CN109950912B - Virtual synchronous generator control method with dynamic flux linkage characteristic simulation - Google Patents

Virtual synchronous generator control method with dynamic flux linkage characteristic simulation Download PDF

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CN109950912B
CN109950912B CN201910265231.8A CN201910265231A CN109950912B CN 109950912 B CN109950912 B CN 109950912B CN 201910265231 A CN201910265231 A CN 201910265231A CN 109950912 B CN109950912 B CN 109950912B
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张兴
刘晓玺
李明
郭梓暄
陈巧地
朱虹
王杨
潘海龙
高倩
李飞
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Hefei University of Technology
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Abstract

The invention discloses a virtual synchronous generator control method with dynamic flux linkage characteristic simulation. According to the method, by researching the action mechanism of the flux linkage characteristic in the control of the virtual synchronous generator, the simulation of the flux linkage characteristic is added in the reactive-voltage droop control of the traditional virtual synchronous generator, and the related control parameters of the flux linkage can be adjusted on line, so that the potential in the virtual synchronous generator has certain damping and inertia, the disturbance of the voltage of a power grid can be weakened or even inhibited, and the stability of the power grid is improved. Meanwhile, the inverter system does not need to be additionally provided with power electronic equipment, so that the power consumption is reduced, and the cost is saved.

Description

Virtual synchronous generator control method with dynamic flux linkage characteristic simulation
Technical Field
The invention relates to the technical field of distributed power generation and power electronics, in particular to a virtual synchronous generator control method with dynamic flux linkage characteristic simulation.
Background
Most of electric power of a traditional power grid is borne by a large synchronous generator, a rotor of the synchronous generator has mechanical rotational inertia and can contain a large amount of kinetic energy, and when the large power grid is disturbed, the kinetic energy of the rotor can be utilized to perform energy interaction with the power grid so as to maintain the stability of the power grid. With the continuous increase of the permeability of the distributed new energy power generation technology, the damping and inertia of the power system are reduced, and the stability is reduced. The Virtual Synchronous Generators (VSG) technology increases the inertia of the system by simulating the operation mechanism and external characteristics of the VSG, and becomes one of effective solutions to the problem of high permeability of the distributed power generation system. In the control of the virtual synchronous generator, reactive power and internal potential are in a droop relation, and the internal potential is closely related to stator flux linkage, so that the output voltage of the system can have inertia in theory by adding the simulation of flux linkage characteristics in the reactive-voltage droop control of the virtual synchronous generator, and the disturbance of the grid voltage is weakened or even inhibited.
At present, research on a control method of a virtual synchronous generator mainly focuses on controlling active power and frequency, and relatively few researches on flux linkage change characteristics of the virtual synchronous generator are conducted.
Entitled "microgrid inverter control with synchronous generator characteristics", proceedings of electrotechnical sciences, pages 261-268 of 7 th paragraph in 2014. The prime motor regulation and the excitation regulation are designed, and the rotational inertia of the synchronous generator is simulated, so that the external interface of the new energy power station has the droop characteristics of frequency and voltage amplitude, but the simulation of the stator flux linkage characteristic of the synchronous generator is not involved.
The article is entitled "virtual synchronous machine and autonomous power system", the journal of the electrical engineering of China, and pages 336-348 of No. 2 of 2017. The self-adaptive virtual synchronous generator control method for automatically adjusting active power and reactive power according to the voltage and frequency changes of a power grid is provided by deeply analyzing the excitation characteristics of a synchronous generator and taking a mathematical model of the synchronous generator as a kernel, but the simulation of flux linkage characteristics needs the accurate phase locking of a phase-locked loop, and the coupling degree of the active power and the reactive power of a system can be increased;
the invention discloses a device and a control method for simulating synchronous generator characteristics and harmonic voltage generation, which are disclosed in 2017, 9, month and 22 of China invention patent (publication No. CN 107196537A), and provides a power grid simulator topology platform with synchronous generator characteristics and harmonic generation function and a control method thereof.
In summary of the above documents, the existing virtual synchronous generator flux linkage control has the following disadvantages:
1. the research on the control method of the virtual synchronous generator for simulating the flux linkage change characteristics is very little, and in order to find more beneficial degrees of freedom in the control of the virtual synchronous generator and improve the stability of a future power grid, the action mechanism of the flux linkage characteristics in the control of the virtual synchronous generator needs to be deeply and comprehensively researched;
2. the existing research on the aspect of the flux linkage characteristic of the virtual synchronous generator has no effect on the inertia and damping characteristic of the potential in the virtual synchronous generator by better quantizing the flux linkage related parameters, and the realization is complex.
