virtual synchronous algorithm is single
Member and motor synchronizing control unit two parts), off-grid grid-connected handover module composition.
Its connected mode is：Gather voltage signal, output inductor L at the inverter bridge outlet side filter capacitor C of three-phases
On current signal and grid entry point at public electric wire net voltage signal, by its in the way of including but is not limited to wire transmission by electricity
Pressure, current signal send input (a, b, c end in such as Fig. 1 of the voltage and current signal of virtual synchronous Inverter control module 3 to
Shown in mouthful) inputted as virtual voltage electric current；By the output signal of virtual synchronous Inverter control module 3 (d, e end in such as Fig. 1
Shown in mouthful) respectively as the input signal of off-grid grid-connected handover module and pwm driver.
Dc source UdcElectric energy is provided to inverter and maintains DC bus-bar voltage stable.Dc source UdcIncluding but not
It is limited to the DC form power supply such as battery, photovoltaic panel, direct current input is transformed to alternating current of the frequency near 50Hz by inverter bridge
Electric energy is provided to power network.
Three-phase inverter output termination LC wave filters, reach and filter out high-frequency harmonic, improve the purpose of waveform quality.
Local load is used for the actual conditions for simulating the synchronous inversion system of typical virtual.
Fig. 2 is virtual synchronous Inverter control module inside theory diagram in Fig. 1, and its right side is motor synchronizing control in the present invention
Unit processed；Fig. 2 identifies the mathematics mechanism of the motor synchronizing virtual synchronous inverter based on SPF-PLL in detail, using Fig. 2 as embodiment
Specific mathematics mechanism to motor synchronizing virtual synchronous inverter is analyzed.
Fig. 2 includes three input signals in Fig. 1：Inverter output end voltage signal us(in Fig. 1 inverter output voltage
The Hall a of current information acquisition module, Signal-regulated kinase a, AD2 are obtained), inverter output current signal is(in Fig. 1 suddenly
That a, Signal-regulated kinase a, AD1 are obtained) and PCC point voltages ug(Hall b, Signal-regulated kinase b, AD3 are obtained in Fig. 1
).Additionally include the control targe reference voltage e and given active reference power P of virtual synchronous algorithm control unit*、
Give idle reference power Q*, given voltage reference amplitude E*With given reference frequency ω*Deng.
The specific mathematical principle of virtual synchronous Inverter control module based on SPF-PLL is in Fig. 2：
In right side motor synchronizing control unit, three-phase power grid voltage actual value u is detected firstg, after Clark conversions
To uα=Egcosθg, uβ=Egsinθg.The phase produced using Fig. 2 left-halfs by the algorithm of virtual synchronous Inverter control module
Parallactic angle θ is used as fixed phase angle.With reference to uα、uβChanged by Park, obtain line voltage dq axles point under synchronous rotating frame
Amount, ugd=Egcos(θg- θ), ugq=Egsin(θg-θ).And oriented with d axles, then ugd=0.Extract line voltage q axis components
ugqIt is compared with a reference value zero, then by ugqDifference with 0 is output to PI control units and is adjusted, in order to avoid pre- same
Amplitude limit is answered in the great fluctuation process of virtual synchronous inverter frequency during step, the output of PI control units.Finally output left side is virtual same
Walk the synchroballistic amount Δ ω of specified angular frequency in algorithm control unitsyc.With angular frequency in original virtual synchronous algorithm control unit
The reference value ω of rate*It is added the new input reference (ω that can obtain virtual synchronous algorithm control unit 12*+Δωsyc) (i.e.
