CN109390959B - Storage battery energy storage control method based on virtual synchronous machine technology - Google Patents

Storage battery energy storage control method based on virtual synchronous machine technology Download PDF

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CN109390959B
CN109390959B CN201811182590.9A CN201811182590A CN109390959B CN 109390959 B CN109390959 B CN 109390959B CN 201811182590 A CN201811182590 A CN 201811182590A CN 109390959 B CN109390959 B CN 109390959B
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龙禹
季昆玉
贾俊
翁蓓蓓
蒋中军
梅鑫
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State Grid Jiangsu Electric Power Co Ltd
Taizhou Power Supply Co of State Grid Jiangsu Electric Power Co Ltd
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Taizhou Power Supply Co of State Grid Jiangsu Electric Power Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/28—Arrangements for balancing of the load in a network by storage of energy
    • H02J3/32—Arrangements for balancing of the load in a network by storage of energy using batteries with converting means
    • 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
    • H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
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    • Y02E40/10—Flexible AC transmission systems [FACTS]

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Abstract

The invention relates to the field of energy storage control of power systems, in particular to a storage battery energy storage control method based on a virtual synchronous machine technology. And then, determining the power absorbed or injected into the power grid by the energy storage system based on the upper-layer control of the storage battery energy storage system based on the virtual synchronous machine technology. And finally, performing lower-layer control on the storage battery energy storage system to determine the output current of the energy storage system. The invention supplements and improves the original energy storage control technology and method, can effectively enhance the response capability of the energy storage system participating in the frequency modulation of the power grid, thereby improving the stability of the system, and the control method is simple and easy to operate.

Description

Storage battery energy storage control method based on virtual synchronous machine technology
Technical Field
The invention relates to the field of energy storage control of power systems, in particular to a storage battery energy storage control method based on a virtual synchronous machine technology.
Background
Today, the use of relatively small scale distributed generator power generation in power systems is increasing. The small generators are mainly networked at the level of a power distribution network, and new technical requirements are generated on the power distribution network. Conventional power systems are characterized by a relatively small number of large centralized power plants based on synchronous generators to achieve a power balance between energy production and energy demand. To date, the short term dynamic stability of the power system has been based primarily on the inherent rotor inertia of the Synchronous Generator (SG). As the penetration of inverter-coupled power generation facilities is higher as classic "vertical" power systems are converted to more "horizontal" power systems, the inertia provided by the "nature" of such synchronous generators will gradually decrease. For sudden changes in power generation or load, the frequency of a power system with low inertia may change rapidly. In this case, additional frequency response ancillary services must be provided to ensure that the system frequency does not exceed the safety and stability limits.
Solutions have been introduced into grid-tied systems that make it possible to provide a virtual moment of inertia to enhance the stability of the power system. In recent years, research for controlling an inverter to mimic a synchronous generator has been increasingly popular, and several techniques have been proposed by researchers in this direction. A virtual synchronous machine (VISMA) performs real-time calculations of electromagnetic synchronous machine properties, calculating VISMA phase currents by measuring voltages at points of common coupling with the grid, using these currents as references for the current control inverter. Another similar concept is a synchronous inverter, which measures the phase current and the output voltage is calculated in real time so that it is equal to the back emf generated by the synchronous generator under the same conditions on the grid. A Virtual Synchronous Generator (VSG) simulates the rotational inertia of a synchronous machine without regard to other synchronous machine properties.
Considering that a large number of converters are applied to a power system in various environments, the above techniques are difficult to be applied to all working conditions, and in addition, the techniques are still in the exploration stage, so a technical method for improving the stability of the power system by using the virtual synchronous machine is yet to be further researched.
Disclosure of Invention
The invention aims to provide a storage battery energy storage control method based on a virtual synchronous machine technology, which comprises an energy storage modeling part and upper and lower layer control of an energy storage system. The upper layer and the lower layer of the energy storage system based on the virtual synchronous machine technology are controlled to participate in power grid power exchange, so that the virtual inertia and the speed droop characteristic are simulated, and the stability of a power system is improved.
