CN112436554B - Hydroelectric generation grid-connected simulation method and system - Google Patents
Hydroelectric generation grid-connected simulation method and system Download PDFInfo
- Publication number
- CN112436554B CN112436554B CN202011368240.9A CN202011368240A CN112436554B CN 112436554 B CN112436554 B CN 112436554B CN 202011368240 A CN202011368240 A CN 202011368240A CN 112436554 B CN112436554 B CN 112436554B
- Authority
- CN
- China
- Prior art keywords
- grid
- representing
- synchronous generator
- converter
- axis component
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000004088 simulation Methods 0.000 title claims abstract description 22
- 230000001360 synchronised effect Effects 0.000 claims abstract description 176
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 50
- 238000006243 chemical reaction Methods 0.000 claims description 17
- 230000010354 integration Effects 0.000 claims description 12
- 230000009466 transformation Effects 0.000 claims description 8
- 238000010248 power generation Methods 0.000 claims description 7
- 230000001052 transient effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 7
- 239000003990 capacitor Substances 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000001934 delay Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000001556 precipitation Methods 0.000 description 1
- 230000001932 seasonal effect Effects 0.000 description 1
Classifications
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/04—Control effected upon non-electric prime mover and dependent upon electric output value of the generator
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2101/00—Special adaptation of control arrangements for generators
- H02P2101/10—Special adaptation of control arrangements for generators for water-driven turbines
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2103/00—Controlling arrangements characterised by the type of generator
- H02P2103/20—Controlling arrangements characterised by the type of generator of the synchronous type
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- Geometry (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Control Of Eletrric Generators (AREA)
Abstract
A hydroelectric generation grid-connected simulation method and system comprise the following steps: step 1, modeling a speed regulator PID controller, and outputting a water turbine guide vane opening to a water turbine; step 2, modeling the water turbine, outputting mechanical power to a synchronous generator, and feeding back the rotating speed to a speed regulator; step 3, modeling the synchronous generator and outputting stator current to a synchronous generator converter; step 4, modeling a synchronous generator converter, outputting direct-current link power to a grid-connected converter, and feeding back stator voltage to the synchronous generator; step 5, modeling the grid-connected converter, outputting grid-connected current, direct-current link voltage and grid-connected converter power, outputting the grid-connected current to a power grid, and feeding back the direct-current link voltage and the grid-connected converter power to the synchronous generator converter; step 6, modeling a power grid, and feeding back output power grid voltage to a grid-connected converter; and 7, simulating the hydroelectric power grid connection by using the model established in the steps 1 to 6.
Description
Technical Field
The invention belongs to the technical field of hydroelectric generation, and particularly relates to a hydroelectric generation grid-connected simulation method and system.
Background
Hydropower is the earliest electric energy source of clean and renewable energy sources, which is most stable to supply and generates the greatest amount of electricity. According to international energy agency data, by the 2019 year, global power generation reaches 28400 TW.h, wherein hydraulic power generation reaches 4500 TW.h, the total power generation is about 15.8%, and the renewable energy generation is about 57.1%.
In order to meet the requirement of the power grid frequency, the conventional hydroelectric power station needs to keep constant-speed operation of a water turbine and a generator. The energy conversion characteristic of the water turbine is used for limiting the efficiency of the water turbine, the running rotating speed and the inflow water flow rate of the water turbine are in coupling relation, and when the flow rate is changed, the optimal efficiency running rotating speed of the water turbine is changed. Moreover, due to the influence of regional precipitation and seasonal variation, the water head of the water delivery end of the hydropower station is obviously changed, the water inflow flow of the hydropower station possibly deviates from the expected working point of the hydropower station for a long time, however, the water turbine needs to always maintain the rated rotation speed, and at the moment, the unmatched relationship between the rotation speed and the flow of the water turbine not only can influence the water energy capturing efficiency of a unit and seriously reduce the output power of the hydropower station, but also can aggravate cavitation effect of the water turbine, further increase noise and vibration of the unit and reduce the service life of the water turbine.
Therefore, the grid-connected simulation of the hydroelectric power becomes a research and development hot spot, but the research and development of the hydroelectric power at present lacks an efficient grid-connected simulation method and platform.
Disclosure of Invention
In order to solve the defects in the prior art, the invention aims to provide a hydroelectric generation grid-connected simulation method and system.
The invention adopts the following technical scheme. A hydroelectric generation grid-connected simulation method comprises the following steps:
step 1, modeling a speed regulator PID controller, and outputting a water turbine guide vane opening to a water turbine;
step 2, modeling the water turbine, inputting a guide vane opening, outputting mechanical power and rotating speed of the water turbine, outputting the mechanical power to a synchronous generator, and feeding the rotating speed back to a speed regulator;
step 3, modeling the synchronous generator and outputting stator current to a synchronous generator converter;
step 4, modeling the converter of the synchronous generator, outputting direct-current link power and stator voltage, wherein the direct-current link power is output to the grid-connected converter, and the stator voltage is fed back to the synchronous generator;
step 5, modeling the grid-connected converter, outputting grid-connected current, direct-current link voltage and grid-connected converter power, outputting the grid-connected current to a power grid, and feeding back the direct-current link voltage and the grid-connected converter power to the synchronous generator converter;
step 6, modeling a power grid, and feeding back output power grid voltage to a grid-connected converter;
and 7, simulating the hydroelectric power grid connection by using the model established in the steps 1 to 6.
