CN112467784A - Self-adaptive virtual synchronous machine control method for hybrid microgrid current converter - Google Patents

Self-adaptive virtual synchronous machine control method for hybrid microgrid current converter Download PDF

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CN112467784A
CN112467784A CN202011295937.8A CN202011295937A CN112467784A CN 112467784 A CN112467784 A CN 112467784A CN 202011295937 A CN202011295937 A CN 202011295937A CN 112467784 A CN112467784 A CN 112467784A
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virtual
converter
power
active
inertia
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CN112467784B (en
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冯仰敏
杨沛豪
赵勇
李立勋
张宝锋
王燕
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Xian Thermal Power Research Institute Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/381—Dispersed generators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J5/00—Circuit arrangements for transfer of electric power between ac networks and dc networks
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
    • H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
    • H02J2300/10—The dispersed energy generation being of fossil origin, e.g. diesel generators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
    • H02J2300/20—The dispersed energy generation being of renewable origin
    • H02J2300/22—The renewable source being solar energy
    • H02J2300/24—The renewable source being solar energy of photovoltaic origin
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
    • H02J2300/20—The dispersed energy generation being of renewable origin
    • H02J2300/28—The renewable source being wind energy
    • 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
    • H02J2300/40—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation wherein a plurality of decentralised, dispersed or local energy generation technologies are operated simultaneously
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy
    • Y02E10/56—Power conversion systems, e.g. maximum power point trackers

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Abstract

The invention discloses a method for controlling a self-adaptive virtual synchronizer of a hybrid microgrid converter. Further, in order to obtain a value range of a rated virtual parameter, a small signal model is established for the self-adaptive VSG control system, and a damping ratio and a rated damping coefficient are obtained by analyzing characteristic values and referring to the oscillation angular frequency value of the synchronous generator. The invention adopts a self-adaptive virtual moment of inertia J and a self-adaptive virtual damping D in a VSG control system, and provides a method for increasing J and properly reducing D at the same time in an angular frequency increasing stage; and in the angular frequency reduction stage, reducing J and properly increasing D. The invention can ensure the response speed of the system and accelerate the power to enter a stable state. The dual adaptive virtual parameters can effectively suppress power fluctuations.

Description

Self-adaptive virtual synchronous machine control method for hybrid microgrid current converter
Technical Field
The invention relates to a method for controlling a hybrid microgrid converter through a self-adaptive virtual synchronous machine.
Background
The AC/DC interface converter is used as a power transmission medium of the AC sub-network and the DC sub-network, so that not only is the dynamic power balance between the sub-networks maintained, but also the stable operation of the whole micro-grid is ensured. How to realize the stable power transmission of the AC/DC interface converter through a control strategy is the key for ensuring the coordinated operation of the AC/DC hybrid micro-grid.
An AC/DC interface converter in an AC/DC hybrid micro-grid generally adopts droop control, and the droop control does not have inertia and damping links and cannot maintain the stability of a converter control system of the distributed power supply high-permeability hybrid micro-grid. A control strategy for enabling an AC/DC interface converter to have inertia by simulating a conventional Synchronous generator, namely a Virtual Synchronous Generator (VSG) control strategy, has received extensive attention in the industry. However, in the conventional VSG control, the virtual parameter is a fixed value, and power oscillation in the power exchange process of the ac/dc microgrid cannot be inhibited.
Disclosure of Invention
The invention aims to provide a method for controlling a self-adaptive virtual synchronizer of a hybrid microgrid converter. Further, in order to obtain a value range of a rated virtual parameter, a small signal model is established for the self-adaptive VSG control system, and a damping ratio and a rated damping coefficient are obtained by analyzing characteristic values and referring to the oscillation angular frequency value of the synchronous generator.