Left part in the square brackets of formula 8).Inside the virtual synchronous algorithm control unit of analysis left side, first it is detected that three-phase output electricity
Flow instantaneous value isIt is multiplied afterwards with inverter potential and obtains active power of output P and reactive power Q, gives active P*With idle Q*
Respectively with inverter output it is active and it is idle make the difference, respectively obtain P-P*And Q-Q*, by P-P*And Q-Q*Respectively with active sagging system
Number npWith idle sagging coefficient nqN is obtained after multiplicationp(P-P*) and nq(Q-Q*), then with (ω*+Δωsyc) subtract np(P-P*),
Difference is integrated in active inertial element, angular velocity omega can be obtained.At the same time, E is used*Subtract nq(Q-Q*), idle used
Property link is integrated to the result obtained after above subtracting each other, can obtain voltage magnitude E.Then angular velocity ω is integrated
It can obtain the A phase phases of reference wave, it is known that voltage magnitude and A phases angle can calculate A phase reference sine waves, counterclockwise respectively
B and C phase reference waves are can obtain with turning clockwise 120 degree, this reference wave signal and saw-toothed wave generator institute inside controller
The sawtooth signal sent compares computing, obtains the control signal of electronic power switch device in inverter bridge, it is controlled with this
Break-make.When according to virtual synchronous algorithm control unit internal algorithm formula ω=1/ (1+ τfs)*[ω*+Δωsyc-np(P-P*)]
The angular frequency of virtual synchronous inverter is gradually adjusted, by phase difference θ=θgWhen-θ returns cancellation, indicate virtual synchronous inverter
Synchronous, the now q axis components u of line voltage is had been carried out with power networkgqAlso it is zero.
Detected inside virtual synchronous Inverter control module virtual synchronous inverter and power network completed it is synchronous with
Afterwards, can export a grid-connected switching signal export give off-grid grid-connected control handover module, expression have been enter into it is grid-connected switching prepare shape
State.Then CB2 is closed, and removes angular frequency compensator compensation Δ ωsycMotor synchronizing control unit is disconnected, virtual synchronous is completed inverse
Become device and network process.
Fig. 3 be Fig. 2 in left side virtual synchronous algorithm control unit internal algorithm structure chart, including rotor mechanical equation,
Electromagnetic torque Te, inverter three-phase output voltage e and idle power output Q mathematical modeling.
I.e.：
In formula, Tm、TdIt is applied to the mechanical torque, damping torque and virtual rotation inertia of rotor respectively with J；MfIt is to encourage
Maximum mutual inductance between magnetic winding and stator winding；ifIt is exciting current；ω is imaginary axis angular frequency；θ is rotor phase angle；It is empty
The derivative of shaft angle frequency, that is, represent the rate of change of angular frequency；TeIt is virtual synchronous inverter internal virtual electromagnetic torque；I be from
The three-phase vector current of virtual motor stator outflow；P is virtual synchronous inverter reality output active power；Q is virtual synchronous
Inverter reality output reactive power.
ω had not only been the angular frequency of virtual synchronous generator but also had been drive voltage signal e angular frequency reference value.E is driver
Input signal, exported by virtual synchronous inverter algorithm control unit 12.ω generates electricity more than in 4 formula for virtual synchronous
It is drive voltage signal e angular frequency reference value in the angular frequency of machine, formula (8).4 formula are virtual synchronous inverter algorithm control
The input angle frequency reference of the main composition of unit processed, originally virtual synchronous algorithm control unit 12 is ω*, this method phase angle
Synchronous effect is exactly by original ω*Change (the ω in (8) into*+Δωsyc), serve closed loop feedback compensation adjustment
Effect.
The specific control mode of pwm driver shown in Fig. 4：Pwm driver receives Double closed-loop of voltage and current output letter
Number refPWMWhen, generally there is 0≤refPWM≤ 1, by signal refPWMCompared with 5kHz frequencies sawtooth waveforms in driver
Compared with as signal value refPWMDuring less than or equal to sawtooth signal value, the electronic power switch device control into inverter bridge from driver
Conveying high level in end processed opens drive signal, until signal value refPWMMore than sawtooth signal value, now pwm driver is to opening
Close device control end conveying low level cut-off signals；This example only for 5kHz only illustrate by existing model sawtooth signal frequency
For this frequency values, this frequency of practical application is not only limited in the numerical value.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent substitution and improvements made within the spirit and principles in the present invention etc., are all contained in protection scope of the present invention
It is interior.
