CN111200291A - DC power grid coordination control system and method with energy storage - Google Patents

DC power grid coordination control system and method with energy storage Download PDF

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Publication number
CN111200291A
CN111200291A CN201811364995.4A CN201811364995A CN111200291A CN 111200291 A CN111200291 A CN 111200291A CN 201811364995 A CN201811364995 A CN 201811364995A CN 111200291 A CN111200291 A CN 111200291A
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China
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adder
energy storage
power grid
controller
direct current
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CN201811364995.4A
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Chinese (zh)
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CN111200291B (en
Inventor
杨波
桑丙玉
姚良忠
文劲宇
陶以彬
郑建勇
杨之翰
崔红芬
向往
李官军
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Huazhong University of Science and Technology
State Grid Corp of China SGCC
Southeast University
State Grid Zhejiang Electric Power Co Ltd
China Electric Power Research Institute Co Ltd CEPRI
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Huazhong University of Science and Technology
State Grid Corp of China SGCC
Southeast University
State Grid Zhejiang Electric Power Co Ltd
China Electric Power Research Institute Co Ltd CEPRI
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Publication of CN111200291A publication Critical patent/CN111200291A/en
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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
    • H02J3/28—Arrangements for balancing of the load in a network by storage of energy
    • 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
    • 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

Abstract

The invention relates to a coordination control system and method for a direct current power grid containing energy storage, wherein the control system comprises: the technical scheme provided by the invention can ensure that the direct current voltage and the receiving end power of the system are stable and controllable and have no steady-state error when the system is in a steady state, and can enable each converter to quickly respond when the direct current power grid fails, so as to maintain the direct current voltage of the system within a safety value.

Description

DC power grid coordination control system and method with energy storage
Technical Field
The invention relates to the technical field of power transmission and distribution of a power system, in particular to a coordination control system and method of a direct-current power grid containing energy storage.
Background
With the exhaustion of traditional fossil energy and the increasingly prominent environmental problems, the development and utilization of new energy becomes the inevitable choice for sustainable development.
However, the output of the new energy has randomness and volatility, and in order to improve the consumption capability of the power grid to the new energy, an energy storage device can be additionally arranged in the power grid, and the fluctuation of the new energy is effectively stabilized by utilizing the schedulability and the flexible power output capability of the energy storage device, so that the direct-current power grid containing the stored energy is a main means for solving the problem.
The existing control strategy of the direct current power grid with the energy storage focuses on the control of the energy storage device, and when the direct current power grid with the energy storage has a fault, the control cannot be carried out to enable each converter to quickly participate in the adjustment of unbalanced power, so that the direct current fault is easy to occur.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to ensure that the direct-current voltage and the power of each receiving end of the system are stable and controllable, no steady-state error exists, each converter can quickly respond, and the direct-current voltage of the system is maintained within a safe value.
The purpose of the invention is realized by adopting the following technical scheme:
in a coordinated control system for a dc power grid including stored energy, the improvement comprising:
the system comprises a sending end control module, an energy storage power station control module, a receiving end master station control module and a receiving end slave station control module;
the sending end control module is used for generating a PWM (pulse width modulation) pulse signal for controlling a sending end converter in the direct current power grid containing the stored energy according to the running state of the direct current power grid containing the stored energy and controlling the sending end converter in the direct current power grid containing the stored energy by utilizing the PWM pulse signal;
the energy storage power station control module is used for generating a PWM (pulse-width modulation) pulse signal for controlling an energy storage power station converter in the direct-current power grid containing energy storage according to the operation state of a receiving end master station of the direct-current power grid containing the energy storage, and controlling the energy storage power station converter in the direct-current power grid containing the energy storage by utilizing the PWM pulse signal;
the receiving end master station control module is used for generating a PWM pulse signal for controlling a receiving end master station converter in a direct current power grid containing energy storage and controlling the receiving end master station converter in the direct current power grid containing energy storage by utilizing the PWM pulse signal;
and the receiving-end slave station control module is used for generating a PWM pulse signal for controlling a converter of a receiving-end slave station in the direct-current power grid containing the stored energy according to the running state of the direct-current power grid containing the stored energy and the running state of the receiving-end master station in the direct-current power grid containing the stored energy, and controlling the converter of the receiving-end slave station in the direct-current power grid containing the stored energy by utilizing the PWM pulse signal.
Preferably, the operating state of the dc power grid with stored energy includes: steady state operation and power imbalance operation;
the operation state of a receiving end main station of the direct current power grid with the energy storage comprises the following steps: and the receiving end master station operates normally and quits operating.
Preferably, the sending-end control module includes: a first sending end control unit and a second sending end control unit;
when the direct current power grid with the stored energy runs in a steady state, the sending end control module generates a PWM pulse signal for controlling the sending end converter by using the second sending end control unit and controls the sending end converter by using the PWM pulse signal;
when the power of a direct current power grid containing stored energy is unbalanced, the sending end control module generates a PWM pulse signal for controlling the sending end converter by using the first sending end control unit and the second sending end control unit, and controls the sending end converter by using the PWM pulse signal.
Further, the first sending-end control unit includes: the system comprises a first adder, a first PI controller and a second adder;
the first adder, the first PI controller and the second adder are connected in sequence;
the input of the first adder is Vdclimitand-Vdc；
The second sending-end control unit includes:
the third adder, the fourth adder, the second PI controller, the fifth adder, the third PI controller, the sixth adder, the seventh adder, the eighth adder, the fourth PI controller, the ninth adder, the fifth PI controller, the tenth adder, the eleventh adder, the first multiplier, the second multiplier, the first crystal oscillator and the first trigger;
the third adder, the fourth adder, the second PI controller, the fifth adder, the third PI controller, the sixth adder, the seventh adder and the first trigger are sequentially connected;
the eighth adder, the fourth PI controller, the ninth adder, the fifth PI controller, the tenth adder, the eleventh adder and the first trigger are connected in sequence;
the first multiplier is connected with the seventh adder;
the second multiplier is connected with the eleventh adder;
the first crystal oscillator is connected with the first trigger;
when the direct current power grid containing the stored energy runs in a steady state, the input of the third adder is the d-axis component of the alternating current voltage on the wind field side;
when the power of the direct current power grid with the stored energy is unbalanced and the direct current voltage of the direct current power grid with the stored energy reaches a threshold value, the input of the third adder is the output quantity of the first sending end control unit and the d-axis component of the alternating current voltage on the wind farm side;
the input of the fourth adder is-VdpuAnd an output of the third adder;
the input of the fifth adder is-IdrefAnd an output of the second PI controller;
the input of the sixth adder is-Q and the output quantity of the third PI controller;
the input of the eighth adder is-VqpuA windfarm side alternating voltage q-axis component;
the input of the ninth adder is-IqpuAnd an output of the fourth PI controller;
the input of the tenth adder is VqpuAnd an output of the fifth PI controller;
the input of the first multiplier is IqpuA proportionality coefficient of Lpu；
The input of the second multiplier is IdpuA proportionality coefficient of Lpu；
The input of the first crystal oscillator is the frequency of a direct current power grid containing energy storage;
wherein, VdclimitIs a reference value of DC voltage at wind field side, VdcFor the direct current compaction measurement value, V, of the wind field sidedpuIs a measured value of the d-axis of the AC voltage, IdpuFor measured value of d-axis of AC current, VqpuFor the measured value of the q-axis of the AC voltage, IqpuFor the actual value of the q-axis of the AC current, LpuIs leakage reactance.
Preferably, the energy storage power station control module comprises: the system comprises a first energy storage power station control unit and a second energy storage power station control unit;
when a receiving end main station of a direct current power grid containing energy storage quits operation, the energy storage power station control module generates a PWM pulse signal for controlling a transmitting end converter by using a second energy storage power station control unit and controls the energy storage power station converter by using the PWM pulse signal;
when a receiving end main station of a direct current power grid containing energy storage normally operates, the energy storage power station control module generates a PWM pulse signal for controlling an energy storage power station converter by using the first energy storage power station control unit and the second energy storage power station control unit, and controls the energy storage power station converter by using the pulse signal.