In order to achieve the purpose, the invention adopts the following technical scheme.
A storage battery energy storage control method based on a virtual synchronous machine technology comprises the following steps:
establishing a capacitance model and a voltage model of the energy storage system, wherein the capacitance model and the voltage model are respectively used for calculating the charging state and the terminal voltage of the energy storage system;
secondly, determining the power absorbed or injected into the power grid by the storage battery energy storage system based on the upper-layer control of the storage battery energy storage system of the virtual synchronous machine technology;
and step three, performing lower-layer control on the storage battery energy storage system, and determining the output current of the energy storage system.
The further improvement of the scheme also comprises the following steps that firstly, a capacitance model and a voltage model of the storage battery energy storage system are established; the method specifically comprises the following steps:
(1) establishing a capacitance model, specifically: the voltage source is modeled as an energy storage 1 and an energy storage 2 separated by a conductance, the energy storage 1 storing an amount of electricity immediately available to the load, the energy storage 2 storing a chemically bonded charge, the conductance corresponding to a rate constant of a chemical reaction/diffusion process available for bonding the charge; each accumulator has a unit depth, but a different width, corresponding to a different volume; the width of energy store 1 is c, the width of energy store 2 is 1-c; the combined width of the two accumulators is equal to 1 and the combined area of the accumulators is 1; the charge capacities of the two energy stores are q1、q2Total capacity of qmax(ii) a The valve between the two accumulators has a fixed conductance k'; the current regulator keeps the current I constant within a set time step; the formula describing the capacitance model is:
Figure BDA0001825359880000021
Figure BDA0001825359880000022
k is a rate constant and
Figure BDA0001825359880000023
t is the discharge time;
the capacitance model is mainly used to estimate the state of charge (SOC) of the energy storage battery. The capacitance model takes into account the recovery and rate capacity effects of the energy storage battery. The former refers to the effect of the amount of charge available to the battery when there is no charging current, while the latter refers to the effect of taking less charge from the battery when the discharging current increases.
(2) Establishing a voltage model, specifically: considering the battery as a hypothetical voltage source with a constant resistance in series, the terminal voltage depends on the state of charge and the amount of current drawn from the battery, and the formula of the voltage model is:
V＝E-I·R0
E＝E0-A·X/Q-M·X/(Q-X)
wherein E is an internal voltage; v is terminal voltage; r0Is the internal resistance; x is the effective depth of discharge; a is the initial volt-ampere-hour curve slope (normalization); m is the discharge termination voltage drop constant (typically 0.0116); q is the capacitance.
The further improvement of the scheme also comprises the second step of determining the power absorbed or injected into the power grid by the energy storage system based on the upper-layer control of the storage battery energy storage system of the virtual synchronous machine technology; the method specifically comprises the following steps:
the main goal of virtual synchronous machine control is to simulate two inherent characteristics of synchronous generators, which are critical in the stable and reliable operation of the power system, respectively the rotating inertia due to the rotating mass and the speed droop characteristics of synchronous generators for load distribution.
Differential equation for describing the acceleration of the rotor of a synchronous machine given an inertia constant J
Figure BDA0001825359880000031
Wherein, PmIs the mechanical power of the virtual synchronous machine, PeIs the electrical power of the virtual synchronous machine, and ω is the angular velocity of the rotor;
by PVSGIn place of Pm-PeExpression for simulating moment of inertia
Figure BDA0001825359880000032
KdThe coefficient is a constant and is used for defining the active power quantity exchanged between the virtual synchronous machine and the power grid when the maximum specified frequency change rate occurs; kpIs the droop coefficient, defining the power that needs to be absorbed or injected into the grid due to frequency deviations from the reference value.
A storage battery energy storage control method based on a virtual synchronous machine technology is characterized by comprising the following steps: and step three, performing lower-layer control on the storage battery energy storage system, and determining the output current of the energy storage system, specifically:
and the upper layer in the step two calculates the active power and the reactive power which should be generated by the virtual synchronous machine, and takes the system frequency and the phase voltage of the dq reference system as input. In this model, only the active power is considered and the reactive power is set to zero K V0. The phase voltage and the active power are transmitted to a current reference calculation module controlled by a lower layer;
the lower layer control includes:
s1, performing abc phase voltage transformation at a common point of the synchronous reference system, and extracting and defining a reference frame of the voltage transformation by the phase-locked loop module according to the parameter theta;
s2, calculating a current reference value under a dq reference system according to the phase voltage and the active power controlled by the upper layer;
s3, obtaining the output current of the virtual synchronous machine of the storage battery through Park inverse transformation:
the model of the virtual synchronous generator tank circuit, as long as it does not contain switching devices, has the same instantaneous power on the ac side as the dc side based on the principle of conservation of energy (assuming ideal conversion). The DC current can thus be expressed as
Figure BDA0001825359880000033
To verify that a virtual synchronous machine can reduce frequency deviations caused by load variations in different networks. In order to evaluate the contribution of the virtual synchronous machine to the overall stability of the system, the steady-state operation of the system is disturbed by changing the actual total load of the system. Determining the interference size according to the penetration rate of the virtual synchronous machine, wherein the interference size can be determined according to the active power and the total of the nominal virtual synchronous machinePermeability is calculated from the ratio of load demands
Figure BDA0001825359880000041
The beneficial effects are that:
1. the invention provides a storage battery energy storage control method based on a virtual synchronous machine technology. According to the method, the upper-layer control and the lower-layer control are performed on the input and output power and the current of the energy storage system by using the virtual synchronous machine technology on the basis of storage battery modeling, and the charge and discharge power of the storage battery system in a grid-connected state can be flexibly and accurately controlled.
2. The energy storage control method provided by the invention can effectively exert the frequency modulation capability of the storage battery energy storage system under the condition that the power shortage occurs in the power grid, relieve the operation pressure of the power grid system in an emergency state through the emergency power support, improve the operation stability of the power grid, reduce the possibility of large-scale faults of the power grid, and further improve the power utilization reliability of power consumers.
3. The invention supplements the control technology of the virtual synchronous machine, improves the control method of the traditional storage battery system and enriches the control function of the storage battery. The method has the advantages of high efficiency, simple operation and high engineering practical value.
Drawings
Fig. 1 is a flowchart of a storage battery energy storage control method based on a virtual synchronous machine technology according to the present invention;
fig. 2 is an electrical schematic diagram of the battery population in the storage battery energy storage control method based on the virtual synchronous machine technology provided by the invention;
fig. 3 shows an upper and lower control overall architecture in the storage battery energy storage control method based on the virtual synchronous machine technology provided by the present invention;
fig. 4 shows a load variation curve in example 1 according to the present invention;
fig. 5 is a frequency variation curve caused by load variation in embodiment 1 according to the present invention;
fig. 6 shows an active power variation curve caused by load variation in embodiment 1 provided by the present invention;
fig. 7 shows a load curve in example 2 provided by the present invention;
fig. 8 shows frequency response curves in two operation modes in example 2 according to the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1, a storage battery energy storage control method based on a virtual synchronous machine technology includes the following specific steps:
establishing a capacitance model and a voltage model of the energy storage system, wherein the capacitance model and the voltage model are respectively used for calculating the charging state and the terminal voltage of the energy storage system;
in the first step, a storage battery energy storage system is established according to a power battery model (KiBaM), and the model is divided into two parts: a capacitance model and a voltage model.
(1) Capacitance model
The voltage source is modeled as two energy stores separated by a conductance, one storing the amount of electricity immediately available to the load and the other storing a chemically bonded charge. The conductivity corresponds to the rate constant of the chemical reaction/diffusion process (assumed to be the first order rate) available for the bound charge. Each accumulator has a unit depth, but a different width, corresponding to a different volume. The width of the energy storage 1 (available charge) is c and the width of the energy storage 2 (bonding charge) is 1-c. Thus, the combined width of the two tanks is equal to 1, and the area of the combined tank is 1. The total charge capacity of the accumulator is qmax. The valve between the two accumulators has a fixed conductance k'. The current regulator keeps the current I constant for a set time step. Equations describing the capacitance model are shown in (1) and (2).
Figure BDA0001825359880000051
Figure BDA0001825359880000052
Wherein q is1Q is the available electric quantity2New rate constant for bonding electric quantity
Figure BDA0001825359880000053
T is the discharge time.
The capacitance model is mainly used to estimate the state of charge (SOC) of the energy storage battery. The capacitance model takes into account the recovery and rate capacity effects of the energy storage battery. The former refers to the effect of the amount of charge available to the battery when there is no charging current, while the latter refers to the effect of taking less charge from the battery when the discharging current increases.
(2) Voltage model
As shown in fig. 2, the voltage model treats the battery as a hypothetical voltage source with a constant resistance in series, the terminal voltage depending on the state of charge and the amount of current drawn from the battery. The voltage model is expressed by equations (3) and (4).
V＝E-I·R0 (3)
E＝E0-A·X/Q-M·X/(Q-X) (4)
Wherein E is an internal voltage which changes with the charging state; v is terminal voltage; r0Is the internal resistance; x is the effective depth of discharge; a is the initial volt-ampere-hour curve slope (normalization); m is the discharge termination voltage drop constant (typically 0.0116); q is the capacitance.
Secondly, determining the power absorbed or injected into the power grid by the storage battery energy storage system based on the upper-layer control of the storage battery energy storage system of the virtual synchronous machine technology;
in step two, the main objective of virtual synchronous machine control is to simulate two inherent characteristics of the synchronous generator, which are important in stable and reliable operation of the power system, namely, the rotating inertia caused by the rotating mass and the speed droop characteristic of the synchronous generator for load distribution.
The differential equation describing the acceleration of the rotor of the synchronous machine given the inertia constant J is shown in equation (5).
Figure BDA0001825359880000061
Wherein, PmIs the mechanical power of the virtual synchronous machine, PeIs the electrical power of the virtual synchronous machine and ω is the angular velocity of the rotor.
The rate of change of the rotor speed depends on the moment of inertia of the rotating mass, and the kinetic energy stored during steady operation of the generator, which will be absorbed by the system to mitigate the speed deviation from synchronous speed, is very beneficial in case of torque imbalance.
By P in formula (5)VSGIn place of Pm-PeThe expression for simulating the moment of inertia is given by equation (6).
Figure BDA0001825359880000062
According to equation (6), the virtual synchronous machine exchanges power with the power grid in case the frequency deviates from the nominal value or a change in frequency is detected. KdThe coefficient is a constant that defines the amount of active power that the virtual synchronous machine exchanges with the grid when the maximum specified rate of frequency change (Hz/s) occurs. KpIs the droop coefficient, which defines the power that needs to be absorbed or injected into the grid due to frequency deviations from the reference value.
And thirdly, carrying out lower-layer control on the storage battery energy storage system and determining the output current of the energy storage system.
In step three, the purpose of the lower layer control is to calculate the output current. Fig. 3 shows the upper and lower control architectures of the three-phase virtual synchronous machine control unit.
And the upper layer in the step two calculates the active power and the reactive power which should be generated by the virtual synchronous machine, and takes the system frequency and the phase voltage of the dq reference system as input. In this model only the active power is considered and the reactive power is set to zero (K in fig. 3)V0). The phase voltage is transferred to the current reference calculation module of the lower layer control together with the active power.
The first part of the lower layer control is to perform abc phase voltage transformation at a common point of the synchronous reference frame. The parameter θ is extracted by a Phase Locked Loop (PLL) module and defines a reference frame for the voltage transformation. And the second part of the lower layer control calculates a current reference value under a dq reference frame according to the phase voltage and the active power of the upper layer control. And the third part obtains the output current of the virtual synchronous machine of the storage battery through Park inverse transformation.
