CN111900750B - Virtual synchronous machine control method based on two-stage energy storage converter system - Google Patents

Virtual synchronous machine control method based on two-stage energy storage converter system Download PDF

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CN111900750B
CN111900750B CN202010555271.9A CN202010555271A CN111900750B CN 111900750 B CN111900750 B CN 111900750B CN 202010555271 A CN202010555271 A CN 202010555271A CN 111900750 B CN111900750 B CN 111900750B
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converter
value
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direct current
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CN111900750A (en
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王跃
刘永慧
徐何凡
刘航
彭阳
李菀茹
余鹏
舒思睿
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Xian Jiaotong University
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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
    • H02J3/32—Arrangements for balancing of the load in a network by storage of energy using batteries with converting means
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/0067—Converter structures employing plural converter units, other than for parallel operation of the units on a single load

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Abstract

The invention discloses a virtual synchronous machine control method based on a two-stage energy storage converter system, wherein a preceding stage battery side converter in the two-stage energy storage converter system based on the method is a direct current-direct current converter, a rear stage power grid side converter is an inverter, and the two-stage converter is controlled by adopting a coordination control strategy to realize the simulation of the characteristics of a synchronous generator; the inverter realizes inertia control and reactive droop control, and the direct current-direct current converter realizes active droop control and direct current voltage deviation control. The invention reduces the impact on the energy storage battery when responding to the power fluctuation of the power grid side, and avoids the problem that the power grid frequency which is difficult to accurately obtain under the condition of high integration level of new energy is measured.

Description

Virtual synchronous machine control method based on two-stage energy storage converter system
Technical Field
The invention belongs to the technical field of energy storage and microgrid control, and particularly relates to a virtual synchronous machine control method based on a two-stage energy storage converter system.
Background
With the continuous increase of new grid-connected energy, the inertia and the stability of the power system are continuously reduced. To improve this situation, more and more energy storage batteries are connected to the grid through a Power Conversion System (PCS). In order to improve the adaptability to batteries with different voltage levels, a PCS generally adopts a two-stage topology, a direct current-direct current converter is adopted at the front stage to keep the voltage of a direct current capacitor constant, and a rear-stage inverter provides support for a power grid. In this case, the battery is forced to charge and discharge rapidly and frequently in order to respond to the grid-side power disturbance, which presents a significant challenge to the heat dissipation and lifetime of the battery. In order to effectively reduce the variation amplitude of the battery current when the energy storage system responds to the power grid disturbance and prolong the service life of the battery, other circuit components must participate in the frequency modulation process of the power grid, and potential auxiliary services must be fully mined to provide inertial support for the power grid so as to share the energy variation of the battery.
In fact, dc capacitors also have inertia. The capacitor is used for sharing the inertia support task of the power grid, and the charging and discharging depth of the energy storage battery can be effectively reduced. By analogy with the kinetic energy of the rotor of the synchronous generator, the electric energy stored by the direct current capacitor can also provide inertial support similar to the rotational inertia of the rotor of the synchronous generator for the power grid.
Some documents propose that in the control of a grid-connected inverter, the change of the grid frequency can be detected, multiplied by a proportionality coefficient and then introduced to a direct-current voltage command, or multiplied by a proportionality coefficient and then introduced to a direct-current voltage command, then the obtained direct-current voltage command value is used for making a difference with the measured actual direct-current voltage value, the closed-loop control of the direct-current voltage is realized through PI control, and meanwhile, a droop support or an inertia support is provided for the grid. However, this control strategy is only applicable to current-controlled converters. In these cases, a voltage control type converter is used, and the frequency of the converter is not the input but the output of the control loop, so the method of making the capacitor provide droop support or inertial support in the current control type scheme is not suitable for such a mode. In a voltage control type two-stage energy storage converter which can be connected to a weak power grid or operated in an isolated island, a new control strategy needs to be provided, and inertia support is provided for the power grid through a direct current capacitor.
Disclosure of Invention
The invention aims to provide a virtual synchronous machine control method based on a two-stage energy storage converter system, aiming at the purpose of reducing the change amplitude of battery current when an energy storage system responds to power grid disturbance so as to prolong the service life of a battery.
