CN108494007B - Virtual synchronous generator control method based on direct power control during power grid voltage unbalance - Google Patents

Virtual synchronous generator control method based on direct power control during power grid voltage unbalance Download PDF

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CN108494007B
CN108494007B CN201810434081.4A CN201810434081A CN108494007B CN 108494007 B CN108494007 B CN 108494007B CN 201810434081 A CN201810434081 A CN 201810434081A CN 108494007 B CN108494007 B CN 108494007B
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胡海林
刘飞飞
黄秋杰
刘雨峰
蔡少文
刘千铭
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Jiangxi University of Science and Technology
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    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract

A virtual synchronous generator control method based on direct power control when the voltage of a power grid is unbalanced comprises the steps of firstly obtaining the positive sequence component of the voltage and grid-connected current of the power grid, and the output instantaneous power and average instantaneous power of an inverter by using an ROGI; taking the average instantaneous power as a feedback quantity, and obtaining a reference modulation signal under an alpha beta static coordinate by utilizing a traditional virtual synchronous control strategy; establishing a direct power control loop by using a vector proportional-integral resonance controller, taking output instantaneous power as feedback quantity, and obtaining a modified modulation signal by using direct power control through respectively setting different power instruction values; and superposing the reference modulation signal and the correction modulation signal to obtain a final modulation signal, and sending the final modulation signal to an SVPWM (space vector pulse width modulation) module to respectively realize two independent control targets of sine and balance of output current and constant and non-fluctuating output power. The invention keeps the original control characteristic of the VSG, does not need a phase-locked loop, improves the dynamic response capability of the system and is easy to realize in engineering.

Description

Virtual synchronous generator control method based on direct power control during power grid voltage unbalance
Technical Field
The invention belongs to the technical field of distributed power generation, and relates to a virtual synchronous generator control method when the voltage of a power grid is unbalanced.
Background
The development of renewable new energy and the improvement of the utilization efficiency of renewable energy are inevitable ways to solve the problem of human energy. Renewable energy sources need to be connected to the grid through power electronic converters, with the goal of injecting maximum power into the grid. When the installed capacity of the distributed power generation is relatively low, the original traditional synchronous generator in the system can provide enough support for the power system, and the stability of the power system cannot be threatened by the access of the distributed power generation units. Because the distributed power generation unit with the power electronic converter as the interface does not have inertia and damping of the synchronous generator, the installed proportion of the traditional synchronous generator gradually decreases along with large-scale access of the distributed power generation unit, so that the rotating reserve capacity and the rotational inertia in the system are relatively reduced, and at the moment, the power system is easily influenced by power fluctuation and system faults to cause system instability. With the continuous improvement of the permeability of the distributed renewable energy sources, the threat of the distributed power generation units to the stability of the power system is larger. The virtual synchronization technology realizes the synchronization organization of the power electronic converter, so that the distributed power supply can have the internal mechanism and the external characteristic of a synchronous machine, and can autonomously participate in the regulation of a power grid as a conventional synchronous machine.
The distributed power generation unit is installed at the tail end of a power grid and is far away from a power main network, the power grid is fragile, meanwhile, the power grid environment is complex, the harmonic content of the power grid voltage is high, the power grid impedance is large, and the fault of unbalanced power grid voltage is easy to occur. These non-ideal grid environments will directly affect the power quality and stable operation of the virtual synchronous generator, and also negatively affect the safe and stable operation of the grid. Therefore, the research on the operation mechanism and the optimization control strategy of the virtual synchronous generator in the non-ideal power grid environment has important theoretical value and practical significance for improving the survival capacity of the virtual synchronous generator, improving the output electric energy quality of the virtual synchronous generator and expanding the application of the virtual synchronous generator.
Disclosure of Invention
The invention aims to realize two independent control targets of no fluctuation of output power, balanced three-phase output current and sine of a grid-connected virtual synchronous generator when the voltage of a power grid is unbalanced, and provides a virtual synchronous generator control method based on direct power control under a two-phase static coordinate.