The invention is realized by adopting the following technical scheme:
a self-adaptive virtual synchronous machine control method of a hybrid microgrid current converter is characterized by comprising the following steps:
1) establishing a power transmission equation at the alternating current side of an alternating current/direct current (AC/DC) converter of the AC/DC hybrid micro-grid, and simplifying the power transmission equation;
2) establishing an active exchange expression of the AC/DC converter according to the fact that the active output regulating quantity of the AC sub-network and the active output regulating quantity of the DC sub-network are equal to the power regulating quantity of the AC/DC converter and the instantaneous active variation quantity of the hybrid micro-grid is the same;
3) respectively unfolding the active output regulating quantity of the alternating current sub-network and the active output regulating quantity of the direct current sub-network in the step 2) into a steady state active variable quantity and a dynamic power variable quantity;
4) simulating a synchronous generator according to the active output regulating quantity of the alternating current sub-network and the active output regulating quantity expansion of the direct current sub-network in the step 3) to obtain a VSG rotor motion equation and a reactive power regulation expression of the AC/DC converter current device virtual synchronous machine of the alternating current-direct current hybrid micro-network;
5) analyzing a virtual moment of inertia J and a virtual damping coefficient D in the VSG rotor motion equation of the AC/DC hybrid microgrid AC/DC converter in the step 4), and constructing a self-adaptive virtual moment of inertia and a virtual damping coefficient;
6) to obtain a rated virtual parameter J in the adaptive virtual inertia and the virtual damping coefficient in the step 5)0And D0Carrying out first-order and second-order derivation on active power at the alternating current side of the alternating current/direct current hybrid micro-grid AC/DC converter in the step 1) after the value range is obtained;
7) substituting the first-order and second-order derivatives of the active power at the alternating current side of the converter obtained in the step 6) and the expansion of the active power regulation quantity of the alternating current sub-network obtained in the step 3) into the VSG rotor motion equation of the AC/DC hybrid micro-grid AC/DC converter in the step 4) to obtain a VSG output power reference value expression;
8) step 7), establishing a small signal model by the VSG output power reference value, carrying out Laplace transformation, and calculating a characteristic root of the small signal model;
9) analyzing a VSG output power reference value small signal model and a characteristic root in the step 8) to obtain a natural oscillation rotating speed and a damping ratio of the system;
10) obtaining a rated virtual inertia value range by referring to the oscillation frequency of the synchronous generator, and determining the damping ratio and the rated damping coefficient in the step 9) by using an optimal second-order system analysis method on the basis of considering the damping coefficient;
11) and (3) setting the self-adaptive virtual inertia and the virtual damping coefficient in the step 5) according to the value range and the rated damping coefficient of the rated virtual inertia in the step 10), replacing the original virtual inertia and the virtual damping coefficient in the motion equation of the VSG rotor of the AC/DC converter of the AC/DC hybrid microgrid in the step 4), and realizing power stability control of the self-adaptive virtual synchronizer of the converter of the hybrid microgrid.
The further improvement of the invention is that the specific implementation method of the step 1) is as follows: establishing a power transmission equation of an alternating current side of an alternating current/direct current (AC/DC) converter of the alternating current/direct current hybrid micro grid:
Figure BDA0002785300450000031
wherein: rf、XfThe resistance value and the inductive reactance value of the filter circuit; e is the amplitude of the AC side bridge arm voltage of the AC/DC converter, UacIs the AC side voltage amplitude; delta is a power angle; among the internal parameters of the AC/DC converter, R is satisfiedf＜＜XfThe alternating-current side power transmission equation is simplified as follows:
Figure BDA0002785300450000032
the power angle delta between the bridge arm voltage at the AC side of the converter and the voltage at the AC side is very small, and the power angle delta comprises the following components:
Figure BDA0002785300450000033
the active power is expressed as:
Figure BDA0002785300450000034
the further improvement of the invention is that the specific implementation method of the step 2) is as follows: according to the fact that the active output regulating quantity of the alternating-current sub-network and the active output regulating quantity of the direct-current sub-network are equal to the power regulating quantity of the AC/DC converter, and the instantaneous active variable quantity of the hybrid micro-grid is the same, an active exchange expression of the AC/DC converter is established: pacref-Pac＝Pdc-Pdcref＝ΔP。
The further improvement of the invention is that the specific implementation method of the step 3) is as follows: respectively unfolding the active output regulating quantity of the alternating current sub-network and the active output regulating quantity of the direct current sub-network in the step 2) into a steady state active variable quantity and a dynamic power variable quantity; the active power output regulating variable in the AC microgrid is expressed as:
Figure BDA0002785300450000035
wherein: k is a radical ofωAdjusting the coefficient for the droop of the alternating current power grid; k is a radical ofω(ω-ω0) Is the steady state active change amount;
Figure BDA0002785300450000041
providing an inertia link for the alternating current frequency in the control of the virtual synchronous machine for the instant active power absorbed or emitted by the virtual rotor inertia; the active output regulating quantity of the direct-current micro-grid is expressed as follows:
Figure BDA0002785300450000042
wherein: k is a radical ofudcAdjusting coefficients for the droop of the direct-current power grid; u shapedcThe actual value of the voltage of the direct current bus is obtained; u shapedc0The initial value of the voltage of the direct current bus is obtained; is the steady-state active change amount,
Figure BDA0002785300450000043
the charging and discharging power of the direct current capacitor belongs to dynamic power fluctuation.
