CN112736975A - Alternating current micro-grid droop coefficient optimization method - Google Patents
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/381—Dispersed generators
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/12—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load
- H02J3/16—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load by adjustment of reactive power
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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
- H02J3/18—Arrangements for adjusting, eliminating or compensating reactive power in networks
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- 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
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/30—Reactive power compensation
Abstract
The invention relates to the field of alternating current micro-grids, in particular to an alternating current micro-grid droop coefficient optimization method based on an improved diffusion algorithm in a distributed power supply parallel operation mode. Frequency and voltage offset brought by traditional droop control can be compensated through the scheme; compared with a widely-used consistency algorithm, the improved diffusion algorithm has faster dynamic response and can accurately recover the rated value. The scheme comprises a control system comprising: the device comprises a sampling module, a Park conversion module, a power calculation module, a low-pass filter module, a traditional droop control module, a PWM (pulse-width modulation) module and a distributed control module based on an improved diffusion algorithm. The scheme is based on the traditional droop control, compares the difference values of the working frequency and the output voltage of the inverters and a rated value, communicates with an adjacent controller, and regulates the working frequency and the output voltage of each parallel inverter through a diffusion algorithm so as to enable the parallel inverters to work in a rated state. The scheme has good dynamic performance and stability, does not need an integrated controller, and has good application prospect.
Description
Technical Field
The invention relates to the technical field of droop control of alternating current micro-grids, in particular to a droop coefficient optimization method of an alternating current micro-grid based on an improved diffusion algorithm in a distributed power supply parallel operation mode.
Background
With the rapid development of power electronic technology and the gradual deepening of clean energy concept, the distributed power supply gradually becomes a hot spot of research of people as a reliable power supply mode which utilizes clean energy, can reduce environmental pollution and improve the comprehensive utilization efficiency of energy. And the alternating-current microgrid is used as a carrier of the alternating-current microgrid, and various forms of distributed power supplies can be effectively integrated. Therefore, as an important issue for the development of future micro-grid, the ac micro-grid needs to ensure the stability and reliability of its operation. The research on the control strategy of the alternating current micro-grid is particularly important.
The hierarchical control structure of the microgrid can be divided into: one-layer control, two-layer control and three-layer control. For one-layer control, droop control is the most widely used control method, and the control of the active power and the reactive power output by the inverter can be realized by adjusting the frequency and the voltage of the inverter, so that the power equalization is realized preliminarily. However, droop control also has certain problems, such as a certain frequency difference and voltage drop, and also causes non-uniform distribution of reactive power due to different impedances on the inverter transmission lines. And the two-layer control can effectively restore the frequency and the voltage of the inverter to the rated frequency or proportionally distribute the reactive power by adjusting the parameters of the droop characteristic.
The two-layer control is mainly divided into three control modes of centralized control, distributed control and distributed control. Both centralized and decentralized control have corresponding drawbacks. Centralized control requires a centralized controller and relies on high-speed communication lines, with the risk of single point of failure; for distributed control, no communication link exists between local controllers, so that information interaction is lacked, and global information sharing cannot be realized. While distributed control enables adjacent controllers to exchange information with each other without the need for a centralized controller. The consistency algorithm, which is a widely used algorithm for distributed control, exhibits good performance in most cases, but still has many problems, and if the parameters are not selected well or are specific to a specific communication topology, the convergence speed may be slow or even unable to be converged.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a droop coefficient control method for an alternating current micro-grid, which is suitable for distributed control of the alternating current micro-grid, namely, the method regulates parallel inverters in the alternating current micro-grid to respectively recover the working frequency and the output voltage of the inverters to the rated frequency and the rated voltage. Compared with a widely applied consistency algorithm, the method has the characteristics of simple implementation mode, fast dynamic response, good convergence and the like.