Disclosure of Invention
The invention provides a virtual synchronous generator control method with dynamic flux linkage characteristic simulation, which adds flux linkage characteristic simulation in the reactive-voltage droop control of the traditional virtual synchronous generator and can adjust flux linkage related control parameters on line, so that the potential in the virtual synchronous generator has certain damping and inertia, the disturbance of the voltage of a power grid can be weakened or even inhibited, and the stability of the power grid is improved.
The object of the invention is thus achieved. The invention provides a virtual synchronous generator control method with dynamic flux linkage characteristic simulation, which comprises the following steps:
step 1, sampling three-phase output current i of a virtual synchronous generatora、ib、icThree-phase output voltage u of virtual synchronous generatora、ub、ucAnd a three-phase current i of a filter inductor of a virtual synchronous generatorLa、iLb、iLcAnd calculating the output active power P of the virtual synchronous generatoroutAnd virtual synchronous generator output reactive power QoutThe calculation formula is as follows:
Pout＝uaia+ubib+ucic
Figure BDA0002016576570000031
step 2, setting the initial active power reference value of the virtual synchronous generator as PrefThe initial reactive power reference value of the virtual synchronous generator is Qref；
Step 3, solving an internal potential phase theta of the virtual synchronous generator and an internal potential amplitude E of the virtual synchronous generator according to the following equation;
the solving equation of the potential phase theta in the virtual synchronous generator is as follows:
Figure BDA0002016576570000032
θ＝∫ωdt
the solving equation of the potential amplitude E in the virtual synchronous generator is as follows:
Figure BDA0002016576570000033
E＝ψω
wherein, omega is the angular velocity of the internal potential of the virtual synchronous generator, omega0The rated angular velocity of the virtual synchronous generator is J, the rotational inertia of the virtual synchronous generator is D, the damping coefficient of the virtual synchronous generator is m, the droop coefficient of active power is phi, the stator flux linkage of the virtual synchronous generator is psi, the integral coefficient of the stator flux linkage of the virtual synchronous generator is K, the droop coefficient of reactive power is n, and U isrefOutputting a phase voltage amplitude reference value for the virtual synchronous generator, and outputting U as the output of the virtual synchronous generatorThe amplitude of the phase voltage is obtained, s is a Laplace operator, and t is time;
step 4, under the internal potential phase theta of the virtual synchronous generator obtained in the step 3, the three-phase output voltage u of the virtual synchronous generator obtained by sampling in the step 1 is useda、ub、ucConverting a three-phase static coordinate system into a two-phase rotating coordinate system to obtain an output voltage dq axis component u of the virtual synchronous generatord、uq(ii) a The three-phase current i of the filter inductor of the virtual synchronous generator obtained by sampling in the step 1La、iLb、iLcConverting a three-phase static coordinate system into a two-phase rotating coordinate system to obtain a filtering inductive current dq axis component i of the virtual synchronous generatorLd、iLq；
The three-phase output voltage u of the virtual synchronous generatora、ub、ucThe coordinate transformation equation of (a) is:
Figure BDA0002016576570000041
Figure BDA0002016576570000042
three-phase current i of filter inductor of virtual synchronous generatorLa、iLb、iLcThe coordinate transformation equation of (a) is:
Figure BDA0002016576570000043
Figure BDA0002016576570000044
step 5, obtaining the output voltage dq axis component u of the virtual synchronous generator according to the internal potential amplitude E of the virtual synchronous generator obtained in the step 3 and the step 4d、uqAnd the filter inductance current dq axis component i of the virtual synchronous generatorLd、iLqObtaining the output of the virtual synchronous generator through a voltage and current double closed-loop control equationVoltage dq axis control component Ud、Uq；
The voltage and current double closed loop control equation is as follows:
Figure BDA0002016576570000051
Figure BDA0002016576570000052
wherein, KipFor current closed-loop proportional regulator coefficient, KiiFor current closed-loop integral regulator coefficient, KvpAs a voltage closed-loop proportional regulator coefficient, KviIs a voltage closed loop integral regulator coefficient;
step 6, controlling the output voltage dq axis control component U of the virtual synchronous generator obtained in the step 5d、UqConverting the two-phase rotating coordinate system into a three-phase static coordinate system under the potential phase theta in the virtual synchronous generator obtained in the step 3 to obtain a three-phase modulation wave U of the bridge arm voltage of the inverterma、Umb、UmcAnd is used as a driving signal of the IGBT circuit after PWM modulation;
