CN107465211B - Distributed fixed time coordination control method for island micro-grid - Google Patents

Distributed fixed time coordination control method for island micro-grid Download PDF

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CN107465211B
CN107465211B CN201710797183.8A CN201710797183A CN107465211B CN 107465211 B CN107465211 B CN 107465211B CN 201710797183 A CN201710797183 A CN 201710797183A CN 107465211 B CN107465211 B CN 107465211B
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陈刚
李志勇
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Chongqing University
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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
    • H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
    • H02J3/48—Controlling the sharing of the in-phase component
    • 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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Abstract

The invention relates to a distributed fixed time coordination control method for an island micro-grid, and belongs to the field of micro-grid operation control. The method specifically comprises the following steps: judging whether the frequency and the voltage of droop control of the power controller have deviation, if not, not carrying out information communication and data calculation related to secondary control; and if the deviation exists, activating secondary control, restoring the output frequency and the output voltage of the DG unit to rated values within fixed time by selecting a proper frequency reference value and a proper voltage reference value for droop control of the ith DG unit, realizing accurate active power distribution, and closing the secondary control. The distributed coordination control scheme provided by the invention ensures that the output frequency and voltage of all DG units are restored to rated values within a fixed time designed in advance after the system is disturbed, realizes accurate distribution of the output active power of the DG units, improves the electric energy quality of a microgrid and ensures the power utilization safety of sensitive loads.

Description

Distributed fixed time coordination control method for island micro-grid
Technical Field
The invention belongs to the field of micro-grid operation control, and relates to a distributed fixed time coordination control method for an island micro-grid.
Background
Energy crisis and environmental pollution have prompted the development of clean and renewable energy sources, such as solar energy, wind energy, etc., that generate electricity in a distributed manner. In order to give full play to the benefits of distributed power generation, a micro-grid integrates distributed power generation, an energy storage device, a local load and the like to form a small-scale power system which can be operated in a networking mode or an isolated island mode. The island micro-grid not only needs the distributed power generation units to provide frequency and voltage support, but also realizes load sharing. A one-stage droop control is used to achieve this function, but the droop control causes frequency and voltage excursions. To eliminate frequency and voltage deviations, two-stage control is widely used.
The secondary control mainly comprises a centralized control and a distributed control. Centralized control requires that the central controller collects all the information of all the power generating units and provides control commands. Therefore, the centralized control has the defects of heavy communication calculation burden, single node failure, poor expandability and the like, and is not suitable for realizing the plug and play function. The distributed control only utilizes a small amount of local information obtained by a sparse communication network to realize a control target, is suitable for distributed access of renewable energy sources, does not need a central controller, and can effectively overcome the defect of centralized control. Therefore, the distributed coordination control of the island microgrid is receiving wide attention.
At present, some distributed secondary coordination control schemes apply for patents, such as application number 201510946239.2, the name of the invention is an isolated microgrid distributed control method; the invention discloses a distributed cooperative control method based on containment for a microgrid in an equivalent mode, which has an application number of 201510586785. X; the invention has application number of 201610054613.2, and is named as an island microgrid distributed coordination control method based on finite time consistency; the invention relates to a micro-grid distributed finite time control method considering communication time lag, and the application number is 201610353634.4.
In terms of the convergence speed of the secondary control, the prior patent technology realizes the limited time convergence most quickly, but the convergence time depends on the initial state of the system, and the initial state cannot be obtained in advance, so that the convergence time cannot be determined. Distributed generation is mostly random and intermittent, which requires that the convergence time of the secondary control can be determined in advance to optimize the system design and improve stability. In addition, in practical applications, sensitive loads need to recover the frequency and voltage to nominal values within a fixed time after the frequency and voltage fluctuate to avoid damage to the load. The existing patent can not meet the two requirements.
Disclosure of Invention
In view of this, the present invention provides a distributed fixed time coordination control method for an island microgrid, and the scheme mainly solves the problem that the frequency and the voltage of the island microgrid are recovered to rated values within a fixed time, and ensures accurate distribution of output active power of each distributed power supply.
