CN108539798A - Energy-storage system Secondary Control strategy based on Model Predictive Control - Google Patents

Energy-storage system Secondary Control strategy based on Model Predictive Control Download PDF

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CN108539798A
CN108539798A CN201810349876.5A CN201810349876A CN108539798A CN 108539798 A CN108539798 A CN 108539798A CN 201810349876 A CN201810349876 A CN 201810349876A CN 108539798 A CN108539798 A CN 108539798A
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voltage
angular frequency
variable
frequency
control
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CN108539798B (en
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赵波
李得民
章雷其
汪湘晋
葛晓慧
张雪松
汪科
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State Grid Corp of China SGCC
Electric Power Research Institute of State Grid Zhejiang Electric Power Co Ltd
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State Grid Corp of China SGCC
Electric Power Research Institute of State Grid Zhejiang Electric Power Co Ltd
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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
    • 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
    • H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
    • H02J3/50—Controlling the sharing of the out-of-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
    • H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
    • H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
    • 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
    • H02J3/003—Load forecast, e.g. methods or systems for forecasting future load demand

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Inverter Devices (AREA)
  • Control Of Electrical Variables (AREA)

Abstract

The invention discloses a kind of energy-storage system Secondary Control strategy based on Model Predictive Control.Existing frequency, the PI controls of voltage Secondary Control scheme generally use, in load fluctuation, frequency can not be stablized in reference frequency value, and frequency and the transient response of voltage are slower.The technical solution adopted by the present invention is：First, the inverter of energy-storage system and its state-space model of controlling unit are derived, secondly, establishes the prediction model of angular frequency and voltage；Then through rolling optimization and feedback compensation, the control variable of angular frequency and voltage, is finally respectively added on active power/angular frequency and reactive power/voltage droop control by the control variable for obtaining angular frequency and voltage, realize that frequency retrieval to the precise proportions of a reference value and reactive power distribute.There is the present invention faster frequency, voltage transient to respond, and control accuracy is high, highly practical.

Description

Energy-storage system Secondary Control strategy based on Model Predictive Control
Technical field
It is specifically a kind of based on Model Predictive Control the invention belongs to distributed power generation and micro-capacitance sensor technical field The secondary pressure regulation of energy-storage system, chirping strategies.
Background technology
Micro-capacitance sensor is by energy-storage system, diesel-driven generator distributed power supply (distributed generator, DG), work( The equipment such as rate converter, load constitute, by with bulk power grid interact supplement can alleviate access power grid when caused by impact.Micro- electricity When net is in island mode, power usually is provided for load by more DG parallel runnings, it is sagging with " plug and play " characteristic Control is most common control mode.Traditional P-f droop characteristics in load variations can not by frequency stabilization in rated value, and Line impedance in low pressure micro-capacitance sensor is in usually resistive or resistance sense, and traditional Q-V droop controls is made to cannot achieve reactive power Proportional assignment, and the equal offset voltage a reference value of each output voltage.
To improve the assignment accuracy of reactive power, certain scholars propose to introduce virtual impedance in inverter output end, change Output impedance characteristic, improves the power distribution precision of inverter, but cannot to solve outlet line difference equal to system for virtual impedance The influence of stream, therefore some scholars use Secondary Control strategy, and Secondary Control is added respectively in frequency and the reference value of voltage Optimized amount realizes that frequency retrieval to rated value and reactive power presses rated capacity pro rate；But traditional Secondary Control strategy PI controls are all made of, the transient response of frequency and voltage in load fluctuation is affected.
Invention content
The technical problem to be solved by the present invention is to overcome above-mentioned the shortcomings of the prior art, provide a kind of based on model The energy-storage system Secondary Control strategy of PREDICTIVE CONTROL, to realize the optimal control to energy-storage system voltage and frequency.
