CN109038662B - Virtual inertia control method of distributed power generation system - Google Patents

Virtual inertia control method of distributed power generation system Download PDF

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CN109038662B
CN109038662B CN201810865126.3A CN201810865126A CN109038662B CN 109038662 B CN109038662 B CN 109038662B CN 201810865126 A CN201810865126 A CN 201810865126A CN 109038662 B CN109038662 B CN 109038662B
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CN109038662A (en
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易建波
黄琦
井实
董彬彬
张国洲
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University of Electronic Science and Technology of China
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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
    • H02J3/381—Dispersed generators
    • 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
    • H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
    • 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
    • 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]

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Abstract

The invention discloses a virtual inertia control method of a distributed power generation system, which abandons droop control in the traditional virtual synchronous power generation technology, but introduces inertia and integral links instead, and simulates a second-order model of a generator to regulate output according to feedback inverter output electrical quantity; therefore, the inertia of the distributed energy can be effectively improved, the rotation capacity of the micro-grid is improved, the problem that the new energy and the traditional power generation equipment cannot be kept synchronous is solved, and the transient stability of the system is improved.

Description

Virtual inertia control method of distributed power generation system
Technical Field
The invention belongs to the technical field of power system control, and particularly relates to a virtual inertia control method of a distributed power generation system.
Background
With the higher and higher penetration rate of the distributed energy in the power grid, the inverter is widely used as an interface of the distributed energy and the power grid. However, since the inverter is composed of power electronic devices, the inverter has a fast response speed to power grid dispatching or disturbance, cannot keep synchronization with a traditional generator in a power grid, and is very easy to cause power grid fluctuation and misoperation of safety control. To solve this problem, a virtual synchronous generator vsg (virtual synchronous generator) technology has been proposed, and a great deal of research has shown that it enables an inverter to simulate the operation of a synchronous generator. The VSG strategy mainly comprises two parts of droop control and inertia simulation. The droop control establishes the relation between VSG port voltage and reactive power, port frequency and active power, and simulates the steady-state characteristics of the synchronous generator, so that the inverter has the external characteristics of the synchronous generator. The inertia simulation establishes a second-order model of the synchronous machine in the controller, provides inertia for the inverter by simulating a rotor equation of the synchronous machine, and improves the transient stability of the system.
On the other hand, due to the fact that distributed energy sources are various in types, wide in distribution and complex in power grid hierarchical structure, independent operation of the distributed energy sources must be considered under the condition, the flexible on-off-grid capacity of the distributed energy sources can be fully exerted, and the power quality when the main grid frame fails or is disturbed is guaranteed. While the VSG has a power consumption largely determined by the external load in the hierarchy of the single distributed power generation system, the frequency and active power in droop control have less relevance. Namely: the VSG cannot change the output active power by adjusting the output frequency. Whereas in the VSG strategy, the inertial simulation is only relevant for the frequency-active power regulation. In this case, then, the power adjustment of the VSG will not have adjustable inertia. In addition, since the frequency control of the VSG simulates only the primary frequency modulation of the synchronous generator, the frequency cannot return to the rated value after the external load changes, and there is a frequency dead band. Therefore, the VSG has a good control effect on grid connection, but does not play a role in the independent operation of the distributed power generation system.
The invention is influenced and inspired by a VSG control strategy, and provides a novel inverter control method with virtual inertia aiming at the weak problem reflected by the inverter control method. The method abandons droop control, directly feeds back frequency deviation to a rotating speed controller, and designs an excitation controller with inertia. The virtual inertia of the distributed energy can be improved.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a virtual inertia control method of a distributed power generation system, which directly feeds back frequency deviation and voltage difference to a rotating speed controller and an excitation controller, realizes secondary compensation of frequency regulation and rapid tracking of inverter output voltage, improves the anti-interference and overload capacity of a micro-grid and improves the dynamic performance of frequency.
