CN113346516A - Self-adaptive inertia virtual synchronous generator control method and device - Google Patents

Self-adaptive inertia virtual synchronous generator control method and device Download PDF

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CN113346516A
CN113346516A CN202110498994.4A CN202110498994A CN113346516A CN 113346516 A CN113346516 A CN 113346516A CN 202110498994 A CN202110498994 A CN 202110498994A CN 113346516 A CN113346516 A CN 113346516A
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inertia
controller
rotational
rotating speed
change rate
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CN113346516B (en
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龚贤夫
李猛
张哲�
卢洵
刘正超
刘新苗
林勇
左郑敏
周姝灿
彭穗
陈鸿琳
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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
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    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract

The invention discloses a control method and a device of a self-adaptive inertia virtual synchronous generator, wherein the control method comprises the following steps: establishing a self-adaptive inertia virtual synchronous generator control model; calculating to obtain the rotating speed deviation input quantity and the rotating speed change rate input quantity of the rotational inertia controller by adopting a low-pass filtering method; obtaining the action condition of the rotational inertia controller according to the input quantity of the rotating speed change rate; obtaining the adjustment quantity of the rotor inertia and the adjustment direction of the rotor inertia according to the input quantity of the speed change rate and the input quantity of the speed deviation; and obtaining a self-adaptive rotor inertia control law of the rotational inertia controller according to the adjustment threshold value of the rotational inertia, the adjustment amount of the rotor inertia and the adjustment direction of the rotor inertia. According to the invention, the real-time calculated value of the rotational inertia can be obtained according to the rotational inertia control law of the rotational inertia controller, and the real-time calculated value of the rotational inertia is input into the power frequency controller as a rotational inertia parameter, so that the self-adaptive inertia control of the virtual synchronous generator is realized.

Description

Self-adaptive inertia virtual synchronous generator control method and device
Technical Field
The invention relates to the technical field of energy storage operation and control, in particular to a method, a device, a terminal and a storage medium for controlling a self-adaptive inertia virtual synchronous generator.
Background
The frequency modulation control technology of an energy storage power station in the existing wind and light storage system mainly comprises V/f control, droop control and virtual synchronous generator control. The V/f control mainly utilizes the energy storage power station to provide voltage with constant frequency and amplitude for the system, and the control strategy is simple but cannot be used for controlling the distributed energy storage power station. Droop control mainly depends on the primary frequency modulation characteristic of the analog synchronous generator, can coordinate power output of each energy storage power station of the wind-light storage system, but cannot provide inertia for the wind-light storage system. The virtual synchronous generator technology is the most promising energy storage power station control technology at present, and can simulate the inertia characteristic and the primary frequency modulation characteristic of the synchronous generator at the same time. However, the virtual synchronous generator control technology adopting fixed inertia cannot adaptively change the inertia of the wind-solar energy storage system when load disturbance and wind speed sudden change disturbance occur, so that an excellent frequency response effect is obtained.
However, because the wind-solar energy storage system may cause large-power sudden change disturbance due to large wind speed sudden change, and wind speed is accompanied by random small fluctuation at all times, the wind-solar energy storage system cannot be well applied to adaptive frequency modulation of the wind-solar energy storage system in the prior art, that is, the system frequency stability cannot be ensured under any large-power disturbance, or the large-power disturbance cannot be accurately distinguished, so that the rotational inertia is effectively adaptively changed, and the frequency adjustment function of energy storage is fully exerted.
Disclosure of Invention
The purpose of the invention is: the method and the device for controlling the self-adaptive inertia virtual synchronous generator can obtain a real-time calculated value of the inertia moment according to the inertia moment control law of the inertia moment controller, and input the real-time calculated value of the inertia moment as an inertia moment parameter into a power frequency controller to realize the self-adaptive inertia control of the virtual synchronous generator.
In order to achieve the above object, the present invention provides a method for controlling a virtual synchronous generator with adaptive inertia, comprising:
establishing an adaptive inertia virtual synchronous generator control model, wherein the model comprises: the power frequency controller, the excitation controller, the rotational inertia controller and the bottom layer controller;
calculating to obtain the rotating speed deviation input quantity and the rotating speed change rate input quantity of the rotational inertia controller by adopting a low-pass filtering method; obtaining the action condition of the rotary inertia controller according to the input quantity of the rotating speed change rate;
and obtaining an adjustment quantity of the rotor inertia and an adjustment direction of the rotor inertia according to the input quantity of the rotational speed deviation and the input quantity of the rotational speed change rate, and obtaining an adaptive rotor inertia control law of the rotational inertia controller according to an adjustment threshold value of the rotational inertia, the adjustment quantity of the rotor inertia and the adjustment direction of the rotor inertia.