In order to achieve the purpose, the invention provides the following technical scheme:
the distributed fixed time coordination control method of the island micro-grid comprises the following steps:
s1: judging whether the frequency and the voltage of the droop control of the power controller have deviation, if so, entering S2, and if not, not performing information communication and data calculation related to the secondary control;
s2: activating secondary control by selecting proper frequency reference value for droop control of ith DG unit
Figure BDA0001400625860000021
And a voltage reference value ViMaking the output frequency of DG unit at fixed time T1Internal recovery to rated value, output voltage at fixed time T2The rated value is internally restored, and the accurate distribution of active power is realized;
s3: the secondary control is turned off.
Further, the droop control of the power controller is as follows:
Figure BDA0001400625860000022
in the formula, ωriAnd VriRespectively representing the output frequency and the voltage reference value generated by the ith DG unit through droop control,
Figure BDA0001400625860000023
and ViRespectively representing the frequency and voltage reference values of the i-th DG unit droop control, namely the frequency and voltage output values generated by the secondary control,
Figure BDA0001400625860000024
and
Figure BDA0001400625860000025
respectively representing the frequency droop coefficient and the voltage droop coefficient of the ith DG unit, PiAnd QiRespectively representing the active power and the reactive power output by the ith DG unit.
Further, the frequency reference value
Figure BDA0001400625860000026
Comprises the following steps:
Figure BDA0001400625860000027
in the formula uωiFrequency recovery auxiliary controller, u, representing the ith DG unitpiRepresenting the active power division of the ith DG unitAn auxiliary controller is matched; u. ofωiAnd upiRespectively as follows:
Figure BDA0001400625860000028
Figure BDA0001400625860000029
in the formula, cω1,cω2,cp1,cp2Is a positive control gain parameter used to adjust the convergence time; sig (x)αDenotes sign (x) xαWhere sign () represents a sign function, | x | represents the absolute value of the real number x; mu is more than 01< 1 and v1> 1 is a control parameter; omegajAnd ωiRespectively representing the output frequencies, ω, of the jth and ith DG units*Represents the nominal frequency of the system;
Figure BDA00014006258600000210
and
Figure BDA00014006258600000211
respectively representing frequency droop coefficients of j and i DG units; pjAnd PiRespectively representing the active power output by the jth DG unit and the ith DG unit; a isijRepresenting the communication coupling coefficient between the ith and jth DG units, and if the ith DG unit can receive the information of the jth DG unit, aij> 0, otherwise, aij＝0；biRepresenting the holdup control gain, if the ith DG unit can acquire the system rated frequency information, bi> 0, otherwise, bi＝0；NiRepresenting the communication neighbor set of the ith DG unit.
Further, the fixed time T1Satisfies the following conditions:
Figure BDA0001400625860000031
where η and ρ are as follows:
Figure BDA0001400625860000032
Figure BDA0001400625860000033
where min { a, b } represents the minimum of a and b, n represents the number of DG units in the microgrid, L,
Figure BDA00014006258600000317
and
Figure BDA00014006258600000318
respectively represent with aij，
Figure BDA0001400625860000034
And
Figure BDA0001400625860000035
a laplacian matrix that is a contiguous matrix of elements,
Figure BDA0001400625860000036
and
Figure BDA0001400625860000037
are respectively shown in
Figure BDA0001400625860000038
And
Figure BDA0001400625860000039
is a diagonal matrix of diagonal elements, λ1(H) And λ2(M) representing first and second small eigenvalues of matrices H and M, respectively; fixed time T1Independent of the initial state of the system, the T is designed off-line according to the task requirements1。
Further, the voltage reference value Vi *Comprises the following steps:
Figure BDA00014006258600000310
in the formula uviVoltage recovery auxiliary controller representing ith DG unit:
Figure BDA00014006258600000311
in the formula, cv1,cv2Is a positive control gain parameter used to adjust the convergence time; mu is more than 02< 1 and v2> 1 is a control parameter; vjAnd ViRespectively representing the output voltages, V, of the jth and ith DG cells*Representing the nominal voltage of the system.