The further improvement of the invention is that the specific implementation method of the step 4) is as follows: according to the step 3), the active power output regulating quantity of the alternating current sub-network and the active power output regulating quantity of the direct current sub-networkAnd (3) an energy-saving expansion type is used for simulating a synchronous generator to obtain an AC/DC hybrid microgrid AC/DC converter virtual synchronous machine rotor motion equation:
Figure BDA0002785300450000044
wherein: j is a virtual moment of inertia; omega is angular frequency; k is a radical ofudcAdjusting coefficients for the droop of the DC sub-network; u shapedcThe actual value of the voltage of the direct current bus is obtained; u shapedc0The initial value of the voltage of the direct current bus is obtained; cdcIs a DC capacitance value; the AC/DC converter control of the alternating current-direct current hybrid micro grid also has excitation regulation inertia, and the reactive power regulation expression is as follows:
Figure BDA0002785300450000045
wherein: u is the VSG virtual internal potential; u shape0Is a rated voltage effective value; Δ u is a deviation between the virtual internal potential and a rated voltage; k is a radical ofqIs a reactive power regulation coefficient; qeThe actual output value of the reactive power is; qrefIs a reactive power reference value.
The further improvement of the invention is that the concrete implementation method of the step 5) is as follows: analyzing a virtual moment of inertia J and a virtual damping coefficient D in the VSG rotor motion equation of the AC/DC hybrid microgrid AC/DC converter in the step 4), and increasing J and properly reducing D at the stage of increasing the angular frequency; in the phase of angular frequency reduction, J is reduced while D is appropriately increased; the adaptive virtual inertia and the virtual damping coefficient are expressed as:
Figure BDA0002785300450000046
wherein: j. the design is a square0And D0The nominal virtual moment of inertia and the nominal virtual damping coefficient are obtained; k is a radical ofjAnd (4) representing the capability of the virtual moment of inertia to follow the frequency deviation adjustment for the virtual inertia adjustment coefficient.
The further improvement of the invention is that the specific implementation method of the step 6) is as follows: to obtain a rated virtual parameter J in the adaptive virtual inertia and the virtual damping coefficient in the step 5)0And D0Value range, for the AC/DC conversion of the AC/DC mixed micro-grid in the step 1)The active power of the AC side of the device is subjected to first-order and second-order derivation:
Figure BDA0002785300450000051
the further improvement of the invention is that the specific implementation method of the step 7) is as follows: substituting the first-order and second-order derivatives of the active power at the alternating current side of the converter obtained in the step 6) and the expansion of the active power regulation quantity of the alternating current sub-network obtained in the step 3) into the VSG rotor motion equation of the AC/DC hybrid micro-grid AC/DC converter in the step 4) to obtain a VSG output power reference value expression:
Figure BDA0002785300450000052
the further improvement of the invention is that the specific implementation method of the step 8) is as follows: establishing a small signal model according to the VSG output power reference value in the step 7) and carrying out Laplace transformation:
Figure BDA0002785300450000053
and calculating its characteristic root:
Figure BDA0002785300450000054
the further improvement of the invention is that the specific implementation method of the step 9) is as follows: analyzing a VSG output power reference value small signal model and characteristic roots in the step 8), wherein in order to ensure the stability of a control system, the two characteristic roots are both positioned at the left half part of a complex plane, and the virtual inertia J is kept to be more than or equal to 0; in the power oscillation process, the VSG output power response characteristic is equivalent to a typical second-order transfer function, and the natural oscillation angular frequency and the damping ratio of the system are obtained according to the characteristic root expression:
Figure BDA0002785300450000055
the specific implementation method of the step 10) comprises the following steps: reference synchronous generator oscillation frequency: 0.628rad/s is less than or equal to omegaSNot more than 15.7rad/s, obtaining a rated virtual inertia value range:
Figure BDA0002785300450000061
in an AC/DC hybrid microgrid AC/DC converter self-adaptive VSG control system, in order to obtain a faster response speed and a smaller overshoot, an optimal second-order system analysis method is utilized on the basis of considering a damping coefficient to determine a damping ratio and a rated damping coefficient in the step 9):
Figure BDA0002785300450000062
the specific implementation method of the step 11) comprises the following steps: and (3) setting the self-adaptive virtual inertia and the virtual damping coefficient in the step 5) according to the value range and the rated damping coefficient of the rated virtual inertia in the step 10), replacing the original virtual inertia and the virtual damping coefficient in the motion equation of the VSG rotor of the AC/DC converter of the AC/DC hybrid microgrid in the step 4), and realizing power stability control of the self-adaptive virtual synchronizer of the converter of the hybrid microgrid.
Compared with the prior art, the invention has at least the following beneficial technical effects:
1. the invention adopts a self-adaptive virtual moment of inertia J and a self-adaptive virtual damping D in a VSG control system, and provides a method for increasing J and properly reducing D at the same time in an angular frequency increasing stage; and in the angular frequency reduction stage, reducing J and properly increasing D. The scheme can ensure the response speed of the system and accelerate the power to enter a stable state. The double self-adaptive virtual parameters can effectively inhibit power fluctuation;
2. according to the method, a small signal model is established for the self-adaptive VSG control system, the value range of the oscillation angular frequency of the synchronous generator is referred, and the rated virtual parameters are analyzed to obtain the damping ratio and the rated damping coefficient which are suitable for the VSG control system of the AC/DC hybrid microgrid.
