CN113346517A - Damping support strategy of virtual synchronous machine - Google Patents

Damping support strategy of virtual synchronous machine Download PDF

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CN113346517A
CN113346517A CN202110508911.5A CN202110508911A CN113346517A CN 113346517 A CN113346517 A CN 113346517A CN 202110508911 A CN202110508911 A CN 202110508911A CN 113346517 A CN113346517 A CN 113346517A
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frequency
damping
power
disturbance
synchronous generator
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CN113346517B (en
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沈渭程
马喜平
张柏林
马志程
甄文喜
陈柏旭
郑翔宇
朱宏毅
王臣赟
周强
董开松
赵霖
张光儒
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State Grid Gansu Electric Power Co Ltd
Electric Power Research Institute of State Grid Gansu Electric Power Co Ltd
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State Grid Gansu Electric Power Co Ltd
Electric Power Research Institute of State Grid Gansu Electric Power 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
    • H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
    • H02J3/241—The oscillation concerning frequency

Abstract

The invention discloses a damping support strategy of a virtual synchronous machine, which is implemented according to the following steps: step 1, establishing a second-order model of a synchronous generator to obtain a power-frequency transfer function; step 2, applying power disturbance to a second-order model of the synchronous generator through a VSG grid-connected control circuit, and calculating a frequency response function under the power disturbance; step 3, derivation is conducted on the frequency response function under the power disturbance, a damping coefficient is set, and the disturbed steady-state frequency is obtained; the problem that the inertia time constant and the damping are not matched is avoided, and the stability and the reliability of the virtual synchronous machine grid connection are improved.