Claims (6)
1. the motor synchronizing virtual synchronous grid-connected inverters controller with local load based on SPF-PLL, it is characterised in that by inversion
Device output voltage current information acquisition module, voltage on line side information acquisition module, virtual synchronous Inverter control module (3), from/
Grid-connected handover module (8), pwm driver (2) composition；
The inverter output voltage current information acquisition module, it is defeated for gathering inverter output end voltage signal, inverter
Go out to hold current signal；
Voltage on line side information acquisition module, for gathering grid entry point voltage signal；Voltage on line side information acquisition module gathers inversion
Voltage signal and output inductor L at device outlet side filter capacitor CsOn current signal, and by voltage, current signal transmit
To the voltage and current signal input of virtual synchronous Inverter control module (3), while also sending voltage on line side signal to void
Intend the voltage signal inputs of synchronous inverter control module (3)；
Off-grid grid-connected handover module (8), inverter output current and public electric wire net voltage-phase for being detected according to prime are
It is no to have completed synchronous signal, judge the breaker CB2 for being used to connect virtual synchronous inverter output end and public electric wire net (4)
Whether need to be switched immediately to complete cutting-in control；
Pwm driver (2), provides for the electronic power switch device into inverter bridge (1) and opens and cut-off signals；
Virtual synchronous Inverter control module (3), including virtual synchronous algorithm control unit (12) and motor synchronizing control unit
(13)；The virtual synchronous algorithm control unit (12), possesses the characteristic of synchronous generator for realizing during invertor operation；Institute
Motor synchronizing control unit (13) is stated, the compensation rate for obtaining virtual synchronous inverter phase angle and frequency reference is completed inverse
Become device output voltage synchronous with electric network voltage phase.
2. the motor synchronizing virtual synchronous grid-connected inverters control according to claim 1 based on SPF-PLL with local load
Device, it is characterised in that the motor synchronizing control unit (13), including phase autotracking control unit, PI control units；The phase
Autotracking control unit in position is used for the phase angle for locking line voltage；The PI control units are used to improve regulation performance.
3. the motor synchronizing virtual synchronous grid-connected inverters control according to claim 2 based on SPF-PLL with local load
Line voltage under device, it is characterised in that in the phase autotracking control unit, two-phase α β rest frames, such as following formula
(1)：
<mrow>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>u</mi>
<mi>&alpha;</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>u</mi>
<mi>&beta;</mi>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>=</mo>
<mfrac>
<mn>2</mn>
<mn>3</mn>
</mfrac>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mn>1</mn>
<mo>/</mo>
<mn>2</mn>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mn>1</mn>
<mo>/</mo>
<mn>2</mn>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<msqrt>
<mn>3</mn>
</msqrt>
<mo>/</mo>
<mn>2</mn>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<msqrt>
<mn>3</mn>
</msqrt>
<mo>/</mo>
<mn>2</mn>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>u</mi>
<mrow>
<mi>g</mi>
<mi>a</mi>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>u</mi>
<mrow>
<mi>g</mi>
<mi>b</mi>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>u</mi>
<mrow>
<mi>g</mi>
<mi>c</mi>
</mrow>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>=</mo>
<msub>
<mi>E</mi>
<mi>g</mi>
</msub>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>cos&theta;</mi>
<mi>g</mi>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>sin&theta;</mi>
<mi>g</mi>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
In formula, uα、uβRepresent α, the beta -axis component under two-phase rest frame；uga、ugb、ugcRepresent power network three-phase voltage；EgFor two
Voltage on line side amplitude after the conversion of phase static coordinate；θgFor electric network voltage phase；
Control the phase angle θ produced as fixed phase angle using by virtual synchronous, changed by Park, obtain line voltage ug
Dq axis components, such as following formula (2)：
<mrow>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>u</mi>
<mrow>
<mi>g</mi>
<mi>d</mi>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>u</mi>
<mrow>
<mi>g</mi>
<mi>q</mi>
</mrow>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mrow>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mo>-</mo>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>u</mi>
<mi>&alpha;</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>u</mi>
<mi>&beta;</mi>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>=</mo>
<msub>
<mi>E</mi>
<mi>g</mi>
</msub>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mrow>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>&theta;</mi>
<mi>g</mi>
</msub>
<mo>-</mo>
<mi>&theta;</mi>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>&theta;</mi>
<mi>g</mi>
</msub>
<mo>-</mo>
<mi>&theta;</mi>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mo>)</mo>
</mrow>
</mrow>
In formula, ugd、ugqRepresent the dq shaft voltage DC components under synchronous rotating frame；θ is virtual synchronous algorithm control unit
The phase angle of generation.