Further, the fixed time T2Satisfies the following conditions:
Figure BDA00014006258600000312
wherein n represents the number of DG units in the microgrid,
Figure BDA00014006258600000313
and
Figure BDA00014006258600000314
are respectively shown in
Figure BDA00014006258600000315
And
Figure BDA00014006258600000316
a laplacian matrix that is a contiguous matrix of elements,
Figure BDA0001400625860000041
and
Figure BDA0001400625860000042
are respectively shown in
Figure BDA0001400625860000043
And
Figure BDA0001400625860000044
is a diagonal matrix of diagonal elements, λ1(H) A first small eigenvalue of the representation matrix H; fixed time T2Independent of the initial state of the system, the T is designed off-line according to the task requirements2。
The invention has the beneficial effects that:
(1) the local controller of each DG unit in the microgrid generates a control signal according to the information measured by the local controller and the neighbor information obtained through communication, the communication calculation amount is small, a central controller is not needed, the reliability of the system is high, and the plug and play of the DG units are facilitated.
(2) The distributed coordination control scheme provided ensures that the output frequency and voltage of all DG units are restored to rated values within a fixed time designed in advance after the system is disturbed, realizes accurate distribution of the output active power of the DG units, improves the electric energy quality of the microgrid and ensures the power utilization safety of sensitive loads.
(3) Compared with the existing finite time control scheme, the fixed time control has faster convergence speed, and more importantly, the convergence time can be designed in advance. Therefore, the fixed time control is more suitable for a small-inertia microgrid system based on an inverter interface, and is beneficial to coordinating the microgrid consisting of renewable energy distributed generation with randomness and intermittent characteristics.
Drawings
In order to make the object, technical scheme and beneficial effect of the invention more clear, the invention provides the following drawings for explanation:
FIG. 1 is a diagram of a microgrid distributed control architecture;
FIG. 2 is a block diagram of distributed control of a single DG unit;
FIG. 3 is a distributed control flow diagram;
fig. 4(a) is a single line diagram of a microgrid system, and (b) is a communication topology between DGs;
FIG. 5 is a graph of the output frequency of a DG unit;
FIG. 6 shows the output voltage of a DG cell;
FIG. 7 shows the active power output by the DG units;
fig. 8 shows the active power ratio of DG units.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
The proposed distributed coordinated control microgrid is shown in fig. 1, in which each Distributed Generation (DG) unit in the microgrid is equipped with a local controller and a communication transceiver, which exchanges information with an adjacent DG unit through a sparse distributed communication link. The DG unit is composed of a direct current energy source, a voltage source inverter, an LC filter, an RL connector, a voltage and current sensor, etc., a local controller generates a control signal of the inverter according to primary and secondary control actions, and a distributed coordination control block diagram of a single DG is shown in fig. 2.
The primary control of the local controller comprises a power controller, a voltage controller and a current controller. The primary control generates a control signal of the inverter according to a reference signal generated by the secondary control and information acquired by the voltage and current sensor. The power controllers all adopt droop control shown in formula (1) to maintain the voltage and frequency stability and power balance of the microgrid:
Figure BDA0001400625860000051
in the formula (1), ω isriAnd VriRespectively representing the output frequency and the voltage reference value generated by the ith DG unit through droop control,
Figure BDA0001400625860000052
and ViRespectively representing the frequency and voltage reference values of the i-th DG unit droop control, namely the frequency and voltage output values generated by the secondary control,
Figure BDA0001400625860000053
and
Figure BDA0001400625860000054
respectively representing the frequency droop coefficient and the voltage droop coefficient of the ith DG unit, PiAnd QiRespectively representing the active power and the reactive power output by the ith DG unit.
The secondary control of the local controller includes a secondary frequency controller and a secondary voltage controller, which generate a frequency reference value for droop control based on its own information and received neighbor information
Figure BDA0001400625860000055
And a voltage reference value ViSo that the frequency and voltage recovery of each DG unit to the nominal value and the active power distribution is achieved within a fixed time.
