CN111835028A - Microgrid inverter control method based on virtual synchronous generator - Google Patents
Microgrid inverter control method based on virtual synchronous generator Download PDFInfo
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- CN111835028A CN111835028A CN201910299287.5A CN201910299287A CN111835028A CN 111835028 A CN111835028 A CN 111835028A CN 201910299287 A CN201910299287 A CN 201910299287A CN 111835028 A CN111835028 A CN 111835028A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/381—Dispersed generators
Abstract
The invention discloses a microgrid inverter control method based on a virtual synchronous generator. In order to improve the adaptability of the virtual synchronous generator under different operating conditions, the method mainly comprises the following 3 steps: 1) by using a second-order model of the synchronous generator for reference, simulating the inertia and the damping of the synchronous generator, and providing a control structure and an implementation principle of the virtual synchronous generator; 2) aiming at the problem of uneven reactive power distribution in a multi-machine parallel system, a reactive power control method based on voltage compensation is provided; 3) in order to ensure that the virtual synchronous generator can be smoothly and seamlessly switched in a dual mode, a pre-synchronization control strategy is provided. The parallel connection and off-network dual-mode seamless switching of the virtual synchronous generators is realized while the parallel connection and the uniform division of the virtual synchronous generators are ensured. The inverter controlled by the virtual synchronous generator has the technical characteristics of rotational inertia, damping characteristic, frequency and voltage modulation characteristic and general grid connection and disconnection.
Description
Technical Field
The invention belongs to the field of smart power grids, and particularly relates to a microgrid inverter control method based on a virtual synchronous generator.
Background
With the increasing permeability of distributed power sources in power grids, the development of direct-current transmission engineering, the wide application of power electronic transformers, more and more converters applied to the power grids, and the increasing power electronization degree of power systems. Due to the intrinsic nature of the fast response of the power electronic device, the problems of inertia deficiency, damping reduction and the like of a power system occur, so that the safety margin of the power system is reduced. The virtual synchronous generator control technology enables the converter to simulate the electromechanical transient characteristics of the synchronous generator, and has the technical advantages of rotational inertia, damping characteristics, frequency modulation and voltage regulation characteristics and on-grid and off-grid general use. In a power system with a traditional unit in a dominant position, a many-current converter still needs to track a 'synchronous' power grid for a long time, and the research on the virtual synchronous generator technology has important practical significance.
The virtual synchronous generators have the output characteristic of a voltage source, so that a plurality of virtual synchronous generators are required to run in parallel in an independent microgrid to provide stable voltage and frequency support for loads, but the stable running of the microgrid can be damaged when the output power distribution of the conventional virtual synchronous generators is uneven and serious. The virtual synchronous generator has the characteristic of being universal for grid connection and disconnection, but in the grid connection process, an impulsive transient process can occur, and grid connection failure can be caused. Therefore, the invention provides a control method of the virtual synchronous generator of the inverter in the microgrid under different operating conditions by taking the control of the virtual synchronous generator as a research object.
Disclosure of Invention
The invention provides a control method of a virtual synchronous generator of an inverter in a micro-grid under different operation conditions, which has the following advantages:
1. the adaptability of the virtual synchronous generator under different operation conditions is improved.
2. The parallel connection and off-network dual-mode seamless switching of the virtual synchronous generators is realized while the parallel connection and the uniform division of the virtual synchronous generators are ensured.
In order to solve the technical problem, the invention provides a microgrid inverter control method based on a virtual synchronous generator, which comprises the following steps:
the method comprises the steps of firstly, simulating inertia and damping of the synchronous generator by using a second-order model of the synchronous generator, and providing a control structure and an implementation principle of the virtual synchronous generator.
And step two, aiming at the problem of uneven reactive power distribution in a multi-machine parallel system, providing a reactive power control method based on voltage compensation.
And step three, providing a presynchronization control strategy in order to ensure that the virtual synchronous generator can be smoothly and seamlessly switched in the dual mode.
Further, in the first step, the virtual synchronous generator control structure comprises four parts, namely a body model, a power frequency controller, an excitation controller and a double-loop control.
Further, in the first step, the basic control link of the virtual synchronous generator control strategy comprises a power outer ring and a bottom layer double ring, the power outer ring comprises the virtual synchronous generator body model, a power frequency controller and an excitation controller, and an inverter output voltage amplitude instruction and a phase angle instruction are obtained through a power calculation link and the whole power outer ring according to the inverter output voltage and current.
