CN107565586B - Active power control method of two-stage energy storage converter - Google Patents
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Abstract
A two-stage energy storage converter active power control method comprises an alternating current inversion unit ACU and a plurality of direct current transformation units DCU. The alternating current inversion unit is controlled by an ACU controller, and each direct current transformation unit is controlled by a respective DCU controller. The ACU controller receives an active power dispatching instruction of an energy management system, and the active power dispatching instruction is quickly tracked by combining a hysteresis loop PI control strategy based on the direct current bus voltage, and meanwhile, the direct current bus voltage fault is prevented from being triggered. Each DCU controller receives a charge and discharge power instruction of the battery management system, and combines a droop power distribution strategy based on the voltage of a direct current bus and an asymmetric PI control feed-forward strategy based on the voltage of a battery to realize the automatic distribution of active power when a plurality of direct current voltage transformation units DCUs are connected in parallel, so that the voltage stability of the direct current bus is ensured, and meanwhile, the automatic smooth switching of a battery from a constant current to a constant voltage charging mode is met.
Description
Technical Field
The invention relates to an active power control method applied to a two-stage energy storage converter.
Background
With the continuous expansion of the capacity of the power grid in China, the peak-to-valley difference is continuously increased, the demand of renewable energy sources, distributed energy supply and smart power grids on large-scale energy storage industry is increased, and the energy storage becomes the main bottleneck of the large-scale development of the renewable energy sources and the smart power grids. The large-scale wind power and solar energy grid connection provides opportunities for large-scale application of energy storage in a power system, and the energy storage becomes a necessary supporting technology in a high-proportion renewable energy power system.
At present, large-scale energy storage includes both physical energy storage and electrochemical energy storage, and electrochemical energy storage is the leading energy storage technology at present. In recent years, electrochemical energy storage technologies such as sodium-sulfur batteries, flow batteries and lithium ion batteries are developed quickly, have great development potential and have wide application prospects. The flow battery represented by the all-vanadium redox flow battery has the advantages of large capacity, recoverable electrolyte and long cycle life, can be respectively designed with capacity and power, and is expected to become a second large energy storage mode after pumped storage.
For electrochemical energy storage, in order to exert the maximum efficiency of a battery, ensure the service life of the battery and realize a power interface between the battery and a power grid, the energy storage converter PCS is a very critical device in a system. In an actual system, the energy storage is generally responsible for the primary frequency modulation and the inertia frequency modulation of the power system, and the response speed of the energy storage converter to an active power scheduling instruction is a very important assessment index.
The energy storage converter is divided into a single-stage energy storage converter and a two-stage energy storage converter. The single-stage energy storage converter mainly comprises an AC inverter unit ACU (alternating current Unit), and is suitable for occasions with small battery charging and discharging voltage variation ranges, such as lithium ion batteries and lead storage batteries. When the grid-connected operation is carried out, the alternating-current inverter controls the charging and discharging power of the battery according to the scheduling instruction, and can quickly respond to the active power scheduling instruction; when the system runs off the grid, the alternating current inverter controls alternating current output frequency and voltage.
The two-stage energy storage converter comprises an alternating current inversion unit ACU and a direct current transformation unit DCU, can flexibly match alternating current grid-connected voltage and direct current battery voltage, achieves optimal grid-connected electric energy quality and battery charging and discharging performance, can be suitable for all-vanadium redox flow batteries with wide terminal voltage range and zero battery initial voltage, and is widely applied. Because the two-stage energy storage converter contains two links of alternating current contravariant unit and direct current vary voltage unit, according to actual battery configuration, generally have a plurality of direct current vary voltage unit, and the control of alternating current contravariant unit and a plurality of direct current vary voltage unit need compromise the active power instruction, the control of direct current busbar voltage and the battery charge-discharge control of tracking the dispatch and issuing, makes active power control become complicated when the flexibility increases.
The active power cooperative control between the alternating current inversion unit and the direct current transformation unit in the two-stage energy storage converter is researched, the active power scheduling instruction can be quickly responded like a single-stage energy storage converter in grid-connected operation, the output frequency and the voltage quality are ensured in off-grid operation, smooth and quick switching of grid-connected and off-grid operation modes is realized, and the stable control of the direct current bus voltage is realized, so that the active power cooperative control has important significance.
