CN112186797A - Damping control method and device for virtual synchronous machine and storage medium - Google Patents
Damping control method and device for virtual synchronous machine and storage medium Download PDFInfo
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- CN112186797A CN112186797A CN202010947112.3A CN202010947112A CN112186797A CN 112186797 A CN112186797 A CN 112186797A CN 202010947112 A CN202010947112 A CN 202010947112A CN 112186797 A CN112186797 A CN 112186797A
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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
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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
- H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
- H02J3/241—The oscillation concerning frequency
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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
- H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
- H02J3/48—Controlling the sharing of the in-phase component
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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
- 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]
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- Control Of Eletrric Generators (AREA)
Abstract
The invention discloses a damping control method, a damping control device and a storage medium of a virtual synchronous machine, wherein the method comprises the following steps: acquiring a frequency reference instruction output by a virtual synchronous machine control module in real time; calculating according to the frequency reference instruction to obtain a frequency damping control instruction; calculating according to the frequency reference instruction and the frequency damping control instruction to obtain a power damping control instruction; and superposing the opposite number of the power damping instruction to the power input instruction of the original virtual synchronous machine control module, so that the virtual synchronous machine control module obtains a frequency reference instruction for controlling the virtual synchronous machine at the next moment according to the superposed power input instruction. The invention realizes the introduction of the damping control process in the control of the virtual synchronous machine, can make the virtual synchronous machine more stable in the active frequency control, and simultaneously can not play a role in the steady state of the introduced damping control, so the frequency deviation caused by the introduction of the damping control can not occur.
Description
Technical Field
The invention relates to the technical field of virtual synchronous machines, in particular to a damping control method, a damping control device and a storage medium of a virtual synchronous machine.
Background
The virtual synchronous machine technology enables the inverter to have the external operation characteristics of inertia, damping and the like similar to those of the synchronous generator by simulating the electromechanical transient characteristics of the synchronous generator. The power generation or load power can be adjusted in real time according to the frequency and voltage changes of the power grid, the requirements of primary frequency modulation and primary voltage regulation are met, networking voltage can be provided in the form of a voltage source, and the stability of the system is improved.
However, the virtual synchronous machine introduces a rotor inertia link of the analog synchronous generator, so that the problem of instability is easily caused. Meanwhile, if the damping control is simply introduced, the problem of frequency deviation occurs.
Disclosure of Invention
The invention aims to provide a damping control method, a damping control device and a storage medium for a virtual synchronous machine, which can ensure that the virtual synchronous machine does not have the frequency deviation problem caused by introducing damping control while keeping stable operation.
The technical scheme adopted by the invention is as follows:
in one aspect, the present invention provides a damping control method for a virtual synchronous machine, including:
acquiring a frequency reference instruction output by a virtual synchronous machine control module in real time;
calculating according to the frequency reference instruction to obtain a frequency damping control instruction;
calculating according to the frequency reference instruction and the frequency damping control instruction to obtain a power damping instruction;
and superposing the opposite number of the power damping instruction to the power input instruction of the original virtual synchronous machine control module, so that the virtual synchronous machine control module obtains a frequency reference instruction for controlling the virtual synchronous machine at the next moment according to the superposed power input instruction.
Optionally, the frequency reference instruction defining the output of the virtual synchronous machine control module is denoted as frefThe Ralski transform is denoted as U(s) and the frequency damping control command is denoted as fdamRalsberg transform to Y(s);
then a frequency damping control command is calculated from the frequency reference command according to the following transfer function:
wherein T isdamThe time constant is controlled for damping.
In the scheme, the adopted transfer function can lead the change of the frequency damping control instruction to lag behind the frequency reference instruction, thereby leading the damping control to play a role in the dynamic process; meanwhile, the transfer function can enable the frequency damping control command to be equal to the frequency reference command in a steady state, so that the damping control does not work in the steady state, and steady-state frequency deviation generated by the damping control is avoided.
Optionally, the virtual synchronous machine control module includes a virtual rotation speed control unit and a virtual phase angle control unit, and the frequency reference instruction frefAnd the instruction data is output by the virtual rotating speed control unit.
Optionally, according to a frequency reference command frefSum frequency damping control command fdamCalculating to obtain a power damping instruction PdamComprises the following steps:
Pdam＝(fdam-fref)*D
wherein D is a damping control coefficient.
In the above scheme, the calculation method of the power damping instruction may convert the frequency damping instruction into the power damping instruction, and further suppress the fluctuation of the frequency by adjusting the power, where D is generally 50-200 (per unit). The parameter D can adjust the damping control effect, the larger the parameter D is, the better the damping effect is, but the dynamic adjustment process can be prolonged, and the selection needs to be carried out by balancing the advantages and disadvantages.
