CN113346561A - Stability analysis method for energy storage droop compensation module - Google Patents

Stability analysis method for energy storage droop compensation module Download PDF

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CN113346561A
CN113346561A CN202110656375.3A CN202110656375A CN113346561A CN 113346561 A CN113346561 A CN 113346561A CN 202110656375 A CN202110656375 A CN 202110656375A CN 113346561 A CN113346561 A CN 113346561A
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energy storage
voltage
droop
compensation module
angular frequency
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CN113346561B (en
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杨沛豪
柴琦
兀鹏越
寇水潮
高峰
孙梦瑶
郭新宇
王小辉
薛磊
张立松
贺婷
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Xian Thermal Power Research Institute Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
    • H02J3/48—Controlling the sharing of the in-phase component
    • 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
    • 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
    • H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
    • H02J3/50—Controlling the sharing of the out-of-phase component
    • 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]

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  • Power Engineering (AREA)
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Abstract

The invention discloses a method for analyzing the stability of an energy storage droop compensation module, which comprises the following steps: 1) establishing a power transmission equation of the energy storage inverter; 2) simplifying the power transmission equation of the energy storage inverter in the step 1); 3) introducing droop coefficients to obtain energy storage active-angular frequency and reactive-voltage droop control equations; 4) adding an angular frequency and voltage compensation module in the traditional droop control equation in the step 3) to obtain a new droop control equation; 5) the power transmission simplified equation of the energy storage inverter obtained in the step 2) and the angular frequency and voltage compensation module obtained in the step 4) are subjected to linearization processing; 6) analyzing the angular frequency and voltage compensation module in the step 5) to carry out a linearization model, and defining the system state quantity to obtain a coefficient matrix; 7) analyzing the coefficient matrix obtained in the step 6) and verifying the stability of the energy storage droop compensation module. The invention provides a voltage and angular frequency compensation module for establishing a small signal model and analyzing the stability of the small signal model.