Further, the rotating speed deviation input quantity and the rotating speed change rate input quantity of the rotational inertia controller are obtained through calculation by adopting a low-pass filtering method, and specifically the method comprises the following steps:
acquiring an actual measured value of the system frequency according to the frequency acquisition device;
calculating an actual value of the rotating speed deviation and an actual value of the rotating speed change rate according to the actual measured value of the system frequency;
and calculating the rotating speed deviation input quantity and the rotating speed change rate input quantity of the rotational inertia controller by passing the actual value of the rotating speed deviation and the actual value of the rotating speed change rate through a low-pass filter.
Further, the actual value of the rotational speed deviation and the actual value of the rotational speed change rate are calculated according to the actual measured value of the system frequency, and the following formula is specifically adopted:
ωr＝2πfr
Δωr＝ωr-ω0
Figure BDA0003054322700000021
in the formula (f)rThe measured value is the measured value of the frequency of the wind-solar energy storage system; omegarThe actual value of the rotating speed of the virtual synchronous generator control model is obtained; Δ ωrThe actual value of the rotating speed deviation of the virtual synchronous generator control model is obtained;
Figure BDA0003054322700000031
is the actual value of the rotation speed change rate of the virtual synchronous generator control model.
Further, the actual value of the rotational speed deviation and the actual value of the rotational speed change rate are calculated through a low-pass filter to obtain the rotational speed deviation input quantity and the rotational speed change rate input quantity of the rotational inertia controller, and the following formulas are specifically adopted:
Figure BDA0003054322700000032
Figure BDA0003054322700000033
in the formula,. DELTA.omegainAnd
Figure BDA0003054322700000034
respectively the rotating speed deviation input quantity and the rotating speed change rate input quantity of the rotor inertia controller; omeganIs the natural angular frequency of the second order low pass filter; xi is the damping coefficient of the second-order low-pass filter; g0Is the pass band gain or zero frequency gain of the filter.
Further, the action condition of the rotational inertia controller is obtained according to the input quantity of the rotational speed change rate, and the following calculation formula is adopted:
Figure BDA0003054322700000035
in the formula, J0Is a fixed constant inertia; Δ J is an adjustment amount of the moment of inertia; c0Is the threshold of the moment of inertia controller.
Further, the obtaining of the adjustment amount of the rotor inertia and the adjustment direction of the rotor inertia according to the rotational speed deviation input amount and the rotational speed change rate input amount specifically includes:
the adjustment direction of the rotor inertia adopts the following formula:
Figure BDA0003054322700000041
in the formula, delta J is the adjustment size of the rotational inertia; c0Is the motion threshold of the rotational inertia controller;
the adjustment amount of the rotor inertia adopts the following formula:
Figure BDA0003054322700000042
in the formula,. DELTA.JmaxThe maximum limit value of the adjustment amount of the rotational inertia is set; k is an adjustment coefficient.
Further, the self-adaptive rotor inertia control law of the rotational inertia controller is obtained according to the adjustment threshold of the rotational inertia, the adjustment amount of the rotor inertia and the adjustment direction of the rotor inertia, and the following formula is specifically adopted:
Figure BDA0003054322700000043
in the formula, J is the output value of the rotational inertia controller; j. the design is a square0Is a fixed inertia constant; delta JmaxAdjusting a limit for maximum inertia; k is an adjustment coefficient; Δ ωinAnd
Figure BDA0003054322700000044
the input quantity of the rotating speed deviation and the input quantity of the rotating speed change rate of the rotor inertia controller are respectively.
The invention also provides a self-adaptive inertia virtual synchronous generator control device, which is characterized by comprising the following components: a construction module, a control condition module and an acquisition module, wherein,
the building module is used for building an adaptive inertia virtual synchronous generator control model, wherein the model comprises: the power frequency controller, the excitation controller, the rotational inertia controller and the bottom layer controller;
the control condition module is used for calculating to obtain the rotating speed deviation input quantity and the rotating speed change rate input quantity of the rotary inertia controller by adopting a low-pass filtering method, and obtaining the action condition of the rotary inertia controller according to the rotating speed change rate input quantity;
the acquisition module is used for acquiring the adjustment quantity of the rotor inertia and the adjustment direction of the rotor inertia according to the input quantity of the rotational speed deviation and the input quantity of the rotational speed change rate, and acquiring the self-adaptive rotor inertia control law of the rotational inertia controller according to the adjustment threshold value of the rotational inertia, the adjustment quantity of the rotor inertia and the adjustment direction of the rotor inertia.
The present invention also provides a computer terminal device, comprising: one or more processors; a memory coupled to the processor for storing one or more programs; when executed by the one or more processors, cause the one or more processors to implement an adaptive inertia virtual synchronous generator control method as in any preceding claim.