For this purpose, the present invention adopts the following technical scheme that：Energy-storage system Secondary Control strategy based on Model Predictive Control, It includes：
Inverter and its state-space model of controlling unit are derived, the prediction model of angular frequency and voltage is established；
The optimization object function that angular frequency and voltage are respectively obtained according to desired value, it is excellent by being rolled to optimization object function Change, obtains multiple controlling increments when making the function minimalization, output is acquired in conjunction with the initial prediction of a upper sampling instant Revised output predicted value, the initial prediction as subsequent time are obtained after predicted value, with actual measured value feedback compensation； Instant controlling increment is taken to constitute control variable simultaneously, as the Secondary Control amount for adjusting angular frequency and voltage.
Since PI controllers are only capable of using in the past and current measured value, using the Secondary Control strategy controlled based on PI, When docking the energy storage device in micro-capacitance sensor as distributed generation resource into line frequency and voltage adjusting, transient response susceptible. Discovery is researched and analysed, Model Predictive Control (MPC) is under conditions of considering controll plant related constraint, not merely with current and mistake The measured value gone also predicts Future Information using prediction model, adjusts control variable by rolling optimization, and to prediction Output carries out feedback compensation, and output is maintained desired value.
The present invention can predict future course information using Model Predictive Control (MPC), and be carried out accurately to desired value The characteristic of tracking establishes angular frequency and electricity by deriving the inverter of energy-storage system and its state-space model of controlling unit The prediction model of pressure obtains the control variable of angular frequency and voltage, as active power/angle through rolling optimization and feedback compensation The Secondary Control optimized amount of frequency and reactive power/voltage droop characteristic realizes frequency retrieval to a reference value and reactive power Precise proportions distribution.It is compared and is found by the Secondary Control strategy controlled with PI, the present invention is based on the Secondary Control strategies of MPC In load fluctuation, there is faster frequency and voltage transient response characteristic, in load fluctuation, frequency is maintained into frequency always Rate a reference value, and the deviation of each output voltage and reference voltage is greatly reduced, while realizing reactive power in rated capacity ratio Accurate distribution.
As the supplement of above-mentioned technical proposal, the construction step of the prediction model of the angular frequency and voltage, including：
Step 1)：Sampling obtains inverter output end voltage uiWith electric current ii, filter output voltage uoWith electric current io、 Points of common connection voltage is Vs；uoDq axis variables u is got in return through park changesod、uoq, similarly obtain io、ui、iiAnd VsDq axis variables；If The angular frequency of output voltage is ω when inverter stable operation0, derive ii、uoAnd ioState equation, respectively：
With
Wherein Lf、CfAnd RfRespectively filter inductance, capacitance and resistance； L, R is respectively line inductance, resistance；ωn=2 π fnFor specified angular frequency, wherein fn=50Hz；
Step 2)：Calculate active power and reactive power, respectively p=uodiod+uoqioq, q=uoqiod-uodioq, through cutting Angle till frequency is ωcLow-pass filter obtain mean power be P, Q, i.e.,S is that drawing is general Lars converts differential operator；
The droop control parameter of angular frequency and voltage is obtained using P, Q, while adding Secondary Control amount, is obtainedThe π of wherein ω=2 f, ωn=2 π fn, fn、UnRespectively frequency, a reference value of voltage；Pn、Qn Respectively frequency, voltage corresponding active power and reactive power in a reference value；M, n is respectively the sagging coefficient of P- ω, Q-V； ωs、uMThe angular frequency variable and voltage quantities respectively added；The voltage value that droop control is generated controls outer shroud as voltage Reference signal, i.e.,
u* od=Un+n(Qn-Q)+uM、u* oq=0；