Drawings
Fig. 1 is a topology structure diagram of an ac/dc hybrid microgrid;
FIG. 2 is a diagram of an AC/DC converter circuit topology;
fig. 3 is a control block diagram of a hybrid microgrid AC/DC converter VSG;
FIG. 4 is a VSG active and virtual angular frequency variation curve;
fig. 5 is a control block diagram of an adaptive VSG of a hybrid microgrid AC/DC converter;
fig. 6 is a diagram of a hybrid microgrid simulation model;
FIG. 7 is an active power dynamic comparison simulation waveform of the AC/DC converter in the rectifying state;
FIG. 8 is a curve of variation of adaptive virtual parameters of the AC/DC converter under rectification condition, where FIG. 8(a) is adaptive virtual inertia and FIG. 8(b) is adaptive damping coefficient;
FIG. 9 is an active power dynamic comparison simulation waveform of the AC/DC converter in the inversion state;
fig. 10 is a variation curve of adaptive virtual parameters of the AC/DC converter in the inverter state, where fig. 10(a) is adaptive virtual inertia, and fig. 10(b) is adaptive damping coefficient.
Detailed Description
The technical solution of the present invention is further described in detail by the accompanying drawings.
As shown in fig. 1, the AC sub-network and the DC sub-network are connected by one or more AC/DC converters, and the AC/DC hybrid microgrid is connected to a power distribution network via a power transformer.
As shown in fig. 2; rf、Lf、CfA filter circuit resistor, an inductor and a capacitor; e.g. of the typeabcIs the bridge arm voltage of the AC side of the converter; u. ofabc、iabcThe voltage and the current of the alternating current side are obtained; zacIs the line impedance.
The AC/DC converter AC side power transfer equation can be expressed as:
Figure BDA0002785300450000071
in formula (1): rf、XfThe resistance value and the inductive reactance value of the filter circuit; e is the amplitude of the AC side bridge arm voltage of the AC/DC converter, UacIs the AC side voltage amplitude; delta is the power angle. Among the internal parameters of the AC/DC converter, R is usually satisfiedf＜＜XfThen equation (1) can be simplified as:
Figure BDA0002785300450000081
in the active expression of formula (2), the power angle δ between the ac-side bridge arm voltage and the ac-side voltage of the converter is very small, and there are:
Figure BDA0002785300450000082
the active power can again be expressed as:
Figure BDA0002785300450000083
as shown in fig. 3, according to that the active output regulating variable of the AC sub-network and the active output regulating variable of the DC sub-network are equal to the power regulating variable of the AC/DC converter, the instantaneous active variation of the hybrid micro-grid is the same, that is:
Pacref-Pac＝Pdc-Pdcref＝ΔP (4)
the active power output regulating quantity in the AC micro-grid can be expressed as:
Figure BDA0002785300450000084
in formula (5): k is a radical ofωAdjusting the coefficient for the droop of the alternating current power grid; k is a radical ofω(ω-ω0) Is the steady state active change.
Figure BDA0002785300450000085
And an inertia link is provided for the alternating current frequency in the control of the virtual synchronous machine for absorbing or emitting the instantaneous active power by the virtual rotor inertia.
The active power output regulating quantity in the direct current micro-grid can be expressed as follows:
Figure BDA0002785300450000086
in formula (6): k is a radical ofudcDroop control system for DC power gridCounting; u shapedcThe actual value of the voltage of the direct current bus is obtained; u shapedc0The initial value of the DC bus voltage is obtained. k is a radical ofudc(Udc-Udc0) Is the steady-state active change amount,
Figure BDA0002785300450000087
the charging and discharging power of the direct current capacitor belongs to dynamic power fluctuation.
AC/DC converter control system of the mixed microgrid of alternating current and direct current realizes converter VSG control by simulating the characteristics of a synchronous generator, and the motion equation of a rotor is as follows:
Figure BDA0002785300450000088
in formula (7): j is a virtual moment of inertia; omega is angular frequency; k is a radical ofudcAdjusting coefficients for the droop of the DC sub-network; u shapedcThe actual value of the voltage of the direct current bus is obtained; u shapedc0The initial value of the voltage of the direct current bus is obtained; cdcIs a DC capacitance value; the AC/DC converter control of the alternating current-direct current hybrid micro grid also has excitation regulation inertia, and the reactive power regulation expression is as follows:
Figure BDA0002785300450000091
in formula (8): u is the VSG virtual internal potential; u shape0Is a rated voltage effective value; Δ u is a deviation between the virtual internal potential and a rated voltage; k is a radical ofqIs a reactive power regulation coefficient; qeThe actual output value of the reactive power is; qrefIs a reactive power reference value.