The invention is realized by the following technical scheme.
The invention relates to a virtual synchronous generator control method based on direct power control when the voltage of a power grid is unbalanced, which is characterized by comprising the following steps of:
(1) separating the positive sequence components of the grid voltage and the grid-connected current by using a Reduced Order Generalized Integrator (ROGI); calculating instantaneous power and average instantaneous power;
(2) substituting the average instantaneous power into a traditional Virtual Synchronous control strategy (VSG) to obtain a reference modulation signal;
(3) establishing a direct power control loop, and obtaining a correction modulation signal when two different control targets of no fluctuation of output power, sine output current and three-phase balance are realized through the direct power control loop by setting a power instruction value when the voltage of a power grid is unbalanced;
(4) and superposing the reference Modulation signal and the correction Modulation signal, and sending the superposed signals into a Space Vector Pulse Width Modulation (SVPWM) module to obtain a control signal of the switching device.
Further, the step (1) of separating the positive sequence components of the grid voltage and the grid-connected current by using the ROGI
Figure BDA0001654178290000021
Figure BDA0001654178290000022
The method for calculating the instantaneous power and the average instantaneous power comprises the following steps:
(1-1) obtaining a voltage and current positive sequence component by using the discretized ROGI, wherein the expression of the discretized ROGI is shown as the formula (1).
Figure BDA0001654178290000023
Where ω is the angular frequency, TsIs a sampling period, uα +Is the voltage alpha axis positive sequence component u obtained after ROGI processingβ +Is the positive sequence component of the voltage beta axis after ROGI processing, eα +To feed the voltage alpha-axis positive sequence component of the ROGI, eβ +For the voltage β axis positive sequence component fed into the ROGI, the subscripts α, β represent the α, β components in the two-phase stationary α β coordinate, the superscript + represents the positive sequence component, and n is the nth sample.
(1-2) calculating instantaneous Power Pg、QgAverage instantaneousPower P0、Q0The calculation formulas are shown in formulas (2) and (3).
Figure BDA0001654178290000024
Figure BDA0001654178290000025
In the formula, eα、eβIs the alpha and beta axis components i of the network voltage under a two-phase static alpha and beta coordinate systemα、iβThe components of the α and β axes of the output current in the two-phase stationary α β coordinate system are denoted by superscript + as the positive sequence component.
Further, the method for obtaining the reference modulation signal by substituting the average instantaneous power into the conventional VSG control in step (2) is as follows:
(2-1) commanding the active power PrefAnd average instantaneous power P0The voltage phase is obtained by substituting equation (4).
Figure BDA0001654178290000026
Wherein J is the virtual moment of inertia, DpFor damping coefficient, ω is angular frequency, ωnAt the nominal angular frequency, θ is the phase angle.
(2-2) Command Q of reactive PowerrefAnd average instantaneous power Q0The voltage amplitude is obtained by substituting equation (5).
U＝K∫(Qref-Q0)dt (5)
In the formula, K is an integral coefficient, and U is an effective value of the output voltage.
(2-3) taking the output of the active link as the frequency and the phase of a modulation wave, taking the output of the reactive link as the amplitude of the modulation wave, and synthesizing a reference three-phase modulation voltage u according to the formula (6)am、ubm、ucmObtaining a reference modulation voltage u under a two-phase static coordinate through Clark (clark) conversionα、uβThe clark transformation formula is shown in formula (7).
Figure BDA0001654178290000031
Figure BDA0001654178290000032
Further, the step (3) of establishing the direct power control loop, by setting a power instruction value when the grid voltage is unbalanced, obtaining the modified modulation signal when two different control targets of stable output power, sinusoidal output current and three-phase balance are achieved through the direct power control loop, and the method for obtaining the modified modulation signal when the grid voltage is unbalanced by using the direct power control comprises the following steps:
(3-1) establishing a direct power control loop by applying a Vector Proportional Integral (VPI) resonance controller, wherein the expression of the VPI controller is shown as a formula (8).