The invention also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements an adaptive inertia virtual synchronous generator control method as defined in any of the above.
Compared with the prior art, the self-adaptive inertia virtual synchronous generator control method and the device have the advantages that:
1. when load disturbance or wind speed disturbance occurs, the virtual synchronous generator with fixed large inertia has the effect of suppressing frequency deviation and the virtual synchronous generator with fixed small inertia has the effect of accelerating frequency recovery.
2. And (3) filtering the measurement noise of the rotating speed deviation and the rotating speed change rate by adopting a low-pass filter, and setting a rotating inertia action condition. The frequent adjustment of the rotational inertia can be avoided, and the device only plays a role in meeting the disturbance such as wind speed sudden change, power supply load sudden change and the like.
3. The formulated self-adaptive rotor inertia control law considers the condition that the rotating speed change rate is large due to high-power disturbance, limits the adjustment range of the rotating inertia by designing a special functional relation between the rotating change rate and the rotating inertia adjustment amount, and avoids the instability of the system frequency caused by the fact that the rotating inertia is negative.
Drawings
Fig. 1 is a schematic flowchart of a control method of an adaptive inertia virtual synchronous generator according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a structure diagram of a model of a self-adaptive inertia virtual synchronous generator in a certain area according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a grid structure of a wind-solar energy storage actual system in a certain area according to a certain embodiment of the present invention;
FIG. 4 is a schematic diagram of a frequency response waveform of simulation example 1 in a certain area according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a frequency response waveform of simulation example 2 in a certain area according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a frequency response waveform under severe anemometry in a region according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a frequency response waveform under a severe sudden load increase in a certain area according to an embodiment of the present invention;
fig. 8 is a schematic diagram of inertia adjustment for adaptive inertia control based on ping-pong control in a certain area according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of adaptive inertia based inertial mass adjustment in a region according to an embodiment of the present invention;
fig. 10 is a schematic diagram illustrating a comparison between the frequency response of the adaptive inertia control for a certain area and the frequency response of the inertia control based on the ping-pong control according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of an adaptive inertia virtual synchronous generator control apparatus according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all 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 invention.
It should be understood that the step numbers used herein are for convenience of description only and are not intended as limitations on the order in which the steps are performed.
It is to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
The terms "comprises" and "comprising" indicate the presence of the described features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
The term "and/or" refers to any and all possible combinations of one or more of the associated listed items and includes such combinations.
The first embodiment of the present invention:
as shown in fig. 1 to 10, an improved adaptive inertia virtual synchronous generator control method according to an embodiment of the present invention includes at least the following steps:
s101, establishing a self-adaptive inertia virtual synchronous generator control model, wherein the model comprises: the power frequency controller, the excitation controller, the rotational inertia controller and the bottom layer controller;
specifically, a structure of establishing a self-adaptive inertia virtual synchronous generator control model is shown in fig. 2, and mainly comprises a power frequency controller, an excitation controller, a rotational inertia controller and a bottom layer controller. According to the moment inertia control law of the moment inertia controller, a moment inertia real-time calculation value is obtained and is input to the power frequency controller as a moment inertia parameter, so that the self-adaptive inertia control of the virtual synchronous generator is realized.
It should be noted that, the phase calculation of the command voltage of the virtual synchronous generator control model adopts the following steps:
according to a two-order model of a traditional synchronous generator, establishing an equivalent rotor motion equation of the virtual synchronous generator:
Figure BDA0003054322700000081
in the formula, J is the rotational inertia of the virtual synchronous generator; d is the damping coefficient of the synchronous generator corresponding to the damping torque; omega0The rated angular speed of the power grid; t ism、Te、TDMechanical rotation for respectively simulating synchronous generatorTorque, electromagnetic torque and damping torque; delta is the power angle of the synchronous generator.
Electromagnetic torque and electromagnetic power P output by virtual synchronous generatoreThe relationship between:
Figure BDA0003054322700000082
in the formula uabcAnd iabcAnd respectively outputting three-phase voltage and three-phase current for the inverter controlled by the virtual synchronous generator.
The synchronous generator realizes the response to the frequency deviation of the power grid through the speed regulator, and the virtual synchronous generator adjusts the given mechanical torque T by using the principlerefAnd adjusting the mechanical torque of the virtual synchronous generator by the frequency deviation feedback instruction delta T.
Tm＝Tref+ΔT
Figure BDA0003054322700000083
Figure BDA0003054322700000084
In the formula, PrefFor a given active power; k is a radical ofωIs the adjustment coefficient.