The model of the virtual synchronous generator tank circuit, as long as it does not contain switching devices, has the same instantaneous power on the ac side as the dc side based on the principle of conservation of energy (assuming ideal conversion). The DC current can be expressed as equation (7).
Figure BDA0001825359880000063
To verify that a virtual synchronous machine can reduce frequency deviations caused by load variations in different networks. In order to evaluate the contribution of the virtual synchronous machine to the overall stability of the system, the steady-state operation of the system is disturbed by changing the actual total load of the system. The interference size is determined according to the penetration rate of the virtual synchronous machine, and the penetration rate can be calculated according to the ratio of the active power of the nominal virtual synchronous machine to the total load demand.
Figure BDA0001825359880000071
Example 1:
consider the case where a virtual synchronous machine and a synchronous generator are operating in parallel in a large area grid. The test network includes a power plant connected to the grid by transmission lines, a virtual synchronous machine and a variable load. The load changes its value according to a simple load curve, causing interference to the frequency of the system.
The constant load is 90kW and the load deviation does not exceed 20% of the rated power of the power station (112 kVA). And simulating three scenes that the permeability of the virtual synchronous machine is gradually increased, wherein the permeability is respectively 0%, 10% and 30%. Fig. 4 is a load variation curve, and fig. 5 shows the frequency response of the power system due to load variation when the penetration rate of the virtual synchronous machine increases. The active power generated and absorbed by the virtual synchronous machine for each penetration is given in fig. 6. It can be seen that the higher the permeability of the virtual synchronous machine is, when the system load fluctuates, the more the active power correspondingly generated or absorbed is, so that the system frequency fluctuation is smaller, and the system stability is effectively improved.
Example 2:
consider the case where a virtual synchronous machine is operating in parallel with two regional power grids. The system comprises two power stations connected by two typically high voltage transmission lines, constant and variable loads and a virtual synchronous machine unit. The penetration of the virtual synchronous machine is set to 10%, while the power consumption under constant load is 300 MW. The rated power of the power station is 255MVA and 1000MVA respectively. The variable load follows the load curve of fig. 7.
Fig. 8 shows simulation results of two operation modes, which are the case where the penetration rate of the virtual synchronous machine is 10% and the case where the virtual synchronous machine is not present, and the comparison shows the influence of the virtual synchronous machine unit on the maximum frequency deviation, and the storage battery energy storage system based on the virtual synchronous machine technology can effectively reduce the system frequency deviation caused by the load variation.
In summary, the present patent provides a storage battery energy storage control method based on a virtual synchronous machine technology. The method comprises the steps of firstly establishing a capacitance model and a voltage model of the energy storage system for calculating the charging state and the terminal voltage of the energy storage system. And then determining the power absorbed or injected into the power grid by the energy storage system based on the upper-layer control of the storage battery energy storage system based on the virtual synchronous machine technology. And finally, carrying out lower-layer control on the storage battery energy storage system to determine the output current of the energy storage system. The method is supplementary to the field of virtual synchronous machine control and is an optimization of the traditional storage battery control method. The results of the embodiment show that the control method is practical and effective, is simple to operate and has certain engineering practical value.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the specific embodiments, and various equivalent and modified processes performed by those skilled in the art according to the specific embodiments are also within the scope of the present invention.