Further, in the first step, the output signal of the virtual synchronous generator control strategy stabilizes the voltage and current through the bottom layer control of a voltage and current double ring, and improves the output waveform of the virtual synchronous generator control strategy, wherein the voltage outer ring controls the stabilized voltage through PI and provides reference for a current ring, and the current inner ring controls the rapid current regulation through P.
Further, in the second step, according to the traditional droop control, the accurate distribution of the active power of the multi-inverter parallel system is performed on the premise that the frequency of the output voltage is equal, the accurate distribution of the reactive power is performed on the premise that the amplitude of the output voltage is equal, and the accurate distribution of the power of the multi-inverter parallel system is performed on the premise that an integral link 1/s is arranged in the P-f and Q-U droop controllers, so that the output of the active power and the reactive power is not influenced by the impedance of an equivalent circuit.
Further, in the second step, the active part constructs an integrator through a phase angle, and the accurate distribution of the active power is realized; and the traditional reactive droop control does not contain an integrator and does not have the capability of accurately distributing reactive power.
Furthermore, in the second step, an integral link is introduced from the voltage compensation electrical angle, and voltage amplitude reference is obtained by integrating deviation, so that a novel virtual synchronous generator reactive power control method is designed.
Further, in the third step, the off-grid adaptability of the microgrid inverter based on the control of the virtual synchronous generator and the problems of grid connection are analyzed, which shows that the grid connection process of the virtual synchronous generator is the key point of research, and a pre-synchronization control link needs to be added.
Further, in the third step, a frequency feedback integral link and a phase coincidence link are introduced into pre-synchronization control, phase coincidence is achieved for control of the q-axis component of the virtual synchronous generator output voltage power grid, corresponding implementation steps are given, and grid connection automation is achieved through a detection module.
Compared with the prior art, the invention has the remarkable advantages that: (1) the inverter controlled by the virtual synchronous generator has the technical characteristics of rotational inertia, damping characteristic, frequency and voltage modulation characteristic and general grid connection and disconnection; (2) the output reactive power of a conventional virtual synchronous generator is distributed unevenly, the stable operation of the microgrid can be damaged in serious cases, and the reactive power sharing can be realized by the existing improved reactive power control; (3) in the grid connection process of the conventional virtual synchronous generator, an impulsive transient process can occur, grid connection failure can be caused, and the added pre-synchronization link can realize seamless smooth grid connection.
Drawings
Fig. 1 is a flowchart of a microgrid inverter control method.
Fig. 2 is a diagram of a virtual synchronous generator control architecture of the present invention.
Fig. 3 is a block diagram of the parallel operation system of the present invention.
Fig. 4 is a diagram of an improved virtual synchronous generator control architecture of the present invention.
Fig. 5 is a vector diagram of the phase pre-synchronization process of the present invention.
FIG. 6 is a diagram of the presynchronization control of the present invention.
In the figure: the method comprises the following steps of 1, modeling of the virtual synchronous generator, 2, power equalization control of the virtual synchronous generator and 3, presynchronization control of the virtual synchronous generator.
Detailed Description
The invention provides a microgrid inverter control method based on a virtual synchronous generator, which comprises the following steps:
step one, simulating inertia and damping of the synchronous generator by using a second-order model of the synchronous generator, and giving a control structure of the virtual synchronous generator, as shown in fig. 2.
Step two, aiming at the problem of uneven reactive power distribution in a multi-machine parallel system, a reactive power control method based on voltage compensation is provided, as shown in fig. 3 and 4.
And step three, in order to ensure that the virtual synchronous generator can be smoothly and seamlessly switched in the dual mode, a pre-synchronization control strategy is given, as shown in fig. 5 and 6.
And fourthly, verifying the effectiveness of reactive power equipartition control and presynchronization control through MATLAB simulation.
Further, in the first step, by taking reference to an active and reactive power control method of the synchronous generator, the virtual synchronous generator control structure comprises four parts, namely a body model, a power frequency controller, an excitation controller and a double-loop control. The basic control link of the virtual synchronous generator control strategy adopted by the invention comprises a power outer ring and a bottom layer double ring. The power outer ring comprises the virtual synchronous generator body model, a power frequency controller and an excitation controller, and an inverter output voltage amplitude instruction and a phase angle instruction are obtained through a power calculation link and the whole power outer ring according to the inverter output voltage and current, wherein the formula (1) is shown.