Description

Damping support strategy of virtual synchronous machine
Technical Field
The invention belongs to the technical field of virtual damping support, and particularly relates to a damping support strategy of a virtual synchronous machine.
Background
With the exhaustion of traditional fossil energy and the outstanding environmental problem, new energy is rapidly developed, the new energy is incorporated into a power grid by taking a grid-connected inverter as an interface, and power electronic equipment has the advantage of good adjustability, but the inverter has the defects of poor overload capacity, small output impedance, no inertia and the like. A large amount of new energy is connected to the power grid through power electronic equipment, so that the inertia of a power system is reduced, the frequency problem is prominent, and the safe and stable operation of the power system is threatened.
Conventional power systems use large synchronous generators as the primary power source to provide electrical power to the grid. When power disturbance occurs to a power system, the synchronous generator has rotational inertia, and when the frequency is too high or too low, the synchronous generator can absorb or release kinetic energy to cope with excess power or make up for insufficient power, and the process is very important for ensuring power balance and restraining rapid change of the frequency. The new energy is connected to the grid through power electronic equipment, the power electronic device does not have the rotational inertia of a synchronous generator, the low inertia characteristic of a high-proportion new energy power system is prominent, and the anti-interference capability of the system is weakened.
In order to solve the problem of inertia reduction of an electric power system, a virtual synchronous generator (virtual synchronous generator) technology is proposed by a scholars, so that an inverter simulates the motion process of a synchronous generator, and a grid-connected inverter has external characteristics similar to those of the synchronous generator from a physical mechanism by simulating the characteristics of the motion process of a rotor of the synchronous generator, active frequency modulation, reactive voltage regulation and the like.
Electromagnetic characteristics and mechanical motion processes of the synchronous generator are integrated into control of the inverter, external characteristics can be equivalent to the synchronous generator, and the inverter can provide inertial support for a power grid. In order to improve the grid-connected performance of the VSG, the academic community carries out related research aiming at the VSG controller and parameter setting. The main research at present is the research of control structure and parameter design. Providing a rotational inertia self-adaptive VSG control algorithm by combining a power angle curve of the synchronous generator and rotor inertia, and determining an inertia coefficient through small-signal modeling; aiming at the problem of power oscillation caused by grid connection of multiple VSGs, the aim of inhibiting oscillation can be achieved by optimizing parameters of a main circuit and a controller; the inertia is partitioned according to the frequency response characteristic, the inertia is adaptively controlled according to the dynamic performance, and the frequency response characteristic can be effectively improved.
At present, the influence of the rotational inertia of the virtual synchronous machine on the frequency response characteristic is mainly considered in research, the research on the frequency supporting effect of the virtual damping of the VSG system is insufficient, and the problem that the inertia time constant and the damping are not matched can not be solved, so that the stability and the reliability of the virtual synchronous machine grid connection are poor.
Disclosure of Invention
The invention aims to provide a damping support strategy of a virtual synchronous machine, which solves the problem of grid connection stability caused by mismatching of an inertia time constant and damping in the conventional damping support strategy.
The technical scheme adopted by the invention is that a damping support strategy of a virtual synchronous machine is implemented according to the following steps:
step 1, establishing a second-order model of a synchronous generator to obtain a power-frequency transfer function;
step 2, applying power disturbance to a second-order model of the synchronous generator through a VSG grid-connected control circuit, and calculating a frequency response function under the power disturbance;
and 3, deriving a frequency response function under power disturbance, and setting a damping coefficient to obtain the disturbed steady-state frequency.
The invention is also characterized in that:
the specific process of the step 1 is as follows: taking the number of pole pairs of the synchronous generator as 1, and establishing a second-order model equivalent rocking equation of the synchronous generator:
Figure BDA0003059475240000031
in the formula (1), PmFor mechanical power of synchronous generators, PeIs the electromagnetic power; omega is the electrical angular velocity of the synchronous generator, because the number of pole pairs is 1, the electrical angular velocity is approximately the same as the mechanical angular velocity omega, delta omega is the difference between the electrical angular velocity and the rated electrical angular velocity, H is the inertia time constant, D is the damping coefficient, and theta is the electrical angle.
The specific process of the step 2 is as follows:
applying power disturbance to a synchronous generator second-order model through a VSG grid-connected control circuit, wherein a transfer function of frequency response under the consideration of the power disturbance is as follows:
Figure BDA0003059475240000032
wherein the content of the first and second substances,
Figure BDA0003059475240000033
Figure BDA0003059475240000034
wherein ω isnThe oscillation frequency is undamped, and xi is a damping ratio;
when the system is disturbed, the unit step response, namely the frequency deviation response function of the s domain, is as follows:
Figure BDA0003059475240000035
wherein ω isdTo damp the oscillation frequency
Figure BDA0003059475240000036
The specific process of the step 3 is as follows:
converting the frequency deviation response function into a time domain, and adding the steady-state frequency before disturbance to obtain the frequency after disturbance:
Figure BDA0003059475240000041
wherein
Figure BDA0003059475240000042
Figure BDA0003059475240000043
And (3) deriving the disturbed frequency:
Figure BDA0003059475240000044
let equation (6) be 0, and obtain the time to reach the lowest point of the frequency as:
Figure BDA0003059475240000045
bringing (7) into (5) the lowest point of the available frequencies is:
Figure BDA0003059475240000046
when the frequency response reaches the steady-state frequency, the attenuation phase in equation (5) is 0, and the steady-state frequency after disturbance is obtained as:
Figure BDA0003059475240000047
wherein D represents a damping coefficient.
The specific process of setting the damping coefficient is as follows: using the optimal second-order system analysis method, the damping ratio of the system is determined to be ξ ═ 0.707, and the damping parameters determined about the inertia time constant are expressed as:
Figure BDA0003059475240000048
the invention has the beneficial effects that:
the invention provides a damping support strategy of the virtual synchronous machine by combining the effect of damping on frequency response, avoids the problem that the inertia time constant and the damping are not matched, and increases the stability and the reliability of the virtual synchronous machine grid connection.
Drawings
FIG. 1 is an overall control diagram of a VSG grid-connected control circuit in the invention;
FIG. 2 is a control diagram of VSG grid-connected control circuit body model in the invention;
FIG. 3 is a root trace diagram obtained by a damping support strategy of a virtual synchronous machine according to the present invention;
FIG. 4 is a schematic diagram of frequency response variation under different inertia time constants according to an embodiment of the present invention;
