CN111162526A - Power supply network frequency control method of power electronic energy storage system suitable for full-control device - Google Patents
Power supply network frequency control method of power electronic energy storage system suitable for full-control device Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
A power supply network frequency control method of a power electronic energy storage system suitable for a full-control device divides the whole network frequency control into the following steps: a power supply network frequency-active damping control loop, a power supply network frequency control loop, an active power control loop of energy storage equipment, and an energy storage system residual energy control loop; the power supply network frequency-active damping control loop divides damping into a non-damping control mode, a first-order inertia damping mode, a high-order inertia damping mode and a nonlinear damping mode; the frequency and the active power of the power supply network are adopted for closed-loop control, and the active damping of the power supply network is improved on the premise of taking energy control of the energy storage system into consideration. The design of the residual capacity control and the frequency-active damper of the energy storage system is the core element of the control strategy. The residual energy of the energy storage equipment is synthesized to obtain the active current amplitude of the energy storage equipment; and the damping control module is realized by adopting a mode selection mode. Compared with the traditional frequency-active double closed-loop control strategy, the problem of insufficient system damping is fundamentally solved.
Description
Technical Field
The invention relates to the technical field of power electronic energy storage systems, in particular to a power supply network frequency control method of a power electronic energy storage system, which is suitable for a full-control device.
Background
In the application of the existing energy storage system, the energy storage system based on the fully-controlled power electronic device occupies most market share due to the advantages of mature technology, flexible control structure, small occupied area and the like.
According to a traditional power electronic energy storage system control strategy, due to the fact that the response speed is high, the situation that after the frequency of a power supply network changes, the power supply frequency response is too fast, and the system damping is not enough is caused.
The problem of frequency adjustment of a power supply network is more and more prominent due to the accelerated development speed of production capacity, and particularly in the power supply network of part of the steel industry, the control requirement of power supply frequency is more and more obvious; meanwhile, more and more power electronic power generation equipment are arranged in the power grid system, so that green energy is brought, and meanwhile, the response speed of the fully-controlled power electronic converter is too high, so that the damping of the system is reduced, and certain negative influence is brought to the power grid.
Disclosure of Invention
In order to solve the technical problem in the background technology, the invention provides a power supply network frequency control method of a power electronic energy storage system suitable for a full-control device.
In order to achieve the purpose, the invention adopts the following technical scheme:
a power supply network frequency control method of a power electronic energy storage system suitable for a full-control device divides the whole network frequency control into four links:
1) a power supply network frequency-active damping control loop 2) a power supply network frequency control loop 3) an active power control loop of an energy storage device 4) an energy storage system residual energy control loop;
1) power supply network frequency-active damping control loop: the power supply network frequency-active damping control loop divides damping into the following: non-damping control mode, first-order inertia damping mode, high-order inertia damping mode and non-linearityA damping mode; the frequency-active damping module detects an active value Pfbk _ pu emitted by the energy storage equipment, and an error value delta omega of a given value of a power supply network frequency control loop is obtained after the active value Pfbk _ pu is calculated through a transfer function of one of the four damping modeszz；
2) Supply network frequency control loop: the power supply network frequency control loop firstly detects the voltage frequency value omega fbk of the high-voltage side of the power supply network, then makes a difference with a preset frequency given value omega ref, adds the output delta omega zz of the power supply network frequency-active damping control loop, and passes through omega zzBAfter per unit calculation, sending the result to a PI controller of a power supply network frequency control loop, and calculating a system active power given value Pref _ pu;
PI regulator transfer function of the PI controller of the power supply network frequency control loop:
3) active power control loop of energy storage device: after a system active power given value Pref _ pu is calculated by a frequency control loop of the power supply network, adding a preset high-voltage side active power given value prefG _ pu to the value, subtracting an energy storage equipment active power feedback value Pfbk _ pu at a low-voltage side, and sending the value to a system active power controller; the PI regulator transfer function used by this section is as follows:
obtaining an active current reference value IW；
4) Energy storage system surplus energy control loop: in the energy storage system residual energy control link, an absorption/release energy control signal ctrl of the energy storage device is obtained through an error between a given value soccref of the energy storage device residual energy and a feedback value SOCfbk of the energy storage device residual energy through a hysteresis comparison module: -1, 0, 1;
when the error value of the residual energy is between the delta SOCmin and the delta SOCmax, ctrl is '0', that is, the residual energy of the energy storage device is not required to be controlled, the total active current reference value Iref of the energy storage system is equal to the active current reference value Iw output by the active power loop, the amplitude limiting values Imax/Imin of PI regulators of a system frequency control link and an active control link are set to '1', and the whole system enters a normal frequency modulation working state;
when the error value of the residual energy is smaller than delta SOCmin, the output value ctrl is "-1", that is, the energy needs to be released to the energy storage device; when the output value ctrl is '-1', the total active current reference value Iref of the energy storage system is equal to the preset active current reference value Idischg for releasing energy, the amplitude limiting values Imax/Imin of the PI regulators of the system frequency control link and the active control link are set to be '0', and the system is in a state of releasing energy for the energy storage medium;
when the error value of the residual energy is greater than delta SOCmax, the output value ctrl is "1", that is, energy needs to be absorbed by the energy storage device, the total active current reference value Iref of the energy storage system is equal to the preset active current reference value Ichg of the absorbed energy, the amplitude limiting values Imax/Imin of the PI regulators of the system frequency control link and the active control link are set to be "0", and the whole system is in a state of absorbing energy for the energy storage medium;
and the reference value Ipref of the total active current of the energy storage system is the final output value of the power supply network frequency control method.
In the power supply network frequency-active damping control loop, the transfer function of the undamped control mode is as follows: g1＝Ks。
In the power supply network frequency-active damping control loop, the transfer function of a first-order inertia damping mode is as follows:
in the power supply network frequency-active damping control loop, the transfer function of the high-order inertial damping mode is as follows:
in the power supply network frequency-active damping control loop, the transfer function of the nonlinear damping mode is as follows:
G4＝Ks·func(P)。
compared with the prior art, the invention has the beneficial effects that:
the control strategy of the invention adopts the frequency and the active power of the power supply network to carry out closed-loop control, and the active power damping of the power supply network is improved by the control method under the premise of taking the energy control of the energy storage system into consideration. The design of the residual capacity control and the frequency-active damper of the energy storage system is the core element of the control strategy. The residual energy of the energy storage equipment is synthesized to obtain the active current amplitude of the energy storage equipment; and the damping control module is realized by adopting a mode selection mode. Compared with the traditional frequency-active double closed-loop control strategy, the problem of insufficient system damping is fundamentally solved.
Drawings
FIG. 1 is a fully-controlled power electronic energy storage system and a controller topology thereof according to the present invention;
FIG. 2 is a control block diagram of the power supply network frequency control method of the power electronic energy storage system suitable for a fully controlled device of the present invention;
FIG. 3 is a power grid frequency-active operating curve of an energy storage device in a zero damping mode;
FIG. 4 is a power grid frequency-active operating curve of an energy storage device in a first-order damping mode;
FIG. 5 is a power grid frequency-active operation curve of the energy storage device in a high-order damping mode;
fig. 6 is a power grid frequency-active operation curve of the energy storage device in the nonlinear damping mode.
Detailed Description
The following detailed description of the present invention will be made with reference to the accompanying drawings.
For the power supply network, the frequency control is to adjust the supply of the whole power supply network and maintain the power balance between the generator and the load; for the load side, frequency control refers to adjusting the load itself, since the supply frequency is adjusted.