Further, the first energy storage power station control unit includes: a twelfth adder, a sixth PI controller, and a thirteenth adder;
the twelfth adder, the sixth PI controller and the thirteenth adder are connected in sequence;
the input of the twelfth adder is Prefmainand-Pmain；
The second energy storage power station control unit comprises: a fourteenth adder, a seventh PI controller, a fifteenth adder, a sixteenth adder, a seventeenth adder, an eighth PI controller, an eighteenth adder, a ninth PI controller, a nineteenth adder, a twentieth adder, a third multiplier, a fourth multiplier, a second crystal oscillator, and a second flip-flop;
the fourteenth adder, the seventh PI controller, the fifteenth adder, the sixteenth adder and the second trigger are connected in sequence;
the seventeenth adder, the eighth PI controller, the eighteenth adder, the ninth PI controller, the nineteenth adder, the twentieth adder and the second trigger are connected in sequence;
the third multiplier is connected with the sixteenth adder;
the fourth multiplier is connected with the twentieth adder;
the second crystal oscillator is connected with the second trigger;
when a receiving end main station of the direct current power grid with the stored energy quits operation, the input of the fourteenth adder is-Idpu；
When a receiving end main station of the direct current power grid with the stored energy normally operates, the-I of the fourteenth adderdpuAnd an output of the first energy storage power station control unit;
the input of the fifteenth adder is VdpuAnd an output of the seventh PI controller;
the input of the seventeenth adder is QrefAnd Q;
the eighteenth adder has an input of-IqpuAnd an output of the eighth PI controller;
the input of the nineteenth adder is VqpuAnd an output of the ninth PI controller;
the input of the third multiplier is IqpuA proportionality coefficient of Lpu；
The input of the fourth multiplier is IdpuA proportionality coefficient of Lpu；
The input of the second crystal oscillator is the frequency of a direct current power grid containing energy storage;
wherein, PrefmainFor the receiver master station power reference value, PmainIs the measured value of the power of the master station at the receiving end, VdpuIs a measured value of the d-axis of the AC voltage, IdpuFor measured value of d-axis of AC current, VqpuFor the measured value of the q-axis of the AC voltage, IqpuFor the actual value of Q-axis of AC current, QrefIs a reference value of reactive power, Q is a measured value of reactive power, LpuIs leakage ofA reactance.
Preferably, the master station control module at the receiving end includes:
a twenty-first adder, a tenth PI controller, a twenty-second adder, an eleventh PI controller, a twenty-third adder, a twenty-fourth adder, a twenty-fifth adder, a twelfth PI controller, a twenty-sixth adder, a twenty-seventh adder, a fifth multiplier, a sixth multiplier, a third crystal oscillator, and a third flip-flop;
the twenty-first adder, the tenth PI controller, the twenty-second adder, the eleventh PI controller, the twenty-third adder, the twenty-fourth adder, the third crystal oscillator and the third trigger are sequentially connected;
the twenty-fifth adder, the twelfth PI controller, the twenty-sixth adder, the twenty-seventh adder and the third trigger are connected in sequence;
the third crystal oscillator is connected to the third flip-flop;
the input of the twenty-first adder is Vdcrefand-Vdc；
The input of the twenty-second adder is-IdpuAnd an output of the tenth PI controller;
the input of the twenty-third adder is VdpuAnd an output of the eleventh PI controller;
the input of the twenty-fifth adder is-IqpuAnd a receiving end main station direct current voltage q-axis component;
the input of the twenty-sixth adder is VqpuAnd an output of the twelfth PI controller;
the input of the fifth multiplier is IqpuA proportionality coefficient of Lpu；
The input of the sixth multiplier is IdpuA proportionality coefficient of Lpu；
The input of the third crystal oscillator is the frequency of a direct current power grid containing energy storage;
wherein, VdcrefIs a reference value of DC voltage, VdcIs direct currentMeasured value of compaction, IdpuFor measured value of d-axis of AC current, VdpuIs a d-axis measured value of AC voltage, VqpuFor the measured value of the q-axis of the AC voltage, IqpuFor the actual value of the q-axis of the AC current, LpuIs leakage reactance.
Preferably, the slave station control module includes: the first receiving end slave station control unit and the second receiving end slave station control unit;
when the direct current power grid containing the energy storage operates in a steady state, the receiving-end slave station control module controls a receiving-end slave station converter by using a second receiving-end slave station control unit;
when the power of a direct current power grid containing energy storage is unbalanced, the receiving-end slave station control module controls a receiving-end slave station converter by using the first receiving-end slave station control unit and the second receiving-end slave station control unit;
when a receiving end master station of a direct current power grid with energy storage quits operation, the receiving end slave station control module generates a PWM pulse signal for controlling a current converter of the receiving end slave station by using droop control, and controls the current converter of the receiving end slave station by using the PWM pulse signal.
Further, the first slave station control unit includes: a twenty-eighth adder and a proportional controller;
the twenty-eighth adder is connected with the proportional controller;
the input of the twenty-eighth adder is VdcrefAnd Vdc；
The second slave station control unit includes: a twenty-ninth adder, a thirteenth PI controller, a thirtieth adder, a fourteenth PI controller, a thirty-first adder, a thirty-second adder, a thirty-third adder, a fifteenth PI controller, a thirty-fourth adder, a sixteenth PI controller, a thirty-fifth adder, a thirty-sixth adder, a seventh multiplier, an eighth multiplier, a fourth crystal oscillator, and a fourth flip-flop;
the twenty-ninth adder, the thirteenth PI controller, the thirtieth adder, the fourteenth PI controller, the thirty-first adder, the thirty-second adder and the fourth trigger are connected in sequence;
the thirty-third adder, the fifteenth PI controller, the thirty-fourth adder, the sixteenth PI controller, the thirty-fifth adder, the thirty-sixth adder and the fourth trigger are connected in sequence;
the seventh multiplier is connected with the thirty-second adder;
the eighth multiplier is connected with the thirty-sixth adder;
the fourth crystal oscillator is connected with the fourth trigger;
when the direct current power grid with the stored energy runs in a steady state, the input of the twenty-ninth adder is-P and Pref；
When the power of the direct current power grid containing the stored energy is unbalanced, the input of the twenty-ninth adder is-P, PrefAnd an output quantity of the first slave station control unit;
the thirtieth adder has an input of-IdpuAnd an output of the thirteenth PI controller;
the input of the thirty-one adder is VdpuAnd an output of the fourteenth PI controller;
the input of the thirty-third adder is-QrefAnd Q;
the input of the thirty-fourth adder is-IqpuAnd an output of the fifteenth PI controller;
the input of the thirtieth acanthopanax adder is VqpuAnd an output of the sixteenth PI controller;
the input of the seventh multiplier is IdpuA proportionality coefficient of Lpu；
The input of the eighth multiplier is IdpuA proportionality coefficient of Lpu；
The input of the fourth crystal oscillator is the frequency of a direct current power grid containing energy storage;
wherein, VdcrefIs a reference value of DC voltage, VdcIs a measured value of DC voltage, P is a measured value of active power, PrefAs an active power reference value, IdpuMeasured for the d-axis of the AC current，VdpuIs a d-axis measured value of AC voltage, VqpuFor the measured value of the q-axis of the AC voltage, IqpuFor the actual value of Q-axis of AC current, QrefIs a reference value of reactive power, Q is a measured value of reactive power, LpuIs leakage reactance.
In a method of coordinated control of a dc power grid including stored energy, the improvement comprising:
acquiring the running state of a direct current power grid with stored energy and the running state of a receiving master station of the direct current power grid with stored energy;
generating a PWM pulse signal for controlling a sending end converter in the direct current power grid containing the stored energy according to the running state of the direct current power grid containing the stored energy, and controlling the sending end converter in the direct current power grid containing the stored energy by utilizing the PWM pulse signal;
generating a PWM pulse signal for controlling a converter of an energy storage power station in the direct current power grid containing the energy storage and a PWM pulse signal for controlling a converter of a receiving end main station in the direct current power grid containing the energy storage according to the operation state of the receiving end main station of the direct current power grid containing the energy storage, and controlling a corresponding converter in the direct current power grid containing the energy storage by utilizing the PWM pulse signals;
and generating a PWM pulse signal for controlling a converter of a slave station at a receiving end in the direct current power grid containing the stored energy according to the running state of the direct current power grid containing the stored energy and the running state of the master station at the receiving end in the direct current power grid containing the stored energy, and controlling the converter of the slave station at the receiving end in the direct current power grid containing the stored energy by utilizing the PWM pulse signal.
Preferably, the operating state of the dc power grid with stored energy includes: steady state operation and power imbalance operation;
the operation state of a receiving end main station of the direct current power grid with the energy storage comprises the following steps: and the receiving end master station operates normally and quits operating.
