CN109921461B - Virtual synchronous generator primary frequency modulation performance evaluation and parameter optimization system - Google Patents
Virtual synchronous generator primary frequency modulation performance evaluation and parameter optimization system Download PDFInfo
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Abstract
The invention discloses a virtual synchronous generator primary frequency modulation performance online evaluation and parameter optimization system, and belongs to the technical field of distributed power generation application. The system comprises the following modules: the device comprises a parameter online acquisition module (1), an error inspection 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), a time comparison module (16) and a parameter optimization module (17). The method can complete comprehensive online evaluation of the frequency modulation performance and the frequency modulation output time of the distributed generation virtual synchronous generator such as photovoltaic power generation, wind power generation, energy storage and the like, and can complete optimal configuration of core control parameters such as inertia, damping, power control, voltage and current control and the like of the virtual synchronous generator. The system greatly reduces the workload of daily maintenance and construction acceptance of the virtual synchronous generator, and is favorable for large-scale popularization and application of the virtual synchronous generator technology.
Description
Technical Field
The invention belongs to the technical field of distributed power generation, and particularly relates to a virtual synchronous generator primary frequency modulation performance online evaluation and parameter optimization system for the virtual synchronous generator responding to the power grid frequency fluctuation capacity.
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 DG permeability and the continuous reduction of the installed capacity ratio of the synchronous generator in the power system, 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 the VSG, so that an inverter has the external characteristics of the VSG. 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 the power grid; the capacity and power configuration of the energy storage unit then determines whether the VSG can perform the desired frequency modulation function and the maximum time it takes to participate in the primary frequency 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 a VSG frequency modulation 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 a real-time VSG primary frequency modulation performance online evaluation and parameter optimization system which is used for monitoring whether the VSG output capacity can meet an expected curve and the time limit value of VSG participating in primary frequency modulation, and optimizing control parameters based on the evaluation result. And a basis is provided for VSG parameter on-line setting and configuration of the energy storage unit. The overall composition of the invention is shown in fig. 1, and the whole evaluation system consists of the following 17 modules: the device comprises a parameter online acquisition module, an error detection module, a locking module working in a steady state, a working mode judgment module, a transfer function module, a damping state judgment module, a pull type inverse transformation module, a time domain power change prediction module, a differential module, an integral module, a power change rate module, an energy change prediction module, an expected power peak value module, a maximum frequency modulation time module, a power comparison module, a time comparison module and a parameter optimization module. The function and operation of each module will be described in detail below.
1. And a parameter online acquisition module. The module is used for acquiring three parts of parameters: (1) Parameters of the circuit and the power element mainly comprise a filter reactance, the maximum power of the energy storage unit and the residual charge-discharge capacity of the energy storage unit; (2) The operation parameters of the power grid and the VSG mainly comprise power grid voltage, current frequency and frequency difference of the power grid, internal potential and power angle of the VSG, and active reference value and reactive reference value output by the VSG: (3) The VSG control parameters mainly comprise a time constant, a damping coefficient D, a primary frequency modulation coefficient and VSG rated capacity. The module is used for collecting operation parameters and control parameters of a power grid and VSG, and comprises a filter reactance, an energy storage unit state, a power grid voltage, a power grid frequency, a VSG internal potential and power angle, a VSG output active reference value and reactive reference value, a time constant, a damping coefficient, a primary frequency modulation coefficient and the like;
2. and an error checking module. The module is responsible for checking whether the parameters acquired by the module 1 are accurate or not, and if the acquired data exceed the preset range, the parameters need to be acquired again.
3. A steady state operating point module. The module is coupled to an error checking module for locking the steady state operating point of the VSG.
4. And a working mode judging module. The module receives data transmitted by the module (3) and is used for judging the working mode of the VSG. When the frequency of the power grid is not out of limit, the VSG works in a normal mode, the VSG output power is equal to the power generated by the new energy source side, and the energy storage unit does not output power. When the frequency of the power grid is out of limit, the VSG works in a primary frequency modulation mode, and the energy storage unit responds to the frequency fluctuation to output power.
5. And a transfer function module. The module determines whether to establish a transfer function according to the judgment result of the working mode judgment module, wherein in the primary frequency modulation mode, the transfer function of the energy storage unit responding to the frequency fluctuation is as follows:
where represents a per unit value, Δ f is a frequency difference,
for the energy storage unit output, H is the time constant, omega 0 For synchronizing the angular frequency, S E For synchronous power, D is the damping coefficient, K f Is the primary frequency modulation coefficient.