As shown in fig. 4, if the J selection value is too small, the system response time can be reduced, but the power oscillation cannot be suppressed due to the lack of inertia characteristics; the J-select value is too large, so that the system can inhibit power fluctuation and increase response time. Similarly, the virtual damping coefficient D selection also affects the power oscillation suppression performance. When power oscillation occurs, the angular frequency increases by a period omega>ω0Wherein d ω/dt is less than 0 in the a-phase, d ω/dt is greater than 0 in the d-phase, and the angular frequency increasing phase requiresThe virtual moment of inertia J is increased to restrict the increase of the angular frequency, so as to prevent ω from increasing too fast, which would result in a larger overshoot, and the system response speed is slowed down, so it is necessary to reduce the virtual damping coefficient D appropriately at this stage to increase the system response speed.
Angular frequency reduction phase omega<ω0And D omega/dt in the c stage is less than 0, D omega/dt in the b stage is more than 0, the virtual moment of inertia J is required to be reduced to enable the power to be recovered to a stable value as soon as possible, and the virtual damping coefficient D can be increased at the same time to further accelerate the frequency attenuation rate and enable the power to be faster and more stable.
As shown in FIG. 5, the present invention proposes a method for increasing J while properly decreasing D during the phase of increasing angular frequency; and in the angular frequency reduction stage, reducing J and properly increasing D. The scheme can ensure the response speed of the system and accelerate the power to enter a stable state. The adaptive virtual inertia and the virtual damping coefficient may be expressed as:
Figure BDA0002785300450000092
in formula (9): j. the design is a square0And D0The nominal virtual moment of inertia and the nominal virtual damping coefficient are obtained; k is a radical ofjAnd (4) representing the capability of the virtual moment of inertia to follow the frequency deviation adjustment for the virtual inertia adjustment coefficient.
To obtain a nominal virtual parameter J0And D0And (4) value range, a small signal model needs to be established. The first and second derivatives of the active power in the formula (3) are:
Figure BDA0002785300450000101
by substituting equations (10) and (5) into the VSG rotor equation of motion (7), we can obtain:
Figure BDA0002785300450000102
and establishing a small signal model for the above formula and performing Laplace transformation to obtain:
Figure BDA0002785300450000103
the characteristic root is as follows:
Figure BDA0002785300450000104
in order to ensure the stability of the control system, two characteristic roots are required to be positioned at the left half part of the complex plane, and because the damping coefficient D of the virtual synchronous machine is constant positive, the virtual inertia J is required to be more than or equal to 0 in order to ensure that the real part of the characteristic root is negative. In the power oscillation process, the VSG output power response characteristic can be equivalent to a typical second-order transfer function, and the natural oscillation angular frequency and the damping ratio of the system can be obtained according to the characteristic root expression:
Figure BDA0002785300450000105
and (3) reference synchronous generator oscillation angular frequency value range: 0.628rad/s is less than or equal to omegaSAnd less than or equal to 15.7rad/s, the rated virtual inertia is as follows:
Figure BDA0002785300450000106
in an AC/DC hybrid microgrid AC/DC converter self-adaptive VSG control system, in order to obtain a faster response speed and a smaller overshoot, an optimal second-order system analysis method is utilized on the basis of considering a damping coefficient, and the damping ratio and a rated damping coefficient are taken as follows:
Figure BDA0002785300450000111
as shown in fig. 6, in order to verify the effectiveness of the VSG control strategy based on the dual adaptive virtual parameters provided by the present invention, an AC/DC hybrid microgrid AC/DC converter simulation model is built on a Matlab/Simulink platform, and the simulation parameters are shown in table 1.
TABLE 1 simulation parameters
Figure BDA0002785300450000112
In order to verify that the double-adaptive-parameter VSG control based on the power transmission principle can effectively inhibit power fluctuation, two simulation working conditions are set: 1) and the AC/DC converter operates in a rectifying mode, the load of the direct-current micro-grid is increased by 40kW at the time of 0.5s, and the load of 40kW is removed at the time of 2 s. 2) And the AC/DC converter operates in an inversion mode, the load of the alternating current micro-grid is increased by 40kW at the time of 0.5s, and the load of 40kW is removed at the time of 2 s.