Step 3)：Define voltage difference state variableI.e. to (u* od-uod) carry out integral acquisition variableSimilarly To (u* oq-uoq) integral acquisition variableDesign voltage outer shroud governing equation Wherein kvp、kviThe respectively ratio of outer voltage, integral parameter；H is to adjust output current ioParameter, outer voltage is controlled The current signal i that equation generates* id、i* iqAs current inner loop reference signal；
Define current difference state variableI.e. to (i* id-iid) integral acquisition variable γd, similarly to (i* iq- iiq) integral acquisition variable γq.Design current inner ring governing equation isIts Middle kip、kiiThe respectively ratio of inner ring, integral parameter；Ignore the dynamic effects of switch sections at higher frequencies, it is believed that electric current The voltage signal u that inner ring governing equation generates* id、u* iqRespectively equal to inverter output voltage uid、uiq；
Step 4)：By ω=ωn+m(Pn-P)+ωsObtain angular frequency, the integrated dq axial coordinates for obtaining inverter and defining Angle δ, i.e. δ=∫ ω dt, all variables are defined under the dq axis coordinate systems, if common bus voltage is (Vd, Vq), it will (Vd, Vq) transform under the dq axis coordinate systems that inverter defines, it obtains
According to δ, P, Q,γdq(γd、γq)、iidq(iid、 iiq)、uodq(uod、uoq)、iodq(iod、ioq) establish inverter and its condition of small signal spatial model of controlling unitWhereinFor state variable, Δ U=[Δ ωsΔuMΔVdΔVq]TVariable in order to control,
Matrix ADG、BDGIn, Iid、Iiq、Iod、Ioq、Vod、VoqRespectively state space variable iid、iiq、iod、ioq、uod、uoq The corresponding state value in inverter stable operation；
Step 5)：Using master controller, the frequency and voltage U of each distributed generation resource output are obtained, average angular frequency is calculated RateAnd average voltageEstablish the angular frequency prediction model that output predicted value is average angular frequency Wherein, Cω=[0-m 0000000000 0], Dω=[1 0 0], Δ uω=[Δ ωsΔVdΔVq]T,
Matrix BDGωMiddle Iid、Iiq、Iod、Ioq、Vod、VoqRespectively state space variable iid、iiq、iod、ioq、uod、uoqInverse Become corresponding state value when device stable operation；
Establish the voltage-prediction model that output predicted value is average voltage
Wherein, CU=[0 0-n 000000000 0], DU=[1 0 0], Δ uU=[Δ uMΔVdΔVq]T,
With sampling period TsBy the prediction model discretization of angular frequency and voltage, respectively
Wherein
In formula, triangle Δ indicates the small signal variation amount of certain variable.
As the supplement of above-mentioned technical proposal, desired value ω is given respectivelyn=2 π fn, fn=50Hz and Un=311V, then angle The objective optimization function of frequency is Wω、WsIt indicates to change the weight coefficient inhibited, L to tracking error and controlling increment respectivelyωIndicate angular frequency objective optimization letter Several prediction steps, MωIndicate that control step-length, constraints are ωsmax=2 π × 0.5rad/s, ωsmin=-2 π × 0.5rad/s distinguishes variable ω in order to controls(k) the upper limit, lower limit；Control increases Measure Δ ωs(k) the upper limit, lower limit are respectively Δ ωsmax、Δωsmin；Predict that the upper limit of output quantity, lower limit are respectively Controlling increment [Δ ω is acquired by the objective optimization function of angular frequencys (k),…,Δωs(k+Mω-1)]T, take instant controlling increment Δ ωs(k) variable ω is controlled with the angular frequency of a upper sampling instants (k-1) the composition k moment controls variable ωs(k), it is added in active power/angular frequency droop control, realizes the secondary of angular frequency It adjusts.
As the supplement of above-mentioned technical proposal, the objective optimization function of voltage is
WU、WuIt indicates respectively The weight coefficient inhibited, L are changed to tracking error and controlling incrementUIndicate the prediction step of voltage target majorized function, MUTable Show control step-length；Constraints is
Output voltage allow maximum deviation amount be The 5% of a reference value, takes uMmin=-15V, uMmax=15V, thenBy the objective optimization of voltage Function acquires controlling increment [Δ uM(k),…,ΔuM(k+MU-1)]T, take instant controlling increment Δ uM(k) with a upper sampling instant Voltage control variable amount uM(k-1) the composition k moment controls variable uM(k), it is added in reactive power/voltage droop control, obtains Resultant voltage, i.e. Un+n(Qn-Q)+uM, reduce the influence that load fluctuation deviates output voltage reference voltage.