The simultaneous (1-3) expression shows that given power and output electromagnetic power of an inverter controlled by the virtual synchronous generator can be calculated to obtain the command angular frequency of the virtual synchronous generator, and further integrated to obtain the command voltage phase of the virtual synchronous generator
Figure BDA0003054322700000085
It should be noted that the amplitude of the command voltage of the virtual synchronous generator control model is calculated as follows:
reactive-voltage regulation relation of excitation controller
Emag＝UN+k(Qref-Qe) (4)
In the formula of UNIs the rated voltage amplitude of the system; emagThe magnitude of the voltage is commanded for the virtual synchronous generator control model. Synthesizing the amplitude and the phase of the VSG command voltage according to the formula (5) to obtain a three-phase given voltage command e*。
Figure BDA0003054322700000091
And the three-phase voltage command is used as a command signal of a voltage outer ring, a current command signal obtained by PI control of the voltage outer ring is used as a command of a current inner ring, and a driving signal for controlling the energy storage inverter can be generated by SPWM modulation.
S102, calculating to obtain a rotating speed deviation input quantity and a rotating speed change rate input quantity of the rotary inertia controller by adopting a low-pass filtering method, and obtaining an action condition of the rotary inertia controller according to the rotating speed change rate input quantity;
specifically, a phase-locked loop is adopted at a bus where energy storage is accessed in the wind and light energy storage system to obtain a measured value of system frequency, and then a rotating speed deviation actual value and a rotating speed change rate actual value of a virtual generator control model are obtained through calculation, and the following formula is adopted:
Figure BDA0003054322700000092
in the formula (f)rThe measured value is the measured value of the frequency of the wind-solar energy storage system; omegarThe actual value of the rotating speed of the virtual synchronous generator control model is obtained; Δ ωrThe actual value of the rotating speed deviation of the virtual synchronous generator control model is obtained;
Figure BDA0003054322700000101
the actual value of the rotating speed change rate of the virtual synchronous generator control model is obtained.
And respectively inputting the actual value of the rotating speed deviation and the actual value of the rotating speed change rate into a low-pass filter to obtain an input signal of the rotor inertia controller so as to remove measurement noise of the actual value of the rotating speed deviation and the actual value of the rotating speed change rate.
Figure BDA0003054322700000102
Figure BDA0003054322700000103
In the formula,. DELTA.omegainAnd
Figure BDA0003054322700000104
respectively the rotating speed deviation input quantity and the rotating speed change rate input quantity of the rotor inertia controller; omeganIs the natural angular frequency of the second order low pass filter; xi is the damping coefficient of the second-order low-pass filter; g0It is the passband gain or zero frequency gain of the filter, usually taken as 1.
And determining the action condition of the rotary inertia controller according to the absolute value of the input quantity of the speed change rate, such as the formula (8). And setting an action threshold value for controlling the rotational inertia, wherein the rotational inertia is a fixed quantity when the absolute value of the input quantity of the change rate of the rotating speed is smaller than the absolute value, and the rotational inertia is changed according to the self-adaptive rotor control law when the absolute value of the input quantity of the change rate of the rotating speed is larger than the absolute value. By setting the action threshold of the rotational inertia controller, ineffective adjustment of the rotational inertia can be avoided when random wind speed fluctuates.
Figure BDA0003054322700000105
In the formula, J0Is a fixed constant inertia; Δ J is an adjustment amount of the moment of inertia; c0Is the threshold of the moment of inertia controller.
S103, obtaining an adjustment quantity of the rotor inertia and an adjustment direction of the rotor inertia according to the rotation speed deviation input quantity and the rotation speed change rate input quantity, and obtaining an adaptive rotor inertia control law of the rotational inertia controller according to an adjustment threshold value of the rotational inertia, the adjustment quantity of the rotor inertia and the adjustment direction of the rotor inertia.
Specifically, the rotor inertia adjustment direction is determined together with the virtual rotor speed deviation input quantity and the speed change rate input quantity of the virtual synchronous generator model, and the specific relationship is shown in table 1. Therefore, when the inertia moment controller is actuated, the inertia moment adjustment direction is expressed by equation (9):
Figure BDA0003054322700000111
in the formula, delta J is the adjustment size of the rotational inertia; c0Is the threshold of the moment of inertia controller.