Preferably, the generating a PWM pulse signal for controlling a sending end converter in a dc power grid with stored energy according to an operation state of the dc power grid with stored energy, and controlling the sending end converter in the dc power grid with stored energy by using the PWM pulse signal includes:
when the direct current power grid with the stored energy runs in a steady state, the sending end control module generates a PWM pulse signal for controlling the sending end converter by using the second sending end control unit and controls the sending end converter by using the PWM pulse signal;
when the power of a direct current power grid containing stored energy is unbalanced, the sending end control module generates a PWM pulse signal for controlling the sending end converter by using the first sending end control unit and the second sending end control unit, and controls the sending end converter by using the PWM pulse signal.
Preferably, the generating of the PWM pulse signal for controlling the converter of the energy storage power station in the dc power grid with energy storage according to the operation state of the slave master station of the dc power grid with energy storage includes:
when a receiving end main station of a direct current power grid containing energy storage quits operation, the energy storage power station control module generates a PWM pulse signal for controlling an energy storage power station converter by using a second energy storage power station control unit and controls the energy storage power station converter by using the PWM pulse signal;
when a receiving end main station of a direct current power grid containing energy storage normally operates, the energy storage power station control module generates a PWM pulse signal for controlling an energy storage power station converter by using the first energy storage power station control unit and the second energy storage power station control unit, and controls the energy storage power station converter by using the PWM pulse signal.
Preferably, the generating of the PWM pulse signal for controlling the converter of the master station at the receiving end in the dc power grid including the stored energy according to the operation state of the master station at the receiving end in the dc power grid including the stored energy includes:
and the receiving end master station control module generates a PWM pulse signal for controlling the receiving end master station current converter and controls the receiving end master station current converter by utilizing the PWM pulse signal.
Preferably, the generating a PWM pulse signal for controlling a converter of a slave station at a receiving end in the dc power grid with stored energy according to an operation state of the dc power grid with stored energy and an operation state of a master station at a receiving end in the dc power grid with stored energy, and controlling a converter of a slave station at a receiving end in the dc power grid with stored energy by using the PWM pulse signal, includes:
when a direct current power grid containing energy storage operates in a steady state, the receiving-end slave station control module generates a PWM pulse signal for controlling a current converter of the receiving-end slave station by using a second receiving-end slave station control unit and controls the current converter of the receiving-end slave station by using the PWM pulse signal;
when the power of a direct current power grid containing energy storage is unbalanced, the receiving-end slave station control module generates a PWM pulse signal for controlling a converter of the receiving-end slave station by using the first receiving-end slave station control unit and the second receiving-end slave station control unit, and controls the converter of the receiving-end slave station by using the PWM pulse signal;
when a receiving end master station of a direct current power grid with energy storage quits operation, the receiving end slave station control module generates a PWM pulse signal for controlling a current converter of the receiving end slave station by using droop control, and controls the current converter of the receiving end slave station by using the PWM pulse signal.
Compared with the closest prior art, the invention has the following beneficial effects:
according to the technical scheme provided by the invention, the direct current power grid coordination control system containing the energy storage comprises: each control module generates and controls a PWM pulse signal of a corresponding converter according to the running state of the DC power grid containing the stored energy and/or the running state of the master station of the receiving end of the DC power grid containing the stored energy, and the PWM pulse signal is used for controlling the corresponding converter. Based on the technical scheme provided by the invention, when the system operates in a steady state, the direct-current voltage of the system and the power of each receiving end in a direct-current power grid can be ensured to be stable and controllable, and no steady-state error exists; when the system is in fault, namely when the system power is unbalanced, the control modules can be utilized to carry out coordination control on the corresponding converters, so that the converters can respond quickly, participate in the adjustment of the unbalanced power and maintain the direct-current voltage of the system within a safety value.
Drawings
FIG. 1 is a schematic structural diagram of a coordinated control system of a DC power grid with stored energy according to the present invention;
fig. 2 is a schematic diagram of a topology of a dc power grid including an energy storage according to an embodiment of the present invention;
FIG. 3 is a control block diagram of a sending-end control module provided by the present invention;
FIG. 4 is a control block diagram of a control module of the energy storage power station provided by the invention;
FIG. 5 is a control block diagram of a master control module of a slave station provided in the present invention;
fig. 6 is a control block diagram of a slave station control module according to the present invention.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a coordination control system of a direct current power grid with energy storage, as shown in fig. 1, comprising:
the system comprises a sending end control module, an energy storage power station control module, a receiving end master station control module and a receiving end slave station control module;
the sending end control module is used for generating a PWM (pulse width modulation) pulse signal for controlling a sending end converter in the direct current power grid containing the stored energy according to the running state of the direct current power grid containing the stored energy and controlling the sending end converter in the direct current power grid containing the stored energy by utilizing the PWM pulse signal;
the energy storage power station control module is used for generating a PWM (pulse-width modulation) pulse signal for controlling an energy storage power station converter in the direct-current power grid containing energy storage according to the operation state of a receiving end master station of the direct-current power grid containing the energy storage, and controlling the energy storage power station converter in the direct-current power grid containing the energy storage by utilizing the PWM pulse signal;
the receiving end master station control module is used for generating a PWM pulse signal for controlling a receiving end master station converter in a direct current power grid containing energy storage and controlling the receiving end master station converter in the direct current power grid containing energy storage by utilizing the PWM pulse signal;
and the receiving-end slave station control module is used for generating a PWM pulse signal for controlling a converter of a receiving-end slave station in the direct-current power grid containing the stored energy according to the running state of the direct-current power grid containing the stored energy and the running state of the receiving-end master station in the direct-current power grid containing the stored energy, and controlling the converter of the receiving-end slave station in the direct-current power grid containing the stored energy by utilizing the PWM pulse signal.
For example: the topological structure of the direct-current power GRID with the stored energy is shown in fig. 2 and comprises a new energy sending end WF1, a WF2, a WF3, new energy sending end converters WF _1, WF _2 and WF _3, pumping power station and pumping power station converters PUMP _ MMC, a receiving end master station GRID1, a receiving end master station converter REC _ MMC1, receiving end slave station GRID2 and GRID3, and receiving end slave station converters REC _ MMC2 and REC _ MMC 3.
The operating state of the dc power grid with stored energy comprises: steady state operation and power imbalance operation;
the operation state of a receiving end main station of the direct current power grid with the energy storage comprises the following steps: and the receiving end master station operates normally and quits operating.
As shown in fig. 3, the sending-end control module includes: a first sending end control unit and a second sending end control unit;
when the direct current power grid with the stored energy runs in a steady state, the sending end control module generates a PWM pulse signal for controlling the sending end converter by using the second sending end control unit and controls the sending end converter by using the PWM pulse signal;
when the power of a direct current power grid containing stored energy is unbalanced, the sending end control module generates a PWM pulse signal for controlling the sending end converter by using the first sending end control unit and the second sending end control unit, and controls the sending end converter by using the PWM pulse signal.
As shown in fig. 3, an adder;
the first adder, the first PI controller and the second adder are connected in sequence;
the input of the first adder is Vdclimitand-Vdc；
The second sending-end control unit (outside the dotted line frame) includes:
the third adder, the fourth adder, the second PI controller, the fifth adder, the third PI controller, the sixth adder, the seventh adder, the eighth adder, the fourth PI controller, the ninth adder, the fifth PI controller, the tenth adder, the eleventh adder, the first multiplier, the second multiplier, the first crystal oscillator and the first trigger;
the third adder, the fourth adder, the second PI controller, the fifth adder, the third PI controller, the sixth adder, the seventh adder and the first trigger are sequentially connected;
the eighth adder, the fourth PI controller, the ninth adder, the fifth PI controller, the tenth adder, the eleventh adder and the first trigger are connected in sequence;
the first multiplier is connected with the seventh adder;
the second multiplier is connected with the eleventh adder;
the first crystal oscillator is connected with the first trigger;
when the direct current power grid containing the stored energy runs in a steady state, the input of the third adder is the d-axis component of the alternating current voltage on the wind field side;
when the power of the direct current power grid with the stored energy is unbalanced and the direct current voltage of the direct current power grid with the stored energy reaches a threshold value, the input of the third adder is the output quantity of the first sending end control unit and the d-axis component of the alternating current voltage on the wind farm side;
the input of the fourth adder is-VdpuAnd an output of the third adder;
the input of the fifth adder is-IdrefAnd an output of the second PI controller;
the input of the sixth adder is-Q and the output quantity of the third PI controller;
the input of the eighth adder is-VqpuA windfarm side alternating voltage q-axis component;
the input of the ninth adder is-IqpuAnd an output of the fourth PI controller;
the above-mentionedThe input of the tenth adder is VqpuAnd an output of the fifth PI controller;
the input of the first multiplier is IqpuA proportionality coefficient of Lpu；
The input of the second multiplier is IdpuA proportionality coefficient of Lpu；
The input of the first crystal oscillator is the frequency of a direct current power grid containing energy storage;
wherein, VdclimitIs a reference value of DC voltage at wind field side, VdcFor the direct current compaction measurement value, V, of the wind field sidedpuIs a measured value of the d-axis of the AC voltage, IdpuFor measured value of d-axis of AC current, VqpuFor the measured value of the q-axis of the AC voltage, IqpuFor the actual value of the q-axis of the AC current, LpuIs leakage reactance.
