CN111628491B - Direct current micro-grid improved droop control method based on line impedance detection - Google Patents
Direct current micro-grid improved droop control method based on line impedance detection Download PDFInfo
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Abstract
The invention discloses a direct current microgrid improved droop control method based on line impedance detection, which introduces a droop coefficient adjusting module and a voltage adjusting module into a traditional droop controller, wherein the droop coefficient adjusting module compares the difference of line impedance of each line impedance and a set reference line by using the accurate numerical value of each line impedance obtained by a line impedance detecting module, so as to compensate the droop coefficient of droop control of each original converter, overcome the influence of line impedance and realize equal output of each distributed power supply; the voltage regulation module compensates the output voltage to offset the bus voltage drop caused by the traditional droop control, so that the voltage stability of the system is maintained. According to the improved droop control method, the accurate value of the line impedance can be calculated only by detecting the existing electrical quantity of the system without additional hardware equipment, and the inherent contradiction that the accurate power distribution of the traditional droop control is difficult to be coordinated with the rated voltage maintenance of the bus is solved.
Description
Technical Field
The invention relates to the technical field of direct current micro-grids, in particular to a direct current micro-grid improved droop control method based on line impedance detection.
Background
In recent years, development of Distributed Generation (DG) technology represented by wind power Generation, photovoltaic cells, micro gas turbines, and the like has been a focus of attention. On the basis, the micro-grid is established to fully play the role of the DG, and meanwhile, the method is an effective way for improving the power supply reliability, improving the electric energy quality and ensuring the safe operation of the power grid. Compared with an alternating-current micro-grid, the direct-current micro-grid does not need to consider the problems of bus voltage phase and frequency stability, is simpler to control and has higher reliability; and at present, more and more new energy power generation modes, energy storage devices, loads and the like use direct current, so that energy conversion links are reduced, and the system efficiency is improved.
In a direct-current microgrid, direct-current voltage sources are connected to a common direct-current bus in a multi-purpose parallel connection mode, and in order to achieve balanced output of each converter, an existing control method mainly comprises master-slave control, droop control and the like. Compared with the master-slave control which depends on a high-speed communication technology, the droop control can achieve the purpose of distributing the current of each unit even under the condition of no communication, and therefore, the droop control is more suitable for a distributed direct-current micro-grid system. The too large droop coefficient introduced by the traditional droop control can cause the too large bus voltage drop and the too small coefficient, and the circuit impedance of the system circuit itself can cause the larger current difference between the parallel converters to form a circulating current. Thus, accurate power distribution and bus voltage maintenance rating are inherent contradictions of conventional droop control.
Disclosure of Invention
The invention aims to provide a direct current micro-grid improved droop control method based on line impedance detection aiming at the inherent contradiction problem between accurate power distribution and bus voltage maintenance rating existing in the traditional droop control;
the invention aims to solve the problems by the following technical scheme:
a direct current micro-grid improved droop control method based on line impedance detection is based on a multi-source direct current micro-grid system and is characterized in that: the multi-source direct current micro-grid system is provided with a line impedance detection module, a droop coefficient adjustment module and a voltage adjustment module; the circuit impedance detection module is used for obtaining a circuit impedance value of any one circuit on the multi-source direct current micro-grid system, and all impedance values obtained by the circuit impedance detection module are transmitted to the droop coefficient adjustment module to obtain a compensation droop coefficient of any one circuit; and superposing the compensation droop coefficient of a certain line and the corresponding voltage deviation value obtained by the voltage regulating module to the output voltage reference value of the distributed power supply on the multi-source direct current microgrid system corresponding to the line, and outputting the compensation voltage reference value of the distributed power supply corresponding to the line to the voltage and current control module so as to output a corresponding control instruction to the DC-DC converter corresponding to the distributed power supply.
The multi-source direct-current micro-grid system comprises n distributed power supplies, corresponding filters, a DC-DC converter, line impedance and an equivalent common load, wherein the distributed power supplies are mutually connected in parallel and are connected to a common direct-current bus through the corresponding DC-DC converter and the corresponding filters.