Optionally, original virtualThe power input instruction of the control module of the synchronous machine comprises the reference power P of the virtual synchronous machinerefActual output power Pact；
The power input command after the superposition of the opposite numbers of the power damping commands is as follows:
P＝Pref-Pact-Pdam。
in a second aspect, the present invention provides a damping control device for a virtual synchronous machine, including:
the data acquisition module is configured for acquiring a frequency reference instruction output by the virtual synchronous machine control module in real time;
the damping control first calculation module is configured for calculating a frequency damping control instruction according to the frequency reference instruction;
the damping control second calculation module is configured for calculating a power damping instruction according to the frequency reference instruction and the frequency damping control instruction;
and the power input instruction determining module is configured to superimpose the opposite number of the power damping instruction on the power input instruction of the original virtual synchronous machine control module, so that the virtual synchronous machine control module obtains a frequency reference instruction for controlling the virtual synchronous machine at the next moment according to the superimposed power input instruction.
In a third aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the virtual synchronous machine damping control method as described in the first aspect.
Advantageous effects
According to the damping control scheme of the virtual synchronous machine, the damping power is calculated through a specific transfer function by reading a frequency control instruction output by a control module of the virtual synchronous machine; and the damping power obtained by calculation is superposed to the power input of the control module of the virtual synchronous machine, so that the damping control process is introduced into the control of the virtual synchronous machine, the virtual synchronous machine can be more stable in active frequency control, and meanwhile, the introduced damping control does not play a role in a steady state, so that the frequency deviation caused by the introduction of the damping control does not occur.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the method of the present invention.
Detailed Description
The following further description is made in conjunction with the accompanying drawings and the specific embodiments.
Example 1
This embodiment introduces a damping control method for a virtual synchronous machine, including:
acquiring a frequency reference instruction output by a virtual synchronous machine control module in real time;
calculating according to the frequency reference instruction to obtain a frequency damping control instruction;
calculating according to the frequency reference instruction and the frequency damping control instruction to obtain a power damping instruction;
and superposing the opposite number of the power damping instruction to the power input instruction of the original virtual synchronous machine control module, so that the virtual synchronous machine control module obtains a frequency reference instruction for controlling the virtual synchronous machine at the next moment according to the superposed power input instruction.
The method specifically comprises the following steps.
S1, acquiring the frequency reference instruction f output by the virtual synchronous machine control module in real timeref。
S2, according to frefCalculating to obtain a frequency damping control instruction fdam: definition frefThe Ralsberg transform of (A) is represented as U(s), fdamExpressed as y(s), the frequency damping control command is calculated from the frequency reference command according to the following transfer function:
wherein T isdamThe time constant is controlled for damping.
The adopted transfer function can lead the change of the frequency damping control instruction to lag behind the frequency reference instruction, thereby leading the damping control to play a role in the dynamic process; meanwhile, the transfer function can enable the frequency damping control command to be equal to the frequency reference command in a steady state, so that the damping control does not work in the steady state, and steady-state frequency deviation generated by the damping control is avoided.
S3, according to frefAnd fdamCalculating to obtain a power damping instruction PdamThe calculation formula is as follows:
Pdam＝(fdam-fref)*D
d is a damping control coefficient, can be selected to be a 50-200 per unit value, and can be specifically selected according to the requirement for balancing the damping effect and dynamically adjusting the process time.
S4, according to PdamPower input command of original virtual synchronous machine control module (reference power P of virtual synchronous machine)refActual output power Pact) Determining a final power input command, wherein the formula is as follows:
P＝Pref-Pact-Pdam。
the above process realizes the introduction of the damping control process in the control of the virtual synchronous machine, so that the virtual synchronous machine can keep stable operation, and meanwhile, the problem of frequency deviation caused by the introduction of the damping control can be avoided.
Example 2
Based on the same inventive concept as embodiment 1, this embodiment introduces a damping control device for a virtual synchronous machine, including:
the data acquisition module is configured for acquiring a frequency reference instruction output by the virtual synchronous machine control module in real time;
the damping control first calculation module is configured for calculating a frequency damping control instruction according to the frequency reference instruction;
the damping control second calculation module is configured for calculating a power damping instruction according to the frequency reference instruction and the frequency damping control instruction;
and the power input instruction determining module is configured to superimpose the opposite number of the power damping instruction on the power input instruction of the original virtual synchronous machine control module, so that the virtual synchronous machine control module obtains a frequency reference instruction for controlling the virtual synchronous machine at the next moment according to the superimposed power input instruction.