Preferably, in step 1, the governor PID controller model is expressed in the following formula,
wherein:
ω * the reference value of the rotation speed of the water turbine is shown,
ω represents the rotational speed of the turbine,
k g,p indicating the proportional gain of the governor,
k g,i indicating the integral gain of the governor,
k g,d representing the differential gain of the governor,
s represents the complex variable of the Laplace transform,
T G indicating the servo time constant.
Preferably, in step 3, the synchronous generator is expressed in the following formula,
X x ＝(ω s +Δω)L x
wherein:
X x representing the reactance of the stator of the synchronous generator,
ω s indicating a reference value of the rotational speed of the machine,
Δω represents the amount of change in the mechanical rotational speed,
L x representing the inductance of the stator of the synchronous generator,
i sg,d representing the d-axis component of the synchronous generator stator current,
i sg,q representing the q-axis component of the synchronous generator stator current,
v c,d representing the d-axis component of the grid-tied inverter voltage,
v c,q representing the q-axis component of the grid-tied inverter voltage,
E″ d the d-axis component representing the synchronous generator sub-transient voltage,
E″ q the q-axis component representing the synchronous generator sub-transient voltage,
X″ d the d-axis component representing the synchronous generator sub-transient reactance.
Preferably, in step 4, it includes: modeling the synchronous generator converter outer ring controller, expressing the synchronous generator converter outer ring controller by the following formula,
wherein:
N sg,q the output quantity of an integrating link of the direct current link voltage control of the converter outer ring controller of the synchronous generator is represented,
a q-axis component representing a synchronous generator stator current reference value,
k dc,p representing the proportional gain of the dc link of the synchronous generator converter,
k dc,i representing the integral gain of the dc link of the synchronous generator converter,
representing a direct current link voltage reference value of the synchronous generator converter,
v dc representing the dc link voltage of the synchronous generator inverter,
P g representing the active power of the grid-tied converter.
Preferably, step 4 includes: modeling the synchronous generator converter inner loop controller, expressing the synchronous generator converter inner loop controller by the following formula,
wherein:
M sg,d an integral link output quantity representing d-axis component control of stator current of the synchronous generator by the inner ring controller of the synchronous generator converter,
M sg,q an inner ring controller of the synchronous generator converter synchronizes the output quantity of an integrating link of the q-axis component control of the stator current of the generator,
L″ d the d-axis component representing the synchronous generator sub-transient stator inductance,
L″ q the q-axis component representing the synchronous generator sub-transient stator inductance,
a d-axis component representing a synchronous generator stator voltage reference value,
a q-axis component representing a synchronous generator stator voltage reference value,
k ii,sg representing the integral gain of the inner loop controller of the synchronous generator converter,
k ip,sg representing the proportional gain of the inner loop controller of the synchronous generator converter,
a d-axis component representing a synchronous generator stator current reference value,
a q-axis component representing a synchronous generator stator current reference value,
i sg,d representing the d-axis component of the synchronous generator stator current,
i sg,q representing the q-axis component of the synchronous generator stator current.
Preferably, step 4 includes: modeling a converter module of the synchronous generator converter, expressing the converter module of the synchronous generator converter by the following formula,
wherein:
V sg,d representing the d-axis component of the synchronous generator stator voltage,
V sg,q representing the q-axis component of the synchronous generator stator voltage,
a d-axis component representing a synchronous generator stator voltage reference value,
a q-axis component representing a synchronous generator stator voltage reference value,
T r,sg representing synchronous generator inverter switching time delay.
Preferably, step 5 includes: modeling the grid-connected inverter outer loop controller, expressing the active control of the grid-connected inverter outer loop controller according to the following formula,
wherein:
N c,d the output quantity of the integration link of the active control of the grid-connected inverter outer loop controller is expressed,
k Pi representing the active power integral gain of the grid-connected inverter outer loop controller,
k Pp representing the active power proportional gain of the grid-connected inverter outer loop controller,
representing the active power reference of the grid-tied converter,
P g representing the active power of the grid-tied converter,
the d-axis component representing the grid current reference,
reactive control of the grid-tied converter outer loop controller is expressed in the following formula,
wherein:
N c,q the output quantity of an integrating link of reactive power control of an outer loop controller of the grid-connected converter is represented,
k Qi representing the reactive power integral gain of the grid-connected inverter outer loop controller,
k Qp representing the reactive power proportional gain of the grid-connected inverter outer loop controller,
representing a grid-tied reactive power reference value,
Q g representing the reactive power of the grid connection,
and represents the q-axis component of the grid-tied current reference.
Preferably, step 5 includes: modeling the grid-connected converter inner loop controller, expressing the grid-connected converter inner loop controller according to the following formula,
wherein:
M c,d the output quantity of the integration link of the active control of the inner loop controller of the grid-connected converter is represented,
M c,q the output quantity of the integration link of the active control of the inner loop controller of the grid-connected converter is represented,
k ii,c representing the current integral gain of the grid-connected inverter internal loop controller,
k ip,c representing the current proportional gain of the ring controller in the grid-connected converter,
the d-axis component representing the grid-tied current reference,
i g,d representing the d-axis component of the grid-tie current,
the q-axis component representing the grid-tied current reference value,
i g,q representing the q-axis component of the grid-tie current,
a d-axis component representing the grid-tied inverter voltage reference,
a q-axis component representing the grid-tied inverter voltage reference,
v g,d representing the d-axis component of the grid voltage,
v g,q representing the q-axis component of the grid voltage,
ω g representation ofThe angular frequency of the electrical network,
l f representing the filter impedance.
