CN110429578B - Distributed direct-current micro-grid control method - Google Patents
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Abstract
The invention discloses a distributed direct-current microgrid control method, which comprises the following steps: obtaining power distribution adjustment correction quantity of each power supply through error correction according to the power state variables of each power supply and all power supplies communicated with the power supply; correcting the reference voltage based on the correction amount to obtain a voltage expected value; obtaining the power supply average voltage regulation correction quantity through error correction based on the voltage expected value and the output voltage; correcting the reference voltage based on the correction amount to obtain a voltage command value; and on the basis of the voltage instruction value of each power supply, adopting droop control to obtain on-off control signals of each switching tube in the direct-current micro-grid. The invention immerses the power distribution adjustment correction quantity and the average voltage adjustment correction quantity into the correction of the reference voltage one by one, eliminates the inherent voltage and power distribution deviation of primary droop control, realizes the power and voltage control of the direct-current micro-grid, reduces the communication traffic required by the operation of the distributed controller while maintaining the control performance, and reduces the communication burden.
Description
Technical Field
The invention belongs to the field of electrical engineering, and particularly relates to a distributed direct-current micro-grid control method.
Background
The direct-current micro-grid gets rid of the common problems of frequency, phase, reactive power and the like of the alternating-current micro-grid, has the potential to realize more stable and efficient operation by a simpler control structure, and is widely concerned by academia. And with the wide access of renewable energy sources and the increase of direct current loads in recent years, the advantages of the direct current micro-grid are further embodied. In a direct current micro-grid, random fluctuation and uncertainty of renewable energy sources and loads can cause power imbalance of a system, and stability of the system is deteriorated. Energy storage units are commonly used to supply load demand and to dynamically compensate for unbalanced power in the system, maintaining a constant bus voltage. Reasonable power distribution among the power supplies is beneficial to improving the utilization rate and economic benefit, and meanwhile, the problems of the overload converter of the converter and the overshoot and over-discharge of the energy storage unit are avoided. How to design the controller to maintain the control capability of the controller on each power supply and have expected power distribution among the power supplies is the key of the stable and optimized operation of the direct current micro-grid.
Droop control achieves cooperation between energy storage units by introducing a virtual resistance, however, it introduces steady state deviation of voltage and lacks powerful power control capability. In order to further improve the performance of droop control, it is necessary to construct the controller by means of a communication network. Different from the situation that the centralized controller needs to communicate with each energy storage unit to acquire information and send control instructions, the distributed control well balances the control performance and the communication requirement and has lower communication cost and expansibility. The distributed control realizes the perception and control of global information based on a sparse communication network, and can effectively meet the requirements of a direct current micro-grid on voltage and power control.
Further reduction of communication burden on the basis of sparse communication has been one of the directions in development of distributed control methods. In the existing direct current micro grid, a parallel structure is usually adopted to realize the distribution of average voltage and power. The average voltage controller and the power controller work independently to complete average voltage regulation and accurate power distribution of the direct-current micro-grid. In order to realize the decoupling of the voltage control and the power control, the two controllers need to respectively communicate information, so that the communication burden is increased, and the control structure is complicated.
Disclosure of Invention
The invention provides a distributed direct-current microgrid control method which is used for solving the technical problem that communication burden is overlarge due to the fact that a parallel structure is adopted to control power and voltage in the existing distributed direct-current microgrid control method.
The technical scheme for solving the technical problems is as follows: a distributed direct current microgrid control method comprises the following steps:
s1, obtaining the power distribution adjustment correction quantity of each power supply through error correction according to the power state variables of each power supply and all power supplies communicated with the power supply;
s2, adjusting correction quantity based on the power distribution of each power supply, and correcting reference voltage to obtain the voltage expected value of the power supply; obtaining the average voltage regulation correction quantity of the power supply through error correction based on the expected voltage value and the output voltage of the power supply;
s3, adjusting correction quantity based on the average voltage of each power supply, correcting the reference voltage and obtaining a voltage command value of the power supply;
and S4, based on the voltage instruction value of each power supply, adopting droop control to obtain the on-off control signal of each switch tube in the direct current microgrid, and completing the distributed control of the direct current microgrid.