The process of the line impedance detection module for obtaining the line impedance value is as follows:
a1, respectively measuring output voltage V of a DC-DC converter corresponding to the ith distributed power supply on the multi-source direct-current micro-grid system oi And an output current I oi ；
A2, measuring common load R on multi-source direct current micro-grid system L Voltage V across bus ；
A3, calculating to obtain a line impedance value R of a line corresponding to the ith distributed power supply i ：
In the formula (1), R i And R linei All represent the line impedance value of the line corresponding to the ith distributed power supply.
The process of the droop coefficient adjustment module obtaining the compensation droop coefficient is as follows:
b1, using the line impedance value R of the line corresponding to the jth distributed power supply j Calculating to obtain a line impedance value R of a line corresponding to the ith distributed power supply for the reference impedance value i And a reference resistance value R j Between the impedance error dR i ：dR i ＝R i -R j ；
B2, impedance error dR i Droop factor R superimposed into droop controller for the ith distributed power connection's DC-DC converter di Obtaining a compensated droop coefficient R 'of the ith distributed power connected DC-DC converter' di ：R′ di ＝R di -dR i Sag factor R in the formula di Is a known value.
Compensating droop coefficient R 'in step B2' di According to the impedance error dR i The relationship with 0 includes the following three cases:
b21, when dR i When the current value is more than 0, the compensation droop coefficient R 'corresponding to the ith distributed power supply connected DC-DC converter' di ＝R di -|dR i |＝R di -(R i -R j )；
B22 when dR i If the current value is less than 0, the compensation droop coefficient R 'corresponding to the DC-DC converter connected with the ith distributed power supply' di ＝R di +|dR i |＝R di -(R i -R j ) (ii) a B23 when dR i And if =0, the compensation droop coefficient R 'corresponding to the DC-DC converter connected with the ith distributed power supply' di ＝R di 。
The corresponding voltage deviation value process obtained by the voltage regulating module is as follows:
c1, respectively measuring output voltage V of DC-DC converter corresponding to ith distributed power supply on multi-source direct current micro-grid system oi And calculating to obtain the average value of the output voltage
C2, according to the average value of the output voltage
Output voltage V of DC-DC converter corresponding to ith distributed power supply oi Obtaining the output voltage V of the DC-DC converter corresponding to the ith distributed power supply oi Voltage deviation value dV of i ：
C3, utilizing the voltage current control module to control each voltage deviation value dV i Superimposed to the output voltage reference value V of the ith distributed power supply dci * Obtaining a compensation voltage reference value of the ith distributed power supply
Reference value V of output voltage of ith distributed power supply in expression (3) dci * Is a known value.
The voltage current control module is a PI regulator.
Compared with the prior art, the invention has the following advantages:
the improved droop control method introduces a droop coefficient adjusting module and a voltage adjusting module into the traditional droop controller, the droop coefficient adjusting module compares the difference of the line impedance of each line and the set line impedance of a reference line by using the accurate numerical value of each line impedance obtained by the line impedance detecting module, and further compensates the droop coefficient of the droop control of each original converter, so that the influence of the line impedance can be overcome, the output impedance of each converter tends to be consistent, and the equal output of each distributed power supply is realized; the voltage regulating module is used for regulating the output voltage of each converter by taking the difference value between the output voltage of each converter and the average value of the output voltage as a regulating quantity so as to offset bus voltage drop caused by the traditional droop control and integrally raise the voltage value of the common direct current bus, thereby maintaining the voltage stability of the system; according to the improved droop control method, additional hardware equipment is not needed, only existing equipment in the system is used for detecting some electrical quantities of the system, the accurate value of the line impedance can be calculated, the inherent contradiction that the power accurate distribution of the traditional droop control is difficult to coordinate with the bus voltage maintaining rating is solved, and the improved droop control method has good dynamic response performance.
Drawings
Fig. 1 is a schematic diagram of a method for controlling improved droop of a direct current microgrid based on line impedance detection according to the present invention;
FIG. 2 is a structural diagram of a multi-source DC microgrid system according to the present invention;
FIG. 3 is an equivalent circuit diagram of the multi-source DC microgrid system of the present invention;
fig. 4 is a circuit impedance simulation diagram of the distributed power supply DG1 detected by the circuit impedance detection module of the present invention;
fig. 5 is a simulation diagram of the line impedance of the distributed power supply DG2 detected by the line impedance detection module according to the present invention;
fig. 6 is a graph comparing the output power of a DC-DC converter in the conventional droop control with the improved droop control method for the DC microgrid based on line impedance detection according to the present invention;
fig. 7 is a comparison graph of the voltage of the common dc bus of the conventional droop control and the improved droop control method for the dc microgrid based on line impedance detection according to the present invention;
fig. 8 is a circuit impedance simulation diagram of the distributed power supply DG1 detected by the circuit impedance detection module according to the present invention under the condition of hot plugging;
fig. 9 is a line impedance simulation diagram of the distributed power supply DG2 detected by the line impedance detection module according to the present invention under the condition of hot plugging;
fig. 10 is a circuit impedance simulation diagram of the distributed power supply DG3 detected by the circuit impedance detection module according to the present invention under the condition of hot plugging;
fig. 11 is an output power simulation diagram of the direct current microgrid improved droop control method based on line impedance detection in the hot plug condition.
Detailed Description
The invention is further described with reference to the following figures and examples.
As shown in fig. 1, fig. 2 and fig. 3, an improved droop control method for a direct current microgrid based on line impedance detection is based on a multi-source direct current microgrid system which comprises n distributed power supplies and corresponding filters, DC-DC converters, line impedances and equivalent common loads R L The distributed power supplies are connected in parallel with each other and connected to a common direct current bus via corresponding DC-DC converters and filters. The multi-source direct current micro-grid system is provided with a line impedance detection module, a droop coefficient adjustment module and a voltage adjustment module; the line impedance detection module is used for obtaining the line impedance value of any line on the multi-source direct current micro-grid system and detecting the line impedance valueAll the impedance values obtained by the detection module are transmitted to the droop coefficient adjustment module to obtain the compensation droop coefficient of any line; and superposing the compensation droop coefficient of a certain line and the corresponding voltage deviation value obtained by the voltage regulating module to the output voltage reference value of the distributed power supply on the multi-source direct current micro-grid system corresponding to the line, and outputting the compensation voltage reference value of the distributed power supply corresponding to the line to the voltage and current control module so as to output a corresponding control instruction to the DC-DC converter corresponding to the distributed power supply.
As shown in fig. 1, the basic operating principle of the method for controlling droop in a dc micro-grid based on line impedance detection according to the present invention is as follows:
a line impedance detection module is adopted to respectively measure the output voltage V of the DC-DC converter corresponding to the ith distributed power supply on the multi-source direct current micro-grid system oi And an output current I oi And measuring the common load R on the multi-source DC micro-grid system L Voltage V across bus And calculating to obtain the line impedance value of the line corresponding to the ith distributed power supply
A droop coefficient adjusting module is adopted to adjust the line impedance value R of the line corresponding to the jth distributed power supply j Calculating to obtain a line impedance value R of a line corresponding to the ith distributed power supply for the reference impedance value i And a reference resistance value R j Between the impedance error dR i ＝R i -R j Will impedance error dR i Droop factor R superimposed into droop controller for the ith distributed power connection's DC-DC converter di Obtaining a compensation droop coefficient R 'of the ith distributed power supply connected DC-DC converter' di ＝R di -dR i Sag factor R in the formula di Is a known value.