As the supplement of above-mentioned technical proposal, the deviation of the average voltage by resultant voltage and actually measured carries out PI tune Section, i.e.,In formula, kQpFor the proportionality coefficient that PI is adjusted, kQiFor the integral coefficient that PI is adjusted, s For for Laplace transform differential operator, by the regulated quantity Δ U of acquisitionQIt is then added on resultant voltage, as final voltage Reference value realizes that reactive power presses rated capacity pro rate with the limiting circuitry impedance influence uneven to reactive power distribution.
The present invention has the characteristic accurately tracked to desired value using Model Predictive Control Algorithm, obtains angular frequency and voltage Secondary Control amount, be respectively added in active power/angular frequency droop control and reactive power/voltage droop control, realize While reactive power presses rated capacity pro rate, system frequency is maintained into frequency reference value always, and is greatly reduced each The deviation of output voltage and reference voltage.
Specific implementation mode
The invention will be further described With reference to embodiment.
The present embodiment provides a kind of energy-storage system Secondary Control strategy based on Model Predictive Control, includes the following steps：
Step 1)：Sampling obtains inverter output end voltage uiWith electric current ii, filter output voltage uoWith electric current io、 Points of common connection voltage is Vs；uoDq axis variables u is got in return through park changesod、uoq, similarly obtain io、ui、iiAnd VsDq axis variables；If The angular frequency of output voltage is ω when inverter stable operation0, derive ii、uoAnd ioState equation, respectively：
With
Wherein Lf、CfAnd RfRespectively filter inductance, capacitance and resistance； L, R is respectively line inductance, resistance；ωn=2 π fnFor specified angular frequency, wherein fn=50Hz.
Step 2)：Calculate active power and reactive power, respectively p=uodiod+uoqioq, q=uoqiod-uodioq, through cutting Angle till frequency is ωcLow-pass filter obtain mean power be P, Q, i.e.,
S is Laplace transform differential operator；
The droop control parameter of angular frequency and voltage is obtained using P, Q, while adding Secondary Control amount, is obtainedThe π of wherein ω=2 f, ωn=2 π fn, fn、UnRespectively frequency, a reference value of voltage；Pn、Qn Respectively frequency, voltage corresponding active power and reactive power in a reference value；M, n is respectively the sagging coefficient of P- ω, Q-V； ωs、uMThe angular frequency variable and voltage quantities respectively added；The voltage value that droop control is generated controls outer shroud as voltage Reference signal, i.e.,
u* od=Un+n(Qn-Q)+uM、u* oq=0.
Step 3)：Define voltage difference state variableI.e. to (u* od-uod) carry out integral acquisition variableSimilarly To (u* oq-uoq) integral acquisition variableDesign voltage outer shroud governing equation Wherein kvp、kviThe respectively ratio of outer voltage, integral parameter；H is to adjust output current ioParameter, outer voltage is controlled The current signal i that equation generates* id、i* iqAs current inner loop reference signal；
Define current difference state variableI.e. to (i* id-iid) integral acquisition variable γd, similarly right (i* iq-iiq) integral acquisition variable γq.Design current inner ring governing equation is
Wherein kip、kiiThe respectively ratio of inner ring, integral Parameter；Ignore the dynamic effects of switch sections at higher frequencies, it is believed that the voltage signal u that current inner loop control equation generates* id、u* iqRespectively equal to inverter output voltage uid、uiq。
Step 4)：By ω=ωn+m(Pn-P)+ωsObtain angular frequency, the integrated dq axial coordinates for obtaining inverter and defining Angle δ, i.e. δ=∫ ω dt, all variables are defined under the dq axis coordinate systems, if common bus voltage is (Vd, Vq), it will (Vd, Vq) transform under the dq axis coordinate systems that inverter defines, it obtains
According to δ, P, Q,γdq(γd、γq)、iidq(iid、 iiq)、uodq(uod、uoq)、iodq(iod、ioq) establish inverter and its condition of small signal spatial model of controlling unitWhereinFor state variable, Δ U=[Δ ωsΔuMΔVdΔVq]TVariable in order to control,
Matrix ADG、BDGIn, Iid、Iiq、Iod、Ioq、Vod、VoqRespectively state space variable iid、iiq、iod、ioq、uod、uoq The corresponding state value in inverter stable operation.