The invention has the beneficial effects that: the invention obtains the power distribution adjustment correction quantity of each power supply through error correction based on the power state variables of each power supply and all power supplies communicated with the power supply. And correcting the reference voltage based on the power distribution adjustment correction quantity to obtain a voltage expected value. And obtaining the average voltage regulation correction quantity through error correction based on the voltage expected value and the output voltage. The reference voltage is corrected based on the average voltage adjustment correction amount, and a voltage command value for droop control is obtained. The method has the advantages that the inherent voltage and power distribution deviation of primary droop control is eliminated by means of correcting the reference voltage one by one through the power distribution regulation correction and the average voltage regulation correction, the power and voltage of the direct-current micro-grid are controlled, the average value of the output voltage of each power supply can be effectively controlled, the power distribution can be accurately realized, the communication traffic required by the operation of the distributed controller is reduced while the control performance is maintained, the communication load is reduced, and the control structure is simpler.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the S4 includes:
s4.1, calculating an expected value of the inner-loop control output voltage of each power supply according to the voltage instruction value and a preset droop coefficient of each power supply and the output power or the output current of each power supply;
s4.2, controlling an output voltage expected value based on the inner ring of each power supply, and obtaining an inductive current expected value of the power supply through error correction;
and S4.3, obtaining the on-off control signal of each switching tube in the direct current micro-grid through error correction and modulation based on the inductance current expected value and the inductance current sampling value of each power supply.
The invention has the further beneficial effects that: the droop control method is compatible with the traditional droop control method, has strong practicability, and can control the average value of the output voltage of each power supply without an additional average voltage observer while ensuring the power proportion distribution.
Further, the S4.1 includes:
and calculating the inner ring control output voltage value of each power supply according to the voltage instruction value, the output power and the preset droop coefficient of each power supply.
Further, the S4.2 includes:
and obtaining the expected value of the inductive current of each power supply through PI control based on the difference value between the expected value of the output voltage and the output voltage of the inner loop control of each power supply.
Further, the S4.3 includes:
and obtaining the on-off control signal of each switching tube in the direct current micro-grid through PI control and pulse width modulation based on the difference value between the inductance current expected value and the inductance current sampling value of each power supply.
Further, the S1 includes:
and obtaining the power distribution adjustment correction quantity of each power supply through PI control based on the sum of the difference values of the power state variable of each power supply and the power state variable of each power supply communicated with the power state variable of each power supply.
The invention has the further beneficial effects that: the method can ensure the control precision, so that the output power of each power supply is distributed according to the expected proportion.
Further, the communication topology of the direct current microgrid is a ring communication topology, and the power supply communication weights between every two adjacent power supplies are equal.
The invention has the further beneficial effects that: the method can ensure the control precision, reduce the number of communication branches and reduce the communication cost.
Further, the S2 includes:
and subtracting the output voltage of each power supply from the sum of the reference voltage and the power distribution adjustment correction amount of the power supply, and obtaining the average voltage adjustment correction amount of the power supply through PI control.
The invention has the further beneficial effects that: the method can ensure the control precision, so that the average value of the output voltage of each power supply is controlled to the reference voltage.
Further, the S3 includes:
and calculating the sum of the average voltage regulation correction quantity of each power supply and the reference voltage to obtain a voltage command value of the power supply.
The invention has the further beneficial effects that: the method can ensure the control precision, improve the running state of the traditional droop control method and eliminate the control error of the traditional droop control method.
The invention also provides a storage medium, wherein the storage medium stores instructions, and when a computer reads the instructions, the computer executes any one of the above distributed direct current microgrid control methods.