Figure BDA0001654178290000033
In the formula, Kp、KiFor controlling parameters, omega, of frequency-doubled VPI controllerscBandwidth, ω, for VPI controlnIs the nominal angular frequency.
(3-2) in order to ensure that the output power is stable when the voltage of the power grid is unbalanced, setting a power instruction value P of direct power controlcom＝0，QcomObtaining an output result u 'of the output power smooth control target'α_com、u′β_com。
(3-3) resetting the direct power control power instruction value P to ensure that the output current is sinusoidal and three-phase is balanced when the voltage of the power grid is unbalancedcom、QcomObtaining an output result u 'of a control target in which currents are sinusoidal and three-phase balanced'α_com、u′β_comAnd the power instruction value is set according to the formula (9) to realize current sine and three-phase balance.
Figure BDA0001654178290000041
In the formula, Pg、QgTo output instantaneous power, P0、Q0To output the average instantaneous power.
And (3-4) converting the output signal of the direct power control into a modified modulation signal through a conversion matrix M, wherein the conversion equation is shown as the formula (10), and M is shown as the formula (11).
Figure BDA0001654178290000042
Figure BDA0001654178290000043
In the formula uα_com、uβ_comIs a corrected modulation signal u 'in an alpha beta coordinate system'α_com、u′β_comRespectively, direct power control output, e, in an alpha beta coordinate systemα、eβIs the alpha and beta axis components i of the network voltage under a two-phase static alpha and beta coordinate systemα、iβIs the alpha and beta axis components of the output current under a two-phase static alpha and beta coordinate system.
And (4) superposing the reference modulation signal and the correction modulation signal, and sending the superposed reference modulation signal and correction modulation signal to the SVPWM module to obtain a control signal of the switching device.
The invention has the characteristics and beneficial effects that:
(1) when the voltage of the power grid is unbalanced, a reference modulation signal is obtained by utilizing the traditional virtual synchronous control technology; establishing a direct power control loop, and obtaining a correction modulation signal for realizing stable output power, balanced three-phase output current and sine two different control targets through the direct power control loop by setting a power instruction value for direct power control when the voltage of a power grid is unbalanced; and superposing the reference modulation signal and the correction modulation signal to obtain a final modulation signal.
(2) When the voltage of a power grid is unbalanced, the control method of the virtual synchronous generator is improved based on direct power control, the control structure of the VSG is not changed, the original control characteristic of the VSG is kept, the control method is realized under a two-phase static coordinate system, a phase-locked loop is not needed, the dynamic response capability of the system is improved, and the engineering realization is easy.
Drawings
Fig. 1 is an overall block diagram of the VSG controlled inverter.
FIG. 2 is a flow chart of the system control.
Figure 3 is a VSG control block diagram.
Fig. 4 is a direct power control block diagram.
Detailed Description
The invention will be described in detail with reference to the drawings and the working principle.
As shown in fig. 1, in the figure, UdcIs a DC side voltage, Rs、LsAnd C are the internal resistance of the filter inductor, the filter inductor and the filter capacitor respectively; i.e. ia、ibAnd icOutputting current for the inverter; u. ofa、ubAnd ucOutputting three-phase voltage for the inverter side; e.g. of the typea、ebAnd ecIs a three-phase grid voltage; l isgIs a line inductance; p*、Q*Respectively setting values of active power and reactive power; pg、QgOutputting instantaneous active and reactive power measurements, P, for an inverter0、Q0And outputting the average instantaneous active power and reactive power measured values for the inverter. The invention is a virtual synchronous generator control technology based on direct power control when the voltage of a power grid is unbalanced, when the voltage of the power grid is unbalanced, the amplitude and the phase of the voltage are obtained by a power set value and average instantaneous power through a VSG control algorithm, and a reference modulation signal is obtained by synthesis; designing a direct power control loop, and when the voltage of a power grid is unbalanced, setting a direct power control power instruction value to obtain different correction modulation signals; and superposing the reference modulation signal and the correction modulation signal to obtain a final modulation signal, sending the final modulation signal to an SVPWM link to obtain a control signal of the switching device, and controlling the on-off of the switching device to realize a control target.
