CN109066788B - Load virtual synchronous machine control device and method without energy storage configuration - Google Patents
Load virtual synchronous machine control device and method without energy storage configuration Download PDFInfo
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- CN109066788B CN109066788B CN201810986343.8A CN201810986343A CN109066788B CN 109066788 B CN109066788 B CN 109066788B CN 201810986343 A CN201810986343 A CN 201810986343A CN 109066788 B CN109066788 B CN 109066788B
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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
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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
- H02J3/18—Arrangements for adjusting, eliminating or compensating reactive power in networks
- H02J3/1821—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators
- H02J3/1835—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators with stepless control
- H02J3/1842—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators with stepless control wherein at least one reactive element is actively controlled by a bridge converter, e.g. active filters
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/30—Reactive power compensation
Abstract
The invention discloses a load virtual synchronous machine control device and method without energy storage, wherein a main circuit structure is as follows: the three-phase PWM rectifier is connected with one or more direct current loads through a direct current bus, is connected with local load(s) through an alternating current bus and is connected with a power distribution network; the control device collection volume of PWM rectifier includes: the direct current bus voltage, the alternating current output by the rectifier and the total current of the local load on the alternating current side. The frequency-direct current voltage control loop is designed by utilizing the direct current voltage-power response characteristic of the direct current load, and the dynamic damping supporting capacity of the system is improved by adopting a lead-lag damping link, so that the self-synchronous operation and inertia/one-time regulation functions of the load virtual synchronous machine can be realized. The load virtual synchronous machine has 2 independent control modes of inertia compensation and one-time adjustment, and realizes the additional function of local load inertia compensation of the alternating current side of the load virtual synchronous machine by adding a local load current acquisition and control circuit of the alternating current side.
Description
Technical Field
The invention relates to the field of distributed generation micro-grid control, in particular to a load virtual synchronous machine control device and method without energy storage configuration.
Background
By configuring the energy storage unit, the distributed inverter power supply based on the virtual synchronous generator (Virtual Synchronous Generator, VSG) technology can simulate the external characteristics of the synchronous generator while realizing primary frequency modulation and primary voltage regulation functions, provide inertia and damping for the system, and reduce adverse effects brought by power fluctuation of the distributed power supply to the system.
In recent years, research is focused on grid connection of a new energy power source side, heavy power source and light load, surplus power source side installation and load increase and slow down, so that the problems of absorption and adaptability to an access power grid are aggravated, the fluctuation of the new energy power brings great challenges to the stable operation of the power grid, and a flexible access control construction source-network-load integrated optimization system relying on controllable load becomes a current new focus.
The three-phase voltage type PWM rectifier is a main device type of a controllable load connected to a power grid, has the advantages of bidirectional power flow, unit power factor operation, low input current harmonic content, controllable output voltage and power and the like, and is widely applied to the fields of variable frequency speed regulation, uninterruptible power supply, electric automobiles and the like. When the three-phase voltage type PWM rectifier adopts a load virtual synchronous machine (virtual synchronous motor) control scheme, the controllable direct current load can provide the beneficial effects of inertial damping and one-time adjustment for an alternating current system. The existing load virtual synchronous machine (Load Virtual Synchronous Machine, LVSM) scheme is mainly applied to the charge and discharge control of the electric automobile. For other controllable loads, such as lighting loads, motor loads, electrothermal loads, resistors, etc., the additional power required for inertial damping support and one-time adjustment by configuring the energy storage unit may reduce the practical applicability of the LVSM solution. In addition, aiming at the power impact influence on the power grid caused by the local load mutation of the alternating current side, the conventional virtual synchronous machine scheme does not provide an effective control method.
Disclosure of Invention
In view of this, the invention provides a load virtual synchronous machine control device and method without energy storage, which designs a frequency-direct current voltage control loop by utilizing the direct current voltage-power response characteristic of a direct current load under the condition of not configuring an energy storage unit, combines a virtual synchronous machine core algorithm to realize the self-synchronous operation and inertia/primary regulation functions of the load virtual synchronous machine, and simultaneously realizes the local load inertia compensation function of the alternating current side of the load virtual synchronous machine by adding a local load current acquisition and control circuit of the alternating current side. The specific technical scheme is as follows.
The utility model provides a load virtual synchronous machine controlling means and method that need not to dispose energy storage, characterized in that, controlling means includes: the system comprises a main circuit, a PI control current loop module, a reactive voltage control module, an active frequency control module, a direct current voltage control module, a pulse width modulation module, an electromagnetic equation module, a power calculation module, a filtering module, a current amplitude limiting module and a coordinate transformation module.