The principle of the invention is as follows:
the governing equation for sag behavior can be expressed as:
ωref＝ω*-kp(Pm-P*) (1)
Uref＝U*-kq(Qm-Q*) (2)
wherein, ω isrefAnd UrefReference angular frequency and voltage of the inverter, respectively; omega*And U*Then their nominal angular frequency and voltage, respectively; pmAnd QmMeasured instantaneous active and reactive power, respectively; p*And Q*Then the rated active and reactive power of the inverter respectively; k is a radical ofpAnd kqThen the droop coefficients for frequency and voltage, respectively.
The actual working angular frequency of the inverter is at omega due to the existence of the droop coefficientrefNearby rather than its nominal angular frequency ω*(ii) a Similarly, the actual output voltage is about UrefNot its rated voltage U*. The two-layer control aims at restoring the actual operating angular frequency and the output voltage to the rated values, so that an offset term needs to be superimposed, and the formulas (1) and (2) can be further written as follows:
ωref＝ω*+ωb-kp(Pm-P*) (3)
Ugd,ref＝U*+Ub-kq(Qm-Q*) (4)
wherein, ω isbAnd UbNamely the offset terms superposed by the angular frequency and the voltage respectively; decompose the voltage into the rotating dq coordinate system due to Ugq,refIs always controlled to 0, so that U is set hererefWriting Ugd,ref。
The improvement and application of the diffusion algorithm can be represented by the following formula:
wherein x isiCan be any electrical variable that can be controlled, such as the angular frequency and output voltage of the inverter; xiThe value output after the diffusion algorithm is executed is the expected value of the electrical variable obtained after the unit exchanges information with the adjacent unit; mu is a key parameter in the diffusion algorithm and is a non-negative correction parameter; t isdThen the communication delay is indicated;
is an intermediate variable in the algorithm; e is a natural base number, and s is a laplacian operator; n is a radical ofiRepresents a set of nodes adjacent to node i; a isijIt is a weight coefficient, where the Metropolis criterion is adopted:
the output value of the diffusion algorithm is updated after each iteration, a proportional-integral controller is adopted, and the output value is used as a reference value and is input into the proportional-integral controller; taking the corresponding controllable electrical variable as the feedback quantity of the proportional-integral controller, the process can be expressed as the following formula:
wherein k isspAnd ksiRespectively are a proportional coefficient and an integral coefficient in a proportional-integral controller; and the output x of the proportional-integral controllerbIt can be used as an offset term in equations (3) (4). If xiCorresponding to the angular frequency of the inverter, the output x of the proportional-integral controllerbCorresponds to ω in the formula (3)b(ii) a If xiCorresponding to the output voltage of the inverter, the output x of the proportional-integral controllerbCorresponding to U in equation (3)b. After the offset terms of the angular frequency and the voltage are obtained, the offset terms are superposed on the rated value in the droop control, so that the working frequency and the working voltage of the inverter can be restored to the rated value, and the offset compensation caused by the droop control is realized.
The technical solution of the invention is as follows:
the method for optimizing the droop coefficient of the alternating-current microgrid is characterized by comprising the following steps of:
sampling local controlled electric quantity xiCalculating the intermediate variable by the following formula
Where μ is a key parameter in the diffusion algorithmNumber, a non-negative correction parameter, TdRepresenting the communication delay, wherein e is a natural base number, and s is a Laplace operator;
secondly, acquiring intermediate variables of adjacent controllers through information interaction between the adjacent controllers, and calculating corresponding output value X of the i node after the diffusion algorithm is appliediThe formula is as follows:
wherein i and j are node numbers, NiRepresenting a set of nodes adjacent to node i, aijIs a weight coefficient;
thirdly, a proportional-integral controller is adopted, the output value Xi is used as a reference value and is input into the proportional-integral controller, a corresponding controllable electric variable is used as a feedback quantity of the proportional-integral controller, and the process is expressed as the following formula:
wherein k isspAnd ksiRespectively a proportional coefficient and an integral coefficient in a proportional-integral controller, wherein s is a Laplace operator;
equivalent electrical quantity xiCorresponding to the working frequency of the inverter, the output x of the proportional-integral controllerbOffset term omega corresponding to working frequencybWhen the electric quantity xiCorresponding to the output voltage of the inverter, the output x of the proportional-integral controllerbCorresponding to the voltage offset term Ub(ii) a And respective offset terms of the working frequency and the voltage are superposed on a rated value in droop control, so that the working frequency and the working voltage of the inverter can be restored to the rated value, and the offset compensation caused by the droop control is realized.
