CN109861258B - Online evaluation method for primary frequency modulation performance of virtual synchronous machine - Google Patents

Online evaluation method for primary frequency modulation performance of virtual synchronous machine Download PDF

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CN109861258B
CN109861258B CN201910166770.6A CN201910166770A CN109861258B CN 109861258 B CN109861258 B CN 109861258B CN 201910166770 A CN201910166770 A CN 201910166770A CN 109861258 B CN109861258 B CN 109861258B
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颜湘武
张晓磊
张波
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Electric Power Research Institute of State Grid Hebei Electric Power Co Ltd
North China Electric Power University
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Abstract

The invention discloses an online evaluation method for primary frequency modulation performance of a virtual synchronous machine, and belongs to the technical field of distributed power generation application. The invention can complete the online evaluation of the frequency modulation performance and the frequency modulation output time of the distributed generation virtual synchronous machine such as photovoltaic, wind power, energy storage and the like, can judge whether the maximum output power of the VSG energy storage unit can reach a theoretical value determined by a control parameter, and can also judge whether the maximum frequency modulation time of the VSG can reach a time limit value specified by a power grid. The invention provides an effective evaluation method for the evaluation of the primary frequency modulation performance of the virtual synchronous machine.

Description

Online evaluation method for primary frequency modulation performance of virtual synchronous machine
Technical Field
The invention belongs to the technical field of distributed power generation, and particularly relates to an online evaluation method for the response power grid frequency fluctuation capability of a virtual synchronous machine.
Background
With the obvious problems of energy shortage and environmental deterioration in the global scope, Distributed Generators (DG) are increasingly receiving attention from people due to their environmental protection and sustainable characteristics, and a large amount of renewable energy resources are beginning to be connected to the power grid. However, unlike the conventional synchronous generator set, the photovoltaic power generation has no rotating unit and cannot provide inertial support for the system, and the rotating unit of the wind power generation can only store a small amount of kinetic energy and cannot provide stable and effective inertial support for the system. With the continuous improvement of the permeability of the DG, the installed capacity proportion of the synchronous generator in the power system is continuously reduced, and the system is developed towards low inertia and low damping, which poses a serious challenge to the operation and control of the power system. In order to improve the damping and inertia of a power grid containing a high-permeability DG and improve the stability of a power system, numerous scholars at home and abroad put forward the concept of a Virtual Synchronous Generator (VSG), namely, a control strategy of a DG grid-connected inverter is designed by simulating a rotor motion equation and an electromagnetic equation of a synchronous generator, so that the inverter has the external characteristics of the synchronous generator. The VSG topology is shown in figure 1.
The VSG technology simulates the change of the kinetic energy of the rotor of the traditional synchronous generator by charging and discharging of the energy storage system at the direct current side, and the output curve of the VSG technology is related to various parameters of the VSG and the frequency fluctuation condition of a power grid; the capacity and power configuration of the energy storage unit then determines whether the VSG can perform the intended function and the maximum time it can take part in the primary modulation. In recent years, scholars at home and abroad mainly pay attention to a control strategy of the VSG, and relatively few researches on online monitoring and evaluation of the VSG function are carried out. Partial scholars deduce the output response of the VSG energy storage unit when the output of new energy fluctuates or the frequency of a power grid fluctuates, and a primary frequency modulation process is not involved. Some researchers analyze the relation between the output of the energy storage unit and the VSG virtual inertia, but do not provide a reasonable evaluation method of the VSG output capability. And with the occurrence of a VSG self-adaptive mechanism, parameters in the VSG operation process are not fixed any more, and one-time off-line calculation is not enough to accurately evaluate the VSG function.
Disclosure of Invention
The invention provides an online evaluation method for primary frequency modulation performance of a virtual synchronous machine, which is used for monitoring whether VSG output capacity can meet an expected power curve and whether primary frequency modulation time requirements, and provides a basis for VSG parameter online setting and energy storage unit configuration. The online evaluation method for the primary frequency modulation performance of the virtual synchronous machine utilizes an online evaluation system to evaluate the primary frequency modulation performance of the virtual synchronous machine, and the system is composed of a parameter online acquisition module (1), an error check module (2), a locking module (3) working in a steady state, a working mode judgment module (4), a transfer function module (5), a damping state judgment module (6), a pull type inverse transformation module (7), a time domain power change prediction module (8), a differential module (9), an integration module (10), a power change rate module (11), an energy change prediction module (12), an expected power peak value module (13), a maximum frequency modulation time module (14), a power comparison module (15) and a time comparison module (16), and is shown in figure 2.