The new control scheme is characterized in that on the basis of the original constant alternating voltage control, additional control in a dotted line frame is added, the alternating current on the wind field side is reduced, so that the active power output by a wind field is reduced, when the power of a direct current power grid containing energy storage is unbalanced, and when the wind field converter detects that the direct current voltage rises to a threshold value, the additional control starts to act, so that the power transmitted by the converter on the wind field side is reduced, the redundant power of a system is reduced, and the direct current voltage of the direct current power grid containing the energy storage is maintained within a safe value.
The threshold is 1.1 pu; the safety value is 1.2 pu.
As shown in fig. 4, the energy storage power station control module includes: the system comprises a first energy storage power station control unit and a second energy storage power station control unit;
when a receiving end main station of a direct current power grid containing energy storage quits operation, the energy storage power station control module generates a PWM pulse signal for controlling a transmitting end converter by using a second energy storage power station control unit and controls the energy storage power station converter by using the PWM pulse signal;
when a receiving end main station of a direct current power grid containing energy storage normally operates, the energy storage power station control module generates a PWM pulse signal for controlling an energy storage power station converter by using the first energy storage power station control unit and the second energy storage power station control unit, and controls the energy storage power station converter by using the pulse signal.
The first energy storage plant control unit (within the dashed box) comprises: a twelfth adder, a sixth PI controller, and a thirteenth adder;
the twelfth adder, the sixth PI controller and the thirteenth adder are connected in sequence;
the input of the twelfth adder is Prefmainand-Pmain；
The second energy storage plant control unit (outside the dashed box) comprises: a fourteenth adder, a seventh PI controller, a fifteenth adder, a sixteenth adder, a seventeenth adder, an eighth PI controller, an eighteenth adder, a ninth PI controller, a nineteenth adder, a twentieth adder, a third multiplier, a fourth multiplier, a second crystal oscillator, and a second flip-flop;
the fourteenth adder, the seventh PI controller, the fifteenth adder, the sixteenth adder and the second trigger are connected in sequence;
the seventeenth adder, the eighth PI controller, the eighteenth adder, the ninth PI controller, the nineteenth adder, the twentieth adder and the second trigger are connected in sequence;
the third multiplier is connected with the sixteenth adder;
the fourth multiplier is connected with the twentieth adder;
the second crystal oscillator is connected with the second trigger;
when a receiving end main station of the direct current power grid with the stored energy quits operation, the input of the fourteenth adder is-Idpu；
When a receiving end main station of the direct current power grid with the stored energy normally operates, the-I of the fourteenth adderdpuAnd an output of the first energy storage power station control unit;
the input of the fifteenth adder is VdpuAnd an output of the seventh PI controller;
the input of the seventeenth adder is QrefAnd Q;
the eighteenth adder has an input of-IqpuAnd an output of the eighth PI controller;
the input of the nineteenth adder is VqpuAnd an output of the ninth PI controller;
the input of the third multiplier is IqpuA proportionality coefficient of Lpu；
The input of the fourth multiplier is IdpuA proportionality coefficient of Lpu；
The input of the second crystal oscillator is the frequency of a direct current power grid containing energy storage;
wherein, PrefmainFor the receiver master station power reference value, PmainIs the measured value of the power of the master station at the receiving end, VdpuIs a measured value of the d-axis of the AC voltage, IdpuFor measured value of d-axis of AC current, VqpuFor the measured value of the q-axis of the AC voltage, IqpuFor the actual value of Q-axis of AC current, QrefIs a reference value of reactive power, Q is a measured value of reactive power, LpuIs leakage reactance.
For example: when a receiving end main station of a direct current power grid containing energy storage quits operation, the system generates larger power redundancy because the system loses a receiving end, and at the moment, the energy storage power station furthest consumes the redundant power generated by the quitting operation of the receiving end main station; when a receiving end main station of the direct current power grid with the energy storage normally operates, the power value participating in the given energy storage power station is additionally controlled in the dotted line frame, so that the difference between the measured value and the preset value of the power of the receiving end main station can be quickly responded.
As shown in fig. 5, the slave master station control module generates a PWM pulse signal for controlling the slave master station converter, and controls the slave master station converter by using the PWM pulse signal.
The receiving end main station control module comprises:
a twenty-first adder, a tenth PI controller, a twenty-second adder, an eleventh PI controller, a twenty-third adder, a twenty-fourth adder, a twenty-fifth adder, a twelfth PI controller, a twenty-sixth adder, a twenty-seventh adder, a fifth multiplier, a sixth multiplier, a third crystal oscillator, and a third flip-flop;
the twenty-first adder, the tenth PI controller, the twenty-second adder, the eleventh PI controller, the twenty-third adder, the twenty-fourth adder, the third crystal oscillator and the third trigger are sequentially connected;
the twenty-fifth adder, the twelfth PI controller, the twenty-sixth adder, the twenty-seventh adder and the third trigger are connected in sequence;
the third crystal oscillator is connected to the third flip-flop;
the input of the twenty-first adder is Vdcrefand-Vdc；
The input of the twenty-second adder is-IdpuAnd an output of the tenth PI controller;
the input of the twenty-third adder is VdpuAnd an output of the eleventh PI controller;
the input of the twenty-fifth adder is-IqpuAnd a receiving end main station direct current voltage q-axis component;
the input of the twenty-sixth adder is VqpuAnd an output of the twelfth PI controller;
the input of the fifth multiplier is IqpuA proportionality coefficient of Lpu；
The input of the sixth multiplier is IdpuA proportionality coefficient of Lpu；
The input of the third crystal oscillator is the frequency of a direct current power grid containing energy storage;
wherein, VdcrefIs a reference value of DC voltage, VdcFor direct current compaction measurement, IdpuFor measured value of d-axis of AC current, VdpuIs a d-axis measured value of AC voltage, VqpuFor the measured value of the q-axis of the AC voltage, IqpuFor the actual value of the q-axis of the AC current, LpuIs leakage reactance.
For example, the receiving-end master station is controlled by constant direct current voltage, so that the direct current voltage is ensured to be a command value and no steady-state error exists under the normal working condition of the system.
As shown in fig. 6, the slave station control module includes: the first receiving end slave station control unit and the second receiving end slave station control unit;
when the direct current power grid containing the energy storage operates in a steady state, the receiving-end slave station control module controls a receiving-end slave station converter by using a second receiving-end slave station control unit;
when the power of a direct current power grid containing energy storage is unbalanced, the receiving-end slave station control module controls a receiving-end slave station converter by using the first receiving-end slave station control unit and the second receiving-end slave station control unit;
when a receiving end master station of a direct current power grid with energy storage quits operation, the receiving end slave station control module generates a PWM pulse signal for controlling a current converter of the receiving end slave station by using droop control, and controls the current converter of the receiving end slave station by using the PWM pulse signal.