Preferably, step 5 includes: modeling a transformation module of a grid-connected transformer, expressing the transformation module of the grid-connected transformer in the following formula,
v c,d a d-axis component representing a conversion module voltage of the grid-connected converter,
a d-axis component representing a voltage reference value of a conversion module of the grid-connected converter,
v c,q a q-axis component representing the conversion module voltage of the grid-connected converter,
a q-axis component representing a voltage reference value of a transformation module of the grid-connected transformer,
T r,c representing the switching time delay of the conversion module of the grid-connected converter,
in another aspect, the invention further provides a hydroelectric power grid-connected simulation system for running the hydroelectric power grid-connected simulation method, which comprises the following steps: a speed regulator module, a water turbine module, a synchronous generator converter module, a grid-connected converter module and a power grid module,
the speed regulator module models a speed regulator PID controller and outputs a guide vane opening of the water turbine to the water turbine;
the hydraulic turbine module inputs the opening of the guide vane, outputs the mechanical power and the rotating speed of the hydraulic turbine, outputs the mechanical power to the synchronous generator, and feeds back the rotating speed to the speed regulator;
the synchronous generator module outputs stator current to the synchronous generator converter;
the synchronous generator converter module outputs direct-current link power and stator voltage, the direct-current link power is output to the grid-connected converter, and the stator voltage is fed back to the synchronous generator;
the grid-connected converter module outputs grid-connected current, direct-current link voltage and grid-connected converter power, the grid-connected current is output to a power grid, and the direct-current link voltage and the grid-connected converter power are fed back to the synchronous generator converter;
and the power grid module outputs power grid voltage and feeds the power grid voltage back to the grid-connected converter.
Compared with the prior art, the invention provides the hydroelectric power grid-connected simulation method and system, solves the technical defect of lack of effective simulation means in the past, is hydroelectric power grid-connected, can be used for optimizing the rotating speed of a water turbine, and minimizes water hammer, guide vane servo operation and hydraulic power loss. For the power grid end, the Virtual Inertia (VI) control method can be used for Virtual Inertia (VI) control, so that effective system inertia is increased, and voltage control response time is shortened.
Drawings
FIG. 1 is a flow chart of a hydropower grid-tie method of the present invention;
FIG. 2 is a block diagram of a hydropower grid connection in accordance with the present invention;
FIG. 3 is a block diagram of a hydraulic turbine in accordance with the present invention;
fig. 4 is a block diagram of a synchronous generator inverter according to the present invention.
FIG. 5 is a block diagram of a DC link in the present invention;
FIG. 6 is a block diagram of a grid-tied inverter according to the present invention;
FIG. 7 is a block diagram of a phase locked loop in accordance with the present invention;
fig. 8 is a schematic diagram of a Kundur two-zone system in accordance with the present invention.
Detailed Description
The present application is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical solutions of the present invention and are not intended to limit the scope of protection of the present application.
As shown in fig. 1 and 2, the invention provides a hydroelectric generation grid-connected simulation method, which comprises the following steps:
step 1, modeling a speed regulator PID controller, outputting a water turbine guide vane opening to the water turbine, and expressing the guide vane opening by g; the method specifically comprises the following steps:
the governor PID controller model is expressed in the following formula,
wherein:
ω * representing a turbine speed reference, preferably but not limited to, 1.0,
ω represents the rotational speed of the turbine,
k g,p indicating the proportional gain of the governor, preferably, but not limited to, 2.4-3.0,
k g,i representing the governor integral gain, preferably but not limited to, 0.08-0.1,
k g,d representing the differential gain of the governor, preferably, but not limited to, 0.8-1.0,
s represents the complex variable of the Laplace transform,
T G indicating a servo time constant, preferably but not limited to 0.4-0.5.
It will be appreciated that since the turbine shaft speed is decoupled from the grid and the power-frequency control is performed by the grid-tie inverter, droop control need not be used in the hydro-power grid-tie system.
Step 2, modeling the water turbine, inputting the opening g of the guide vane, outputting the mechanical power and the rotating speed of the water turbine, outputting the mechanical power to a synchronous generator, and feeding the rotating speed back to a speed regulator to obtain P m Represents the mechanical power of the water turbine, and omega represents the rotating speed; it will be appreciated that a person skilled in the art may model the turbine in any way known in the art, and any model capable of inputting the vane opening g, outputting the turbine mechanical power and rotational speed may be suitable for step 2 of the present invention. A preferred but non-limiting embodiment is shown in fig. 3, which illustrates a hydraulic turbine model based on the euler equation.
Step 3, modeling the synchronous generator, using a six-order synchronous generator model, and inputtingOutputting stator current to synchronous generator converter by i sg,d Representing the d-axis component, i of the stator current sg,q Representing the stator current q-axis component; the method specifically comprises the following steps:
the synchronous generator is represented by the following formula,
X x ＝(ω s +Δω)L x
wherein:
X x representing the reactance of the stator of the synchronous generator,
ω s indicating a reference value of the rotational speed of the machine,
Δω represents the amount of change in the mechanical rotational speed,
L x representing the inductance of the stator of the synchronous generator,
i sg,d representing the d-axis component of the synchronous generator stator current,
i sg,q representing the q-axis component of the synchronous generator stator current,
v c,d representing the d-axis component of the grid-tied inverter voltage,
v c,q representing the q-axis component of the grid-tied inverter voltage,
E″ d the d-axis component representing the synchronous generator sub-transient voltage,
E″ q the q-axis component representing the synchronous generator sub-transient voltage,
X″ d the d-axis component representing the synchronous generator sub-transient reactance.