Drawings
Fig. 1 is a flow chart of a distributed dc microgrid control method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a 400V dc microgrid system provided by an embodiment of the present invention;
fig. 3 is a schematic diagram of a topology of a power electronic system of the energy storage unit corresponding to fig. 2;
fig. 4 is a schematic view of a communication topology of four energy storage units corresponding to fig. 2;
FIG. 5 is a schematic diagram of a primary control of the microgrid system corresponding to FIG. 2;
FIG. 6 is a schematic diagram of a secondary control of the microgrid system corresponding to FIG. 5;
fig. 7 is a system response curve when the conventional droop control is switched to the cascade-type distributed control provided by the embodiment of the present invention;
fig. 8 is a response curve of the system corresponding to fig. 7 when the local load suddenly increases.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example one
A distributed dc microgrid control method 100, as shown in fig. 1, comprising:
step 120, adjusting correction quantity based on power distribution of each power supply, and correcting reference voltage to obtain a voltage expected value of the power supply; obtaining the average voltage regulation correction quantity of the power supply through error correction based on the expected voltage value and the output voltage of the power supply;
and 140, adopting droop control based on the voltage instruction value of each power supply to obtain on-off control signals of each switching tube in the direct-current micro-grid, and finishing distributed control of the direct-current micro-grid.
For example, as shown in fig. 2, a system structure diagram of a 400V dc microgrid system composed of 4 photovoltaic power generation units, 4 energy storage units and a local load; the system comprises a physical layer and a network layer; the physical layer comprises a photovoltaic power generation unit, an energy storage unit and a load; the network layer comprises a communication link and communication equipment and is used for finishing information exchange between the energy storage units.
As shown in fig. 3, the energy storage unit includes a bidirectional DC/DC converter and an energy storage battery.
For the system, the control target of the distributed control method provided by the embodiment is to stabilize the average value of the output voltages of the energy storage units in the system atThe reference value is 400V, and power distribution is carried out on each energy storage battery according to the inverse proportion of the preset power distribution coefficient. The 4 groups of photovoltaic power generation units adopt constant power control, the illumination intensity is assumed to be unchanged, and the output power is PPVi4kW (i is 1,2,3,4), the load adopts the constant impedance load, load R at each power supplyloadiLine impedance R of 8 Ω ( i 1,2,3,4)linei＝0.05Ω(i＝1,2,3,4)。
In order to ensure the control effect, the communication topology must be balanced (the communication weight of each power supply between every two power supplies is equal) and at least one spanning tree is included, and the ring communication topology shown in fig. 4 is adopted in the embodiment to ensure higher operation reliability.
The method comprises primary control and secondary control; the primary control adopts a traditional droop control strategy, which comprises droop control, inner ring voltage control, inner ring current control and pulse width modulation; the secondary control includes power regulation and voltage control.
In a dc microgrid, the output power of a power supply is positively correlated with its output voltage. And obtaining power distribution regulation correction quantity through an error correction link according to the power state variables of each power supply and all power supplies communicated with the power supply, wherein the correction quantity can regulate the output voltage of each power supply. Thus, the output power of each power source will be able to be adjusted to the desired distribution relationship. Meanwhile, under the combined action of the power distribution regulation correction and the reference voltage, the average voltage of all power supplies can be controlled to the reference voltage through the average voltage regulation correction output by the subsequent error correction link. In summary, the technical solution provided in this embodiment can implement adjustment of output power distribution relation and control of output voltage average value for each power supply.
The present embodiment obtains the power distribution adjustment correction amount of each power source and all power sources communicating therewith through error correction based on the power state variables of the power source. And correcting the reference voltage based on the power distribution adjustment correction quantity to obtain a voltage expected value. And obtaining the average voltage regulation correction quantity through error correction based on the voltage expected value and the output voltage. The reference voltage is corrected based on the average voltage adjustment correction amount, and a voltage command value for droop control is obtained. The method has the advantages that the inherent voltage and power distribution deviation of primary droop control is eliminated by means of correcting the reference voltage one by one through the power distribution regulation correction and the average voltage regulation correction, the power and voltage of the direct-current micro-grid are controlled, the average value of the output voltage of each power supply can be effectively controlled, the power distribution can be accurately realized, the communication traffic required by the operation of the distributed controller is reduced while the control performance is maintained, the communication load is reduced, and the control structure is simpler.