Patent 201510447531, X "a novel two-stage bidirectional energy storage converter control system and control method thereof" provides a two-stage energy storage converter control system hardware composition, which can detect the power or voltage of an alternating-current microgrid and the state of charge of an energy storage battery in real time, flexibly control the operation modes of each power generation device and the energy storage converter in the microgrid system, but does not provide an active power control method. In the literature, "PCS control strategy research for grid connection of battery energy storage system," cao sheng ci ning, songchuning, and the like, the active power control of the dc voltage transformation unit and the passive power control of the ac inverter unit are adopted, and the demand for fast response of active power scheduling cannot be met.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an active power control method suitable for a two-stage energy storage converter.
The two-stage energy storage converter comprises an alternating current inversion unit ACU and a plurality of direct current transformation units DCU. The alternating current inversion unit ACU is controlled by an ACU controller, and each direct current transformation unit DCU is controlled by a respective DCU controller. The two-stage energy storage converter receives and tracks an active power scheduling instruction issued by an energy management system EMS, and a battery management system BMS is adopted in the system to manage each direct current transformation unit, so that charging and discharging control of multiple groups of batteries is realized.
In the two-stage energy storage converter, an active power control strategy comprises two parts, namely active power control of an alternating current inversion unit ACU and active power control of a direct current transformation unit DCU. The invention adopts the ACU controller of the two-stage energy storage converter to receive and track the active power scheduling instruction P issued by the energy management system EMSrefCombined with the actual value U based on the DC bus voltagebusThe hysteresis PI control strategy realizes that the two-stage energy storage converter quickly responds to an active power dispatching instruction issued by an energy management system EMS, assists in controlling the voltage stability of a direct current bus, and avoids triggering the voltage fault of the direct current bus; the DCU controller of each two-stage energy storage converter receives a battery charging and discharging power instruction P issued by a battery management system BMSbatxCombined with the actual value U based on the DC bus voltagebusThe droop power distribution strategy realizes the automatic distribution of active power among all DCU controllers; combined with actual value U based on battery voltagebatxThe asymmetric PI control feedforward strategy realizes the automatic smooth switching of the battery from a constant current to a constant voltage charging mode.
The AC inversion unit ACU control of the two-stage energy storage converter is realized through an ACU controller. ACU controller collects three-phase voltage U of power gridgabcCalculating the active component U of the network voltage by a phase-locked loop (PLL)gd(ii) a Active power scheduling instruction P issued by energy management system EMSrefDivided by the active component U of the network voltagegdObtaining the active current reference intermediate value Igdref1(ii) a Set DC bus voltage reference value UbusrefSubtracting the actual value U of the DC bus voltagebusRear entryEntering a hysteresis loop, and outputting a feedback K of subtracting an active current reference compensation value from the output of the hysteresis loopc*IgdcompThe subtraction result enters a PI control link, and the PI control link outputs an active current reference compensation value Igdcomp. The addition of a hysteresis loop link ensures the actual value U of the DC bus voltage on the one handbusWidth of hysteresis loop delta UbusWhen the AC inverter unit ACU changes within the range, the AC inverter unit ACU quickly and accurately tracks an active power scheduling instruction issued by an energy management system EMS (energy management system), and on the other hand, the AC inverter unit ACU ensures that the actual value U of the DC bus voltage isbusVariation exceeding hysteresis loop width delta UbusAnd then, the control device starts to participate in the voltage control of the direct current bus, so that the voltage fault of the direct current bus is prevented from being triggered. Active current reference compensation value feedback link Kc*IgdcompThe introduction of the AC inverter unit (ACU) ensures that the AC inverter unit (ACU) can dispatch the active power P of the Energy Management System (EMS) in a steady staterefError-free tracking.
Active current reference median Igdref1Subtracting the active current reference compensation value IgdcompObtaining the actual active current reference value Igdref. Actual active current reference value IgdrefAnd after passing through a current loop and a PWM (pulse-width modulation) strategy, the current is output to an AC inversion unit ACU, so that active power control between the two-stage energy storage converter and a power grid is realized.