As shown in fig. 7, when the AC/DC converter operates in the consolidation mode, at 0.5s, the load of the DC microgrid is increased by 40kW, the AC microgrid and the DC microgrid each bear a load increment of 20kW, the AC/DC converter flows-20 kW active power, the response power obtained by the conventional VSG control fluctuates downward in a large range, the fluctuation range is large, the power oscillation is severe, and the grid disconnection of the internal equipment of the microgrid is easily caused. The waveform fluctuation of the response power obtained by the control of the double self-adaptive virtual parameters VSG provided by the invention is greatly reduced, the fluctuation is well controlled, the response power can be more quickly stabilized to a power target value, and the problem of power oscillation is solved. At the moment of 2s, 40kW load is removed, the virtual synchronous machine responds to load change, the output power rises, the response power obtained by adopting the conventional VSG control fluctuates upwards in a large range, the peak value is higher, and the power oscillation is serious, but the response output power waveform obtained by adopting the double-adaptive virtual parameter VSG control provided by the invention is smoother, the output power waveform almost has no overshoot, the output power is stabilized to the target power quickly, the power oscillation approaches to 0, the adjusting time is further shortened, and the method is more suitable for a hybrid microgrid AC/DC converter power control system.
As shown in fig. 8, when the hybrid microgrid AC/DC converter operates in the consolidation mode, the adaptive virtual inertia J may be adaptively adjusted along with the AC/DC converter power conversion, the power fluctuation deviation increases, and J increases accordingly; the power fluctuation deviation is reduced and J is correspondingly reduced. The self-adaptive virtual inertia adjustment has the continuous smooth characteristic, and can reduce power oscillation in the power adjustment process of the AC/DC converter. The self-adaptive damping coefficient D can be self-adaptively adjusted along with the power conversion of the AC/DC converter, the power fluctuation deviation is increased, and D is correspondingly increased; the power fluctuation deviation is reduced and D is correspondingly reduced. The adaptive damping coefficient adjustment also has a continuous smoothing characteristic.
As shown in fig. 9, when the AC/DC converter operates in the inversion mode, at 0.5s, power is transmitted from the DC side to the AC side by the AC/DC converter, the load of the AC microgrid increases by 40kW, the AC microgrid and the DC microgrid each bear a load increment of 20kW, the AC/DC converter flows active power of +20kW, the AC/DC converter outputs active power in the inversion operating state, and the response power obtained by the conventional VSG control fluctuates upward in a wide range, and has a high peak value and severe power oscillation. At the moment of 2s, 40kW load is removed, the response power obtained by adopting the conventional VSG control fluctuates downwards in a large range, the power oscillation is serious, and the equipment is easy to be off-line, while the response output power waveform obtained by adopting the double-adaptive virtual parameter virtual synchronous machine control provided by the invention is smoother, the output power waveform almost has no overshoot, is quickly stabilized to the target power, and the power oscillation approaches to 0.
As shown in fig. 10, the adaptive virtual inertia J provided by the present invention can be adaptively adjusted through power conversion of an AC/DC converter, and the power fluctuation deviation increases, and J increases accordingly; the power fluctuation deviation is reduced and J is correspondingly reduced. The self-adaptive virtual inertia adjustment has the continuous smooth characteristic, the power oscillation problem in the power adjustment process of the AC/DC converter of the AC/DC hybrid micro-grid can be reduced, the power is accelerated to be stabilized to a target value, and the transient stability performance of the hybrid micro-grid is effectively improved. The self-adaptive damping coefficient D can be self-adaptively adjusted along with the power conversion of the AC/DC converter, the power fluctuation deviation is increased, and D is correspondingly increased; the power fluctuation deviation is reduced and D is correspondingly reduced. The self-adaptive damping coefficient adjustment has the characteristic of continuous smoothness, and can meet the requirement of smaller overshoot of active power.