Description

Stability analysis method for energy storage droop compensation module
Technical Field
The invention relates to a method for analyzing the stability of an energy storage droop compensation module, in particular to a method for further analyzing the stability of the compensation module by introducing a voltage and angular frequency compensation module in droop control of an energy storage inverter.
Background
The capacity of a power grid is continuously increased, the structure of a regional power grid becomes complex, and a micro-grid formed by high-permeability distributed power supply points such as photovoltaic power, wind power and the like has the influence on the frequency stability of the large power grid due to the characteristics of low inertia and low damping. The energy storage unit is used as a power supply capable of being charged and discharged flexibly, can realize dynamic energy absorption and release in a power grid, and has the advantages of replacement or not in maintaining the voltage stability of the power grid due to quick response and flexible control.
In the energy storage inverter control system, PQ droop control and constant voltage and constant frequency (V-f) control are often used. The traditional droop control strategy is used for independently decoupling and controlling the active power-frequency and the reactive power-voltage output by the inverter by simulating the droop characteristic of the traditional synchronous generator. However, in the actual operation process of the energy storage inverter, the problems of uneven line impedance distribution, nonlinear output voltage drop and the like exist, which can cause the problem of power distribution error.
Disclosure of Invention
The invention aims to provide a method for analyzing the stability of an energy storage droop compensation module.
The invention is realized by adopting the following technical scheme:
a method for analyzing the stability of an energy storage droop compensation module comprises the following steps:
1) establishing a power transmission equation of the energy storage inverter;
2) simplifying the power transmission equation of the energy storage inverter in the step 1) according to the internal parameter properties of the energy storage inverter;
3) according to the power transmission simplification equation of the energy storage inverter in the step 2), introducing a droop coefficient to obtain an energy storage active-angular frequency and reactive-voltage droop control equation;
4) adding an angular frequency and voltage compensation module in the traditional droop control equation in the step 3) to obtain a new droop control equation;
5) the power transmission simplified equation of the energy storage inverter obtained in the step 2) and the angular frequency and voltage compensation module obtained in the step 4) are subjected to linearization processing;
6) analyzing the angular frequency and voltage compensation module in the step 5) to carry out a linearization model, and defining the system state quantity to obtain a coefficient matrix;
7) analyzing the coefficient matrix obtained in the step 6) and verifying the stability of the energy storage droop compensation module.
The further improvement of the invention is that step 1) establishes a power transmission equation of the energy storage inverter:
Figure BDA0003112981880000021
wherein: rf、XfThe resistance value and the inductive reactance value of the filter circuit; u shapeiThe voltage of the alternating current side of the energy storage inverter is obtained; u shape0Is the net side voltage; delta is the power angle difference.
The inventionThe further improvement is that the specific implementation method of the step 2) is as follows: according to the internal parameter properties of the energy storage inverter: rf＜＜XfSimplifying the power transmission equation of the energy storage inverter in the step 1):
Figure BDA0003112981880000031
the further improvement of the invention is that the specific implementation method of the step 3) is as follows: according to the power transmission simplification equation of the energy storage inverter in the step 2), introducing a droop coefficient to obtain an energy storage active-angular frequency and reactive-voltage droop control equation:
Figure BDA0003112981880000032
wherein: omega is the angular frequency of the output voltage of the energy storage inverter; u is the amplitude of the output voltage of the energy storage inverter; omega0Is the reference value of the angular frequency of the no-load output voltage of the energy storage inverter; u shape0The reference value of the amplitude of the no-load output voltage of the energy storage inverter is obtained; m is the active power droop coefficient; n is the reactive power droop coefficient; p is the active power distributed by the load connected with the energy storage inverter; and Q is reactive power distributed by a load connected with the energy storage inverter.
The further improvement of the invention is that the specific implementation method of the step 4) is as follows: adding an angular frequency and voltage compensation module in the traditional droop control equation in the step 3):
Figure BDA0003112981880000033
Figure BDA0003112981880000034
wherein: k is a radical ofpω、kiω、kpu、kiuRespectively expressing proportion and integral terms in frequency and voltage PI regulation to obtain a new droop control equation; subtracting the angular frequency given value of the output voltage of the energy storage inverter from the angular frequency given value, and performing PI regulation to obtain an angular frequency compensation quantity; output voltage amplitude and voltage amplitude of energy storage inverterSubtracting the given value, and performing PI adjustment to obtain a voltage compensation quantity to obtain a new droop control equation:
Figure BDA0003112981880000035
the further improvement of the invention is that the concrete implementation method of the step 5) is as follows: carrying out linearization processing on the energy storage inverter power transmission simplified equation obtained in the step 2) and the angular frequency and voltage compensation module obtained in the step 4):
Figure BDA0003112981880000036
wherein:
Figure BDA0003112981880000041
Figure BDA0003112981880000042
wherein:
Figure BDA0003112981880000043
