CN110829505B - Frequency modulation control method considering active and reactive coupling characteristics and frequency modulation controller - Google Patents
Frequency modulation control method considering active and reactive coupling characteristics and frequency modulation controller Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
- H02J3/48—Controlling the sharing of the in-phase component
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
- H02J3/50—Controlling the sharing of the out-of-phase component
Abstract
The invention discloses a frequency modulation control method and a frequency modulation controller considering active and reactive coupling characteristics, wherein the frequency modulation control method comprises the following steps: firstly, the actual frequency of the power system is obtained by detecting the frequency of the port voltage of an LC filter at the output end of a grid-connected converter so as to obtain the frequency deviation relative to a frequency reference value; then, before the terminal voltage control module, an additional frequency control module is added, inertia control and primary frequency modulation control are carried out by taking the frequency deviation as input, the obtained result directly corrects the terminal voltage amplitude reference value, and then the terminal voltage amplitude of the grid-connected converter is adjusted through the terminal voltage control module. The invention can change the active power output or absorbed by the grid-connected converter, so that the grid-connected converter has the capability of resisting frequency disturbance.
Description
Technical Field
The invention relates to dynamic stability analysis of power system frequency, in particular to a frequency modulation control method and a frequency modulation controller which are applied to a grid-connected converter and take active and reactive coupling characteristics into consideration.
Background
With the large-scale grid connection of wind power/photovoltaic and the operation of high-voltage direct-current transmission projects, the power supply structure of a power system undergoes huge changes, and the rapid frequency modulation capability of the power supply is insufficient; further, the adjustment of the industrial structure causes the specific gravity of the residential electric load to increase, and the short-term change of the load is intensified. As a result, the frequency modulation capability of the existing receiving-end power grid is difficult to meet the requirement brought by the change of the source-grid-load characteristic. On the other hand, in a receiving-end power grid with large-scale traditional direct-current power transmission, reactive compensation equipment mainly comprising a conventional capacitor has poor voltage regulation characteristics, and the lack of dynamic reactive support capability is a great challenge facing the receiving-end power grid. The battery energy storage is an important mode of electric energy storage, and has the advantages that power and energy can be flexibly configured according to different application requirements, the response speed is high, and the limitation of external conditions such as geographic resources is avoided, so that a frequency control method and a controller of a grid-connected converter applicable to a battery energy storage power station are needed to be provided, so that the dynamic characteristics of the battery energy storage power station are optimized, and a power system is effectively assisted to carry out rapid frequency modulation and voltage regulation.
Disclosure of Invention
Aiming at the technical problems of poor voltage regulation characteristic and lack of dynamic reactive power support capability of reactive compensation equipment in a receiving-end power grid in the prior art, the invention provides a frequency modulation control method applied to a grid-connected converter of a battery energy storage power station and a corresponding frequency modulation controller aiming at the coupling characteristic of active power and reactive power in a system, and the frequency regulation capability and the operation flexibility of the receiving-end power grid are improved.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a frequency modulation control method considering active and reactive coupling characteristics comprises the following steps:
step 2, subtracting the actual frequency of the power system from the frequency reference value to obtain the frequency deviation of the power system;
step 3, respectively inputting the frequency deviation of the power system into an inertia control unit and a primary frequency modulation control unit to respectively obtain a terminal voltage amplitude reference value under inertia control and a terminal voltage amplitude reference value under primary frequency modulation control;
step 4, superposing the terminal voltage amplitude reference value under inertial control and the terminal voltage amplitude reference value under primary frequency modulation control with the terminal voltage amplitude reference value for calculation to obtain a new terminal voltage amplitude reference value;
step 5, calculating the difference between the new terminal voltage amplitude reference value obtained in the step 4 and the actual terminal voltage amplitude of the power system, and inputting the difference value to a terminal voltage PI controller to obtain reactive power control reference current;
step 6, obtaining an active power control reference current, and calculating to obtain a PWM signal according to the active power control reference current, the three-phase current output by the grid-connected converter, the three-phase voltage output by the LC filter and the reactive power control reference current obtained in the step 5;
and 7, controlling the terminal voltage output by the grid-connected converter by using the PWM signal to maintain the amplitude of the actual terminal voltage of the power system within a preset range.