4. the motor synchronizing virtual synchronous grid-connected inverters control according to claim 2 based on SPF-PLL with local load
Device, it is characterised in that the transmission function G of the PI control unitsPI(s) such as following formula (3)：
<mrow>
<msub>
<mi>G</mi>
<mrow>
<mi>P</mi>
<mi>I</mi>
</mrow>
</msub>
<mrow>
<mo>(</mo>
<mi>s</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>k</mi>
<mi>p</mi>
</msub>
<mi>s</mi>
<mo>+</mo>
<msub>
<mi>k</mi>
<mi>i</mi>
</msub>
</mrow>
<mi>s</mi>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>3</mn>
<mo>)</mo>
</mrow>
</mrow>
In formula, kpFor the proportion adjustment parameter of PI control units, kiFor integral constant, s represents complex variable, is to turn time-domain signal
Change the variable to complex frequency-domain signal；
In view of when Δ θ is close to 0, sin (Δ θ) ≈ Δ θ, the open-loop transfer function of motor synchronizing control unit (13) is reduced to
Following formula (4)：
<mrow>
<msub>
<mi>G</mi>
<mrow>
<mi>o</mi>
<mi>p</mi>
<mi>e</mi>
<mi>n</mi>
</mrow>
</msub>
<mrow>
<mo>(</mo>
<mi>s</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<msub>
<mi>k</mi>
<mi>o</mi>
</msub>
<msup>
<mi>s</mi>
<mn>2</mn>
</msup>
</mfrac>
<mo>&CenterDot;</mo>
<mfrac>
<mrow>
<mn>1</mn>
<mo>+</mo>
<msub>
<mi>&tau;</mi>
<mrow>
<mi>P</mi>
<mi>I</mi>
</mrow>
</msub>
<mi>s</mi>
</mrow>
<mrow>
<mn>1</mn>
<mo>+</mo>
<msub>
<mi>&tau;</mi>
<mi>f</mi>
</msub>
<mi>s</mi>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>4</mn>
<mo>)</mo>
</mrow>
</mrow>
In formula, Gopen(s) it is the open-loop transfer function after simplifying, τPI=kp/ki,ko=kiE*(Eg=E*)；τPIFor PI controllers
The ratio of middle proportion adjustment parameter and integral constant, koFor integral constant in PI controllers and the product of reference voltage, τPI、koAll
Set for convenience of open-loop transfer function is simplified；E*For given grid voltage reference amplitude；τfFor virtual synchronous algorithm control unit
In frequency control loop time constant；
To improve the stability and dynamic response performance of motor synchronizing control unit, middle frequency range h=τPI/τfSlope should not be equal to-
2, therefore τPIValue should be greater than τf, the gain of open-loop transfer function meets following formula (5)：
<mrow>
<msub>
<mi>k</mi>
<mi>o</mi>
</msub>
<mo>=</mo>
<msub>
<mi>k</mi>
<mi>i</mi>
</msub>
<msup>
<mi>E</mi>
<mo>*</mo>
</msup>
<mo>=</mo>
<mfrac>
<mrow>
<mi>h</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
<mrow>
<mn>2</mn>
<msup>
<msub>
<mi>&tau;</mi>
<mi>f</mi>
</msub>
<mn>2</mn>
</msup>
<msup>
<mi>h</mi>
<mn>2</mn>
</msup>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>5</mn>
<mo>)</mo>
</mrow>
</mrow>
Accordingly, the parameter of PI control units is expressed as：
<mrow>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>k</mi>
<mi>p</mi>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<mi>h</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
<mrow>
<mn>2</mn>
<msub>
<mi>&tau;</mi>
<mi>f</mi>
</msub>
<msup>
<mi>hE</mi>
<mo>*</mo>
</msup>
</mrow>
</mfrac>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>k</mi>
<mi>i</mi>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<mi>h</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
<mrow>
<mn>2</mn>
<msup>
<msub>
<mi>&tau;</mi>
<mi>f</mi>
</msub>
<mn>2</mn>
</msup>
<msup>
<mi>h</mi>
<mn>2</mn>
</msup>
<msup>
<mi>E</mi>
<mo>*</mo>
</msup>
</mrow>