The main circuit is respectively connected with the coordinate transformation module, the direct-current voltage control module and the pulse width modulation module; the active frequency control module is respectively connected with the direct-current voltage control module, the filtering module and the coordinate transformation module; the reactive voltage control module is respectively connected with the filtering module, the power calculation module and the electromagnetic equation module; the current amplitude limiting module is respectively connected with the power calculating module, the electromagnetic equation module and the coordinate transformation module; and the output of the PI control current loop module is connected with the pulse width modulation module.
The load virtual synchronous machine control device has 2 independent control modes: inertia compensation mode, one-time adjustment mode. The control method is realized under a d-q coordinate system.
The equation of the DC voltage control module in the primary regulation mode is
Wherein k is ω Is the proportionality coefficient, omega of angular frequency-direct current voltage control s For grid-connected rated angular frequency, ω is LVSM angular frequency, P ref For LVSM active power reference value, U dc For LVSM DC bus voltage, U dcn For rated DC bus voltage, deltaU dc G is the voltage regulating quantity of the direct current bus PI (s) is the transfer function, ω, of the PI regulator in the DC voltage control module n Is the natural oscillation angular frequency of the second-order low-pass filter.
The equation of the reactive voltage control module in the primary regulation mode is that
E＝(Q ref -Q e )k q +E 0
In which Q ref For LVSM reactive power reference value, Q e Is the average value of LVSM reactive power, E is the effective value of potential in LVSM, E 0 For LVSM no-load potential, k q Is the proportionality coefficient of reactive voltage regulation, k qt Is the integral coefficient of reactive voltage regulation.
The equation of the DC voltage control module in the inertia compensation mode is that
P ref ＝(U dcn -U dc )G PI (s)U dc
The equation of the reactive voltage control module in the inertia compensation mode is that
Wherein J is virtual inertia, D 1 In order to be a damping coefficient,
p, the phase angle of the potential in LVSM e For LVSM electromagnetic power, ω is LVSM angular frequency, D 2 And T is a lead-lag damping link parameter.
The equation of the coordinate transformation module is that the potential orientation in LVSM is adopted
Wherein:
i labc ＝[i la ，i lb ，i lc ] T for LVSM AC side local load current, i abc ＝[i a ，i b ，i c ] T Is LVSM three-phase alternating current, u abc ＝[u a ，u b ，u c ] T For LVSM three-phase AC terminal voltage, u dq ＝[u d ，u q ] T ，i dq ＝[i d ，i q ] T ，i ldq ＝[i ld ，i lq ] T 。
The electromagnetic equation module is
I in dqref ＝[i dref ，i qref ] T And the current reference value is output by the electromagnetic equation module.
The equation of the power calculation module is
Wherein P is LVSM instantaneous active power, Q is LVSM instantaneous reactive power, P l Is instantaneous active power of local load at alternating current side, Q l Instantaneous reactive power for the ac side local load.
The equation of the filtering module is
Wherein P is le Average active power for local load on ac side, Q le For the local load of the alternating current side to average reactive power, T line Omega is the time constant of the moving average filter n1 The angular frequency of the harmonic wave to be filtered out by the trap, ζ is the trap quality factor.
The pulse width modulation module is used for generating a PWM modulation signal.
The main circuit structure of the load virtual synchronous machine control device is as follows: the three-phase PWM rectifier is connected with one or more direct current loads through a direct current bus, is connected with local load(s) through an alternating current bus and is connected with a power distribution network.
The equation of the current clipping module is
I in sdqref ＝[i sdref ，i sqref ] T For the PI control current loop module reference value obtained by the amplitude limiting module, i is output by the current amplitude limiting module sdqref Output from the coordinate transformation moduleI of (2) dq The subtracter is used as input of a PI control current loop module, and the PI control current loop module adopts a current loop based on a PI controller to realize rapid decoupling control of a current dq component.
The local load inertia compensation function of the alternating current side can be selected under the 2 control modes.
After the AC side local load inertia compensation function is added, the equation of the reactive voltage control module in the LVSM one-time regulation mode is that
E＝(Q ref -Q e -Q le )k q +E 0
After the AC side local load inertia compensation function is added, the equation of the reactive voltage control module in the LVSM inertia compensation mode is that
After the AC side local load inertia compensation function is added, the equation of the LVSM active frequency control module is that
After the local load inertia compensation function of the alternating current side is added, the equation of the LVSM current limiting module is that
I in lsdq ＝[i lsd ，i lsq ] T Is the local load current of the AC side after amplitude limiting.