Compared with the prior art, the invention has the following advantages:
1. based on the droop control of the AC microgrid, the frequency drop and the voltage offset caused by the traditional droop control can be dynamically compensated through the two-layer control based on the improved diffusion algorithm, and the respective rated values can be accurately restored.
2. Compared with a widely applied consistency algorithm, the diffusion algorithm embodies better convergence and convergence speed; the same advantages are also embodied in the control of the alternating current microgrid, the communication delay of a second level can be allowed, meanwhile, the stability of the alternating current microgrid is also ensured to a certain extent, and the method has important effects and significance for the control of the alternating current microgrid.
Drawings
Fig. 1 is an equivalent circuit diagram of an ac microgrid suitable for use in the present invention.
Fig. 2 is a control block diagram of a first-layer control and a second-layer control according to the present invention.
Fig. 3 is a control block diagram of an improved diffusion algorithm in accordance with the present invention.
Fig. 4 is a control block diagram of a two-layer control based on the improved diffusion algorithm according to the present invention.
FIG. 5 is a time domain simulation using a modified diffusion algorithm.
Fig. 6 is a time domain simulation diagram taking into account different communication delays when using the diffusion algorithm.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
Examples
The application provides an alternating current microgrid droop coefficient optimization method based on an improved diffusion algorithm, and an equivalent circuit diagram of an alternating current microgrid corresponding to the embodiment is shown in fig. 1. During the droop control, the operating frequency and the output voltage of the inverter inevitably deviate due to the droop coefficient. In the two-layer control, offset terms of angular frequency and voltage are generated through a modified diffusion algorithm and are superposed into the coefficients of the droop control, so that the offset is compensated, as shown in fig. 2.
The specific implementation process of the diffusion algorithm in the two-layer control comprises the following steps:
sampling a locally controlled electrical quantity, and calculating an intermediate variable by the following formula:
wherein x isiMay be controlled electrical quantities, such as the operating frequency and output voltage of the inverter; mu is a key parameter in the diffusion algorithm and is a non-negative correction parameter; t isdThen the communication delay is indicated; e is a natural base number, and s is a laplacian operator;
is an intermediate variable in the algorithm; this step corresponds to the block diagram of the left half of fig. 3.
Acquiring intermediate variables of adjacent controllers through information interaction between the adjacent controllers, and calculating an output value of a diffusion algorithm through the following formula:
wherein N isiRepresents a set of nodes adjacent to node i; a isijIt is a weight coefficient, where the Metropolis criterion is adopted:
Xinamely, the corresponding output value after the diffusion algorithm is applied to the i node; this step corresponds to the right half block diagram in fig. 3.
In FIG. 4, the output value X of the diffusion algorithm is showniAs a reference value, inputting the reference value into a proportional integral controller; taking the corresponding controllable electric quantity as the feedback quantity of the proportional-integral controller; due to the nature of the proportional-integral controller, the controlled electrical quantity will eventually be compared to the diffusion algorithmThe output values are equal, and the output of the proportional-integral controller is the offset term corresponding to the controlled electrical quantity at the moment and is used as the output of the two-layer control.