In order to achieve the above object, the present invention provides a virtual inertia control method for a distributed power generation system, comprising:
(1) collecting amplitude and frequency of output voltage of inverter
(1.1) collecting output voltage V of the inverteroAnd throughAmplitude detection method for calculating amplitude V of output voltagemag；
(1.2) according to the inverter output voltage VoTracking the inverter output voltage by means of a phase locked loop PLL, so as to acquire the inverter output voltage frequency fo；
(2) And control of the rotational speed
Frequency f of output voltage of inverteroSum frequency given value fnMaking a difference to obtain a frequency difference value delta f; feeding the frequency difference value delta f back to the rotating speed controller, and outputting a control angular frequency omega for controlling the inverter through the rotating speed controller;
(3) excitation control
Will inverter output voltage amplitude VomagAnd a voltage amplitude set value VnMaking difference to obtain voltage difference value delta V, feeding back the voltage difference value delta V to the excitation controller, and outputting control voltage amplitude V of the inverter through the excitation controllermag；
(4) Outputting per unit value of control reference voltage by using voltage tracking loop
(4.1) controlling the angular frequency omega and the control voltage amplitude V of the invertermagControl reference voltage V of synthetic inverterref；
(4.2) reference voltage V for inverter controlrefInput to voltage tracking loops, voltage tracking loops respectively coupled to VrefAnd VoCarrying out Park transformation to obtain respective dq components;
(4.3) mixing VrefAnd VoThe difference value of the dq components is quickly tracked by a PI controller in a voltage tracking loop, and finally, an output signal quickly tracked by the PI controller is divided by a preset voltage value to obtain a per unit value V of a control reference voltagepu-ref；
(5) The whole closed-loop control is completed by utilizing the PWM modulator
Per unit value V of reference voltage is to be controlledpu-refAs modulation wave, inputting to a second-order PWM modulator, and controlling per unit value V of reference voltage by the PWM modulatorpu-refSo as to output a control signal to be fed back to the inverter bridge to complete the virtual inertia of the distributed power generation systemAnd (4) performing closed-loop control.
The invention aims to realize the following steps:
the invention relates to a virtual inertia control method of a distributed power generation system, which abandons droop control in the traditional virtual synchronous power generation technology, but introduces inertia and integral links instead, and simulates a second-order model of a generator to regulate output according to the output electric quantity of a feedback inverter; therefore, the inertia of the distributed energy can be effectively improved, the rotation capacity of the micro-grid is improved, the problem that the new energy and the traditional power generation equipment cannot be kept synchronous is solved, and the transient stability of the system is improved.
Meanwhile, the virtual inertia control method of the distributed power generation system also has the following beneficial effects:
(1) the inertia of the distributed energy in a weak power grid or even an isolated power grid can be greatly improved by adding an inertia link into the excitation controller, and the robustness of inverter control is improved.
(2) Due to the existence of an integral link, the difference value between the output electric quantity and the rated value of the inverter can be continuously fed back and regulated, so that the problem of poor frequency regulation of the traditional VSG can be solved, and the stability of the output frequency of the inverter is greatly improved;
(3) the direct control of the voltage and the voltage tracking loop are used, the rapid tracking of the system voltage to the grid voltage can be realized instead of droop control, and the grid connection stability is improved.
Drawings
FIG. 1 is a schematic diagram of a virtual inertia control method of a distributed power generation system according to the present invention;
FIG. 2 is a topology block diagram of a grid-connected inverter;
FIG. 3 is a graph of active power results from simulations performed according to the example shown in Table 1;
FIG. 4 is a graph of reactive power results from simulations performed according to the example shown in Table 1;
FIG. 5 is a graph of frequency results from simulations performed according to the example shown in Table 1;
FIG. 6 is a graph of port voltage results from simulations performed according to the example shown in Table 1;
FIG. 7 is a graph of power results for different coefficients of inertia for simulations performed according to the example shown in Table 1.