TABLE 1 adjustment of moment of inertia between different intervals
Figure BDA0003054322700000112
The magnitude of the rotational inertia adjustment quantity is determined by the input quantity of the rotating speed change rate, namely the larger the absolute value of the input quantity of the rotating speed change rate is, the larger the rotational inertia adjustment quantity is. Meanwhile, in order to limit the adjustment quantity of the rotational inertia within a certain maximum limit value of the rotational inertia, a calculation formula of the adjustment quantity of the rotational inertia is designed:
Figure BDA0003054322700000113
in the formula,. DELTA.JmaxThe maximum limit value of the adjustment amount of the rotational inertia is set; k is regulating coefficient, and is taken as normal number
Comprehensively considering the setting of a rotational inertia adjusting threshold value, the rotational inertia adjusting direction and the size, obtaining a self-adaptive rotor inertia control law of a rotational inertia controller:
Figure BDA0003054322700000121
wherein J is the output value of the rotational inertia controller；J0Is a fixed inertia constant; delta JmaxAdjusting a limit for maximum inertia; k is an adjustment coefficient; Δ ωinAnd
Figure RE-GDA0003164605200000122
the input quantity of the rotating speed deviation and the input quantity of the rotating speed change rate of the rotor inertia controller are respectively.
In an embodiment of the present invention, the calculating to obtain the rotational speed deviation input amount and the rotational speed change rate input amount of the rotational inertia controller by using a low-pass filtering method specifically includes:
acquiring an actual measured value of the system frequency according to the frequency acquisition device;
calculating an actual value of the rotating speed deviation and an actual value of the rotating speed change rate according to the actual measured value of the system frequency;
and calculating the rotating speed deviation input quantity and the rotating speed change rate input quantity of the rotational inertia controller by passing the actual value of the rotating speed deviation and the actual value of the rotating speed change rate through a low-pass filter.
In an embodiment of the present invention, the actual value of the rotational speed deviation and the actual value of the rotational speed change rate are calculated according to the actual measured value of the system frequency, and the following formula is specifically adopted:
ωr＝2πfr
Δωr＝ωr-ω0
Figure BDA0003054322700000131
in the formula (f)rThe measured value is the measured value of the frequency of the wind-solar energy storage system; omegarThe actual value of the rotating speed of the virtual synchronous generator control model is obtained; Δ ωrThe actual value of the rotating speed deviation of the virtual synchronous generator control model is obtained;
Figure BDA0003054322700000132
actual value of rate of change of rotation speed for virtual synchronous generator control model。
In an embodiment of the present invention, the actual value of the rotational speed deviation and the actual value of the rotational speed change rate are calculated by a low-pass filter to obtain the rotational speed deviation input amount and the rotational speed change rate input amount of the rotational inertia controller, and the following formulas are specifically adopted:
Figure BDA0003054322700000133
Figure BDA0003054322700000134
in the formula,. DELTA.omegainAnd
Figure BDA0003054322700000135
respectively the rotating speed deviation input quantity and the rotating speed change rate input quantity of the rotor inertia controller; omeganIs the natural angular frequency of the second order low pass filter; xi is the damping coefficient of the second-order low-pass filter; g0Is the pass band gain or zero frequency gain of the filter.
In an embodiment of the present invention, the operation condition of the rotational inertia controller is obtained according to the input amount of the rotational speed change rate, and the following calculation formula is adopted:
Figure BDA0003054322700000136
in the formula, J0Is a fixed constant inertia; Δ J is an adjustment amount of the moment of inertia; c0Is the threshold of the moment of inertia controller.
In an embodiment of the present invention, the obtaining an adjustment amount of the rotor inertia and an adjustment direction of the rotor inertia according to the rotational speed deviation input amount and the rotational speed change rate input amount includes:
the adjustment direction of the rotor inertia adopts the following formula:
Figure BDA0003054322700000141
in the formula, delta J is the adjustment size of the rotational inertia; c0Is the motion threshold of the rotational inertia controller;
the adjustment amount of the rotor inertia adopts the following formula:
Figure BDA0003054322700000142
in the formula,. DELTA.JmaxThe maximum limit value of the adjustment amount of the rotational inertia is set; k is an adjustment coefficient.
In an embodiment of the present invention, the adaptive rotor inertia control law of the rotational inertia controller is obtained according to an adjustment threshold of the rotational inertia, an adjustment amount of the rotor inertia, and an adjustment direction of the rotor inertia, and specifically adopts the following formula:
Figure BDA0003054322700000143
in the formula, J is the output value of the rotational inertia controller; j. the design is a square0Is a fixed inertia constant; delta JmaxAdjusting a limit for maximum inertia; k is an adjustment coefficient; Δ ωinAnd
Figure BDA0003054322700000144
the input quantity of the rotating speed deviation and the input quantity of the rotating speed change rate of the rotor inertia controller are respectively.
For better understanding of the present invention, the following example is specifically explained, as shown in fig. 3, a simulation model is built for a wind-solar energy storage actual system in a certain area for verification, the system is composed of 1 wind farm, 1 photovoltaic wind farm, and 2 energy storage power stations, the wind farm is interconnected through a 110kV grid, the wind farm adopts a Maximum Power Point Tracking (MPPT) mode, the photovoltaic farm operates in a constant power control mode, the output of the photovoltaic farm is 30MW, the power supply load is 25MW, the initial average wind speed is 5.4m/s, and random wind speed fluctuation is accompanied in the whole time period.
