CN109672207B - Back-to-back system control method and system based on virtual synchronous machine - Google Patents
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Abstract
The invention discloses a back-to-back system control method based on a virtual synchronous machine, which comprises the steps of inputting the output active power and reactive power reference values of the virtual synchronous machine into the virtual synchronous machine, and outputting the amplitude and phase angle of voltage by the virtual synchronous machine; and after the amplitude and the phase angle of the voltage output by the virtual synchronous machine are subjected to pulse width modulation, a control signal for controlling a switch tube of the back-to-back system converter is obtained. A corresponding system is also disclosed. The virtual synchronous machine control strategy is applied to a back-to-back system, the bidirectional power flow is realized while the external characteristics of the synchronous motor are simulated, a phase-locked loop and a dq decoupling module are not used, and the control design is simplified; meanwhile, compared with the traditional control method, the power switching is smoother.
Description
Technical Field
The invention relates to a back-to-back system control method and system based on a virtual synchronous machine, and belongs to the technical field of new energy power generation and micro-grids.
Background
At present, a Back-to-Back Converter system (Back-to-Back Converter) adopting a full-control power electronic device can realize the functions of bidirectional energy flow, independent active/reactive power control, controllable direct current voltage and the like, and is widely applied to the fields of variable-speed constant-frequency wind power generation, light direct current transmission systems, new energy grid connection and the like in the current society with aggravated energy crisis and environmental problems. As shown in fig. 1, the existing back-to-back system control method needs to add a phase-locked loop PLL for synchronization to implement grid-connected control, and the control design is complex.
Disclosure of Invention
The invention provides a back-to-back system control method and system based on a virtual synchronous machine, and solves the problem that the traditional control mode is complex.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a back-to-back system control method based on virtual synchronous machine includes,
inputting output active power and reactive power reference values of the virtual synchronous machine into the virtual synchronous machine, and outputting a voltage amplitude value and a phase angle by the virtual synchronous machine;
and after the amplitude and the phase angle of the voltage output by the virtual synchronous machine are subjected to pulse width modulation, a control signal for controlling a switch tube of the back-to-back system converter is obtained.
The two converters of the back-to-back system are respectively controlled by two virtual synchronizers, the output active power reference value of the virtual synchronizers is determined by the following process,
and determining the direction of energy transmission of the back-to-back system by judging the positive and negative of the given active power, and switching the active power reference value output by the virtual synchronous machine.
The specific switching process is that,
when the active power reference value P is givenREFWhen the active power is positive, the converter VSC1 absorbs active power, the converter VSC2 outputs the active power, the system active power flow flows from the converter VSC2 to the converter VSC1, and the output active power reference values of the converter VSC1 and the converter VSC2 are respectively-PREFI and PREF；
When the given active power reference value is PREFWhen the converter is negative, the converter VSC2 absorbs active power, the converter VSC1 outputs the active power, the system active power flow flows to the converter VSC1 and flows to the converter VSC2, and the output active power reference values of the converter VSC1 and the converter VSC2 are-PREFAnd- | PREF|。
The reactive power reference value is zero.
The control model of the virtual synchronous machine is that,
wherein, PrefIs an active power reference value, P is the measured active power, omega0To rated frequency, kdIs the proportionality coefficient of the differential component, J is the inertia of transformation, theta is the phase angle of the output voltage of the virtual synchronous machine,
in the form of a vector of thetanFor rating the angular speed of the grid, DpIn order to be a damping coefficient of the damping,
outputting a voltage vector, M, for a virtual synchronous machinefFor maximum mutual inductance between the field winding and the three-phase stator coils, ifIs the rotor excitation current.
A back-to-back system control system based on a virtual synchronous machine comprises the virtual synchronous machine and a pulse width modulation module,
virtual synchronous machine: receiving active power reference values and reactive power reference values of the converter, and outputting voltage amplitude values and phase angles;
a pulse width modulation module: and receiving the voltage amplitude and the phase angle output by the virtual synchronous machine, and carrying out pulse width modulation on the voltage amplitude and the phase angle to obtain a control signal for controlling a switch tube of the back-to-back system converter.
The two converters of the back-to-back system are respectively controlled by two virtual synchronizers, the input ends of the two virtual synchronizers are respectively connected with two work control modules,
an active control module: and determining the direction of energy transmission of the back-to-back system by judging the positive and negative of the given active power, and switching the active power reference value output by the virtual synchronous machine.
The active power control module switches the active power reference value output by the connected virtual synchronous machine in a specific process that,
when the active power reference value P is givenREFTo be positive, the converter VSC1 absorbs active power, the converter VSC2, active power is output, the active power flow of the system flows from the converter VSC2 to the converter VSC1, and the reference values of the output active power of the converter VSC1 and the output active power of the converter VSC2 are respectively-PREFI and PREF；
When the given active power reference value is PREFWhen the converter is negative, the converter VSC2 absorbs active power, the converter VSC1 outputs the active power, the system active power flow flows to the converter VSC1 and flows to the converter VSC2, and the output active power reference values of the converter VSC1 and the converter VSC2 are-PREFAnd- | PREF|。
The reactive power control system further comprises a reactive power control module, and the reactive power reference value output by the reactive power control module is zero.
The control model of the virtual synchronous machine is that,
wherein, PrefIs an active power reference value, P is the measured active power, omega0To rated frequency, kdIs the proportionality coefficient of the differential component, J is the inertia of transformation, theta is the phase angle of the output voltage of the virtual synchronous machine,
in the form of a vector of theta, thetanFor rating the angular speed of the grid, DpIn order to have a damping coefficient of the vibration,
output voltage vector, M, for a virtual synchronous machinefFor maximum mutual inductance between the field winding and the three-phase stator coils, ifIs the rotor excitation current.
A computer readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by a computing device, cause the computing device to perform a virtual synchronous machine-based back-to-back system control method.
A computing device comprising one or more processors, memory, and one or more programs stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing a virtual synchronous machine-based back-to-back system control method.
The invention has the following beneficial effects: the virtual synchronous machine control strategy is applied to a back-to-back system, the bidirectional power flow is realized while the external characteristics of the synchronous motor are simulated, a phase-locked loop and a dq decoupling module are not used, and the control design is simplified; meanwhile, compared with the traditional control method, the power switching is smoother.
Drawings
FIG. 1 is a block diagram of a conventional back-to-back system control strategy;
FIG. 2 is a block diagram of active power reference control;
FIG. 3 is a block diagram of a VSG-based back-to-back system control strategy;
FIG. 4 is a block diagram of a back-to-back system control strategy based on an improved VSG;
fig. 5 is a comparison graph of active and reactive power of VSC 2;
FIG. 6 is a DC bus voltage diagram;
fig. 7 is a comparison graph of the active and reactive power output by the ac system 2;
FIG. 8 is a block diagram of an energy balancing system;
FIG. 9 is a bus bar voltage root;
fig. 10 shows the dc bus voltage.
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.
A back-to-back system control method based on a virtual synchronous machine is disclosed, wherein two converters in the back-to-back system are controlled by the virtual synchronous machine (VSG), namely, a converter switching tube is controlled by the output of the virtual synchronous machine, and the control steps of each converter are as follows:
Wherein, the reactive power reference value is an adjustable reference value and is generally set to be zero;
the two converters of the back-to-back system are respectively controlled by the two virtual synchronizers, the reference value of the output active power of the virtual synchronizers is controlled as shown in figure 2, the direction of the back-to-back system for transmitting energy is determined by judging the positive and negative of the given active power, and the reference value of the output active power of the virtual synchronizers is switched as follows:
when the active power reference value P is givenREFWhen the active power is positive, the converter VSC1 absorbs active power, the converter VSC2 outputs the active power, the system active power flow flows to the converter VSC2 to the converter VSC1, and the output active power reference values of the converter VSC1 and the converter VSC2 are respectively- | PREFI and PREF；
When the given active power reference value is PREFWhen the voltage is negative, the switch control variable s is 0, the converter VSC2 absorbs active power, the converter VSC1 outputs the active power, the system active power flow direction is that the converter VSC1 flows to the converter VSC2, and the output active power reference values of the converter VSC1 and the converter VSC2 are-P respectivelyREFAnd- | PREF|。
As shown in fig. 3, two ac systems are connected through back-to-back converters, and the converters all adopt virtual synchronous machine control, and the control model is:
wherein J is the inertia, theta is the phase angle of the output voltage of the virtual synchronous machine,
in the form of a vector of thetanRated for the grid angular velocity, TmAnd TeFor mechanical and electromagnetic torques of virtually synchronous machines, DpAs damping coefficient, MfFor maximum mutual inductance between the field winding and the three-phase stator coils, ifFor rotor excitation current, isTo output a current for the virtual synchronous machine,
and outputting the voltage vector for the virtual synchronous machine.
The above control model is further improved because it is prone to excessive overshoot when the power is changed, as shown in fig. 4.
The equation of rotation in the control model described above is modified,
it can further be expressed as,
wherein, PrefIs an active power reference value, P is the measured active power, omega0To rated frequency, kdIs the proportionality coefficient of the differential component.
The improved control model is therefore:
the improved control model introduces differential component of active power
The active overshoot is reduced by subtracting the differential component, which fluctuates in transient state, in which the derivative of the active power is 0, since the mechanical power generated by the governor is constant, in steady state.
Simulation models are respectively built on Matlab/Simulink for FIG. 1 (hereinafter referred to as "conventional control") and FIG. 4 (hereinafter referred to as "improved VSG control"). In the conventional control, a phase-locked loop needs to be added, and system parameters of two control targets are consistent, as shown in table 1.
TABLE 1 Back-to-back System parameters
The following three working conditions of the back-to-back system are simulated:
1) in the grid connection process of the converter, setting the active power reference value as 0;
2) active power is transmitted from the VSC1 to the VSC2, and conventional control causes the VSC1 to operate in a rectifier state and the VSC2 to operate in an inverter state; the VSC1 and the VSC2 respectively control the converter 1 and the converter 2 for the two virtual synchronous machines;
3) and reversing the power flow to realize the control change of the inverter and the instantaneous change of the reference values of the power and current signals in the system.
The active/reactive power curves of the two controls obtained by simulation are shown in figure 5. And when the time is 0-0.5 s, the transmission active/reactive power is set to be 0, and the converter and the alternating current system are synchronous in the process. At 0.5s, the active power step is 3.5kW, and the reactive power remains 0. At 1.5s, the active power is converted to-3.5 kW, and the power flow reverses. The 2.5s active power is readjusted to 0. For ease of analysis, the flow direction of the power flow is set to be positive from VSC2 to VSC1 and negative on the contrary.
Fig. 6 shows the dc bus voltage, and the voltage reference values are set to 500V. It can be seen that the dc bus voltage fluctuation range is larger with the improved VSG control.
Fig. 7 shows the ac system 2 power transfer, i.e. the power transfer between two voltage sources, including the ac load at the PCC point of 10 kW. When the two alternating current systems transmit energy, loss is provided by the two equivalent voltage sources, so that the transmission power of the alternating current voltage sources is higher than 3.5 kW.
Fig. 5 to 7 qualitatively analyze the performance of the ac/dc system, and quantitatively analyze and compare two controls from three indexes of mean square error, mean absolute error and smooth index for further comparing the performance of the two controls, wherein the three indexes are respectively defined as shown in the following formula:
in the formula: r (k) is a reference value; y (k) is a feedback signal; u (k) is a control signal at a sampling time k; u (k-1) is the control signal in the previous sampling time; and N is the number of samples.
Specific values of the index parameters under the two controls are shown in table 2. It can be seen that the conventional control has less control error than the improved VSG control, but with the improved VSG control, the power switching is smoother.
TABLE 2 analysis of Property parameters
The back-to-back system enables energy flow control between two ac systems. Fig. 8 is a back-to-back based energy balance system, where two power supply buses are connected to the grid through the same line. In order to realize power load balance, an energy balance system is added between two power supply circuits, and energy balance between two buses is realized by using a back-to-back system. In FIG. 8, the transformer capacity of the second bus is 25kVA, the total load of the line is 30kW/10kVar, the transformer capacity of the first bus is 50kVA, and the total load of the line is 25kW/8 kVar. Transformers in the simulation circuit are all delta-Y connected, the output end of the virtual synchronous machine is connected with LCL filtering, the load in the bus 1 is constant and 27kVA, and the load in the bus 2 comprises constant load 15.8kVA and variable load 15.8 kVA.
And when 2s occurs, the No. 5 load is connected into the No. two bus, the transformer on the No. two bus is overloaded, and the bus voltage is too low. And when the voltage of the second bus is 4s, the 5kVA power is transmitted from the first bus to the second bus through a back-to-back system, so that the overload of the second transformer is relieved while the load on the first transformer is increased, and the voltage on the second bus is increased. And when the voltage is 6s, the fifth load is disconnected, the power supply power of the second transformer is reduced, and the transmission power of the back-to-back system is kept unchanged. And 8s, the transmission power of the back-to-back system is changed into 0W, so that the load of the second transformer is increased. The voltage of the first bus and the second bus is shown in figure 9, and the voltage of the direct current bus of the back-to-back system passes through VdcThe control performs fast compensation and tracking as shown in fig. 10.
The method applies the virtual synchronous machine control strategy to a back-to-back system, realizes the bidirectional flow of power while simulating the external characteristics of the synchronous motor, does not have a phase-locked loop and a dq decoupling module, and simplifies the control design; meanwhile, compared with the traditional control method, the power switching is smoother.
A back-to-back system control system based on a virtual synchronous machine comprises the virtual synchronous machine, a pulse width modulation module, an active control module and a reactive control module.
Virtual synchronous machine: and receiving the active power reference value and the reactive power reference value of the self, and outputting the amplitude value and the phase angle of the voltage.
The control model of the virtual synchronous machine is that,
wherein, PrefIs an active power reference value, P is the measured active power, omega0To rated frequency, kdIs the proportionality coefficient of the differential component, J is the inertia of transformation, theta is the phase angle of the output voltage of the virtual synchronous machine,
in the form of a vector of thetanRated angular speed for the grid, DpIn order to be a damping coefficient of the damping,
outputting a voltage vector, M, for a virtual synchronous machinefFor maximum mutual inductance between the field winding and the three-phase stator coils, ifIs the rotor excitation current.
A pulse width modulation module: and receiving the voltage amplitude and the phase angle output by the virtual synchronous machine, and carrying out pulse width modulation on the voltage amplitude and the phase angle to obtain a control signal for controlling a switch tube of the back-to-back system converter. The control signal output by the pulse width modulation module is high level, and the switching tube is controlled to be conducted; and if the control signal output by the pulse width modulation module is low level, the switching tube is controlled to be disconnected.
Two converters of the back-to-back system are controlled by two virtual synchronizers respectively, and the input ends of the two virtual synchronizers are connected with two active control modules respectively: and determining the direction of energy transmission of the back-to-back system by judging the positive and negative of the given active power, and switching the active power reference value output by the virtual synchronous machine.
The specific process of the active control module for switching the active power reference value output by the connected virtual synchronous machine is as follows:
when the active power reference value P is givenREFWhen the active power is positive, the converter VSC1 absorbs active power, the converter VSC2 outputs the active power, the system active power flow flows to the converter VSC2 to the converter VSC1, and the output active power reference values of the converter VSC1 and the converter VSC2 are respectively- | PREFI and PREF；
When the given active power reference value is PREFWhen the converter is negative, the converter VSC2 absorbs active power, the converter VSC1 outputs the active power, the system active power flow flows to the converter VSC1 and flows to the converter VSC2, and the output active power reference values of the converter VSC1 and the converter VSC2 are-PREFAnd- | PREF|。
And the reactive power reference value output by the reactive power control module is zero.
A computer readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by a computing device, cause the computing device to perform a virtual synchronous machine-based back-to-back system control method.
A computing device comprising one or more processors, memory, and one or more programs stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing a virtual synchronous machine-based back-to-back system control method.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The present invention is not limited to the above embodiments, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are included in the scope of the claims of the present invention which are filed as the application.
Claims (8)
1. A back-to-back system control method based on a virtual synchronous machine is characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
inputting output active power and reactive power reference values of the virtual synchronous machine into the virtual synchronous machine, and outputting a voltage amplitude value and a phase angle by the virtual synchronous machine; the two converters of the back-to-back system are respectively controlled by two virtual synchronizers, and the determination process of the output active power reference value of the virtual synchronizers is as follows: determining the direction of energy transmission of a back-to-back system by judging the positive and negative of the given active power, and switching the active power reference value output by the virtual synchronous machine;
and after the amplitude and the phase angle of the voltage output by the virtual synchronous machine are subjected to pulse width modulation, a control signal for controlling a switch tube of the back-to-back system converter is obtained.
2. The back-to-back system control method based on the virtual synchronous machine according to claim 1, characterized in that: the specific switching process is that,
when the active power reference value P is givenREFWhen the active power is positive, the converter VSC1 absorbs active power, the converter VSC2 outputs the active power, the system active power flow flows to the converter VSC2 to the converter VSC1, and the output active power reference values of the converter VSC1 and the converter VSC2 are respectively- | PREFI and PREF；
When the given active power reference value is PREFWhen the converter is negative, the converter VSC2 absorbs active power, the converter VSC1 outputs the active power, the system active power flow flows to the converter VSC1 and flows to the converter VSC2, and the output active power reference values of the converter VSC1 and the converter VSC2 are-PREFAnd- | PREF|。
3. The back-to-back system control method based on the virtual synchronous machine according to claim 1, characterized in that: the control model of the virtual synchronous machine is that,
wherein, PrefIs an active power reference value, P is the measured active power, omega0To rated frequency, kdIs the proportionality coefficient of the differential component, J is the inertia of transformation, theta is the phase angle of the output voltage of the virtual synchronous machine,
in the form of a vector of thetanFor rating the angular speed of the grid, DpIn order to be a damping coefficient of the damping,
outputting a voltage vector, M, for a virtual synchronous machinefFor maximum mutual inductance between the field winding and the three-phase stator coils, ifIs the rotor excitation current.
4. The utility model provides a back-to-back system control system based on virtual synchronous machine which characterized in that: comprises a virtual synchronous machine and a pulse width modulation module,
the two converters of the back-to-back system are respectively controlled by two virtual synchronizers, the input ends of the two virtual synchronizers are respectively connected with two work control modules,
an active control module: determining the direction of energy transmission of a back-to-back system by judging the positive and negative of the given active power, and switching the active power reference value output by the virtual synchronous machine;
virtual synchronous machine: receiving active power reference values and reactive power reference values of the self, and outputting a voltage amplitude value and a phase angle;
a pulse width modulation module: and receiving the voltage amplitude and the phase angle output by the virtual synchronous machine, and carrying out pulse width modulation on the voltage amplitude and the phase angle to obtain a control signal for controlling a switch tube of the back-to-back system converter.
5. The back-to-back system control system based on the virtual synchronous machine according to claim 4, characterized in that: the active power control module switches the active power reference value output by the connected virtual synchronous machine in a specific process that,
when the active power reference value P is givenREFWhen the active power is positive, the converter VSC1 absorbs active power, the converter VSC2 outputs the active power, the system active power flow flows to the converter VSC2 to the converter VSC1, and the output active power reference values of the converter VSC1 and the converter VSC2 are respectively- | PREFI and PREF；
When the given active power reference value is PREFWhen the converter VSC2 is negative, the converter VSC2 absorbs active power, the converter VSC1 outputs the active power, the system active power flow flows to the converter VSC1 and flows to the converter VSC2, and the output active power reference values of the converter VSC1 and the converter VSC2 are respectively-PREFAnd- | PREF|。
6. The back-to-back system control system based on the virtual synchronous machine according to claim 4, characterized in that: the control model of the virtual synchronous machine is that,
wherein, PrefIs an active power reference value, P is the measured active power, omega0To rated frequency, kdIs the proportionality coefficient of the differential component, J is the inertia of transformation, theta is the phase angle of the output voltage of the virtual synchronous machine,
in the form of a vector of thetanFor rating the angular speed of the grid, DpIn order to be a damping coefficient of the damping,
outputting a voltage vector, M, for a virtual synchronous machinefFor maximum mutual inductance between the field winding and the three-phase stator coils, ifIs the rotor excitation current.
7. A computer readable storage medium storing one or more programs, characterized in that: the one or more programs include instructions that, when executed by a computing device, cause the computing device to perform any of the methods of claims 1-3.
8. A computing device, characterized by: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
one or more processors, memory, and one or more programs stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the methods of claims 1-3.
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