And the secondary fixed time control is activated when the frequency and/or the voltage have deviation, and the frequency and the voltage are restored to the rated values after the designed fixed time, and the secondary control is closed. This can greatly reduce the amount of communication and computation. The control flow is shown in fig. 3.
Two-stage frequency control is realized by selecting a suitable frequency reference value for droop control of the ith DG unit
Figure BDA0001400625860000056
The output frequency of the DG unit is restored to a rated value in a fixed time, and active power accurate distribution is realized. The second-stage frequency controller of the ith DG unit adopts an equation (2):
Figure BDA0001400625860000057
in the formula (2), uωiFrequency recovery auxiliary controller, u, representing the ith DG unitpiAn active power distribution auxiliary controller representing the ith DG unit. u. ofωiAnd upiRespectively adopting formulas (3) and (4):
Figure BDA0001400625860000058
Figure BDA0001400625860000059
in formulae (3) and (4), cω1,cω2,cp1,cp2Is a positive control gain parameter used to adjust the convergence time; sig (x)αDenotes sign (x) xαWhere sign () represents a sign function, | x | represents the absolute value of the real number x; mu is more than 01< 1 and v1> 1 is a control parameter; omegajAnd ωiRespectively representing the output frequencies, ω, of the jth and ith DG units*Represents the nominal frequency of the system;
Figure BDA0001400625860000061
and
Figure BDA0001400625860000062
respectively representing frequency droop coefficients of j and i DG units; pjAnd PiRespectively representing the active power output by the jth DG unit and the ith DG unit; a isijRepresenting the communication coupling coefficient between the ith and jth DG units, and if the ith DG unit can receive the information of the jth DG unit, aij> 0, otherwise, aij＝0；biRepresenting the holdup control gain, if the ith DG unit can acquire the system rated frequency information, bi> 0, otherwise, bi＝0；NiRepresenting the communication neighbor set of the ith DG unit.
The above-mentioned secondary frequency controller ensures the fixed time T described in equation (5)1The frequency is restored to a rated value, and each distributed power supply outputs accurate distribution of active power:
Figure BDA0001400625860000063
in the formula (5), η and ρ are as follows:
Figure BDA0001400625860000064
Figure BDA0001400625860000065
in the formulas (6) and (7), min { a, b } represents the minimum value of a and b, n represents the number of DG units in the microgrid, L,
Figure BDA0001400625860000066
and
Figure BDA0001400625860000067
respectively represent with aij，
Figure BDA0001400625860000068
And
Figure BDA0001400625860000069
a laplacian matrix that is a contiguous matrix of elements,
Figure BDA00014006258600000610
and
Figure BDA00014006258600000611
are respectively shown in
Figure BDA00014006258600000612
And
Figure BDA00014006258600000613
is a diagonal matrix of diagonal elements, λ1(H) And λ2(M) denotes the first and second small eigenvalues of matrices H and M, respectively, and the unexplained parameters in equations (5), (6) and (7) have the same meanings as in equations (3) and (4). Obviously, the time T is fixed1Independent of the initial state of the system, and only of the design parameters, so T1The design can be off-line according to task requirements.
The secondary voltage control is realized by selecting a proper voltage reference value V for the droop control of the ith DG uniti *The output voltage of the DG unit is returned to a rated value within a fixed time. The secondary voltage controller of the ith DG unit adopts an equation (8):
Figure BDA00014006258600000614
in the formula (8), uviA voltage recovery auxiliary controller representing an ith DG unit, using equation (9):
Figure BDA00014006258600000615
in the formula (9), cv1,cv2Is a positive control gain parameter used to adjust the convergence time; mu is more than 02< 1 and v2> 1 is a control parameter; vjAnd ViRespectively representing the output voltages, V, of the jth and ith DG cells*Represents the rated voltage of the system; the remaining parameters are defined as in the formulas (3) and (4).
