CN113346547B - Wind farm energy storage power supply consistency control method based on sliding mode control - Google Patents
Wind farm energy storage power supply consistency control method based on sliding mode control Download PDFInfo
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- CN113346547B CN113346547B CN202110719710.XA CN202110719710A CN113346547B CN 113346547 B CN113346547 B CN 113346547B CN 202110719710 A CN202110719710 A CN 202110719710A CN 113346547 B CN113346547 B CN 113346547B
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- 238000004146 energy storage Methods 0.000 title claims abstract description 88
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- 238000009499 grossing Methods 0.000 claims abstract description 5
- 238000010586 diagram Methods 0.000 claims description 7
- 239000011159 matrix material Substances 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 4
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- 238000005265 energy consumption Methods 0.000 claims description 2
- 230000000087 stabilizing effect Effects 0.000 abstract 1
- 238000007599 discharging Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/381—Dispersed generators
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
- H02J3/241—The oscillation concerning frequency
-
- 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
- H02J3/28—Arrangements for balancing of the load in a network by storage of energy
-
- 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
- H02J2300/28—The renewable source being wind energy
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/76—Power conversion electric or electronic aspects
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E70/00—Other energy conversion or management systems reducing GHG emissions
- Y02E70/30—Systems combining energy storage with energy generation of non-fossil origin
Abstract
The invention provides a wind power plant energy storage power supply consistency control method based on sliding mode control, which comprises the following steps: s1, determining a wind power plant topological structure: double-fed asynchronous wind power generators with different rated capacities in a wind power plant, wherein each double-fed asynchronous wind power generator is provided with an energy storage power supply, and a power smoothing power supply is arranged on the low-voltage side of a transformer of the wind power plant; s2, determining parameters in a wind power plant topological structure, and constructing a disturbance model of the wind power plant; s3, determining a power sliding mode surface model and a sliding mode controller model, controlling the wind power plant to work based on the sliding mode controller model, judging whether the energy state of the energy storage power supply reaches the sliding mode surface, and if so, stabilizing the output power of the wind power plant.
Description
Technical Field
The invention relates to a control method, in particular to a wind power station energy storage power supply consistency control method based on sliding mode control.
Background
The fusion and penetration of wind power and power electronics has become a major trend in power system planning and development. However, the large-scale popularization and grid connection of the wind turbine generator can reduce the power quality of a power grid, and the problem of fluctuation of output power of a wind farm is caused. In small-scale power systems, particularly in isolated power systems, wind energy occupies a large part of power supply, has strong randomness and unpredictability, and is generally realized by arranging an energy storage power supply on each fan in order to stabilize the output fluctuation of a wind power plant.
Therefore, in order to solve the above technical problems, a new technical solution is needed.
Disclosure of Invention
In view of the above, the wind power plant energy storage power supply consistency control method based on sliding mode control provided by the invention can accurately control whether the output power of the energy storage power supply in the wind power plant is consistent, thereby ensuring the power output stability of the whole wind power plant.
The invention provides a wind power plant energy storage power supply consistency control method based on sliding mode control, which comprises the following steps:
s1, determining a wind power plant topological structure:
double-fed asynchronous wind power generators with different rated capacities in a wind power plant, wherein each double-fed asynchronous wind power generator is provided with an energy storage power supply, and a power smoothing power supply is arranged on the low-voltage side of a transformer of the wind power plant;
s2, determining parameters in a wind power plant topological structure, and constructing a disturbance model of the wind power plant;
s3, determining a power sliding mode surface model and a sliding mode controller model, controlling the wind power plant to work based on the sliding mode controller model, and judging whether the power consumption state of the energy storage power supplies reaches the sliding mode surface or not, if so, the output of each energy storage power supply in the wind power plant is consistent.
Further, in step S2, a disturbance model of the wind farm is constructed by the following method:
determining the output power of the energy storage power supply:
wherein p is i (t) represents the energy consumption state of the ith energy storage power source and p i (t)∈[-1,1]，Representing the rated capacity of the energy storage power supply;
determining state of charge SoC at time t for an ith energy storage power supply i (t):
Wherein, soC i (0) Is the initial charge state of the ith energy storage power supply, eta i For discharging efficiency of i energy storage power supplies, C ESS,i Representing the capacity of an ith energy storage power supply, and T represents discharge time;
defining the power consumption state of the ith energy storage power supply at the time t
Substituting the formula (1) into the formula (2) and differentiating to obtain the power consumption state of the ith energy storage power supply
Wherein,
based on the control input of the energy storage power supply state, the following model is constructed:
is the initial control input of the ith energy storage power supply;
k in the formula (4) ESS,i p i By v i (t) instead of obtaining:
adding a nonlinear disturbance to equation (5) yields:
simplifying the formula (6):
wherein, formula (6) and formula (7) are disturbance models and have the following constraints:
with any lambda 1 >0 and lambda 2 >0 toAll have
|f(e i ,v i ,t)-f(e 0 ,v 0 ,t)|≤λ 1 |e i -e 0 |+λ 2 |v i -v 0 I (I); wherein i is {1,2, & gtis, N }, f (0, t) =0.