the output voltage dq axis control component U of the virtual synchronous generatord、UqThe transformation equation of (a) is:
Uma＝Udcosθ+Uqsinθ
Figure BDA0002016576570000053
Figure BDA0002016576570000054
compared with the prior art, the invention has the advantages that:
1. according to the virtual synchronous generator control method with dynamic flux linkage characteristic simulation, flux linkage characteristic simulation is added in the reactive-voltage droop control of the traditional virtual synchronous generator, so that the potential in the virtual synchronous generator has certain damping and inertia, the disturbance of the voltage of a power grid can be weakened or even inhibited, and the stability of the power grid is improved;
2. the optimal control of the virtual synchronous generator reactive power-voltage droop can be realized by adjusting the relevant control parameters of the flux linkage on line;
3. the invention can better avoid the problem of coupling of active power and reactive power caused by coupling of control parameters;
4. the virtual synchronous generator control method with dynamic flux linkage characteristic simulation can only improve the control method of the existing power electronic converter system, does not need to add extra power electronic equipment, reduces power consumption and saves cost.
Drawings
Fig. 1 is a topology structure diagram of a virtual synchronous generator according to an embodiment of the present invention.
Fig. 2 is an overall control block diagram of the control method of the present invention.
Fig. 3 is a response curve of the inverter system outputting active power and reactive power by using the control method of the present invention under the working condition that the active load initially sets 100kW active power and cuts into 1kW inductive reactive power at 0.4 s.
Fig. 4 is a response curve of the inverter system outputting the phase voltage amplitude by using the ordinary droop control method and the control method of the present invention under the working condition that the active load initially sets 100kW active power and cuts into 1kW inductive reactive power at 0.4 s.
Detailed Description
The invention is further illustrated with reference to the figures and examples.
Fig. 1 is a topology structure diagram of a virtual synchronous generator according to an embodiment of the present invention. As shown in the figure, a direct current source is inverted into alternating current power through an inverter, the amplitude of the voltage of a rated output line of the inverter is 690V, and the frequency is 50 Hz. The alternating current electric energy is filtered by the filter inductor and the filter capacitor and then is connected with the three-phase active load. The specific parameters are as follows: DC source Udc1100V, filter inductance L7.5 e-5H, filter capacitance C3.34 e-4F, active load can set its active and reactive power, in this embodimentInitial 100kW active power is set and 1kW inductive reactive power is switched in at 0.4 s.
Fig. 2 is an overall control block diagram of the control method of the present invention. It can be seen from the figure that the steps of the control method of the virtual synchronous generator with the dynamic flux linkage characteristic simulation of the invention are as follows:
the method comprises the following steps:
step 1, sampling three-phase output current i of a virtual synchronous generatora、ib、icThree-phase output voltage u of virtual synchronous generatora、ub、ucAnd a three-phase current i of a filter inductor of a virtual synchronous generatorLa、iLb、iLcCalculating to obtain the output active power P of the virtual synchronous generator by adopting an instantaneous power calculation formulaoutAnd virtual synchronous generator output reactive power QoutThe calculation formula is as follows:
Pout＝uaia+ubib+ucic
Figure BDA0002016576570000071
step 2, setting the initial active power reference value of the virtual synchronous generator as PrefThe initial reactive power reference value of the virtual synchronous generator is Qref；
Step 3, obtaining a solving equation of an internal potential phase theta and an internal potential amplitude E of the virtual synchronous generator according to an active-frequency and reactive-voltage droop equation of the virtual synchronous generator, a rotor motion equation and a stator flux linkage equation of the synchronous generator;
the solving equation of the potential phase theta in the virtual synchronous generator is as follows:
Figure BDA0002016576570000072
θ＝∫ωdt
the solving equation of the potential amplitude E in the virtual synchronous generator is as follows:
Figure BDA0002016576570000073
E＝ψω