Detailed Description
The following description of the embodiments of the present invention is provided in order to better understand the present invention for those skilled in the art with reference to the accompanying drawings. It is to be expressly noted that in the following description, a detailed description of known functions and designs will be omitted when it may obscure the subject matter of the present invention.
Examples
Fig. 1 is a schematic diagram of a virtual inertia control method of a distributed power generation system according to the present invention.
In this embodiment, as shown in fig. 1, the virtual inertia control method for a distributed power generation system according to the present invention includes the following steps:
s1, collecting the amplitude and frequency of the output voltage of the inverter
S1.1, collecting output voltage V of inverteroAnd calculating the amplitude V of the output voltage by an amplitude detection methodomag；
S1.2, according to the output voltage V of the inverteroTracking the inverter output voltage by means of a phase locked loop PLL, so as to acquire the inverter output voltage frequency fo；
S2, control of rotation speed
Since the droop control in the conventional VSG method is controlled according to the generator-external characteristics, the disadvantages of the droop control will be described first in connection with the embodiments. A simplified model of a generator or inverter grid connection is shown in fig. 2. The droop characteristics of the active power and the frequency can be analyzed by calculating the output power:
Figure BDA0001750720310000041
wherein the content of the first and second substances,
Figure BDA0001750720310000042
for the terminal voltage of the generator or inverter,
Figure BDA0001750720310000043
is the grid voltage, delta is
Figure BDA0001750720310000044
And
Figure BDA0001750720310000045
the phase difference between them is called the work angle. R, X are the line impedance and the inductive reactance.
Considering the filter circuit of the inverter, the external equivalent line impedance is small, so the power calculation can be simplified to the formula (2).
Figure BDA0001750720310000046
Wherein:
Figure BDA0001750720310000051
δ＝∫(ωo-ωg)dt
wherein, ω isoFor inverter output angular frequency, omegagIs the grid angular frequency. Because the power angle is small, and sin delta is approximately equal to delta, the active power output of the grid-connected inverter can be adjusted by changing the output frequency of the inverter. However, when the distributed energy sources shown in FIG. 1 operate independently, there are
Figure BDA0001750720310000052
The power angle relation is fixed by an external load and line impedance, and the active power calculation formula is as follows;
Figure BDA0001750720310000053
it can be seen that in this case the inverter cannot adjust the output active power by adjusting the output frequency.
The application conditions of the power angle characteristic of the output power of the generator in different application scenes are analyzed, and the control of the active power and the frequency in the traditional VSG is realized by establishing a synchronous generator model in a rotating speed controller, so that the frequency regulation of the synchronous generator can be effectively simulated. Meanwhile, because excessive transient processes are not expected to be introduced, a second-order model of the synchronous machine is established in the controller.
Figure BDA0001750720310000054
Wherein, Pm、PeInputting mechanical power and electromagnetic power for the generator respectively;
Figure BDA0001750720310000055
grid-connected current for the generator; ra+XaIs the stator winding equivalent impedance; j is the inertia coefficient; since ω is the VSG control angular frequency, and since the angular frequency offset is small, for the sake of simplicity of analysis, it is assumed hereinafter that the denominator ω ≈ ω of the mechanical, electromagnetic torquen，ωnIs an angular frequency set value; Δ ω ═ ω - ωn)。
Active power, P, can be adjusted by VSG output frequency using droop control determined by power angle characteristicsmThe value of (c). However, in the above analysis, the power angle characteristic of the inverter is fixed by the circuit parameters, and the adjustment of the output power is determined by the external load, so that the relationship of the power and the angular frequency of the inverter output (4) cannot achieve the control effect, and the frequency adjustment is static. In this embodiment, changing the difference in the fed back mechanical and electromagnetic power to the difference in the fed back output frequency and frequency rating may eliminate the frequency regulation dead-beat. The rotating speed controller consists of a reconstructed virtual synchronous generator rotor equation, and the expression is as follows:
Figure BDA0001750720310000056
where ω is the control angular frequency of the inverter, ωnSetting angular frequency for inverterThe ratio, f, is the inverter output voltage frequency, fnGiven value of frequency, JpThe rotor inertia coefficient is shown, and D is the droop damping coefficient.