And each direct current voltage transformation unit DCU is respectively controlled by a respective DCU controller, and the control strategies of the DCU controllers are the same. The DCU active power control strategy comprises two parts: the first part realizes the automatic active power distribution when a plurality of direct current voltage transformation units DCUs are connected in parallel according to a battery charging and discharging power instruction issued by a battery management system BMS and in combination with a droop power distribution strategy based on direct current bus voltage; the second part is an asymmetric PI control feed-forward strategy based on the actual value of the battery voltage, and automatic smooth switching of the battery from a constant-current charging mode to a constant-voltage charging mode is realized.
Setting a direct current bus voltage reference value U for a droop power distribution strategy based on the direct current bus voltagebusrefSubtracting the actual value U of the DC bus voltagebusSubtracting the feedback of charging currentchxThe operation result is obtained through a PID linkReference intermediate value of charging power Pchref 1(ii) a Actual value U of DC bus voltagebusThe differential link
Then obtaining damping power PdampThe damping device is used for damping power oscillation possibly occurring in the charging and discharging transient state adjustment process; reference intermediate value of charging power Pchref 1Battery charging and discharging power instruction P issued by battery management system BMSbatxThen subtract the damping power PdampObtaining a charging power reference value Pchref(ii) a Reference value of charging power PchrefDivided by the actual value of the battery voltage UbatxAnd obtaining a charging current reference intermediate value I after the result is subjected to positive current amplitude limit + Lim and negative current amplitude limit-Limchref 1。
For the asymmetric PI control feedforward strategy based on the battery voltage, the set maximum voltage U of the batterybat maxSubtracting the actual value U of the battery voltagebatxThe operation result enters a PI control link, and the PI control link outputs a charging current reference feedforward value I after positive current amplitude limit 0 and negative current amplitude limit-Limchref 2. The PI control link outputs positive amplitude limit of 0 and negative amplitude limit of-Lim, so the PI control link is called as an asymmetric PI control link.
Charging current reference intermediate value I output by droop control power distribution strategy based on direct-current bus voltagechref 1Subtracting a charging current reference feedforward value I output by an asymmetric PI control feedforward strategy based on the battery voltagechref 2Obtaining a charging current reference value I after the operation result passes through positive current amplitude limit + Lim and negative current amplitude limit-Limchref. Reference value of charging current IchrefAnd the voltage is output to a corresponding direct current transformation unit (DCU) through a current loop and a Pulse Width Modulation (PWM) strategy, so that the charge and discharge power control of a corresponding battery is realized.
The invention has the advantages that the active power dispatching instruction of the energy management system EMS is directly issued to the ACU controller to control the ACU active power output of the alternating current inversion unit, thereby meeting the requirement of the system for quick response of the active power of the energy storage converter; ACU controller based on DC bus voltageValue UbusThe hysteresis PI control strategy can quickly track the EMS active power dispatching instruction of the energy management system and simultaneously avoid triggering the voltage fault of the direct current bus. Each DCU controller realizes the automatic distribution of active power among a plurality of DCUs according to a battery charging and discharging power instruction issued by a battery management system BMS and in combination with a droop power distribution strategy based on the DC bus voltage; the battery voltage asymmetric PI control feedforward strategy can be used for controlling the actual value U of the battery voltagebatxGreater than a set maximum voltage U of the batterybat maxThen generating a charging reference current feedforward value Ichref 2Reference of charging current to intermediate value Ichref 1And shielding to realize automatic smooth switching from the constant-current to constant-voltage charging mode.
Drawings
FIG. 1 is a schematic diagram of a two-stage energy storage converter;
FIG. 2 is an AC inverter unit ACU topology;
FIG. 3 is a DC transformer unit DCU topology;
fig. 4a is an active power control strategy of the ac inverter unit ACU, and fig. 4b is an active power control strategy of the dc transformer unit DCU.
Detailed Description
The invention is further described below with reference to the accompanying drawings and the detailed description.
The topology of the two-stage energy storage converter applied by the invention is shown in fig. 1 and is divided into an alternating current inversion unit ACU and a direct current transformation unit DCU.
The ac inverter unit ACU generally adopts a three-phase inverter system, as shown in fig. 2. The AC inversion unit ACU comprises a grid-connected switch S1Filter inductance L1Phase A power unit G11、G12B phase power cell power G21、G22C-phase power unit G31、G32DC bus capacitor C1. Wherein the grid-connected switch S1Is connected to an AC network, a DC capacitor C1Is connected to the DCU.
