CN112039112A - Subsynchronous oscillation suppression method and control system for series compensation grid-connected system of virtual synchronous machine - Google Patents

Subsynchronous oscillation suppression method and control system for series compensation grid-connected system of virtual synchronous machine Download PDF

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CN112039112A
CN112039112A CN202010580367.0A CN202010580367A CN112039112A CN 112039112 A CN112039112 A CN 112039112A CN 202010580367 A CN202010580367 A CN 202010580367A CN 112039112 A CN112039112 A CN 112039112A
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grid
synchronous machine
virtual synchronous
connected inverter
impedance
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罗安
李高翔
陈燕东
王海宁
朱真
亢朋朋
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Hunan University
State Grid Xinjiang Electric Power Co Ltd
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State Grid Xinjiang Electric Power Co Ltd
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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
    • 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
    • H02J3/002—Flicker reduction, e.g. compensation of flicker introduced by non-linear load
    • 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
    • H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
    • H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
    • 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
    • H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
    • H02J2300/20—The dispersed energy generation being of renewable origin
    • H02J2300/22—The renewable source being solar 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
    • H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
    • H02J2300/20—The dispersed energy generation being of renewable origin
    • H02J2300/28—The renewable source being wind energy

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  • Power Engineering (AREA)
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Abstract

The invention discloses a subsynchronous oscillation suppression method and a subsynchronous oscillation suppression control system for a virtual synchronous machine series compensation grid-connected system, and the subsynchronous oscillation suppression method and the subsynchronous oscillation suppression control system are used for acquiring a filter inductance L of a grid-connected inverter1Current of { i }a,ib,icH, applying a current { i }a,ib,icMultiplying by an impedance reshaping control coefficient H1(s) obtaining a modulated signal feedback value { [ Delta ] sa,△sb,△sc}; modulating signals s with virtual synchronous machinesa,sb,scSubtracting the modulation signal feedback value Δ sa,△sa,△scObtaining a modulation signal(s) of the grid-connected inverter after impedance remodeling control is addeda‑△sa,sb‑△sb,sc‑△scControlling grid connection through PWM modulationThe inverter operates. The method remodels the low-frequency-band impedance of the virtual synchronous machine into the characteristic of strong resistance and weak inductance, and can well inhibit subsynchronous oscillation caused by impedance coupling of the virtual synchronous machine and a series compensation line.