The first slave station control unit includes: a twenty-eighth adder and a proportional controller;
the twenty-eighth adder is connected with the proportional controller;
the input of the twenty-eighth adder is VdcrefAnd Vdc；
The second slave station control unit includes: a twenty-ninth adder, a thirteenth PI controller, a thirtieth adder, a fourteenth PI controller, a thirty-first adder, a thirty-second adder, a thirty-third adder, a fifteenth PI controller, a thirty-fourth adder, a sixteenth PI controller, a thirty-fifth adder, a thirty-sixth adder, a seventh multiplier, an eighth multiplier, a fourth crystal oscillator, and a fourth flip-flop;
the twenty-ninth adder, the thirteenth PI controller, the thirtieth adder, the fourteenth PI controller, the thirty-first adder, the thirty-second adder and the fourth trigger are connected in sequence;
the thirty-third adder, the fifteenth PI controller, the thirty-fourth adder, the sixteenth PI controller, the thirty-fifth adder, the thirty-sixth adder and the fourth trigger are connected in sequence;
the seventh multiplier is connected with the thirty-second adder;
the eighth multiplier is connected with the thirty-sixth adder;
the fourth crystal oscillator is connected with the fourth trigger;
when the direct current power grid with the stored energy runs in a steady state, the input of the twenty-ninth adder is-P and Pref；
When the power of the direct current power grid containing the stored energy is unbalanced, the input of the twenty-ninth adder is-P, PrefAnd an output quantity of the first slave station control unit;
the thirtieth adder has an input of-IdpuAnd an output of the thirteenth PI controller;
the input of the thirty-one adder is VdpuAnd an output of the fourteenth PI controller;
the input of the thirty-third adder is-QrefAnd Q;
the input of the thirty-fourth adder is-IqpuAnd an output of the fifteenth PI controller;
the input of the thirtieth acanthopanax adder is VqpuAnd an output of the sixteenth PI controller;
the input of the seventh multiplier is IdpuA proportionality coefficient of Lpu；
The input of the eighth multiplier is IdpuA proportionality coefficient of Lpu；
The input of the fourth crystal oscillator is the frequency of a direct current power grid containing energy storage;
wherein, VdcrefIs a reference value of DC voltage, VdcIs a measured value of DC voltage, P is a measured value of active power, PrefAs an active power reference value, IdpuFor measured value of d-axis of AC current, VdpuIs a d-axis measured value of AC voltage, VqpuFor the measured value of the q-axis of the AC voltage, IqpuFor the actual value of Q-axis of AC current, QrefIs a reactive power reference value, Q is reactiveMeasured value of power, LpuIs leakage reactance.
For example, when the dc power grid with the stored energy runs in a steady state, the voltage of the dc power grid with the stored energy is stable, the output of the additional voltage outer ring is 0, and the converter of the slave station at the receiving end outputs power according to a given power signal; when the power of the direct-current power grid containing the stored energy is in unbalanced operation, the additional control outer ring starts to work along with the rise of the direct-current voltage of the system so as to absorb redundant power; when a receiving end main station of the direct current power grid with the stored energy quits operation, the direct current voltage of the system is controlled by adopting the conventional droop control, and the direct current voltage stability of the system is maintained.
A coordinated control method for a dc grid with stored energy, the method comprising:
acquiring the running state of a direct current power grid with stored energy and the running state of a receiving master station of the direct current power grid with stored energy;
generating a PWM pulse signal for controlling a sending end converter in the direct current power grid containing the stored energy according to the running state of the direct current power grid containing the stored energy, and controlling the sending end converter in the direct current power grid containing the stored energy by utilizing the PWM pulse signal;
generating a PWM pulse signal for controlling a converter of an energy storage power station in the direct current power grid containing the energy storage and a PWM pulse signal for controlling a converter of a receiving end main station in the direct current power grid containing the energy storage according to the operation state of the receiving end main station of the direct current power grid containing the energy storage, and controlling a corresponding converter in the direct current power grid containing the energy storage by utilizing the PWM pulse signals;
and generating a PWM pulse signal for controlling a converter of a slave station at a receiving end in the direct current power grid containing the stored energy according to the running state of the direct current power grid containing the stored energy and the running state of the master station at the receiving end in the direct current power grid containing the stored energy, and controlling the converter of the slave station at the receiving end in the direct current power grid containing the stored energy by utilizing the PWM pulse signal.
The operating state of the dc power grid with stored energy comprises: steady state operation and power imbalance operation;
the operation state of a receiving end main station of the direct current power grid with the energy storage comprises the following steps: and the receiving end master station operates normally and quits operating.
The PWM pulse signal for controlling the sending end converter in the direct current power grid containing the stored energy is generated according to the running state of the direct current power grid containing the stored energy, and the sending end converter in the direct current power grid containing the stored energy is controlled by the PWM pulse signal, and the method comprises the following steps:
when the direct current power grid with the stored energy runs in a steady state, the sending end control module generates a PWM pulse signal for controlling the sending end converter by using the second sending end control unit and controls the sending end converter by using the PWM pulse signal;
when the power of a direct current power grid containing stored energy is unbalanced, the sending end control module generates a PWM pulse signal for controlling the sending end converter by using the first sending end control unit and the second sending end control unit, and controls the sending end converter by using the PWM pulse signal.
The first sending-end control unit includes: the system comprises a first adder, a first PI controller and a second adder;
the first adder, the first PI controller and the second adder are connected in sequence;
the input of the first adder is Vdclimitand-Vdc；
The second sending-end control unit includes:
the third adder, the fourth adder, the second PI controller, the fifth adder, the third PI controller, the sixth adder, the seventh adder, the eighth adder, the fourth PI controller, the ninth adder, the fifth PI controller, the tenth adder, the eleventh adder, the first multiplier, the second multiplier, the first crystal oscillator and the first trigger;
the third adder, the fourth adder, the second PI controller, the fifth adder, the third PI controller, the sixth adder, the seventh adder and the first trigger are sequentially connected;
the eighth adder, the fourth PI controller, the ninth adder, the fifth PI controller, the tenth adder, the eleventh adder and the first trigger are connected in sequence;
the first multiplier is connected with the seventh adder;
the second multiplier is connected with the eleventh adder;
the first crystal oscillator is connected with the first trigger;
when the direct current power grid containing the stored energy runs in a steady state, the input of the third adder is the d-axis component of the alternating current voltage on the wind field side;
when the power of the direct current power grid with the stored energy is unbalanced and the direct current voltage of the direct current power grid with the stored energy reaches a threshold value, the input of the third adder is the output quantity of the first sending end control unit and the d-axis component of the alternating current voltage on the wind farm side;
the input of the fourth adder is-VdpuAnd an output of the third adder;
the input of the fifth adder is-IdrefAnd an output of the second PI controller;
the input of the sixth adder is-Q and the output quantity of the third PI controller;
the input of the eighth adder is-VqpuA windfarm side alternating voltage q-axis component;
the input of the ninth adder is-IqpuAnd an output of the fourth PI controller;
the input of the tenth adder is VqpuAnd an output of the fifth PI controller;
the input of the first multiplier is IqpuA proportionality coefficient of Lpu；
The input of the second multiplier is IdpuA proportionality coefficient of Lpu；
The input of the first crystal oscillator is the frequency of a direct current power grid containing energy storage;
wherein, VdclimitIs a reference value of DC voltage at wind field side, VdcFor the direct current compaction measurement value, V, of the wind field sidedpuIs a measured value of the d-axis of the AC voltage, IdpuFor measured value of d-axis of AC current, VqpuFor the measured value of the q-axis of the AC voltage, IqpuFor the actual value of the q-axis of the AC current, LpuIs leakage reactance.
The PWM pulse signal for controlling the converter of the energy storage power station in the direct current power grid containing the energy storage is generated according to the operation state of the receiving end main station of the direct current power grid containing the energy storage, and the PWM pulse signal comprises the following steps:
when a receiving end main station of a direct current power grid containing energy storage quits operation, the energy storage power station control module generates a PWM pulse signal for controlling an energy storage power station converter by using a second energy storage power station control unit and controls the energy storage power station converter by using the PWM pulse signal;
when a receiving end main station of a direct current power grid containing energy storage normally operates, the energy storage power station control module generates a PWM pulse signal for controlling an energy storage power station converter by using the first energy storage power station control unit and the second energy storage power station control unit, and controls the energy storage power station converter by using the PWM pulse signal.