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 self-adaptive virtual synchronous machine control method of a hybrid microgrid current converter is characterized by comprising the following steps:
1) establishing a power transmission equation at the alternating current side of an alternating current/direct current (AC/DC) converter of the AC/DC hybrid micro-grid, and simplifying the power transmission equation;
2) establishing an active exchange expression of the AC/DC converter according to the fact that the active output regulating quantity of the AC sub-network and the active output regulating quantity of the DC sub-network are equal to the power regulating quantity of the AC/DC converter and the instantaneous active variation quantity of the hybrid micro-grid is the same;
3) respectively unfolding the active output regulating quantity of the alternating current sub-network and the active output regulating quantity of the direct current sub-network in the step 2) into a steady state active variable quantity and a dynamic power variable quantity;
4) simulating a synchronous generator according to the active output regulating quantity of the alternating current sub-network and the active output regulating quantity expansion of the direct current sub-network in the step 3) to obtain a VSG rotor motion equation and a reactive power regulation expression of the AC/DC converter current device virtual synchronous machine of the alternating current-direct current hybrid micro-network;
5) analyzing a virtual moment of inertia J and a virtual damping coefficient D in the VSG rotor motion equation of the AC/DC hybrid microgrid AC/DC converter in the step 4), and constructing a self-adaptive virtual moment of inertia and a virtual damping coefficient;
6) to obtain a rated virtual parameter J in the adaptive virtual inertia and the virtual damping coefficient in the step 5)0And D0Carrying out first-order and second-order derivation on active power at the alternating current side of the alternating current/direct current hybrid micro-grid AC/DC converter in the step 1) after the value range is obtained;
7) substituting the first-order and second-order derivatives of the active power at the alternating current side of the converter obtained in the step 6) and the expansion of the active power regulation quantity of the alternating current sub-network obtained in the step 3) into the VSG rotor motion equation of the AC/DC hybrid micro-grid AC/DC converter in the step 4) to obtain a VSG output power reference value expression;
8) step 7), establishing a small signal model by the VSG output power reference value, carrying out Laplace transformation, and calculating a characteristic root of the small signal model;
9) analyzing a VSG output power reference value small signal model and a characteristic root in the step 8) to obtain a natural oscillation rotating speed and a damping ratio of the system;
10) obtaining a rated virtual inertia value range by referring to the oscillation frequency of the synchronous generator, and determining the damping ratio and the rated damping coefficient in the step 9) by using an optimal second-order system analysis method on the basis of considering the damping coefficient;
11) and (3) setting the self-adaptive virtual inertia and the virtual damping coefficient in the step 5) according to the value range and the rated damping coefficient of the rated virtual inertia in the step 10), replacing the original virtual inertia and the virtual damping coefficient in the motion equation of the VSG rotor of the AC/DC converter of the AC/DC hybrid microgrid in the step 4), and realizing power stability control of the self-adaptive virtual synchronizer of the converter of the hybrid microgrid.
2. The method for controlling the self-adaptive virtual synchronous machine of the hybrid microgrid converter according to claim 1, characterized in that the specific implementation method of the step 1) is as follows: establishing a power transmission equation of an alternating current side of an alternating current/direct current (AC/DC) converter of the alternating current/direct current hybrid micro grid:
Figure FDA0002785300440000021
wherein: rf、XfThe resistance value and the inductive reactance value of the filter circuit; e is the amplitude of the AC side bridge arm voltage of the AC/DC converter, UacIs the AC side voltage amplitude; delta is a power angle; among the internal parameters of the AC/DC converter, R is satisfiedf＜＜XfThe alternating-current side power transmission equation is simplified as follows:
Figure FDA0002785300440000022
the power angle delta between the bridge arm voltage at the AC side of the converter and the voltage at the AC side is very small, and the power angle delta comprises the following components:
Figure FDA0002785300440000023
the active power is expressed as:
Figure FDA0002785300440000024
3. the method for controlling the self-adaptive virtual synchronous machine of the hybrid microgrid converter according to claim 2, characterized in that the specific implementation method of the step 2) is as follows: according to the fact that the active output regulating quantity of the alternating-current sub-network and the active output regulating quantity of the direct-current sub-network are equal to the power regulating quantity of the AC/DC converter, and the instantaneous active variable quantity of the hybrid micro-grid is the same, an active exchange expression of the AC/DC converter is established: pacref-Pac＝Pdc-Pdcref＝ΔP。
4. The method for controlling the self-adaptive virtual synchronous machine of the hybrid microgrid converter according to claim 3, characterized in that the specific implementation method of the step 3) is as follows: respectively unfolding the active output regulating quantity of the alternating current sub-network and the active output regulating quantity of the direct current sub-network in the step 2) into a steady state active variable quantity and a dynamic power variable quantity; the active power output regulating variable in the AC microgrid is expressed as:
Figure FDA0002785300440000025
wherein: k is a radical ofωAdjusting the coefficient for the droop of the alternating current power grid; k is a radical ofω(ω-ω0) Is the steady state active change amount;
Figure FDA0002785300440000026
providing an inertia link for the alternating current frequency in the control of the virtual synchronous machine for the instant active power absorbed or emitted by the virtual rotor inertia; the active output regulating quantity of the direct-current micro-grid is expressed as follows:
Figure FDA0002785300440000031
wherein:kudcadjusting coefficients for the droop of the direct-current power grid; u shapedcThe actual value of the voltage of the direct current bus is obtained; u shapedc0The initial value of the voltage of the direct current bus is obtained; is the steady-state active change amount,
Figure FDA0002785300440000032
the charging and discharging power of the direct current capacitor belongs to dynamic power fluctuation.