In the formula, PmAnd PeMechanical power and electromagnetic power respectively; omega and omega0Respectively the synchronous angular speed and the rated angular speed of the virtual synchronous generator; j is moment of inertia; d is a damping coefficient; m is an active droop coefficient; prefRated active power for the virtual synchronous generator; n is a reactive droop coefficient; qrefRated reactive power for the virtual synchronous generator; and Q is the reactive power output by the virtual synchronous generator.
Wherein the electromagnetic power P of the virtual synchronous generatoreCalculated by the output voltage and the output current, the virtual mechanical power PmFrom rated active power PrefAnd the output delta P of the power frequency droop controller. Virtual synchronizationThe active part of the generator provides a voltage phase angle reference theta*The reactive part providing a voltage amplitude reference E*. Virtual synchronous generator internal potential amplitude E*From no-load potential E0And output E of reactive voltage droop controllerQAnd (4) forming.
The output signal of the virtual synchronous generator control strategy stabilizes the voltage and the current through the bottom layer control of the voltage and the current double rings, and the output waveform is improved. Wherein the voltage outer loop controls the stable voltage through PI and provides reference for the current loop, the current inner loop controls the rapid regulation current through P, and the control equation is
Ud *＝[(U*-Ud)Gu-Id]G1+E*(2)
Uq *＝[(0-Uq)Gu-Iq]Gi+0 (3)
In the formula (I), the compound is shown in the specification,
voltage command d, q-axis components, U, respectively, for dual-loop outputd、UqFor d, q-axis components of the output voltage of the virtual synchronous generator, Id、IqIs d, q-axis component of the inductor current, UdControlling a transfer function G for a voltage PIu＝Kup+Kui/S，GiControlling a transfer function G for a current Pi＝Kip。
According to the formula (1), the formula (2) and the formula (3), a virtual synchronous generator complete control schematic block diagram can be obtained, as shown in fig. 2.
Furthermore, in the second step, the condition that the inverter multi-machine parallel system realizes accurate power distribution is that an integral link is 1/s in the P-f and Q-U droop controllers, so that the output of active power and reactive power is not influenced by the impedance of an equivalent line. In which the active part passes the phase angle
And an integrator is constructed to realize accurate distribution of active power. As is conventionalThe reactive droop control does not comprise an integrator and does not have the capability of accurately distributing reactive power, so that an integral link is introduced from the voltage compensation electrical angle, the voltage amplitude reference is obtained by integrating the deviation, and a novel virtual synchronous generator reactive power control method is designed.
Because the low-pass filter of the power calculation link can cause a certain degree of lag, in order to accelerate the dynamic response of the system, a differential link is added into a droop control equation to obtain the following control equation:
in the formula, mdiAnd ndiThe differential droop coefficient of the ith virtual synchronous generator is obtained.
In order to realize reactive power control and inductive line impedance decoupling and solve the problem that a virtual synchronous generator outputs reactive power unreasonably due to line impedance mismatching, a reactive power control strategy based on voltage compensation is provided.
Modifying the voltage amplitude reference by compensating signal E when the voltage across the virtual synchronous generator deviates from the nominal value, i.e. changing E in equation (5)*Is E*+ E, then deviation
On the other hand, to introduce an integration element, the voltage amplitude is referenced EiCan be calculated by comparing the deviation Delta EiThe integral is obtained, and then the improved reactive power control is based on
In the formula: k is a radical of1Is an integral gain coefficient used for adjusting the dynamic response of the system; k is a radical of2、k3The proportional and integral coefficients of the deviation; u shapeniFor the rated value of the ith virtual synchronous generator voltage, UmiThe actual amplitude of the voltage of the ith virtual synchronous generator is obtained.
At steady state, the integrator input is zero, which can be obtained from equation (6)
Then by formula (7), formula (8)
Ei-niQi＝0 (9)
The virtual synchronous generators are used as voltage sources, and E of each virtual synchronous generator in a steady stateiIf the proportional integral adjustment signal is the same, then there is
n1Q1＝n2Q2＝…＝nxQx(10)
Therefore, the accurate distribution of the reactive power of the virtual synchronous generator is realized. Therefore, the improved virtual synchronous generator reactive power control method can avoid the problem of uneven reactive power distribution caused by line impedance mismatching while ensuring the stability of output voltage.
