CN112260330A - Virtual synchronous machine control method for hybrid micro-grid MMC interconnection converter - Google Patents
Virtual synchronous machine control method for hybrid micro-grid MMC interconnection converter Download PDFInfo
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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
- H02J5/00—Circuit arrangements for transfer of electric power between ac networks and dc networks
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- H—ELECTRICITY
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- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
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- H—ELECTRICITY
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- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/36—Arrangements for transfer of electric power between ac networks via a high-tension dc link
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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
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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
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Abstract
The invention discloses a virtual synchronous machine control method for a hybrid micro-grid MMC interconnected converter, which comprises the following steps of: 1) starting from an alternating-current side angle of an MMC interconnection converter of an alternating-current and direct-current hybrid micro-grid to obtain a voltage equation; 2) establishing a power transmission equation of the MMC interconnection converter and simplifying; 3) establishing a relation between a power angle and an operation mode of the MMC interconnected converter in a power transmission equation of the MMC interconnected converter; 4) establishing an alternating current micro-grid droop control model and a direct current micro-grid droop control model; 5) obtaining a single-phase power transmission virtual synchronous machine control mechanical equation and a reactive power excitation control equation of the MMC interconnection converter; 6) establishing a relation with the power regulating quantity of the MMC interconnection converter; 7) decomposing the droop control active power output regulating quantity of the alternating current micro-grid; 8) and obtaining an alternating current frequency-direct current voltage control expression of the MMC interconnection converter of the alternating current-direct current hybrid micro-grid. The invention realizes the multi-mode operation of inversion and rectification of the MMC interconnection converter according to the load change of the hybrid micro-grid.
Description
Technical Field
The invention relates to a virtual synchronous machine control method for a hybrid micro-grid MMC interconnected converter, which is characterized in that a virtual synchronous machine control strategy based on the power transmission principle of an alternating current micro-grid and a direct current micro-grid is applied to a hybrid micro-grid MMC interconnected converter control system.
Background
In the mixed little electric wire netting actual motion in-process of alternating current-direct current, the flagging control strategy is adopted respectively to alternating current little electric wire netting and direct current little electric wire netting, can only realize the inside power regulation of little electric wire netting separately, in order to realize the power exchange between alternating current little electric wire netting and the direct current little electric wire netting, needs to study the MMC interconnection converter control strategy between two little electric wire netting, and it can know to adopt the P/Q decoupling zero according to the control of alternating current little electric wire netting flagging: the change of active power P directly causes the frequency f to change, and the variable quantity will influence the direct current bus voltage stability through the transmission of MMC interconnection converter to the little electric wire netting of direct current. The active power output of the alternating-current micro-grid is adjusted in real time, so that the voltage fluctuation of the direct-current side is obvious, and the operation of the direct-current micro-grid is seriously influenced. In order to maintain the power balance inside the ac/dc hybrid microgrid, the active power variation borne by either the ac or dc microgrid should not exceed its own capacity.
Disclosure of Invention
The invention aims to provide a virtual synchronous machine control method for a hybrid micro-grid MMC interconnection converter, and particularly establishes a virtual synchronous machine control strategy based on the power transmission principle of an alternating current micro-grid and a direct current micro-grid, and the virtual synchronous machine control strategy is applied to a hybrid micro-grid MMC interconnection converter control system to realize multi-mode operation of inversion and rectification of the MMC interconnection converter according to load change of the hybrid micro-grid.
The invention is realized by adopting the following technical scheme:
a virtual synchronous machine control method for a hybrid micro-grid MMC interconnection converter comprises the following steps:
1) starting from an alternating-current side angle of an MMC interconnection converter of an alternating-current and direct-current hybrid micro-grid to obtain a voltage equation;
2) establishing a power transmission equation of the MMC interconnection converter according to the AC side voltage equation of the MMC interconnection converter in the step 1), and simplifying;
3) establishing a relation between a power angle and an operation mode of the MMC interconnection converter in the MMC interconnection converter power transmission equation in the step 2);
4) establishing an alternating current micro-grid droop control model and a direct current micro-grid droop control model;
5) obtaining a single-phase power transmission virtual synchronous machine control mechanical equation and a reactive power excitation control equation of the MMC interconnected converter by injecting the characteristic of a synchronous machine into a control system of the MMC interconnected converter;
6) establishing a relation with the power regulation of the MMC interconnection converter according to the same active power output regulation in the alternating current micro-grid droop control and direct current micro-grid droop control models in the step 4);
7) decomposing the active power output regulating quantity of the droop control of the alternating-current micro-grid in the step 6) into a steady-state power variation quantity and an instantaneous power variation quantity; decomposing the active output regulating quantity of the direct current micro-grid droop control model into a steady-state power variation quantity and a dynamic power variation quantity;
8) and obtaining an AC frequency-DC voltage control expression of the MMC interconnected converter of the AC-DC hybrid microgrid according to the relation between the active power output regulating quantity and the power regulating quantity of the MMC interconnected converter in the step 6) and the AC microgrid droop control and DC microgrid droop control models in the step 4).