The related simulation model is built on a PSCAD/EMTDC4.6 simulation platform and runs on an Intel Kuri 7-9750H processor 2.6GHz and 16GB memory computer.
In order to verify the effectiveness and the correctness of the control method established by the invention, the disturbance of the simulation example is respectively set as the sudden change of the wind speed and the sudden change of the power supply load.
Simulation example 1: 9s mean wind speed suddenly increased to 7.5m/s, 15s mean wind speed suddenly decreased to 5m/s, simulation example 2: the 9s power supply load is cut off by 20MW, and the 15s power supply load is put into 20MW
As shown in fig. 4 to 5, comparing the control frequency response waveforms of the virtual synchronous generators with fixed inertia, it can be seen that when the wind speed suddenly increases or the load suddenly decreases, the virtual rotor may experience an acceleration process, and the frequency rises, and compared with the control frequency response waveforms of the virtual synchronous generators with small rotational inertia, the control of the virtual synchronous generators with improved adaptive inertia can effectively suppress the frequency deviation, and the suppression effect is close to that of the control of the virtual synchronous generators with large rotational inertia. When the wind speed suddenly decreases or the load suddenly increases, the frequency is recovered, the control of the virtual synchronous generator with the improved self-adaptive inertia can effectively accelerate the recovery of the frequency by comparing with the frequency response waveform of the large rotary inertia, and the control acceleration effect is close to that of the virtual synchronous generator with the small rotary inertia.
And analyzing the frequency stability of the disturbance working condition of the severe load sudden change and the severe wind speed sudden change. As can be seen from fig. 6 to 7, the rotational inertia adjustment amount controlled by the proportional self-adaptive inertia virtual synchronous generator is directly proportional to the absolute value of the rate of change of the rotational speed, and when the wind speed suddenly decreases to less than 5.1m/s or the power supply load input is more than 22MW, the rotational inertia adjustment amount is too large due to too large rate of change of the rotational speed, so that the rotational inertia is negative, and finally the frequency instability is caused. However, the improved adaptive inertia virtual synchronous generator control can well keep the system stable under the disturbance of severe load sudden change and severe wind speed sudden change, and the adaptive frequency regulation performance is exerted.
And analyzing the adjustment condition of the rotary inertia. As can be seen from fig. 8, with the inertia control based on the ping-pong control, the rotational inertia is frequently adjusted due to random wind interference and frequency measurement noise. As can be seen from fig. 9, the virtual synchronous generator with improved adaptive inertia is used for control, and the rotational inertia is adjusted only when power supply load switching and average wind speed level sudden change occur. When the average wind speed is suddenly increased or the load is cut off, the rotational inertia is automatically increased to restrain the sudden frequency increase, and when the average wind speed is reduced or the power supply load is put in again, the rotational inertia is automatically reduced to accelerate the recovery of the frequency. From the frequency response effect of fig. 10, when the wind speed suddenly increases, the inertia control based on the ping-pong control does not keep getting large moment of inertia during the frequency rising process, so that the suppression of the frequency shift is much weaker than the improvement of the adaptive inertia virtual synchronous generator control.
Compared with the prior art, the improved control method of the self-adaptive inertia virtual synchronous generator has the beneficial effects that:
1. when load disturbance or wind speed disturbance occurs, the virtual synchronous generator with fixed large inertia has the effect of suppressing frequency deviation and the virtual synchronous generator with fixed small inertia has the effect of accelerating frequency recovery.
2. And (3) filtering the measurement noise of the rotating speed deviation and the rotating speed change rate by adopting a low-pass filter, and setting a rotating inertia action condition. The frequent adjustment of the rotational inertia can be avoided, and the device only plays a role in meeting the disturbance such as wind speed sudden change, power supply load sudden change and the like.
3. The formulated self-adaptive rotor inertia control law considers the condition that the rotating speed change rate is large due to high-power disturbance, limits the adjustment range of the rotating inertia by designing a special functional relation between the rotating change rate and the rotating inertia adjustment amount, and avoids the instability of the system frequency caused by the fact that the rotating inertia is negative.