6. And a damping state determination module. The module is used for judging the damping condition of the VSG system by means of the characteristic equation of the transfer function established by the previous module, and is generally divided into an over-damping state, an under-damping state and a critical damping state, and the specific content of the module is shown in FIG. 2.
7. And a pull type inverse transformation module. This block is used to perform an inverse laplace transform on the transfer function established in block 5.
8. A time domain power prediction module. The module is used for establishing a mathematical model of the change of the output power of the energy storage unit along with time when the frequency of the power grid fluctuates according to the result of the inverse Laplace transform in the module 7.
9. And (4) a differential element. The module is used for carrying out differential processing on the power time domain change model of the energy storage unit.
10. And (4) integrating. The module is used for carrying out integration processing on the power time domain change model of the energy storage unit.
11. A power rate of change module. The module is used for establishing a function of the rate of change of the power of the energy storage unit according to the calculation result of the module 9.
12. An energy change prediction module. The module is used for establishing a mathematical model of the energy change of the energy storage unit along with time according to the calculation result of the module 10.
13. The desired power peak module. The module is configured to find the occurrence time of the power extreme value according to the calculation result of the module 11, and further calculate the peak value of the expected power curve of the VSG energy storage unit by using the power time domain model established in the module 8.
14. Maximum frequency modulation time. This module is used to calculate, by means of a model in the module 12, the maximum time for which the VSG energy storage unit can be continuously charged/discharged according to the desired power curve. The internal construction of the module is shown in figure 3.
15. And a power comparison module. This module is used to compare the desired power peak with the maximum power that the energy storage unit can actually assume, the internal configuration of which is shown in fig. 4.
16. And a time comparison module. The module is used for comparing the maximum frequency modulation time of the VSG under the current working condition with the time lower limit of frequency modulation participation of the VSG specified by the power grid, and the internal structure of the module is shown in fig. 5.
17. And a parameter optimization module. Which is connected to a power comparison module 15 and a time comparison module 16 for giving a parameter optimization strategy based on the evaluation results of the modules 15, 16. If the maximum output power of the VSG energy storage unit under the current working condition does not reach a theoretical value determined by the control parameters or the VSG maximum frequency modulation time does not reach a time lower limit specified by the power grid, the control parameters such as the damping coefficient, the inertia time constant and the like need to be optimized and adjusted.
Drawings
FIG. 1 is a control block diagram of a VSG topology and the present invention.
Fig. 2 shows an internal structure of the damping state determination module.
Fig. 3 shows the internal structure of the maximum fm time module.
Fig. 4 shows the internal structure of the power comparison module.
Fig. 5 is a time comparison module internal composition.
Fig. 6 is a predicted output power curve of the VSG energy storage unit in an embodiment.
Fig. 7 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 basic parameters of the VSG are shown in table 1, and it is assumed that when the grid frequency f is stepped by-0.5 Hz, the VSG simultaneously participates in frequency modulation operation in two modes of virtual inertia support and primary frequency modulation. According to the national grid 'virtual synchronous machine technical guide', when the frequency is reduced, the maximum value of the active output which can be increased by the VSG participating in the 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 K f ＝10。
TABLE 1 VSG parameter settings
(1) The parameters are collected by a parameter online collection module and verified by an error detection module, so that data are error-free.
(2) And the VSG works in a frequency modulation mode after being judged by the working mode judging module.
(3) The transfer function is established as:
(4) Judged by a system state judgment module D 2 -8HS E ω 0 < 0, the VSG system is in an underdamped mode.
(5) Through the calculation of the pull-type inverse transformation module, the time domain expression of the output of the energy storage unit is as follows:
the expected output curve of the energy storage unit is shown in fig. 6.
(6) After the output of the differential link, the function of the power change rate can be arranged as follows:
(7) In the power change rate module, the change rate function is equal to 0, and when the output of the energy storage unit obtains an extreme value, the value of time t is as follows:
t＝0.1311arctan(-6.138) (5)
(8) In the power peak value module, the time t for obtaining the first extreme value of the output power of the energy storage unit is 0.227s, the time t is substituted into the power time domain expression to obtain the peak value of the output power of the energy storage unit, and the peak value of the output power of the energy storage unit is delta P e (0.227)＝82.75kW。
(9) And the power time domain expression is processed by an integral link. The energy change expression of the available energy storage unit is as follows:
the capacity variation curve of the energy storage unit is shown in fig. 7.