The ac inverter unit ACU active power control shown in fig. 2 is implemented in an ACU controller. In the present invention, the ACU active power control strategy is shown in fig. 4a, and includes the following steps:
step 1: user input of setting parameters including DC bus voltage reference value UbusrefWidth of hysteresis loop of DC bus voltage delta UbusAnd the feedback coefficient K of the active current reference compensation valuec；
Step 2: ACU controller collects three-phase power grid voltage UgabcCalculating the active component U of the network voltage after the phase-locked loop gd100 in fig. 4 a; active power scheduling instruction P issued by energy management system EMSrefDivided by the active component U of the network voltagegdObtaining an active current reference intermediate value Igdref1101 in fig. 4 a;
and step 3: direct current bus voltage reference value U in step 1busrefSubtracting the actual value U of the DC bus voltagebusThe width of the entering ring is DeltaUbusHysteresis, as shown at 110, 111 in fig. 4 a; feedback K of subtracting active current reference compensation value from hysteresis loop outputc*Igdcomp112 in fig. 4 a; the subtraction result enters a PI control link, and the PI control link outputs an active current reference compensation value IgdcompAs in 113 in fig. 4 a. The addition of a hysteresis loop link ensures the actual value U of the DC bus voltage on the one handbusWidth of hysteresis loop delta UbusWhen the AC inversion unit ACU changes within the range, the AC inversion unit ACU quickly and accurately tracks the active power scheduling instruction P issued by the energy management system EMSrefOn the other hand, the actual value U of the DC bus voltage is ensuredbusVariation exceeding hysteresis loop width delta UbusAnd then, the control circuit participates in the voltage control of the direct current bus, and prevents the voltage fault of the direct current bus from being triggered. Active current reference compensation value feedback link Kc*IgdcompThe addition of the AC inverter unit (ACU) ensures that the AC inverter unit (ACU) can dispatch the active power P of the Energy Management System (EMS) in a steady staterefError-free tracking of;
and 4, step 4: reference intermediate value I of active current output in step 2gdref 1Subtracting the active current reference compensation value I output in the step 3gdcompObtaining the actual active current reference value Igdref120 in fig. 4 a;
and 5: fruit of Chinese wolfberryActual active current reference value IgdrefAnd the current loop 121 and the PWM strategy 122 in the fig. 4a are output to the ACU in the fig. 1, such as 123 in the fig. 4a, so that active power control between the two-stage energy storage converter and the power grid is realized.
The dc transformer unit DCU generally adopts a buck-boost chopping method, as shown in fig. 3. The DC transformation unit DCU comprises a DC bus switch S2DC bus capacitor C2Step-up/step-down chopper circuit G41、G42Load capacitance C3And a load switch S3. Wherein the DC bus switch S2The output end of the voltage converter is connected with an AC inversion unit ACU and a load switch S in the figure 13Is connected to the battery shown in fig. 1.
In a two-stage energy storage converter system, a plurality of dc transformation units DCUs are present, for example, DCUs 1, … …, DCUn, n in fig. 1 represent the number of DCUs. Each dc voltage transformation unit DCU is controlled by an independent DCU controller, for example, in fig. 1, the DCU1 is controlled by a DCU1 controller, the DCUn is controlled by a DCUn controller, and the control strategy of each DCU controller is the same. Without loss of generality, the invention uses DCUx to represent any one of the DC voltage transformation units DCU, the DCUx controller represents any one of the DCU controllers, and uses UbatxRepresenting the corresponding battery voltage, IchxRepresenting the corresponding charging current, PbatxAnd the corresponding battery charge and discharge power sent by the battery management system BMS is represented.