Step 4, modeling the synchronous generator converter, as shown in FIG. 4, to output DC link power and stator voltage, the DC link power is output to the grid-connected converter, the stator voltage is fed back to the synchronous generator, and P is calculated by dc DC link representing synchronous generator converterRoad power, v sg,d Representing the d-axis component, v, of the stator voltage of a synchronous generator sg,q A q-axis component representing a synchronous generator stator voltage; the method specifically comprises the following steps:
step 4.1, modeling an outer ring controller of a synchronous generator converter, comprising:
the synchronous generator converter outer loop controller is expressed in the following formula,
wherein:
N sg,q the output quantity of an integrating link of the direct current link voltage control of the converter outer ring controller of the synchronous generator is represented,
a q-axis component representing a synchronous generator stator current reference value,
k dc,p representing the proportional gain of the dc link of the synchronous generator converter,
k dc,i representing the integral gain of the dc link of the synchronous generator converter,
representing a direct current link voltage reference value of the synchronous generator converter,
v dc representing the dc link voltage of the synchronous generator inverter,
P g representing the active power of the grid-tied converter.
Step 4.2, modeling the inner ring controller of the synchronous generator converter, comprising:
the synchronous generator converter inner loop controller is expressed in the following formula,
wherein:
M sg,d an integral link output quantity representing d-axis component control of stator current of the synchronous generator by the inner ring controller of the synchronous generator converter,
M sg,q an inner ring controller of the synchronous generator converter synchronizes the output quantity of an integrating link of the q-axis component control of the stator current of the generator,
L″ d the d-axis component representing the synchronous generator sub-transient stator inductance,
L″ q the q-axis component representing the synchronous generator sub-transient stator inductance,
a d-axis component representing a synchronous generator stator voltage reference value,
a q-axis component representing a synchronous generator stator voltage reference value,
k ii,sg representing the integral gain of the inner loop controller of the synchronous generator inverter, preferably, but not limited to, 20-25,
k ip,sg represents the proportional gain of the inner loop controller of the synchronous generator inverter, preferably, but not limited to, 0.24-0.3,
a d-axis component representing a synchronous generator stator current reference value,
a q-axis component representing a synchronous generator stator current reference value,
i sg,d representing the d-axis component of the synchronous generator stator current,
i sg,q representing the q-axis component of the synchronous generator stator current.
Step 4.3, modeling a converter module of the synchronous generator converter, including:
the converter modules of the synchronous generator converters are expressed in the following formula,
wherein:
v sg,d representing the d-axis component of the synchronous generator stator voltage,
V sg,q representing the q-axis component of the synchronous generator stator voltage,
a d-axis component representing a synchronous generator stator voltage reference value,
a q-axis component representing a synchronous generator stator voltage reference value,
T r,sg representing synchronous generator inverter switching time delays, preferably, but not limited to, 0.2-0.25ms.
Step 4.4, calculating synchronous generator converter power, including:
the synchronous generator inverter power is calculated as follows,
P dc ＝v dc i dc,sg ＝P sg
wherein:
P sg representing the active power of the synchronous generator inverter,
Q sg representing the reactive power of the synchronous generator converter,
P dc representing the dc link power of the synchronous generator inverter,
v sg,d representing the d-axis component of the synchronous generator stator voltage,
v sg,q representing the q-axis component of the synchronous generator stator voltage,
v dc representing the dc link voltage of the synchronous generator inverter,
i dc,sg representing the direct link current of the synchronous generator inverter,
i sg,d representing the d-axis component of the synchronous generator stator current,
i sg,q representing the q-axis component of the synchronous generator stator current as shown in fig. 5.
Step 5, modeling the grid-connected converter, outputting grid-connected current, direct-current link voltage and grid-connected converter power, outputting the grid-connected current to the power grid, and feeding back the direct-current link voltage and the grid-connected converter power to the synchronous generator converter as shown in fig. 6, so as to obtain i g,d Representing the d-axis component, i of the grid-connected current g,q Representing the q-axis component, v of the grid-connected current dc Representing the DC link voltage, in P c Representing grid-connected inverter power; the method specifically comprises the following steps:
step 5.1, modeling an outer loop controller of the grid-connected converter, wherein the outer loop controller is used for controlling grid-connected active power and grid-connected reactive power, and comprises the following steps:
active control of the grid-tied converter outer loop controller is expressed by the following formula,
wherein:
N c,d the output quantity of the integration link of the active control of the grid-connected inverter outer loop controller is expressed,
k Pi representing the active power integration gain of the grid-tied inverter external loop controller, preferably but not limited to, 74.4-94.3,
k Pp representing the active power proportional gain of the grid-tied converter outer loop controller, preferably but not limited to, 16.8-21.2,
representing the active power reference of the grid-tied converter,
P g representing the active power of the grid-tied converter,
the d-axis component representing the grid current reference,
reactive control of the grid-tied converter outer loop controller is expressed in the following formula,
wherein:
N c,q the output quantity of an integrating link of reactive power control of an outer loop controller of the grid-connected converter is represented,
k Qi representing the reactive power integrated gain of the grid-tied converter outer loop controller, preferably but not limited to, 74.4-94.3,
k Qp representing the reactive power proportional gain of the grid-tied converter outer loop controller, preferably but not limited to, 16.8-21.2,
representing a grid-tied reactive power reference value,
Q g representing the reactive power of the grid connection,
and represents the q-axis component of the grid-tied current reference.