As shown in fig. 2, the control method according to the embodiment of the present invention includes the following steps:
1. sampling to obtain side output three-phase current i of inverterabcAnd three-phase network voltage eabc，
2. Discretizing the ROGI function, wherein the transfer function of the ROGI continuous domain is as follows:
Figure BDA0001654178290000051
where k is used to adjust the separation speed.
Obtaining u according to formula (1)αβ +、uαβ -And uαβThe continuous domain transfer function relationship between the two is as follows:
Figure BDA0001654178290000052
in the formula, the subscript α β represents a component in the stationary α β coordinates of the two phases, and the superscript + represents a positive sequence component.
Equation (2) is simplified by using the orthogonal relationship of α β axes, taking the positive sequence component as an example:
Figure BDA0001654178290000053
in the formula, eαβ +Is the input component of the positive-sequence ROGI, uαβ +Is the ROGI output component.
The left and right sides of equation (3) are multiplied by s-j ω to obtain:
Figure BDA0001654178290000054
discretizing by Tustin bilinear transformation, wherein the Tustin transformation is shown as a formula (5), and T issIs the sampling period.
Figure BDA0001654178290000055
The obtained discretized ROGI expression is shown as a formula (6).
Figure BDA0001654178290000061
Where ω is the angular frequency, TsIs a sampling period, uα +Is the voltage alpha axis positive sequence component u obtained after ROGI processingβ +Is the positive sequence component of the voltage beta axis after ROGI processing, eα +To feed the voltage alpha-axis positive sequence component of the ROGI, eβ +For the voltage β axis positive sequence component fed into the ROGI, the subscripts α, β represent the α, β components in the two-phase stationary α β coordinate, the superscript + represents the positive sequence component, and n is the nth sample.
3. Calculating instantaneous power Pg、QgAnd average instantaneous power Pg、Qg。
4. Will have an active power command PrefAnd average instantaneous power P0And a virtual phase is obtained by substituting an input type active power-frequency calculation link (7).
Figure BDA0001654178290000062
Wherein J is the virtual moment of inertia, DpFor damping coefficient, ω is angular frequency, ωnIs the nominal angular frequency.
Will have active power command QrefAnd average instantaneous power Q0And a voltage amplitude value is obtained by substituting an input type reactive-voltage calculation link (8).
U＝K∫(Qref-Q0)dt (8)
In the formula, K is an integral coefficient, and U is an effective value of the output voltage.
4. Synthesizing the reference modulation voltage uam、ubmAnd ucmAnd performing clark conversion to obtain a reference modulation voltage u under a two-phase static coordinateα、uβ。
5. Establishing direct power control by setting different power command valuesAnd different control targets are achieved when the voltage of the power grid is unbalanced. Specifically, the method comprises the following steps: to achieve stable output power without fluctuation, the power command value is set to Pcom、QcomTo 0, the current sine is realized and the three-phase balance is set the power command value according to equation (9). A direct power control block diagram is shown in fig. 4.
Figure BDA0001654178290000063
In the formula, Pg、QgTo output instantaneous power, P0、Q0To output the average instantaneous power.