The first energy storage power station control unit comprises: a twelfth adder, a sixth PI controller, and a thirteenth adder;
the twelfth adder, the sixth PI controller and the thirteenth adder are connected in sequence;
the input of the twelfth adder is Prefmainand-Pmain；
The second energy storage power station control unit comprises: a fourteenth adder, a seventh PI controller, a fifteenth adder, a sixteenth adder, a seventeenth adder, an eighth PI controller, an eighteenth adder, a ninth PI controller, a nineteenth adder, a twentieth adder, a third multiplier, a fourth multiplier, a second crystal oscillator, and a second flip-flop;
the fourteenth adder, the seventh PI controller, the fifteenth adder, the sixteenth adder and the second trigger are connected in sequence;
the seventeenth adder, the eighth PI controller, the eighteenth adder, the ninth PI controller, the nineteenth adder, the twentieth adder and the second trigger are connected in sequence;
the third multiplier is connected with the sixteenth adder;
the fourth multiplier is connected with the twentieth adder;
the second crystal oscillator is connected with the second trigger;
when a receiving end main station of the direct current power grid with the stored energy quits operation, the input of the fourteenth adder is-Idpu；
When a receiving end main station of the direct current power grid with the stored energy normally operates, the-I of the fourteenth adderdpuAnd an output of the first energy storage power station control unit;
the input of the fifteenth adder is VdpuAnd an output of the seventh PI controller;
the input of the seventeenth adder is PrefAnd Q;
the eighteenth adder has an input of-IqpuAnd an output of the eighth PI controller;
the input of the nineteenth adder is VqpuAnd an output of the ninth PI controller;
the input of the third multiplier is IqpuA proportionality coefficient of Lpu；
The input of the fourth multiplier is IdpuA proportionality coefficient of Lpu；
The input of the second crystal oscillator is the frequency of a direct current power grid containing energy storage;
wherein, PrefmainFor the receiver master station power reference value, PmainIs the measured value of the power of the master station at the receiving end, VdpuIs a measured value of the d-axis of the AC voltage, IdpuFor measured value of d-axis of AC current, VqpuFor the measured value of the q-axis of the AC voltage, IqpuFor the actual value of Q-axis of AC current, QrefIs a reference value of reactive power, Q is a measured value of reactive power, LpuIs leakage reactance.
Generating a PWM pulse signal for controlling a current converter of a receiving end main station in a direct current power grid containing energy storage according to the running state of the receiving end main station of the direct current power grid containing energy storage, comprising the following steps:
and the receiving end master station control module generates a PWM pulse signal for controlling the receiving end master station current converter and controls the receiving end master station current converter by utilizing the PWM pulse signal.
The receiving end main station control module comprises:
a twenty-first adder, a tenth PI controller, a twenty-second adder, an eleventh PI controller, a twenty-third adder, a twenty-fourth adder, a twenty-fifth adder, a twelfth PI controller, a twenty-sixth adder, a twenty-seventh adder, a fifth multiplier, a sixth multiplier, a third crystal oscillator, and a third flip-flop;
the twenty-first adder, the tenth PI controller, the twenty-second adder, the eleventh PI controller, the twenty-third adder, the twenty-fourth adder, the third crystal oscillator and the third trigger are sequentially connected;
the twenty-fifth adder, the twelfth PI controller, the twenty-sixth adder, the twenty-seventh adder and the third trigger are connected in sequence;
the third crystal oscillator is connected to the third flip-flop;
the input of the twenty-first adder is Vdcrefand-Vdc；
The input of the twenty-second adder is-IdpuAnd an output of the tenth PI controller;
the input of the twenty-third adder is VdpuAnd an output of the eleventh PI controller;
the input of the twenty-fifth adder is-IqpuAnd a receiving end main station direct current voltage q-axis component;
the input of the twenty-sixth adder is VqpuAnd an output of the twelfth PI controller;
the input of the fifth multiplier is IqpuA proportionality coefficient of Lpu；
The input of the sixth multiplier is IdpuA proportionality coefficient of Lpu；
The input of the third crystal oscillator is the frequency of a direct current power grid containing energy storage;
wherein, VdcrefIs a reference value of DC voltage, VdcFor direct current compaction measurement, IdpuFor measured value of d-axis of AC current, VdpuIs a crossD-axis measured value of current voltage, VqpuFor the measured value of the q-axis of the AC voltage, IqpuFor the actual value of the q-axis of the AC current, LpuIs leakage reactance.
The PWM pulse signal for controlling the converter of the slave station at the receiving end in the direct current power grid containing the stored energy is generated according to the operation state of the direct current power grid containing the stored energy and the operation state of the master station at the receiving end in the direct current power grid containing the stored energy, and the converter of the slave station at the receiving end in the direct current power grid containing the stored energy is controlled by utilizing the PWM pulse signal, and the PWM pulse signal generation method comprises the following steps:
when a direct current power grid containing energy storage operates in a steady state, the receiving-end slave station control module generates a PWM pulse signal for controlling a current converter of the receiving-end slave station by using a second receiving-end slave station control unit and controls the current converter of the receiving-end slave station by using the PWM pulse signal;
when the power of a direct current power grid containing energy storage is unbalanced, the receiving-end slave station control module generates a PWM pulse signal for controlling a converter of the receiving-end slave station by using the first receiving-end slave station control unit and the second receiving-end slave station control unit, and controls the converter of the receiving-end slave station by using the PWM pulse signal;
when a receiving end master station of a direct current power grid with energy storage quits operation, the receiving end slave station control module generates a PWM pulse signal for controlling a current converter of the receiving end slave station by using droop control, and controls the current converter of the receiving end slave station by using the PWM pulse signal.
The first slave station control unit includes: a twenty-eighth adder and a proportional controller;
the twenty-eighth adder is connected with the proportional controller;
the input of the twenty-eighth adder is VdcrefAnd Vdc；
The second slave station control unit includes: a twenty-ninth adder, a thirteenth PI controller, a thirtieth adder, a fourteenth PI controller, a thirty-first adder, a thirty-second adder, a thirty-third adder, a fifteenth PI controller, a thirty-fourth adder, a sixteenth PI controller, a thirty-fifth adder, a thirty-sixth adder, a seventh multiplier, an eighth multiplier, a fourth crystal oscillator, and a fourth flip-flop;
the twenty-ninth adder, the thirteenth PI controller, the thirtieth adder, the fourteenth PI controller, the thirty-first adder, the thirty-second adder and the fourth trigger are connected in sequence;
the thirty-third adder, the fifteenth PI controller, the thirty-fourth adder, the sixteenth PI controller, the thirty-fifth adder, the thirty-sixth adder and the fourth trigger are connected in sequence;
the seventh multiplier is connected with the thirty-second adder;
the eighth multiplier is connected with the thirty-sixth adder;
the fourth crystal oscillator is connected with the fourth trigger;
when the direct current power grid with the stored energy runs in a steady state, the input of the twenty-ninth adder is-P and Pref；
When the power of the direct current power grid containing the stored energy is unbalanced, the input of the twenty-ninth adder is-P, PrefAnd an output quantity of the first slave station control unit;
the thirtieth adder has an input of-IdpuAnd an output of the thirteenth PI controller;
the input of the thirty-one adder is VdpuAnd an output of the fourteenth PI controller;
the input of the thirty-third adder is-QrefAnd Q;
the input of the thirty-fourth adder is-IqpuAnd an output of the fifteenth PI controller;
the input of the thirtieth acanthopanax adder is VqpuAnd an output of the sixteenth PI controller;
the input of the seventh multiplier is IdpuA proportionality coefficient of Lpu；
The input of the eighth multiplier is IdpuA proportionality coefficient of Lpu；
The input of the fourth crystal oscillator is the frequency of a direct current power grid containing energy storage;
wherein P is the measured value of the active power, PrefAs an active power reference value, IdpuFor measured value of d-axis of AC current, VdpuIs a d-axis measured value of AC voltage, VqpuFor the measured value of the q-axis of the AC voltage, IqpuFor the actual value of Q-axis of AC current, QrefIs a reference value of reactive power, Q is a measured value of reactive power, LpuIs leakage reactance.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.

Claims (15)

1. A coordinated control system for a dc grid with stored energy, the control system comprising:
the system comprises a sending end control module, an energy storage power station control module, a receiving end master station control module and a receiving end slave station control module;
the sending end control module is used for generating a PWM (pulse width modulation) pulse signal for controlling a sending end converter in the direct current power grid containing the stored energy according to the running state of the direct current power grid containing the stored energy and controlling the sending end converter in the direct current power grid system containing the stored energy by utilizing the PWM pulse signal;
the energy storage power station control module is used for generating a PWM (pulse-width modulation) pulse signal for controlling an energy storage power station converter in the direct-current power grid containing energy storage according to the operation state of a receiving end master station of the direct-current power grid containing the energy storage, and controlling the energy storage power station converter in the direct-current power grid containing the energy storage by utilizing the PWM pulse signal;
the receiving end master station control module is used for generating a PWM (pulse-width modulation) pulse signal for controlling a receiving end master station converter in a direct-current power grid containing energy storage according to the running state of the receiving end master station and controlling the receiving end master station converter in the direct-current power grid containing energy storage by utilizing the PWM pulse signal;
and the receiving-end slave station control module is used for generating a PWM pulse signal for controlling a converter of a receiving-end slave station in the direct-current power grid containing the stored energy according to the running state of the direct-current power grid containing the stored energy and the running state of the receiving-end master station in the direct-current power grid containing the stored energy, and controlling the converter of the receiving-end slave station in the direct-current power grid containing the stored energy by utilizing the PWM pulse signal.