The further improvement of the invention is that step 1) starts from the angle of the alternating current side of the MMC interconnection converter of the alternating current-direct current hybrid micro-grid to obtain a voltage equation,
wherein:
for AC mains voltage e0A corresponding vector;
for MMC interconnected converter AC side voltage UacA corresponding vector;
for alternating mains current i0The corresponding vector.
The invention further improves the method in that the specific implementation method of the step 2) is as follows: establishing a power transmission equation of the MMC interconnection converter according to the voltage equation of the AC side of the MMC interconnection converter in the step 1):
wherein: rf、XfThe resistance value and the inductive reactance of the filter circuit; delta is the AC mains voltage vector
AC side voltage vector of converter interconnected with MMC
The phase angle difference between them; MMC interconnection converter, satisfy Rf＜＜XfThen the MMC interconnection converter power transfer equation can be simplified as:
the invention is as followsThe improvement of one step is that the specific implementation method of the step 3) is as follows: establishing a relation between a power angle and an operation mode of the MMC interconnected converter in the power transmission equation of the MMC interconnected converter in the step 2), wherein the voltage equation and the power transmission equation of the alternating current side of the MMC interconnected converter can be respectively similar to the voltage equation and the power equation of a synchronous motor; AC mains voltage e0Can be analogous to the armature electromotive force of synchronous motor; AC side voltage U of MMC interconnection converteracAnalogous to synchronous machine terminal voltage; the synchronous motor is used as a motor or a generator according to the positive and negative of the phase angle difference between the armature electromotive force and the terminal voltage; similarly, in the alternating current-direct current hybrid micro-grid MMC interconnection converter control system, power bidirectional flow is realized by controlling delta positive and negative; when the delta is greater than 0, the data is converted into a binary data,
advance in
The MMC interconnection converter operates in an inversion mode, and power is transmitted from the direct-current micro-grid to the alternating-current micro-grid; when the delta is less than 0, the crystal grain size is more than zero,
hysteresis
The MMC interconnection converter operates in a rectification mode, and power is transmitted from the alternating-current micro-grid to the direct-current micro-grid; when the delta is equal to 0, the second phase is zero,
and
and in the same phase, no power is exchanged between the alternating current micro-grid and the direct current micro-grid.
The further improvement of the invention is that the specific implementation method of the step 4) is as follows: establishing an alternating current micro-grid droop control model and a direct current micro-grid droop control model; the basic principle of droop control adopted in the control of the alternating-current micro-grid is to simulate the droop external characteristic of a synchronous generatorControlling the inverter, wherein the traditional droop control equation is as follows:
wherein: omega is the current value of the angular frequency of the output voltage of the controlled converter; u is the amplitude of the output voltage of the controlled converter; omega0Is the initial value of the angular frequency of the no-load output voltage; u shape0Is the initial value of the amplitude of the no-load output voltage; m is the active power droop coefficient; n is the reactive power droop coefficient; p is the active power of the load distribution; q is the reactive power of the load distribution, and the traditional droop control is a differential regulation; the direct current microgrid is different from an alternating current microgrid and only outputs active power without considering electric quantities such as reactive power, frequency, phase angle and the like, and the active power output by a direct current power supply point in the direct current microgrid can be expressed as:
therefore, the following steps are carried out: the active power is in direct proportion to the output voltage of the DC power supply, and the voltage U is output by the DC power supplydcThe static difference adjustment is used for participating in the adjustment control of the active power output of the direct-current micro-grid; the converter of the DC power supply point in the DC micro-grid adopts DC voltage-active power Udc-a ptosis control scheme, which can be expressed as:
wherein: u shapedciThe current value of the direct current voltage of the direct current power supply point i; u shapedcrefiThe reference value of the direct current voltage of the direct current power supply point i; k is a radical ofudciIs the droop coefficient, k, of the DC supply point iudci＞0；PrefiThe active power reference value is the direct current power supply point i; piThe current value of the active power of the direct current power supply point i is obtained; the characteristics of the output port of the direct-current power supply of the direct-current microgrid are as follows: u shapedc＝Udcmax-kudcPdcmax(ii) a Wherein: u shapedcmaxOutputting the maximum allowable voltage, P, for the DC supply pointdcmaxFor the maximum value of the active power variation range, the droop coefficient can be expressed as:
wherein: u shapedcminOutputting the minimum allowable voltage for the direct current power supply point; for the direct-current microgrid, the characteristic of the output port of a single direct-current power supply inside the microgrid is related to the droop characteristic of each direct-current port, and the obtained droop characteristic of the multi-port unit of the direct-current microgrid is as follows:
the further improvement of the invention is that the concrete implementation method of the step 5) is as follows: through injecting the synchronous machine characteristic at MMC interconnection converter control system, realize the smooth transition of power for MMC interconnection converter presents the synchronous machine characteristic on outer characteristic, participates in the frequency and the voltage regulation of mixing little electric wire netting simultaneously, and the virtual synchronous machine control mechanical equation of single-phase power transmission of MMC interconnection converter is:
wherein: j is a virtual moment of inertia; t ism、Te、TdRespectively is a mechanical torque, an electromagnetic torque and a damping torque of the virtual synchronous machine; d is a damping coefficient; omega0Is the net side actual angular frequency; prefAn active power output instruction corresponding to the AGC frequency modulation instruction is issued by scheduling as an active power reference value; p is an actual output value of active power; delta is the phase angle difference between the voltage vector at the network side and the voltage vector at the alternating current side of the MMC interconnection converter; representing the ac angular frequency, i.e. the virtual rotor angular frequency; in the virtual synchronous machine control system of the MMC interconnection converter, the virtual rotational inertia J enables the MMC interconnection converter to have inertia in the power and frequency adjusting process, and the damping coefficient D enables the MMC interconnection converter to have the capacity of restraining power oscillation of a power grid; the virtual synchronous machine induction internal potential consists of two parts: when one part is no-load, the virtual excitation voltage is corresponding to the no-load electromotive force, and the other part is generated by the reactive power deviation, and the virtual synchronous machine reactive excitation control equation is as follows: e ═ E0+kq(Qref-Q); wherein: e is an effective value of the induced internal potential of the virtual synchronous machine; e0To be excitedThe effective value of no-load electromotive force; k is a radical ofqThe reactive voltage droop control coefficient is obtained; qrefIs a reactive power instruction value; qeThe reactive power value is actually output.
The further improvement of the invention is that the specific implementation method of the step 6) is as follows: according to the step 4), establishing a relation formula with the power regulation quantity of the MMC interconnection converter, wherein the active power output regulation quantity in the alternating current micro-grid droop control model and the active power output regulation quantity in the direct current micro-grid droop control model are the same: pac-Pacref＝Pdc-Pdcref＝ΔPmmc(ii) a Wherein: pacOutputting a current value of the power for the alternating current microgrid; pacrefOutputting a power reference value for the alternating current micro-grid; pdcOutputting a current value of the power of the direct current micro-grid; pdcrefOutputting a power reference value for the direct current micro-grid; delta PmmcAnd adjusting the power of the MMC interconnection converter.
The further improvement of the invention is that the specific implementation method of the step 7) is as follows: controlling the active power output regulating quantity P of the droop control of the alternating current micro-grid in the step 6)ac-PacrefDecomposed into steady state power variations kω(ω-ω0) The part of power variation is active output variation in the alternating current microgrid during droop control; instantaneous power variation
The part of power variable quantity is instantaneous active power absorbed or emitted by virtual rotor inertia, and an inertia link is provided for alternating current frequency in the control of the virtual synchronous machine; active output regulating quantity P of droop control model of direct-current micro-griddc-PdcrefDecomposed into steady state power variations kudc(Udc-Udc0) The part of power variation is the active output variation of the direct current micro-grid during direct current droop control; dynamic power variation
The part of power variation is the charging and discharging power of a direct current capacitor in the direct current micro-grid, and belongs to dynamic power fluctuation.
The invention is further improved in thatAnd the concrete implementation method of the step 8) is as follows: obtaining an AC/DC hybrid microgrid MMC interconnection converter AC frequency-DC voltage control expression according to the relation between the active power output regulating quantity and the MMC interconnection converter power regulating quantity in the step 6) and the AC microgrid droop control and DC microgrid droop control models in the step 4): k is a radical ofω(ω-ω0)＝kudc(Udc-Udc0) Wherein: k is a radical ofωAdjusting the coefficient for the droop of the alternating current power grid; is the current value of the AC side angular frequency; the initial value of the alternating-current side angular frequency is obtained; k is a radical ofudcAdjusting coefficients for the droop of the direct-current power grid; u shapedcThe current value is the current value of the bus voltage at the direct current side; u shapedc0The initial value of the DC side bus voltage is obtained.
The further improvement of the invention is that the specific implementation method of the step 9) is as follows: according to the step 8), an AC frequency-DC voltage control expression of the AC/DC hybrid microgrid MMC interconnection converter, a step 7) active power output regulating quantity decomposition expression of the AC microgrid and the DC microgrid, and a step 5) single-phase power transmission virtual synchronous machine control mechanical equation, the control virtual synchronous machine control equation of the AC/DC hybrid microgrid MMC interconnection converter based on the power transmission principle is obtained:
according to the MMC interconnection converter virtual synchronous machine control, the active power regulation control of an alternating current-direct current hybrid micro-grid is realized by directly controlling the alternating current frequency and the direct current voltage, the active load of the hybrid micro-grid is balanced, and the MMC interconnection converter virtual synchronous machine control of the hybrid micro-grid is realized.