FIG. 5 is a graph comparing frequency changes obtained using damped versus non-damped support strategies in an embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Aiming at the grid connection stability problem caused by insufficient cognition of VSG on the damping support at present, the invention provides a damping support strategy by combining the effect of damping on frequency response, avoids the problem that the inertia time constant and the damping are not matched, and increases the grid connection stability and reliability of the virtual synchronous machine.
The invention relates to a damping support strategy of a virtual synchronous machine, which is implemented according to the following steps as shown in figure 1:
the second-order model of the synchronous generator can describe the rotation motion process of the generator and does not need electromagnetic coupling analysis, so that the second-order model of the synchronous generator is used as a control algorithm of the virtual synchronous generator body. Establishing a second-order model of the synchronous generator to obtain a power-frequency transfer function; the specific process is as follows: taking the number of pole pairs of the synchronous generator as 1 to simplify the analysis process, establishing a second-order model equivalent swing equation of the synchronous generator, wherein the output frequency change of the synchronous generator is small:
Figure BDA0003059475240000061
in the formula (1), PmFor mechanical power of synchronous generators, PeIs the electromagnetic power; omega is the electrical angular velocity of the synchronous generator, because the number of pole pairs is 1, the electrical angular velocity is approximately the same as the mechanical angular velocity omega, delta omega is the difference between the electrical angular velocity and the rated electrical angular velocity, H is the inertia time constant, D is the damping coefficient, and theta is the electrical angle.
Formula (1) simulates the motion process of a rotor of a synchronous generator, when mechanical power and electromagnetic power are not balanced, the electrical angular velocity can be deviated, and H and D play an important role in the stability of the motion process.
Besides inertia response of a traditional synchronous generator rotor, the active output of the generator can be controlled by adjusting mechanical torque, and when the grid frequency deviates, the frequency modulator acts to increase or reduce the power output. By using the principle of a speed regulator, the frequency deviation is used as input to regulate the output power P of the virtual synchronous generatormThe droop characteristic of the governor is expressed in the frequency domain in consideration of the time-delay action of the governor
Figure BDA0003059475240000063
Wherein R isdFor droop coefficients, the power output is inversely related to the frequency, and when the frequency rises, the active power output is reduced to reduce the frequency rise; as the frequency decreases, the active power output is increased to prevent the frequency from falling further.
Applying power disturbance to a second-order model of the synchronous generator through a VSG grid-connected control circuit, wherein a VSG grid-connected control circuit body model control graph is shown in FIG. 2, neglecting the dynamic response characteristic of distributed energy, equivalently replacing the dynamic response characteristic with a direct-current voltage source, and calculating a frequency response function under the power disturbance; the specific process is as follows:
applying power disturbance to a synchronous generator second-order model through a VSG grid-connected control circuit, wherein a transfer function of frequency response under the consideration of the power disturbance is as follows:
Figure BDA0003059475240000062
wherein the content of the first and second substances,
Figure BDA0003059475240000071
Figure BDA0003059475240000072
wherein ω isnThe oscillation frequency is undamped, and xi is a damping ratio;
when the system is disturbed, the unit step response, namely the frequency deviation response function of the s domain, is as follows:
Figure BDA0003059475240000073
wherein ω isdTo damp the oscillation frequency
Figure BDA0003059475240000074
And (4) deriving a frequency response function under power disturbance, and setting a damping coefficient to obtain the disturbed steady-state frequency. The specific process is as follows:
converting the frequency deviation into a time domain, and adding the steady-state frequency before disturbance to obtain the frequency after disturbance:
Figure BDA0003059475240000075
wherein
Figure BDA0003059475240000076
Figure BDA0003059475240000077
From the frequency response, the VSG parameters determine the dynamic and steady state performance of the frequency response. Frequency rate of change to frequency index (RoCoF) fRoCoFFrequency minimum point fpeakAnd a steady-state frequency f∞And (6) performing calculation.
And (3) deriving the disturbed frequency:
Figure BDA0003059475240000078
from the frequency response curve, the lowest point of frequency is the point where the frequency change rate is 0 for the first time, and equation (6) is 0, and the time to reach the lowest point of frequency is obtained as:
Figure BDA0003059475240000081
bringing (7) into (5) the lowest point of the available frequencies is:
Figure BDA0003059475240000082
when the frequency response reaches the steady-state frequency, the attenuation phase in equation (5) is 0, and the steady-state frequency after disturbance is obtained as:
Figure BDA0003059475240000083
wherein D represents a damping coefficient.
The system root trace plot is plotted to analyze the effect of damping on stability as shown in fig. 3.
According to the root locus diagram, when D is 0, the root of the positive half shaft exists, namely the system is unstable; when D is gradually increased, the heel of the positive half shaft enters the left half plane, and the system enters a stable state, namely the damping is beneficial to the stability of the system.
Aiming at the more self-adaptation of the current inertia time constant, along with the change of H, in order to ensure the stability of the system, D needs to satisfy certain conditions, and the specific process of setting the damping coefficient is as follows: using the optimal second order system analysis method, the damping parameters determined for the inertial time constant are expressed as:
Figure BDA0003059475240000084
examples
In order to verify the effectiveness of the VSG damping support strategy designed by the invention, a single VSG simulation example of Matlab/Simulink simulation software is utilized. The simulation system operates in a grid-connected mode, active power disturbance occurs in 1s, an inertia time constant is fixed, frequency changes under different damping are analyzed, and the supporting effect of the damping on the frequency is analyzed.
In order to analyze the influence of damping on the frequency response, H is 10, D is 0.1, 1, 5 and 10 respectively, when the system is disturbed, the frequency response changes as shown in FIG. 4, it can be known from FIG. 4 that as the damping system increases, the lowest point of the frequency and the steady-state frequency increase, and the frequency oscillation disappears, the system damping increases to facilitate the frequency stabilization, and the system adjusting time does not increase significantly. In the initial stage of disturbance, the frequency change rate does not change obviously, and the influence of damping on the initial frequency change rate is small.
In order to verify the feasibility of the strategy provided by the invention, the damping support strategy provided by the invention is compared with the situation that the damping parameters are not matched, and the test result is shown in fig. 5. When the damping parameters are not matched, the lowest point of frequency is low, the frequency change rate is large, the steady-state frequency is low, frequency oscillation exists in the recovery stage, and the dynamic and static performances of frequency response are poor; by applying the optimal secondary system damping support strategy, the frequency change rate is reduced, the lowest frequency is increased, oscillation does not exist in the ascending stage, the frequency response is obviously improved in the aspects of dynamic performance and steady-state performance, and the feasibility and the superiority of the strategy provided by the invention are verified.
Through the mode, the damping support strategy of the virtual synchronous machine provided by the invention avoids the problem that the inertia time constant and the damping are not matched, and the stability and the reliability of grid connection of the virtual synchronous machine are improved.