By thus outputting the inverter with the voltage frequency foSum frequency given value fnMaking a difference to obtain a frequency difference value delta f; feeding the frequency difference value delta f back to the rotating speed controller, and outputting a control angular frequency omega for controlling the inverter through the rotating speed controller to realize rotating speed control;
s3, excitation control
According to the reactive power and voltage droop characteristics, according to the formula (2), the reactive power of the grid-connected inverter is calculated as follows:
Figure BDA0001750720310000061
it can be seen that the reactive power output of the grid-connected inverter can be adjusted by varying the magnitude of the inverter output voltage. But the distributed energy sources operate independently, there are
Figure BDA0001750720310000062
The reactive power output is determined by an external load, and the reactive power calculation formula is as follows:
Figure BDA0001750720310000063
it can be known that the inverter reactive regulation cannot be achieved by regulating the port voltage.
A first-order inertia and an integral link are added into an excitation controller, and a virtual inertia equation of the inverter can be obtained as follows:
Figure BDA0001750720310000064
wherein, VmagFor controlling the amplitude of the voltage, V, of the inverternFor voltage amplitude set value, VomagFor the inverter output voltage amplitude, JqIs the virtual inertia coefficient.
The above equation shows that the voltage disturbance caused by the change of the external load of the inverter can be slowly adjusted through the inertia link, so that the adjustment of the active power and the reactive power has inertia according to the equations (3) and (7). And the integral link contained in the virtual inertia equation ensures the no-difference regulation of the voltage of the inverter.
Therefore, by outputting the inverter with a voltage amplitude VomagAnd a voltage amplitude set value VnMaking difference to obtain voltage difference value delta V, feeding back the voltage difference value delta V to the excitation controller, and outputting control voltage amplitude V of the inverter through the excitation controllermagExcitation control is realized;
s4 outputting per unit value of control reference voltage by using voltage tracking loop
S4.1, controlling angular frequency omega and controlling voltage amplitude V of the invertermagControl reference voltage V of synthetic inverterref；
S4.2, controlling reference voltage V of inverterrefInput to voltage tracking loops, voltage tracking loops respectively coupled to VrefAnd UoCarrying out Park transformation to obtain respective dq components;
s4.3, mixing VferAnd UoThe difference value of the dq components is quickly tracked by a PI controller in a voltage tracking loop, and finally, an output signal quickly tracked by the PI controller is divided by a preset voltage value to obtain a per unit value V of a control reference voltagepu-ref；
Wherein, the transfer function of the PI controller is as follows:
Figure BDA0001750720310000071
wherein, KPC、KICProportional gain coefficient and integral gain coefficient of PI controller; v. ofdo、vqoRespectively an inverter output voltage UoThe dq axis component of (1); v. ofdc、vqcControlling reference voltages V for inverters, respectivelyrefThe dq axis component of (1);
Figure BDA0001750720310000072
s5, complete the whole closed loop control by using the PWM modulator
Per unit value V of reference voltage is to be controlledpu-refAs modulation wave, inputting to a second-order PWM modulator, and controlling per unit value V of reference voltage by the PWM modulatorpu-refThe control of the inverter is realized, so that the output control signal is fed back to the inverter bridge, the virtual inertia of the inverter can be smoothly and continuously adjusted, and the stability of the output voltage frequency of the inverter is further ensured.
Examples of the invention
In this example, the simulation system shown in fig. 2 is provided, specific parameters are shown in table 1, the inverter output supplies power to the load after being filtered by the LC, and the PLL circuit detects the filtered voltage to obtain the amplitude and frequency of the inverter output voltage. And calculating the feedback voltage and current to obtain the output active power and reactive power of the inverter. The frequency and the set value thereof are fed back to the rotating speed controller to obtain a voltage angular frequency reference value, and the voltage amplitude and the set value thereof are fed back to the excitation controller to obtain an inverter voltage reference value. The outputs of the rotating speed controller and the excitation controller are synthesized into a reference signal of the voltage of the inverter, and the on-off of the inverter bridge is controlled through PWM modulation.