Compared with the prior art, the invention has at least the following beneficial technical effects:
1. the virtual synchronous machine control strategy based on the power transmission principle is more suitable for being used in a hybrid micro-grid MMC interconnection converter control system, and can realize power bidirectional transmission;
2. the virtual synchronous machine control strategy provided by the invention is applied to the MMC interconnection converter control system, so that the MMC interconnection converter can flexibly adjust inversion and rectification operation modes according to the alternating current and direct current load changes, and the alternating current micro-grid and the direct current micro-grid can bear loads according to the capacity balance of the MMC interconnection converter.
Drawings
FIG. 1 is a topological diagram of a main circuit of an MMC interconnection converter;
FIG. 2 is a schematic view of AC microgrid droop control;
FIG. 3 is a schematic diagram of droop control for a DC microgrid;
FIG. 4 is a control block diagram of a single-phase power transmission virtual synchronous machine of an MMC interconnection converter;
FIG. 5 is a control block diagram of a virtual synchronous machine of an MMC interconnection converter based on a power transmission principle;
FIG. 6 is an MMC interconnection converter virtual synchronous machine control model;
FIG. 7 is a dynamic simulation waveform of active power in the inversion state of the MMC interconnection converter;
FIG. 8 is a frequency dynamic simulation waveform of the MMC interconnection converter in an inversion state;
FIG. 9 is an active power dynamic simulation waveform of the MMC interconnection converter in a rectification state;
FIG. 10 is a frequency dynamic simulation waveform of the MMC interconnection converter in a rectification state.
Detailed Description
The technical solution of the present invention is further described in detail by the accompanying drawings.
As shown in fig. 1, starting from an ac-side angle of an ac-dc hybrid micro-grid MMC interconnection converter, an ac-side voltage equation can be expressed as:
in formula (1):
for AC mains voltage e0A corresponding vector;
for MMC interconnected converter AC side voltage UacA corresponding vector;
for alternating mains current i0The corresponding vector. The MMC interconnection converter power transfer equation can be expressed as:
in formula (2): rf、XfThe resistance value and the inductive reactance of the filter circuit; delta is the AC mains voltage vector
AC side voltage vector of converter interconnected with MMC
The phase angle difference between them. MMC interconnection converter, usually satisfying Rf＜＜XfThen equation (2) can be simplified as:
the voltage equation and the power transmission equation on the alternating current side of the MMC interconnection converter described by the formula (1) and the formula (2) can be respectively analogized to the voltage equation and the power equation of a synchronous motor. AC mains voltage e0Can be analogous to the armature electromotive force of synchronous motor; AC side voltage U of MMC interconnection converteracAnalogous to synchronous machine terminal voltage. The synchronous machine can be used as a motor or a generator according to the positive and negative of the phase angle difference between the armature electromotive force and the terminal voltage. Similarly, in the alternating current-direct current hybrid micro-grid MMC interconnection converter control system, power bidirectional flow is realized by controlling delta positive and negative. When the delta is greater than 0, the data is converted into a binary data,
advance in
The MMC interconnection converter operates in an inversion mode, and power is transmitted from the direct-current micro-grid to the alternating-current micro-grid; when the delta is less than 0, the crystal grain size is more than zero,
hysteresis
The MMC interconnection converter operates in a rectification mode, and power is transmitted from the alternating-current micro-grid to the direct-current micro-grid; when the delta is equal to 0, the second phase is zero,
and
and in the same phase, no power is exchanged between the alternating current micro-grid and the direct current micro-grid.
As shown in fig. 2, the fundamental principle of droop control adopted in ac microgrid control is to control an inverter by simulating the droop external characteristic of a synchronous generator, and the conventional droop control equation is:
in formula (4): omega is the current value of the angular frequency of the output voltage of the controlled converter; u is the amplitude of the output voltage of the controlled converter; omega0Is the initial value of the angular frequency of the no-load output voltage; u shape0Is the initial value of the amplitude of the no-load output voltage; m is the active power droop coefficient; n is the reactive power droop coefficient; p is the active power of the load distribution; q is the reactive power distributed by the load and conventional droop control is a kind of differential regulation.
As shown in fig. 3, the dc microgrid is different from the ac microgrid and only outputs active power without considering electric quantities such as reactive power, frequency, phase angle, etc., and the output active power of the dc power supply point in the dc microgrid can be expressed as:
as can be seen from equation (5): the active power is in direct proportion to the output voltage of the direct current power supply, and the output voltage U of the direct current power supply can be outputdcAnd the static difference regulation participates in the active power output regulation control of the direct-current micro-grid. The converter of the DC power supply point in the DC micro-grid adopts DC voltage-active power (U)dc-P) a droop control scheme, which can be expressed as:
in the formula (2-3), UdciThe current value of the direct current voltage of the direct current power supply point i; u shapedcrefiThe reference value of the direct current voltage of the direct current power supply point i; k is a radical ofudciIs the droop coefficient, k, of the DC supply point iudci＞0；PrefiThe active power reference value is the direct current power supply point i; piThe current value of the active power of the direct current power supply point i.