Claims (3)

1. A storage battery energy storage control method based on a virtual synchronous machine technology is characterized by comprising the following steps:
step one, establishing a capacitance model and a voltage model of the energy storage system, wherein the capacitance model and the voltage model are respectively used for calculating the charging electric quantity and the terminal voltage of the energy storage system;
establishing a capacitance model and a voltage model of the storage battery energy storage system; the method specifically comprises the following steps:
(1) establishing a capacitance model, specifically: the voltage source is modeled as an energy store 1 and an energy store 2 separated by a conductance, the energy store 1 storing the amount of electricity immediately available to the load, the energy store 2 storing a chemically bonded charge; each accumulator has a unit depth, but a different width, corresponding to a different volume; the width of energy store 1 is c, the width of energy store 2 is 1-c; the combined width of the two accumulators is equal to 1 and the combined area of the accumulators is 1; the charge capacities of the two energy stores are q1、q2Total charge capacity of qmax(ii) a The valve between the two accumulators has a fixed conductance k'; the current regulator keeps the current I constant within a set time step; the formula describing the capacitance model is:
Figure FDA0003672118570000011
Figure FDA0003672118570000012
k is a rate constant and
Figure FDA0003672118570000013
t is the discharge time;
(2) establishing a voltage model, specifically: the storage battery is regarded as an assumed voltage source connected with a constant resistor in series, and the formula of a voltage model is as follows:
V＝E-I·R0
E＝E0-A·X/Q-M·X/(Q-X)
wherein E is an internal voltage; v is terminal voltage; r0Is the internal resistance; x is the effective depth of discharge; a is the slope of the volt-ampere characteristic curve; m is a discharge termination voltage drop constant; q is capacitance;
secondly, determining the power absorbed or injected into the power grid by the storage battery energy storage system based on the upper-layer control of the storage battery energy storage system of the virtual synchronous machine technology;
and step three, performing lower-layer control on the storage battery energy storage system, and determining the output current of the energy storage system.
2. The storage battery energy storage control method based on the virtual synchronous machine technology as claimed in claim 1, wherein in the second step, the power absorbed or injected into the power grid by the energy storage system is determined based on the upper control layer of the storage battery energy storage system based on the virtual synchronous machine technology; the method specifically comprises the following steps:
differential equation for describing the acceleration of the rotor of a synchronous machine given an inertia constant J
Figure FDA0003672118570000014
Wherein, PmIs the mechanical power of the virtual synchronous machine, PeIs the electrical power of the virtual synchronous machine, and ω is the angular velocity of the rotor; by PVSGIn place of Pm-PeExpression for simulating moment of inertia
Figure FDA0003672118570000021
KdThe coefficient is a constant that defines the amount of active power that the virtual synchronous machine exchanges with the grid when the maximum specified rate of frequency change occurs.
3. The storage battery energy storage control method based on the virtual synchronous machine technology as claimed in claim 2, wherein: and step three, performing lower-layer control on the storage battery energy storage system, and determining the output current of the energy storage system, specifically:
calculating the active power and the reactive power which should be generated by the virtual synchronous machine based on the upper layer control in the step two; specifically, the system frequency and the phase voltage of the dq reference system are used as input, only the active power is considered in the model, and the reactive power is set to be zero; phase voltage and active power are transmitted to a lower layer for control;
the lower layer control includes:
s1, performing three-phase voltage conversion in a synchronous reference system;
s2, calculating a current reference value under a dq reference frame according to the phase voltage and the active power controlled by the upper layer in the step II;
s3, obtaining the output current of the virtual synchronous machine of the storage battery through Park inverse transformation;
changing the actual total load of the system to interfere with its steady state operation; determining the interference size aiming at the permeability of the virtual synchronous machine; and calculating the permeability according to the ratio of the active power of the nominal virtual synchronous machine to the total load demand.
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CN104795831A (en) * 2015-05-12 2015-07-22 济南大学 Charge/discharge control method and system based on variable droop control of battery energy storage system
CN107196341A (en) * 2017-07-10 2017-09-22 华北电力大学（保定） The two-stage type of Variable power point tracking is without energy storage photovoltaic virtual synchronous machine control method

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CN104795831A (en) * 2015-05-12 2015-07-22 济南大学 Charge/discharge control method and system based on variable droop control of battery energy storage system
CN107196341A (en) * 2017-07-10 2017-09-22 华北电力大学（保定） The two-stage type of Variable power point tracking is without energy storage photovoltaic virtual synchronous machine control method

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