Table 1 is a parameter table of the system simulation model in this embodiment;
Figure BDA0001750720310000073
Figure BDA0001750720310000081
TABLE 1
Based on the embodiment shown in table 1, when performing system simulation, the active power change during load change is shown in fig. 3, and the specific process includes:
(1) and in the stage t1-t2, the band rejection load of the inverter is increased from 0KW to 6KW, and the active power conversion of the inverter is smooth and stable.
(2) And in the stage t2-t3, because only the inductive load is increased, the output active power of the inverter is kept constant at 6KW after transient fluctuation.
(3) In the period t3-t4, the resistive load of the inverter is increased from 6KW to 8KW, the output active power of the inverter is correspondingly increased, and as can be clearly seen from fig. 3, the adjustment of the active power has obvious inertia compared with the traditional virtual synchronous power generation technology.
(4) And in the stage t4-t5, the active power set value of the inverter is increased from 8KW to 10KW, and the output of the inverter is constant at 8KW because the external load can only consume 8KW of active power.
(5) And in the stage t5-t6, the reactive power set value of the inverter is increased from 6KW to 8KW, and the output active power of the inverter is unchanged because the external load is unchanged.
Based on the embodiment shown in table 1, when performing system simulation, the reactive power change when the load changes is shown in fig. 4, and the specific process includes:
(1) and in the stage t1-t2, the band rejection load of the inverter is increased from 0KW to 6KW, and the output reactive power of the inverter is kept unchanged at 0 KVar.
(2) During the period from t2 to t3, the inductive load is increased from 0KVar to 6KVar, and the output reactive power of the inverter rises to 6KVar after short fluctuation.
(3) And in the stage of t3-t4, the resistive load of the inverter is increased from 6KW to 8KW, and the reactive power is kept unchanged at 6KVar after transient drop.
(4) And in the stage t4-t5, the active power set value of the inverter is increased from 8KW to 10KW, and the output reactive power of the inverter is constant at 6KVar because the external load is not changed.
(6) And in the stage t5-t6, the reactive power set value of the inverter is increased from 6KW to 8KW, and the output reactive power of the inverter is unchanged because the external load only consumes 6KW of reactive power.
Based on the embodiment shown in table 1, the frequency change during the load change in the system simulation is as shown in fig. 5, and it can be seen that the frequency control effect is good when the external load changes, and is basically maintained at the set value.
Based on the embodiment shown in table 1, when the system simulation is performed, the dq component of the voltage value output by the inverter at the time of load change changes as shown in fig. 6.
(1) During the period t1-t2, the band rejection load of the inverter is increased from 0KW to 6KW, and the output voltage of the inverter is slowly increased to the rated value of 311V.
(2) During the period from t2 to t3, the inductive load is increased from 0KVar to 6KVar, and the inverter output voltage has a small drop due to the increase of the inductive load, and then returns to the rated value.
(3) During the period t3-t4, the resistive load of the inverter is increased from 6KW to 8KW, and the output voltage of the inverter has a small drop due to the increase in the resistive load, and then returns to the rated value.
(4) In the stage t4-t6, the inverter active power set value is changed, and the output voltage of the inverter is constant because the external load is constant.
Based on the example shown in table 1, the simulation results of the active power and the reactive power at different inertia coefficients are shown in fig. 7 when the system simulation is performed.
The upper part of the graph is a response curve of the active power output by the inverter under different inertia coefficients, and the lower part of the graph is a response curve of the reactive power under different inertia coefficients. The reactive power inertia coefficient is kept unchanged when the active power is considered, and the active power coefficient is kept unchanged when the reactive power is considered.