A voltage regulation module is adopted to respectively measure the output voltage V of the DC-DC converter corresponding to the ith distributed power supply on the multi-source DC micro-grid system oi And calculateObtaining an average value of the output voltage
The output voltage V of the DC-DC converter corresponding to the ith distributed power supply is obtained through calculation oi Is greater than or equal to>
Using PI regulator to deviate voltage values dV i Superimposed to the output voltage reference value V of the ith distributed power supply dci * In the above, a compensation voltage reference value ≥ is obtained for the ith distributed power supply>
The improved droop control method provided by the invention is subjected to simulation verification under MATLAB/Simulink in combination with a specific example.
The invention verifies the effectiveness of the improved droop control method by using two Distributed Generation (DG) parallel direct current systems.
According to the above analysis, the droop coefficient adjustment module and the voltage adjustment module are introduced into the conventional droop controller of each converter, and the expression of the improved droop controller is as follows:
the first DC-DC converter is:
wherein R' d1 ＝R d1 -(R 1 -R 2 )，
The second DC-DC converter is as follows:
wherein R' d2 ＝R d2 -(R 2 -R 1 )，
The simulation parameters of the system are as follows:
TABLE 1 parameters for simulation of the System
Example comparison of a conventional droop control method with the improved droop control method of the present invention
As shown in fig. 4 and 5, by using the method for improving droop control of the direct current microgrid based on line impedance detection of the present invention, the error between the line impedance detection value and the set value of the two distributed power supplies is 0.00000001, and the overall measurement effect is very accurate. It can be seen that the improved droop control method of the present invention can accurately detect the line impedance of each distributed power supply.
As shown in fig. 6 and 7, at 0s, the system inputs the first distributed power source DG1 and the second distributed power source DG2, and it is seen that the output powers of the two distributed power sources are unequal, the deviation is large, and the voltage drop of the common dc bus is large by using the conventional droop control method. In 2s, a direct current micro-grid improved droop control method based on line impedance detection is introduced, and after about 0.3s, it can be seen that the output power of the two distributed power supplies tends to be consistent, the voltage drop of the common direct current bus is obviously improved, and the dynamic response is good. It can be seen that the improved droop control method of the present invention can effectively alleviate the contradiction between the power distribution accuracy and the voltage drop.
Example two effects of the improved droop control method of the present invention in case of hot-plug
As shown in fig. 8, 9, and 10, by using the method for controlling the droop in the dc microgrid based on the line impedance detection of the present invention, at 0s, the system inputs the first distributed power source DG1, the second distributed power source DG2, and the third distributed power source DG3, and the calculated impedance value of each line is substantially consistent with the set value. At time 3s, distributed power supply No. three DG3When the system exits, the measured line impedance values of the first distributed power supply DG1 and the second distributed power supply DG2 are basically kept unchanged, and the measured line impedance value of the third distributed power supply DG3 is mutated to 3 × 10 5 Ω, the line impedance may be equivalent to infinity. Therefore, the direct current micro-grid improved droop control method based on line impedance detection can be effectively suitable for hot plug conditions.
As shown in fig. 11, at 0s, the system puts in the first distributed power supply DG1, the second distributed power supply DG2, and the third distributed power supply DG3, and it is seen that the output powers of the three distributed power supplies are not equal and the deviation is large by adopting the conventional droop control. At 1s, the improved droop control method of the direct current micro-grid based on line impedance detection provided by the invention is introduced into the system, and after about 0.3s, the three distributed power supplies can uniformly output power and share the common load together. And when the power is 2s, the third distributed power supply DG3 quits the system, the output power of the third distributed power supply DG3 is reduced to 0, and the rest two distributed power supplies share the common load and have the same output power. Namely, the direct current micro-grid improved droop control method based on line impedance detection can be well applied to the hot plug condition.
The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention cannot be limited thereby, and any modification made on the basis of the technical scheme according to the technical idea proposed by the present invention falls within the protection scope of the present invention; the technology not related to the invention can be realized by the prior art.