As shown in fig. 1-2, a method for controlling the frequency of a power supply network of a power electronic energy storage system suitable for a full-control device divides the frequency control of the whole power network into four links:
2) a power supply network frequency-active damping control loop 2) a power supply network frequency control loop 3) an active power control loop of an energy storage device 4) an energy storage system residual energy control loop;
1) power supply network frequency-active damping control loop: the power supply network frequency-active damping control loop divides damping into the following: a non-damping control mode, a first-order inertia damping mode, a high-order inertia damping mode and a nonlinear damping mode; the frequency-active damping module detects an active value Pfbk _ pu emitted by the energy storage equipment, and an error value delta omega of a given value of a power supply network frequency control loop is obtained after the active value Pfbk _ pu is calculated through a transfer function of one of the four damping modeszz；
2) Supply network frequency control loop: the power supply network frequency control loop firstly detects the voltage frequency value omega fbk of the high-voltage side of the power supply network, then makes a difference with a preset frequency given value omega ref, adds the output delta omega zz of the power supply network frequency-active damping control loop, and passes through omega zzBAfter per unit calculation, sending the result to a PI controller of a power supply network frequency control loop, and calculating a system active power given value Pref _ pu;
PI regulator transfer function of the PI controller of the power supply network frequency control loop:
3) active power control loop of energy storage device: after a system active power given value Pref _ pu is calculated by a frequency control loop of the power supply network, adding a preset high-voltage side active power given value prefG _ pu to the value, subtracting an energy storage equipment active power feedback value Pfbk _ pu at a low-voltage side, and sending the value to a system active power controller; the PI regulator transfer function used by this section is as follows:
obtaining an active current reference value IW；
5) Energy storage system surplus energy control loop: in the energy storage system residual energy control link, an absorption/release energy control signal ctrl of the energy storage device is obtained through an error between a given value soccref of the energy storage device residual energy and a feedback value SOCfbk of the energy storage device residual energy through a hysteresis comparison module: -1, 0, 1;
when the error value of the residual energy is between the delta SOCmin and the delta SOCmax, ctrl is '0', that is, the residual energy of the energy storage device is not required to be controlled, the total active current reference value Iref of the energy storage system is equal to the active current reference value Iw output by the active power loop, the amplitude limiting values Imax/Imin of PI regulators of a system frequency control link and an active control link are set to '1', and the whole system enters a normal frequency modulation working state;
when the error value of the residual energy is smaller than delta SOCmin, the output value ctrl is "-1", that is, the energy needs to be released to the energy storage device; when the output value ctrl is '-1', the total active current reference value Iref of the energy storage system is equal to the preset active current reference value Idischg for releasing energy, the amplitude limiting values Imax/Imin of the PI regulators of the system frequency control link and the active control link are set to be '0', and the system is in a state of releasing energy for the energy storage medium;
when the error value of the residual energy is greater than delta SOCmax, the output value ctrl is "1", that is, energy needs to be absorbed by the energy storage device, the total active current reference value Iref of the energy storage system is equal to the preset active current reference value Ichg of the absorbed energy, the amplitude limiting values Imax/Imin of the PI regulators of the system frequency control link and the active control link are set to be "0", and the whole system is in a state of absorbing energy for the energy storage medium;
and the reference value Ipref of the total active current of the energy storage system is the final output value of the power supply network frequency control method.
The variables in FIGS. 1-2 are defined as follows:
UHV power supply network high-voltage side line voltage value
IHV (Induction heating voltage) line current value of high-voltage side of power supply network
ULV-low voltage lateral line voltage value of power supply network (voltage value of energy storage device)
ILV Low Voltage side Current value of Power supply network (Current value of energy storage device)
Pfbk is power feedback value of energy storage device
Pfbk _ pu is per unit value of power feedback of energy storage device
Pmax is the maximum amplitude limit of the frequency control loop PI controller
Pmin is the minimum limiting value of frequency control loop PI controller
ω ref: frequency set-point for power supply network
ω fbk: frequency feedback value of power supply network
ω B: base value of frequency per unit value of energy storage system
Δ ω zz: damping control loop output value of energy storage system
Pref _ pu given value of system active power output by frequency control loop
Pfbk _ pu is per unit value of power feedback of energy storage device
prefG given value of active power at high-voltage side of power grid
PfbkG (power factor bkG) is an active power feedback value of the high-voltage side of the power grid
PB is the base value of the per unit value of the energy storage device power
Δ PfbkG _ pu: active power error value of high-voltage side of power grid
Imax maximum amplitude of PI controller of active control loop
Imin is minimum limiting value of PI controller of active control loop
Set value of residual energy of energy storage system
SOCfbk feedback value of residual energy of energy storage system
Δ SOCmin: threshold of energy released by energy storage system
Δ SOCmax: threshold of energy absorbed by energy storage system
Iw is the reference value of the active current output by the active power loop
Ichg is active current reference value for energy absorption of energy storage system
Idischg, active current reference value for energy release of energy storage system
And Iref is the total active current reference value of the energy storage system.