Second embodiment of the invention:
as shown in fig. 11, an adaptive inertia virtual synchronous generator control apparatus 200 according to an embodiment of the present invention includes: a build module 201, a control condition module 202, and an acquisition module 203, wherein,
the building module 201 is configured to build an adaptive inertia virtual synchronous generator control model, where the model includes: the power frequency controller, the excitation controller, the rotational inertia controller and the bottom layer controller;
the control condition module 202 is configured to calculate a rotational speed deviation input amount and a rotational speed change rate input amount of the rotational inertia controller by using a low-pass filtering method, and obtain an action condition of the rotational inertia controller according to the rotational speed change rate input amount;
the obtaining module 203 is configured to obtain an adjustment amount of a rotor inertia and an adjustment direction of the rotor inertia according to the rotational speed deviation input amount and the rotational speed change rate input amount, and obtain an adaptive rotor inertia control law of the rotational inertia controller according to an adjustment threshold of the rotational inertia, the adjustment amount of the rotor inertia, and the adjustment direction of the rotor inertia.
Compared with the prior art, the self-adaptive inertia virtual synchronous generator control device provided by the embodiment of the invention has the beneficial effects that:
1. when load disturbance or wind speed disturbance occurs, the virtual synchronous generator with fixed large inertia has the effect of suppressing frequency deviation and the virtual synchronous generator with fixed small inertia has the effect of accelerating frequency recovery.
2. And (3) filtering the measurement noise of the rotating speed deviation and the rotating speed change rate by adopting a low-pass filter, and setting a rotating inertia action condition. The frequent adjustment of the rotational inertia can be avoided, and the device only plays a role in meeting the disturbance such as wind speed sudden change, power supply load sudden change and the like.
3. The formulated self-adaptive rotor inertia control law considers the condition that the rotating speed change rate is large due to high-power disturbance, limits the adjustment range of the rotating inertia by designing a special functional relation between the rotating change rate and the rotating inertia adjustment amount, and avoids the instability of the system frequency caused by the fact that the rotating inertia is negative.
Third embodiment of the invention:
an embodiment of the present invention further provides a computer terminal device, including: one or more processors; a memory coupled to the processor for storing one or more programs; when executed by the one or more processors, cause the one or more processors to implement the adaptive inertia virtual synchronous generator control method of any of the above.
It should be noted that the processor may be a Central Processing Unit (CPU), other general-purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, etc., the general-purpose processor may be a microprocessor, or the processor may be any conventional processor, the processor is a control center of the terminal device, and various interfaces and lines are used to connect various parts of the terminal device.
The memory mainly includes a program storage area and a data storage area, wherein the program storage area can store an operating system, an application program required by at least one function, and the like, and the data storage area can store related data and the like. In addition, the memory may be a high-speed random access memory, a non-volatile memory such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card (FlashCard), and the like, or other volatile solid-state memory device.
It should be noted that the terminal device may include, but is not limited to, a processor and a memory, and those skilled in the art will understand that the terminal device is only an example and does not constitute a limitation of the terminal device, and may include more or less components, or combine some components, or different components.
The fourth embodiment of the present invention:
embodiments of the present invention also provide a computer readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the improved adaptive inertia virtual synchronous generator control method according to any of the above items.
It should be noted that the computer program may be divided into one or more modules/units (e.g., computer program) which are stored in the memory and executed by the processor to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used for describing the execution process of the computer program in the terminal device.
The above-mentioned embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, and it should be understood that the above-mentioned embodiments are only examples of the present invention and are not intended to limit the scope of the present invention. It will be understood that any modifications, equivalents, improvements and the like which come within the spirit and principle of the invention are deemed to be within the scope of the invention.

Claims (10)

1. A control method of an adaptive inertia virtual synchronous generator is characterized by comprising the following steps:
establishing an adaptive inertia virtual synchronous generator control model, wherein the model comprises: the power frequency controller, the excitation controller, the rotational inertia controller and the bottom layer controller;
calculating to obtain a rotating speed deviation input quantity and a rotating speed change rate input quantity of the rotary inertia controller by adopting a low-pass filtering method, and obtaining an action condition of the rotary inertia controller according to the rotating speed change rate input quantity;
and obtaining an adjustment quantity of the rotor inertia and an adjustment direction of the rotor inertia according to the input quantity of the rotational speed deviation and the input quantity of the rotational speed change rate, and obtaining an adaptive rotor inertia control law of the rotational inertia controller according to an adjustment threshold value of the rotational inertia, the adjustment quantity of the rotor inertia and the adjustment direction of the rotor inertia.
2. The control method of the virtual synchronous generator with the self-adaptive inertia according to claim 1, wherein the rotating speed deviation input quantity and the rotating speed change rate input quantity of the rotational inertia controller are obtained through calculation by a low-pass filtering method, and specifically:
acquiring an actual measured value of the system frequency according to the frequency acquisition device;
calculating an actual value of the rotating speed deviation and an actual value of the rotating speed change rate according to the actual measured value of the system frequency;
and calculating the rotating speed deviation input quantity and the rotating speed change rate input quantity of the rotational inertia controller by passing the actual value of the rotating speed deviation and the actual value of the rotating speed change rate through a low-pass filter.
