CN109193609A - A kind of DC grid DC voltage control method for coordinating based on VSG control - Google Patents
A kind of DC grid DC voltage control method for coordinating based on VSG control Download PDFInfo
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- CN109193609A CN109193609A CN201811118193.5A CN201811118193A CN109193609A CN 109193609 A CN109193609 A CN 109193609A CN 201811118193 A CN201811118193 A CN 201811118193A CN 109193609 A CN109193609 A CN 109193609A
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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
- H02J1/00—Circuit arrangements for dc mains or dc distribution networks
Abstract
A kind of DC grid DC voltage control method for coordinating based on VSG control, which comprises the steps of: equation is waved to classical 2 ranks of the rotor of synchronous generator mechanical moving parts and carries out Laplace transform, obtains rotor equation frequency-domain model；VSG algoritic module is constructed, for calculating input power electric current and frequency regulation；The electric current smaller value between active power electric current and the output electric current of low pressure controller, and the output as the first comparator are obtained by first comparator；Electric current the larger value between the output of the first comparator and the output electric current of dual pressure controller is obtained by the second comparator, and using described electric current the larger value as the output of the dual pressure controller, i.e., is exported as the watt current of converter station.This method participates in secondary system frequency modulation in systematic steady state；After DC voltage station is out of service, DC voltage control mode can be automatically switched to by VSG control model, establish new trend balance.
Description
Technical field
The present invention relates to DC grid transmission of electricity control more particularly to a kind of DC grid DC voltages based on VSG control
Control method for coordinating.
Background technique
For the control mode of flexible DC transmission based on vector control technology, vector control technology generally uses power definite value
Control, the grid-connected power of converter station cannot automated to respond to AC system voltage and frequency variation, thus can not independently participate in system tune
Press frequency modulation.In addition, flexible direct current converter station externally shows zero inertia and zero damping characteristic, larger wave occurs in power system load
During dynamic, grid-connected converter station cannot provide sufficiently large inertia and damping, easily cause system frequency substantially to fall and finally lead
Frequency unstability is caused, this has seriously threatened the stable operation of electric system.
Summary of the invention
In view of the shortcomings of the prior art, the object of the present invention is to provide one kind to be based on VSG (Virtual Synchronous
Generator, virtual synchronous motor) control DC grid DC voltage control method for coordinating, this method is in systematic steady state
It can change from main response receiving end network load, participate in secondary system frequency modulation；After DC voltage station failure is out of service, Neng Gouyou
VSG control model automatically switches to DC voltage control mode, and stable DC voltage establishes new trend balance.
To achieve the above object, the present invention provides a kind of DC grid DC voltage coordinated controls based on VSG control
Method, which comprises the steps of:
Equation is waved to classical 2 ranks of the rotor of synchronous generator mechanical moving parts and carries out Laplace transform, is turned
Sub- equation frequency-domain model；
VSG algoritic module is constructed according to the rotor equation frequency-domain model, for calculating input power electric current and frequency tune
Control；
According to the output electric current of input power electric current and low pressure controller, active power electric current is obtained by first comparator
Electric current smaller value between the output electric current of low pressure controller, and the output as the first comparator；
According to the output electric current of the output of the first comparator and dual pressure controller, obtained by the second comparator described
Electric current the larger value between the output of first comparator and the output electric current of dual pressure controller, and using described electric current the larger value as
The output of the dual pressure controller is exported as the watt current of converter station.
Preferably, the equilibrium relationships between the frequency and power of the rotor equation frequency-domain model are as follows:
Wherein, ω rotor machinery angular speed, ω0For rated angular velocity, TJ=J ω/D=M/D, TJFor inertia time coefficient,
J is rotary inertia, and D is damped coefficient, Pm0It is equivalent inpnt power, P.It is the ac grid voltage and electric current by detection system
Pass through the detection power being calculated after Park Transformation.
Preferably, the equivalent inpnt power of the VSG algoritic module is to directly input the sum of power and adjustment power.
Preferably, the adjustment power integrates to obtain by angular frequency deviation, specific formula is as follows:
Wherein, PmTo directly input power, Δ P is adjustment power, kp/ s is angular frequency deviation integral coefficient.
Preferably, the input of the VSG algoritic module is to directly input power, detection power negative value and adjustment power.