Further, the inertia control unit obtains an inertia control formula of the terminal voltage amplitude reference value under inertia control according to the frequency deviation of the power system, wherein the inertia control formula is as follows:
in the formula of Uin,refIs a terminal voltage amplitude reference value under inertial control, KinProportional coefficient, T, for inertial controlinΔ f is a time constant of the inertia control, and is a frequency deviation of the power system.
Further, the primary frequency modulation control unit obtains a primary frequency modulation control formula of the terminal voltage amplitude reference value under the primary frequency modulation control according to the frequency deviation of the power system, and the primary frequency modulation control formula comprises:
in the formula of Uf,refIs a terminal voltage amplitude reference value under primary frequency modulation control, KfProportional coefficient, T, for primary frequency modulation controlfΔ f is a frequency deviation of the power system, which is a time constant of the primary frequency modulation control.
Further, the calculation method for obtaining the reactive power control reference current by the terminal voltage PI controller is as follows:
in the formula iq,refControl of reference current, k, for reactive powerp、kiProportional and integral control parameters, U, of terminal voltage PI controllers, respectivelytIs the actual terminal voltage amplitude, U, of the power systemtrefAnd the new terminal voltage amplitude reference value is obtained.
The invention also provides a frequency modulation controller considering the active and reactive coupling characteristics, which comprises an additional frequency modulation control module and a terminal voltage control module;
the additional frequency modulation control module comprises: the device comprises a data acquisition unit, a first adder, an inertia control unit, a primary frequency modulation control unit and a second adder;
the data acquisition unit is used for acquiring the actual frequency, the actual end voltage amplitude value, the three-phase current output by the grid-connected converter and the three-phase voltage output by the LC filter of the power system in real time;
the first adder is used for subtracting the actual frequency of the power system from the frequency reference value to obtain the frequency deviation of the power system;
the inertia control unit is used for calculating a terminal voltage amplitude reference value under inertia control according to the frequency deviation of the power system;
the primary frequency modulation control unit is used for calculating a terminal voltage amplitude reference value under primary frequency modulation control according to the frequency deviation of the power system;
the second adder is used for performing superposition calculation on the terminal voltage amplitude reference value under the inertial control, the terminal voltage amplitude reference value under the primary frequency modulation control and the terminal voltage amplitude reference value to obtain a new terminal voltage amplitude reference value;
the terminal voltage control module includes: a third adder, a terminal voltage PI controller and a pulse width controller;
the third adder is used for subtracting the new terminal voltage amplitude reference value from the actual terminal voltage amplitude of the power system to obtain a reference difference value of the terminal voltage amplitudes;
the terminal voltage PI controller is used for calculating to obtain reactive power control reference current according to the reference difference value of the terminal voltage amplitude;
and the pulse width controller is used for calculating and outputting a PWM signal for controlling the terminal voltage output by the grid-connected converter according to the reactive power control reference current, the active power control reference current, the three-phase current output by the grid-connected converter and the three-phase voltage output by the LC filter.
Advantageous effects
According to the invention, inertia and a primary frequency modulation additional frequency control link are added on the terminal voltage control module, when the grid-connected converter detects the frequency deviation of the power grid, the terminal voltage amplitude reference value of the grid-connected converter is modified through the additional frequency control module, and then the terminal voltage amplitude of the grid-connected converter is regulated through the terminal voltage control module, so that the active power output or absorbed by the grid-connected converter is changed, and the grid-connected converter has the capability of resisting frequency disturbance.
Meanwhile, the additional frequency control module only corrects the terminal voltage amplitude reference value in a small range in the dynamic process, so that the terminal voltage control module has small influence on the adjustment of the terminal voltage amplitude, and the fluctuation range of the terminal voltage amplitude still meets the national related power supply voltage deviation standard.