It is appreciated that one skilled in the art may use virtual inertia control instead of power control.
Step 5.2, modeling an inner loop controller of the grid-connected converter, wherein the inner loop controller is used for controlling the d-axis component i of the grid-connected current g,d And q-axis component i of the grid-connected current g,q Comprising:
the grid-tied converter inner loop control is expressed in the following formula,
wherein:
M c,d the output quantity of the integration link of the active control of the inner loop controller of the grid-connected converter is represented,
M c,q the output quantity of the integration link of the active control of the inner loop controller of the grid-connected converter is represented,
k ii,c representing the current integration gain of the grid-tied inverter internal loop controller, preferably but not limited to, 8-10,
k ip,c representing the current proportional gain of the ring controller in the grid-tied converter, preferably but not limited to, 0.4-0.51,
the d-axis component representing the grid-tied current reference,
i g,d representing the d-axis component of the grid-tie current,
the q-axis component representing the grid-tied current reference value,
i g,q representing the q-axis component of the grid-tie current,
a d-axis component representing the grid-tied inverter voltage reference,
a q-axis component representing the grid-tied inverter voltage reference,
v g,d representing an electrical gridThe d-axis component of the voltage,
v g,q representing the q-axis component of the grid voltage,
ω g representing the angular frequency of the power grid,
l f representing the filter impedance.
Step 5.3, modeling a conversion module of the grid-connected converter, including:
the conversion module of the grid-connected converter is expressed as follows,
v c,d a d-axis component representing a conversion module voltage of the grid-connected converter,
a d-axis component representing a voltage reference value of a conversion module of the grid-connected converter,
v c,q a q-axis component representing the conversion module voltage of the grid-connected converter,
a q-axis component representing a voltage reference value of a transformation module of the grid-connected transformer,
T r,c representing the switching time delay of the conversion module of the grid-connected converter,
step 5.4, modeling a filter showing a grid-tie converter, comprising:
the filter of the grid-tied converter is shown in the following formula,
i g,d representing the d-axis component of the grid-tie current,
i g,q representing the q-axis component of the grid-tie current,
ω 0 representation ofThe standard frequency of the power grid,
ω pll representing the angular frequency of the phase-locked loop,
I f representing the filter impedance, preferably but not limited to, 0.16-0.2pu,
v c,d a d-axis component representing a conversion module voltage of the grid-connected converter,
v c,q a q-axis component representing the conversion module voltage of the grid-connected converter,
v g,d representing the d-axis component of the grid voltage,
v g,q representing the q-axis component of the grid voltage,
r f representing the filter resistance of the grid-tied converter.
Step 5.5, calculating the grid-connected power of the grid-connected converter, including:
the grid-tied active power and reactive power of the grid-tied converter are expressed in the following formula,
wherein:
P g representing the active power of the grid-tied converter,
Q g representing the reactive power of the grid-tied converter,
v g,d representing the d-axis component of the grid voltage,
v g,q representing the q-axis component of the grid voltage,
i g,d representing the d-axis component of the grid-tie current,
i g,q representing the q-axis component of the grid-tie current.
Step 5.6, modeling the direct-current link capacitor voltage of the grid-connected converter, including:
the dc link capacitor voltage of the grid-tied converter is expressed as follows,
wherein:
v dc representing the dc link capacitor voltage of the grid-tied converter,
c represents the dc link capacitance of the grid-tied inverter, preferably, but not limited to, 0.02-0.025pu,
P sg representing the active power of the synchronous generator converter,
v c,d representing the d-axis component of the grid-tied inverter voltage,
i g,d representing the d-axis component of the grid-tie current,
i g,q representing the q-axis component of the grid-tie current,
ω c,q the q-axis component representing the grid-tie inverter angular frequency.
Preferably, step 5 further comprises step 5.7 of modeling a phase locked loop for combining the d-axis component v of the grid-connected voltage by estimating the PCC (Point of Common Coupling, common node) voltage phase angle and grid frequency as shown in FIG. 7 g,d Consistent with the PCC voltage, as shown, includes:
the phase-locked loop is expressed in the following formula,
wherein:
θ p,pll representing the estimated PCC voltage phase angle,
x pll representing the estimated PCC voltage frequency,
v gRE representing the real part of the PCC voltage,
v gIM representing the imaginary part of the PCC voltage,
ω 0 representing the standard frequency of the power grid,
ω pll representing the angular frequency of the phase-locked loop,
ω s indicating a reference value of the rotational speed of the machine,
k p,pll indicating the proportional gain of the phase-locked loop,
k i,pll representing the phase-locked loop integral gain.
Step 6, as shown in FIG. 8, modeling the grid, outputting the grid voltage feedback to the grid-connected inverter as v g,d Representing the d-axis component, v of the grid voltage g,q Representing the grid voltage q-axis component. It will be appreciated that any power grid model can be selected by a person skilled in the art to apply to the technical solution of the present invention, in which the power grid model is represented by a Kundur two-area system, and a hydroelectric generating set is added at the position of the bus 5, which is a preferred but non-limiting embodiment, and in step 6, the power grid model is constructed in any manner and falls into the technical solution of the present invention.