Description

Subsynchronous oscillation suppression method and control system for series compensation grid-connected system of virtual synchronous machine
Technical Field
The invention relates to the field of new energy power generation control, in particular to a subsynchronous oscillation suppression method and a control system for a virtual synchronous machine series compensation grid-connected system.
Background
In recent years, new energy power generation typified by photovoltaic and wind turbines has been rapidly developed. The new energy power station is usually far away from an electric load center, electric energy needs to be transmitted in a long distance, and in order to improve transmission efficiency, a series capacitor is usually adopted to reduce reactive power consumption in the transmission process. A series of stability problems can be caused when new energy power generation based on a power electronic device is connected to a power grid in a large scale, and the problem of subsynchronous oscillation of a large wind power plant through series compensation power transmission line grid connection is widely concerned and researched. With the development of inverter control technology, a virtual synchronous machine control strategy is proposed by simulating the traditional synchronous machine power generation. The virtual synchronous machine control has the characteristics of primary voltage regulation and primary frequency modulation, can provide voltage and frequency support for a weak power grid, and is applied to the field of renewable energy power generation due to the superior performance of the virtual synchronous machine control. Compared with the traditional inverter control strategy, the virtual synchronous machine control strategy does not contain a current control inner ring, so that the traditional virtual impedance and impedance reconstruction control strategy based on the current ring can not be applied to the virtual synchronous machine; in addition, the impedance of the grid-connected inverter controlled based on the virtual synchronous machine is similar to the impedance characteristic of the traditional synchronous generator, and both the impedance and the characteristic are presented as the inductance. Therefore, from the viewpoint of system impedance characteristics, the inverter grid-connected system based on virtual synchronous machine control will also have some problems of the conventional synchronous generator grid-connected system. The problem of subsynchronous oscillation often occurs to a synchronous generator under the condition of series compensation grid connection, and the subsynchronous oscillation is system oscillation with frequency lower than power frequency, and can cause serious power loss and equipment damage compared with high-frequency oscillation, so that the harmfulness of the subsynchronous oscillation is larger. Because the impedance of the grid-connected inverter controlled based on the virtual synchronizer is also in resistance-inductance property, the grid-connected inverter is easy to generate series resonance with a series compensation power transmission line in low frequency band capacitance, thereby causing the problem of subsynchronous oscillation. At present, only some exemplary projects are built for new energy power generation based on virtual synchronous machine control, and a grid-connected inverter based on virtual synchronous machine control is not applied to a modern power system in a large scale, so that the problem of subsynchronous oscillation of a series compensation grid-connected system based on a virtual synchronous machine is not concerned by the industrial and academic fields. However, with the large-scale application of the virtual synchronous machine technology, the problem of subsynchronous oscillation of the series compensation grid-connected system based on the virtual synchronous machine must occur, and how to avoid the subsynchronous oscillation is a problem to be solved urgently.
Disclosure of Invention
The invention aims to solve the technical problem that aiming at the defects of the prior art, the subsynchronous oscillation suppression method and the control system for the virtual synchronous machine series compensation grid-connected system are provided, and the subsynchronous oscillation problem of the virtual synchronous machine series compensation grid-connected system is solved.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a subsynchronous oscillation suppression method for a series compensation grid-connected system of a virtual synchronous machine comprises the following steps:
1) collection grid-connected inverter filter inductor L1Current of { i }a,ib,icH, applying a current { i }a,ib,icMultiplying by an impedance reshaping control coefficient H1(s) obtaining a modulated signal feedback value { [ Delta ] sa,△sb,△sc}；
2) Modulating signals s with virtual synchronous machinesa,sb,scSubtracting the modulation signal feedback value Δ sa,△sa,△scObtaining a modulation signal(s) of the grid-connected inverter after impedance remodeling control is addeda-△sa,sb-△sb,sc-△scAnd controlling the operation of the grid-connected inverter through PWM modulation.
According to the invention, virtual impedance control (the current is multiplied by an impedance remodeling control coefficient) is added in a modulation signal link controlled by the virtual synchronous machine to optimize the low-frequency impedance characteristic of the virtual synchronous machine, so that the resistance characteristic of the virtual synchronous machine in the low-frequency band is enhanced, and subsynchronous oscillation of a series compensation grid-connected system of the virtual synchronous machine can be well inhibited.