Drawings
Fig. 1 is a block diagram of a main circuit and a control system according to an embodiment of the present invention.
Detailed Description
The following describes embodiments of the present invention in detail, which are developed based on the technical solutions of the present invention, and give detailed implementation manners and specific operation procedures to further explain the technical solutions of the present invention.
Example one
In one embodiment, a frequency modulation controller considering active and reactive coupling characteristics is provided, as shown in fig. 1, including an additional frequency modulation control module and a terminal voltage control module;
the additional frequency modulation control module comprises: the device comprises a data acquisition unit, a first adder, an inertia control unit, a primary frequency modulation control unit and a second adder;
the data acquisition unit is used for acquiring the actual frequency f of the power system in real timegridActual terminal voltage amplitude UtThree-phase current i output by grid-connected converterabcAnd three-phase voltage u output by LC filtertabc；
The first adder is used for adding the actual frequency f of the power systemgridAnd a frequency reference value frefPerforming difference to obtain the frequency deviation delta f of the power system;
the inertia control unit is used for calculating a terminal voltage amplitude reference value U under inertia control according to the frequency deviation delta f of the power systemin,ref；
The primary frequency modulation control unit is used for calculating a terminal voltage amplitude reference value U under primary frequency modulation control according to the frequency deviation delta f of the power systemf,ref；
The second adder is used for adding a terminal voltage amplitude reference value U under inertial controlin,refTerminal voltage amplitude reference value U under primary frequency modulation controlf,refAnd terminal voltage amplitude reference value UrefPerforming superposition calculation to obtain new terminal voltage amplitude reference value Utref；
The terminal voltage control module includes: a third adder, a terminal voltage PI controller and a pulse width controller;
the third adder is used for adding a new terminal voltage amplitude reference value UtrefAnd the actual terminal voltage amplitude U of the power system endtMaking a difference to obtain a reference difference value delta U of the terminal voltage amplitude;
a terminal voltage PI controller for calculating to obtain reactive power control reference current i according to the reference difference value delta U of the terminal voltage amplitudeq,ref；
The pulse width controller is used for controlling the reference current i according to the reactive powerq,refActive power control reference current id,refThree-phase current i output by grid-connected converterabcAnd three-phase voltage u output by LC filtertabcAnd calculating and outputting a PWM signal for controlling the terminal voltage output by the grid-connected converter.
Example two
Corresponding to the frequency modulation control method provided by the first embodiment, the second embodiment correspondingly provides a frequency modulation controller considering the active and reactive coupling characteristics, and the method comprises the following steps:
Step 2, the actual frequency f of the power system is comparedgridAnd a frequency reference value frefAnd obtaining the frequency deviation delta f of the power system by difference:
Δf＝fgrid-fref；
step 3, respectively inputting the frequency deviation delta f of the power system into an inertia control unit and a primary frequency modulation control unit to respectively obtain terminal voltage amplitude reference values U under inertia controlin,refAnd terminal voltage amplitude reference value U under primary frequency modulation controlf,ref；
Wherein, the control formula of inertia control unit is:
the control type of the primary frequency modulation control unit is as follows:
in the formula, KinProportional coefficient, T, for inertial controlinTime constant, K, for inertial controlfProportional coefficient, T, for primary frequency modulation controlfIs a time constant of primary frequency modulation control;
step 4, a terminal voltage amplitude reference value U under inertial controlin,refAnd terminal voltage amplitude reference value U under primary frequency modulation controlf,refAnd a terminal voltage amplitude reference value UrefPerforming superposition calculation to obtain a new terminal voltage amplitude reference value Utref(ii) a Wherein, the terminal voltage is the voltage that the converter of being incorporated into the power networks exported to the electric power system through LC filter, and the stack formula of calculating is:
Utref＝Uin,ref+Uf,ref+Utref；
step 5, calculating a new terminal voltage amplitude reference value U obtained in step 4trefActual terminal voltage amplitude U relative to power systemtAnd inputting the reference difference value delta U to the terminal voltage PI controller to obtain a reactive power control reference current iq,ref；
The calculation method of the terminal voltage PI controller comprises the following steps:
in the formula, kp、kiProportional control parameters and integral control parameters of the terminal voltage PI controller are respectively;
step 6, obtaining an active power control reference current id,refAnd controlling the reference current i according to the active powerd,refThree-phase current i output by grid-connected converterabcThree-phase voltage u output by LC filtertabcAnd the reactive power control reference current i obtained in the step 5q,refCalculating to obtain a PWM signal; calculating the PWM signal according to the current and voltage data is prior art and will not be described herein.