Step 5)：Using master controller, the frequency and voltage U of each distributed generation resource output are obtained, average angular frequency is calculated RateAnd average voltageEstablish the angular frequency prediction model that output predicted value is average angular frequency Wherein, Cω=[0-m 0000000000 0], Dω=[1 0 0], Δ uω=[Δ ωsΔVdΔVq]T,
Matrix BDGωMiddle Iid、Iiq、Iod、Ioq、Vod、VoqRespectively state space variable iid、iiq、iod、ioq、uod、uoqInverse Become corresponding state value when device stable operation.
Establish the voltage-prediction model that output predicted value is average voltage
Wherein, CU=[0 0-n 000000000 0], DU=[1 0 0], Δ uU=[Δ uMΔVdΔVq]T,
With sampling period TsBy the prediction model discretization of angular frequency and voltage, respectively,
Wherein
In formula, triangle Δ indicates the small signal variation amount of certain variable.
Desired value ω is given respectivelyn=2 π fn, fn=50Hz and Un=311V, then the objective optimization function of angular frequency beWω、Ws It indicates to change the weight coefficient inhibited, L to tracking error and controlling increment respectivelyωIndicate the pre- of angular frequency objective optimization function Survey step-length, MωIndicate control step-length.
Constraints isωsmax=2 π × 0.5rad/s, ωsmin=-2 π × 0.5rad/s distinguishes variable ω in order to controls(k) the upper limit, lower limit；Controlling increment Δ ωs(k) the upper limit, under Limit is respectively Δ ωsmax、Δωsmin；Predict that the upper limit of output quantity, lower limit are respectively Controlling increment [Δ ω is acquired by the objective optimization function of angular frequencys (k),…,Δωs(k+Mω-1)]T, take instant controlling increment Δ ωs(k) variable ω is controlled with the angular frequency of a upper sampling instants (k-1) the composition k moment controls variable ωs(k), it is added in active power/angular frequency droop control, realizes the secondary of angular frequency It adjusts.
The objective optimization function of voltage is
WU、WuExpression pair respectively Tracking error and controlling increment change the weight coefficient inhibited, LUIndicate the prediction step of voltage target majorized function, MUIt indicates Control step-length.Constraints is
The maximum deviation amount that output voltage allows is base The 5% of quasi- value, takes uMmin=-15V, uMmax=15V, thenBy the objective optimization letter of voltage Number acquires controlling increment [Δ uM(k),…,ΔuM(k+MU-1)]T, take instant controlling increment Δ uM(k) with a upper sampling instant Voltage control variable amount uM(k-1) the composition k moment controls variable uM(k), it is added in reactive power/voltage droop control, is closed At voltage, i.e. Un+n(Qn-Q)+uM, reduce the influence that load fluctuation deviates output voltage reference voltage.
The deviation of the average voltage by resultant voltage and actually measured carries out PI adjustings (ratio-integral adjustment), i.e.,In formula, kQpFor the proportionality coefficient that PI is adjusted, kQiFor the integral coefficient that PI is adjusted, s is drawing Laplace transform differential operator.By the regulated quantity Δ U of acquisitionQIt is then added on resultant voltage, as final voltage reference value, With the limiting circuitry impedance influence uneven to reactive power distribution, realize that reactive power presses rated capacity pro rate.