Preferably, which is characterized in that the dual pressure controller and low pressure controller are conventional proportional integral controller.
Preferably, the input of the low pressure controller is DC voltage low pressure reference value and DC voltage value.
Preferably, the input of the dual pressure controller is high direct voltage low pressure reference value and DC voltage value.
Implementing the invention patent has the following beneficial effects: this system by utilizing synchronous generator mechanical moving parts
Rotor 2 ranks of classics wave equation, and rotor equation Frequency Domain Mathematical Model is obtained after Laplace transform, frequency and function is calculated
Thus the corresponding relationship of rate simultaneously constructs VGS algorithm, VGS algoritic module and high and low pressure controller and the first, second comparator one
It rises and constitutes DC voltage control method for coordinating；VGS algorithm can be adjusted frequency departure, realize the frequency modulation frequency modulation of system；When
When system jam, control, stable DC are adjusted to the watt current of output by first comparator, the second comparator
Voltage establishes new trend balance, the adjust automatically of the grid-connected active power of converter station can be realized；Control algolithm built-in inertia ring
Section, certain inertia and damping can be provided for power grid, enhances the stable operation ability of system.
Detailed description of the invention
Fig. 1 is a kind of VSG algorithm structure schematic diagram provided in an embodiment of the present invention；
Fig. 2 is a kind of knot of DC grid DC voltage control method for coordinating based on VSG provided in an embodiment of the present invention
Structure schematic diagram.
Specific embodiment
With reference to the accompanying drawing, the embodiment of the present invention is further described in detail.
Using power or the amount of unbalance of torque come regulating system frequency, the rotor of synchronous generator mechanical moving parts
It is as follows that classical 2 ranks wave equation:
Wherein, J is rotary inertia, and unit is kg.m2, ω rotor machinery angular speed, machinery angular speed is equal to electricity when 1 pair of pole
Air horn speed, Pm0、PeRespectively prime mover output mechanical power and rotor generate electromagnetic power, and D is damped coefficient, and unit is
N.m.s/rad, ωsFor power grid angular speed, θ is rotor electrical angle/angular displacement, it is considered that ωs=ω0, ω0For with reference to angular frequency
Rate/rated angular velocity.
Above-mentioned wave equation (1) is subjected to Laplace transform, it is as follows to obtain rotor equation Frequency Domain Mathematical Model:
J ω (s ω)=Pm0-Pe-D(ω-ω0) (2)
For above formula (2), increase by zero-J ω (S ω of a frequency domain in left function0), equation is still set up, can after arrangement
To obtain:
Enable TJ=J ω/D=M/D is inertia time coefficient, and when approximate processing can consider TJ=J ω0/ D, then have
Formula (4) is the core of VSG frequency modulation algorithm.Pm0It is equivalent to input power, PeTo pass through the exchange detected
Network voltage and electric current after Park Transformation by being calculated.Wherein, equivalent inpnt instruction value Pm0It is made of two parts, i.e., directly
Input instruction value and instruction adjusted value.Therefore, the frequency departure in formula (4) is formed into power adjustment by integral element, so
Feedback arrives virtual synchronous input of a generator afterwards, that is, has
In formula, PmTo directly input power, Δ p is instruction adjustment power, kp/ s is angular frequency deviation integral coefficient.Pass through
The fixed phase θ of control method can be obtained in the above method, and is used for the coordinate transform of control method.
Utilize the ac grid voltage u of bridge arm mid-point voltage reference amplitude E and measurementabcIt crosses PI control and generates three-phase current
iabc, iabcActive current reference value of the d axis component as VS6 is chosen by Park TransformationIn conjunction with formula (4),
(5) in available DC grid shown in FIG. 1 VSG frequency modulation algorithm controller chassis structural schematic diagram.
In view of the corresponding relationship between active power and DC voltage, watt current, start with from control active current,
The current component generated to virtual synchronous motor algorithm controls.Design it is as shown in Figure 2 based on virtual synchronous motor DC
The structural schematic diagram of the DC voltage control method for coordinating of power grid is modulated control to the watt current of the second comparator output
System, can be realized the grid-connected active adjust automatically of converter station.