The characteristics of the output port of the direct-current power supply of the direct-current microgrid are as follows:
Udc＝Udcmax-kudcPdcmax (7)
in formula (7): u shapedcmaxOutputting the maximum allowable voltage, P, for the DC supply pointdcmaxFor the maximum value of the active power variation range, the droop coefficient can be expressed as:
in formula (8): u shapedcminAnd outputting the minimum allowable voltage for the direct current power supply point. For the direct-current microgrid, the characteristic of the output port of a single direct-current power supply inside the microgrid is related to the droop characteristic of each direct-current port, and the droop characteristic of a multi-port unit of the direct-current microgrid can be obtained as follows:
as shown in fig. 4, by injecting the synchronous machine characteristic into the MMC interconnection converter control system, the smooth transition of power is realized, so that the MMC interconnection converter presents the synchronous machine characteristic on the external characteristic, and participates in the frequency and voltage regulation of the hybrid microgrid at the same time, and the MMC interconnection converter single-phase power transmission virtual synchronous machine controls the mechanical equation to be:
in formula (10): j is a virtual moment of inertia; t ism、Te、TdRespectively is a mechanical torque, an electromagnetic torque and a damping torque of the virtual synchronous machine; d is a damping coefficient; omega0Is the net side actual angular frequency; prefAn active power output instruction corresponding to the AGC frequency modulation instruction is issued by scheduling as an active power reference value; p is an actual output value of active power; delta is the phase angle difference between the voltage vector at the network side and the voltage vector at the alternating current side of the MMC interconnection converter; representing the ac angular frequency, i.e. the virtual rotor angular frequency. In the virtual synchronous machine control system of the MMC interconnection converter, the virtual rotary inertia J enables the MMC interconnection converter to have inertia in the power and frequency adjusting process, and the damping coefficient D enables the MMC interconnection converter to have the capacity of restraining power grid power oscillation.
The droop characteristic of the synchronous motor is realized by the reactive power regulation of the synchronous motor and the reactive power and voltage regulation control of the virtual synchronous machine, and the basic control idea is as follows: the terminal voltage of the virtual synchronous machine is adjusted by establishing virtual excitation voltage, the excitation adjusting process of the synchronous generator is simulated, and the purpose of adjusting the reactive power output of the MMC interconnection converter is further achieved. The virtual synchronous machine induction internal potential consists of two parts: when one part is no-load, the virtual excitation voltage is corresponding to the no-load electromotive force, and the other part is generated by the reactive power deviation, and the virtual synchronous machine reactive excitation control equation is as follows:
E＝E0+kq(Qref-Q) (11)
in formula (11): e is a virtual synchronous machineSensing an effective value of the internal potential; e0Is an excitation no-load electromotive force effective value; k is a radical ofqThe reactive voltage droop control coefficient is obtained; qrefIs a reactive power instruction value; qeThe reactive power value is actually output.
The active frequency of the virtual synchronous machine is synthesized to control the virtual rotor angular frequency and the phase angle difference delta obtained by calculation, and the three-phase voltage modulation signal of the equivalent alternating current output port of the alternating current-direct current hybrid micro-grid MMC interconnection converter can be obtained as follows:
as shown in fig. 5, when the control method is used for the ac/dc hybrid microgrid MMC interconnection converter, it should be fully considered that droop control used by the ac microgrid and the dc microgrid is cooperatively controlled, so that the frequency requirement of the ac microgrid can be met, and the droop control regulation trend of the dc microgrid voltage can be achieved. Not considering MMC self switching loss, exchanging little electric wire netting active power output regulating variable, direct current little electric wire netting active power output regulating variable and MMC interconnection converter power regulating variable can be expressed as:
Pac-Pacref＝Pdc-Pdcref＝ΔPmmc (13)
in formula (13): pacOutputting a current value of the power for the alternating current microgrid; pacrefOutputting a power reference value for the alternating current micro-grid; pdcOutputting a current value of the power of the direct current micro-grid; pdcrefOutputting a power reference value for the direct current micro-grid; delta PmmcAnd adjusting the power of the MMC interconnection converter.
The active power droop control and the direct current micro-grid direct current voltage droop control of the simultaneous alternating current micro-grid can obtain the alternating current frequency-direct current voltage control expression of the alternating current-direct current hybrid micro-grid MMC interconnection converter as follows:
kω(ω-ω0)＝kudc(Udc-Udc0) (14)
in formula (14): k is a radical ofωIs an alternating currentNet sag adjustment coefficients; is the current value of the AC side angular frequency; the initial value of the alternating-current side angular frequency is obtained; k is a radical ofudcAdjusting coefficients for the droop of the direct-current power grid; u shapedcThe current value is the current value of the bus voltage at the direct current side; u shapedc0The initial value of the DC side bus voltage is obtained.
AC microgrid Pac-PacrefThe two deviation values constitute an active variation: (1) the active power output change in the ac microgrid when droop control is employed can be expressed as: k is a radical ofω(ω-ω0) And is the steady state active variation. (2) The virtual rotor inertia absorbs or emits instantaneous active power, which can be expressed as:
and providing an inertia link for the alternating current frequency in the control of the virtual synchronous machine.