2. The control system of claim 1, wherein the operating state of the energy-storing dc electrical network comprises: steady state operation and power imbalance operation;
the operation state of a receiving end main station of the direct current power grid with the energy storage comprises the following steps: and the receiving end master station operates normally and quits operating.
3. The control system of claim 1, wherein the send-end control module comprises: a first sending end control unit and a second sending end control unit;
when the direct current power grid with the stored energy runs in a steady state, the sending end control module generates a PWM pulse signal for controlling the sending end converter by using the second sending end control unit and controls the sending end converter by using the PWM pulse signal;
when the power of a direct current power grid containing stored energy is unbalanced, the sending end control module generates a PWM pulse signal for controlling the sending end converter by using the first sending end control unit and the second sending end control unit, and controls the sending end converter by using the PWM pulse signal.
4. The control system of claim 3, wherein the first sending-end control unit comprises: the system comprises a first adder, a first PI controller and a second adder;
the first adder, the first PI controller and the second adder are connected in sequence;
the input of the first adder is Vdclimitand-Vdc；
The second sending-end control unit includes:
the third adder, the fourth adder, the second PI controller, the fifth adder, the third PI controller, the sixth adder, the seventh adder, the eighth adder, the fourth PI controller, the ninth adder, the fifth PI controller, the tenth adder, the eleventh adder, the first multiplier, the second multiplier, the first crystal oscillator and the first trigger;
the third adder, the fourth adder, the second PI controller, the fifth adder, the third PI controller, the sixth adder, the seventh adder and the first trigger are sequentially connected;
the eighth adder, the fourth PI controller, the ninth adder, the fifth PI controller, the tenth adder, the eleventh adder and the first trigger are connected in sequence;
the first multiplier is connected with the seventh adder;
the second multiplier is connected with the eleventh adder;
the first crystal oscillator is connected with the first trigger;
when the direct current power grid containing the stored energy runs in a steady state, the input of the third adder is the d-axis component of the alternating current voltage on the wind field side;
when the power of the direct current power grid with the stored energy is unbalanced and the direct current voltage of the direct current power grid with the stored energy reaches a threshold value, the input of the third adder is the output quantity of the first sending end control unit and the d-axis component of the alternating current voltage on the wind farm side;
the input of the fourth adder is-VdpuAnd an output of the third adder;
the input of the fifth adder is-IdrefAnd an output of the second PI controller;
the input of the sixth adder is-Q and the output quantity of the third PI controller;
the input of the eighth adder is-VqpuA windfarm side alternating voltage q-axis component;
the input of the ninth adder is-IqpuAnd an output of the fourth PI controller;
of the tenth adderInput is VqpuAnd an output of the fifth PI controller;
the input of the first multiplier is IqpuA proportionality coefficient of Lpu；
The input of the second multiplier is IdpuA proportionality coefficient of Lpu；
The input of the first crystal oscillator is the frequency of a direct current power grid containing energy storage;
wherein, VdclimitIs a reference value of DC voltage at wind field side, VdcFor the direct current compaction measurement value, V, of the wind field sidedpuIs a measured value of the d-axis of the AC voltage, IdpuFor measured value of d-axis of AC current, VqpuFor the measured value of the q-axis of the AC voltage, IqpuFor the actual value of the q-axis of the AC current, LpuIs leakage reactance.
5. The control system of claim 1 wherein the energy storage plant control module comprises: the system comprises a first energy storage power station control unit and a second energy storage power station control unit;
when a receiving end main station of a direct current power grid containing energy storage quits operation, the energy storage power station control module generates a PWM pulse signal for controlling a transmitting end converter by using a second energy storage power station control unit and controls the energy storage power station converter by using the PWM pulse signal;
when a receiving end main station of a direct current power grid containing energy storage normally operates, the energy storage power station control module generates a PWM pulse signal for controlling an energy storage power station converter by using the first energy storage power station control unit and the second energy storage power station control unit, and controls the energy storage power station converter by using the pulse signal.
6. The control system of claim 5, characterized in that the first energy storage plant control unit comprises: a twelfth adder, a sixth PI controller, and a thirteenth adder;
the twelfth adder, the sixth PI controller and the thirteenth adder are connected in sequence;
the input of the twelfth adder is Prefmainand-Pmain；
The second energy storage power station control unit comprises: a fourteenth adder, a seventh PI controller, a fifteenth adder, a sixteenth adder, a seventeenth adder, an eighth PI controller, an eighteenth adder, a ninth PI controller, a nineteenth adder, a twentieth adder, a third multiplier, a fourth multiplier, a second crystal oscillator, and a second flip-flop;
the fourteenth adder, the seventh PI controller, the fifteenth adder, the sixteenth adder and the second trigger are connected in sequence;
the seventeenth adder, the eighth PI controller, the eighteenth adder, the ninth PI controller, the nineteenth adder, the twentieth adder and the second trigger are connected in sequence;
the third multiplier is connected with the sixteenth adder;
the fourth multiplier is connected with the twentieth adder;
the second crystal oscillator is connected with the second trigger;
when a receiving end main station of the direct current power grid with the stored energy quits operation, the input of the fourteenth adder is-Idpu；
When a receiving end main station of the direct current power grid with the stored energy normally operates, the-I of the fourteenth adderdpuAnd an output of the first energy storage power station control unit;
the input of the fifteenth adder is VdpuAnd an output of the seventh PI controller;
the input of the seventeenth adder is QrefAnd Q;
the eighteenth adder has an input of-IqpuAnd an output of the eighth PI controller;
the input of the nineteenth adder is VqpuAnd an output of the ninth PI controller;
the input of the third multiplier is IqpuA proportionality coefficient of Lpu；
The input of the fourth multiplier is IdpuA proportionality coefficient of Lpu；
The input of the second crystal oscillator is the frequency of a direct current power grid containing energy storage;
wherein, PrefmainFor the receiver master station power reference value, PmainIs the measured value of the power of the master station at the receiving end, VdpuIs a measured value of the d-axis of the AC voltage, IdpuFor measured value of d-axis of AC current, VqpuFor the measured value of the q-axis of the AC voltage, IqpuFor the actual value of Q-axis of AC current, QrefIs a reference value of reactive power, Q is a measured value of reactive power, LpuIs leakage reactance.
7. The control system of claim 1, wherein the slave-to-master station control module comprises:
a twenty-first adder, a tenth PI controller, a twenty-second adder, an eleventh PI controller, a twenty-third adder, a twenty-fourth adder, a twenty-fifth adder, a twelfth PI controller, a twenty-sixth adder, a twenty-seventh adder, a fifth multiplier, a sixth multiplier, a third crystal oscillator, and a third flip-flop;
the twenty-first adder, the tenth PI controller, the twenty-second adder, the eleventh PI controller, the twenty-third adder, the twenty-fourth adder, the third crystal oscillator and the third trigger are sequentially connected;
the twenty-fifth adder, the twelfth PI controller, the twenty-sixth adder, the twenty-seventh adder and the third trigger are connected in sequence;
the third crystal oscillator is connected to the third flip-flop;
the input of the twenty-first adder is Vdcrefand-Vdc；
The input of the twenty-second adder is-IdpuAnd an output of the tenth PI controller;
the input of the twenty-third adder is VdpuAnd an output of the eleventh PI controller;
the input of the twenty-fifth adder is-IqpuAnd receiving end masterA station dc voltage q-axis component;
the input of the twenty-sixth adder is VqpuAnd an output of the twelfth PI controller;
the input of the fifth multiplier is IqpuA proportionality coefficient of Lpu；
The input of the sixth multiplier is IdpuA proportionality coefficient of Lpu；
The input of the third crystal oscillator is the frequency of a direct current power grid containing energy storage;
wherein, VdcrefIs a reference value of DC voltage, VdcFor direct current compaction measurement, IdpuFor measured value of d-axis of AC current, VdpuIs a d-axis measured value of AC voltage, VqpuFor the measured value of the q-axis of the AC voltage, IqpuFor the actual value of the q-axis of the AC current, LpuIs leakage reactance.