Referring to fig. 3 to 6, the frequency-active damping control module may perform damping control according to a preset frequency-active damping mode. The damping method can be divided into the following four methods: zero damping mode, first-order inertial damping mode, high-order inertial damping mode and nonlinear damping mode
1) Zero damping mode
In the power supply network frequency-active damping control loop, the transfer function of the undamped control mode is as follows: g1＝Ks。
In the frequency-active damping mode, the active power generated by the energy storage system is in an undamped mode with respect to the grid frequency, that is, when the grid frequency changes, the system generates the active power at the fastest speed to support the grid frequency, and at this time, the system delay is the delay of the controller, and is generally less than 40ms (the grid frequency is 50 Hz). In fig. 3, the energy storage system is shifted from the steady-state operating point a to the new operating point B due to sudden change of the system load, and since the frequency-active damping of the energy storage system is zero damping and the shift curve of the operating point is a G1 curve, it can be seen that the active change trajectory of the energy storage system is substantially identical to the operating curve, and the response speed is the delay of the frequency and active closed-loop control parameters of the system.
2) First order inertial damping mode
In the power supply network frequency-active damping control loop, the transfer function of a first-order inertia damping mode is as follows:
in the frequency-active damping mode, active power generated by the energy storage system is in a first-order inertial damping mode relative to the power grid frequency, namely when the power grid frequency changes, firstly, the given value of a frequency control loop of the energy storage system is basically unchanged due to the existence of damping; as the frequency variation of the system increases, the given value of the frequency control loop of the system tends to be an actual value. As shown in fig. 4, the energy storage system is shifted from the steady-state operating point a to the new operating point B due to sudden change of the system load, and since the frequency-active damping of the energy storage system is the first-order inertial damping and the shift curve of the operating point is the G2 curve, it can be seen that the active change trajectory of the energy storage system is relatively fast in the initial stage of frequency change and the change in the later stage tends to be smooth. The response speed is a damping parameter, and the frequency of the system and the delay of an active closed-loop control parameter.
3) High-order inertial damping mode
In the power supply network frequency-active damping control loop, the transfer function of the high-order inertial damping mode is as follows:
in the frequency-active damping mode, the active power generated by the energy storage system is in a high-order inertial damping mode relative to the power grid frequency, namely when the power grid frequency changes, the given value response speed of a frequency control loop of the energy storage system is high due to the fact that the damping transfer function is in a high order; as the frequency change of the system increases, the given value of the frequency control loop of the system tends to the actual value, and finally has certain fluctuation. As shown in fig. 5, the energy storage system is shifted from the steady-state operating point a to a new operating point B due to sudden change of the system load, and since the frequency-active damping of the energy storage system is the high-order inertial damping and the shift curve of the operating point is the G3 curve, it can be seen that the active change trajectory of the energy storage system is slower than the change of the curve G2 in the initial stage of the frequency change, the change tends to be gentle in the later stage, and a certain fluctuation exists at the point B. The response speed is a damping parameter, and the frequency of the system and the delay of an active closed-loop control parameter.
4) Non-linear damping mode
In the power supply network frequency-active damping control loop, the transfer function of the nonlinear damping mode is as follows:
G4＝Ks·func(P)。
in the frequency-active damping mode, the active power generated by the energy storage system is in a nonlinear damping mode relative to the frequency of the power grid, the damping mode is more flexibly defined, and the corresponding damping mode can be specified according to different ranges of frequency change. As shown in fig. 6, as a simple non-linear example, the energy storage system is shifted from the steady-state operating point a to a new operating point B due to sudden change of the system load, and the shift curve of the operating point is a G4 curve. Before the frequency changes to omega 0, the given value of the system frequency control loop is unchanged, the active output speed reaches the maximum, and when the frequency value of the power supply network is greater than omega 0, the system changes to the final B working point with a certain slope. The response speed is a nonlinear transfer function design, and the frequency of the system and the delay of an active closed-loop control parameter.
The above embodiments are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are given, but the scope of the present invention is not limited to the above embodiments. The methods used in the above examples are conventional methods unless otherwise specified.