The invention is realized by the following technical scheme:
the virtual synchronous machine control method based on the two-stage energy storage converter system adopts a two-stage converter, a front-stage battery side converter is a direct current-direct current converter, a rear-stage power grid side converter is an inverter, and the two-stage converter adopts a coordination control strategy to control so as to realize the simulation of the characteristics of a synchronous generator;
the inverter realizes inertia control and reactive droop control, and the direct current-direct current converter realizes active droop control and direct current voltage deviation control; the inverter adjusts the output frequency through inertia control, and adjusts the amplitude of alternating voltage through reactive droop control; the direct current-direct current converter realizes the frequency modulation function of active droop control through direct current capacitor voltage proportion control, and ensures that the direct current capacitor voltage does not exceed the allowable upper limit value and lower limit value through direct current voltage deviation control.
The invention further improves that the inverter realizes the specific steps of inertia control and reactive droop control as follows:
the inertia control is realized by measuring the voltage of the DC capacitor with its rated value UdcPerforming difference to obtain a direct current capacitor voltage change value, and multiplying the direct current capacitor voltage change value by a rotor inertia simulation control parameter MvirReciprocal 1/M ofvirObtaining an angular frequency change value delta omega input into a power grid by an inverter; then, the value of delta omega is compared with the angular frequency nominal value omegasAdding to obtain angular frequency omega input to the power grid by the inverter, and integrating omega to obtain a voltage phase theta input to the power grid by the inverter;
the reactive droop control method comprises the steps of obtaining a reactive power deviation value by subtracting a reactive power instruction value and a reactive power measured value output by an inverter; multiplying the reactive power deviation value by a reactive droop coefficient kQObtaining the amplitude adjustment quantity delta E of the AC voltage of the inverter, and then calculating the delta E and the voltage instruction value ErefAnd adding to obtain the amplitude E of the alternating voltage of the inverter.
The invention is further improved in that the phase theta obtained by inertia control and the voltage amplitude E obtained by reactive droop control form the modulation voltage of the inverter, and the inverter switching tube driving signal is obtained after modulation.
The invention is further improved in that the inertia simulation control parameter MvirSatisfies the following formula
Figure BDA0002544066510000031
In the formula of UdcRepresenting the voltage rating, η, of the DC capacitoruRepresenting the allowable fluctuation of the DC capacitor voltage in the rated value U of the DC capacitor voltagedcOf (d) ofωRepresenting allowable fluctuation of grid angular frequency to account for grid angular frequency nominal value omegasThe ratio of (a) to (b).
The invention has the further improvement that the DC-DC converter realizes the active droop control and the DC voltage deviation control by the following specific steps:
active droop control is achieved by setting the rated value U of the DC capacitor voltagedcMaking a difference with the measured value of the direct current capacitor voltage to obtain a direct current capacitor voltage deviation value; multiplying the voltage deviation value of the DC capacitor by the voltage proportional control parameter k of the DC-DC converteri_batObtaining a DC current command value Iref1；
The DC voltage deviation is controlled by limiting the DC capacitor voltage to an upper limit UupThe difference between the direct current and the direct current capacitor voltage is limited by the result of the calculation of the PI controller to obtain a direct current instruction correction value Iref2The upper limit value is 0 and the lower limit value is-Ilimit(ii) a By limiting the voltage of the DC capacitor to a lower limit UdownThe difference between the direct current and the direct current capacitor voltage is limited by the result of the calculation of the PI controller to obtain a direct current instruction correction value Iref3With an upper limit value of IlimitThe lower limit is 0;
by means of Iref2、Iref3And Iref1Adding to obtain a corrected DC command value Iref(ii) a Calculating a corrected current command value IrefAnd the deviation is calculated through PI control, the output of the PI control calculation is used as a modulation signal of the DC-DC converter, and the modulation signal is processed through a PWM modulator to obtain the DC-DC converterThe switching control signals of the converter switching network are further used to drive the switching network of the dc-dc converter.
A further improvement of the invention is that when the DC-DC converter is a Buck converter, k isi_batSatisfies the following formula
Figure BDA0002544066510000032
When the DC-DC converter is a Boost converter, ki_batSatisfies the following formula
Figure BDA0002544066510000033
In the formula, kωRepresents the active-frequency droop coefficient; u shapebatRepresenting the battery voltage.