Step 7, simulating the hydroelectric power grid connection by using the model established in the steps 1 to 6; it is appreciated that optimization objectives include, but are not limited to, optimizing turbine speed for partial load efficiency, minimizing water hammer, minimizing vane servo operation, minimizing water conservancy and electrical power losses.
In another aspect of the present invention, there is provided a hydroelectric generation grid-connected simulation system, including:
the speed regulator module models a speed regulator PID controller, outputs a guide vane opening of the water turbine to the water turbine, and represents the guide vane opening by g;
the water turbine module inputs the guide vane opening g, outputs the mechanical power and the rotating speed of the water turbine, outputs the mechanical power to the synchronous generator, and feeds back the rotating speed to the speed regulator;
the synchronous generator module outputs stator current to the synchronous generator converter;
the synchronous generator converter module outputs direct-current link power and stator voltage, the direct-current link power is output to the grid-connected converter, and the stator voltage is fed back to the synchronous generator;
the grid-connected converter module outputs grid-connected current, direct-current link voltage and grid-connected converter power, the grid-connected current is output to a power grid, and the direct-current link voltage and the grid-connected converter power are fed back to the synchronous generator converter;
and the power grid module outputs power grid voltage and feeds the power grid voltage back to the grid-connected converter.
Compared with the prior art, the invention provides the hydroelectric power grid-connected simulation method and system, solves the technical defect of lack of effective simulation means in the past, is hydroelectric power grid-connected, can be used for optimizing the rotating speed of a water turbine, and minimizes water hammer, guide vane servo operation and hydraulic power loss. For the power grid end, the Virtual Inertia (VI) control method can be used for Virtual Inertia (VI) control, so that effective system inertia is increased, and voltage control response time is shortened.
While the applicant has described and illustrated the embodiments of the present invention in detail with reference to the drawings, it should be understood by those skilled in the art that the above embodiments are only preferred embodiments of the present invention, and the detailed description is only for the purpose of helping the reader to better understand the spirit of the present invention, and not to limit the scope of the present invention, but any improvements or modifications based on the spirit of the present invention should fall within the scope of the present invention.
Claims (5)
1. The hydroelectric generation grid-connected simulation method is characterized by comprising the following steps of:
step 1, modeling a speed regulator PID controller, and outputting a water turbine guide vane opening to a water turbine; the governor PID controller model is expressed in the following formula,
wherein:
g represents the opening of the guide vane omega * Represents the reference value of the rotation speed of the water turbine, omega represents the rotation speed of the water turbine, and k represents the rotation speed of the water turbine g,p Represents the proportional gain, k of the governor g,i Represents the integral gain, k of the governor g,d Represents differential gain of the speed regulator, s represents Lawster transformation complex variable, T G Representing a servo time constant;
step 2, modeling the water turbine, inputting a guide vane opening, outputting mechanical power and rotating speed of the water turbine, outputting the mechanical power to a synchronous generator, and feeding the rotating speed back to a speed regulator;
step 3, modeling the synchronous generator and outputting stator current to a synchronous generator converter; the synchronous generator is represented by the following formula,
X x ＝(ω s +Δω)L x
wherein:
X x representing synchronous generator stator reactance; omega s Representing a mechanical rotational speed reference value; Δω represents the mechanical rotation speed variation amount; l (L) x Representing synchronous generator stator inductance; i.e sg,d A d-axis component representing synchronous generator stator current; i.e sg,q A q-axis component representing synchronous generator stator current; v c,d A d-axis component representing the grid-connected inverter voltage; v c,q A q-axis component representing the grid-tie inverter voltage; e' d A d-axis component representing a synchronous generator sub-transient voltage; e' q A q-axis component representing a synchronous generator sub-transient voltage; x' d A d-axis component representing a synchronous generator secondary transient reactance;
step 4, modeling the converter of the synchronous generator, outputting direct-current link power and stator voltage, wherein the direct-current link power is output to the grid-connected converter, and the stator voltage is fed back to the synchronous generator; modeling the synchronous generator converter outer ring controller, expressing the synchronous generator converter outer ring controller by the following formula,
wherein:
N sg,q the output quantity of an integrating link of the direct current link voltage control of the converter outer ring controller of the synchronous generator is represented,q-axis component, k representing synchronous generator stator current reference value dc,p Representing the proportional gain, k, of the direct current link of a synchronous generator converter dc,i Integral gain of direct current link representing synchronous generator converter,/->Representing a direct current link voltage reference value, v, of a synchronous generator converter dc Representing the DC link voltage, P, of a synchronous generator inverter g Representing the active power of the grid-connected converter;
modeling the synchronous generator converter inner loop controller, expressing the synchronous generator converter inner loop controller by the following formula,
wherein:
M sg,d integrating element output quantity representing d-axis component control of synchronous generator stator current of synchronous generator converter inner ring controller, M sg,q Integration link output quantity, L', of q-axis component control of synchronous generator stator current of synchronous generator converter inner ring controller d Representing d-axis component, L', of sub-transient stator inductance of synchronous generator q The q-axis component representing the synchronous generator sub-transient stator inductance,d-axis component representing synchronous generator stator voltage reference value,/->Q-axis component, k representing synchronous generator stator voltage reference value ii,sg Integral gain, k, representing the inner loop controller of a synchronous generator inverter ip,sg Proportional gain of inner loop controller representing synchronous generator converter,/->D-axis component representing synchronous generator stator current reference value,/->Q-axis component, i representing synchronous generator stator current reference value sg,d Representing the d-axis component, i, of the stator current of a synchronous generator sg,q A q-axis component representing synchronous generator stator current;
modeling a converter module of the synchronous generator converter, expressing the converter module of the synchronous generator converter by the following formula,
wherein:
v sg,d representing the d-axis component, v, of the stator voltage of a synchronous generator sg,q Representing the q-axis component of the synchronous generator stator voltage,d-axis component representing synchronous generator stator voltage reference value,/->Q-axis component, T, representing synchronous generator stator voltage reference value r,sg Representing synchronous generator inverter switching time delay;
step 5, modeling the grid-connected converter, outputting grid-connected current, direct-current link voltage and grid-connected converter power, outputting the grid-connected current to a power grid, and feeding back the direct-current link voltage and the grid-connected converter power to the synchronous generator converter;
step 6, modeling a power grid, and feeding back output power grid voltage to a grid-connected converter;
and 7, simulating the hydroelectric power grid connection by using the model established in the steps 1 to 6.