The LVSM scheme of the present invention is implemented with the requirement that the dc load includes a constant impedance load or a constant current load.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: an energy storage unit is not needed; a phase-locked circuit is not required; by increasing omega-U dc The proportional control loop realizes the scheme of the existing virtual synchronous machineSome synchronization mechanisms and inertia/primary regulation functions; meanwhile, a local load current acquisition and control circuit on the alternating current side is added to realize the function of compensating the local load inertia on the alternating current side of the load virtual synchronous machine; the LVSM control device has the characteristic of good compatibility, namely, the local load virtual inertia control and the LVSM inertia damping control can be friendly and compatible; the LVSM can realize reasonable power distribution of parallel operation autonomously, and is convenient for capacity expansion.
Drawings
Fig. 1 is a main circuit configuration diagram of the LVSM of the present invention;
fig. 2 is a structural diagram of a control device of the LVSM of the present invention;
FIG. 3 is a block diagram of a DC voltage control module according to the present invention;
FIG. 4 is a block diagram of an active frequency control module according to the present invention;
FIG. 5 is a block diagram of a reactive voltage control module of the present invention;
fig. 6 is a flowchart of a judgment of the current limiting module after adding the local load inertia compensation function on the ac side according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
The invention aims to provide a load virtual synchronous machine control device and a load virtual synchronous machine control method without energy storage, which are characterized in that a frequency-direct current voltage control loop is designed by utilizing the direct current voltage-power response characteristic of a direct current load under the condition of not configuring an energy storage unit, the self-synchronous operation and inertia/primary regulation functions of a load virtual synchronous machine are realized by combining a virtual synchronous machine core algorithm, and meanwhile, the local load inertia compensation function of the alternating current side of the load virtual synchronous machine is realized by adding a local load current acquisition and control circuit of the alternating current side.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
In fig. 1, a three-phase PWM rectifier is connected to one or more dc loads via its dc bus, to local load(s) via its ac bus, and to a distribution network; the control device collection volume of PWM rectifier includes: the direct current bus voltage, the alternating current output by the rectifier and the total current of the local load on the alternating current side.
In fig. 2, 3, 4, 5: k (k) ω Is the proportionality coefficient, omega of angular frequency-direct current voltage control s For grid-connected rated angular frequency, ω is LVSM angular frequency, P ref For LVSM active power reference value, U dc For LVSM DC bus voltage, U dcn For rated DC bus voltage, deltaU dc D is the voltage regulating quantity of the direct current bus 2 T is a lead-lag damping link parameter, J is virtual inertia, D 1 L is LVSM alternating current filter inductance and C is damping coefficient dc Is LVSM direct current filter capacitor, P e For LVSM electromagnetic power, k q Is the proportionality coefficient of reactive voltage regulation, k qi Integral coefficient of reactive voltage regulation, Q ref Is a LVSM reactive power reference value, P is LVSM instantaneous active power, Q is LVSM instantaneous reactive power, Q e For LVSM reactive power average, P l Is instantaneous active power of local load at alternating current side, Q l For instantaneous reactive power of local load on ac side, P le Average active power for local load on ac side, Q le For the local load average reactive power of the alternating current side, E is the effective value of the potential in the LVSM, E 0 For the LVSM no-load potential,
u is the phase angle of the potential in LVSM abc Is the voltage of the LVSM three-phase alternating current terminal, i abc Is LVSM three-phase alternating current, i labc For LVSM AC side local load current, i dqref And the current reference value is output by the electromagnetic equation module.
In FIG. 6, i sdqref The reference value i of the PI control current loop module obtained by the amplitude limiting module lsdq Is the local load current of the AC side after amplitude limiting.
The LVSM has 2 independent control modes: inertia compensation mode, one-time adjustment mode. The LVSM operates according to a preset mode. When the switch S in FIG. 3 1 Open and switch S in FIG. 5 2 When closed, the LVSM is operated in an inertia compensation mode; when the switch S in FIG. 3 1 Close and switch S in fig. 5 2 When disconnected, the LVSM operates in a one-time regulation mode.
The local load inertia compensation function of the alternating current side can be selected under the two control modes.
The direct current load includes: lighting load, motor load, electrothermal load, resistance, etc.; the ac load includes: lighting load, motor load, electrothermal load, resistive load, etc. The load is classified by port characteristics: constant impedance load, constant power load, constant current load.
Principle of LVSM scheme: by utilizing the voltage-power characteristic curve of the direct current load, the LVSM can control the increase and decrease of load consumption power by controlling the direct current bus voltage; introducing a mathematical model of the SG into a LVSM controller, wherein the LVSM can have a synchronization mechanism and an inertia/primary regulation function; because the LVSM current control inner loop can quickly respond to the change of a current given value, and the power control outer loop has inertia characteristics, and the response to the power given value is slower, the LVSM alternating current side local load current is positively fed back to the current control loop, and meanwhile the alternating current side local load power is negatively fed back to the power loop, and the LVSM can provide inertia power compensation for the alternating current side local load by utilizing the response speed difference of the inner loop and the outer loop.