The active variable quantity of the direct-current micro-grid is also composed of two parts: (1) the active output change of the direct current micro-grid when the direct current droop control is adopted can be expressed as follows: k is a radical ofudc(Udc-Udc0) And belongs to steady active variable quantity. (2) The charging and discharging power of the direct current capacitor in the direct current microgrid can be expressed as:
belonging to dynamic power fluctuation.
In the mixed little electric wire netting MMC interconnection converter control system of alternating current-direct current, alternating current little electric wire netting, direct current microgrid instantaneous active power variation are the same, introduce formula (10) with direct current microgrid active power variation, can obtain:
according to the formula (11), in the control of the virtual synchronous machine of the MMC interconnection converter, the active power regulation control of the AC/DC hybrid micro-grid can be realized by directly controlling the AC frequency and the DC voltage, and the active load of the hybrid micro-grid is balanced.
As shown in fig. 6, in order to verify the effectiveness of the virtual synchronous machine control method for the hybrid micro-grid MMC interconnection converter provided by the present invention, an ac/dc hybrid micro-grid simulation model is built on a Matlab/Simulink simulation platform, and the ac/dc hybrid micro-grid MMC virtual synchronous machine control simulation parameters are shown in table 1.
TABLE 1 simulation parameters
As shown in fig. 7, the ac microgrid load increases by 3kW at time 0.5s and the 3kW load cuts off at time 1 s. The MMC interconnection converter works in an inversion mode, power is transmitted from a direct current side to an alternating current side by the MMC interconnection converter at 0.5s moment, the load of an alternating current micro-grid is increased by 3kW, the MMC interconnection converter flows +3kW active power, the output active power of the MMC interconnection converter fluctuates upwards, the 3kW load is cut off at 1s moment, and response power is stabilized to target power after fluctuating downwards.
As shown in fig. 8, at time 0.5s, when the ac microgrid load increases by 3kW, the frequency drop response load increases, and stabilizes to the target frequency over 0.2 s. 3kW load of the alternating-current microgrid is removed at the moment of 1s, and the frequency rise response load is removed and is also quickly stabilized to a target value.
As shown in fig. 9, when the MMC interconnection converter works in a rectification mode, at 0.5s, the load of the dc microgrid is increased by 3kW, power is transmitted from the ac side to the dc side by the MMC interconnection converter, the MMC interconnection converter outputs active power to be decreased in a working state, at 1s, the load of 3kW is removed, the virtual synchronous machine based on the power transmission principle responds to the load change, the output power is increased, the waveform of the output power hardly overshoots, and the output power is quickly stabilized to the target power.
As shown in fig. 10, when the dc microgrid load increases by 3kW at time 0.5s, the frequency fluctuates downward, stabilizing to the target frequency over 0.1 s. 3kW load of the direct-current microgrid is removed at the moment of 1s, the frequency immediately fluctuates upwards, and the frequency adjusting process can be quickly recovered and stabilized to a target value.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (10)
1. A virtual synchronous machine control method for a hybrid micro-grid MMC interconnection converter is characterized by comprising the following steps of:
1) starting from an alternating-current side angle of an MMC interconnection converter of an alternating-current and direct-current hybrid micro-grid to obtain a voltage equation;
2) establishing a power transmission equation of the MMC interconnection converter according to the AC side voltage equation of the MMC interconnection converter in the step 1), and simplifying;
3) establishing a relation between a power angle and an operation mode of the MMC interconnection converter in the MMC interconnection converter power transmission equation in the step 2);
4) establishing an alternating current micro-grid droop control model and a direct current micro-grid droop control model;
5) obtaining a single-phase power transmission virtual synchronous machine control mechanical equation and a reactive power excitation control equation of the MMC interconnected converter by injecting the characteristic of a synchronous machine into a control system of the MMC interconnected converter;
6) establishing a relation with the power regulation of the MMC interconnection converter according to the same active power output regulation in the alternating current micro-grid droop control and direct current micro-grid droop control models in the step 4);
7) decomposing the active power output regulating quantity of the droop control of the alternating-current micro-grid in the step 6) into a steady-state power variation quantity and an instantaneous power variation quantity; decomposing the active output regulating quantity of the direct current micro-grid droop control model into a steady-state power variation quantity and a dynamic power variation quantity;
8) and obtaining an AC frequency-DC voltage control expression of the MMC interconnected converter of the AC-DC hybrid microgrid according to the relation between the active power output regulating quantity and the power regulating quantity of the MMC interconnected converter in the step 6) and the AC microgrid droop control and DC microgrid droop control models in the step 4).
2. The virtual synchronous machine control method for the hybrid micro-grid MMC interconnection converter according to claim 1, characterized in that step 1) uses AC/DC hybridStarting from the angle of the alternating current side of the micro-grid MMC interconnection converter to obtain a voltage equation,
wherein:
for AC mains voltage e0A corresponding vector;
for MMC interconnected converter AC side voltage UacA corresponding vector;
for alternating mains current i0The corresponding vector.