Further, in step S3, the sliding surface model is:
wherein: deltav i (t)＝v i (t)-v i (0)，Δv i (t)＝v i (t)-v i (0)，v i (0) Representing the state of a selected energy storage power source as virtual leader in a wind farm topology, u i1 (t)，u j1 (t) is the linear control section of the ith, jth energy storage system controller, respectively, l ij Is Laplacian matrix element of wind farm system communication network topology diagram, wherein:
is a matrix of non-negative weights which,b i >0 indicates that the ith stored energy power source can receive information from the leader.
Further, the linear control section of the controller of the ith energy storage power source is determined by the following method:
wherein,and->Representing the data update time points nearest to the ith and jth energy storage power supplies, respectively.
Further, in step S3, the sliding mode controller is:
wherein u is iect (t) is the nonlinear part of the sliding mode controller, lambda 1 ,λ 2 Is the positive moment; alpha, beta>2 is a constant, lambda 3 Satisfies the following formula:
λ 3 ≥sup{λ 1 (|E 1i (t)|+|e 0 (t)|)+λ 2 (|E 2i (t)|+|v 0 (t)|)+η}
wherein η >0 is a constant;
the state of charge at time t subtracted from the state of charge at the latest refresh time point of the ith energy storage power supply
The power consumption state at the latest refreshing time point of the ith energy storage power supply minus the power consumption state at the time t is represented.
Further, in step S4, the sliding mode controller is triggered by the following conditions:
wherein: ρ i ,φ i ,θ i >0 is a constant parameter, ifE 1h (t)＝E 2h (t) =0; otherwise h=0, represents E 1h (t),E 2h (t) represents a corresponding value of the virtual leader.
The invention has the beneficial effects that: by the method and the device, whether the output power of the energy storage power supply in the wind power plant is consistent or not can be accurately controlled, so that the power output stability of the whole wind power plant is ensured.
Drawings
The invention is further described below with reference to the accompanying drawings and examples:
FIG. 1 is a schematic diagram of a wind farm topology of the present invention.
FIG. 2 is a schematic diagram of a distributed control architecture for a wind farm.
FIG. 3 is a schematic diagram of frequency control of a doubly-fed wind generator and an energy storage power supply.
FIG. 4 is a schematic diagram of a control of the energy storage power source to restore the rotor speed of the wind turbine.
Detailed Description
The invention is described in further detail below with reference to the attached drawing figures:
the invention provides a wind power plant energy storage power supply consistency control method based on sliding mode control, which comprises the following steps:
s1, determining a wind power plant topological structure:
double-fed asynchronous wind power generators with different rated capacities in a wind power plant, wherein each double-fed asynchronous wind power generator is provided with an energy storage power supply, and a power smoothing power supply is arranged on the low-voltage side of a transformer of the wind power plant; as shown in fig. 1, ESS represents an energy storage power source, leaderESS represents a virtual leader, and PSME is also an energy storage power source, as a power smoothing power source; when determining the topology structure of the wind farm, a virtual leader is further required to be selected, the virtual leader receives frequency deviation information from the power grid, and the virtual leader shares the power output state with other followers (other energy storage power sources outside the virtual leader) through the ring topology, so that the followers respond to the ESS, and the power output of the tracking leader completes cooperative work. It should be noted that only the distributed controller of the leader ESS receives the frequency deviation from the system, and its power output status is transferred to other ESS to complete the cooperation; in the following formula, the virtual leader is represented by 0, and the follower is represented by 1,2, …, N;
s2, determining parameters in a wind power plant topological structure, and constructing a disturbance model of the wind power plant;
s3, determining a power slip-form surface model and a slip-form controller model, controlling the wind power plant to work based on the slip-form controller model, and judging whether the power consumption state of the energy storage power supplies reaches the slip-form surface or not, if so, the output of each energy storage power supply in the wind power plant is consistent, and accurately controlling whether the output power of the energy storage power supplies in the wind power plant is consistent or not by the method, so that the power output stability of the whole wind power plant is ensured. In fact, the power of the ESS of the energy storage power supply can be determined by the following formula:
P Eref ＝P E1 +P Ef the method comprises the steps of carrying out a first treatment on the surface of the When the wind power plant works, when the wind power is smaller and the output power of the doubly-fed generator is lower, the doubly-fed generator absorbs energy from the energy storage power supply, so that the speed of a rotor of the doubly-fed generator is recovered, the energy storage power supply is controlled according to the frequency deviation of the wind power plant to control the energy storage power supply, so that the output stability of the wind power plant is ensured, the frequency deviation of the wind power plant is represented by delta f, when the delta f is smaller than a set value, the power of the energy storage power supply ESS is controlled by a PI controller in the energy storage power supply controller to directly realize the power compensation of the wind power machine, and when the delta f is larger than the set value, the slip form controller controls the energy storage power supply to perform the power compensation on the wind power machine, so that the control complexity is simplified, and the power stability of the wind power machine is effectively improved.