</mfrac>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>6</mn>
<mo>)</mo>
</mrow>
</mrow>
Generally, it is contemplated that h value is between 5~10, and then formula (6) can be derived to formula (7)：
<mrow>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<mfrac>
<mn>11</mn>
<mrow>
<mn>20</mn>
<msub>
<mi>&tau;</mi>
<mi>f</mi>
</msub>
<msup>
<mi>E</mi>
<mo>*</mo>
</msup>
</mrow>
</mfrac>
<mo>&le;</mo>
<msub>
<mi>k</mi>
<mi>p</mi>
</msub>
<mo>&le;</mo>
<mfrac>
<mn>3</mn>
<mrow>
<mn>5</mn>
<msub>
<mi>&tau;</mi>
<mi>f</mi>
</msub>
<msup>
<mi>E</mi>
<mo>*</mo>
</msup>
</mrow>
</mfrac>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mfrac>
<mn>11</mn>
<mrow>
<mn>200</mn>
<msup>
<msub>
<mi>&tau;</mi>
<mi>f</mi>
</msub>
<mn>2</mn>
</msup>
<msup>
<mi>E</mi>
<mo>*</mo>
</msup>
</mrow>
</mfrac>
<mo>&le;</mo>
<msub>
<mi>k</mi>
<mi>i</mi>
</msub>
<mo>&le;</mo>
<mfrac>
<mn>3</mn>
<mrow>
<mn>25</mn>
<msup>
<msub>
<mi>&tau;</mi>
<mi>f</mi>
</msub>
<mn>2</mn>
</msup>
<msup>
<mi>E</mi>
<mo>*</mo>
</msup>
</mrow>
</mfrac>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>7</mn>
<mo>)</mo>
</mrow>
</mrow>
By line voltage q axis components ugqIt is compared with a reference value zero, then by ugqDifference with 0 is output to PI control units,
Δ ω can be obtainedsyc, Δ ωsycThe synchroballistic of specified angular frequency is inputted as virtual synchronous algorithm control unit (12)
Amount.
5. the motor synchronizing virtual synchronous grid-connected inverters control according to claim 4 based on SPF-PLL with local load
Device, it is characterised in that the drive voltage signal e of virtual synchronous algorithm control unit (12) output angular frequency reference value ω
As shown in following formula (8)：
<mrow>
<mi>&omega;</mi>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mrow>
<mn>1</mn>
<mo>+</mo>
<msub>
<mi>&tau;</mi>
<mi>f</mi>
</msub>
<mi>s</mi>
</mrow>
</mfrac>
<mo>&lsqb;</mo>
<msup>
<mi>&omega;</mi>
<mo>*</mo>
</msup>
<mo>+</mo>
<msub>
<mi>&Delta;&omega;</mi>
<mrow>
<mi>s</mi>
<mi>y</mi>
<mi>c</mi>
</mrow>
</msub>
<mo>-</mo>
<msub>
<mi>n</mi>
<mi>p</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>P</mi>
<mo>-</mo>
<msup>
<mi>P</mi>
<mo>*</mo>
</msup>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>8</mn>
<mo>)</mo>
</mrow>
</mrow>
In formula, npFor active sagging coefficient, P represents the electromagnetic power of inverter output, P*For virtual synchronous algorithm control unit
Give active reference power, ω*To give reference frequency；
Meanwhile, use E*Subtract nq(Q-Q*), the result obtained after subtracting each other is integrated in idle inertial element, electricity can be obtained
Pressure amplitude value E；
Angular velocity ω is integrated the A phase phases that can obtain reference wave, it is known that voltage magnitude and A phases angle can calculate A
Phase reference sine wave, counterclockwise and turns clockwise 120 degree respectively and can obtain B and C phase reference waves, this reference wave signal and control
The sawtooth signal that saw-toothed wave generator is sent inside device processed compares computing, obtains electronic power switch device in inverter bridge
Control signal, its break-make is controlled with this；
The angular frequency of virtual synchronous inverter is gradually adjusted according to formula (8), by phase difference θ=θgWhen-θ returns cancellation, mark is empty
Plan synchronous inverter has been carried out synchronous with power network.