5. The method for controlling the hybrid microgrid converter self-adaptive virtual synchronous machine according to claim 4, characterized in that the specific implementation method of the step 4) is as follows: simulating a synchronous generator according to the active output regulating quantity of the alternating current sub-network and the active output regulating quantity expansion of the direct current sub-network in the step 3), and obtaining an AC/DC hybrid micro-grid AC/DC converter current device virtual synchronous machine rotor motion equation:
Figure FDA0002785300440000033
wherein: j is a virtual moment of inertia; omega is angular frequency; k is a radical ofudcAdjusting coefficients for the droop of the DC sub-network; u shapedcThe actual value of the voltage of the direct current bus is obtained; u shapedc0The initial value of the voltage of the direct current bus is obtained; cdcIs a DC capacitance value; the AC/DC converter control of the alternating current-direct current hybrid micro grid also has excitation regulation inertia, and the reactive power regulation expression is as follows:
Figure FDA0002785300440000034
wherein: u is the VSG virtual internal potential; u shape0Is a rated voltage effective value; Δ u is a deviation between the virtual internal potential and a rated voltage; k is a radical ofqIs a reactive power regulation coefficient; qeThe actual output value of the reactive power is; qrefIs a reactive power reference value.
6. The method for controlling the self-adaptive virtual synchronous machine of the hybrid microgrid converter according to claim 1, characterized in that the specific implementation method of the step 5) is as follows: analyzing the virtual in the VSG rotor motion equation of the AC/DC hybrid microgrid AC/DC converter in the step 4)The moment of inertia J and the virtual damping coefficient D increase J and properly reduce D at the stage of increasing the angular frequency; in the phase of angular frequency reduction, J is reduced while D is appropriately increased; the adaptive virtual inertia and the virtual damping coefficient are expressed as:
Figure FDA0002785300440000035
wherein: j. the design is a square0And D0The nominal virtual moment of inertia and the nominal virtual damping coefficient are obtained; k is a radical ofjAnd (4) representing the capability of the virtual moment of inertia to follow the frequency deviation adjustment for the virtual inertia adjustment coefficient.
7. The method for controlling the hybrid microgrid converter self-adaptive virtual synchronous machine according to claim 6, characterized in that the specific implementation method of step 6) is as follows: to obtain a rated virtual parameter J in the adaptive virtual inertia and the virtual damping coefficient in the step 5)0And D0And (3) value range, performing first-order and second-order derivation on active power at the alternating current side of the alternating current/direct current hybrid micro-grid AC/DC converter in the step 1):
Figure FDA0002785300440000041
8. the method for controlling the hybrid microgrid converter self-adaptive virtual synchronous machine according to claim 7, characterized in that the specific implementation method of step 7) is as follows: substituting the first-order and second-order derivatives of the active power at the alternating current side of the converter obtained in the step 6) and the expansion of the active power regulation quantity of the alternating current sub-network obtained in the step 3) into the VSG rotor motion equation of the AC/DC hybrid micro-grid AC/DC converter in the step 4) to obtain a VSG output power reference value expression:
Figure FDA0002785300440000042
9. the method for controlling the hybrid microgrid converter self-adaptive virtual synchronous machine according to claim 8, characterized in that the specific implementation method of step 8) is as follows:establishing a small signal model according to the VSG output power reference value in the step 7) and carrying out Laplace transformation:
Figure FDA0002785300440000043
and calculating its characteristic root:
Figure FDA0002785300440000044
10. the method for controlling the hybrid microgrid converter self-adaptive virtual synchronous machine according to claim 9, characterized in that the specific implementation method of step 9) is as follows: analyzing a VSG output power reference value small signal model and characteristic roots in the step 8), wherein in order to ensure the stability of a control system, the two characteristic roots are both positioned at the left half part of a complex plane, and the virtual inertia J is kept to be more than or equal to 0; in the power oscillation process, the VSG output power response characteristic is equivalent to a typical second-order transfer function, and the natural oscillation angular frequency and the damping ratio of the system are obtained according to the characteristic root expression:
Figure FDA0002785300440000045
the specific implementation method of the step 10) comprises the following steps: reference synchronous generator oscillation frequency: 0.628rad/s is less than or equal to omegaSNot more than 15.7rad/s, obtaining a rated virtual inertia value range:
Figure FDA0002785300440000051
in an AC/DC hybrid microgrid AC/DC converter self-adaptive VSG control system, in order to obtain a faster response speed and a smaller overshoot, an optimal second-order system analysis method is utilized on the basis of considering a damping coefficient to determine a damping ratio and a rated damping coefficient in the step 9):
Figure FDA0002785300440000052
the specific implementation method of the step 11) comprises the following steps: and (3) setting the self-adaptive virtual inertia and the virtual damping coefficient in the step 5) according to the value range and the rated damping coefficient of the rated virtual inertia in the step 10), replacing the original virtual inertia and the virtual damping coefficient in the motion equation of the VSG rotor of the AC/DC converter of the AC/DC hybrid microgrid in the step 4), and realizing power stability control of the self-adaptive virtual synchronizer of the converter of the hybrid microgrid.
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