3. The virtual synchronous machine control method for the hybrid micro-grid MMC interconnection converter according to claim 2, characterized in that, the step 2) is realized by: establishing a power transmission equation of the MMC interconnection converter according to the voltage equation of the AC side of the MMC interconnection converter in the step 1):
wherein: rf、XfThe resistance value and the inductive reactance of the filter circuit; delta is the AC mains voltage vector
AC side voltage vector of converter interconnected with MMC
The phase angle difference between them; MMC interconnection converter, satisfy Rf＜＜XfThen the MMC interconnection converter power transfer equation can be simplified as:
4. the virtual synchronous machine control method for the hybrid micro-grid MMC interconnection converter according to claim 3, characterized in that, the step 3) is realized by: establishing a relation between a power angle and an operation mode of the MMC interconnected converter in the power transmission equation of the MMC interconnected converter in the step 2), wherein the voltage equation and the power transmission equation of the alternating current side of the MMC interconnected converter can be respectively similar to the voltage equation and the power equation of a synchronous motor; AC mains voltage e0Can be analogous to the armature electromotive force of synchronous motor; AC side voltage U of MMC interconnection converteracAnalogous to synchronous machine terminal voltage; the synchronous motor is used as a motor or a generator according to the positive and negative of the phase angle difference between the armature electromotive force and the terminal voltage; similarly, in the alternating current-direct current hybrid micro-grid MMC interconnection converter control system, power bidirectional flow is realized by controlling delta positive and negative; when the delta is greater than 0, the data is converted into a binary data,
advance in
The MMC interconnection converter operates in an inversion mode, and power is transmitted from the direct-current micro-grid to the alternating-current micro-grid; when the delta is less than 0, the crystal grain size is more than zero,
hysteresis
The MMC interconnection converter operates in a rectification mode, and power is transmitted from the alternating-current micro-grid to the direct-current micro-grid; when the delta is equal to 0, the second phase is zero,
and
in-phase, AC microgrid and DC microgridThere is no power exchange between the networks.
5. The virtual synchronous machine control method for the hybrid micro-grid MMC interconnection converter according to claim 4, characterized in that, the step 4) is realized by: establishing an alternating current micro-grid droop control model and a direct current micro-grid droop control model; the basic principle of droop control adopted in the control of the alternating-current microgrid is that an inverter is controlled by simulating the droop external characteristic of a synchronous generator, and the traditional droop control equation is as follows:
wherein: omega is the current value of the angular frequency of the output voltage of the controlled converter; u is the amplitude of the output voltage of the controlled converter; omega0Is the initial value of the angular frequency of the no-load output voltage; u shape0Is the initial value of the amplitude of the no-load output voltage; m is the active power droop coefficient; n is the reactive power droop coefficient; p is the active power of the load distribution; q is the reactive power of the load distribution, and the traditional droop control is a differential regulation; the direct current microgrid is different from an alternating current microgrid and only outputs active power without considering electric quantities such as reactive power, frequency, phase angle and the like, and the active power output by a direct current power supply point in the direct current microgrid can be expressed as:
therefore, the following steps are carried out: the active power is in direct proportion to the output voltage of the DC power supply, and the voltage U is output by the DC power supplydcThe static difference adjustment is used for participating in the adjustment control of the active power output of the direct-current micro-grid; the converter of the DC power supply point in the DC micro-grid adopts DC voltage-active power Udc-a ptosis control scheme, which can be expressed as:
wherein: u shapedciThe current value of the direct current voltage of the direct current power supply point i; u shapedcrefiThe reference value of the direct current voltage of the direct current power supply point i; k is a radical ofudciDroop system as point i of DC power supplyNumber, kudci＞0；PrefiThe active power reference value is the direct current power supply point i; piThe current value of the active power of the direct current power supply point i is obtained; the characteristics of the output port of the direct-current power supply of the direct-current microgrid are as follows: u shapedc＝Udcmax-kudcPdcmax(ii) a Wherein: u shapedcmaxOutputting the maximum allowable voltage, P, for the DC supply pointdcmaxFor the maximum value of the active power variation range, the droop coefficient can be expressed as:
wherein: u shapedcminOutputting the minimum allowable voltage for the direct current power supply point; for the direct-current microgrid, the characteristic of the output port of a single direct-current power supply inside the microgrid is related to the droop characteristic of each direct-current port, and the obtained droop characteristic of the multi-port unit of the direct-current microgrid is as follows:
6. the virtual synchronous machine control method for the hybrid micro-grid MMC interconnection converter according to claim 5, characterized in that, the step 5) is realized by: through injecting the synchronous machine characteristic at MMC interconnection converter control system, realize the smooth transition of power for MMC interconnection converter presents the synchronous machine characteristic on outer characteristic, participates in the frequency and the voltage regulation of mixing little electric wire netting simultaneously, and the virtual synchronous machine control mechanical equation of single-phase power transmission of MMC interconnection converter is:
wherein: j is a virtual moment of inertia; t ism、Te、TdRespectively is a mechanical torque, an electromagnetic torque and a damping torque of the virtual synchronous machine; d is a damping coefficient; omega0Is the net side actual angular frequency; prefAn active power output instruction corresponding to the AGC frequency modulation instruction is issued by scheduling as an active power reference value; p is an actual output value of active power; delta is the sum of the net side voltage vectorsPhase angle difference between alternating-current side voltage vectors of the MMC interconnection converter; representing the ac angular frequency, i.e. the virtual rotor angular frequency; in the virtual synchronous machine control system of the MMC interconnection converter, the virtual rotational inertia J enables the MMC interconnection converter to have inertia in the power and frequency adjusting process, and the damping coefficient D enables the MMC interconnection converter to have the capacity of restraining power oscillation of a power grid; the virtual synchronous machine induction internal potential consists of two parts: when one part is no-load, the virtual excitation voltage is corresponding to the no-load electromotive force, and the other part is generated by the reactive power deviation, and the virtual synchronous machine reactive excitation control equation is as follows: e ═ E0+kq(Qref-Q); wherein: e is an effective value of the induced internal potential of the virtual synchronous machine; e0Is an excitation no-load electromotive force effective value; k is a radical ofqThe reactive voltage droop control coefficient is obtained; qrefIs a reactive power instruction value; qeThe reactive power value is actually output.