6. it is a kind of inverse based on motor synchronizing virtual synchronous of the SPF-PLL with local load as described in claim 1-5 any one
Become the combination method of device net-connected controller, it is characterised in that when net side failure removal or grid-connected needs, system needs to carry out simultaneously
Net switching, starts the motor synchronizing control unit (13) in virtual synchronous Inverter control module (3), then by virtual synchronous inverter
The phase angle θ that virtual synchronous algorithm control unit (12) in control module (3) is produced is input to from same as fixed phase angle
Control unit (13) is walked, and by the voltage on line side u of detectiongAlso input wherein；By Clark conversions and Park conversions, electricity is obtained
Net voltage ugQ axis components ugq, by q axis components ugqIt is compared with a reference value zero, then regard difference as the defeated of PI controllers
Enter, Δ ω can be obtained through overregulatingsyc, it is used as the synchroballistic amount of specified angular frequency in virtual synchronous algorithm control unit；
The angular frequency reference value ω of virtual synchronous algorithm control unit (12) output voltage gradually increases Δ ωsycSize, and final
It is transitioned into steady-state value；It is zero to detect Δ θ, the q axis components u of line voltagegqAlso it is zero, indicates virtual synchronous inverter and electricity
Net voltage is synchronized, and virtual synchronous Inverter control module (3) output switching signal is performed to off-grid grid-connected handover module (8)
Grid-connected order, close circuit breaker CB2 simultaneously removes angular frequency compensator compensation Δ ωsyc, during this process, virtual synchronous is inverse
The active power output for becoming device keeps constant.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111837309B (en) * | 2018-03-09 | 2024-02-27 | 艾思玛太阳能技术股份公司 | Method of operating an energy generating system and inverter of an energy generating system |
| CN108321845A (en) * | 2018-03-19 | 2018-07-24 | 电子科技大学 | A kind of inverter motor synchronizing grid-connection control device |
| CN109066788A (en) * | 2018-08-28 | 2018-12-21 | 华北电力大学（保定） | A kind of load virtual synchronous machine control device and method without configuring energy storage |
| CN109066788B (en) * | 2018-08-28 | 2023-06-23 | 华北电力大学（保定） | Load virtual synchronous machine control device and method without energy storage configuration |
| CN109585215A (en) * | 2018-11-15 | 2019-04-05 | 深圳中嘉智联能源科技有限公司 | A kind of vacuum switch arc quenching system and method based on virtual voltage feedforward control |
| CN109274125A (en) * | 2018-11-27 | 2019-01-25 | 南方电网科学研究院有限责任公司 | Grid-connected control method and device for multi-machine parallel virtual synchronous inverter |
| CN109274125B (en) * | 2018-11-27 | 2022-03-01 | 南方电网科学研究院有限责任公司 | Grid-connected control method and device for multi-machine parallel virtual synchronous inverter |
| CN112018804A (en) * | 2019-05-29 | 2020-12-01 | 郑州大学 | AC-DC hybrid micro-grid coupling inverter cascade control implementation method |
| CN112018804B (en) * | 2019-05-29 | 2022-02-22 | 郑州大学 | AC-DC hybrid micro-grid coupling inverter cascade control implementation method |
| CN116316728A (en) * | 2023-03-14 | 2023-06-23 | 上海正泰电源系统有限公司 | Automatic off-grid-to-grid phase tracking method based on bilateral phase locking |
| CN116316728B (en) * | 2023-03-14 | 2024-03-29 | 上海正泰电源系统有限公司 | Automatic off-grid-to-grid phase tracking method based on bilateral phase locking |
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