In this embodiment, in step S2, a disturbance model of the wind farm is constructed by the following method:
determining the output power of the energy storage power supply:
wherein p is i (t) representsEnergy consumption state of ith energy storage power supply and p i (t)∈[-1,1]，Representing the rated capacity of the energy storage power supply;
determining state of charge SoC at time t for an ith energy storage power supply i (t):
Wherein, soC i (0) Is the initial charge state of the ith energy storage power supply, eta i For discharging efficiency of i energy storage power supplies, C ESS,i Representing the capacity of an ith energy storage power supply, and T represents discharge time;
defining the power consumption state of the ith energy storage power supply at the time t
Substituting the formula (1) into the formula (2) and differentiating to obtain the power consumption state of the ith energy storage power supply
Wherein,
based on the control input of the energy storage power supply state, the following model is constructed:
is the initial control input of the ith energy storage power supply;
k in the formula (4) ESS,i p i By v i (t) generationThe preparation method comprises the following steps:
adding a nonlinear disturbance to equation (5) yields:
simplifying the formula (6):
wherein, formula (6) and formula (7) are disturbance models and have the following constraints:
with any lambda 1 >0 and lambda 2 >0 toAll have
|f(e i ,v i ,t)-f(e 0 ,v 0 ,t)|≤λ 1 |e i -e 0 |+λ 2 |v i -v 0 I (8); wherein i is {1,2, & gtis, N }, f (0, t) =0.
In this embodiment, in step S3, the sliding surface model is:
wherein: deltav i (t)＝v i (t)-v i (0)，Δv i (t)＝v i (t)-v i (0)，v i (0) Representing the state of a selected energy storage power source as virtual leader in a wind farm topology, u i1 (t)，u j1 (t) is the linear control section of the ith, jth energy storage system controller, respectively, l ij Is Laplacian matrix element of wind farm system communication network topology diagram, wherein:
as shown in fig. 3, which is a communication network between stored energy power sources, an undirected graph is utilizedRepresenting the network, wherein->Representative Point set, ++>Is a set of edges that are to be joined,non-negative weight matrix, let ∈ ->As a picture->Is>Is a sub-pointIs the parent point. For any i+.j, there is +.>Thus:
is a matrix of non-negative weights which,representing the domain of node i, b i >0 indicates that the ith stored energy power source can receive information from the leader.
In this embodiment, the linear control section of the controller of the ith energy storage power source is determined by the following method:
wherein,and->Representing the data update time points nearest to the ith and jth energy storage power supplies, respectively.
In step S3, the sliding mode controller is:
wherein u is iect (t) is the nonlinear part of the sliding mode controller, lambda 1 ,λ 2 Is the positive moment; alpha, beta>2 is a constant, lambda 3 Satisfies the following formula:
λ 3 ≥sup{λ 1 (|E 1i (t)|+|e 0 (t)|)+λ 2 (|E 2i (t)|+|v 0 (t)|)+η} (14)
wherein η >0 is a constant;
the state of charge at time t subtracted from the state of charge at the latest refresh time point of the ith energy storage power supply
The power consumption state at the latest refreshing time point of the ith energy storage power supply minus the power consumption state at the time t is represented.
In step S4, the sliding mode controller is triggered by the following conditions:
wherein: ρ i ,f i ,θ i >0 is a constant parameter, ifE 1h (t)＝E 2h (t) =0; otherwise h=0, represents E 1h (t),E 2h (t) represents a corresponding value of the virtual leader.
In order to prove the effectiveness of the present invention, the following is a proving process of the present invention:
consider the following Lyapunov-Krasovskii function
Wherein Γ=l+b,
wherein v= [ v 1 ,v 2 ,…,v N ] T Substituting the nonlinear input equation (13) and the state equation (6) of the sliding mode controller into the equation (17) to obtain
Wherein f= [ F (e) i (t),v i (t),t),Kf(e N (t),v N (t),t)] T Is a vector of the nonlinear portion in formula (6); f=1 N ·f(e 0 ,v 0 T) is the nonlinear portion of the pilot in equation (7). Now define χ i (t)＝e i (t)-e 0 (t),From hypothesis 1 we can get.