Claims (5)

1. A damping support strategy of a virtual synchronous machine is characterized by being implemented according to the following steps:
step 1, establishing a second-order model of a synchronous generator to obtain a power-frequency transfer function;
step 2, applying power disturbance to a second-order model of the synchronous generator through a VSG grid-connected control circuit, and calculating a frequency response function under the power disturbance;
and 3, deriving a frequency response function under power disturbance, and setting a damping coefficient to obtain the disturbed steady-state frequency.
2. The damping support strategy of the virtual synchronous machine according to claim 1, wherein the specific process of step 1 is as follows: taking the number of pole pairs of the synchronous generator as 1, and establishing a second-order model equivalent rocking equation of the synchronous generator:
Figure FDA0003059475230000011
in the formula (1), PmFor mechanical power of synchronous generators, PeIs the electromagnetic power; omega is synchronous generator electricityAngular velocity, since the number of pole pairs is 1, the electrical angular velocity is approximately the same as the mechanical angular velocity ω, Δ ω is the difference between the electrical angular velocity and the rated electrical angular velocity, H is the inertia time constant, D is the damping coefficient, and θ is the electrical angle.
3. The damping support strategy of the virtual synchronous machine according to claim 1, wherein the specific process of the step 2 is as follows:
applying power disturbance to a synchronous generator second-order model through a VSG grid-connected control circuit, wherein a transfer function of frequency response under the consideration of the power disturbance is as follows:
Figure FDA0003059475230000012
wherein the content of the first and second substances,
Figure FDA0003059475230000021
Figure FDA0003059475230000022
wherein ω isnThe oscillation frequency is undamped, and xi is a damping ratio;
when the system is disturbed, the unit step response, namely the frequency deviation response function of the s domain, is as follows:
Figure FDA0003059475230000023
wherein ω isdTo damp the oscillation frequency
Figure FDA0003059475230000024
4. The damping support strategy of the virtual synchronous machine according to claim 3, wherein the specific process of step 3 is as follows:
converting the frequency deviation response function into a time domain, and adding the steady-state frequency before disturbance to obtain the frequency after disturbance:
Figure FDA0003059475230000025
wherein
Figure FDA0003059475230000026
Figure FDA0003059475230000027
And (3) deriving the disturbed frequency:
Figure FDA0003059475230000028
let equation (6) be 0, and obtain the time to reach the lowest point of the frequency as:
Figure FDA0003059475230000031
bringing (7) into (5) the lowest point of the available frequencies is:
Figure FDA0003059475230000032
when the frequency response reaches the steady-state frequency, the attenuation phase in equation (5) is 0, and the steady-state frequency after disturbance is obtained as:
Figure FDA0003059475230000033
wherein D represents a damping coefficient.
5. The damping support strategy of the virtual synchronous machine according to claim 1, wherein the specific process of setting the damping coefficient is as follows: determining a damping parameter for the inertial time constant using an optimal second order system analysis method as follows:
Figure FDA0003059475230000034
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