A mathematical model of the grid-connected inverter under an alpha beta coordinate system is established according to the graph 1:
Figure BDA0001654178290000071
in the formula, subscripts α, β represent components in the two-phase stationary coordinates; l ═ Lg+Ls，LsIs the internal resistance of filter inductor, LgIs a line inductance; e.g. of the typeα、eβIs the alpha and beta axis components i of the network voltage under a two-phase static alpha and beta coordinate systemα、iβIs the alpha and beta axis components of the output current under a two-phase static alpha and beta coordinate system. When the grid voltage is unbalanced, the grid voltage can be expressed as follows under a two-phase static coordinate system:
Figure BDA0001654178290000072
in the formula, superscript + represents the positive sequence component, and superscript-represents the negative sequence component.
According to formula (10):
Figure BDA0001654178290000073
according to formula (11):
Figure BDA0001654178290000074
in the formula, ωnAnd (4) rated angular frequency of the power grid.
The output instantaneous power is:
Figure BDA0001654178290000075
by taking the derivatives of equation (14) to obtain the power derivative
Figure BDA0001654178290000081
Substituting the expressions (12) and (13) into the expression (15) can output voltage expressions under the condition of unbalanced power grid:
Figure BDA0001654178290000082
Figure BDA0001654178290000083
Figure BDA0001654178290000084
the equation for direct power control under unbalanced network can be obtained as follows:
Figure BDA0001654178290000085
where M is a conversion matrix, the output signal of direct power control is converted into a modified modulation signal by the conversion matrix M, Pcom、QcomRespectively an active power instruction value and a reactive power instruction value, GVPIIs an expression of a VPI controller.
6. And superposing the reference modulation signal and the correction modulation signal, and sending the superposed signals to an SVPWM (space vector pulse width modulation) link to obtain a control signal of the switching device.

Claims (1)

1. A virtual synchronous generator control method based on direct power control when the grid voltage is unbalanced is characterized by comprising the following steps:
(1) separating the positive sequence components of the grid voltage and the grid-connected current by using a reduced-order generalized integrator; calculating instantaneous power and average instantaneous power;
(2) substituting the average instantaneous power into a traditional virtual synchronous control strategy to obtain a reference modulation signal;
(3) establishing a direct power control loop, and obtaining a correction modulation signal when two different control targets of no fluctuation of output power, sine output current and three-phase balance are realized through the direct power control loop by setting a power instruction value when the voltage of a power grid is unbalanced;
(4) superposing the reference modulation signal and the correction modulation signal, and sending the superposed signals to a space vector pulse width modulation module to obtain a control signal of the switching device;
the method for separating the positive sequence components of the grid voltage and the grid-connected current by using the reduced-order generalized integrator and calculating the instantaneous power and the average instantaneous power in the step (1) comprises the following steps:
(1-1) obtaining a voltage and current positive sequence component by using a discretized reduced-order generalized integrator, and firstly establishing an ROGI function, wherein the transfer function of an ROGI continuous domain is as follows:
Figure FDA0003273403180000011
obtaining u from the ROGI functionαβ +、uαβ -And uαβThe continuous domain transfer function relationship between the two is as follows:
Figure FDA0003273403180000012
the equation (2) is simplified by the orthogonal relationship of α β axes, and is obtained:
Figure FDA0003273403180000013
the left and right sides of equation (3) are multiplied by s-j ω to obtain:
Figure FDA0003273403180000021
discretizing by Tustin bilinear transformation to obtain the discretization reduced generalized integrator with the expression as shown in formula (5):
Figure FDA0003273403180000022
in which k is the separation speed, eαβ +Is the input component of the positive-sequence ROGI, uαβ +For the ROGI output component, ω is the angular frequency, TsIs a sampling period, uα +Is a voltage alpha axis positive sequence component u obtained after being processed by a reduced-order generalized integratorβ +Is a voltage beta axis positive sequence component processed by a reduced-order generalized integrator, eα +For the positive sequence component of the alpha axis of the voltage fed to the reduced-order generalized integrator, eβ +In order to send the positive sequence component of the voltage beta axis of the reduced-order generalized integrator, subscripts alpha and beta represent alpha and beta components under the two-phase stationary alpha and beta coordinates, superscript + represents the positive sequence component, and n is the nth sampling;
