CN113098058A - Self-adaptive optimization control method, device, equipment and medium for rotational inertia - Google Patents

Self-adaptive optimization control method, device, equipment and medium for rotational inertia Download PDF

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CN113098058A
CN113098058A CN202110367302.2A CN202110367302A CN113098058A CN 113098058 A CN113098058 A CN 113098058A CN 202110367302 A CN202110367302 A CN 202110367302A CN 113098058 A CN113098058 A CN 113098058A
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rotational inertia
damping coefficient
virtual synchronous
inertia
synchronous generator
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CN113098058B (en
Inventor
谢志文
唐酿
陈璐寒
黄明欣
黄辉
曾杰
陈锐
谢宁
罗威
韩金尅
关富敏
刘建明
游捷
舒坚
许超
冯文晴
游德华
陈浩林
贾玲
林燕群
贺臣
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Electric Power Research Institute of Guangdong Power Grid Co Ltd
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Electric Power Research Institute of Guangdong Power Grid 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
    • 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
    • H02J3/40—Synchronising a generator for connection to a network or to another 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

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  • Power Engineering (AREA)
  • Control Of Eletrric Generators (AREA)

Abstract

The application discloses a method, a device, equipment and a medium for self-adaptive optimization control of rotational inertia, wherein the method comprises the following steps: collecting parameters of a virtual synchronous engine control system; establishing a small signal model of the virtual synchronous generator according to a rotor motion equation and an active power calculation formula function of the virtual synchronous generator; setting a constraint condition of the small signal model, and calculating to obtain the value ranges of the rotational inertia and the damping coefficient of the virtual synchronous generator according to the constraint condition; the rotational inertia is adjusted in a self-adaptive manner according to the angular speed change rate of the rotor according to the value ranges of the rotational inertia and the damping coefficient; and calculating the boundary condition of the damping coefficient according to the values of the rotational inertia and the damping coefficient, and selecting the corresponding damping coefficient according to the boundary condition. The dynamic performance of the system is effectively improved by adjusting the sizes of the virtual inertia and the damping in real time through the virtual synchronization technology, and the stability of the system is improved.

Description

Self-adaptive optimization control method, device, equipment and medium for rotational inertia
Technical Field
The present application relates to the field of power control technologies, and in particular, to a method, an apparatus, a device, and a medium for adaptive optimal control of rotational inertia.
Background
In recent years, with the gradual depletion of traditional fossil energy and the aggravation of environmental pollution, micro-grids using distributed power sources such as wind energy and solar energy as main energy sources have attracted much attention. Most distributed power supplies in the micro-grid are connected to the grid through power electronic devices such as inverters, and the micro-grid is flexible to control and high in response speed but does not have inertia and damping. With the introduction of a large number of power electronic devices, the proportion of the traditional synchronous generator is gradually reduced, and the interference and fluctuation suppression capability of a power system is weakened.
The scholars propose that a Virtual Synchronous Generator (VSG) technology is adopted, and a control method is adopted to enable a grid-connected inverter to be comparable to a traditional synchronous generator in mechanism and external characteristics, so that inertia support is provided for a system. Compared with the synchronous generator with fixed rotational inertia and constant damping, the VSG has the advantages that the inertia and the damping are realized by controlling parameters, the dynamic performance of the system can be effectively improved by adjusting the virtual inertia and the damping in real time, and the stability of the system is improved.
Disclosure of Invention
The embodiment of the application provides a method, a device, equipment and a medium for adaptive optimization control of rotational inertia, so that the dynamic performance of a system is effectively improved by adjusting the sizes of virtual inertia and damping in real time through a virtual synchronization technology, and the stability of the system is improved.
In view of the above, a first aspect of the present application provides a method for adaptively optimizing and controlling a rotational inertia, the method including:
collecting parameters of a virtual synchronous engine control system;
establishing a small signal model of the virtual synchronous generator according to a rotor motion equation and an active power calculation formula function of the virtual synchronous generator;
setting a constraint condition of the small signal model, and calculating to obtain the value ranges of the rotational inertia and the damping coefficient of the virtual synchronous generator according to the constraint condition;
the rotational inertia is adjusted in a self-adaptive mode according to the angular speed change rate of the rotor according to the value ranges of the rotational inertia and the damping coefficient;
and calculating the boundary condition of the damping coefficient according to the rotational inertia and the value range of the damping coefficient, and selecting the corresponding damping coefficient according to the boundary condition.