2. The hydro-power generation grid-tie simulation method of claim 1, wherein:
the step 5 comprises the following steps: modeling the grid-connected inverter outer loop controller, expressing the active control of the grid-connected inverter outer loop controller according to the following formula,
wherein:
N c,d the output quantity of the integration link of the active control of the grid-connected inverter outer loop controller is expressed,
k Pi representing the active power integral gain of the grid-connected inverter outer loop controller,
k Pp representing the active power proportional gain of the grid-connected inverter outer loop controller,
representing the active power reference of the grid-tied converter,
P g representing the active power of the grid-tied converter,
the d-axis component representing the grid current reference,
reactive control of the grid-tied converter outer loop controller is expressed in the following formula,
wherein:
N c,q the output quantity of an integrating link of reactive power control of an outer loop controller of the grid-connected converter is represented,
k Qi representing the reactive power integral gain of the grid-connected inverter outer loop controller,
k Qp representing the reactive power proportional gain of the grid-connected inverter outer loop controller,
representing a grid-tied reactive power reference value,
Q g representing the reactive power of the grid connection,
and represents the q-axis component of the grid-tied current reference.
3. The hydro-power generation grid-tie simulation method of claim 2, wherein:
the step 5 comprises the following steps: modeling the grid-connected converter inner loop controller, expressing the grid-connected converter inner loop controller according to the following formula,
wherein:
M c,d the output quantity of the integration link of the active control of the inner loop controller of the grid-connected converter is represented,
M c,q the output quantity of the integration link of the active control of the inner loop controller of the grid-connected converter is represented,
k ii,c representing the current integral gain of the grid-connected inverter internal loop controller,
k ip,c representing the current proportional gain of the ring controller in the grid-connected converter,
the d-axis component representing the grid-tied current reference,
i g,d representing the d-axis component of the grid-tie current,
the q-axis component representing the grid-tied current reference value,
i g,q representing the q-axis component of the grid-tie current,
a d-axis component representing the grid-tied inverter voltage reference,
a q-axis component representing the grid-tied inverter voltage reference,
v g,d representing the d-axis component of the grid voltage,
v g,q representing the q-axis component of the grid voltage,
ω g representing the angular frequency of the power grid,
l f representing the filter impedance.
4. A hydropower grid-connected simulation method according to claim 3, wherein:
the step 5 comprises the following steps: modeling a transformation module of a grid-connected transformer, expressing the transformation module of the grid-connected transformer in the following formula,
v c,d a d-axis component representing a conversion module voltage of the grid-connected converter,
a d-axis component representing a voltage reference value of a conversion module of the grid-connected converter,
v c,q a q-axis component representing the conversion module voltage of the grid-connected converter,
a q-axis component representing a voltage reference value of a transformation module of the grid-connected transformer,
T r,c representing the switching time delay of the conversion module of the grid-connected converter.