According to the formula (6), the improved virtual synchronous generator reactive power control equation is obtained
In the formula: k is a radical ofi＝k1ni；kpi＝k2/ni；kii＝k3/ni；kdi＝ndi/ni；
And (5) rated reactive power is set for the ith virtual synchronous generator.
The active power control adopts the traditional droop control method, and the structure of the improved virtual synchronous generator controller is shown in fig. 4. In reactive power control, the voltage link ensures the stability of output voltage through PI control; the reactive power link adjusts output through a proportional differential link to realize power equalization and provides voltage amplitude reference.
Further, in the third step, the virtual synchronous generator can realize smooth off-grid without adding extra control due to the existence of voltage source characteristics and inertia, the voltage amplitude and frequency of the virtual synchronous generator are different from those of the power grid due to active and reactive power regulation before grid connection, if a certain degree of impact current is generated during grid connection at the moment, a pre-synchronization link is required to be added, and the voltage amplitude, the frequency and the phase of the virtual synchronous generator are controlled to be synchronous with the power grid before grid connection.
The process of the virtual synchronous generator voltage phase tracking the grid voltage phase is shown in fig. 5. Network voltage UgRotate counterclockwise with an angular velocity of omegagOutput voltage U of virtual synchronous generatorcAlso in counterclockwise rotation, the angular velocity is ω. If controlled, the voltage of the power grid U is made to be equal togVirtual synchronous generator output voltage UcAnd the phase synchronization is completed after the superposition. Then the grid voltage is taken as the d-axis direction, and the anticlockwise direction of 90 degrees is taken as the q-axis direction, so that the grid voltage U is establishedgAs reference, rotate counterclockwise with angular velocity ωgD-q axis coordinate system. Will output the voltage U of the virtual synchronous generatorcMapping to the d-q axis coordinate system to obtain d and q axis components U'CdAnd U'CqAnd when the phase difference of the virtual synchronous generator voltage tracking grid voltage gradually decreases, the q-axis component U 'of the virtual synchronous generator voltage'CqIs also gradually decreasing, U 'if and only if the phase difference is reduced to 0'CqAlso 0. The core of the phase synchronization thus consists in controlling U'CqIs 0.
The specific control method is shown in fig. 6 as a phase angle adjustment dashed line box. Subtracting the q-axis component U 'of the virtual synchronous generator output voltage with reference to the grid voltage from the reference value 0'CqThe difference is fed to a PI regulator, the output of which is added to the angular velocity obtained by active control, and finallyAnd then obtaining a virtual synchronous generator phase angle instruction through integration. If U'CqIf the output voltage phase of the virtual synchronous generator is a negative value, the phase angle regulator outputs a positive value, the angular speed obtained by active control of the virtual synchronous generator is increased, and the output voltage of the virtual synchronous generator can catch up with the voltage of the power grid, so that the phase synchronization purpose is achieved.
In the aspect of frequency adjustment, in order to realize the virtual synchronous generator frequency no-difference tracking power grid, on the basis of the control of the original virtual synchronous generator, a damping D link in an active control motion equation is utilized, an integral feedback link is added, and the integral feedback link and the damping D form a PI controller. While D requires the frequency to be referenced to omegarCutting omega from rated frequencynConversion to grid frequency omegag. Therefore, the frequency tracking of the virtual synchronous generator can be ensured to be synchronous to the frequency of the power grid.
Similarly, in the aspect of voltage regulation, because the reactive voltage ring of the virtual synchronous generator algorithm of the invention is provided with the PI regulator, the voltage regulation without static difference can be realized, and only the voltage amplitude U is requiredrReference from nominal voltage UnSwitching to the grid voltage UgAnd the synchronization of the voltage amplitude can be realized.
By using the working principle of the synchronous generator quasi-synchronization parallel device for reference, the virtual synchronous generator pre-synchronization grid connection mainly comprises the following steps (the initial state of the virtual synchronous generator is omega)r＝ωn，Ur＝UnGrid-connected switches SW1, SW2 open):
1) presynchronization enabling signal is achieved, and frequency is referenced to omegarSwitch to omegagIntroducing a frequency feedback integration element (i.e. switching SW4 to omega)gOn side, close SW 1); this step aims to control the voltage frequency of the two to be equal.
2) Reference voltage amplitude to UrSwitching to Ug(i.e., throw switch SW3 to UgSide). This step aims to control the voltage amplitudes of the two to be equal.
3) A phase coincidence element is introduced (i.e., SW2 is closed). This step aims to control the phases of the two to be equal.
4)Detecting reference values 0 and U 'in real time in the steady state process of pre-synchronous control'CqIf the deviation is less than the threshold value U on average over 0.2sermsAnd then, the virtual synchronous generator is basically synchronous with the power grid, and the grid connection is allowed.
5) And cutting out a frequency feedback integration element and a phase coincidence element (namely, switching off SW1 and SW 2).
6) Let the frequency be related to omegarSwitching to omeganVoltage reference amplitude UrIs switched to Un(i.e., throw switch SW4 at ωnSide, SW3 thrown at UnSide).
Further, in the fourth step, aiming at power distribution, simulation is set to be that the active power control of the two virtual synchronous generators always adopts the traditional P-f droop control, the reactive power control adopts the traditional droop control to carry out contrastive analysis with the improved reactive power control provided by the chapter, and all droop control parameters are shown in table 1. When the simulation is started, the two virtual synchronous generators adopt improved reactive power control operation, and when t is 2s, the reactive power control is switched to traditional droop control. By Δ P ═ P1-nP2And Δ Q ═ Q1-nQ2Consider the power averaging where n is the capacity ratio and the smaller the absolute value of Δ P or Δ Q, the higher the power averaging.
Table 1 droop control parameter settings
Aiming at presynchronization control, the simulation is set as VSG load-carrying grid-connection, and the parameters are shown in Table 2
TABLE 2 System simulation parameters
The microgrid inverter control method based on the virtual synchronous generator ensures that the virtual synchronous generator is connected in parallel and evenly divided, realizes double-mode seamless switching of the virtual synchronous generator from the grid, and improves the running adaptability of the virtual synchronous generator under different working conditions.
Claims (6)
1. The microgrid inverter control method based on the virtual synchronous generator is characterized by comprising the following steps of:
the method comprises the following steps that firstly, a second-order model of the synchronous generator is used for reference, inertia and damping of the synchronous generator are simulated, and a control structure and an implementation principle of the virtual synchronous generator are given;
step two, aiming at the problem of uneven reactive power distribution in a multi-machine parallel system, a reactive power control method based on voltage compensation is provided;
and step three, providing a presynchronization control strategy in order to ensure that the virtual synchronous generator can be smoothly and seamlessly switched in the dual mode.
2. The virtual synchronous generator-based microgrid inverter control method as claimed in claim 1, wherein in the first step, the virtual synchronous generator control structure comprises four parts of a body model, a power frequency controller, an excitation controller and a double-loop control.
3. The virtual synchronous generator-based microgrid inverter control method as claimed in claim 1, wherein in the second step, starting from analyzing the parallel power of the virtual synchronous generators, determining a control target, and improving the traditional droop control, an improved reactive power control method is provided.
4. The virtual synchronous generator based microgrid inverter control method according to claim 1, characterized in that in the third step, the off-grid adaptability and grid-connection problems of the microgrid inverter based on the virtual synchronous generator control are analyzed, and a pre-synchronization control method is provided on the basis.
5. The virtual synchronous generator-based microgrid inverter control method as claimed in claim 3, characterized in that an active part constructs an integrator through a phase angle to realize accurate distribution of active power; the traditional reactive droop control does not contain an integrator and does not have the capability of accurately distributing reactive power, so that a new virtual synchronous generator reactive power control method is designed by introducing an integration link.
6. The virtual synchronous generator-based microgrid inverter control method as claimed in claim 4, characterized in that a frequency feedback integration link and a phase coincidence link are introduced in pre-synchronization control, the control of the q-axis component of the output voltage of the virtual synchronous generator and the grid is realized by phase coincidence, corresponding realization steps are given, and grid-connected automation is realized through a detection module.
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| CN113675871A (en) * | 2021-08-19 | 2021-11-19 | 天津大学 | Bilateral inertia damping simulation control system and method of flexible direct current transmission system |
| CN114243761A (en) * | 2021-11-25 | 2022-03-25 | 国网山东省电力公司烟台供电公司 | Control method and system for switching on-grid operation mode and off-grid operation mode of micro-grid vehicle |
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