Preferably, fig. 5 is a schematic diagram of primary control in an embodiment, including droop control, inner loop voltage control, inner loop current control, and pulse width modulation. The droop control is used for acquiring an input signal of the inner ring voltage control according to a set virtual droop coefficient, a voltage instruction value and an actual output current sampling value; the inner loop voltage control is used for acquiring the instruction current of the inner loop current control according to the difference value of the actual output voltage sampling value and the input signal; the inner loop voltage control is used for acquiring a modulation signal according to the difference value of an actual inductive current sampling value and an input signal; and a PWM signal generator is adopted to obtain PWM control signals for controlling the on-off of each switch module according to the modulation signals and the triangular carrier.
Prior to step 110, the method 100 further comprises: and acquiring the output voltage and the output current of each power supply in the direct-current micro-grid, and calculating to obtain the output power and the power state variable of each power supply.
Preferably, step 141 includes: and calculating the inner ring control output voltage value of each power supply according to the voltage instruction value, the output power and the preset droop coefficient of each power supply.
Ith power supply inner ring control output voltage value
Wherein r isiIs the virtual droop coefficient, v, of the ith power supplydiIs a voltage command value, p, of the power supplyoiIs the output power of the power supply.
Preferably, step 142 includes: and controlling the difference value of the output voltage value and the output voltage based on the inner loop of each power supply, wherein the inductance current of each power supply is expected through PI control.
The calculation formula of the instruction value of the inductive current obtained by controlling the voltage of the ith power supply inner loop is as follows:
wherein k isPVIs the proportionality coefficient, k, of the PI controllerIVIs the integral coefficient of the PI controller, voiIs the output voltage sample value.
Preferably, step 143 comprises: expected value of inductance current based on each power supply
And inductor current sample value iLiAnd obtaining the on-off control signal of each switching tube in the direct current micro-grid through PI control.
The calculation formula of the modulation signal obtained by the ith power supply inner loop current controller is as follows:
wherein k isPCIs the proportionality coefficient, k, of the PI controllerICIs the integral coefficient of the PI controller.
Preferably, as shown in fig. 6, the secondary control schematic diagram includes power control and voltage control; the power regulation is used for acquiring correction quantity for regulating power distribution according to the deviation of each power supply power state variable; the voltage control is used for acquiring a reference voltage correction quantity used for regulating the average voltage according to the local output voltage sampling value, the reference voltage and the correction quantity from power regulation; the voltage command value of the primary control unit is formed by adding a reference voltage correction amount for adjusting the average voltage and a reference voltage.
Specifically, step 110 includes: and obtaining the power distribution adjustment correction quantity of each power supply through PI control based on the sum of the difference values of the power state variable of each power supply and the power state variable of each power supply communicated with the power state variable of each power supply.
Sampling and measuring to obtain the output current i of each energy storage unitoAnd an output voltage voCalculating power state variable x of each energy storage unitpAnd the power state variable x is setpIs communicated to the neighboring node.
xpi＝kpivoiioi
Wherein x ispiIs the power state variable, k, of the ith energy storage unitpiIs the power distribution coefficient, v, of the ith energy storage unitoiIs the output voltage of the ith energy storage unit ioiIs the output current of the ith energy storage unit.
Adopting PI controller, the ith energy storage unit is according to its own power state variable xpiAnd a received power state variable x of an adjacent j energy storage unitpjAnd calculating a power distribution adjustment correction amount for adjusting the power distribution, wherein the calculation formula is as follows:
wherein k isPPIs the proportionality coefficient, k, of the PI controllerIPIs the integral coefficient of the PI controller; a isijIs the communication weight between the ith and jth energy storage units, aij>0 represents that the ith energy storage unit and the jth energy storage unit can exchange information with each other, aij0 means that the two cannot communicate with each other; x is the number ofpjThe power state variable of the jth energy storage unit is shown, and N is the total number of power supply units.