Embodiments of the present invention above described embodiment only expresses, can not be therefore understands that protect model to the present invention The limitation enclosed also not makes any form of restriction the structure of the present invention.It should be pointed out that for the common of this field For technical staff, without departing from the inventive concept of the premise, several changes and improvements can also be made, these belong to this The protection domain of invention.

Claims (5)

1. the energy-storage system Secondary Control strategy based on Model Predictive Control, which is characterized in that including：
Inverter and its state-space model of controlling unit are derived, the prediction model of angular frequency and voltage is established；
The optimization object function that angular frequency and voltage are respectively obtained according to desired value, by optimization object function rolling optimization, Multiple controlling increments when making the function minimalization are obtained, output prediction is acquired in conjunction with the initial prediction of a upper sampling instant Value, and obtains revised output predicted value, the initial prediction as subsequent time after actual measured value feedback compensation；Simultaneously Instant controlling increment is taken to constitute control variable, as the Secondary Control amount for adjusting angular frequency and voltage.
2. the energy-storage system Secondary Control strategy according to claim 1 based on Model Predictive Control, which is characterized in that institute The construction step of the prediction model of angular frequency and voltage is stated, including：
Step 1)：Sampling obtains inverter output end voltage uiWith electric current ii, filter output voltage uoWith electric current io, public company Junction voltage is Vs；uoDq axis variables u is got in return through park changesod、uoq, similarly obtain io、ui、iiAnd VsDq axis variables；If inverter The angular frequency of output voltage is ω when stable operation0, derive ii、uoAnd ioState equation, respectively：
With
Wherein Lf、CfAnd RfRespectively filter inductance, capacitance and resistance；L、R Respectively line inductance, resistance；ωn=2 π fnFor specified angular frequency, wherein fn=50Hz；
Step 2)：Calculate active power and reactive power, respectively p=uodiod+uoqioq, q=uoqiod-uodioq, through angle of cut-off Frequency is ωcLow-pass filter obtain mean power be P, Q, i.e.,S is Laplce Convert differential operator；
The droop control parameter of angular frequency and voltage is obtained using P, Q, while adding Secondary Control amount, is obtained The π of wherein ω=2 f, ωn=2 π fn, fn、UnRespectively frequency, a reference value of voltage；Pn、QnRespectively frequency, voltage are in a reference value When corresponding active power and reactive power；M, n is respectively the sagging coefficient of P- ω, Q-V；ωs、uMThe angular frequency respectively added Variable and voltage quantities；The voltage value that droop control is generated controls the reference signal of outer shroud, i.e. u as voltage* od=Un+n (Qn-Q)+uM、u* oq=0；
Step 3)：Define voltage difference state variableI.e. to (u* od-uod) carry out integral acquisition variableIt is similarly right (u* oq-uoq) integral acquisition variableDesign voltage outer shroud governing equation Wherein kvp、kviThe respectively ratio of outer voltage, integral parameter；H is to adjust output current ioParameter, outer voltage is controlled The current signal i that equation generates* id、i* iqAs current inner loop reference signal；
Define current difference state variableI.e. to (i* id-iid) integral acquisition variable γd, similarly to (i* iq- iiq) integral acquisition variable γq, design current inner ring governing equation is Wherein kip、kiiThe respectively ratio of inner ring, integral parameter；Ignore the dynamic effects of switch sections at higher frequencies, it is believed that electricity Flow the voltage signal u that inner ring governing equation generates* id、u* iqRespectively equal to inverter output voltage uid、uiq；
