CN113098058B - Self-adaptive optimization control method, device, equipment and medium for moment of inertia - Google Patents

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

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CN113098058B
CN113098058B CN202110367302.2A CN202110367302A CN113098058B CN 113098058 B CN113098058 B CN 113098058B CN 202110367302 A CN202110367302 A CN 202110367302A CN 113098058 B CN113098058 B CN 113098058B
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inertia
angular velocity
synchronous generator
virtual synchronous
rotor
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CN113098058A (en
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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

Abstract

The application discloses a rotational inertia self-adaptive optimization control method, a device, equipment and a medium, 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 constraint conditions of a small signal model, and calculating to obtain a value range of the moment of inertia and the damping coefficient of the virtual synchronous generator according to the constraint conditions; the rotational inertia is adaptively adjusted according to the change rate of the angular velocity of the rotor by the value ranges of the rotational inertia and the damping coefficient; and calculating boundary conditions of the damping coefficients according to the values of the rotational inertia and the damping coefficients, and selecting corresponding damping coefficients according to the boundary conditions. According to the method, the virtual inertia and damping are regulated in real time through the virtual synchronization technology, so that the dynamic performance of the system is effectively improved, and the stability of the system is improved.

Description

Self-adaptive optimization control method, device, equipment and medium for moment of inertia
Technical Field
The application relates to the technical field of power control, in particular to a rotational inertia self-adaptive optimal control method, a device, equipment and a medium.
Background
In recent years, with increasing exhaustion of traditional fossil energy sources and increasing environmental pollution problems, a micro-grid using a distributed power source such as wind energy and solar energy as a main energy source has been receiving a great deal of attention. Most of distributed power supplies in the micro-grid are connected to the grid through power electronic devices such as an inverter and the like, and the micro-grid is flexible to control, high in response speed and free from 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 capacity of the power system for inhibiting interference and fluctuation is also reduced.
The technology of virtual synchronous machines (VSG) is proposed by students, and the control method enables the grid-connected inverter to be comparable to the traditional synchronous generator in mechanism and external characteristics, so that inertia support is provided for the system. Compared with the synchronous generator, the moment of inertia and damping are fixed, the moment of inertia and damping of the VSG are realized through control parameters, and the dynamic performance of the system can be effectively improved and the stability of the system can be improved through adjusting the virtual moment of inertia and damping in real time.
Disclosure of Invention
The embodiment of the application provides a self-adaptive optimization control method, device, equipment and medium for moment of inertia, which enable the dynamic performance of a system to be effectively improved and the stability of the system to be improved by adjusting the magnitude of virtual inertia and damping in real time through a virtual synchronization technology.
In view of this, a first aspect of the present application provides a method for adaptive optimization control of moment of 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 constraint conditions of the small signal model, and calculating to obtain a value range of the rotational inertia and the damping coefficient of the virtual synchronous generator according to the constraint conditions;
the rotational inertia is adaptively adjusted according to the change rate of the angular velocity of the rotor according to the value ranges of the rotational inertia and the damping coefficient;
and calculating boundary conditions of the damping coefficients according to the rotational inertia and the value range of the damping coefficients, and selecting corresponding damping coefficients according to the boundary conditions.
Optionally, the collecting parameters of the virtual synchronous engine control system includes:
and collecting direct-current side voltage, net side three-phase voltage and net side three-phase current of the virtual synchronous generator control system.
Optionally, 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
wherein J is the moment of inertia of the virtual generator; d is the damping coefficient of the virtual generator; omega is the mechanical angular velocity, i.e. the electrical angular velocity, at an polar logarithm of 1; p (P) m Is the mechanical power input; p (P) e Is the electromagnetic power output; omega 0 Is the rated angular speed of the power grid; θ is the virtual generator rotor angular displacement;
the output active power calculation formula is as follows:
Figure BDA0003008033220000022
wherein U is the phase voltage amplitude of the alternating current power grid; e is the alternating-current side phase voltage amplitude of the virtual synchronous machine; x is X s The impedance sum between the virtual synchronous machine and the alternating current power grid; delta is the included angle between U and E;
the expression of the small signal model is as follows:
Figure BDA0003008033220000023
in the method, in the process of the invention,
Figure BDA0003008033220000024
a small disturbance quantity representing an electrical angular velocity; />
Figure BDA0003008033220000025
Representing U m A small disturbance quantity of the included angle between the first and the second sensor; />
Figure BDA0003008033220000031
A small disturbance quantity representing the input mechanical torque; />
Figure BDA0003008033220000032
A small disturbance amount indicating an output electromagnetic torque;X s representing the impedance of the virtual synchronous generator to the ac grid; />
Figure BDA0003008033220000033
Representing a small disturbance amount of the output electromagnetic power; />
Figure BDA0003008033220000034
Representing a small disturbance amount of the input mechanical power.
Optionally, setting constraint conditions of the small signal model, and calculating to obtain a range of values of the moment of inertia and the damping coefficient of the virtual synchronous generator according to the constraint conditions includes:
the constraint conditions of the small signal model are as follows:
Figure BDA0003008033220000035
a 1 -a 6 is a constant, and is generally selected according to actual conditions; ζ is the damping ratio of the virtual synchronous engine control system; h and γ represent the amplitude margin and the 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 adjusting the moment of inertia according to the rotor angular velocity change rate in a self-adaptive manner by the moment of inertia and the value range of the damping coefficient includes:
and obtaining an inverse relation between the rotational inertia and the change rate of the angular velocity of the rotor according to a rotor motion equation of the virtual generator, and setting an adjusting formula of the rotational inertia as follows:
Figure BDA0003008033220000036
wherein: j (J) max K is the maximum value of moment of inertia J For the moment of inertia adjustment factor, T c Is the threshold value of the change rate of the angular velocity of the rotorWhen the change rate of the angular velocity of the rotor is less than or equal to the threshold value of the change rate of the angular velocity, the moment of inertia is the equivalent moment of inertia J 0 The method comprises the steps of carrying out a first treatment on the surface of the The J is 0 Indicating an equivalent moment of inertia when the rotor angular velocity change rate is equal to the rotor angular velocity change rate threshold.
Optionally, calculating a boundary condition of the damping coefficient according to the moment of 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
wherein said D 0 Representing an equivalent damping coefficient when the rotor angular velocity change rate is equal to the rotor angular velocity change rate threshold;
when the rotor angular velocity change rate is greater than the rotor angular velocity change rate threshold, adjusting the moment of inertia according to the rotor angular velocity deviation delta omega and the rotor angular velocity change rate domega/dt, and increasing the moment of inertia, if the D 0 Located within the range of values defined by the constraint, then d=d 0 The method comprises the steps of carrying out a first treatment on the surface of the D=d if D is smaller than the range of values defined by the constraint min ；
When the moment of inertia decreases, if the D 0 Within the range of values defined by the constraints, then d=d 0 The method comprises the steps of carrying out a first treatment on the surface of the D=d if D is greater than the range of values defined by the constraint max 。
A second aspect of the present application provides a rotational inertia adaptive optimization control device, the device including:
the acquisition unit is used for acquiring parameters of the virtual synchronous engine control system;
the model building unit is used for building 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 constraint conditions of the small signal model, and calculating to obtain a value range of the rotational inertia and the damping coefficient of the virtual synchronous generator according to the constraint conditions;
the rotational inertia adjusting unit is used for adaptively adjusting the rotational inertia according to the change rate of the angular velocity of the rotor according to the rotational inertia and the value range of the damping coefficient;
and the damping coefficient adjusting unit is used for calculating boundary conditions of the damping coefficients according to the rotational inertia and the value range of the damping coefficients and selecting corresponding damping coefficients according to the boundary conditions.
Optionally, the collection unit is specifically configured to collect a direct current side voltage of the virtual synchronous generator control system, a network side three-phase voltage of the virtual synchronous generator, and a network side three-phase current.
A third aspect of the present application provides a moment of inertia adaptive optimization control apparatus, the apparatus including 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 optimization control method for moment of inertia according to the first aspect according to the 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 described above.
From the above technical scheme, the application has the following advantages:
in the application, a self-adaptive optimization control method for rotational inertia is provided, and parameters of a virtual synchronous engine control system are collected; 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 constraint conditions of a small signal model, and calculating to obtain a value range of the moment of inertia and the damping coefficient of the virtual synchronous generator according to the constraint conditions; the rotational inertia is adaptively adjusted according to the change rate of the angular velocity of the rotor by the value ranges of the rotational inertia and the damping coefficient; and calculating boundary conditions of the damping coefficients according to the values of the rotational inertia and the damping coefficients, and selecting corresponding damping coefficients according to the boundary conditions.
According to the method, the small signal model of the virtual synchronous generator is built, constraint conditions are set on the small signal model, and the value ranges of the rotational inertia and the damping coefficient of the virtual synchronous generator are obtained through the constraint conditions, so that the rotational inertia can be adaptively adjusted according to the change rate of the angular speed of the rotor 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 flow chart of a method of one embodiment of a method of adaptive optimization control of moment of inertia according to the present application;
FIG. 2 is a device architecture diagram of one embodiment of a self-adaptive optimal control device for moment of 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 transfer function block diagram of a virtual synchronous generator control system power inner loop in an embodiment of the present application;
FIG. 5 is a graph of angular frequency variation of a virtual synchronous generator in an embodiment of the present application;
FIG. 6 is a schematic diagram of a stability margin boundary in an embodiment of the present application;
fig. 7 is a schematic diagram of a damping coefficient optimization flow in an embodiment of the present application.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will clearly and completely describe the technical solution in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
FIG. 1 is a flowchart of a method for adaptive optimization control of moment of inertia according to an embodiment of 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 acquisition of the parameters of the virtual synchronous generator control system includes acquisition of the dc side voltage U dc Network side three-phase voltage u of virtual synchronous generator abc Three-phase current i on net side abc The method comprises the steps of carrying out a first treatment on the surface of the 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 acquired parameters m 。
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
wherein J is the moment of inertia of the virtual generator; d is the damping coefficient of the virtual generator; omega is the mechanical angular velocity, i.e. the electrical angular velocity, at an polar logarithm of 1; p (P) m Is the mechanical power input; p (P) e Is the electromagnetic power output; omega 0 Is the rated angular speed of the power grid; θ is the virtual generator rotor angular displacement;
under an abc three-phase coordinate system, neglecting loss, and transmitting active power P between an alternating current network and a virtual synchronous generator is as follows:
Figure BDA0003008033220000062
wherein U is the phase voltage amplitude of the alternating current power grid; e is the alternating-current side phase voltage amplitude of the virtual synchronous machine; x is X s The impedance sum between the virtual synchronous machine and the alternating current power grid; delta is the included angle between U and E;
the variables in the rotor motion equation and the active power calculation formula are expressed as the sum of the steady state quantity and the small disturbance quantity, and then the following are:
Figure BDA0003008033220000071
the first term at the right end of the medium-sized sign represents the steady-state value of each variable, the latter term being the small disturbance of the corresponding variable near the steady-state operating point. T (T) m Representing an input mechanical torque; t (T) e Indicating the output electromagnetic torque.
After removing steady-state components and secondary disturbance quantity from a rotor motion equation and an active power calculation formula, a small signal model expression of the following virtual synchronous generator can be obtained:
Figure BDA0003008033220000072
/>
in the method, in the process of the invention,
Figure BDA0003008033220000073
a small disturbance quantity representing an electrical angular velocity; />
Figure BDA0003008033220000074
Representing U m A small disturbance quantity of the included angle between the first and the second sensor; />
Figure BDA0003008033220000075
A small disturbance quantity representing the input mechanical torque; />
Figure BDA0003008033220000076
A small disturbance amount indicating an output electromagnetic torque; x is X s Representing the resistance of a virtual synchronous generator to an ac gridResistance; />
Figure BDA0003008033220000077
Representing a small disturbance amount of the output electromagnetic power; />
Figure BDA0003008033220000078
Representing a small disturbance amount of the input mechanical power.
The time domain equation after linearization can be subjected to laplace transformation to obtain a transfer function block diagram of the power inner loop as shown in fig. 4, and the closed loop transfer function of the active power of the virtual synchronous generator is calculated as follows:
Figure BDA0003008033220000079
according to the above formula, the damping ratio and the natural oscillation frequency of the power control system are calculated:
Figure BDA00030080332200000710
ζ represents damping ratio, ω n Is the natural oscillation frequency of the second-order system.
103. Setting constraint conditions of a small signal model, and calculating to obtain a value range of the moment of inertia and the damping coefficient of the virtual synchronous generator according to the constraint conditions;
it should be noted that, the present application can comprehensively consider the power overshoot and the adjustment time of the power control system, and set corresponding constraint conditions as follows:
Figure BDA0003008033220000081
a 1 -a 6 is a constant, and is generally selected according to actual conditions; ζ is the damping ratio of the virtual synchronous engine control system; h and γ represent the amplitude margin and the 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 adaptively adjusted according to the change rate of the angular velocity of the rotor by the rotational inertia and the value range of the damping coefficient;
it should be noted that, according to the value ranges of the moment of inertia J and the virtual damping D, the moment of inertia J may be adaptively adjusted according to the rate of change of the angular velocity of the rotor.
Specifically, the inverse relation between the rotational inertia and the change rate of the angular velocity of the rotor can be obtained from the rotor motion equation of the virtual generator, and the rotor motion equation can be deformed into:
Figure BDA0003008033220000082
the moment of inertia J and the rate of change of the angular velocity of the rotor can be seen
Figure BDA0003008033220000083
In inverse proportion, the change rate of the angular velocity of the rotor can be changed by dynamically adjusting the moment of inertia J>
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 ω0 change curve of the virtual synchronous generator is shown in fig. 5.
As can be seen from fig. 5, at interval t 1 -t 2 In (a): the virtual rotor angular speed of the virtual synchronous generator is larger than the angular speed of the power grid and gradually increases, the change rate dω/dt of the angular speed is increased firstly and then gradually decreases, at the moment, the moment of inertia is increased, the change rate dω/dt of the angular speed is reduced, and the acceleration of the angular speed of the rotor is slowed down.
The interval t 2 -t 3 In (a): rate of change dω/dt of virtual rotor angular velocity<0, entering a deceleration stage, reducing the rotational inertia, increasing the angular speed change rate dω/dt, and accelerating the deceleration process of the rotor angular speed.
t 3 -t 4 And t 4 -t 5 The process of the two sections is respectively the same as the section t 1 -t 2 And t 2 -t 3 Similarly.
In order to ensure that the inertia margin of the converter station is fully utilized to provide support under the condition that inertia is not out of limit, the oscillation and overshoot of the actual output active power are reduced, and the transient process is shortened. The angular velocity change rate of the virtual synchronous generator is used as an adjusting variable to adjust the moment of inertia in real time, so that the speed of the virtual synchronous generator is improved
Figure BDA0003008033220000091
As the threshold value, a value is set. When->
Figure BDA0003008033220000092
At the moment, the moment of inertia and the equivalent virtual damping parameters are J 0 And D 0 As shown in FIG. 6, a stability margin boundary may be set at J in FIG. 6 0 And D 0 。
Generally, will J 0 Set as an intermediate value in the rotational inertia value range, D 0 For moment of inertia J 0 Damping coefficient value at damping ratio optimum ζ=0.707.
The adjustment formula of moment of inertia can be set in the present application as follows:
Figure BDA0003008033220000093
wherein: j (J) max K is the maximum value of moment of inertia J For the moment of inertia adjustment factor, T c For the angular velocity change rate threshold value of the rotor, when the angular velocity change rate of the rotor is smaller than or equal to the angular velocity change rate threshold value, the moment of inertia is equivalent moment of inertia J 0 ；J 0 Indicating an equivalent moment of inertia when the rotor angular velocity change rate is equal to the rotor angular velocity change rate threshold.
105. And calculating boundary conditions of the damping coefficients according to the values of the rotational inertia and the damping coefficients, and selecting corresponding damping coefficients according to the boundary conditions.
It should be noted that, according to the value range of the moment of inertia and the damping coefficient, the boundary condition of the damping coefficient is calculated, and according to the boundary condition, the corresponding damping coefficient is selected.
Specifically, the boundary condition of the damping coefficient may be set as:
Figure BDA0003008033220000094
/>
Figure BDA0003008033220000095
wherein said D 0 Representing an equivalent damping coefficient when the rotor angular velocity change rate is equal to a rotor angular velocity change rate threshold;
when the rotor angular velocity change rate is greater than the rotor angular velocity change rate threshold, the moment of inertia is adjusted according to the rotor angular velocity deviation delta omega and the rotor angular velocity change rate domega/dt, and the moment of inertia is increased, if D 0 Located within the range of values defined by the constraint, then d=d 0 The method comprises the steps of carrying out a first treatment on the surface of the If D is less than the range of values defined by the constraints, d=d min ；
When the moment of inertia decreases, if D 0 Within the range of values defined by the constraints, then d=d 0 The method comprises the steps of carrying out a first treatment on the surface of the If D is greater than the range of values defined by the constraint, d=d max . A schematic diagram of a specific damping coefficient optimization flow in the application is shown in FIG. 7.
According to the method, the small signal model of the virtual synchronous generator is built, constraint conditions are set on the small signal model, and the value ranges of the rotational inertia and the damping coefficient of the virtual synchronous generator are obtained through the constraint conditions, so that the rotational inertia can be adaptively adjusted according to the change rate of the angular speed of the rotor 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 foregoing is an embodiment of a method for adaptive optimization control of moment of inertia in the present application, and the present application further provides an embodiment of an adaptive optimization control device of moment of inertia, as shown in fig. 2, where fig. 2 includes:
an acquisition unit 201, configured to acquire parameters of a virtual synchronous engine control system;
a model building unit 202, configured to build 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 configured to set constraint conditions of the small signal model, and calculate a value range of the moment of inertia and the damping coefficient of the virtual synchronous generator according to the constraint conditions;
a moment of inertia adjusting unit 204, configured to adaptively adjust the moment of inertia according to the rate of change of the angular velocity of the rotor from the range of values of the moment of inertia and the damping coefficient;
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 the virtual synchronous generator control system, a grid-side three-phase voltage of the virtual synchronous generator, and a grid-side three-phase current.
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 configured to execute an embodiment of the adaptive optimization control method for moment of inertia according to instructions in the program code.
The application also provides a computer readable storage medium for storing program code for executing an embodiment of a moment of inertia adaptive optimization control method of the application.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
The terms "first," "second," "third," "fourth," and the like in the description of the present application and in the above-described figures, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be capable of operation in sequences other than those illustrated or described herein, for example. 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 this application, "at least one" means one or more, and "a plurality" means two or more. "and/or" for describing the association relationship of the association object, the representation may have three relationships, for example, "a and/or B" may represent: only a, only B and both a and B are present, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). 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 this application, it should be understood that the disclosed systems, apparatuses, and methods may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown 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 may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: u disk, mobile hard disk, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
The above embodiments are merely for illustrating the technical solution 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims (7)

1. The self-adaptive optimization control method for the rotational inertia is characterized by comprising the following steps of:
collecting parameters of a virtual synchronous generator 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 constraint conditions of the small signal model, and calculating to obtain a value range of the rotational inertia and the damping coefficient of the virtual synchronous generator according to the constraint conditions; the constraint conditions of the small signal model are as follows:
a 1 ≤ξ≤a 2
Figure FDA0004044939420000011
Re(s i )＝-ω n ξ≤-a 5
D≥a 6
a 1 -a 6 is a constant and is selected according to actual conditions; ζ is the damping ratio of the virtual synchronous generator control system; h and γ represent the amplitude margin and the phase angle margin, respectively; re(s) i ) Representing the real part of the closed loop pole; d is the damping coefficient omega of the virtual synchronous generator n Is the natural oscillation frequency of a second-order system; obtaining the value ranges of the moment of inertia J and the damping coefficient D according to the constraint conditions;
the rotational inertia is adaptively adjusted according to the change rate of the angular velocity of the rotor according to the value ranges of the rotational inertia and the damping coefficient;
calculating boundary conditions of the damping coefficients according to the rotational inertia and the value range of the damping coefficients, and selecting corresponding damping coefficients according to the boundary conditions; and obtaining an inverse relation between the rotational inertia and the change rate of the angular velocity of the rotor according to a rotor motion equation of the virtual synchronous generator, and setting an adjusting formula of the rotational inertia as follows:
Figure FDA0004044939420000012
wherein: j (J) max K is the maximum value of moment of inertia J For the moment of inertia adjustment factor, T c For the angular velocity change rate threshold value of the rotor, when the angular velocity change rate of the rotor is smaller than or equal to the angular velocity change rate threshold value, the moment of inertia is equivalent moment of inertia J 0 The method comprises the steps of carrying out a first treatment on the surface of the The J is 0 Representing the equivalent moment of inertia when the rotor angular velocity change rate is equal to a rotor angular velocity change rate threshold; Δω is the rotor angular velocity deviation, ω is the mechanical angular velocity at a pole pair number of 1, i.e. the electrical angular velocity;
calculating boundary conditions of the damping coefficients according to the rotational inertia and the value range of the damping coefficients, and selecting corresponding damping coefficients according to the boundary conditions, wherein the method comprises the following steps:
the boundary conditions of the damping coefficient are as follows:
Figure FDA0004044939420000021
/>
Figure FDA0004044939420000022
wherein omega is 0 For rated angular speed of the power grid, E is the amplitude of alternating-current side-phase voltage of the virtual synchronous generator, U is the amplitude of alternating-current power grid phase voltage, and k ω For angular velocity adjustment factor, J 1 、J 2 、J 3 To calculate the preset rotational inertia value of the damping coefficient, X s The impedance sum between the virtual synchronous generator and the alternating current power grid;
when the rotor angular velocity change rate is greater than the rotor angular velocity change rate threshold, adjusting the moment of inertia according to the rotor angular velocity deviation delta omega and the rotor angular velocity change rate domega/dt, and increasing the moment of inertia, if D 0 Located within the range of values defined by the constraint, then d=d 0 The method comprises the steps of carrying out a first treatment on the surface of the D=d if D is smaller than the range of values defined by the constraint min The method comprises the steps of carrying out a first treatment on the surface of the The D is 0 Representing an equivalent damping coefficient when the rotor angular velocity change rate is equal to the rotor angular velocity change rate threshold;
when the moment of inertia decreases, if the D 0 Within the range of values defined by the constraints, then d=d 0 The method comprises the steps of carrying out a first treatment on the surface of the D=d if D is greater than the range of values defined by the constraint max 。
2. The adaptive optimal control method for rotational inertia according to claim 1, wherein the collecting parameters of the virtual synchronous generator control system comprises:
and collecting direct-current side voltage, net side three-phase voltage and net side three-phase current of the virtual synchronous generator control system.
3. The adaptive optimal control method of moment of inertia according to claim 1, wherein creating 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 comprises:
the rotor motion equation of the virtual synchronous generator is as follows:
Figure FDA0004044939420000031
wherein J is the moment of inertia of the virtual synchronous generator; d is the damping coefficient of the virtual synchronous generator; omega is the polar logarithm1, i.e. the electrical angular velocity; p (P) m Is the mechanical power input; p (P) e Is the electromagnetic power output; omega 0 Is the rated angular speed of the power grid; θ is the virtual synchronous generator rotor angular displacement;
the output electromagnetic power calculation formula is as follows:
Figure FDA0004044939420000032
wherein U is the phase voltage amplitude of the alternating current power grid; e is the alternating-current side phase voltage amplitude of the virtual synchronous generator; x is X s The impedance sum between the virtual synchronous generator and the alternating current power grid; delta is the included angle between U and E;
the expression of the small signal model is as follows:
Figure FDA0004044939420000033
in the method, in the process of the invention,
Figure FDA0004044939420000034
a small disturbance quantity representing an electrical angular velocity; />
Figure FDA0004044939420000035
A small disturbance variable representing the angle between U and E; />
Figure FDA0004044939420000036
A small disturbance quantity representing the input mechanical torque; />
Figure FDA0004044939420000037
A small disturbance amount indicating an output electromagnetic torque; x is X s The impedance sum between the virtual synchronous generator and the alternating current power grid; />
Figure FDA0004044939420000038
Representing output electricityA small disturbance amount of magnetic power; />
Figure FDA0004044939420000039
Representing a small disturbance amount of the input mechanical power.
4. A rotational inertia adaptive optimization control device, characterized by comprising:
the acquisition unit is used for acquiring parameters of the virtual synchronous generator control system;
the model building unit is used for building 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 constraint conditions of the small signal model, and calculating to obtain a value range of the rotational inertia and the damping coefficient of the virtual synchronous generator according to the constraint conditions; the constraint conditions of the small signal model are as follows:
a 1 ≤ξ≤a 2
Figure FDA0004044939420000041
Re(s i )＝-ω n ξ≤-a 5
D≥a 6
a 1 -a 6 is a constant and is selected according to actual conditions; ζ is the damping ratio of the virtual synchronous generator control system; h and γ represent the amplitude margin and the phase angle margin, respectively; re(s) i ) Representing the real part of the closed loop pole; d is the damping coefficient omega of the virtual synchronous generator n Is the natural oscillation frequency of a second-order system; obtaining the value ranges of the moment of inertia J and the damping coefficient D according to the constraint conditions;
the rotational inertia adjusting unit is used for adaptively adjusting the rotational inertia according to the change rate of the angular velocity of the rotor according to the rotational inertia and the value range of the damping coefficient;
the damping coefficient adjusting unit is used for calculating boundary conditions of the damping coefficients according to the rotational inertia and the value range of the damping coefficients, and selecting corresponding damping coefficients according to the boundary conditions; and obtaining an inverse relation between the rotational inertia and the change rate of the angular velocity of the rotor according to a rotor motion equation of the virtual synchronous generator, and setting an adjusting formula of the rotational inertia as follows:
Figure FDA0004044939420000042
wherein: j (J) max K is the maximum value of moment of inertia J For the moment of inertia adjustment factor, T c For the angular velocity change rate threshold value of the rotor, when the angular velocity change rate of the rotor is smaller than or equal to the angular velocity change rate threshold value, the moment of inertia is equivalent moment of inertia J 0 The method comprises the steps of carrying out a first treatment on the surface of the The J is 0 Representing the equivalent moment of inertia when the rotor angular velocity change rate is equal to a rotor angular velocity change rate threshold; Δω is the rotor angular velocity deviation, ω is the mechanical angular velocity at a pole pair number of 1, i.e. the electrical angular velocity;
calculating boundary conditions of the damping coefficients according to the rotational inertia and the value range of the damping coefficients, and selecting corresponding damping coefficients according to the boundary conditions, wherein the method comprises the following steps:
the boundary conditions of the damping coefficient are as follows:
Figure FDA0004044939420000043
Figure FDA0004044939420000051
wherein omega is 0 For rated angular speed of the power grid, E is the amplitude of alternating-current side-phase voltage of the virtual synchronous generator, U is the amplitude of alternating-current power grid phase voltage, and k ω For angular velocity adjustment factor, J 1 、J 2 、J 3 To calculate the preset rotational inertia value of the damping coefficient, X s The impedance sum between the virtual synchronous generator and the alternating current power grid;
when the rotor angular velocity change rate is greater than the rotor angular velocity change rate threshold, adjusting the moment of inertia according to the rotor angular velocity deviation delta omega and the rotor angular velocity change rate domega/dt, and increasing the moment of inertia, if D 0 Located within the range of values defined by the constraint, then d=d 0 The method comprises the steps of carrying out a first treatment on the surface of the D=d if D is smaller than the range of values defined by the constraint min The method comprises the steps of carrying out a first treatment on the surface of the The D is 0 Representing an equivalent damping coefficient when the rotor angular velocity change rate is equal to the rotor angular velocity change rate threshold;
when the moment of inertia decreases, if the D 0 Within the range of values defined by the constraints, then d=d 0 The method comprises the steps of carrying out a first treatment on the surface of the D=d if D is greater than the range of values defined by the constraint max 。
5. The adaptive optimal rotational inertia control device according to claim 4, wherein the acquisition unit is specifically configured to acquire a dc-side voltage, a net-side three-phase voltage, and a net-side three-phase current of the virtual synchronous generator control system.
6. A moment of inertia adaptive optimization control device, 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 optimization control method for moment of inertia according to any one of claims 1 to 3 according to instructions in the program code.
7. A computer-readable storage medium storing a program code for executing the moment of inertia adaptive optimization control method according to any one of claims 1 to 3.
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