The invention further improves that Uup、UdownSatisfies the following formula:
Uup＝(1+ηu)Udc (4)
Udown＝(1-ηu)Udc (5)
in the formula of UdcRepresenting the voltage rating, η, of the DC capacitoruRepresenting the allowable fluctuation of the DC capacitor voltage in the rated value U of the DC capacitor voltagedcThe ratio of (a) to (b).
Compared with the prior art, the invention has at least the following beneficial technical effects:
the invention provides a virtual synchronous machine control method based on a two-stage energy storage converter system, wherein the two-stage energy storage converter system based on two-stage coordination control adopts a two-stage converter, a front-stage battery side converter is a direct current-direct current converter, a rear-stage power grid side converter is an inverter, and the two-stage converter is controlled by adopting a coordination control strategy to realize the simulation of the characteristics of a synchronous generator. The inverter realizes inertia control and reactive droop control, and the direct current-direct current converter realizes active droop control and direct current voltage deviation control. The inverter inertia controls the output frequency, and the reactive droop control obtains the amplitude of the alternating voltage of the inverter through reactive power deviation and subsequent calculation. The direct current-direct current converter realizes the frequency modulation function of active droop control through direct current capacitor voltage proportion control, the direct current voltage deviation control obtains the correction value of the direct current instruction value, and then the direct current-direct current converter modulation signal is obtained by utilizing the result of the corrected direct current instruction value through current loop calculation. The invention effectively reduces the variation amplitude of the battery current when the energy storage system responds to the power grid disturbance, and prolongs the service life of the battery. The invention avoids the problem that the power grid frequency which is difficult to accurately obtain under the condition of high integration level of new energy is measured, and can be used on a voltage control type converter with the frequency of the converter not being input but output of a control loop. The invention is simple to realize, avoids introducing a differential operator which is necessary for measuring frequency deviation and obtaining inertia support through calculation in the prior art, and avoids introducing high-frequency oscillation.
Drawings
Fig. 1 is a schematic diagram of a two-stage coordinated controlled energy storage converter system.
Fig. 2 is a DC/AC inverter control block diagram.
Fig. 3 is a control block diagram of the dc-dc converter.
FIG. 4 is a verification result of an embodiment during power grid frequency disturbance-comparing waveforms of the present invention and a conventional VSG strategy; wherein, fig. 4(a) is a response waveform of different physical quantities of the present invention when the grid frequency is disturbed; fig. 4(b) is a response waveform of different physical quantities of the conventional VSG strategy at the time of grid frequency disturbance.
FIG. 5 is the verification result of the embodiment during the phase dip of the power grid-comparing the waveforms of the present invention and the conventional VSG strategy; fig. 5(a) is a response waveform of different physical quantities of the present invention when the phase of the power grid suddenly drops; fig. 5(b) is a response waveform of different physical quantities of the conventional VSG strategy at the time of grid phase dip.
Detailed Description
The present invention will now be described in further detail with reference to the attached drawings, which are illustrative, but not limiting, of the present invention.
The energy storage converter system adopting two-stage coordination control adopts a two-stage converter, the structural schematic diagram of the energy storage converter system is shown in figure 1, a front-stage battery side converter is a direct current-direct current converter, a rear-stage power grid side converter is an inverter, and the two-stage converter adopts a coordination control strategy to control so as to realize the simulation of the characteristics of a synchronous generator. The inverter realizes inertia control and reactive droop control, and the direct current-direct current converter realizes active droop control and direct current voltage deviation control.
The invention provides a virtual synchronous machine control method based on a two-stage energy storage converter system, which comprises the following steps:
1. the method for realizing the inertia control and the reactive droop control for the inverter comprises the following steps as shown in figure 2:
1) the inertia control is realized by measuring the voltage of the DC capacitor with its rated value UdcPerforming difference to obtain a direct current capacitor voltage change value, and multiplying the direct current capacitor voltage change value by a rotor inertia simulation control parameter MvirReciprocal 1/M ofvirObtaining a frequency angle change value delta omega input into a power grid by an inverter;
2) relating Δ ω to a frequency angle rating ωsAdding to obtain angular frequency omega input into the power grid by the inverter, and integrating omega to obtain phase theta input into the power grid by the inverter;
3) the reactive droop control obtains the reactive power deviation by measuring the reactive power command and the deviation of the reactive power output by the inverter;
4) multiplying the reactive power deviation value by a reactive droop coefficient kQObtaining the amplitude adjustment quantity delta E of the AC voltage of the inverter, and then obtaining the delta E and the amplitude instruction value E of the AC voltagerefAdding to obtain an inverter alternating voltage amplitude E;
5) and obtaining the modulation voltage of the inverter according to the voltage amplitude E and the phase theta, and obtaining a driving signal of a switching tube of the inverter after modulation.