System includes dual pressure controller, low pressure controller, virtual synchronous motor algoritic module, first comparator and the second ratio
Compared with device, wherein the input of the output connection first comparator of the output of virtual synchronous motor algoritic module and low pressure controller, first
The output of comparator and the output of dual pressure controller connect the second comparator, and the output of the second comparator is that system watt current is defeated
Out.High and low pressure controller is conventional proportional integral controller.Inverter allows the maximum exported, minimum watt current to be respectively
id_max_ref、id_min_ref, under normal circumstances, service condition meets.
UdcL_refFor DC voltage low pressure reference value, UdcH_refFor DC voltage high voltage reference value.Inverter watt current is defeated
Logic meets condition out
When determining DC voltage station normal operation, low pressure controller exports electric current since integral cumulative effect reaches in output
Limit value id_max_ref, dual pressure controller then reaches bottoming value id_min_ref, system automatically select VSG algorithm generation active electricity
StreamIt is exported as reference current.When sending end determine DC voltage station it is out of service after, direct current system absorb active power will
Greater than the active power of injected system, lead to DC voltage udcFall.At this point, the output of low pressure controller will be by upper limit value gradually
It reduces, and to still maintain lower limit value constant for the output of dual pressure controller, a certain moment low pressure controller exports electric currentIt will
It is less thanThat is system meeting automatic trigger low pressure controller, automatically selects watt currentIt is exported as reference current,
By reducing the power-balance of the component regulating system of watt current, and finally by system dc voltage stabilization in low pressure controller
Direct voltage reference value.Similarly, when receiving end determine DC voltage station it is out of service after, direct current system injecting power will be greater than absorbing
Power, so as to cause DC voltage raising.At this point, low pressure controller keeps upper limit output constant, and the output of dual pressure controller
It will be gradually increasing by lower limit value, thus system trigger dual pressure controller,It will be automatically selected as watt current output, thus
Active power is promoted to reach balance again by increasing watt current output, final system DC voltage will stabilise at high voltage-controlled
Device direct voltage reference value processed.
In conclusion receiving end converter station will operate in virtual synchronous motor control when determining DC voltage station normal operation
Mode, receiving end converter station have the active frequency modulation function of synchronous motor, can participate in secondary system frequency modulation task；When determining DC voltage
Stand because failure it is out of service after, DC voltage tuning controller will be according to DC voltage change situation automatic trigger dual pressure controller
Or low pressure controller, DC voltage control function is taken over, power-balance is established by control watt current output again, is stablized
DC voltage.After system dc voltage stabilization, watt current output will be determined no longer by VSG algorithm, but by determining direct current
The watt current of pressure controller output determines.Therefore, the output result of tuning controller can be expressed as under various operating conditions
Implementing the invention patent has the following beneficial effects: this system by utilizing synchronous generator mechanical moving parts
Rotor 2 ranks of classics wave equation, and rotor equation Frequency Domain Mathematical Model is obtained after Laplace transform, frequency and function is calculated
Thus the corresponding relationship of rate simultaneously constructs VGS algorithm, VGS algoritic module and high and low pressure controller and the first, second comparator one
It rises and constitutes control method for coordinating；VGS algorithm can be adjusted frequency departure, realize the frequency modulation frequency modulation of system；When system occurs
When failure, control is adjusted by watt current of first, second comparator to output, stable DC voltage is established new
Trend balance, can be realized the grid-connected active adjust automatically of converter station；Control algolithm built-in inertia link, can provide for power grid
Certain inertia and damping, enhance the stable operation ability of system.
Although the present invention is disclosed above in the preferred embodiment, it is not intended to limit the invention the range of implementation.Any
The those of ordinary skill in field is not departing from invention scope of the invention, improves when can make a little, i.e., all according to this hair
Bright done same improvement, should be the scope of the present invention and is covered.
Claims (8)
1. a kind of DC grid DC voltage control method for coordinating based on VSG control, which comprises the steps of:
Equation is waved to classical 2 ranks of the rotor of synchronous generator mechanical moving parts and carries out Laplace transform, obtains rotor side
Journey frequency-domain model；
VSG algoritic module is constructed according to the rotor equation frequency-domain model, for calculating input power electric current and frequency regulation；
According to the output electric current of input power electric current and low pressure controller, by first comparator obtain active power electric current with it is low
Electric current smaller value between the output electric current of pressure controller, and the output as the first comparator；
According to the output electric current of the output of the first comparator and dual pressure controller, described first is obtained by the second comparator
Electric current the larger value between the output of comparator and the output electric current of dual pressure controller, and using described electric current the larger value as described in
The output of dual pressure controller is exported as the watt current of converter station.