The above-mentioned secondary voltage controller ensures a fixed time T as described in equation (10)2Internal implementation voltage amplitude recovery to nominal value:
Figure BDA0001400625860000071
in the formula (10), n represents the number of DG units in the microgrid,
Figure BDA0001400625860000072
and
Figure BDA0001400625860000073
are respectively shown in
Figure BDA0001400625860000074
And
Figure BDA0001400625860000075
a laplacian matrix that is a contiguous matrix of elements,
Figure BDA0001400625860000076
and
Figure BDA0001400625860000077
are respectively provided withIs shown in
Figure BDA0001400625860000078
And
Figure BDA0001400625860000079
is a diagonal matrix of diagonal elements, λ1(H) Representing the first small eigenvalue of the matrix H, the unexplained parameters in equation (10) have the same meaning as in equation (9). Obviously, the time T is fixed2Independent of the initial state of the system, and only of the design parameters, so T2The design can be off-line according to task requirements.
In order to illustrate the effectiveness of the proposed scheme, a microgrid simulation model is built in an MATLAB simulation platform, the rated frequency of the simulation microgrid is 50Hz (314.16 rad/s), and the rated phase voltage amplitude is 311V. A single line diagram of a microgrid is shown in fig. 4(a), the microgrid comprises 2 photovoltaic DG units (denoted by DG1 and DG2 in the diagram), 2 fuel cell DG units (denoted by DG3 and DG4 in the diagram), and 2 local loads (denoted by load 1 and load 2 in the diagram), the communication link relationship among the DGs is represented by a communication topology shown in fig. 4(b), and only DG1 has information about the rated frequency and rated voltage of the system in this simulation model.
In the simulated microgrid, the fixed time for the frequency recovery and the voltage recovery of the design are 2.8 seconds and 4.2 seconds respectively. The whole simulation process is divided into 2 stages: in the 0.5-2 second phase, only one level of control is used; in the 2-6 second stage, the distributed fixed time coordination control method proposed by the scheme is applied, wherein the load changes at 4 seconds to simulate the system to be disturbed. The simulation results are shown in fig. 5-8.
Fig. 5 and fig. 6 show the output frequency and output voltage variation process of DG unit in the microgrid respectively, and it can be seen from the figure that, in the 0.5-2 second stage, the first-level droop control can maintain the frequency and voltage of the microgrid stable, but both the frequency and voltage deviate from the rated value; in the 2-6 second stage, the distributed fixed time coordination control method proposed by the scheme is applied, and the output frequency and the output voltage of all DG units are recovered to the rated values within the preset fixed time. Fig. 7 shows a process of active power variation output by DG units in a microgrid, where active power output by all DG units achieves stable output within a pre-designed fixed time; fig. 8 shows a ratio variation process of the active power output by the DG units in the microgrid multiplied by the droop coefficient thereof, where the active power ratios of all DG units are equal within a preset fixed time, which illustrates that the active power distribution is accurately achieved within the preset fixed time according to the droop coefficient.
According to the simulation research, the distributed fixed time coordination control method provided by the scheme coordinates the operation of the DG units in the microgrid by utilizing the information measured by each DG unit and the neighbor information obtained by communication without a central controller under the support of distributed sparse communication, realizes the accurate distribution of the frequency and the voltage to the rated value and the active power within the fixed time designed in advance, ensures the electric energy quality of the microgrid and improves the reliability of the system.
Finally, it is noted that the above-mentioned preferred embodiments illustrate rather than limit the invention, and that, although the invention has been described in detail with reference to the above-mentioned preferred embodiments, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the scope of the invention as defined by the appended claims.