7. The virtual synchronous machine control method for the hybrid micro-grid MMC interconnection converter according to claim 6, characterized in that, the step 6) is realized by: according to the step 4), establishing a relation formula with the power regulation quantity of the MMC interconnection converter, wherein the active power output regulation quantity in the alternating current micro-grid droop control model and the active power output regulation quantity in the direct current micro-grid droop control model are the same: pac-Pacref＝Pdc-Pdcref＝ΔPmmc(ii) a Wherein: pacOutputting a current value of the power for the alternating current microgrid; pacrefOutputting a power reference value for the alternating current micro-grid; pdcOutputting a current value of the power of the direct current micro-grid; pdcrefOutputting a power reference value for the direct current micro-grid; delta PmmcAnd adjusting the power of the MMC interconnection converter.
8. The virtual synchronous machine control method for the hybrid micro-grid MMC interconnection converter according to claim 7, characterized in that, the step 7) is realized by: controlling the active power output regulating quantity P of the droop control of the alternating current micro-grid in the step 6)ac-PacrefDecomposed into steady state power variations kω(ω-ω0) The part ofThe power variation is active output variation in the alternating current microgrid during droop control; instantaneous power variation
The part of power variable quantity is instantaneous active power absorbed or emitted by virtual rotor inertia, and an inertia link is provided for alternating current frequency in the control of the virtual synchronous machine; active output regulating quantity P of droop control model of direct-current micro-griddc-PdcrefDecomposed into steady state power variations kudc(Udc-Udc0) The part of power variation is the active output variation of the direct current micro-grid during direct current droop control; dynamic power variation
The part of power variation is the charging and discharging power of a direct current capacitor in the direct current micro-grid, and belongs to dynamic power fluctuation.
9. The virtual synchronous machine control method for the hybrid micro-grid MMC interconnection converter according to claim 8, characterized in that, the step 8) is realized by: obtaining an AC/DC hybrid microgrid MMC interconnection converter AC frequency-DC voltage control expression according to the relation between the active power output regulating quantity and the MMC interconnection converter power regulating quantity in the step 6) and the AC microgrid droop control and DC microgrid droop control models in the step 4): k is a radical ofω(ω-ω0)＝kudc(Udc-Udc0) Wherein: k is a radical ofωAdjusting the coefficient for the droop of the alternating current power grid; is the current value of the AC side angular frequency; the initial value of the alternating-current side angular frequency is obtained; k is a radical ofudcAdjusting coefficients for the droop of the direct-current power grid; u shapedcThe current value is the current value of the bus voltage at the direct current side; u shapedc0The initial value of the DC side bus voltage is obtained.
10. The virtual synchronous machine control method for the hybrid micro-grid MMC interconnection converter according to claim 9, characterized in that, the step 9) is realized by: according to the step 8), an AC frequency-DC voltage control expression of the AC/DC hybrid microgrid MMC interconnection converter, a step 7) active power output regulating quantity decomposition expression of the AC microgrid and the DC microgrid, and a step 5) single-phase power transmission virtual synchronous machine control mechanical equation, the control virtual synchronous machine control equation of the AC/DC hybrid microgrid MMC interconnection converter based on the power transmission principle is obtained:
according to the MMC interconnection converter virtual synchronous machine control, the active power regulation control of an alternating current-direct current hybrid micro-grid is realized by directly controlling the alternating current frequency and the direct current voltage, the active load of the hybrid micro-grid is balanced, and the MMC interconnection converter virtual synchronous machine control of the hybrid micro-grid is realized.
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