Referring to fig. 1, the working process of the damping control device of the virtual synchronous machine in this embodiment is specifically as follows:
the data acquisition module reads a frequency reference instruction f output by the virtual synchronous machine control modulerefAnd sending the data to a damping control module;
the first calculation module for damping control is used for calculating a frequency reference instruction frefCalculating to obtain a frequency damping control instruction fdamThe transfer function calculated at this stage is:
wherein Tdam is a damping control time constant;
the damping control second calculation module is used for calculating a frequency reference instruction f according to the frequency reference instructionrefSum frequency damping control command fdam(ii) a Calculating to obtain a power damping instruction PdamThe calculation formula is as follows:
Pdam＝(fdam-fref)*D
wherein D is a damping control coefficient;
the power input instruction determining module is used for determining a power damping instruction PdamThe negative sign is taken and superposed to the power input of the virtual synchronous machine control module, so as to participate in the subsequent control of the virtual synchronous machine; in this embodiment, the power input instruction of the virtual synchronous machine control module is obtained by:
P＝Pref-Pact-Pdam
wherein, PrefFor reference power of the virtual synchronous machine, PactIs the actual output power of the virtual synchronous machine.
Example 3
This embodiment introduces a computer-readable storage medium on which a computer program is stored, which, when executed by a processor, implements the virtual synchronous machine damping control method as described in embodiment 1.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A damping control method of a virtual synchronous machine is characterized by comprising the following steps:
acquiring a frequency reference instruction output by a virtual synchronous machine control module in real time;
calculating according to the frequency reference instruction to obtain a frequency damping control instruction;
calculating according to the frequency reference instruction and the frequency damping control instruction to obtain a power damping control instruction;
and superposing the opposite number of the power damping instruction to the power input instruction of the original virtual synchronous machine control module, so that the virtual synchronous machine control module obtains a frequency reference instruction for controlling the virtual synchronous machine at the next moment according to the superposed power input instruction.
2. The method of claim 1, wherein the frequency reference command defining the output of the virtual synchronous machine control module is denoted as frefThe Ralski transform is denoted as U(s) and the frequency damping control command is denoted as fdamRalsberg transform to Y(s);
then a frequency damping control command is calculated from the frequency reference command according to the following transfer function:
wherein T isdamTo dampThe time constant is controlled.
3. The method of claim 1, wherein the virtual synchronous machine control module comprises a virtual speed control unit and a virtual phase angle control unit, and the frequency reference command is represented as frefAnd the instruction data is output by the virtual rotating speed control unit.
4. Method according to claim 1, characterised in that the reference command f is based on a frequencyrefSum frequency damping control command fdamCalculating to obtain a power damping instruction PdamComprises the following steps:
Pdam＝(fdam-fref)*D
wherein D is a damping control coefficient.
5. The method according to claim 4, wherein D is 50-200 per unit.
6. The method of claim 1, wherein the power input command of the original PSM control module comprises a reference power P of the PSMrefActual output power Pact；
The power input command after the superposition of the opposite numbers of the power damping control commands is as follows:
P＝Pref-Pact-Pdam。
7. a damping control device of a virtual synchronous machine is characterized by comprising:
the data acquisition module is configured for acquiring a frequency reference instruction output by the virtual synchronous machine control module in real time;
the damping control first calculation module is configured for calculating a frequency damping control instruction according to the frequency reference instruction;
the damping control second calculation module is configured for calculating a power damping control instruction according to the frequency reference instruction and the frequency damping control instruction;
and the power input instruction determining module is configured to superimpose the opposite number of the power damping instruction on the power input instruction of the original virtual synchronous machine control module, so that the virtual synchronous machine control module obtains a frequency reference instruction for controlling the virtual synchronous machine at the next moment according to the superimposed power input instruction.
8. The damping control device of the virtual synchronous machine according to claim 7, wherein the frequency reference command defining the output of the control module of the virtual synchronous machine is represented by frefThe Ralski transform is denoted as U(s) and the frequency damping control command is denoted as fdamRalsberg transform to Y(s);
the damping control first calculation module calculates a frequency damping control instruction from the frequency reference instruction according to the following transfer function:
wherein T isdamThe time constant is controlled for damping.
9. The damping control device of the virtual synchronous machine according to claim 7, wherein the damping control second calculation module is based on a frequency reference command frefSum frequency damping control command fdamCalculating to obtain a power damping instruction PdamThe calculation formula of (2) is as follows:
Pdam＝(fdam-fref)*D
wherein D is a damping control coefficient;
the power input command determination module determines a power input command P according to the following formula:
P＝Pref-Pact-Pdam
wherein, PrefFor reference power of the virtual synchronous machine, PactIs the actual output power of the virtual synchronous machine.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a virtual synchronous machine damping control method according to any one of claims 1 to 6.
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| CN109980691A (en) * | 2019-04-29 | 2019-07-05 | 重庆大学 | A kind of double-fed fan motor unit virtual synchronous control method counted and frequency domain impedance stability is analyzed |
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| CN110277803A (en) * | 2019-07-30 | 2019-09-24 | 西安西电电气研究院有限责任公司 | A kind of the virtual synchronous generator control method and control device of energy accumulation current converter |
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2020
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| CN105896570A (en) * | 2016-04-19 | 2016-08-24 | 西安交通大学 | Virtual synchronous generator damping winding simulation method based on steady-state frequency difference value compensation |
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Application publication date: 20210105 |