The active power control strategy of the DCU in the present invention is shown in fig. 4b, and comprises the following steps:
step 1: user input of setting parameters including DC bus voltage reference value UbusrefCharging current droop coefficient R, battery maximum voltage UbatMaxCharging current limit Lim;
step 2: direct current bus voltage reference value U in step 1busrefSubtracting the actual value U of the DC bus voltagebusThen subtracting droop feedback of charging current R IchxIn fig. 4b, 130 and 131, the subtraction result is processed by PID to obtain the charging power reference intermediate value Pchref 1As in 132 of fig. 4 b;
and step 3: actual value U of DC bus voltagebusThe differential link
Then obtaining damping power P damp133 in fig. 4b, for damping power oscillations that may arise during charging and discharging transient adjustments;
and 4, step 4: reference intermediate value of charging power Pchref 1Battery charging and discharging power instruction P issued by battery management system BMSbatxThen subtract the damping power PdampObtaining a charging power reference value P chref134 in fig. 4 b; reference value of charging power PchrefDivided by the actual value of the battery voltage UbatxAnd obtaining a charging current reference intermediate value I after the result is subjected to positive current amplitude limit + Lim and negative current amplitude limit-Limchref 1Such as 135, 136 in fig. 4 b. Step 2, step 3 and step 4 are based on the actual value U of the DC bus voltagebusThe droop power allocation policy of (1);
and 5: maximum voltage U of battery in step 1bat maxSubtracting the actual value U of the battery voltage batx140 in fig. 4 b; the subtraction result enters a PI control link, and the PI control link outputs a charging current reference feedforward value I after positive current amplitude limit 0 and negative current amplitude limit-Limchref 2E.g. 141, 142 in fig. 4 b. The PI control link outputs positive amplitude limit of 0 and negative amplitude limit of-Lim, so the PI control link is called as an asymmetric PI control link. Step 5 is based on the actual value U of the battery voltagebatxThe asymmetric PI control feed-forward strategy of (1);
step 6: reference intermediate value I of charging current output in step 4chref 1Subtracting the charging current reference feedforward value I output in the step 5chref 2For example, as shown in 150 in fig. 4b, the subtraction result is subjected to positive current limiting + Lim and negative current limiting-Lim to obtain a charging current reference value Ichref151 in fig. 4 b;
and 7: reference value of charging current IchrefAfter passing through the 152 current loop and 153PWM strategy in fig. 4b, the active power is output to the corresponding dc voltage transformation unit DCU, e.g. 154 in fig. 4b, to realize the active power control of the corresponding dc voltage transformation unit DCUThe battery is charged and discharged.
Claims (3)
1. The active power control method of the two-stage energy storage converter comprises an Alternating Current (AC) inversion unit (ACU) and a plurality of Direct Current (DC) transformation units (DCUs), and is characterized in that: the AC inversion unit ACU is controlled by an ACU controller, and each DC transformation unit DCU is controlled by a respective DCU controller; the ACU controller receives an active power scheduling instruction P of an energy management system EMSrefCombined with the actual value U based on the DC bus voltagebusThe hysteresis PI control realizes the active power scheduling instruction P of the two-stage energy storage converter to the EMSrefThe tracking of the system can avoid triggering the voltage fault of the direct current bus; in each DCU controller, a set DC bus voltage reference value UbusrefSubtracting the actual value U of the DC bus voltagebusSubtracting the feedback of charging currentchxWherein R is the charge current droop coefficient, IchxThe charging current corresponding to the direct current transformation unit with the number of x is obtained by the operation result through a PID link to obtain a charging power reference intermediate value Pchref 1(ii) a Actual value U of DC bus voltagebusMeridian differential element
Then obtaining damping power PdampIn which K isdThe differential coefficient is a differential link differential coefficient; each DCU controller receives a battery charging and discharging power instruction P issued by a battery management system BMSbatxPlus the charging power reference median value Pchref 1Then subtract the damping power PdampObtaining a charging power reference value Pchref(ii) a Reference value of charging power PchrefDivided by the actual value of the battery voltage UbatxAnd obtaining a charging current reference intermediate value I after the result is subjected to positive current amplitude limit + Lim and negative current amplitude limit-Limchref 1(ii) a By basing on the actual value U of the battery voltagebatxThe asymmetric PI control feedforward strategy obtains a charging current reference feedforward value Ichref 2(ii) a Reference intermediate value of charging current Ichref 1Subtracting a charging current reference feedforward value Ichref 2Obtaining a charging current reference value I after the operation result is subjected to positive current amplitude limit + Lim and negative current amplitude limit-Limchref(ii) a Reference value of charging current IchrefAnd the voltage is output to a corresponding direct current transformation unit DCU through a current loop and a PWM strategy, so that the control of the charging and discharging power of the battery is realized.