wherein, omega is the angular velocity of the internal potential of the virtual synchronous generator, omega0The rated angular velocity of the virtual synchronous generator is J, the rotational inertia of the virtual synchronous generator is D, the damping coefficient of the virtual synchronous generator is m, the droop coefficient of active power is phi, the stator flux linkage of the virtual synchronous generator is psi, the integral coefficient of the stator flux linkage of the virtual synchronous generator is K, the droop coefficient of reactive power is n, and U isrefOutputting a phase voltage amplitude reference value for the virtual synchronous generator, outputting a phase voltage amplitude value for the virtual synchronous generator by U, outputting a phase voltage amplitude value for the virtual synchronous generator by s, and outputting time by t. In this embodiment, ω0＝314rad/s，J＝50kg·m2，D＝5，m＝1.57e-6，Pref＝0，n＝6.9e-6，K＝50，Qref＝0，Uref＝563V。
Step 4, under the internal potential phase theta of the virtual synchronous generator obtained in the step 3, the three-phase output voltage u of the virtual synchronous generator obtained by sampling in the step 1 is useda、ub、ucConverting a three-phase static coordinate system into a two-phase rotating coordinate system to obtain an output voltage dq axis component u of the virtual synchronous generatord、uq(ii) a The three-phase current i of the filter inductor of the virtual synchronous generator obtained by sampling in the step 1La、iLb、iLcConverting a three-phase static coordinate system into a two-phase rotating coordinate system to obtain a filtering inductive current dq axis component i of the virtual synchronous generatorLd、iLq；
The three-phase output voltage u of the virtual synchronous generatora、ub、ucThe coordinate transformation equation of (a) is:
Figure BDA0002016576570000081
Figure BDA0002016576570000082
three-phase current i of filter inductor of virtual synchronous generatorLa、iLb、iLcThe coordinate transformation equation of (a) is:
Figure BDA0002016576570000083
Figure BDA0002016576570000084
step 5, obtaining the output voltage dq axis component u of the virtual synchronous generator according to the internal potential amplitude E of the virtual synchronous generator obtained in the step 3 and the step 4d、uqAnd the filter inductance current dq axis component i of the virtual synchronous generatorLd、iLqObtaining the output voltage dq axis control component U of the virtual synchronous generator through a voltage and current double closed-loop control equationd、Uq；
The voltage and current double closed loop control equation is as follows:
Figure BDA0002016576570000091
Figure BDA0002016576570000092
wherein, KipFor current closed-loop proportional regulator coefficient, KiiFor current closed-loop integral regulator coefficient, KvpAs a voltage closed-loop proportional regulator coefficient, KviIs a voltage closed loop integral regulator coefficient. In this example, take Kip＝20，Kii＝0，Kvp＝100，Kvi＝3000。
Step 6, controlling the output voltage dq axis control component U of the virtual synchronous generator obtained in the step 5d、UqConverting the two-phase rotating coordinate system into a three-phase static coordinate system under the potential phase theta in the virtual synchronous generator obtained in the step 3 to obtain a three-phase modulation wave U of the bridge arm voltage of the inverterma、Umb、UmcAnd is used as a driving signal of the IGBT circuit after PWM modulation;
the output voltage dq axis control component U of the virtual synchronous generatord、UqThe transformation equation of (a) is:
Uma＝Udcosθ+Uqsinθ
Figure BDA0002016576570000093
Figure BDA0002016576570000094
fig. 3 is a response curve of active power and reactive power output by the inverter system by using a virtual synchronous generator control method with dynamic flux characteristic simulation under the working condition that active power of 100kW is initially set for an active load and 1kW of inductive reactive power is switched in at 0.4 s. It can be seen from the figure that, since the internal potential of the virtual synchronous generator and the reactive power present a droop relationship, the active power output by the system may decrease to some extent after the reactive power active load is switched in.
Fig. 4 is a response curve of phase voltage amplitude output by an inverter system using a common droop control method and a virtual synchronous generator control method with dynamic flux linkage characteristic simulation according to the present invention under a working condition that active power of 100kW is initially set for an active load and 1kW of inductive reactive power is switched in at 0.4 s. As can be seen from the figure, the virtual synchronous generator control method with dynamic flux linkage characteristic simulation can enable the internal potential of the virtual synchronous generator to have certain damping and inertia, and has important significance for weakening and even inhibiting the disturbance of the voltage of a power grid and improving the stability of the power grid.