Optionally, the acquiring parameters of the virtual synchronous engine control system includes:
the method comprises the steps of collecting direct current side voltage of a virtual synchronous generator control system, network side three-phase voltage and network side three-phase current of a virtual synchronous generator.
Optionally, the establishing a small-signal model of the virtual synchronous generator according to a rotor motion equation and an active power calculation formula of the virtual synchronous generator includes:
the rotor motion equation of the virtual generator is as follows:
Figure BDA0003008033220000021
in the formula, J is the rotational inertia of the virtual generator; d is the damping coefficient of the virtual generator; omega is the mechanical angular velocity with the pole pair number of 1, namely the electrical angular velocity; pmIs the mechanical power input; peIs the output electromagnetic power; omega0The rated angular speed of the power grid; theta is the virtual generator rotor angular displacement;
the output active power calculation formula is as follows:
Figure BDA0003008033220000022
in the formula, U is the phase voltage amplitude of an alternating current power grid; e is the amplitude of the phase voltage at the AC side of the virtual synchronous machine; xsThe impedance sum between the virtual synchronous machine and the alternating current power grid; delta is an included angle between U and E;
the expression of the small signal model is as follows:
Figure BDA0003008033220000023
in the formula (I), the compound is shown in the specification,
Figure BDA0003008033220000024
a small disturbance quantity representing an electrical angular velocity;
Figure BDA0003008033220000025
represents UmAnd E is the small disturbance amount of the included angle;
Figure BDA0003008033220000031
a small disturbance amount representing an input mechanical torque;
Figure BDA0003008033220000032
a small disturbance quantity representing an output electromagnetic torque; xsRepresenting the impedance of the virtual synchronous generator to the AC power grid;
Figure BDA0003008033220000033
a small disturbance quantity representing the output electromagnetic power;
Figure BDA0003008033220000034
representing a small disturbance variable of the input mechanical power.
Optionally, the setting of the constraint condition of the small signal model, and calculating the value ranges of the moment of inertia and the damping coefficient of the virtual synchronous generator according to the constraint condition includes:
the constraint conditions of the small signal model are as follows:
Figure BDA0003008033220000035
a1-a6is a constant and is generally selected according to actual conditions; ξ is the damping of a virtual synchronous engine control systemA ratio; h and gamma represent amplitude margin and phase angle margin, respectively; re(s)i) Representing the real part of the closed loop pole; d is the damping coefficient of the virtual synchronous generator; and obtaining the value ranges of the moment of inertia J and the damping coefficient D according to the constraint conditions.
Optionally, the adaptively adjusting the rotational inertia according to the angular velocity change rate of the rotor from the value ranges of the rotational inertia and the damping coefficient includes:
and obtaining an inverse relation between the rotational inertia and the angular speed change rate of the rotor by using a rotor motion equation of the virtual generator, and setting an adjustment formula of the rotational inertia as follows:
Figure BDA0003008033220000036
in the formula: j. the design is a squaremaxIs the maximum value of the moment of inertia, kJFor adjusting coefficient of moment of inertia, TcWhen the rotor angular speed change rate is less than or equal to the angular speed change rate threshold value, the moment of inertia is equivalent moment of inertia J0(ii) a Said J0Representing the equivalent moment of inertia when the rotor angular speed change rate is equal to a rotor angular speed change rate threshold value.