Step 7, using the PWM signal to control the terminal voltage amplitude U output by the grid-connected convertercThe grid-connected converter outputs the actual terminal voltage amplitude U of the power system through the LC filtertIs maintained within a predetermined range. The PWM signal is used to perform pulse width modulation to obtain an output voltage within a preset range, which belongs to the prior art and is not described herein again.
In the method of this embodiment, first, the actual frequency of the power system is obtained by detecting the frequency of the port voltage of the LC filter at the output end of the grid-connected converter, so as to obtain the frequency deviation from the frequency reference value; then, before the terminal voltage control module, an additional frequency control module is added, inertia control and primary frequency modulation control are carried out by taking the frequency deviation as input, the obtained result directly corrects the terminal voltage amplitude reference value of the grid-connected converter, and then the terminal voltage amplitude of the grid-connected converter is adjusted through the terminal voltage control module. When frequency disturbance with suddenly increased load exists in the power grid, the actual frequency of the power grid is reduced, the frequency deviation is increased to a positive value from 0, the frequency deviation adjusts the terminal voltage amplitude reference value through the additional frequency modulation control module, the terminal voltage amplitude output by the grid-connected converter is increased as a result of the adjustment, the active power output by the grid-connected converter is increased through the increased terminal voltage amplitude, the power grid frequency is recovered, and the dynamic support of the power grid frequency is realized.
The principle is that the active power is coupled by the amplitude and the phase of the internal potential in the transmission process of the line, so that the transmission of the active power can be influenced by adjusting the amplitude and the phase of the internal potential. In the invention, inertia and a primary frequency modulation additional frequency control link are added on the terminal voltage control module, when the grid-connected converter detects that the frequency deviation of a power grid occurs, the terminal voltage amplitude reference value is modified through the additional frequency control module, and then the terminal voltage amplitude of the grid-connected converter is adjusted through the terminal voltage control module, so that the active power output or absorbed by the grid-connected converter is changed (the active power is not only related to a power angle, but also related to the terminal voltage amplitude, and when the terminal voltage amplitude is increased, the active power is also increased), and the grid-connected converter has the capacity of resisting frequency disturbance.
The invention sets inertia control and primary frequency modulation control strategy before the terminal voltage control module of the grid-connected converter, so that the grid-connected converter can change the active power of the grid-connected converter by adjusting the terminal voltage of the grid-connected converter in the system frequency disturbance, thereby providing inertia and primary frequency modulation support for the power grid system, and improving the dynamic characteristic of the power grid system frequency; meanwhile, the method has guiding significance for optimizing the frequency dynamic characteristic of the power system with the grid-connected converter and improving the frequency stability of the system with the grid-connected converter.
The above embodiments are preferred embodiments of the present application, and those skilled in the art can make various changes or modifications without departing from the general concept of the present application, and such changes or modifications should fall within the scope of the claims of the present application.