The steps of the evaluation method will be described in detail below.
The method comprises the following steps: visiting a VSG control center to obtain control parameters of the VSG, and simultaneously starting tools such as a voltmeter, an ammeter and an ohmmeter to acquire VSG hardware parameters and power grid operation parameters, wherein the VSG control parameters comprise: time constant H, damping coefficient D, primary frequency modulation coefficient KfFilter reactance Z & lt alpha, internal potential E and power angle delta of grid voltage U, VSG, and VSG rated capacity SnMaximum power P of energy storage unitcCurrent maximum discharge capacity E of energy storage unitcoutThe current maximum charging capacity E of the energy storage unitcinVSG active reference value PrAnd a reactive reference value QrCurrent frequency f of the gridgAnd a frequency difference Δ f.
Step two: theoretical value for VSG steady state operating point (E)s,δs) And comparing the measured values (E, delta) in the step one so as to detect whether the parameters acquired in the step one are accurate, wherein the calculation method of the theoretical values comprises the following steps:
Figure GDA0003434812420000021
if the error is less than 3%, the accuracy requirement is considered to be met, and if the error is more than 3%, the requirement is considered not to be met, and the acquisition work needs to be carried out again in the first step.
Step three: locking a static operating point according to the checking result of the step two, and then calculating the synchronous power of the VSG according to the static operating point:
Figure GDA0003434812420000022
step four: if the frequency fluctuation of the power grid exceeds +/-0.033 Hz and the VSG works in a normal mode, the output power of the VSG is equal to the power generated by the new energy, and the energy storage unit does not output power. If the frequency of the power grid is out of limit, the VSG works in a frequency modulation mode, and a transfer function between the output of the VSG energy storage unit and the power grid frequency fluctuation quantity can be established according to a rotor swing equation set and a primary frequency modulation droop control equation which are commonly used in the field of the VSG. The expression of the VSG participating in the primary frequency modulation is as follows:
Figure GDA0003434812420000031
wherein represents a per-unit value,
Figure GDA0003434812420000032
the mechanical power of the synchronous machine is equivalent to the DG output;
Figure GDA0003434812420000033
in order to be at the nominal frequency,
Figure GDA0003434812420000034
for the actual frequency of the power grid side, a transfer function between the output of the energy storage unit and the power grid frequency fluctuation quantity can be obtained by combining a rotor swing equation and a primary frequency modulation expression, wherein the transfer function is as follows:
Figure GDA0003434812420000035
wherein
Figure GDA0003434812420000036
For the electromagnetic power of the synchronous machine, the output power from the VSG is equivalent,
Figure GDA0003434812420000037
the output of the energy storage unit; omega0For a rated angular frequency, the number of pole pairs of the synchronous machine is set to 1, then omega0Equal to the synchronous angular frequency 2 pi f of the power grid0。
Step five: and solving a characteristic equation of the transfer function according to the calculation result of the step five, analyzing the zero pole, and further judging the damping condition of the VSG system. As can be seen from the characteristic equation, the damping condition of the system is completely determined by the known parameters. When the characteristic equation has two unequal negative real roots, the system is in an over-damping state; when the characteristic equation has two conjugate complex numbers, the system is in an underdamping state; when the characteristic equation has two equal negative real roots, the system is in a critical damping state. The difference in damping state affects subsequent mathematical calculations.
Step six: and (4) carrying out inverse Laplace transformation on the transfer function (4) in the fourth step to obtain a time domain expression of the output power of the energy storage unit when the power grid frequency changes. Taking the step of the power grid frequency as an example, when the VSG works in the frequency modulation mode, the time domain expression of the output power of the energy storage unit in the over-damping state is as follows:
Figure GDA0003434812420000038
wherein
Figure GDA0003434812420000039
The time domain expression of the output power of the energy storage unit in the critical damping state is as follows:
Figure GDA00034348124200000310
the time domain expression of the output power of the energy storage unit in the underdamped state is as follows:
Figure GDA00034348124200000311
wherein
Figure GDA0003434812420000041
Step seven: and carrying out derivation operation on the time domain expression of the output power of the energy storage unit to obtain a change rate function of the output power in the time domain.
Step eight: let the change rate function equal to 0, solve the time t of occurrence of the power extrememaxThen t is addedmaxSubstituting the time domain expression of the output power to obtain an output power extreme value, wherein the first extreme value obtained by the output power is the peak value delta P of the output power under the general conditionemax。