In the invention, an impedance remodeling control coefficient H is adopted1(s)＝kvr+kvls；kvr＝2*Rv/Vdc,VdcIs the direct-current side voltage of the grid-connected inverter, RvIs the resistance value, k, of a virtual resistor connected in series with the grid-connected invertervl/kvr＝1.5Ts，TsIs the control period of the grid-connected inverter. The impedance remodeling control coefficient H1(s) taking into account the control delay T of the virtual synchronous machine controllersThe influence of the control delay of the virtual synchronous machine controller on impedance remodeling control can be effectively reduced, and the accuracy of virtual impedance control is improved.
Figure BDA0002552945720000021
Wherein, VaThe virtual synchronous machine grid-connected point rated voltage effective value is obtained; i isaThe virtual synchronous machine rated working current effective value is obtained; ξ is the power correction ratio. The method is adopted to design the virtual resistor, the influence of the virtual resistor on the dynamic performance of the virtual synchronous machine is considered, the virtual resistor is introduced to cause virtual power loss, so that the rated working point of the virtual synchronous machine controller is changed to a certain extent, and when the deviation of the rated working point is large, the dynamic performance corresponding to the virtual synchronous machine is changed. Since the proposed method takes into account the virtual impedance versus the imaginaryThe influence of the dynamic performance of the pseudo-synchronous machine is small, and the influence of the virtual resistor designed by the method on the dynamic performance of the pseudo-synchronous machine is small.
Correspondingly, the invention also provides a virtual synchronous machine series compensation grid-connected control system, which comprises a grid-connected inverter; the grid-connected inverter is connected into a power grid through a series compensation circuit; the grid-connected inverter is connected with the acquisition module; the acquisition module is used for acquiring filter inductance L of the grid-connected inverter1Current of { i }a,ib,icAnd apply a current { i }a,ib,icSending the data to a controller; the controller converts the current ia,ib,icMultiplying by an impedance reshaping control coefficient H1(s) obtaining a modulated signal feedback value { [ Delta ] sa,△sb,△scAnd modulates the signal s with a virtual synchronous machinea,sb,scSubtracting the modulation signal feedback value Δ sa,△sa,△scObtaining a modulation signal(s) of the grid-connected inverter after impedance remodeling control is addeda-△sa,sb-△sb,sc-△scAnd controlling the operation of the grid-connected inverter through PWM modulation.
The controller of the present invention comprises:
a feedback value calculation unit coupled to the collection module for calculating the current { i }a,ib,icMultiplying by an impedance reshaping control coefficient H1(s) obtaining a modulated signal feedback value { [ Delta ] sa,△sb,△sc}；
A modulation signal calculation unit in communication with the feedback value calculation unit for modulating the signal { s } with the virtual synchronous machinea,sb,scSubtracting the modulation signal feedback value Δ sa,△sa,△scObtaining a modulation signal(s) of the grid-connected inverter after impedance remodeling control is addeda-△sa,sb-△sb,sc-△scAnd controlling the operation of the grid-connected inverter through PWM modulation.
Because all controllers are provided with a modulation signal link, the impedance remodeling controller based on the modulation signal can be conveniently applied to other control strategies, and the application range is wide.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the method, the low-frequency-band impedance of the virtual synchronous machine is reshaped into the characteristic of strong resistance and weak inductance, subsynchronous oscillation caused by impedance coupling of the virtual synchronous machine and a series compensation circuit can be well inhibited, additional impedance equipment is not required to be added, and the cost is low;
2. because all inverters have a modulation signal link, the method has excellent expansibility, and can solve the difficult problem of inverter impedance optimization without a current control loop.
Drawings
Fig. 1 is a circuit diagram of a series compensation grid-connected system of a virtual synchronous machine.
Fig. 2 is a block diagram of impedance reshaping control based on a modulation signal.
Fig. 3 is a graph of amplitude-frequency characteristics of virtual synchronous machine impedance before and after adding virtual impedance control.
Fig. 4 is a current waveform diagram of a virtual synchronous machine series compensation grid-connected system when impedance remodeling control is not added.
Fig. 5 is a current waveform diagram of the virtual synchronous machine series compensation grid-connected system after impedance remodeling control is added.
Detailed Description
Fig. 1 shows a virtual synchronous machine series compensation grid-connected system circuit. A grid-connected inverter controlled by a voltage type virtual synchronous machine (corresponding to the virtual synchronous machine in figure 1) is connected with a power grid through a series compensation power transmission line, wherein an inductor L1And a capacitor C1Constituting an LC filter, R1Is a damping resistor; inductor LgResistance RgAnd a capacitor C2Form series compensation transmission line and inductor LgResistance RgAnd a capacitor C2Are connected in series; vdcThe voltage is the DC side voltage of the virtual synchronous machine; i.e. ia,ibAnd icIs a filter inductor L1A current on the substrate; v. ofa,vbAnd vcIs the grid-connected point voltage of a virtual synchronous machine (namely a grid-connected inverter).
FIG. 2 shows a block diagram of impedance reshaping control based on a modulation signal according to an embodiment of the present invention, where H1(s) is an impedance remodeling control feedback coefficient, and the expression is as follows:
H1(s)＝kvr+kvls (1)
wherein k isvrAnd kvlAre control parameters.
Parameter kvrAnd kvlSatisfies the following relationship:
Figure BDA0002552945720000041
wherein, TsFor virtual synchronous machine controller control period, Ts0.0001 second.
In addition, the control parameter kvrConnecting virtual impedances R in series according to virtual synchronous machinesvIt can be found that the expression:
Figure BDA0002552945720000042
connecting virtual impedances R in series according to virtual synchronous machinesvThe power correction ratio ξ can be obtained, and the expression is as follows:
Figure BDA0002552945720000043
wherein, VaThe virtual synchronous machine grid-connected point rated voltage effective value is obtained; i isaThe virtual synchronous machine rated working current effective value is obtained; xi
For power correction, when xi is large, the virtual synchronous machine controller deviates from the original rated working point greatly, and the dynamic performance of the virtual synchronous machine is also influenced, usually, the value is less than or equal to 5%, and xi is taken to be 5%.
Collection virtual synchronous machine filter inductor L1Current in { i }a,ib,icThen apply the current ia,ib,icMultiplying by an impedance reshaping control coefficient H1(s)＝kvr+kvls, obtaining the feedback value of the modulation signal { [ Delta ] sa,△sb,△scThe expression is as follows:
Figure BDA0002552945720000044
modulating signals s with virtual synchronous machinesa,sb,scSubtracting the modulation signal feedback value Δ sa,△sa,△scObtaining an inverter modulation signal(s) after impedance remodeling control is addeda_c,sb_c,sc_cThe expression is as follows:
Figure BDA0002552945720000051
finally, an inverter modulation signal(s) after impedance remodeling control is addeda_c,sb_c,sc_cAnd controlling the grid-connected inverter to operate through PWM modulation.
Another embodiment of the invention provides a series compensation grid-connected control system of a virtual synchronous machine, which comprises a grid-connected inverter; the grid-connected inverter is connected into a power grid through a series compensation circuit; the grid-connected inverter is connected with the acquisition module; the acquisition module is used for acquiring the filter inductance L of the grid-connected inverter1Current of { i }a,ib,icAnd apply a current { i }a,ib,icIt is sent to the controller.
In this embodiment, the collection module may be a current sensor.
The controller will control the current ia,ib,icMultiplying by an impedance reshaping control coefficient H1(s) obtaining a modulated signal feedback value { [ Delta ] sa,△sb,△scAnd modulates the signal s with a virtual synchronous machinea,sb,scSubtracting the modulation signal feedback value Δ sa,△sa,△scObtaining the modulation of the grid-connected inverter after impedance remodeling control is addedSignal sa-△sa,sb-△sb,sc-△scAnd controlling the operation of the grid-connected inverter through PWM modulation.
The controller includes:
a feedback value calculation unit coupled to the collection module for calculating the current { i }a,ib,icMultiplying by an impedance reshaping control coefficient H1(s) obtaining a modulated signal feedback value { [ Delta ] sa,△sb,△sc}；
A modulation signal calculation unit in communication with the feedback value calculation unit for modulating the signal { s } with the virtual synchronous machinea,sb,scSubtracting the modulation signal feedback value Δ sa,△sa,△scObtaining a modulation signal(s) of the grid-connected inverter after impedance remodeling control is addeda-△sa,sb-△sb,sc-△scAnd controlling the operation of the grid-connected inverter through PWM modulation.
The calculation process of the corresponding parameters in this embodiment is the same as that in the previous embodiment, and is not described herein again.
Fig. 3 shows a magnitude-frequency characteristic diagram of the virtual synchronous machine impedance before and after adding the virtual impedance control. As can be seen from fig. 3, before the modulation signal-based low-frequency impedance reshaping control is added, the impedance of the virtual synchronous machine appears to have a strong inductance characteristic in a low frequency band, and after the modulation signal-based low-frequency impedance reshaping control is added, the phase of the impedance of the virtual synchronous machine in the low frequency band is obviously reduced, and the impedance is changed from the strong inductance characteristic to the strong resistance weak inductance characteristic.
A TMS320F 28335-based virtual synchronous machine series compensation grid-connected subsynchronous oscillation suppression experiment platform is built according to the graph of fig. 1 for research, and the experiment results are shown in fig. 4 and fig. 5.
FIG. 4 shows a current i of a series compensation grid-connected system of a virtual synchronous machine before impedance remodeling control is addedabcExperimental waveforms. As can be seen from fig. 4, when the series compensation degree SCL of the series compensation line is switched from 0 to 50%, the current iabcSubsynchronous oscillations occur.
FIG. 5 shows that the current i of the series compensation grid-connected system of the virtual synchronous machine is added after impedance remodeling controlabcExperimental waveforms. As can be seen from fig. 5, after adding the modulation signal based low frequency impedance reshaping control, when the series compensation degree SCL of the series compensation line is switched from 0 to 50%, the current iabcThe subsynchronous oscillation suppression method can be used for effectively suppressing the subsynchronous oscillation of the virtual synchronous machine under the condition of series compensation grid connection.