Hardware topology comparison: VSGs typically require configuration of an energy storage unit in order to provide inertial damping support and primary frequency modulation for the system; the LVSM provides inertia damping support and primary frequency modulation for the system by utilizing the direct current side load of the LVSM, and an energy storage unit is not required to be configured.
Compared with a conventional VSG control model, the LVSM provided by the invention has the following advantages: a. the reactive voltage control model is the same; b. different active frequency control models are adopted, the LVSM adopts a lead-lag damping link to improve the dynamic damping support capacity of the system, and meanwhile, the steady-state active power control precision is maintained; c. different speed regulator models, LVSM adopts omega-U dc Proportional control to realize one-time adjustmentFrequency; and d, adding a local load feedback link on the alternating current side by the LVSM.
The maximum adjustable active power of the LVSM participating in primary frequency modulation is as follows:
in U shape dc For example, ±10% of the maximum allowable deviation, the maximum adjustable power of the constant-impedance direct-current load is 40%, and the maximum adjustable power of the constant-impedance direct-current load is 20%, so that the LVSM has considerable adjustable active power. The correctness of the method is verified.
Claims (14)
1. A load virtual synchronous machine control device without energy storage configuration, the control device comprising: the system comprises a main circuit, a PI control current loop module, a reactive voltage control module, an active frequency control module, a direct current voltage control module, a pulse width modulation module, an electromagnetic equation module, a power calculation module, a filtering module, a current amplitude limiting module and a coordinate transformation module;
the main circuit is characterized by comprising the following structure: the three-phase PWM rectifier is connected with one or more direct current loads through a direct current bus, is connected with one or more local loads through an alternating current bus and is connected with a power distribution network;
wherein the direct current load comprises a constant impedance load or a constant current load;
the direct-current voltage control module is used for receiving U dcref Signal, omega s U of signal, the main circuit dc The signal and omega signal output by the active frequency control module and output P ref A signal; wherein omega s For the grid-connected rated angular frequency, U dc Is LVSM DC bus voltage, omega is LVSM angular frequency, P ref Is an LVSM active power reference value;
the active frequency control module is used for receiving P output by the direct current voltage control module ref The P of the signal and the output of the filtering module e Signal sum P le A signal and output
Signals and omega signals; wherein P is e For LVSM electromagnetic power, P le For ac side local load average active power, +.>
Phase angle of the potential in the LVSM;
the filtering module is used for receiving the P signals and P signals output by the power calculation module l Signal, Q signal and Q l Signal and output Q e Signal, Q le Signals, P e Signal sum P le A signal; wherein P is LVSM instantaneous active power, P l Is the instantaneous active power of the local load at the alternating current side, Q is the instantaneous reactive power of LVSM, Q l Instantaneous reactive power for local load on AC side, Q e For LVSM reactive power average, Q le Average reactive power for the local load on the ac side;
the reactive voltage control module is used for receiving Q ref Q of signal and output of said filtering module e Signal, Q le A signal and outputting an E signal; wherein Q is ref E is the effective value of the potential in the LVSM;
the coordinate transformation module is used for receiving u of the main circuit abc Signals, i abc Signals, i labc The signal and the active frequency control module output
A signal and output u dq Signals, i dq Signal sum i ldq A signal; wherein u is abc Is the voltage of the LVSM three-phase alternating current terminal, i abc Is LVSM three-phase alternating current, i labc For LVSM AC side local load current, u dq ＝[u d ，u q ] T ，i dq ＝[i d ，i q ] T ，i ldq ＝[i ld ，i lq ] T ；
The electricity isThe magnetic equation module is used for receiving the E signal output by the reactive voltage control module and u output by the coordinate transformation module dq A signal and output i dqref A signal; wherein i is dqref Is a current reference value;
the power calculation module is used for receiving the E signal output by the reactive voltage control module and the i output by the electromagnetic equation module dqref I of the signal and the output of the current limiting module lsdq A signal and outputs a P signal, P l Signal, Q signal and Q l A signal; wherein i is lsdq The local load current of the AC side after amplitude limiting;
the current limiting module is used for receiving i output by the coordinate transformation module ldq Signal and i output by the electromagnetic equation module dqref A signal and output i lsdq Signal sum i sdqref A signal; wherein i is sdqref A reference value for the PI control current loop module;
the PI control current loop module is used for receiving i sdqref Signal and i dq The difference of the signals and outputs the modulation quantity;
the pulse width modulation module is used for receiving the modulation quantity output by the PI control current loop module and outputting PWM signals to the three-phase PWM rectifier.