Claims (5)
1. A frequency modulation control method considering active and reactive coupling characteristics is characterized by comprising the following steps:
step 1, acquiring the actual frequency and the actual end voltage amplitude of a power system, three-phase current output by a grid-connected converter and three-phase voltage output by an LC filter in real time; the terminal voltage refers to the voltage output to the power system by the grid-connected converter through the LC filter;
step 2, subtracting the actual frequency of the power system from the frequency reference value to obtain the frequency deviation of the power system;
step 3, respectively inputting the frequency deviation of the power system into an inertia control unit and a primary frequency modulation control unit to respectively obtain a terminal voltage amplitude reference value under inertia control and a terminal voltage amplitude reference value under primary frequency modulation control;
step 4, superposing the terminal voltage amplitude reference value under inertial control and the terminal voltage amplitude reference value under primary frequency modulation control with the terminal voltage amplitude reference value for calculation to obtain a new terminal voltage amplitude reference value;
step 5, calculating the difference between the new terminal voltage amplitude reference value obtained in the step 4 and the actual terminal voltage amplitude of the power system, and inputting the difference value to a terminal voltage PI controller to obtain reactive power control reference current;
step 6, obtaining an active power control reference current, and calculating to obtain a PWM signal according to the active power control reference current, the three-phase current output by the grid-connected converter, the three-phase voltage output by the LC filter and the reactive power control reference current obtained in the step 5;
and 7, controlling the terminal voltage output by the grid-connected converter by using the PWM signal to maintain the amplitude of the actual terminal voltage of the power system within a preset range.
2. The method of claim 1, wherein the inertia control unit obtains the inertia control type of the terminal voltage amplitude reference value under the inertia control according to the frequency deviation of the power system as:
in the formula of Uin,refIs a terminal voltage amplitude reference value under inertial control, KinProportional coefficient, T, for inertial controlinTime constant for inertial controlAnd Δ f is the frequency deviation of the power system.
3. The method according to claim 1, wherein the primary frequency modulation control unit obtains the terminal voltage amplitude reference value under the primary frequency modulation control according to the frequency deviation of the power system, and the primary frequency modulation control is as follows:
in the formula of Uf,refIs a terminal voltage amplitude reference value under primary frequency modulation control, KfProportional coefficient, T, for primary frequency modulation controlfΔ f is a frequency deviation of the power system, which is a time constant of the primary frequency modulation control.
4. The method of claim 1, wherein the reactive power control reference current obtained by the terminal voltage PI controller is calculated by:
in the formula iq,refControl of reference current, k, for reactive powerp、kiProportional and integral control parameters, U, of terminal voltage PI controllers, respectivelytIs the actual terminal voltage amplitude, U, of the power systemtrefAnd the new terminal voltage amplitude reference value is obtained.
5. A frequency modulation controller considering active and reactive coupling characteristics is characterized by comprising an additional frequency modulation control module and a terminal voltage control module;
the additional frequency modulation control module comprises: the device comprises a data acquisition unit, a first adder, an inertia control unit, a primary frequency modulation control unit and a second adder;
the data acquisition unit is used for acquiring the actual frequency, the actual end voltage amplitude value, the three-phase current output by the grid-connected converter and the three-phase voltage output by the LC filter of the power system in real time;
the first adder is used for subtracting the actual frequency of the power system from the frequency reference value to obtain the frequency deviation of the power system;
the inertia control unit is used for calculating a terminal voltage amplitude reference value under inertia control according to the frequency deviation of the power system;
the primary frequency modulation control unit is used for calculating a terminal voltage amplitude reference value under primary frequency modulation control according to the frequency deviation of the power system;
the second adder is used for performing superposition calculation on the terminal voltage amplitude reference value under the inertial control, the terminal voltage amplitude reference value under the primary frequency modulation control and the terminal voltage amplitude reference value to obtain a new terminal voltage amplitude reference value;
the terminal voltage control module includes: a third adder, a terminal voltage PI controller and a pulse width controller;
the third adder is used for subtracting the new terminal voltage amplitude reference value from the actual terminal voltage amplitude of the power system to obtain a reference difference value of the terminal voltage amplitudes;
the terminal voltage PI controller is used for calculating to obtain reactive power control reference current according to the reference difference value of the terminal voltage amplitude;
and the pulse width controller is used for calculating and outputting a PWM signal for controlling the terminal voltage output by the grid-connected converter according to the reactive power control reference current, the active power control reference current, the three-phase current output by the grid-connected converter and the three-phase voltage output by the LC filter.
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