2. the DC grid DC voltage control method for coordinating as described in claim 1 based on VSG control, which is characterized in that
Equilibrium relationships between the frequency and power of the rotor equation frequency-domain model are as follows:
Wherein, ω rotor machinery angular speed, ω0For rated angular velocity, TJ=J ω/D=M/D, TJFor inertia time coefficient, J is
Rotary inertia, D are damped coefficient, Pm0It is equivalent inpnt power, PeIt is logical by the ac grid voltage and electric current of detection system
Cross the detection power being calculated after Park Transformation.
3. the DC grid DC voltage control method for coordinating as claimed in claim 2 based on VSG control, which is characterized in that
The equivalent inpnt power of the VSG algoritic module is to directly input the sum of power and adjustment power.
4. the DC grid DC voltage control method for coordinating as claimed in claim 3 based on VSG control, which is characterized in that
The adjustment power integrates to obtain by angular frequency deviation, specific formula is as follows:
Wherein, PmTo directly input power, Δ P is adjustment power, kp/ s is angular frequency deviation integral coefficient.
5. the DC grid DC voltage control method for coordinating as claimed in claim 4 based on VSG control, which is characterized in that
The input of the VSG algoritic module is to directly input power, detection power negative value and adjustment power.
6. such as the DC grid DC voltage control method for coordinating of any of claims 1-4 based on VSG control,
It is characterized in that, the dual pressure controller and low pressure controller are conventional proportional integral controller.
7. such as the DC grid DC voltage control method for coordinating of any of claims 1-4 based on VSG control,
It is characterized in that, the input of the low pressure controller is DC voltage low pressure reference value and DC voltage value.
8. such as the DC grid DC voltage control method for coordinating of any of claims 1-4 based on VSG control,
It is characterized in that, the input of the dual pressure controller is high direct voltage low pressure reference value and DC voltage value.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109995053A (en) * | 2019-01-12 | 2019-07-09 | 南方电网科学研究院有限责任公司 | A kind of flexible direct current system converter station promotion mains frequency stability control method |
| CN111725843A (en) * | 2020-06-30 | 2020-09-29 | 广东电网有限责任公司电力科学研究院 | Voltage control method and device based on virtual synchronous generator |
| CN111816134A (en) * | 2020-07-31 | 2020-10-23 | 重庆惠科金渝光电科技有限公司 | Display panel's drive circuit and display panel |
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| CN105811400A (en) * | 2016-03-18 | 2016-07-27 | 国网上海市电力公司 | Self-adaptive control method for modes of low-voltage microgrid |
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| CN105811400A (en) * | 2016-03-18 | 2016-07-27 | 国网上海市电力公司 | Self-adaptive control method for modes of low-voltage microgrid |
| CN108173278A (en) * | 2018-01-15 | 2018-06-15 | 清华大学 | DC voltage control device, method and the optimization method of new energy VSG frequency modulation |
| CN108462196A (en) * | 2018-02-09 | 2018-08-28 | 清华大学 | The adaptive droop control methods of new energy VSG auxiliary frequency modulation P-V and system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109995053A (en) * | 2019-01-12 | 2019-07-09 | 南方电网科学研究院有限责任公司 | A kind of flexible direct current system converter station promotion mains frequency stability control method |
| CN109995053B (en) * | 2019-01-12 | 2023-04-14 | 南方电网科学研究院有限责任公司 | Control method for improving power grid frequency stability of converter station of flexible direct current system |
| CN111725843A (en) * | 2020-06-30 | 2020-09-29 | 广东电网有限责任公司电力科学研究院 | Voltage control method and device based on virtual synchronous generator |
| CN111725843B (en) * | 2020-06-30 | 2022-05-27 | 广东电网有限责任公司电力科学研究院 | Voltage control method and device based on virtual synchronous generator |
| CN111816134A (en) * | 2020-07-31 | 2020-10-23 | 重庆惠科金渝光电科技有限公司 | Display panel's drive circuit and display panel |
| CN111816134B (en) * | 2020-07-31 | 2022-08-23 | 重庆惠科金渝光电科技有限公司 | Display panel's drive circuit and display panel |
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