2. The load virtual synchro-machine control device of claim 1, wherein the load virtual synchro-machine control device has 2 independent control modes: inertia compensation mode, one-time adjustment mode.
3. The load virtual synchronous machine control device without energy storage according to claim 1, wherein the control method corresponding to the control device is implemented under a d-q coordinate system.
4. The load virtual synchronous machine control device without energy storage according to claim 2, wherein the equation of the direct current voltage control module in the one-time regulation mode is that
In the formula DeltaU dc Is the voltage regulating quantity, k of the direct current bus ω For angular frequency-DC voltage controlled scaling factor, U dcn For rated DC bus voltage, G PI (s) is the transfer function, ω, of the PI regulator in the DC voltage control module n Is the natural oscillation angular frequency of the second-order low-pass filter.
5. The load virtual synchronous machine control device without energy storage according to claim 2, wherein the equation of the reactive voltage control module in the primary regulation mode is
E＝(Q ref -Q e )k q +E 0
Wherein E is 0 For LVSM no-load potential, k q Is the proportionality coefficient of reactive voltage regulation.
6. The load virtual synchronous machine control device without energy storage according to claim 2, wherein the equation of the direct current voltage control module in the inertia compensation mode is that
P ref ＝(U dcn -U dc )G PI (s)U dc
Wherein U is dcn For rated DC bus voltage, G PI And(s) is a transfer function of the PI regulator in the direct-current voltage control module.
7. The load virtual synchronous machine control device without energy storage according to claim 2, wherein the equation of the reactive voltage control module in the inertia compensation mode is
Wherein k is qi Integral coefficient k for reactive voltage regulation q Is the proportionality coefficient of reactive voltage regulation, E 0 Is LVSM no-load potential.
8. The load virtual synchronous machine control device without energy storage according to claim 1, wherein the equation of the active frequency control module is that
Wherein J is virtual inertia, D 1 D is the damping coefficient 2 And T is a lead-lag damping link parameter.
9. The load virtual synchronous machine control device without energy storage according to claim 1, wherein the equation of the current limiting module is that
I in sdqref ＝[i sdref ,i sqref ] T For the PI control current loop module reference value obtained by the amplitude limiting module, the PI control current loop module adopts a current loop based on a PI controller to realize the rapid decoupling control of the current dq component.
10. The load virtual synchronous machine control device without energy storage according to claim 1, wherein the control mode of the load virtual synchronous machine control device comprises an inertia compensation mode and a primary regulation mode, and the inertia compensation mode and the primary regulation mode are respectively matched with a local load inertia compensation function of an alternating current side.
11. The load virtual synchronous machine control device without energy storage according to claim 10, wherein after adding the function of local load inertia compensation on the ac side, the equation of the reactive voltage control module in the LVSM once-adjustment mode is
E＝(Q ref -Q e -Q le )k q +E 0
Wherein E is 0 For LVSM no-load potential, k q Is the proportionality coefficient of reactive voltage regulation.
12. The load virtual synchronous machine control device without energy storage according to claim 10, wherein after adding the function of local load inertia compensation on the ac side, the equation of the reactive voltage control module in LVSM inertia compensation mode is
Wherein E is 0 For LVSM no-load potential, k q Is the proportionality coefficient of reactive voltage regulation, k qi Is the integral coefficient of reactive voltage regulation.
13. The device of claim 10, wherein after adding the function of compensating the local load inertia of the ac side, the equation of the LVSM active frequency control module is as follows
Wherein J is virtual inertia, D 1 D is the damping coefficient 2 And T is a lead-lag damping link parameter.
14. The control device of claim 10, wherein after adding the function of compensating the local load inertia of the ac side, the equation of the LVSM current limiting module is as follows
Wherein i is lsdq ＝[i lsd ,i lsq ] T Is the local load current of the AC side after amplitude limiting.
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| CN110350551B (en) * | 2019-06-11 | 2021-12-03 | 华中科技大学 | Direct current amplitude-frequency control method and system for voltage source type grid-connected conversion device |
| CN110797873A (en) * | 2019-07-31 | 2020-02-14 | 国网冀北电力有限公司经济技术研究院 | Hybrid micro-grid system capable of realizing power smoothing function |
| CN110429617B (en) * | 2019-07-31 | 2023-04-28 | 上海电力大学 | Design method of direct-current side capacitance inertia compensator based on frequency performance index |
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