In fig. 5, (1) and (3) are time domain simulation curves of inverter frequency and output voltage during distributed control using a consistency algorithm, respectively; (2) and (4) respectively representing time domain simulation curves of inverter frequency and output voltage during distributed control by adopting a diffusion algorithm. As shown in fig. 5, the system was loaded at 0.3 seconds and 0.6 seconds, the operating frequency and output voltage of the inverter deviated significantly (below) from the nominal values; and the two-layer control based on the improved diffusion algorithm is started at 1 second, and the working frequency and the output voltage of the inverter are gradually restored to the rated values. Compared with a consistency algorithm, the dynamic response is quicker after the diffusion algorithm is adopted, steady-state errors do not exist, and the working frequency and the output voltage are respectively and accurately recovered to rated values.
Fig. 6 is a time domain simulation curve of inverter frequency and output voltage during distributed control using a diffusion algorithm, taking into account the effect of communication delay. By taking communication delay of 0.1s and 1s as an example, the recovery of the working frequency and the output voltage of the inverter is influenced by the communication delay, the dynamic process has obvious delay, but the rated value is still accurately recovered finally, and the effectiveness of a diffusion algorithm is reflected.
The corresponding main parameters in the above embodiments are as follows:
sag factor: p- ω sag factor: 3X 10-4(ii) a Q-U droop coefficient: 1X 10-4；
Correction coefficient μ: 0.339;
nominal angular frequency omega*：100πrad/s；
Rated voltage U*：110V；
Line impedance Rc1，Lc1：24mΩ,0.35mH；
Line impedance Rc2，Lc2：48mΩ,0.70mH；
Line impedance Rc3，Lc3：72mΩ,1.05mH。
The corresponding simulation scenarios in the above embodiments are as follows:
when t is less than 0.3s, the power of the load side is 1.5kW and 2.5 kVar;
when t is 0.3s, the power of the load side is increased by 1.5kW and 2.5 kVar;
when t is 0.6s, the power on the load side is increased by 1.5kW and 2.5 kVar;
when t is 1s, the two-layer control is started (when the communication delay is 1s, the two-layer control is started at 2 s).
According to the working frequency and the output voltage of the inverter in the simulation result, the alternating current micro-grid droop coefficient optimization method based on the improved diffusion algorithm can compensate the deviation of the working frequency and the output voltage caused by droop control, can normally work under different communication delays, and verifies the effectiveness of the method.
Claims (2)
1. The method for optimizing the droop coefficient of the alternating current microgrid is characterized by comprising the following steps of:
sampling local controlled electric quantity xiCalculating the intermediate variable by the following formula
Wherein mu is a key parameter in the diffusion algorithm and is a non-negative correction parameter, TdRepresenting the communication delay, wherein e is a natural base number, and s is a Laplace operator;
secondly, acquiring intermediate variables of adjacent controllers through information interaction between the adjacent controllers, and calculating corresponding output value X of the i node after the diffusion algorithm is appliediThe formula is as follows:
wherein i and j are node numbers, NiRepresenting a set of nodes adjacent to node i, aijIs a weight coefficient;
thirdly, a proportional-integral controller is adopted, the output value Xi is used as a reference value and is input into the proportional-integral controller, a corresponding controllable electric variable is used as a feedback quantity of the proportional-integral controller, and the process is expressed as the following formula:
wherein k isspAnd ksiRespectively, a proportional coefficient and an integral coefficient in a proportional-integral controller, and s is a laplacian operator.
Equivalent electrical quantity xiCorresponding to the working frequency of the inverter, the output x of the proportional-integral controllerbOffset term omega corresponding to working frequencybWhen the electric quantity xiCorresponding to the output voltage of the inverter, the output x of the proportional-integral controllerbCorresponding to the voltage offset term Ub(ii) a And respective offset terms of the working frequency and the voltage are superposed on a rated value in droop control, so that the working frequency and the working voltage of the inverter can be restored to the rated value, and the offset compensation caused by the droop control is realized.
2. The AC microgrid droop coefficient optimization method according to claim 1, characterized in that the weight coefficient aijThe formula is as follows:
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| CN115276038A (en) * | 2022-08-05 | 2022-11-01 | 浙江大学 | Distributed alternating current micro-grid frequency recovery method and system |
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Application publication date: 20210430 |