Claims (8)

1. A subsynchronous oscillation suppression method for a series compensation grid-connected system of a virtual synchronous machine is characterized by comprising the following steps:
1) collection grid-connected inverter filter inductor L1Current of { i }a,ib,icH, applying a current { i }a,ib,icMultiplying by an impedance reshaping control coefficient H1(s) obtaining a modulated signal feedback value { [ Delta ] sa,△sb,△sc}；
2) Modulating signals s with virtual synchronous machinesa,sb,scSubtracting the modulation signal feedback value Δ sa,△sa,△scObtaining a modulation signal(s) of the grid-connected inverter after impedance remodeling control is addeda-△sa,sb-△sb,sc-△scAnd controlling the operation of the grid-connected inverter through PWM modulation.
2. The method for suppressing the subsynchronous oscillation of the series compensation grid-connected system of the virtual synchronous machine according to claim 1, wherein an impedance reshaping control coefficient H1(s)＝kvr+kvls；kvr＝2*Rv/Vdc,VdcIs the direct-current side voltage of the grid-connected inverter, RvIs the resistance value, k, of a virtual resistor connected in series with the grid-connected invertervl/kvr＝1.5Ts，TsIs the control period of the grid-connected inverter.
3. The method for suppressing the subsynchronous oscillation of the series compensation grid-connected system of the virtual synchronous machine according to claim 2,
Figure FDA0002552945710000011
wherein, VaThe virtual synchronous machine grid-connected point rated voltage effective value is obtained; i isaThe virtual synchronous machine rated working current effective value is obtained; ξ is the power correction ratio.
4. The method for suppressing the subsynchronous oscillation of the series compensation grid-connected system of the virtual synchronous machine according to any one of claims 1 to 3, wherein the grid-connected inverter is connected to a power grid through a series compensation line.
5. A series compensation grid-connected control system of a virtual synchronous machine comprises a grid-connected inverter; the grid-connected inverter is connected into a power grid through a series compensation circuit; the grid-connected inverter is characterized in that the grid-connected inverter is connected with the acquisition module; the acquisition module is used for acquiring filter inductance L of the grid-connected inverter1Current of { i }a,ib,icAnd apply a current { i }a,ib,icSending the data to a controller; the controller converts the current ia,ib,icMultiplying by an impedance reshaping control coefficient H1(s) obtaining a modulated signal feedback value { [ Delta ] sa,△sb,△scAnd modulates the signal s with a virtual synchronous machinea,sb,scSubtracting the modulation signal feedback value Δ sa,△sa,△scObtaining a modulation signal(s) of the grid-connected inverter after impedance remodeling control is addeda-△sa,sb-△sb,sc-△scAnd controlling the operation of the grid-connected inverter through PWM modulation.
6. The virtual synchronous machine series compensation grid-connected control system according to claim 5, wherein the controller comprises:
a feedback value calculation unit coupled to the collection module for calculating the current { i }a,ib,icMultiplying by an impedance reshaping control coefficient H1(s) obtaining a modulated signal feedback value { [ Delta ] sa,△sb,△sc}；
A modulation signal calculation unit in communication with the feedback value calculation unit for modulating the signal { s } with the virtual synchronous machinea,sb,scSubtracting the modulation signal feedback value Δ sa,△sa,△scObtaining a modulation signal(s) of the grid-connected inverter after impedance remodeling control is addeda-△sa,sb-△sb,sc-△scAnd controlling the operation of the grid-connected inverter through PWM modulation.
7. The series compensation grid-connected control system of the virtual synchronous machine according to claim 5, wherein an impedance remodeling control coefficient H1(s)＝kvr+kvls；kvr＝2*Rv/Vdc,VdcIs the direct-current side voltage of the grid-connected inverter, RvIs the resistance value, k, of a virtual resistor connected in series with the grid-connected invertervl/kvr＝1.5Ts，TsIs the control period of the grid-connected inverter.
8. The virtual synchronous machine series compensation grid-connected control system according to claim 7,
Figure FDA0002552945710000021
wherein, VaThe virtual synchronous machine grid-connected point rated voltage effective value is obtained; i isaThe virtual synchronous machine rated working current effective value is obtained; ξ is the power correction ratio.
CN202010580367.0A 2020-06-23 2020-06-23 Subsynchronous oscillation suppression method and control system for series compensation grid-connected system of virtual synchronous machine Pending CN112039112A (en)

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