3. The control method of the virtual synchronous generator with the self-adaptive inertia according to claim 2, wherein an actual value of the rotational speed deviation and an actual value of the rotational speed change rate are calculated according to an actual measured value of the system frequency, and the following formula is specifically adopted:
ωr＝2πfr
Δωr＝ωr-ω0
Figure FDA0003054322690000021
in the formula (f)rThe measured value is the measured value of the frequency of the wind-solar energy storage system; omegarThe actual value of the rotating speed of the virtual synchronous generator control model is obtained; Δ ωrThe actual value of the rotating speed deviation of the virtual synchronous generator control model is obtained;
Figure FDA0003054322690000022
is the actual value of the rotation speed change rate of the virtual synchronous generator control model.
4. The control method of the virtual synchronous generator with the self-adaptive inertia according to claim 2, wherein the actual value of the rotational speed deviation and the actual value of the rotational speed change rate are calculated through a low-pass filter to obtain the rotational speed deviation input quantity and the rotational speed change rate input quantity of the rotational inertia controller, and the following formulas are specifically adopted:
Figure FDA0003054322690000023
Figure FDA0003054322690000024
in the formula,. DELTA.omegainAnd
Figure FDA0003054322690000025
respectively the rotating speed deviation input quantity and the rotating speed change rate input quantity of the rotor inertia controller; omeganIs the natural angular frequency of the second order low pass filter; xi is the damping coefficient of the second-order low-pass filter; g0Is the pass band gain or zero frequency gain of the filter.
5. The control method of the virtual synchronous generator with the self-adaptive inertia according to claim 1, wherein the action condition of the rotational inertia controller is obtained according to the input quantity of the rotation speed change rate by adopting the following calculation formula:
Figure FDA0003054322690000031
in the formula, J0Is a fixed constant inertia; Δ J is an adjustment amount of the moment of inertia; c0Is the threshold of the moment of inertia controller.
6. The method for controlling the virtual synchronous generator with the self-adaptive inertia according to claim 1, wherein the obtaining of the adjustment amount of the rotor inertia and the adjustment direction of the rotor inertia according to the input amount of the rotational speed deviation and the input amount of the rotational speed change rate comprises:
the adjustment direction of the rotor inertia adopts the following formula:
Figure FDA0003054322690000032
in the formula, delta J is the adjustment size of the rotational inertia; c0Is the motion threshold of the rotational inertia controller;
the adjustment amount of the rotor inertia adopts the following formula:
Figure FDA0003054322690000033
in the formula,. DELTA.JmaxThe maximum limit value of the adjustment amount of the rotational inertia is set; k is an adjustment coefficient.
7. The method for controlling the virtual synchronous generator according to claim 1, wherein an adaptive rotor inertia control law of the rotational inertia controller is obtained according to an adjustment threshold of the rotational inertia, an adjustment amount of the rotor inertia, and an adjustment direction of the rotor inertia, and specifically adopts the following formula:
Figure FDA0003054322690000041
in the formula, J is the output value of the rotational inertia controller; j. the design is a square0Is a fixed inertia constant; delta JmaxAdjusting a limit for maximum inertia; k is an adjustment coefficient; Δ ωinAnd
Figure FDA0003054322690000042
the input quantity of the rotating speed deviation and the input quantity of the rotating speed change rate of the rotor inertia controller are respectively.
8. An adaptive inertia virtual synchronous generator control apparatus, comprising: a construction module, a control condition module and an acquisition module, wherein,
the building module is used for building an adaptive inertia virtual synchronous generator control model, wherein the model comprises: the power frequency controller, the excitation controller, the rotational inertia controller and the bottom layer controller;
the control condition module is used for calculating to obtain the rotating speed deviation input quantity and the rotating speed change rate input quantity of the rotary inertia controller by adopting a low-pass filtering method, and obtaining the action condition of the rotary inertia controller according to the rotating speed change rate input quantity;
the obtaining module is configured to obtain an adjustment amount of a rotor inertia and an adjustment direction of the rotor inertia according to the rotational speed deviation input amount and the rotational speed change rate input amount, and obtain an adaptive rotor inertia control law of the rotational inertia controller according to an adjustment threshold of the rotational inertia, the adjustment amount of the rotor inertia, and the adjustment direction of the rotor inertia.
9. A computer terminal device, comprising:
one or more processors;
a memory coupled to the processor for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the adaptive inertia virtual synchronous generator control method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out an adaptive inertia virtual synchronous generator control method according to any one of claims 1 to 7.
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