(10) Calculated by a maximum frequency modulation time module, the energy change function E (t) is equal to the residual discharge capacity E of the energy storage unit cout The maximum discharge time was found to be 28.44s.
(11) In the power comparison module, the maximum output power P of the energy storage unit c Is 100kW, which is larger than the maximum expected output power 82.75kW obtained in the prediction model, so the power output capability of the VSG can meet the demand.
(12) In the time comparison module, 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 15s of the VSG participating in the primary frequency modulation specified by the national power grid, so that the time requirement of the frequency modulation is met.
(13) In the parameter optimization module, the VSG can meet the requirements of power and frequency modulation time under the current parameter, but the expected power peak value is already close to the maximum output of the energy storage unit, and the output power margin is not large, so that the direction of parameter optimization is to properly reduce the expected power peak value of the energy storage unit by adjusting the control parameter.
Claims (1)
1. The virtual synchronous generator primary frequency modulation performance online evaluation and parameter optimization system is characterized by comprising the following modules: the device comprises a parameter online acquisition module (1), an error checking module (2), a steady-state working point module (3), 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), a time comparison module (16) and a parameter optimization module (17);
the virtual synchronous generator primary frequency modulation performance online evaluation and parameter optimization system consists of two parts, namely running state monitoring, performance evaluation and parameter optimization;
the operation state monitoring part is characterized in that the parameter online acquisition module (1) transmits the acquired operation parameters and control parameters of the power grid and the VSG to the error inspection module (2), the error inspection module (2) is connected with the steady-state working point module (3), the steady-state working point of the VSG is locked by the steady-state working point module (3), the parameter online acquisition module (1) and the error inspection module (2) form the VSG operation state monitoring part, and data in the operation state monitoring part can be simultaneously transmitted to the VSG controller part and the function evaluation and parameter optimization part;
the performance online evaluation and parameter optimization part is characterized in that a working mode judging module (4) is connected with a steady-state working point module (3) and used for judging whether VSG enters a frequency modulation mode or not according to the frequency of a power grid and frequency difference, if the VSG is judged to enter the frequency modulation mode in the working mode judging module (4), a transfer function module (5) connected with the working mode judging module (4) establishes a transfer function between the frequency fluctuation condition and the output power of an energy storage unit according to sent data, a damping state judging module (6) judges which of over-damping, under-damping and critical damping states the VSG system is in according to a characteristic equation of the transfer function established in the transfer function module (5), a pull-type inverse transformation module (7) is connected with the transfer function module (5) and the damping state judging module (6) and sends a transformation result to a time domain power predicting module (8), the time domain power predicting module (8) establishes a time domain mathematical model of the output power of the energy storage unit and is respectively connected with a differential link (9) and an integral link (10), a time domain power change rate module (11) is connected with the integral module (9), the time domain power change rate module (11) is connected with an expected power calculating module (13) and sends an expected peak power change rate calculating module (13) to a power change predicting module (13) which compares the differential power predicting module (13) of the energy storage unit (13), the energy change prediction module (12) sends the established time domain mathematical model of the energy output by the energy storage unit to the maximum frequency modulation time module (14), the maximum frequency modulation time module (14) sends the calculated maximum time of continuous charging/discharging of the energy storage unit to the time comparison module (16), and the parameter optimization module (17) is connected with the power comparison module (15) and the time comparison module (16).
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Application publication date: 20190621 Assignee: Baoding Baojia Electronic Instrument Co.,Ltd. Assignor: NORTH CHINA ELECTRIC POWER University (BAODING) Contract record no.: X2023990001001 Denomination of invention: Performance evaluation and parameter optimization system for primary frequency regulation of virtual synchronous generators Granted publication date: 20230321 License type: Common License Record date: 20231225 Application publication date: 20190621 Assignee: Hebei Zhongke Power Technology Co.,Ltd. Assignor: NORTH CHINA ELECTRIC POWER University (BAODING) Contract record no.: X2023990001000 Denomination of invention: Performance evaluation and parameter optimization system for primary frequency regulation of virtual synchronous generators Granted publication date: 20230321 License type: Common License Record date: 20231225 |