3. For the dc-dc converter, active droop control and dc voltage deviation control are implemented, as shown in fig. 3, including the following steps:
1) active droop control is achieved by setting the rated value U of the DC capacitor voltagedcSubtracting the measured value of the DC capacitor voltage to obtain a DC capacitor voltage deviation value, and comparing the DC capacitor voltage deviation value with the measured value of the DC capacitor voltageMultiplying voltage proportional control parameter k of DC-DC converter by voltage deviation value of DC capacitori_batObtaining a DC current command value Iref1；
2) The DC voltage deviation is controlled by limiting the DC capacitor voltage to an upper limit UupThe difference between the direct current and the direct current capacitor voltage is limited by the result of the calculation of the PI controller to obtain a direct current instruction correction value Iref2The upper limit value is 0 and the lower limit value is-Ilimit(ii) a By limiting the voltage of the DC capacitor to a lower limit UdownThe difference between the direct current and the direct current capacitor voltage is limited by the result of the calculation of the PI controller to obtain a direct current instruction correction value Iref3With an upper limit value of IlimitThe lower limit is 0;
3) using direct current command to correct value Iref2、Iref3Sum and DC current command value Iref1Adding to obtain a corrected DC command value Iref；
4) By calculating a corrected current command value IrefAnd the deviation is calculated through PI control, then the output of the PI control calculation is used as a modulation signal of the DC-DC converter, and the modulation signal is processed through a PWM modulator to obtain a switch control signal of a switch network of the DC-DC converter, so that the switch control signal is used for driving the switch network.
Example (b):
compared with the control effect of the traditional VSG, the control strategy added with the method has the advantages that the control effect is improved in the aspects of power grid frequency disturbance and power grid phase sudden drop.
The control effect when the grid frequency is disturbed is shown in fig. 4. The grid frequency suddenly dropped from 50Hz to 49.5Hz at 1 s. The inverter output frequency f, the inverter output power Pe, the direct current capacitor voltage Udc, the direct current capacitor current Ic, the battery charging depth SOC and the battery current Ibat response waveform of the invention are shown in fig. 4 (a); the inverter output frequency f, the inverter output power Pe, the dc capacitor voltage Udc, the dc capacitor current Ic, the battery charging depth SOC, and the battery current Ibat of the conventional VSG strategy are shown in fig. 4 (b). It can be seen from the graph that the frequency f and power Pe output of the two strategies are almost the same, whereas the discharge current and depth of discharge of the proposed control strategy are significantly smaller than the conventional VSG control.
The control effect when the grid phase suddenly drops is shown in fig. 5. And 1s time, the phase of the power grid suddenly drops by 4.5 degrees. The inverter output frequency f, the inverter output power Pe, the direct current capacitor voltage Udc, the direct current capacitor current Ic, the battery charging depth SOC and the battery current Ibat response waveform of the invention are respectively shown in fig. 5 (a); the inverter output frequency f, the inverter output power Pe, the dc capacitor voltage Udc, the dc capacitor current Ic, the battery charging depth SOC, and the battery current Ibat of the conventional VSG strategy are shown in fig. 5 (b). As can be seen from the figure, the discharge current and depth of discharge of the present strategy are significantly smaller than the conventional VSG control, with the same output response. Under the condition of sudden phase disturbance, the strategy has more obvious effect of reducing current impact on the battery while responding to the power grid.