8. The control system of claim 1, wherein the slave station control module comprises: the first receiving end slave station control unit and the second receiving end slave station control unit;
when the direct current power grid containing the energy storage operates in a steady state, the receiving-end slave station control module controls a receiving-end slave station converter by using a second receiving-end slave station control unit;
when the power of a direct current power grid containing energy storage is unbalanced, the receiving-end slave station control module controls a receiving-end slave station converter by using the first receiving-end slave station control unit and the second receiving-end slave station control unit;
when a receiving end master station of a direct current power grid with energy storage quits operation, the receiving end slave station control module generates a PWM pulse signal for controlling a current converter of the receiving end slave station by using droop control, and controls the current converter of the receiving end slave station by using the PWM pulse signal.
9. The control system of claim 8, wherein the first slave station control unit comprises: a twenty-eighth adder and a proportional controller;
the twenty-eighth adder is connected with the proportional controller;
the input of the twenty-eighth adder is VdcrefAnd Vdc；
The second slave station control unit includes: a twenty-ninth adder, a thirteenth PI controller, a thirtieth adder, a fourteenth PI controller, a thirty-first adder, a thirty-second adder, a thirty-third adder, a fifteenth PI controller, a thirty-fourth adder, a sixteenth PI controller, a thirty-fifth adder, a thirty-sixth adder, a seventh multiplier, an eighth multiplier, a fourth crystal oscillator, and a fourth flip-flop;
the twenty-ninth adder, the thirteenth PI controller, the thirtieth adder, the fourteenth PI controller, the thirty-first adder, the thirty-second adder and the fourth trigger are connected in sequence;
the thirty-third adder, the fifteenth PI controller, the thirty-fourth adder, the sixteenth PI controller, the thirty-fifth adder, the thirty-sixth adder and the fourth trigger are connected in sequence;
the seventh multiplier is connected with the thirty-second adder;
the eighth multiplier is connected with the thirty-sixth adder;
the fourth crystal oscillator is connected with the fourth trigger;
when the direct current power grid with the stored energy runs in a steady state, the input of the twenty-ninth adder is-P and Pref；
When the power of the direct current power grid containing the stored energy is unbalanced, the input of the twenty-ninth adder is-P, PrefAnd an output quantity of the first slave station control unit;
the thirtieth adder has an input of-IdpuAnd an output of the thirteenth PI controller;
the input of the thirty-one adder is VdpuAnd an output of the fourteenth PI controller;
the input of the thirty-third adder is-QrefAnd Q;
the input of the thirty-fourth adder is-IqpuAnd an output of the fifteenth PI controller;
the input of the thirtieth acanthopanax adder is VqpuAnd an output of the sixteenth PI controller;
the input of the seventh multiplier is IdpuA proportionality coefficient of Lpu；
The input of the eighth multiplier is IdpuA proportionality coefficient of Lpu；
The input of the fourth crystal oscillator is the frequency of a direct current power grid containing energy storage;
wherein, VdcrefIs a reference value of DC voltage, VdcIs a measured value of DC voltage, P is a measured value of active power, PrefAs an active power reference value, IdpuFor measured value of d-axis of AC current, VdpuIs a d-axis measured value of AC voltage, VqpuFor the measured value of the q-axis of the AC voltage, IqpuFor the actual value of Q-axis of AC current, QrefIs a reference value of reactive power, Q is a measured value of reactive power, LpuIs leakage reactance.
10. A coordination control method for a direct current power grid with energy storage is characterized by comprising the following steps:
acquiring the running state of a direct current power grid with stored energy and the running state of a receiving master station of the direct current power grid with stored energy;
generating a PWM pulse signal for controlling a sending end converter in the direct current power grid containing the stored energy according to the running state of the direct current power grid containing the stored energy, and controlling the sending end converter in the direct current power grid containing the stored energy by utilizing the PWM pulse signal;
generating a PWM pulse signal for controlling a converter of an energy storage power station in the direct current power grid containing the energy storage and a PWM pulse signal for controlling a converter of a receiving end main station in the direct current power grid containing the energy storage according to the operation state of the receiving end main station of the direct current power grid containing the energy storage, and controlling a corresponding converter in the direct current power grid containing the energy storage by utilizing the PWM pulse signals;
and generating a PWM pulse signal for controlling a converter of a slave station at a receiving end in the direct current power grid containing the stored energy according to the running state of the direct current power grid containing the stored energy and the running state of the master station at the receiving end in the direct current power grid containing the stored energy, and controlling the converter of the slave station at the receiving end in the direct current power grid containing the stored energy by utilizing the PWM pulse signal.
11. The method of claim 10, wherein the operating state of the energy-storage-containing dc power grid comprises: steady state operation and power imbalance operation;
the operation state of a receiving end main station of the direct current power grid with the energy storage comprises the following steps: and the receiving end master station operates normally and quits operating.
12. The method of claim 10, wherein generating a PWM pulse signal for controlling a sending end converter in the dc grid with the stored energy according to the operation state of the dc grid with the stored energy and using the PWM pulse signal to control the sending end converter in the dc grid with the stored energy comprises:
when the direct current power grid with the stored energy runs in a steady state, the sending end control module generates a PWM pulse signal for controlling the sending end converter by using the second sending end control unit and controls the sending end converter by using the PWM pulse signal;
when the power of a direct current power grid containing stored energy is unbalanced, the sending end control module generates a PWM pulse signal for controlling the sending end converter by using the first sending end control unit and the second sending end control unit, and controls the sending end converter by using the PWM pulse signal.
13. The method of claim 10, wherein generating the PWM pulse signal for controlling the inverter of the energy storage station in the energy storage dc power grid according to the operation state of the slave master station of the energy storage dc power grid comprises:
when a receiving end main station of a direct current power grid containing energy storage quits operation, the energy storage power station control module generates a PWM pulse signal for controlling an energy storage power station converter by using a second energy storage power station control unit and controls the energy storage power station converter by using the PWM pulse signal;
when a receiving end main station of a direct current power grid containing energy storage normally operates, the energy storage power station control module generates a PWM pulse signal for controlling an energy storage power station converter by using the first energy storage power station control unit and the second energy storage power station control unit, and controls the energy storage power station converter by using the PWM pulse signal.
14. The method of claim 10, wherein generating a PWM pulse signal for controlling an inverter of a slave master station in a dc grid including an energy storage based on an operating state of the slave master station in the dc grid including the energy storage comprises:
and the receiving end master station control module generates a PWM pulse signal for controlling the receiving end master station current converter and controls the receiving end master station current converter by utilizing the PWM pulse signal.
15. The method of claim 10, wherein generating a PWM pulse signal for controlling an inverter of a slave station in the dc grid including the stored energy based on the operating state of the dc grid including the stored energy and the operating state of the master station at the slave station in the dc grid including the stored energy, and using the PWM pulse signal to control the inverter of the slave station in the dc grid including the stored energy comprises:
when a direct current power grid containing energy storage operates in a steady state, the receiving-end slave station control module generates a PWM pulse signal for controlling a current converter of the receiving-end slave station by using a second receiving-end slave station control unit and controls the current converter of the receiving-end slave station by using the PWM pulse signal;
when the power of a direct current power grid containing energy storage is unbalanced, the receiving-end slave station control module generates a PWM pulse signal for controlling a converter of the receiving-end slave station by using the first receiving-end slave station control unit and the second receiving-end slave station control unit, and controls the converter of the receiving-end slave station by using the PWM pulse signal;
when a receiving end master station of a direct current power grid with energy storage quits operation, the receiving end slave station control module generates a PWM pulse signal for controlling a current converter of the receiving end slave station by using droop control, and controls the current converter of the receiving end slave station by using the PWM pulse signal.
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Citations (4)

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CN106786718A (en) * 2016-12-27 2017-05-31 全球能源互联网研究院 A kind of coordinated control system and method for many current conversion stations of dynamic analog platform
CN108448611A (en) * 2018-03-15 2018-08-24 华中科技大学 A kind of Power grid structure construction method for adapting to extensive new energy and sending outside

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102385654A (en) * 2011-10-25 2012-03-21 中国电力科学研究院 Electromechanical transient modeling method based on VSC (Voltage Source Converter) grid-connection photovoltaic power station and energy-storage power station
CN105552949A (en) * 2016-02-24 2016-05-04 西安交通大学 Voltage coordinated control method of DC power distribution network
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