Claims (1)

1. A distributed fixed time coordination control method of an island microgrid is characterized by comprising the following steps: the method comprises the following steps:
s1: judging whether the frequency and the voltage of the droop control of the power controller have deviation, if so, entering S2, and if not, not performing information communication and data calculation related to the secondary control;
s2: activating secondary control by selecting proper frequency reference value for droop control of ith DG unit
Figure FDA00025285558500000111
And a voltage reference value Vi *Making the output frequency of DG unit at a fixed time T1Is internally restored toRated value, output voltage at fixed time T2The rated value is internally restored, and the accurate distribution of active power is realized;
s3: closing the secondary control;
the droop control of the power controller is as follows:
Figure FDA0002528555850000011
in the formula, ωriAnd VriRespectively representing the output frequency and the voltage reference value generated by the ith DG unit through droop control,
Figure FDA0002528555850000012
and Vi *Respectively representing the frequency and voltage reference values of the i-th DG unit droop control, i.e., the frequency and voltage output values generated by the secondary control,
Figure FDA0002528555850000013
and
Figure FDA0002528555850000014
respectively representing the frequency droop coefficient and the voltage droop coefficient of the ith DG unit, PiAnd QiRespectively representing the active power and the reactive power output by the ith DG unit;
the frequency reference value
Figure FDA0002528555850000015
Comprises the following steps:
Figure FDA0002528555850000016
in the formula uωiFrequency recovery auxiliary controller, u, representing the ith DG unitpiAn active power distribution auxiliary controller representing the ith DG unit; u. ofωiAnd upiRespectively as follows:
Figure FDA0002528555850000017
Figure FDA0002528555850000018
in the formula, cω1,cω2,cp1,cp2Is a positive control gain parameter used to adjust the convergence time; sig (x)αDenotes sign (x) xαWhere sign () represents a sign function, | x | represents the absolute value of the real number x; mu is more than 01< 1 and v1> 1 is a control parameter; omegajAnd ωiRespectively representing the output frequencies, ω, of the jth and ith DG units*Represents the nominal frequency of the system;
Figure FDA0002528555850000019
and
Figure FDA00025285558500000110
respectively representing frequency droop coefficients of j and i DG units; pjAnd PiRespectively representing the active power output by the jth DG unit and the ith DG unit; a isijRepresenting the communication coupling coefficient between the ith and jth DG units, and if the ith DG unit can receive the information of the jth DG unit, aij> 0, otherwise, aij＝0；biRepresenting the holdup control gain, if the ith DG unit can acquire the system rated frequency information, bi> 0, otherwise, bi＝0；NiA communication neighbor set representing the ith DG unit;
the fixed time T1Satisfies the following conditions:
Figure FDA0002528555850000021
where η and ρ are as follows:
Figure FDA0002528555850000022
Figure FDA0002528555850000023
where min { a, b } represents the minimum of a and b, n represents the number of DG units in the microgrid, L,
Figure FDA0002528555850000024
and
Figure FDA0002528555850000025
respectively represent with aij，
Figure FDA0002528555850000026
And
Figure FDA0002528555850000027
a laplacian matrix that is a contiguous matrix of elements,
Figure FDA0002528555850000028
and
Figure FDA0002528555850000029
are respectively shown in
Figure FDA00025285558500000210
And
Figure FDA00025285558500000211
is a diagonal matrix of diagonal elements, λ1(H) And λ2(M) representing first and second small eigenvalues of matrices H and M, respectively; fixed time T1Independent of the initial state of the system, the T is designed off-line according to the task requirements1；
The voltage reference value Vi *Comprises the following steps:
Figure FDA00025285558500000212
in the formula uviVoltage recovery auxiliary controller representing ith DG unit:
Figure FDA00025285558500000213
in the formula, cv1,cv2Is a positive control gain parameter used to adjust the convergence time; mu is more than 02< 1 and v2> 1 is a control parameter; vjAnd ViRespectively representing the output voltages, V, of the jth and ith DG cells*Represents the rated voltage of the system;
the fixed time T2Satisfies the following conditions:
Figure FDA00025285558500000214
wherein n represents the number of DG units in the microgrid,
Figure FDA00025285558500000215
and
Figure FDA00025285558500000216
are respectively shown in
Figure FDA00025285558500000217
And
Figure FDA00025285558500000218
a laplacian matrix that is a contiguous matrix of elements,
Figure FDA00025285558500000219
and
Figure FDA00025285558500000220
are respectively shown in
Figure FDA00025285558500000221
And
Figure FDA00025285558500000222
is a diagonal matrix of diagonal elements, λ1(H) A first small eigenvalue of the representation matrix H; fixed time T2Independent of the initial state of the system, the T is designed off-line according to the task requirements2。
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