the further improvement of the invention is that the specific implementation method of the step 6) is as follows: analyzing step 5), carrying out a linearization model by an angular frequency and voltage compensation module, and defining a system state quantity: the angular frequency output value, the angular frequency reference value, the PI control output value and the integral term power angle are respectively expressed by x1、x2、x3、x4This means that there are: x ═ x1 x2 x3 x4]TObtaining a coefficient matrix:
Figure BDA0003112981880000044
using spatial state expressions
Figure BDA0003112981880000045
To describe the dynamic performance of the control system, the system state quantities are:voltage output value x1And PI control output value x2Then, there are: x ═ x1 x2]TThe coefficient matrix expression is:
Figure BDA0003112981880000046
the further improvement of the invention is that the specific implementation method of the step 7) is as follows: analyzing the coefficient matrix obtained in step 6), passing through the coefficient matrix A1、A2To analyze the stability of the frequency, voltage control system.
Compared with the prior art, the invention has at least the following beneficial technical effects:
1. the invention provides an active-angular frequency and reactive-voltage droop control scheme adopted in an energy storage inverter, and a voltage and angular frequency compensation module is introduced in droop control.
2. The invention provides a voltage and angular frequency compensation module for establishing a small signal model and analyzing the stability of the small signal model.
Drawings
FIG. 1 is a circuit diagram of an energy storage inverter;
FIG. 2 is a graph of droop control of the energy storage inverter; wherein FIG. 2(a) is an active-angular frequency droop control graph, and FIG. 2(b) is a reactive-voltage droop control graph
In fig. 3, (a) and (b) are schematic diagrams of droop control angular frequency and voltage control of the energy storage inverter respectively;
fig. 4 is a zero-pole plot of angular frequency and voltage.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, the power transmission equation of the energy storage inverter device can be expressed as:
Figure BDA0003112981880000051
in formula (1): rf、XfThe resistance value and the inductive reactance value of the filter circuit; u shapeiThe voltage of the alternating current side of the energy storage inverter is obtained; u shape0Is the net side voltage; delta is the power angle difference. Among the internal parameters of the energy storage inverter, R is usually satisfiedf＜＜XfThen equation (1) can be simplified as:
Figure BDA0003112981880000052
as shown in fig. 2, the active power output by the energy storage inverter is related to the power angle, and the reactive power output is related to the voltage. In order to realize grid-connected inverter voltage regulation, the control equation is as follows:
Figure BDA0003112981880000061
in formula (3): omega is the angular frequency of the output voltage of the energy storage inverter; u is the amplitude of the output voltage of the energy storage inverter; omega0Is the reference value of the angular frequency of the no-load output voltage of the energy storage inverter; u shape0The reference value of the amplitude of the no-load output voltage of the energy storage inverter is obtained; m is the active power droop coefficient; n is the reactive power droop coefficient; p is the active power distributed by the load connected with the energy storage inverter; and Q is reactive power distributed by a load connected with the energy storage inverter.
As shown in FIG. 3, the LPF is a low pass filter with a cut-off frequency of 0.5Hz and its transfer function is GLPFRepresents; τ' is a time constant in the compensation control, and τ ″ is a time constant in the droop control. To increase energy storage inverterThe invention provides a frequency and voltage compensation module added in a control system, and particularly provides a method for increasing a compensation signal as feedback in a frequency and voltage control link. The angular frequency compensation is expressed by delta omega, and the specific calculation expression is as follows:
Figure BDA0003112981880000062
the voltage compensation is expressed by delta u, and the specific calculation expression is as follows:
Figure BDA0003112981880000063
subtracting the angular frequency given value of the output voltage of the energy storage inverter from the angular frequency given value, and performing PI regulation to obtain an angular frequency compensation quantity; and subtracting the given value of the voltage amplitude from the output voltage amplitude of the energy storage inverter, and performing PI regulation to obtain a voltage compensation quantity. In formulae (4) and (5): k is a radical ofpω、kiω、kpu、kiuRespectively representing proportional and integral terms in frequency and voltage PI regulation. Combining equations (4) and (5) with droop control of equation (3) makes the angular frequency and voltage amplitude more accurate:
Figure BDA0003112981880000071
as shown in fig. 4, since the angular frequency and voltage compensation module is added, and the stability of the control system needs to be analyzed again, the dynamic performance of the system is analyzed by establishing a droop control small signal model, and the equations (2) and (6) are linearized, so that:
Figure BDA0003112981880000072
in formula (7):
Figure BDA0003112981880000073
Figure BDA0003112981880000074
in formula (8):
Figure BDA0003112981880000075
using spatial state expressions
Figure BDA0003112981880000076
To describe the dynamic performance of the control system, the system state quantities are: the angular frequency output value, the angular frequency reference value, the PI control output value and the integral term power angle. Respectively by x1、x2、x3、x4This means that there are: x ═ x1x2 x3 x4]T. The coefficient matrix expression is:
Figure BDA0003112981880000077
using spatial state expressions
Figure BDA0003112981880000078
To describe the dynamic performance of the control system, the system state quantities are: voltage output value x1And PI control output value x2Then, there are: x ═ x1 x2]T. The coefficient matrix expression is:
Figure BDA0003112981880000079
by a coefficient matrix A1、A2The stability of the frequency and voltage control system is analyzed, Matlab software is used for searching the root track of the frequency and voltage control system, and the zero poles of angular frequency and voltage are distributed on the left half plane, so that the control system is proved to be in a stable range.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims (8)