2. The active power control method of the two-stage energy storage converter according to claim 1, characterized in that: the ACU controller active power control strategy comprises the following contents:
(1) energy management system EMS dispatches active power instruction PrefSending the voltage to an ACU controller, and acquiring three-phase voltage U of a power grid by the ACU controllergabcCalculating the active component U of the network voltage by a phase-locked loopgd(ii) a Active power scheduling instruction P issued by energy management system EMSrefDivided by the active component U of the network voltagegdObtaining the active current reference intermediate value Igdref 1；
(2) Set DC bus voltage reference value UbusrefSubtracting the actual value U of the DC bus voltagebusThen enters a hysteresis loop, and the output of the hysteresis loop subtracts the feedback K of the active current reference compensation valuec*IgdcompEntering a PI control link, and outputting an active current reference compensation value I by the PI control linkgdcompIn which K iscFeedback coefficients are active current reference compensation values;
(3) active current reference median Igdref1Subtracting the active current reference compensation value IgdcompObtaining the actual active current reference value Igdref(ii) a Actual active current reference value IgdrefAnd after passing through a current loop and a PWM (pulse-width modulation) strategy, the current is output to an AC inversion unit ACU, so that active power control between the two-stage energy storage converter and a power grid is realized.
3. The active power control method of the two-stage energy storage converter according to claim 1, characterized in that: each direct current voltage transformation unit DCU is respectively controlled by a respective DCU controller, and the control strategies of the DCU controllers are the same; the active power control strategy of the DCU controller comprises two parts: the first part is used for realizing active power distribution when a plurality of direct current voltage transformation units (DCUs) are connected in parallel according to a battery charging and discharging power instruction issued by a Battery Management System (BMS) and in combination with a droop power distribution strategy based on a direct current bus voltage actual value, and the second part is used for realizing an asymmetric proportional-integral (PI) control feed-forward strategy based on a battery voltage actual value and realizing automatic smooth transition of a battery from a constant current to a constant voltage charging mode; the active power control strategy of the DCU controller comprises the following contents:
(1) setting a direct current bus voltage reference value U for a droop power distribution strategy based on the direct current bus voltagebusrefSubtracting the actual value U of the DC bus voltagebusSubtracting the feedback of charging currentchxThe subtraction result enters a PID link, and the PID link outputs a charging power reference intermediate value Pchref 1(ii) a Actual value U of DC bus voltagebusThe differential link
Then obtaining damping power PdampThe damping device is used for damping power oscillation possibly occurring in the charging and discharging transient state adjustment process; reference intermediate value of charging power Pchref 1Battery charging and discharging power instruction P issued by battery management system BMSbatxThen subtract the damping power PdampObtaining a charging power reference value Pchref(ii) a Reference value of charging power PchrefDivided by the actual value of the battery voltage UbatxAnd obtaining a charging current reference intermediate value I after the result is subjected to positive current amplitude limit + Lim and negative current amplitude limit-Limchref 1(ii) a R is the charge current droop coefficient, IchxThe charging current is corresponding to the direct current transformation unit with the number of x; kdThe differential coefficient is a differential link differential coefficient;
(2) for the asymmetric PI control feedforward strategy based on the battery voltage, the set maximum voltage U of the batterybat maxSubtracting the actual value U of the battery voltagebatxThe subtraction result enters a PI link, and the PI link outputs a charging current reference feedforward value I after positive current amplitude limit 0 and negative current amplitude limit-Limchref 2；
(3) Based on direct current generating lineReference intermediate value I of charging current output by voltage droop power distribution strategychref 1Subtracting a charging current reference feedforward value I output by an asymmetric PI control feedforward strategy based on the battery voltagechref 2The subtraction result is subjected to positive current amplitude limit + Lim and negative current amplitude limit-Lim to obtain a charging current reference value Ichref(ii) a Reference value of charging current IchrefAnd after passing through a current loop and a PWM strategy, the current is output to a corresponding direct current voltage transformation unit (DCU) to realize the control of the charge and discharge power of a corresponding battery.
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