In summary, this example demonstrates the effectiveness of the control method proposed by the present invention. Specific parameter settings for the examples see Table 1
Table 1 parameters of the examples
Figure BDA0002544066510000071
Figure BDA0002544066510000081

Claims (2)

1. The virtual synchronous machine control method based on the two-stage energy storage converter system is characterized in that the two-stage energy storage converter system based on the method adopts a two-stage converter, a front-stage battery side converter is a direct current-direct current converter, a rear-stage power grid side converter is an inverter, and the two-stage converter is controlled by adopting a coordination control strategy to realize the simulation of the characteristics of a synchronous generator;
the inverter realizes inertia control and reactive droop control, and the specific process is as follows:
the inertia control is realized by measuring the voltage of the DC capacitor with its rated value UdcMaking a difference to obtain a straight lineThe voltage variation value of the DC capacitor is multiplied by the rotor inertia simulation control parameter MvirReciprocal 1/M ofvirObtaining an angular frequency change value delta omega input into a power grid by an inverter; then, the value of delta omega is compared with the angular frequency nominal value omegasAdding to obtain angular frequency omega input to the power grid by the inverter, and integrating omega to obtain a voltage phase theta input to the power grid by the inverter; inertial analog control parameter MvirSatisfies the following formula
Figure FDA0003469568290000011
In the formula of UdcRepresenting the voltage rating, η, of the DC capacitoruRepresenting the allowable fluctuation of the DC capacitor voltage in the rated value U of the DC capacitor voltagedcOf (d) ofωRepresenting allowable fluctuation of grid angular frequency to account for grid angular frequency nominal value omegasThe ratio of (A) to (B);
the reactive droop control method comprises the steps of obtaining a reactive power deviation value by subtracting a reactive power instruction value and a reactive power measured value output by an inverter; multiplying the reactive power deviation value by a reactive droop coefficient kQObtaining the amplitude adjustment quantity delta E of the AC voltage of the inverter, and then calculating the delta E and the voltage instruction value ErefAdding to obtain an inverter alternating voltage amplitude E;
the phase theta obtained by inertia control and the voltage amplitude E obtained by reactive droop control form the modulation voltage of the inverter, and the inverter switching tube driving signal is obtained after modulation;
meanwhile, the DC-DC converter realizes active droop control and DC voltage deviation control, and the specific process is as follows:
active droop control is achieved by setting the rated value U of the DC capacitor voltagedcMaking a difference with the measured value of the direct current capacitor voltage to obtain a direct current capacitor voltage deviation value; multiplying the voltage deviation value of the DC capacitor by the voltage proportional control parameter k of the DC-DC converteri_batObtaining a DC current command value Iref1(ii) a When the DC-DC converter is a Buck converter, ki_batSatisfies the following formula
Figure FDA0003469568290000012
When the DC-DC converter is a Boost converter, ki_batSatisfies the following formula
Figure FDA0003469568290000013
In the formula, kωRepresents the active-frequency droop coefficient; u shapebatRepresents the battery voltage;
the DC voltage deviation is controlled by limiting the DC capacitor voltage to an upper limit UupThe difference between the direct current and the direct current capacitor voltage is limited by the result of the calculation of the PI controller to obtain a direct current instruction correction value Iref2The upper limit value is 0 and the lower limit value is-Ilimit(ii) a By limiting the voltage of the DC capacitor to a lower limit UdownThe difference between the direct current and the direct current capacitor voltage is limited by the result of the calculation of the PI controller to obtain a direct current instruction correction value Iref3With an upper limit value of IlimitThe lower limit is 0;
by means of Iref2、Iref3And Iref1Adding to obtain a corrected DC command value Iref(ii) a Calculating a corrected current command value IrefAnd the deviation is calculated through PI control, then the output of the PI control calculation is used as a modulation signal of the DC-DC converter, and the modulation signal is processed through a PWM modulator to obtain a switch control signal of a switch network of the DC-DC converter, so that the switch control signal is used for driving the switch network of the DC-DC converter.
2. The virtual synchronous machine control method based on two-stage energy storage converter system according to claim 1, characterized in that Uup、UdownSatisfies the following formula:
Uup＝(1+ηu)Udc (4)
Udown＝(1-ηu)Udc (5)
in the formula of UdcRepresenting the voltage rating, η, of the DC capacitoruRepresenting the allowable fluctuation of the DC capacitor voltage in the rated value U of the DC capacitor voltagedcThe ratio of (a) to (b).
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