1. The method for analyzing the stability of the energy storage droop compensation module is characterized by comprising the following steps of:
1) establishing a power transmission equation of the energy storage inverter;
2) simplifying the power transmission equation of the energy storage inverter in the step 1) according to the internal parameter properties of the energy storage inverter;
3) according to the power transmission simplification equation of the energy storage inverter in the step 2), introducing a droop coefficient to obtain an energy storage active-angular frequency and reactive-voltage droop control equation;
4) adding an angular frequency and voltage compensation module in the traditional droop control equation in the step 3) to obtain a new droop control equation;
5) the power transmission simplified equation of the energy storage inverter obtained in the step 2) and the angular frequency and voltage compensation module obtained in the step 4) are subjected to linearization processing;
6) analyzing the angular frequency and voltage compensation module in the step 5) to carry out a linearization model, and defining the system state quantity to obtain a coefficient matrix;
7) analyzing the coefficient matrix obtained in the step 6) and verifying the stability of the energy storage droop compensation module.
2. The method for analyzing the stability of the energy storage droop compensation module according to claim 1, wherein the step 1) is implemented by establishing a power transmission equation of an energy storage inverter:
Figure FDA0003112981870000011
wherein: rf、XfThe resistance value and the inductive reactance value of the filter circuit; u shapeiFor storing energy reverselyChanging the alternating-current side voltage of the device; u shape0Is the net side voltage; delta is the power angle difference.
3. The method for analyzing the stability of the energy storage droop compensation module according to claim 2, wherein the step 2) is specifically realized by: according to the internal parameter properties of the energy storage inverter: rf＜＜XfSimplifying the power transmission equation of the energy storage inverter in the step 1):
Figure FDA0003112981870000021
4. the method for analyzing the stability of the energy storage droop compensation module according to claim 3, wherein the specific implementation method of the step 3) is as follows: according to the power transmission simplification equation of the energy storage inverter in the step 2), introducing a droop coefficient to obtain an energy storage active-angular frequency and reactive-voltage droop control equation:
Figure FDA0003112981870000022
wherein: omega is the angular frequency of the output voltage of the energy storage inverter; u is the amplitude of the output voltage of the energy storage inverter; omega0Is the reference value of the angular frequency of the no-load output voltage of the energy storage inverter; u shape0The reference value of the amplitude of the no-load output voltage of the energy storage inverter is obtained; m is the active power droop coefficient; n is the reactive power droop coefficient; p is the active power distributed by the load connected with the energy storage inverter; and Q is reactive power distributed by a load connected with the energy storage inverter.
5. The method for analyzing the stability of the energy storage droop compensation module according to claim 4, wherein the specific implementation method of the step 4) is as follows: adding an angular frequency and voltage compensation module in the traditional droop control equation in the step 3):
Figure FDA0003112981870000023
wherein: k is a radical ofpω、kiω、kpu、kiuRespectively expressing proportion and integral terms in frequency and voltage PI regulation to obtain a new droop control equation; subtracting the angular frequency given value of the output voltage of the energy storage inverter from the angular frequency given value, and performing PI regulation to obtain an angular frequency compensation quantity; after subtracting with the voltage amplitude given value, the energy storage inverter output voltage amplitude obtains the voltage compensation volume through PI regulation, obtains new droop control equation:
Figure FDA0003112981870000024
6. the method for analyzing the stability of the energy storage droop compensation module according to claim 5, wherein the step 5) is implemented by the following steps: carrying out linearization processing on the energy storage inverter power transmission simplified equation obtained in the step 2) and the angular frequency and voltage compensation module obtained in the step 4):
Figure FDA0003112981870000025
wherein:
Figure FDA0003112981870000031
Figure FDA0003112981870000032
wherein:
Figure FDA0003112981870000033
7. the method for analyzing the stability of the energy storage droop compensation module according to claim 6, wherein the step 6) is specifically realized by: analyzing step 5), carrying out a linearization model by an angular frequency and voltage compensation module, and defining a system state quantity: angular frequency output value, angular frequency reference value, PI control output value and integral term workAngle, each using x1、x2、x3、x4This means that there are: x ═ x1 x2 x3 x4]TObtaining a coefficient matrix:
Figure FDA0003112981870000034
using spatial state expressions
Figure FDA0003112981870000035
To describe the dynamic performance of the control system, the system state quantities are: voltage output value x1And PI control output value x2Then, there are: x ═ x1 x2]TThe coefficient matrix expression is:
Figure FDA0003112981870000036
8. the method for analyzing the stability of the energy storage droop compensation module according to claim 1, wherein the step 7) is implemented by the following steps: analyzing the coefficient matrix obtained in step 6), passing through the coefficient matrix A1、A2To analyze the stability of the frequency, voltage control system.
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Cited By (1)

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CN115276377A (en) * 2022-09-20 2022-11-01 西安热工研究院有限公司 Stability verification method for converter self-adaptive reactive current droop control system

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CN112260287A (en) * 2020-12-19 2021-01-22 高生凯 Novel photovoltaic microgrid droop reactive compensation control method
CN112350382A (en) * 2020-11-20 2021-02-09 西安热工研究院有限公司 Energy storage active power adjusting method with angular frequency compensation module
WO2021077753A1 (en) * 2019-10-22 2021-04-29 国网山东省电力公司电力科学研究院 Comprehensive control method and system that ensure voltage safety in power recovery stage of multiple feed-in dc system

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