Claims (4)
1. A direct current micro-grid improved droop control method based on line impedance detection is based on a multi-source direct current micro-grid system and is characterized in that: the multi-source direct current micro-grid system is provided with a line impedance detection module, a droop coefficient adjustment module and a voltage adjustment module; the circuit impedance detection module is used for obtaining a circuit impedance value of any one circuit on the multi-source direct current micro-grid system, and all impedance values obtained by the circuit impedance detection module are transmitted to the droop coefficient adjustment module to obtain a compensation droop coefficient of any one circuit; superposing a compensation droop coefficient of a certain line and a corresponding voltage deviation value obtained by a voltage regulating module to an output voltage reference value of a distributed power supply on a multi-source direct current micro-grid system corresponding to the line, obtaining a compensation voltage reference value of the distributed power supply corresponding to the line, and outputting the compensation voltage reference value to a voltage and current control module so as to output a corresponding control instruction to a DC-DC converter corresponding to the distributed power supply;
the process of the droop coefficient adjusting module for obtaining the compensation droop coefficient is as follows:
b1, using the line impedance value R of the line corresponding to the jth distributed power supply j Calculating to obtain a line impedance value R of a line corresponding to the ith distributed power supply for the reference impedance value i And a reference resistance value R j Between the impedance error dR i ：dR i ＝R i -R j ；
B2, reducing the impedance error dR i Droop factor R superimposed into droop controller for the ith distributed power connection's DC-DC converter di Obtaining the compensation droop coefficient R of the ith distributed power supply connected DC-DC converter d ′ i ：R d ′ i ＝R di -dR i Sag factor R in the formula di Is a known value;
compensating for the droop coefficient R in step B2 d ′ i According to the impedance error dR i The relationship with 0 includes the following three cases:
b21, when dR i When the current value is more than 0, the compensation droop coefficient R corresponding to the DC-DC converter connected with the ith distributed power supply d ′ i ＝R di -|dR i |＝R di -(R i -R j )；
B22 when dR i If the current value is less than 0, the compensation droop coefficient R corresponding to the DC-DC converter connected with the ith distributed power supply d ′ i ＝R di +|dR i |＝R di -(R i -R j )；
B23, when dR i If =0, the compensation droop coefficient R corresponding to the DC-DC converter connected to the ith distributed power supply d ′ i ＝R di (ii) a The corresponding voltage deviation value process obtained by the voltage regulating module is as follows:
c1, respectively measuring output voltage V of DC-DC converter corresponding to ith distributed power supply on multi-source direct current micro-grid system oi And calculating to obtain the average value of the output voltage
C2, according to the average value of the output voltage
Output voltage V of DC-DC converter corresponding to ith distributed power supply oi Obtaining the output voltage V of the DC-DC converter corresponding to the ith distributed power supply oi Voltage deviation value dV of i ：
C3, utilizing the voltage current control module to control each voltage deviation value dV i Superimposed to the output voltage reference value V of the ith distributed power supply dci * Obtaining a compensation voltage reference value of the ith distributed power supply
Reference value V of output voltage of ith distributed power supply in expression (3) dci * Is a known value.
2. The line impedance detection-based direct current microgrid improved droop control method of claim 1, characterized in that: the multi-source direct-current micro-grid system comprises n distributed power supplies, corresponding filters, a DC-DC converter, line impedance and an equivalent common load, wherein the distributed power supplies are mutually connected in parallel and are connected to a common direct-current bus through the corresponding DC-DC converter and the corresponding filters.
3. The method for improving the droop control of the direct current microgrid based on the line impedance detection of claim 1 or 2, characterized in that: the process of the line impedance detection module for obtaining the line impedance value is as follows:
a1, respectively measuring output voltage V of DC-DC converter corresponding to ith distributed power supply on multi-source direct current micro-grid system oi And an output current I oi ；
A2, measuring common load R on the multi-source direct current micro-grid system L Voltage V across bus ；
A3, calculating to obtain a line impedance value R of a line corresponding to the ith distributed power supply i ：
In the formula (1), R i And R linei All represent the line impedance value of the line corresponding to the ith distributed power supply.
4. The line impedance detection-based direct current microgrid improved droop control method of claim 1, characterized in that: the voltage current control module is a PI regulator.
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