At the stage t2-t3, resistive and inductive loads are simultaneously increased, the power change has different adjusting time under different inertia coefficients, and the larger the inertia coefficient is, the longer the adjusting time is, namely, the distributed power generation system has adjustable inertia by adopting the method provided by the invention. And the inertia of active power and reactive power can be independently adjusted to a certain degree.
Although illustrative embodiments of the present invention have been described above to facilitate the understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited to the scope of the embodiments, and various changes may be made apparent to those skilled in the art as long as they are within the spirit and scope of the present invention as defined and defined by the appended claims, and all matters of the invention which utilize the inventive concepts are protected.

Claims (3)

1. A virtual inertia control method of a distributed power generation system is characterized by comprising the following steps:
(1) collecting amplitude and frequency of output voltage of inverter
(1.1) collecting output voltage V of the inverteroAnd calculating the amplitude V of the output voltage by an amplitude detection methodomag；
(1.2) according to the inverter output voltage VoTracking the inverter output voltage by means of a phase locked loop PLL, so as to acquire the inverter output voltage frequency fo；
(2) And control of the rotational speed
Frequency f of output voltage of inverteroSum frequency given value fnMaking a difference to obtain a frequency difference value delta f; feeding the frequency difference value delta f back to the rotating speed controller, and outputting a control angular frequency omega for controlling the inverter through the rotating speed controller;
(3) excitation control
Will inverter output voltage amplitude VomagAnd a voltage amplitude set value VnMaking difference to obtain voltage difference value delta V, feeding back the voltage difference value delta V to the excitation controller, and outputting control voltage amplitude V of the inverter through the excitation controllermag；
(4) Outputting per unit value of control reference voltage by using voltage tracking loop
(4.1) controlling the angular frequency omega and the control voltage amplitude V of the invertermagControl reference voltage V of synthetic inverterref；
(4.2) reference voltage V for inverter controlrefInput to voltage tracking loops, voltage tracking loops respectively coupled to VrefAnd VoCarrying out Park transformation to obtain respective dq components;
(4.3) mixing VrefAnd VoThe difference of the dq components is followed by a voltageFast tracking of a PI controller in a tracking loop, and finally dividing an output signal after fast tracking of the PI controller by a preset voltage value to obtain a per unit value V of a control reference voltagepu-ref；
(5) The whole closed-loop control is completed by utilizing the PWM modulator
Per unit value V of reference voltage is to be controlledpu-refAs modulation wave, inputting to a second-order PWM modulator, and controlling per unit value V of reference voltage by the PWM modulatorpu-refThe control is carried out, so that a control signal is output and fed back to the inverter bridge, and the virtual inertia closed-loop control of the distributed power generation system is completed;
the rotating speed controller consists of a reconstructed virtual synchronous generator rotor equation, and the expression is as follows:
Figure FDA0003001158770000021
where ω is the control angular frequency of the inverter, ωnSetting the angular frequency, f, for the inverteroFor inverter output voltage frequency, fnGiven value of frequency, JpThe rotor inertia coefficient is shown, and D is the droop damping coefficient.
2. The virtual inertia control method of a distributed power generation system as claimed in claim 1, wherein the excitation controller is composed of a reconstructed virtual synchronous generator rotor equation, and the expression is:
Figure FDA0003001158770000022
wherein, VmagFor controlling the amplitude of the voltage, V, of the inverternFor voltage amplitude set value, VomagFor the inverter output voltage amplitude, JqIs the virtual inertia coefficient.
3. The virtual inertia control method of a distributed power generation system according to claim 1, wherein the transfer function of the PI controller is:
Figure FDA0003001158770000023
wherein, KPC、KICProportional gain coefficient and integral gain coefficient of PI controller; v. ofdo、vqoRespectively an inverter output voltage UoThe dq axis component of (1); v. ofdc、vqcControlling reference voltages V for inverters, respectivelyrefThe dq axis component of (1);
Figure FDA0003001158770000024
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