(1-2) calculating instantaneous Power Pg、QgAverage instantaneous power P0、Q0The calculation formula is shown in formulas (6) and (7):
Figure FDA0003273403180000023
Figure FDA0003273403180000024
in the formula, eα、eβIs the alpha and beta axis components i of the network voltage under a two-phase static alpha and beta coordinate systemα、iβThe components of the alpha and beta axes of the output current under a two-phase static alpha and beta coordinate system are marked, and the positive sequence component is represented by the mark;
the method for obtaining the reference modulation signal by substituting the average instantaneous power into the control of the traditional virtual synchronous control strategy in the step (2) comprises the following steps:
(2-1) commanding the active power PrefAnd average instantaneous power P0Obtaining a voltage phase by substituting formula (8):
Figure FDA0003273403180000031
wherein J is the virtual moment of inertia, DpFor damping coefficient, ω is angular frequency, ωnIs a rated angular frequency, theta is a phase angle;
(2-2) Command Q of reactive PowerrefAnd average instantaneous power Q0Obtaining the voltage amplitude value by substituting formula (9):
U＝K∫(Qref-Q0)dt (9)
in the formula, K is an integral coefficient, and U is an effective value of an output voltage;
(2-3) taking the output of the active link as the frequency and the phase of a modulation wave, taking the output of the reactive link as the amplitude of the modulation wave, and synthesizing a reference three-phase modulation voltage u according to the formula (10)am、ubm、ucmObtaining a reference modulation voltage u under a two-phase static coordinate through Clark transformationα、uβThe clark transformation formula is as in formula (11):
Figure FDA0003273403180000032
Figure FDA0003273403180000033
establishing a direct power control loop, and obtaining a modified modulation signal when two different control targets of stable output power, sinusoidal output current and three-phase balance are achieved through the direct power control loop by setting a power instruction value when the voltage of the power grid is unbalanced, wherein the method for obtaining the modified modulation signal when the voltage of the power grid is unbalanced by utilizing direct power control comprises the following steps:
(3-1) establishing a direct power control loop by using a vector proportional integral resonant controller, wherein the expression of the vector proportional integral controller is shown as a formula (12):
Figure FDA0003273403180000041
in the formula, Kp、KiControlling a parameter, omega, for a double frequency vector proportional integral controllercBandwidth, omega, for vector proportional integral controlnIs the rated angular frequency;
(3-2) in order to ensure that the output power is stable when the voltage of the power grid is unbalanced, setting a power instruction value P of direct power controlcom＝0，QcomObtaining an output result u 'of the output power smooth control target'α_com、u′β_com；
(3-3) resetting the direct power control power instruction value P to ensure that the output current is sinusoidal and three-phase is balanced when the voltage of the power grid is unbalancedcom、QcomObtaining an output result u 'of a control target in which currents are sinusoidal and three-phase balanced'α_com、u′β_comAnd the power instruction value is set according to the formula (13) by realizing current sine and three-phase balance:
Figure FDA0003273403180000042
in the formula, Pg、QgTo output instantaneous power, P0、Q0To output an average instantaneous power;
(3-4) establishing a mathematical model of the grid-connected inverter under an alpha beta coordinate system to obtain an output signal for direct power control, converting the output signal into a correction modulation signal through a conversion matrix M, wherein a conversion equation is shown as a formula (14), and M is shown as a formula (15):
Figure FDA0003273403180000043
Figure FDA0003273403180000044
in the formula uα_com、uβ_comIs a corrected modulation signal u 'in an alpha beta coordinate system'α_com、u′β_comRespectively, direct power control output, e, in an alpha beta coordinate systemα、eβIs the alpha and beta axis components i of the network voltage under a two-phase static alpha and beta coordinate systemα、iβIs the alpha and beta axis components of the output current under a two-phase static alpha and beta coordinate system.
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