Step 120 includes: and subtracting the output voltage of each power supply from the sum of the reference voltage and the power distribution adjustment correction amount of each power supply, and obtaining the average voltage adjustment correction amount of the power supply through PI control.
Using PI controllers for adjusting the correction of power distributionpAnd a reference voltage vrefAdd and subtract the output voltage v of the energy storage unitoAsInput signal to obtain average voltage regulation correction amount for regulating average voltageu：
ui＝kPU(vref+pi-voi)+kIU∫(vref+pi-voi)dt
Wherein k isPUIs the proportionality coefficient, k, of the PI controllerIUIs the integral coefficient of the PI controller;uiis the voltage correction of the power supply for the ith energy storage unit for adjusting the average voltage.
Step 130 comprises: and calculating the sum of the average voltage regulation correction quantity of each power supply and the reference voltage to obtain a voltage command value of the power supply. Specifically, the input signal (i.e., the voltage command value of the power supply) v for the ith power supply droop controldi＝ui+vref。
The control method provided in the first embodiment is compared with the conventional droop control method in the PSCAD/EMTDC software, and fig. 7 shows the simulation result at this time. The energy storage unit only adopts droop control at the beginning, and the distributed control method provided by the first embodiment after 3s is used for correcting the working point of the droop control. As can be seen from the voltage waveforms shown in fig. 7 (a), when the droop control is applied alone, there is an inherent static deviation in the output voltages of the energy storage units, and the voltages are at and below the rated value of 400V. After the distributed control method provided by the first embodiment is applied, the overall output voltage level of the energy storage unit is improved, and the average value of the output voltage is restored to the rated value. Meanwhile, the power waveform shown in (b) of fig. 7 shows that the power distribution has an error under the influence of the line impedance, and the proportional distribution is not implemented in inverse proportion to the virtual droop coefficient. After 3s, the distributed control method provided by the first embodiment functions, the output power distribution of the energy storage unit is corrected, and accurate power distribution is realized.
The performance of the microgrid on load fluctuation under the control method provided in the first embodiment is verified in the PSCAD/EMTDC software, and the simulation result at this time is shown in FIG. 8. The load near the 1 st energy storage unit access point has step sudden increase and sudden drop at 4s and 8s in sequence, and the corresponding resistance values are 8 omega, 5.7 omega and 8 omega respectively. Fig. 8 (a) shows voltage waveforms of the corresponding processes, and it can be seen that the output voltage of the energy storage drops or suddenly increases in a short time after the step fluctuation of the load, but is quickly recovered by the regulation of the controller. Although the loads are different, the average value of the output voltage of the energy storage system is kept at a rated value of 400V in a steady state. Fig. 8 (b) is a graph showing an output power waveform of the energy storage unit. It can be seen that the output power of all energy storage units increases after the load increases to maintain power balance, and vice versa. On the other hand, although the output power of the energy storage units changes, the steady-state power distribution between the energy storage units is always in inverse proportion to the set power distribution coefficient, and the power distribution relation is not influenced.
Example two
A storage medium, wherein instructions are stored in the storage medium, and when the instructions are read by a computer, the instructions cause the computer to execute any one of the distributed dc microgrid control methods according to the first embodiment.
For example, a cascade type distributed computer control system suitable for a direct current micro-grid comprises a primary control unit and a secondary control unit. The primary control unit adopts a traditional droop controller and comprises a droop module, an inner ring voltage control module, an inner ring current control module and a PWM signal generator; the secondary control unit comprises a power regulation module and a voltage control module.