Step nine: integrating the time domain expression of the output power mayObtaining a time domain expression of the total energy change of charging and discharging of the energy storage unit; the result of the expression is equal to the current residual capacity of the energy storage unit, and the time limit value t of the VSG participating in frequency modulation is obtained through solvinglimit。
Step ten: step eight, predicting the power peak value delta P obtained in the step eightemaxComparing the output power with the actual maximum output power of the energy storage unit to further know whether the VSG can meet an expected frequency modulation output curve; the time limit value t of the VSG obtained in the step nine participating in frequency modulationlimitAnd comparing the frequency modulation time with the minimum frequency modulation time specified in national grid VSG technical guide rules to obtain whether the VSG can meet the requirement of the frequency modulation time.
Step eleven: drawing a power curve and an energy change curve predicted in the seventh step and the tenth step, and a maximum power curve and an energy change curve determined by the self capability of the VSG (namely the maximum output power and the residual capacity of the energy storage unit); the dispatching personnel can know the operation condition of the VSG by observing the two groups of curves, and provide reference for parameter setting and updating of the energy storage device.
Drawings
Fig. 1 shows a topology of VSG grid-connected operation.
Fig. 2 is an online evaluation system for primary frequency modulation performance of a virtual synchronous machine.
Fig. 3 is a control strategy for the active-frequency portion of the VSG in an embodiment.
Fig. 4 is a predicted output power curve of the VSG energy storage unit in an embodiment.
Fig. 5 is a predicted capacity variation curve of the VSG energy storage unit in the embodiment.
Detailed Description
The technical solution of the present invention will be further described in detail with reference to specific examples. It is to be understood that the embodiments described herein are only a few embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, those skilled in the art can obtain other embodiments without creative efforts, and all the embodiments should fall within the protection scope of the present invention.
Example (c): the VSG basic parameters are shown in Table 1, and the active frequency control strategy is shown in the figure3, it is assumed that when the grid frequency f is stepped by-0.5 Hz, the VSG simultaneously participates in frequency modulation in both virtual inertia support and primary frequency modulation. According to the technical guide of the virtual synchronous machine of the national power grid, when the frequency is reduced, the maximum value of the active power output which can be increased by the VSG participating in primary frequency modulation is not less than 10% of the rated capacity of the VSG. Because the frequency fluctuation of the power grid does not exceed 0.5Hz generally, the primary frequency modulation coefficient can be set to be Kf＝10。
TABLE 1VSG parameter settings
Figure GDA0003434812420000051
(1) Setting all the above parameters to be acquired on line, and calculating to obtain the static working point (E)s,δs) The theoretical value of (528.687V, 0.0318rad) is less than 0.1% error from the measured values, so no reacquisition is required.
(2) According to the current frequency difference, the VSG works in a frequency modulation mode, and the energy storage unit has an output.
(3) The VSG synchronization power control method comprises the following steps of calculating according to collected data, wherein when the VSG is operated in a grid-connected mode, the value of the synchronization power of the VSG is as follows:
Figure GDA0003434812420000052
(4) according to the working mode and the synchronous power, a transfer function is established as follows:
Figure GDA0003434812420000053
(5) judged by a system state judgment module D2-8HSEω0< 0, the VSG system is in an underdamped mode
(6) According to the formula in the step six, the time domain expression of the active power output by the energy storage unit is as follows:
Figure GDA0003434812420000061
(7) the power change rate function derived by deriving the above equation is:
Figure GDA0003434812420000062
and when the change rate function is equal to 0, and the output power of the energy storage unit obtains an extreme value, the value of the time t is as follows:
tmax＝0.1311 arctan(-6.138) (12)
the time for obtaining the extreme value of the output power of the energy storage unit for the first time is 0.227s, and the time is substituted into the time domain expression of the output power of the energy storage unit to obtain the time domain expression, wherein the peak value of the output power of the energy storage unit is delta Pe(0.227)＝82.75kW。
(8) And integrating the output expression to obtain an energy change expression of the energy storage unit, wherein the energy change expression of the energy storage unit is as follows:
Figure GDA0003434812420000063
the result of the formula is equal to the residual discharge capacity E of the energy storage unitcoutThe available discharge time limit is 28.44 s.
(9) Evaluation results were as follows: the maximum output power of the energy storage unit is 100kW which is larger than the maximum expected output power obtained in the prediction model, namely 82.75kW, so that the power output capacity of the VSG can meet the requirement of an expected output curve. The maximum time of the VSG participating in the frequency modulation of the power system in the working mode is 28.44s, which is greater than the minimum time of the VSG participating in the primary frequency modulation, which is specified by the national power grid, of 15s, so that the requirement of the frequency modulation time can be met.
(10) The desired power curve and the desired energy profile are shown in fig. 4 and 5. The VSG function of this example is able to meet the demand, so the actual energy curve is no longer drawn.