Claims (5)
1. A power supply network frequency control method of a power electronic energy storage system suitable for a full-control device is characterized in that the whole network frequency control is divided into four links:
1) a power supply network frequency-active damping control loop 2) a power supply network frequency control loop 3) an active power control loop of an energy storage device 4) an energy storage system residual energy control loop;
1) power supply network frequency-active damping control loop: the power supply network frequency-active damping control loop divides damping into the following: a non-damping control mode, a first-order inertia damping mode, a high-order inertia damping mode and a nonlinear damping mode; the frequency-active damping module detects an active value Pfbk _ pu emitted by the energy storage equipment, and an error value delta omega of a given value of a power supply network frequency control loop is obtained after the active value Pfbk _ pu is calculated through a transfer function of one of the four damping modeszz；
2) Supply network frequency control loop: the power supply network frequency control loop firstly detects the voltage frequency value omega fbk of the high-voltage side of the power supply network, then makes a difference with a preset frequency given value omega ref, adds the output delta omega zz of the power supply network frequency-active damping control loop, and passes through omega zzBAfter per unit calculation, sending the result to a PI controller of a power supply network frequency control loop, and calculating a system active power given value Pref _ pu;
PI regulator transfer function of the PI controller of the power supply network frequency control loop:
3) active power control loop of energy storage device: after a system active power given value Pref _ pu is calculated by a frequency control loop of the power supply network, adding a preset high-voltage side active power given value prefG _ pu to the value, subtracting an energy storage equipment active power feedback value Pfbk _ pu at a low-voltage side, and sending the value to a system active power controller; the PI regulator transfer function used by this section is as follows:
obtaining an active current reference value IW；
4) Energy storage system surplus energy control loop: in the energy storage system residual energy control link, an absorption/release energy control signal ctrl of the energy storage device is obtained through an error between a given value soccref of the energy storage device residual energy and a feedback value SOCfbk of the energy storage device residual energy through a hysteresis comparison module: -1, 0, 1;
when the error value of the residual energy is between the delta SOCmin and the delta SOCmax, ctrl is '0', that is, the residual energy of the energy storage device is not required to be controlled, the total active current reference value Iref of the energy storage system is equal to the active current reference value Iw output by the active power loop, the amplitude limiting values Imax/Imin of PI regulators of a system frequency control link and an active control link are set to '1', and the whole system enters a normal frequency modulation working state;
when the error value of the residual energy is smaller than delta SOCmin, the output value ctrl is "-1", that is, the energy needs to be released to the energy storage device; when the output value ctrl is '-1', the total active current reference value Iref of the energy storage system is equal to the preset active current reference value Idischg for releasing energy, the amplitude limiting values Imax/Imin of the PI regulators of the system frequency control link and the active control link are set to be '0', and the system is in a state of releasing energy for the energy storage medium;
when the error value of the residual energy is greater than delta SOCmax, the output value ctrl is "1", that is, energy needs to be absorbed by the energy storage device, the total active current reference value Iref of the energy storage system is equal to the preset active current reference value Ichg of the absorbed energy, the amplitude limiting values Imax/Imin of the PI regulators of the system frequency control link and the active control link are set to be "0", and the whole system is in a state of absorbing energy for the energy storage medium;
and the reference value Ipref of the total active current of the energy storage system is the final output value of the power supply network frequency control method.
2. A method as claimed in claim 1, wherein the supply network frequency control method for a power electronic energy storage system suitable for a full-control device is characterized in that in the supply network frequency-active damping control loop, the transfer function of the undamped control mode is as follows: g1＝Ks。
3. A method as claimed in claim 1, wherein the transfer function of the first-order inertial damping mode in the power supply network frequency-active damping control loop is:
4. a power supply network frequency control method of a power electronic energy storage system suitable for a full-control device according to claim 1, wherein in the power supply network frequency-active damping control loop, the transfer function of the high-order inertial damping mode is as follows:
5. a power supply network frequency control method of a power electronic energy storage system suitable for a full-control device according to claim 1, wherein in the power supply network frequency-active damping control loop, the transfer function of the nonlinear damping mode is as follows: g4＝Ks·func(P)。
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