Step 4)：By ω=ωn+m(Pn-P)+ωsObtain angular frequency, the integrated angle for obtaining inverter and defining lower dq axial coordinates δ, i.e. δ=∫ ω dt are spent, all variables are defined under the dq axis coordinate systems, if common bus voltage is (Vd, Vq), by (Vd, Vq) transform under the dq axis coordinate systems that inverter defines, it obtainsAccording to δ, P, Q, γd、γq、iid、iiq、uod、uoq、iod、ioqEstablish inverter and its condition of small signal spatial model of controlling unitWhereinFor state variable,
Δ u=[Δ ωs ΔuM ΔVd ΔVq]TVariable in order to control, matrix ADG、BDGIn, Iid、Iiq、Iod、Ioq、Vod、VoqRespectively For state space variable iid、iiq、iod、ioq、uod、uoqThe corresponding state value in inverter stable operation；
Step 5)：Using master controller, the frequency and voltage U of each distributed generation resource output are obtained, average angular frequency is calculatedWith Average voltageEstablish the angular frequency prediction model that output predicted value is average angular frequency
Wherein, Cω=[0-m 0000000000 0], Dω=[1 0 0], Δ uω=[Δ ωs ΔVd ΔVq]T,
Matrix BDGωMiddle Iid、Iiq、Iod、Ioq、Vod、VoqRespectively state space variable iid、iiq、iod、ioq、uod、uoqIn inverter Corresponding state value when stable operation；
Establish the voltage-prediction model that output predicted value is average voltage
Wherein, CU=[0 0-n 000000000 0], DU=[1 0 0], Δ uU=[Δ uM ΔVd ΔVq]T,
With sampling period TsBy the prediction model discretization of angular frequency and voltage, respectively
Wherein,
In formula, triangle Δ indicates the small signal variation amount of certain variable.
3. the energy-storage system Secondary Control strategy according to claim 2 based on Model Predictive Control, which is characterized in that point It Gei Ding not desired value ωn=2 π fn, fn=50Hz and Un=311V, then the objective optimization function of angular frequency beWω、WsIt is indicated respectively to tracking Error and controlling increment change the weight coefficient inhibited, LωIndicate the prediction step of angular frequency objective optimization function, MωIt indicates Step-length is controlled, constraints isωsmax=2 π × 0.5rad/s, ωsmin=-2 π × 0.5rad/s distinguishes variable ω in order to controls(k) the upper limit, lower limit；Controlling increment Δ ωs(k) the upper limit, under Limit is respectively Δ ωsmax、Δωsmin；Predict that the upper limit of output quantity, lower limit are respectively Controlling increment [Δ ω is acquired by the objective optimization function of angular frequencys(k),…,Δωs(k+Mω- 1)]T, take instant controlling increment Δ ωs(k) variable ω is controlled with the angular frequency of a upper sampling instants(k-1) the composition k moment controls Variable ωs(k), it is added in active power/angular frequency droop control, realizes the Secondary Control of angular frequency.
4. energy-storage system Secondary Control strategy according to claim 3, which is characterized in that the objective optimization function of voltage isWU、WuIt is indicated respectively to tracking error Change the weight coefficient inhibited, L with controlling incrementUIndicate the prediction step of voltage target majorized function, MUIndicate control step Long, constraints isThe maximum that output voltage allows is partially 5% be worth on the basis of residual quantity, takes uMmin=-15V, uMmax=15V, thenBy the mesh of voltage Mark majorized function acquires controlling increment [Δ uM(k),…,ΔuM(k+MU-1)]T, take instant controlling increment Δ uM(k) it is adopted with upper one The voltage control variable amount u at sample momentM(k-1) the composition k moment controls variable uM(k), it is added to reactive power/voltage droop control In, obtain resultant voltage, i.e. Un+n(Qn-Q)+uM, reduce the influence that load fluctuation deviates output voltage reference voltage.
5. energy-storage system Secondary Control strategy according to claim 4, which is characterized in that measure resultant voltage with practical Average voltage deviation carry out PI adjustings, i.e.,In formula, kQpThe ratio system adjusted for PI Number, kQiFor the integral coefficient that PI is adjusted, s is Laplace transform differential operator, by the regulated quantity Δ U of acquisitionQIt is then added to conjunction At on voltage, realized idle with the limiting circuitry impedance influence uneven to reactive power distribution as final voltage reference value Power presses rated capacity pro rate.
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