Claims (1)

1. A virtual synchronous generator control method with dynamic flux linkage characteristic simulation is characterized by comprising the following steps:
step 1, sampling three-phase output current i of a virtual synchronous generatora、ib、icVirtual synchronous generator three phasesOutput voltage ua、ub、ucAnd a three-phase current i of a filter inductor of a virtual synchronous generatorLa、iLb、iLcAnd calculating the output active power P of the virtual synchronous generatoroutAnd virtual synchronous generator output reactive power QoutThe calculation formula is as follows:
Pout＝uaia+ubib+ucic
Figure FDA0002478494690000011
step 2, setting the initial active power reference value of the virtual synchronous generator as PrefThe initial reactive power reference value of the virtual synchronous generator is Qref；
Step 3, solving an internal potential phase theta of the virtual synchronous generator and an internal potential amplitude E of the virtual synchronous generator according to the following equation;
the solving equation of the potential phase theta in the virtual synchronous generator is as follows:
Figure FDA0002478494690000012
θ＝∫ωdt
the solving equation of the potential amplitude E in the virtual synchronous generator is as follows:
Figure FDA0002478494690000013
E＝ψω
wherein, omega is the angular velocity of the internal potential of the virtual synchronous generator, omega0The rated angular velocity of the virtual synchronous generator is J, the rotational inertia of the virtual synchronous generator is D, the damping coefficient of the virtual synchronous generator is m, the droop coefficient of active power is phi, the stator flux linkage of the virtual synchronous generator is psi, the integral coefficient of the stator flux linkage of the virtual synchronous generator is K, the droop coefficient of reactive power is n, and U isrefOutputting a phase voltage amplitude reference value for a virtual synchronous generatorU is the output phase voltage amplitude of the virtual synchronous generator, s is a Laplace operator, and t is time;
step 4, under the internal potential phase theta of the virtual synchronous generator obtained in the step 3, the three-phase output voltage u of the virtual synchronous generator obtained by sampling in the step 1 is useda、ub、ucConverting a three-phase static coordinate system into a two-phase rotating coordinate system to obtain an output voltage dq axis component u of the virtual synchronous generatord、uq(ii) a The three-phase current i of the filter inductor of the virtual synchronous generator obtained by sampling in the step 1La、iLb、iLcConverting a three-phase static coordinate system into a two-phase rotating coordinate system to obtain a filtering inductive current dq axis component i of the virtual synchronous generatorLd、iLq；
The three-phase output voltage u of the virtual synchronous generatora、ub、ucThe coordinate transformation equation of (a) is:
Figure FDA0002478494690000021
Figure FDA0002478494690000022
three-phase current i of filter inductor of virtual synchronous generatorLa、iLb、iLcThe coordinate transformation equation of (a) is:
Figure FDA0002478494690000023
Figure FDA0002478494690000024
step 5, obtaining the output voltage dq axis component u of the virtual synchronous generator according to the internal potential amplitude E of the virtual synchronous generator obtained in the step 3 and the step 4d、uqAnd the filter inductance current dq axis component i of the virtual synchronous generatorLd、iLqPassing electricityObtaining a virtual synchronous generator output voltage dq axis control component U by a piezoelectric current double closed loop control equationd、Uq；
The voltage and current double closed loop control equation is as follows:
Figure FDA0002478494690000031
Figure FDA0002478494690000032
wherein, KipFor current closed-loop proportional regulator coefficient, KiiFor current closed-loop integral regulator coefficient, KvpAs a voltage closed-loop proportional regulator coefficient, KviIs a voltage closed loop integral regulator coefficient;
step 6, controlling the output voltage dq axis control component U of the virtual synchronous generator obtained in the step 5d、UqConverting the two-phase rotating coordinate system into a three-phase static coordinate system under the potential phase theta in the virtual synchronous generator obtained in the step 3 to obtain a three-phase modulation wave U of the bridge arm voltage of the inverterma、Umb、UmcAnd is used as a driving signal of the IGBT circuit after PWM modulation;
the output voltage dq axis control component U of the virtual synchronous generatord、UqThe transformation equation of (a) is:
Uma＝Udcosθ+Uqsinθ
Figure FDA0002478494690000033
Figure FDA0002478494690000034
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