Claims (1)

1. The online evaluation method for the primary frequency modulation performance of the virtual synchronous machine is characterized in that an online evaluation system is used for evaluating the primary frequency modulation performance of the virtual synchronous machine, and the system consists of a parameter online acquisition module (1), an error check module (2), a locking module (3) working in a steady state, a working mode judgment module (4), a transfer function module (5), a damping state judgment module (6), a pull-type inverse transformation module (7), a time domain power change prediction module (8), a differential module (9), an integration module (10), a power change rate module (11), an energy change prediction module (12), an expected power peak value module (13), a maximum frequency modulation time module (14), a power comparison module (15) and a time comparison module (16);
the method for online evaluating the primary frequency modulation performance of the virtual synchronous machine comprises the following steps:
the method comprises the following steps: collecting VSG parameters and power grid operating parameters, including: time constant H, damping coefficient D, primary frequency modulation coefficient KfFilter reactance Z & lt alpha, internal potential E and power angle delta of grid voltage U, VSG, and VSG rated capacity SnMaximum power P of energy storage unitcCurrent maximum discharge capacity E of energy storage unitcoutThe current maximum charging capacity E of the energy storage unitcinVSG active reference value PrAnd a reactive reference value QrThe current frequency f and the frequency difference delta f of the power grid;
step two: theoretical value for VSG steady-state operating point (E)s,δs) And comparing the measured values (E, delta) in the step one so as to detect whether the parameters acquired in the step one are accurate, wherein the calculation method of the theoretical values comprises the following steps:
Figure FDA0003434812410000011
step three: locking a static operating point according to the checking result of the step two, and then calculating the synchronous power of the VSG according to the static operating point:
Figure FDA0003434812410000012
step four: if the frequency of the power grid is out of limit, the VSG works in a frequency modulation mode, a transfer function between the output of the VSG energy storage unit and the fluctuation quantity of the frequency of the power grid can be established according to a rotor swing equation set and a primary frequency modulation droop control equation which are commonly used in the field of the VSG, and the expression of the VSG participating in the primary frequency modulation is as follows:
Figure FDA0003434812410000021
wherein represents a per-unit value,
Figure FDA0003434812410000022
the mechanical power of the synchronous machine is equivalent to the DG output;
Figure FDA0003434812410000023
in order to be at the nominal frequency,
Figure FDA0003434812410000024
for the actual frequency of the power grid side, a transfer function between the output of the energy storage unit and the power grid frequency fluctuation quantity can be obtained by combining a rotor swing equation and a primary frequency modulation expression, wherein the transfer function is as follows:
Figure FDA0003434812410000025
wherein
Figure FDA0003434812410000026
For the electromagnetic power of the synchronous machine, the output power from the VSG is equivalent,
Figure FDA0003434812410000027
the output of the energy storage unit; omega0For a rated angular frequency, the number of pole pairs of the synchronous machine is set to 1, then omega0Equal to the synchronous angular frequency 2 pi f of the power grid0；
Step five: solving a characteristic equation of the transfer function according to the calculation result of the step four, wherein when the characteristic equation has two unequal negative real roots, the system is in an over-damping state; when the characteristic equation has two conjugate complex numbers, the system is in an underdamping state; when the characteristic equation has two equal negative real roots, the system is in a critical damping state;
step six: and (3) carrying out inverse Laplace transformation on the transfer function (4) in the fourth step to obtain a time domain expression of the output power of the energy storage unit when the power grid frequency changes, taking the step of the power grid frequency as an example, when the VSG works in a frequency modulation mode, the time domain expression of the output power of the energy storage unit in an over-damping state is as follows:
Figure FDA0003434812410000028
wherein
Figure FDA0003434812410000029
The time domain expression of the output power of the energy storage unit in the critical damping state is as follows:
Figure FDA00034348124100000210
the time domain expression of the output power of the energy storage unit in the underdamped state is as follows:
Figure FDA00034348124100000211
wherein
Figure FDA00034348124100000212
Step seven: carrying out derivation operation on a time domain expression of the output power of the energy storage unit to obtain a change rate function of the output power in a time domain;
step eight: let the change rate function equal to 0, solve the time t of occurrence of the power extrememaxThen t is addedmaxSubstituting the time domain expression of the output power to obtain an output power extreme value, oneIn general, the first extreme value of the output power is its peak value Δ Pemax；
Step nine: integrating the time domain expression of the output power to obtain a time domain expression of the total charging and discharging energy change of the energy storage unit; the result of the expression is equal to the current residual capacity of the energy storage unit, and the time limit value t of the VSG participating in frequency modulation is obtained through solvinglimit；
Step ten: the predicted power peak value delta P obtained in the step eightemaxComparing the output power with the actual maximum output power of the energy storage unit to further know whether the VSG can meet an expected frequency modulation output curve; the VSG obtained in the step nine participates in the time limit value t of frequency modulationlimitComparing the frequency modulation time with the minimum frequency modulation time specified in national grid VSG technical guide rules to obtain whether the VSG can meet the requirement of the frequency modulation time;
step eleven: and drawing a power curve and an energy change curve predicted in the seventh step and the tenth step, and a maximum power curve and an energy change curve determined by the self capability of the VSG (namely the maximum output power and the residual capacity of the energy storage unit).
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