Optionally, the calculating a boundary condition of the damping coefficient according to the rotational inertia and the value range of the damping coefficient, and selecting a corresponding damping coefficient according to the boundary condition includes:
the boundary conditions of the damping coefficient are as follows:
Figure BDA0003008033220000041
Figure BDA0003008033220000042
in the formula, D0Indicating that the rotor angular velocity rate of change is equal to the rotor angular velocity rate of change thresholdEquivalent damping coefficient in value;
when the rotor angular speed change rate is larger than the rotor angular speed change rate threshold value, the rotational inertia is adjusted according to the rotor angular speed deviation delta omega and the rotor angular speed change rate D omega/dt, and when the rotational inertia is increased, if D is larger than D0If the value range is within the value range limited by the constraint condition, D is equal to D0(ii) a If D is smaller than the value range limited by the constraint condition, D is equal to Dmin；
When the moment of inertia is reduced, if D is0Within the value range limited by the constraint condition, D is equal to D0(ii) a If D is larger than the value range limited by the constraint condition, D is equal to Dmax。
A second aspect of the present application provides a rotational inertia adaptive optimization control apparatus, including:
the acquisition unit is used for acquiring parameters of the virtual synchronous engine control system;
the model establishing unit is used for establishing a small signal model of the virtual synchronous generator according to a rotor motion equation and an active power calculation formula function of the virtual synchronous generator;
the constraint unit is used for setting a constraint condition of the small signal model and calculating a value range of the rotary inertia and the damping coefficient of the virtual synchronous generator according to the constraint condition;
the rotational inertia adjusting unit is used for adaptively adjusting the rotational inertia according to the angular speed change rate of the rotor by the value ranges of the rotational inertia and the damping coefficient;
and the damping coefficient adjusting unit is used for calculating the boundary condition of the damping coefficient according to the rotational inertia and the value range of the damping coefficient, and selecting the corresponding damping coefficient according to the boundary condition.
Optionally, the acquisition unit is specifically configured to acquire a direct-current side voltage of the virtual synchronous generator control system, a grid side three-phase voltage of the virtual synchronous generator, and a grid side three-phase current of the virtual synchronous generator.
A third aspect of the present application provides a rotational inertia adaptive optimization control apparatus, the apparatus comprising a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the steps of the adaptive control method for inertia moment optimization according to the first aspect, according to instructions in the program code.
A fourth aspect of the present application provides a computer-readable storage medium for storing program code for performing the method of the first aspect.
According to the technical scheme, the method has the following advantages:
the application provides a self-adaptive optimization control method for rotational inertia, which is used for collecting parameters of a virtual synchronous engine control system; establishing a small signal model of the virtual synchronous generator according to a rotor motion equation and an active power calculation formula function of the virtual synchronous generator; setting a constraint condition of the small signal model, and calculating to obtain the value ranges of the rotational inertia and the damping coefficient of the virtual synchronous generator according to the constraint condition; the rotational inertia is adjusted in a self-adaptive manner according to the angular speed change rate of the rotor according to the value ranges of the rotational inertia and the damping coefficient; and calculating the boundary condition of the damping coefficient according to the values of the rotational inertia and the damping coefficient, and selecting the corresponding damping coefficient according to the boundary condition.
The method comprises the steps of establishing a small signal model of the virtual synchronous generator, setting a constraint condition for the small signal model, and obtaining the value ranges of the rotational inertia and the damping coefficient of the virtual synchronous generator through the constraint condition, so that the rotational inertia can be adaptively adjusted according to the rotor angular speed change rate of the virtual synchronous generator; and the optimal damping coefficient is selected by calculating the boundary condition of the damping coefficient, so that the virtual synchronization technology can adjust the virtual inertia and the damping coefficient in real time, the dynamic performance of the system is effectively improved, and the stability of the system is improved.
Drawings
FIG. 1 is a flowchart of a method of an embodiment of a method for adaptive control of rotational inertia according to the present application;
FIG. 2 is a block diagram of an embodiment of an adaptive control device for rotational inertia according to the present application;
FIG. 3 is a schematic diagram of a virtual synchronous generator control system according to an embodiment of the present application;
FIG. 4 is a block diagram of a transfer function of a power inner loop of a virtual synchronous generator control system in an embodiment of the present application;
FIG. 5 is a graph of the variation of the angular frequency of the virtual synchronous generator according to the embodiment of the present application;
FIG. 6 is a schematic diagram of a margin of stability boundary in an embodiment of the present application;
fig. 7 is a schematic diagram of a damping coefficient optimization process in the embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a flowchart of a method of an embodiment of an adaptive control method for rotational inertia according to the present application, as shown in fig. 1, where fig. 1 includes:
101. collecting parameters of a virtual synchronous generator control system;
it should be noted that, the acquiring parameters of the virtual synchronous generator control system includes acquiring a dc side voltage UdcNetwork side three-phase voltage u of virtual synchronous generatorabcGrid side three-phase current iabc(ii) a The active power P, the reactive power Q and the alternating voltage amplitude U between the alternating current network and the virtual synchronous generator can be calculated according to the collected parametersm。
102. Establishing a small signal model of the virtual synchronous generator according to a rotor motion equation and an active power calculation formula function of the virtual synchronous generator;
it should be noted that the equation of motion of the rotor of the virtual generator is:
Figure BDA0003008033220000061
in the formula, J is the rotational inertia of the virtual generator; d is the damping coefficient of the virtual generator; omega is the mechanical angular velocity with the pole pair number of 1, namely the electrical angular velocity; pmIs the mechanical power input; peIs the output electromagnetic power; omega0The rated angular speed of the power grid; theta is the virtual generator rotor angular displacement;
in an abc three-phase coordinate system, the loss is ignored, and the active power P transmitted between the alternating current network and the virtual synchronous generator is as follows:
Figure BDA0003008033220000062
in the formula, U is the phase voltage amplitude of an alternating current power grid; e is the amplitude of the phase voltage at the AC side of the virtual synchronous machine; xsThe impedance sum between the virtual synchronous machine and the alternating current power grid; delta is an included angle between U and E;
and expressing variables in the rotor motion equation and the active power calculation formula as the sum of the steady state quantity and the small disturbance quantity, wherein the sum comprises the following components:
Figure BDA0003008033220000071
the first term at the right end of the middle sign in the formula represents the steady-state value of each variable, and the latter term is small disturbance of the corresponding variable near a steady-state working point. T ismRepresenting an input mechanical torque; t iseRepresenting the output electromagnetic torque.
After a rotor motion equation and an active power calculation formula are removed of a steady-state component and a secondary disturbance quantity, the following small signal model expression of the virtual synchronous generator can be obtained:
Figure BDA0003008033220000072
in the formula (I), the compound is shown in the specification,
Figure BDA0003008033220000073
a small disturbance quantity representing an electrical angular velocity;
Figure BDA0003008033220000074
represents UmAnd E is the small disturbance amount of the included angle;
Figure BDA0003008033220000075
a small disturbance amount representing an input mechanical torque;
Figure BDA0003008033220000076
a small disturbance quantity representing an output electromagnetic torque; xsRepresenting the impedance of the virtual synchronous generator to the AC power grid;
Figure BDA0003008033220000077
a small disturbance quantity representing the output electromagnetic power;
Figure BDA0003008033220000078
representing a small disturbance variable of the input mechanical power.
Then, laplace transform may be performed on the time domain equation after the linearization of the above equation to obtain a transfer function block diagram of the power inner loop shown in fig. 4, and the closed-loop transfer function of the active power of the virtual synchronous generator is obtained by calculation as follows:
Figure BDA0003008033220000079
according to the formula, the damping ratio and the natural oscillation frequency of the power control system are calculated:
Figure BDA00030080332200000710
xi represents the damping ratio, ωnIs the natural oscillation frequency of a second order system.
103. Setting a constraint condition of the small signal model, and calculating to obtain the value ranges of the rotational inertia and the damping coefficient of the virtual synchronous generator according to the constraint condition;
it should be noted that, in the present application, the power overshoot and the adjustment time of the power control system can be considered comprehensively, and the corresponding constraint conditions are set as follows:
Figure BDA0003008033220000081
a1-a6is a constant and is generally selected according to actual conditions; xi is the damping ratio of the virtual synchronous engine control system; h and gamma represent amplitude margin and phase angle margin, respectively; re(s)i) Representing the real part of the closed loop pole; d is the damping coefficient of the virtual synchronous generator; and obtaining the value ranges of the moment of inertia J and the damping coefficient D according to the constraint conditions.
104. The rotational inertia is adjusted in a self-adaptive manner according to the angular speed change rate of the rotor according to the rotational inertia and the value range of the damping coefficient;
it should be noted that, according to the value ranges of the rotational inertia J and the virtual damping D, the rotational inertia J may be adaptively adjusted according to the angular velocity change rate of the rotor.
Specifically, the inverse relationship between the rotational inertia and the change rate of the angular speed of the rotor can be obtained by a rotor motion equation of the virtual generator, and the rotor motion equation can be transformed into:
Figure BDA0003008033220000082
the change rate of the moment of inertia J and the angular speed of the rotor can be seen
Figure BDA0003008033220000083
In inverse proportion, the angular speed of the rotor can be changed by dynamically adjusting the moment of inertia JRate of change
Figure BDA0003008033220000084
The dynamic performance of the system is improved, and the rapid stability of the virtual synchronous generator is improved.
When the input power or the receiving end load power changes, the angular frequency ω 0 of the virtual synchronous generator changes as shown in fig. 5.
As can be seen from FIG. 5, in the interval t1-t2The method comprises the following steps: the virtual rotor angular speed of the virtual synchronous generator is larger than the grid angular speed and gradually increases, the change rate d omega/dt of the angular speed is increased suddenly and then gradually decreases, the moment of inertia is increased, the change rate d omega/dt of the angular speed is decreased, and the acceleration of the rotor angular speed is slowed down.
Shown interval t2-t3The method comprises the following steps: rate of change of virtual rotor angular velocity d ω/dt<And 0, entering a deceleration stage, reducing the rotational inertia, increasing the angular speed change rate d omega/dt, and accelerating the deceleration process of the rotor angular speed.
t3-t4And t4-t5The two intervals are respectively identical to the interval t1-t2And t2-t3Similarly.
In order to ensure that the inertia margin of the converter station is fully utilized to provide support under the condition that the inertia is not out of limit, actual output active power oscillation and overshoot are reduced, and the transient process is shortened. The angular speed change rate of the virtual synchronous generator is used as an adjusting variable to adjust the rotational inertia in real time
Figure BDA0003008033220000091
Set as a threshold. When in use
Figure BDA0003008033220000092
The moment of inertia and the equivalent virtual damping parameter are J0And D0As shown in FIG. 6, the margin of stability boundary may be set to J in FIG. 60And D0。
Generally, J will be0Set to an intermediate value, D, within the range of values of the moment of inertia0Is moment of inertia J0And the damping coefficient value when the optimal xi of the damping ratio is 0.707.
Then, in the present application, the adjustment formula of the moment of inertia may be set as:
Figure BDA0003008033220000093
in the formula: j. the design is a squaremaxIs the maximum value of the moment of inertia, kJFor adjusting coefficient of moment of inertia, TcThe moment of inertia is equivalent moment of inertia J when the angular speed change rate of the rotor is less than or equal to the angular speed change rate threshold value0；J0Representing the equivalent moment of inertia when the rotor angular speed change rate is equal to a rotor angular speed change rate threshold value.
105. And calculating the boundary condition of the damping coefficient according to the values of the rotational inertia and the damping coefficient, and selecting the corresponding damping coefficient according to the boundary condition.
It should be noted that, according to the rotational inertia and the value range of the damping coefficient, the boundary condition of the damping coefficient is calculated, and the corresponding damping coefficient is selected according to the boundary condition.
Specifically, the boundary conditions of the damping coefficient may be set as:
Figure BDA0003008033220000094
Figure BDA0003008033220000095
in the formula, D0Representing an equivalent damping coefficient when the rotor angular velocity rate of change is equal to a rotor angular velocity rate of change threshold;
when the angular speed change rate of the rotor is larger than the angular speed change rate threshold value of the rotor, the rotational inertia is adjusted according to the angular speed deviation delta omega of the rotor and the angular speed change rate D omega/dt of the rotor, and when the rotational inertia is increased, if D is greater than D0If the value range is limited by the constraint condition, D is equal to D0(ii) a If D is smaller than the value range limited by the constraint condition, D is equal to Dmin；
When the moment of inertia is reduced, if D0Within the value range limited by the constraint condition, D ═ D0(ii) a If D is larger than the value range limited by the constraint condition, D is equal to Dmax. The specific damping coefficient optimization flow diagram of the present application is shown in fig. 7.
The method comprises the steps of establishing a small signal model of the virtual synchronous generator, setting a constraint condition for the small signal model, and obtaining the value ranges of the rotational inertia and the damping coefficient of the virtual synchronous generator through the constraint condition, so that the rotational inertia can be adaptively adjusted according to the rotor angular speed change rate of the virtual synchronous generator; and the optimal damping coefficient is selected by calculating the boundary condition of the damping coefficient, so that the virtual synchronization technology can adjust the virtual inertia and the damping coefficient in real time, the dynamic performance of the system is effectively improved, and the stability of the system is improved.
The above is an embodiment of a method for adaptively controlling optimization of rotational inertia according to the present application, and the present application further provides an embodiment of a device for adaptively controlling optimization of rotational inertia, as shown in fig. 2, where fig. 2 includes:
the acquisition unit 201 is used for acquiring parameters of the virtual synchronous engine control system;
the model establishing unit 202 is used for establishing a small signal model of the virtual synchronous generator according to a rotor motion equation and an active power calculation formula function of the virtual synchronous generator;
the constraint unit 203 is used for setting a constraint condition of the small signal model, and calculating a value range of the rotational inertia and the damping coefficient of the virtual synchronous generator according to the constraint condition;
the rotational inertia adjusting unit 204 is used for adaptively adjusting the rotational inertia according to the angular speed change rate of the rotor according to the value ranges of the rotational inertia and the damping coefficient;
and the damping coefficient adjusting unit 205 is configured to calculate a boundary condition of the damping coefficient according to the rotational inertia and the value range of the damping coefficient, and select a corresponding damping coefficient according to the boundary condition.
In a specific embodiment, the acquisition unit 201 is specifically configured to acquire a dc-side voltage of a control system of the virtual synchronous generator, a grid-side three-phase voltage of the virtual synchronous generator, and a grid-side three-phase current of the virtual synchronous generator.
The application also provides a rotational inertia self-adaptive optimization control device, which comprises a processor and a memory: the memory is used for storing the program codes and transmitting the program codes to the processor; the processor is used for executing the embodiment of the rotational inertia adaptive optimization control method according to the instructions in the program codes.
The present application further provides a computer-readable storage medium for storing program code for performing embodiments of a rotational inertia adaptive optimization control method of the present application.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The terms "first," "second," "third," "fourth," and the like in the description of the present application and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims (10)

1. A rotational inertia adaptive optimization control method is characterized by comprising the following steps:
collecting parameters of a virtual synchronous engine control system;
establishing a small signal model of the virtual synchronous generator according to a rotor motion equation and an active power calculation formula function of the virtual synchronous generator;
setting a constraint condition of the small signal model, and calculating to obtain the value ranges of the rotational inertia and the damping coefficient of the virtual synchronous generator according to the constraint condition;
the rotational inertia is adjusted in a self-adaptive mode according to the angular speed change rate of the rotor according to the value ranges of the rotational inertia and the damping coefficient;
and calculating the boundary condition of the damping coefficient according to the rotational inertia and the value range of the damping coefficient, and selecting the corresponding damping coefficient according to the boundary condition.
2. The adaptive control method for rotational inertia according to claim 1, wherein the acquiring parameters of the virtual synchronous engine control system comprises:
the method comprises the steps of collecting direct current side voltage of a virtual synchronous generator control system, network side three-phase voltage and network side three-phase current of a virtual synchronous generator.
3. The adaptive inertia moment optimization control method according to claim 1, wherein the establishing of the small signal model of the virtual synchronous generator according to the rotor motion equation and the active power calculation formula of the virtual synchronous generator comprises:
the rotor motion equation of the virtual generator is as follows:
Figure FDA0003008033210000011
in the formula, J is the rotational inertia of the virtual generator; d is the damping coefficient of the virtual generator; omega is the mechanical angular velocity with the pole pair number of 1, namely the electrical angular velocity; pmIs the mechanical power input; peIs the output electromagnetic power; omega0The rated angular speed of the power grid; theta is the virtual generator rotor angular displacement;
the output active power calculation formula is as follows:
Figure FDA0003008033210000012
in the formula, the phase voltage amplitude of the alternating current power grid is obtained; e is the amplitude of the phase voltage at the AC side of the virtual synchronous machine; xsFor virtual synchronizationThe sum of the impedances between the machine and the ac grid; delta is an included angle between U and E;
the expression of the small signal model is as follows:
Figure FDA0003008033210000021
in the formula (I), the compound is shown in the specification,
Figure FDA0003008033210000022
a small disturbance quantity representing an electrical angular velocity;
Figure FDA0003008033210000023
a small disturbance amount representing an angle between U and E;
Figure FDA0003008033210000024
a small disturbance amount representing an input mechanical torque;
Figure FDA0003008033210000025
a small disturbance quantity representing an output electromagnetic torque; xsRepresenting the impedance of the virtual synchronous generator to the AC power grid;
Figure FDA0003008033210000026
a small disturbance quantity representing the output electromagnetic power;
Figure FDA0003008033210000027
representing a small disturbance variable of the input mechanical power.
4. The adaptive optimization control method for rotational inertia according to claim 1, wherein the setting of the constraint condition of the small signal model and the calculation of the value ranges of the rotational inertia and the damping coefficient of the virtual synchronous generator according to the constraint condition comprise:
the constraint conditions of the small signal model are as follows:
a1≤ξ≤a2
Figure FDA0003008033210000028
Re(si)＝-ωnξ≤-a5
D≥a6
a1-a6is a constant and is generally selected according to actual conditions; xi is the damping ratio of the virtual synchronous engine control system; h and gamma represent amplitude margin and phase angle margin, respectively; re(s)i) Representing the real part of the closed loop pole; d is the damping coefficient of the virtual synchronous generator; and obtaining the value ranges of the moment of inertia J and the damping coefficient D according to the constraint conditions.
5. The adaptive optimization control method for the rotational inertia according to claim 1, wherein the adaptive adjustment of the rotational inertia according to the angular velocity change rate of the rotor from the value ranges of the rotational inertia and the damping coefficient comprises:
and obtaining an inverse relation between the rotational inertia and the angular speed change rate of the rotor by using a rotor motion equation of the virtual generator, and setting an adjustment formula of the rotational inertia as follows:
Figure FDA0003008033210000031
in the formula: j. the design is a squaremaxIs the maximum value of the moment of inertia, kJFor adjusting coefficient of moment of inertia, TcWhen the rotor angular speed change rate is less than or equal to the angular speed change rate threshold value, the moment of inertia is equivalent moment of inertia J0(ii) a Said J0Representing the equivalent moment of inertia when the rotor angular speed change rate is equal to a rotor angular speed change rate threshold value.
6. The adaptive optimization control method for rotational inertia according to claim 5, wherein the calculating a boundary condition of the damping coefficient according to the rotational inertia and a value range of the damping coefficient, and selecting a corresponding damping coefficient according to the boundary condition comprises:
the boundary conditions of the damping coefficient are as follows:
Figure FDA0003008033210000032
Figure FDA0003008033210000033
in the formula, D0Representing an equivalent damping coefficient when the rotor angular velocity rate of change is equal to the rotor angular velocity rate of change threshold;
when the rotor angular speed change rate is larger than the rotor angular speed change rate threshold value, the rotational inertia is adjusted according to the rotor angular speed deviation delta omega and the rotor angular speed change rate D omega/dt, and when the rotational inertia is increased, if D is larger than D0If the value range is within the value range limited by the constraint condition, D is equal to D0(ii) a If D is smaller than the value range limited by the constraint condition, D is equal to Dmin；
When the moment of inertia is reduced, if D is0Within the value range limited by the constraint condition, D is equal to D0(ii) a If D is larger than the value range limited by the constraint condition, D is equal to Dmax。
7. An adaptive optimization control device for rotational inertia, comprising:
the acquisition unit is used for acquiring parameters of the virtual synchronous engine control system;
the model establishing unit is used for establishing a small signal model of the virtual synchronous generator according to a rotor motion equation and an active power calculation formula function of the virtual synchronous generator;
the constraint unit is used for setting a constraint condition of the small signal model and calculating a value range of the rotary inertia and the damping coefficient of the virtual synchronous generator according to the constraint condition;
the rotational inertia adjusting unit is used for adaptively adjusting the rotational inertia according to the angular speed change rate of the rotor by the value ranges of the rotational inertia and the damping coefficient;
and the damping coefficient adjusting unit is used for calculating the boundary condition of the damping coefficient according to the rotational inertia and the value range of the damping coefficient, and selecting the corresponding damping coefficient according to the boundary condition.
8. The adaptive optimization control device of rotational inertia according to claim 7, wherein the acquisition unit is specifically configured to acquire a direct-current side voltage of a control system of the virtual synchronous generator, a grid-side three-phase voltage of the virtual synchronous generator, and a grid-side three-phase current of the virtual synchronous generator.
9. An adaptive control device for rotational inertia, the device comprising a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the adaptive control method for rotational inertia according to any one of claims 1 to 6 according to instructions in the program code.
10. A computer-readable storage medium for storing a program code for executing the adaptive control method for inertia moment optimization according to any one of claims 1 to 6.
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