According to the sliding mode control strategy proposed in equation (13), we obtain
Note that Then
Therefore, for any S (t) +.0, there is alwaysThis means that the state variables can always reach the slide surface in a limited time, and the system is stable.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.
Claims (4)
1. A wind farm energy storage power supply consistency control method based on sliding mode control is characterized by comprising the following steps of: the method comprises the following steps:
s1, determining a wind power plant topological structure:
double-fed asynchronous wind power generators with different rated capacities in a wind power plant, wherein each double-fed asynchronous wind power generator is provided with an energy storage power supply, and a power smoothing power supply is arranged on the low-voltage side of a transformer of the wind power plant;
s2, determining parameters in a wind power plant topological structure, and constructing a disturbance model of the wind power plant;
s3, determining a power sliding mode surface model and a sliding mode controller model, controlling the wind power plant to work based on the sliding mode controller model, and judging whether the power consumption state of the energy storage power supplies reaches the sliding mode surface or not, if so, the output of each energy storage power supply in the wind power plant is consistent;
in step S2, a disturbance model of the wind farm is constructed by the following method:
determining the output power of the energy storage power supply:
wherein p is i (t) represents the energy consumption state of the ith energy storage power source and p i (t)∈[-1,1]，Representing the rated capacity of the energy storage power supply;
determining state of charge SoC at time t for an ith energy storage power supply i (t):
Wherein, soC i (0) Is the initial charge state of the ith energy storage power supply, eta i C is the discharge efficiency of the ith energy storage power supply ESS,i T table indicating capacity of ith energy storage power supplyShowing the discharge time;
defining the power consumption state of the ith energy storage power supply at the time t
Substituting the formula (1) into the formula (2) and differentiating to obtain the power consumption state of the ith energy storage power supply
Wherein,
based on the control input of the energy storage power supply state, the following model is constructed:
u i (t) is the initial control input of the ith stored energy power supply;
k in the formula (4) ESS,i p i By v i (t) instead of obtaining:
adding a nonlinear disturbance to equation (5) yields:
simplifying the formula (6):
wherein, formula (6) and formula (7) are disturbance models and have the following constraints:
with any lambda 1 >0 and lambda 2 >0 toAll have
|f(e i ,v i ,t)-f(e 0 ,v 0 ,t)|≤λ 1 |e i -e 0 |+λ 2 |v i -v 0 I (I); where i e {1,2, …, N }, f (0, t) =0;
in step S3, the slip-form surface model is:
wherein: deltav i (t)＝v i (t)-v i (0)，△v j (t)＝v j (t)-v j (0)，v i (0) Representing the state of a selected energy storage power source as virtual leader in a wind farm topology, u i1 (t)，u j1 (t) is the linear control section of the ith, jth energy storage system controller, respectively, l ij Is Laplacian matrix element of wind farm system communication network topology diagram, wherein:
is a matrix of non-negative weights which,b i >0 indicates that the ith stored energy power source can receive information from the leader.
2. The slip-form control-based wind farm energy storage power supply consistency control method according to claim 1, wherein the method comprises the following steps:
the linear control portion of the controller of the ith energy storage power source is determined by the following method:
wherein,and->Representing the data update time points nearest to the ith and jth energy storage power supplies, respectively.
3. The slip-form control-based wind farm energy storage power supply consistency control method according to claim 2, wherein the method comprises the following steps: in step S3, the sliding mode controller is:
wherein u is iect (t) is the nonlinear part of the sliding mode controller, lambda 1 ,λ 2 Is the positive moment; alpha, beta>2 is a constant, lambda 3 Satisfies the following formula:
λ 3 ≥sup{λ 1 (|E 1i (t)|+|e 0 (t)|)+λ 2 (|E 2i (t)|+|v 0 (t)|)+η}
wherein η >0 is a constant;
charge representing the latest refresh time point of the ith energy storage power supplySubtracting the state of charge at time t from the state of charge;
the power consumption state at the latest refresh time point of the ith energy storage power supply minus the discharge state at time t.
4. The slip-form control-based wind farm energy storage power supply consistency control method according to claim 2, wherein the method comprises the following steps: in step S4, the sliding mode controller is triggered by the following conditions:
wherein: ρ i ,φ i ,θ i >0 is a constant parameter, ifE 1i (t)＝E 2i (t) =0; otherwise i=0, e 1i (t),E 2i (t) represents a corresponding value of the virtual leader.
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