The droop module is used for acquiring an input signal (inner ring control output voltage expected value) of the inner ring voltage control module according to the set virtual droop coefficient, the voltage instruction value and the output power value; the inner loop voltage control module is used for acquiring the instruction current (the expected value of the inductive current) of the inner loop current control module according to the difference value of the actual output voltage sampling value and the input signal; the inner ring voltage control module is used for acquiring a modulation signal according to a difference value between an actual inductive current sampling value and an input signal (an inductive current expected value); and the PWM signal generator is used for acquiring PWM control signals for controlling the on-off of each switch module according to the modulation signals and the triangular carrier.
The power adjusting module is used for acquiring correction quantities (power distribution adjusting correction quantities) for adjusting power distribution according to the deviation of each power supply power state variable; the voltage control module is used for acquiring a reference voltage correction quantity (average voltage regulation correction quantity) for regulating the average voltage according to the local output voltage sampling value, the reference voltage and the correction quantity from the power regulation module; the voltage command value of the primary control unit is obtained by adding a reference voltage correction amount for adjusting the average voltage and the reference voltage.
The related technical solution is the same as the first embodiment, and is not described herein again.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. A distributed direct current microgrid control method is characterized by comprising the following steps:
s1, obtaining the power distribution adjustment correction quantity of each power supply through error correction according to the power state variables of each power supply and all power supplies communicated with the power supply;
s2, adjusting correction quantity based on the power distribution of each power supply, and correcting reference voltage to obtain the voltage expected value of the power supply; obtaining the average voltage regulation correction quantity of the power supply through error correction based on the expected voltage value and the output voltage of the power supply;
s3, adjusting correction quantity based on the average voltage of each power supply, correcting the reference voltage and obtaining a voltage command value of the power supply;
s4, based on the voltage instruction value of each power supply, adopting droop control to obtain on-off control signals of each switch tube in the direct-current micro-grid, and completing distributed control of the direct-current micro-grid;
the S2 includes:
subtracting the output voltage of each power supply from the sum of the reference voltage and the power distribution regulation correction of the power supply, and obtaining the average voltage regulation correction of the power supply through PI control;
the S3 includes:
and calculating the sum of the average voltage regulation correction quantity of each power supply and the reference voltage to obtain a voltage command value of the power supply.
2. The distributed dc microgrid control method according to claim 1, wherein the S4 includes:
s4.1, calculating an expected value of the inner-loop control output voltage of each power supply according to the voltage instruction value and a preset droop coefficient of each power supply and the output power or the output current of each power supply;
s4.2, controlling an output voltage expected value and an output voltage sampling value based on the inner ring of each power supply, and obtaining an inductive current expected value of the power supply through error correction;
and S4.3, obtaining the on-off control signal of each switching tube in the direct current micro-grid through error correction and modulation based on the inductance current expected value and the inductance current sampling value of each power supply.
3. The distributed dc microgrid control method according to claim 2, wherein the S4.2 includes:
and obtaining the expected value of the inductive current of each power supply through PI control based on the difference between the expected value of the output voltage and the output voltage of the inner loop control of each power supply.
4. The distributed dc microgrid control method according to claim 2, wherein the S4.3 includes:
and obtaining the on-off control signal of each switching tube in the direct current micro-grid through PI control and pulse width modulation based on the difference value between the inductance current expected value and the inductance current sampling value of each power supply.
5. The distributed dc microgrid control method according to any one of claims 1 to 4, wherein the S1 includes:
and obtaining the power distribution adjustment correction quantity of each power supply through PI control based on the sum of the difference values of the power state variable of each power supply and the power state variable of each power supply communicated with the power state variable of each power supply.
6. The distributed dc microgrid control method according to claim 5, wherein a communication topology of the dc microgrid is a ring communication topology, and communication weights of power supplies between every two adjacent power supplies are equal.
7. A storage medium, wherein instructions are stored in the storage medium, and when the instructions are read by a computer, the instructions cause the computer to execute a distributed dc microgrid control method according to any one of claims 1 to 6.
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