5. A hydro-power generation grid-tie simulation system for operating the hydro-power generation grid-tie simulation method of any one of claims 1-4, comprising: the device is characterized by comprising a speed regulator module, a water turbine module, a synchronous generator converter module, a grid-connected converter module and a power grid module,
the speed regulator module models a speed regulator PID controller and outputs a guide vane opening of the water turbine to the water turbine;
the hydraulic turbine module inputs the opening of the guide vane, outputs the mechanical power and the rotating speed of the hydraulic turbine, outputs the mechanical power to the synchronous generator, and feeds back the rotating speed to the speed regulator;
the synchronous generator module outputs stator current to the synchronous generator converter;
the synchronous generator converter module outputs direct-current link power and stator voltage, the direct-current link power is output to the grid-connected converter, and the stator voltage is fed back to the synchronous generator;
the grid-connected converter module outputs grid-connected current, direct-current link voltage and grid-connected converter power, the grid-connected current is output to a power grid, and the direct-current link voltage and the grid-connected converter power are fed back to the synchronous generator converter;
and the power grid module outputs power grid voltage and feeds the power grid voltage back to the grid-connected converter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011368240.9A CN112436554B (en) | 2020-11-29 | 2020-11-29 | Hydroelectric generation grid-connected simulation method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011368240.9A CN112436554B (en) | 2020-11-29 | 2020-11-29 | Hydroelectric generation grid-connected simulation method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112436554A CN112436554A (en) | 2021-03-02 |
| CN112436554B true CN112436554B (en) | 2024-01-19 |
Family
ID=74699341
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011368240.9A Active CN112436554B (en) | 2020-11-29 | 2020-11-29 | Hydroelectric generation grid-connected simulation method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112436554B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104503228A (en) * | 2014-11-19 | 2015-04-08 | 国家电网公司 | Primary frequency modulation stability domain determination method of water turbine speed regulator under power mode |
| CN106894945A (en) * | 2017-03-15 | 2017-06-27 | 南方电网科学研究院有限责任公司 | The modeling method of the hydraulic turbine and its regulating system |
| CN107966912A (en) * | 2017-11-24 | 2018-04-27 | 南瑞集团有限公司 | A kind of embedded control object model analogy method of hydrogovernor |
| CN108667053A (en) * | 2018-05-18 | 2018-10-16 | 华北电力大学 | The operating mode of hydroenergy storage station pump turbine and double feedback electric engine switches Simulation Methods |
| CN110397548A (en) * | 2019-06-25 | 2019-11-01 | 武汉大学 | A kind of Multi model Predictive Controllers of double-fed type speed change pump-storage generator |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3156861B1 (en) * | 2015-10-16 | 2018-09-26 | GE Renewable Technologies | Controller for hydroelectric group |
-
2020
- 2020-11-29 CN CN202011368240.9A patent/CN112436554B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104503228A (en) * | 2014-11-19 | 2015-04-08 | 国家电网公司 | Primary frequency modulation stability domain determination method of water turbine speed regulator under power mode |
| CN106894945A (en) * | 2017-03-15 | 2017-06-27 | 南方电网科学研究院有限责任公司 | The modeling method of the hydraulic turbine and its regulating system |
| CN107966912A (en) * | 2017-11-24 | 2018-04-27 | 南瑞集团有限公司 | A kind of embedded control object model analogy method of hydrogovernor |
| CN108667053A (en) * | 2018-05-18 | 2018-10-16 | 华北电力大学 | The operating mode of hydroenergy storage station pump turbine and double feedback electric engine switches Simulation Methods |
| CN110397548A (en) * | 2019-06-25 | 2019-11-01 | 武汉大学 | A kind of Multi model Predictive Controllers of double-fed type speed change pump-storage generator |
Non-Patent Citations (3)
| Title |
|---|
| 双馈水轮发电机系统功率调节的控制策略研究;朱咏;《中国优秀硕士学位论文全文数据库》;20190815(第08期);第2-3章相关内容 * |
| 负荷波动下小型变速水力发电机组功率响应调节研究;郑玉坤 等;《中国优秀硕士学位论文全文数据库 电子期刊》;20190815(第08期);第2-4章相关内容 * |
| 郑玉坤 等.负荷波动下小型变速水力发电机组功率响应调节研究.《中国优秀硕士学位论文全文数据库 电子期刊》.2019,(第08期),第2-4章相关内容. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112436554A (en) | 2021-03-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Ganti et al. | DFIG-based wind power conversion with grid power leveling for reduced gusts | |
| Márquez et al. | Dynamic modeling, simulation and control design of an advanced micro-hydro power plant for distributed generation applications | |
| Lung et al. | Modeling and dynamic simulations of doubly fed adjustable-speed pumped storage units | |
| Singh et al. | Solid state voltage and frequency controller for a stand alone wind power generating system | |
| CN108270241B (en) | Control method of virtual synchronous generator of fan grid-connected inverter | |
| Ye et al. | Dynamic modeling of a hybrid wind/solar/hydro microgrid in EMTP/ATP | |
| Saleh et al. | Resolution-level-controlled WM inverter for PMG-based wind energy conversion system | |
| Esmaili | Application of advanced power electronics in renewable energy sourcesand hybrid generating systems | |
| Molina et al. | Improved power conditioning system of micro-hydro power plant for distributed generation applications | |
| TWI449838B (en) | System and method of integrating wind power and tide energy | |
| Lather et al. | Modern control aspects in doubly fed induction generator based power systems: a review | |
| Gb et al. | Design and control of grid-connected solar-wind integrated conversion system with DFIG supplying three-phase four-wire loads | |
| Arjun Kumar et al. | Design and control of grid-connected solar-wind integrated conversion system with DFIG supplying three-phase four-wire loads | |
| Ahuja et al. | Performance comparison of DFIG and PMSG based WECS | |
| Han et al. | A doubly fed induction generator controlled in single-sided grid connection for wind turbines | |
| Ganesh et al. | Performance analysis and MPPT control of a standalone hybrid power generation system | |
| Sharma et al. | Performance comparison of DFIG and SCIG based wind energy conversion systems | |
| Singh et al. | A high-performance microgrid with a mechanical sensorless SynRG operated wind energy generating system | |
| Wegiel et al. | Variable speed small hydropower plant | |
| Gagrai et al. | Performance analysis of grid integrated doubly fed induction generator for a small hydropower plant | |
| CN112436554B (en) | Hydroelectric generation grid-connected simulation method and system | |
| CN110556842A (en) | Control method of direct-drive wind power plant inductive weak grid-connected subsynchronous oscillation suppression device | |
| CN105162168A (en) | Wind generator system grid connection control method | |
| Ahuja et al. | Large scale wind energy conversion system using permanent magnet synchronous generator | |
| Pudur et al. | Performance study of electronic load controller for integrated renewable sources |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |