CN109193760B - Grid-connected photovoltaic inverter active disturbance rejection control method based on virtual synchronous machine - Google Patents
Grid-connected photovoltaic inverter active disturbance rejection control method based on virtual synchronous machine Download PDFInfo
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- H02J3/383—
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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
- H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
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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
- H02J3/48—Controlling the sharing of the in-phase component
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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
- H02J3/50—Controlling the sharing of the out-of-phase component
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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
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- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B10/00—Integration of renewable energy sources in buildings
- Y02B10/10—Photovoltaic [PV]
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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
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
- Y02E10/56—Power conversion systems, e.g. maximum power point trackers
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Abstract
The invention provides a grid-connected photovoltaic inverter active disturbance rejection control method based on a virtual synchronous machine, which comprises the following steps: step 1, building a grid-connected photovoltaic inverter simulation model; step 2, building a virtual synchronous machine control and PI double closed-loop control simulation model, and building an active disturbance rejection control simulation model; step 3, adjusting the parameters of the whole controller; step 4, operating the built grid-connected photovoltaic inverter power active disturbance rejection control simulation model based on the virtual synchronous machine under two conditions of power sudden change and three-phase voltage unbalance; and 5, comparing a simulation result of the grid-connected photovoltaic inverter power active disturbance rejection control strategy based on the virtual synchronous machine with a simulation result of the virtual synchronous machine control strategy.
Description
Technical Field
The invention relates to the technical field of photovoltaic power generation, in particular to a grid-connected photovoltaic inverter active disturbance rejection control method based on a virtual synchronous machine.
Background
With the increasing of new energy power generation without providing rotational inertia in an electric power system, the proportion of synchronous generators providing system inertia is reduced, so that the total rotational inertia of the system is reduced, and when the load fluctuation is large, the frequency fluctuation of a power grid is more serious, and adverse effects are caused on the stable operation of the power grid and a grid-connected generator set. The ideal grid-connected photovoltaic inverter can not only provide high-quality electric energy for a power grid, but also play a supporting role in the frequency and the voltage amplitude of the power grid, and can inhibit disturbance as much as possible under the condition of disturbance so as to ensure the safe and stable operation of the power grid. In a conventional power system, a large number of synchronous generators provide sufficient system inertia to support the grid voltage and frequency, but the physical structure of the distributed inverter and the synchronous generators are very different and do not have the capability of providing inertia.
Currently, the most applied control strategies are PQ control and droop control. PQ control (constant power control) is to make the active power and reactive power output by the distributed power supply equal to the reference power, divide the reference active power and reactive power by the voltage of the power grid, output current, and output the current to PWM through PI control. Droop control is controlled by using the principle that the output active power of the distributed power supply is in a linear relation with frequency, and the output reactive power is in a linear relation with voltage amplitude.
The existing grid-connected photovoltaic inverter active disturbance rejection control method based on the virtual synchronous machine has the following defects: when the three-phase voltage is unbalanced, the output power fluctuation is large; when disturbance is added, the disturbance cannot be quickly suppressed, and the output power fluctuation is large; the output power tracks the reference power slowly when the reference power is suddenly changed.
How to design a grid-connected photovoltaic inverter active disturbance rejection control method based on a virtual synchronous machine so as to solve the problems provided in the background technology.
Disclosure of Invention
The invention aims to provide a grid-connected photovoltaic inverter active disturbance rejection control method based on a virtual synchronous machine, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a grid-connected photovoltaic inverter active disturbance rejection control method based on a virtual synchronous machine comprises the following steps:
step 3, adjusting parameters of the whole controller, selecting ideal controller parameters, and adding current compensation to a PI double closed-loop control link;
and 5, comparing the simulation result of the grid-connected photovoltaic inverter power active disturbance rejection control strategy based on the virtual synchronous machine with the simulation result of the virtual synchronous machine control strategy, and analyzing the result of the control strategy.
Further, the step 2 comprises the following steps:
step 2-1, building a virtual synchronous machine control simulation model, wherein the virtual synchronous machine control model is provided with a active control part and a reactive control part, outputting a phase and a voltage amplitude, building a PI double closed-loop control simulation model, and adjusting parameters of a controller;
step 2-2, building an active disturbance rejection control simulation model, wherein the active disturbance rejection controller is provided with a tracking differentiator, an extended state observer and an error feedback law, and respectively designing and adjusting appropriate parameters;
and 2-3, taking the active disturbance rejection controller as a control outer ring, taking the virtual synchronous machine control as a control inner ring, inputting the reference power into the active disturbance rejection controller, outputting a power signal with disturbance estimation, and outputting the signal to a virtual synchronous machine control link.
Further, the step 4 of running the built grid-connected photovoltaic inverter power active disturbance rejection control simulation model based on the virtual synchronous machine under two conditions of power sudden change and three-phase voltage imbalance includes the following steps:
step 4-1, comparing the output active power of the two control strategies under the condition of unbalanced three-phase voltage;
4-2, comparing the output active power of the two control strategies under the condition of sudden active power change;
4-3, comparing the reactive power output by the two control strategies under the condition of unbalanced three-phase voltage;
4-4, comparing the reactive power output by the two control strategies under the condition of sudden change of the reactive power;
4-5, under the condition of large disturbance, comparing the active power and the reactive power output by the two control strategies;
and 4-6, under the condition of small disturbance, comparing the active power and the reactive power output by the two control strategies.
Compared with the prior art, the invention has the beneficial effects that:
(1) and the output power fluctuation is small under the unbalanced three-phase voltage.
(2) The output power can track the reference power quickly when the reference power changes suddenly.
(3) Under the condition of external disturbance, the disturbance can be quickly suppressed, and the fluctuation of the output power is reduced.
Drawings
FIG. 1 is a block diagram of the active disturbance rejection control structure based on a virtual synchronous machine according to the present invention;
FIG. 2 is a block diagram of an active disturbance rejection control inverter based on a virtual synchronous machine according to the present invention;
FIG. 3 is a VSG control block diagram of the present invention;
FIG. 4 is a block diagram of the virtual impedance control of the present invention;
FIG. 5 is a PI decoupling control block diagram of the present invention;
FIG. 6 is a block diagram of a first-order active disturbance rejection control according to the present invention;
FIG. 7 is a graph of the three phase voltage imbalance of the present invention;
FIG. 8 is a comparison graph of active power output by two control strategies under three-phase voltage imbalance according to the present invention;
FIG. 9 is a comparison graph of active power output by two control strategies under sudden active power changes according to the present invention;
FIG. 10 is a comparison graph of reactive power output by two control strategies under three-phase voltage imbalance according to the present invention;
FIG. 11 is a comparison graph of reactive power output by two control strategies under the sudden change of reactive power of the present invention;
FIG. 12 is a frequency diagram of three-phase voltage imbalance under the ADRC + VSG control strategy of the present invention;
FIG. 13 is a comparison graph of active power output by two control strategies under the condition of large disturbance according to the present invention;
FIG. 14 is a comparison graph of reactive power output by two control strategies under the condition of large disturbance according to the present invention;
FIG. 15 is a comparison graph of active power output by two control strategies under a small disturbance condition according to the present invention;
FIG. 16 is a comparison graph of reactive power output by two control strategies under the condition of small disturbance.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
FIGS. 1, 2, 3, 4, 5 and 6 are components of the control method, and the components form the whole controller; fig. 7, 8, 9, 10, 11, 12, 13, 14, 15, and 16 are simulation results of the present control method.
Fig. 2 is a block diagram of active disturbance rejection control of a virtual synchronous machine and a topology diagram of a main circuit of an inverter. VSG control is a control technology for simulating the working principle of a synchronous generator, and enables an inverter to have the external characteristics of the synchronous generator and provide inertia for a system. However, the effect of the VSG control alone is not ideal, and the disturbance of the output power cannot be suppressed in the presence of external disturbance, so the active disturbance rejection control is added to suppress the disturbance of the output power. The active disturbance rejection control is a new controller which reserves the basic frame of PID control but improves the local function, and can well restrain the disturbance. In FIG. 2, UdcIs a DC side voltage source, R is the equivalent resistance of the line, L is the inductance, c is the filter capacitance, ia、ib、icThe three-phase current is output by the inverter side, and the three-phase current on the inverter side is equal to the three-phase current on the power grid side under the condition that the effect of the capacitor is ignored. u. ofa、ub、ucThe output three-phase voltages on the inverter side are respectively. L isrIs the equivalent inductance of the line. e.g. of the typea、eb、ecThe three-phase voltages are respectively at the side of the power grid. PeAnd QeFor outputting calculated values of active power and reactive power, from eabc、iabcAnd (4) calculating. P and Q are given values of active and reactive power. As shown in fig. 2, P and Q obtain new P with disturbance information through the active disturbance rejection control algorithm*1And Q*1，P*1And Q*1And obtaining the amplitude and phase angle of the output voltage of the inverter through VSG control, synthesizing the amplitude and phase angle into three-phase voltage, obtaining a three-phase modulation signal through current calculation and a current decoupling control loop, outputting the three-phase modulation signal to PWM to control the on-off of the IGBT, and finally outputting the three-phase voltage by the inverter.
FIG. 3 is a VSG control block diagram, as shown in FIG. 3, building a VSG controller. The VSG part simulates the principle of a synchronous generator, and the VSG control link comprises two links, namely an active power control link and a reactive power control link. The virtual synchronizer is used for adjusting the frequency by using active power, corresponds to a speed adjusting system, introduces an inertia link and a damping link in active power control, adjusts the voltage amplitude by using reactive power, corresponds to an excitation system, and enables the external characteristic of the inverter to be close to that of a traditional synchronous generator, thereby providing certain rotational inertia for a power grid and ensuring the stable operation of the power grid. Wherein J and K are integral coefficients J and D are damping coefficients W and the moment of inertia of the rotorgFor nominal angular speeds U and P, respectively, the magnitude and phase angle U of the output voltageabcIs a three-phase voltage.
An active power control link:
and a reactive power control link:
a first order active disturbance rejection controller is built according to fig. 6. The active disturbance rejection controller mainly comprises three links, namely a tracking differentiator, a nonlinear error feedback law and an extended state observer. The tracking differentiator arranges a transition link, carries out primary filtering on a given signal, filters out possible interference at an input end, and carries out phase correction on the interference. And the nonlinear error feedback law is used for nonlinearly adding the given signal processed by the differential tracker and the signal fed back by the extended state observer, and then adding the total disturbance observed by the extended state observer to be used as the control input of the controlled target. For an inverter with LC filtering, the function of a capacitor is ignored, the inverter is regarded as a first-order controlled object, a first-order active disturbance rejection controller is designed for the inverter, an extended state observer is second-order, the extended state observer is linear and is designed into the following active disturbance rejection controller for convenience of control and parameter setting. And similarly, designing the same active disturbance rejection controller for reactive power.
A first-order tracking differentiator:
second order linear extended state observer:
first order nonlinear error feedback law:
the adverse situation of three-phase voltage unbalance is compensated. When the inverter is connected with a power grid, three-phase current output by the inverter is required to be balanced, and meanwhile, active power and reactive power output by the inverter can track reference values. However, when the three-phase voltage of the power grid is unbalanced, the output voltage of the inverter is clamped by the power grid, namely, the three-phase voltage is also unbalanced, and if the output three-phase current is balanced, the power fluctuation is very large. Obviously, three-phase current balance and power fluctuation suppression cannot be achieved simultaneously. Suppression of power fluctuation is taken as a control target. Considering under unbalanced grid, the grid-connected inverter output power can be derived by:
within the α β coordinate system:
the above equation is expressed in vector form:
it can also be expressed in dq coordinate system:
the same can be obtained:
the above equation is expressed in vector form:
within the dq coordinate system:
the instantaneous output complex power is:
active power:
P＝P0+Pcoscos2(w0t+κ)+Psinsin2(w0t+κ) (14)
reactive power:
Q＝Q0+Qcoscos2(w0t+κ)+Qsinsin2(w0t+κ) (16)
therefore, the active power and the reactive power output by the inverter under the condition of unbalanced network voltage are obtained, and in the formula, P0And Q0Are the average values of the output active and reactive power, P, respectivelycos、Psin、Qcos、QsinThe output active power and reactive power fluctuation amplitudes are respectively. In order to suppress fluctuations in the active power, i.e. the output active power does not contain a fluctuating component, Pcos＝P sin0. The current command values for the positive and negative sequences can be compensated. Namely, the original control structure is not changed, and the positive sequence command and the negative sequence command are respectively controlled and then added. The compensated positive and negative sequence current command values are:
in order to suppress fluctuations in reactive power, i.e. no fluctuating component in the output active power, Qcos＝Q sin0. The current command values for the positive and negative sequences can be compensated.
In formulae (18) and (19), kddAnd kqdIs a three-phase voltage unbalance parameter of the power grid,
i* dand i* qIs the dq-axis current, i, output by the virtual impedance control element- dAnd i- qIs the dq axis grid current. And the compensated instruction values are subjected to PI decoupling control respectively and finally added to obtain three-phase voltage modulation signals, so that the compensation of active power and reactive power is realized.
The direct-current side voltage of the three-phase grid-connected photovoltaic inverter is 1000V, the resistance on the filter inductor is 0.001 omega, the inductance value is 0.005L, and the filter capacitance value is 0.000001C. In the designed virtual synchronous machine link, a damping coefficient D is taken as 1, the rotor moment of inertia J is taken as 0.005, and a reactive power control integral coefficient K is taken as 1. In the active disturbance rejection control link, take beta1＝50，β25000, 2000 and 1000. Meanwhile, an active power reference value of 5000W and a reactive power reference value of 3000W are set, and the control strategy and the VSG control strategy are compared for the two conditions of three-phase unbalance of the grid voltage and sudden change of the reference power, so that the effectiveness of the control strategy is verified.
Fig. 8 and 10 are comparison of active power and reactive power output by two control strategies under three-phase voltage unbalance, as shown in the figure, the a-phase ground drops by 50% at 1s, and the fluctuation of the output power is smaller in the ADRC + VSG control strategy compared with the VSG control strategy.
Fig. 9 and 11 are the comparison of the active power and the reactive power output by the two control strategies in the case of sudden power change, and as shown in the figure, the reference active power is suddenly increased from 5000W to 6000W and the reactive power is suddenly increased from 3000W to 4000W at 1 s. The reference active power is suddenly changed to 4000W and the reactive power is suddenly changed to 2500W at 1.5 s. As can be seen, in the case of sudden power change, the ADRC + VSG control strategy tracks the reference power faster than the VSG control strategy.
Fig. 12, 13, 14, and 15 are comparisons of active power and reactive power output by two control strategies under the condition of applied random disturbance, and the ADRC + VSG control strategy has smaller fluctuation of output power compared with the VSG control strategy under the condition of applied random disturbance, so that random disturbance is well suppressed.
The foregoing merely represents preferred embodiments of the invention, which are described in some detail and detail, and therefore should not be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various changes, modifications and substitutions can be made without departing from the spirit of the present invention, and these are all within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (2)
1. A grid-connected photovoltaic inverter active disturbance rejection control method based on a virtual synchronous machine is characterized by comprising the following steps: the method comprises the following steps:
step 1, building a grid-connected photovoltaic inverter simulation model;
step 2, building a virtual synchronous machine control and PI double closed-loop control simulation model, and building an active disturbance rejection control simulation model, comprising the following steps:
step 2-1, building a virtual synchronous machine control simulation model, wherein the virtual synchronous machine control model is provided with a active control part and a reactive control part, outputting a phase and a voltage amplitude, building a PI double closed-loop control simulation model, and adjusting parameters of a controller;
step 2-2, building an active disturbance rejection control simulation model, wherein the active disturbance rejection controller is provided with a tracking differentiator, an extended state observer and an error feedback law, and respectively designing and adjusting appropriate parameters;
step 2-3, taking the active disturbance rejection controller as a control outer ring, taking the virtual synchronous machine control as a control inner ring, inputting the reference power into the active disturbance rejection controller, outputting a power signal with disturbance estimation, and outputting the signal to a virtual synchronous machine control link;
step 3, adjusting parameters of the whole controller, selecting ideal controller parameters, and adding current compensation to a PI double closed-loop control link;
step 4, operating the built grid-connected photovoltaic inverter power active disturbance rejection control simulation model based on the virtual synchronous machine under two conditions of power sudden change and three-phase voltage unbalance to obtain simulation results under the two conditions;
and 5, comparing the simulation result of the grid-connected photovoltaic inverter power active disturbance rejection control strategy based on the virtual synchronous machine with the simulation result of the virtual synchronous machine control strategy, and analyzing the result of the control strategy.
2. The grid-connected photovoltaic inverter active disturbance rejection control method based on the virtual synchronous machine according to claim 1, characterized in that: the step 4 of running the built grid-connected photovoltaic inverter power active disturbance rejection control simulation model based on the virtual synchronous machine under two conditions of power sudden change and three-phase voltage imbalance includes the following steps:
step 4-1, comparing the output active power of the two control strategies under the condition of unbalanced three-phase voltage;
4-2, comparing the output active power of the two control strategies under the condition of sudden active power change;
4-3, comparing the reactive power output by the two control strategies under the condition of unbalanced three-phase voltage;
4-4, comparing the reactive power output by the two control strategies under the condition of sudden change of the reactive power;
4-5, under the condition of large disturbance, comparing the active power and the reactive power output by the two control strategies;
and 4-6, under the condition of small disturbance, comparing the active power and the reactive power output by the two control strategies.
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| CN110190792B (en) * | 2019-04-30 | 2021-04-02 | 西安理工大学 | Road sense simulation permanent magnet synchronous motor control method based on active disturbance rejection control |
| CN112751364B (en) * | 2020-12-29 | 2022-07-05 | 天津大学 | Virtual synchronous machine grid-connected control method based on linear/nonlinear active disturbance rejection control |
| CN114374206B (en) * | 2022-03-22 | 2022-06-17 | 西安热工研究院有限公司 | Grid-connected point voltage adjusting method and system of fused salt energy storage and conversion device for thermal power |
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