CN113422384B - AC micro-grid coordination control method based on grid-supporting inverter - Google Patents

AC micro-grid coordination control method based on grid-supporting inverter Download PDF

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CN113422384B
CN113422384B CN202110756265.4A CN202110756265A CN113422384B CN 113422384 B CN113422384 B CN 113422384B CN 202110756265 A CN202110756265 A CN 202110756265A CN 113422384 B CN113422384 B CN 113422384B
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voltage
power
grid
inverter
reactive power
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CN113422384A (en
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高飞
魏珊珊
俞嘉浩
蔡位焜
刘�东
唐厚君
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Shanghai Jiaotong University
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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
    • 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
    • H02J3/12—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load
    • H02J3/16—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load by adjustment of reactive power
    • 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
    • H02J3/38—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
    • 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
    • Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
    • Y02E40/30—Reactive power compensation

Abstract

A grid-supporting inverter-based AC micro-grid coordination control method adopts a diffusion algorithm, estimates of voltage and power are obtained through information of local and adjacent inverters, and a voltage regulator regulates and controls output voltage of the inverter to be a rated value. In the reactive power regulator, the estimated reactive power can be used as a reference value of a current source type grid-supporting inverter or used for generating a voltage correction term of a voltage source type inverter, and proportional distribution of the reactive power is realized. In the active power regulator, the estimated active power can be regarded as a reference value of the current source type grid supporting inverter or used for regulating and controlling the frequency of the voltage source type grid supporting inverter, and proportional distribution of the active power is realized.

Description

AC micro-grid coordination control method based on grid-supporting inverter
Technical Field
The invention relates to the technical field of alternating current micro-grid control, in particular to an alternating current micro-grid coordination control method utilizing a diffusion algorithm in a grid-supported inverter parallel operation mode.
Background
The micro-grid is an important form which can effectively integrate and efficiently utilize distributed renewable energy sources, energy storage and loads. Because the output characteristics of the distributed power supplies are different, the distributed power supplies are connected into the microgrid by taking the power electronic inverter as an interface, so that a microgrid multi-inverter environment is formed. The inverters are divided into a networking inverter, a feeding inverter, and a supporting inverter according to their operation modes. The grid-supporting inverter applies a droop mechanism, is a common form of a grid-building inverter and a grid-feeding inverter, and can be divided into a voltage source type and a current source type. The voltage source type grid supporting inverter can provide voltage and frequency support for a system in an island mode, and the current source type grid supporting inverter can follow the maximum power output of a distributed power supply, so that the power utilization rate is improved. The control strategy proposed at present is mostly an alternating current micro-grid system based on a voltage source type grid supporting inverter, and is not suitable for an alternating current micro-grid based on parallel operation of the voltage source type and current source type grid supporting inverters.
Droop control enables power scaling without communication dependence by adjusting the frequency and voltage of the inverter. Droop control also suffers from a number of drawbacks, such as 1) voltage and frequency offsets of the system; 2) reactive power cannot be distributed in proportion when the line impedances are not matched. At present, the voltage/frequency deviation and power distribution problems existing in the droop mechanism are usually eliminated by two-layer control in a relatively long time scale, but the disadvantages of droop control still cannot be fundamentally solved. It is therefore desirable to propose a control strategy that does not rely on the droop mechanism.
A control strategy independent of the droop mechanism combines one-layer control and two-layer control, and achieves power proportional distribution while achieving average voltage and frequency recovery. The distributed control mode utilizes the sparse communication network to exchange information with the adjacent network, can keep the system function normal when some communication links fail, and is beneficial to the expansion of the future micro-grid and the plug and play of the distributed power supply. In addition, the diffusion algorithm is an effective method for information interaction and global information estimation of the distributed network. Compared with a consistency algorithm, the diffusion algorithm has higher convergence speed and lower mean square error, and can better solve the problems of distributed estimation and self-adaption.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an alternating current micro-grid coordination control method based on a grid-supporting inverter. Each controller adopts a distributed control mode, does not need a central controller, only needs the information of local and adjacent nodes, estimates the global average voltage and power by using a diffusion algorithm, provides adjustment signals of voltage and frequency and reference values of power according to the global average voltage and power, and realizes proportional distribution of power while realizing recovery of the average voltage and frequency.
The technical solution of the invention is as follows:
a grid-supporting inverter-based AC micro-grid coordination control method is characterized by comprising the following steps:
1) the method comprises the steps that multiple distributed power supplies are connected into a microgrid through a voltage source grid supporting inverter and a current source grid supporting inverter, controllers of the grid supporting inverter comprise a voltage regulator, an active power regulator, a reactive power regulator and communication networks among all the distributed controllers are established, the voltage regulator, the active power regulator and the reactive power regulator are respectively provided with a diffusion algorithm #1, a diffusion algorithm #2 and a diffusion algorithm #3, the global average value is estimated according to information of local nodes and adjacent nodes, and voltage/frequency control and power distribution are achieved;
2) measuring active power p output by each inverter in all local I grid-supporting invertersiAnd reactive power qiActive power and reactive power of any one inverter are selected and named as p respectively0And q is0(ii) a The standard active power p of the ith grid-supporting inverternormiAnd standard reactive power qnormiRespectively expressed as:
Figure BDA0003147644200000021
Figure BDA0003147644200000022
in the formula, a subscript i represents an ith grid-supporting inverter; m isiAnd niThe active power proportionality constant and the reactive power proportionality constant of the ith grid-supporting inverter are respectively set; therefore, the active power output by all the I inverters is distributed according to the active power distribution ratioThe reactive power distribution proportion is respectively as follows:
Figure BDA0003147644200000023
Figure BDA0003147644200000024
in the formula (I), the compound is shown in the specification,
Figure BDA0003147644200000025
respectively allocating an active power allocation proportion and a reactive power allocation proportion of the ith grid-supporting inverter;
3) each grid-supporting inverter comprises an active power regulator and a reactive power regulator; using the locally measured voltage and the standard power as the sampling value ugi(k)、pnormi(k) And q isnormi(k) And the calculation is respectively input into the diffusion algorithm #1, the diffusion algorithm #2 and the diffusion algorithm #3 for calculation:
(ii) the voltage regulator estimates the global average voltage using diffusion algorithm #1, i.e.
Figure BDA0003147644200000026
In the formula, #u,i(k) Is an intermediate variable of the voltage of node i at time k;
secondly, the reactive power regulator adopts a diffusion algorithm #2 to calculate the average value of the standard reactive power according to the following formula:
Figure BDA0003147644200000027
in the formula, #q,i(k) Is an intermediate variable of the standard reactive power of the node i at time k, and according to the estimated standard reactive power, the estimated value of the reactive power can be expressed as:
Figure BDA0003147644200000028
in the formula, niIs the proportionality coefficient of reactive power;
thirdly, the active power regulator adopts a diffusion algorithm #3 to estimate the average value of the standard active power according to the following formula:
Figure BDA0003147644200000029
in the formula, #p,i(k) Is the intermediate variable of the standard reactive power of node i at time k;
estimating the active power based on the average value of the standard active power
Figure BDA00031476442000000210
Can be expressed as:
Figure BDA0003147644200000031
in the formula, miThe proportionality coefficient of active power;
4) the current source type grid-supporting inverter has estimated value of active power
Figure BDA0003147644200000032
As a reference value of the power loop, after passing through the power loop and the current loop, the actual output power is controlled to be
Figure BDA0003147644200000033
The proportional distribution of active power is realized;
5) the voltage source type grid-supporting inverter obtains the fine adjustment quantity delta omega of the frequency according to the estimated active poweri：
Figure BDA0003147644200000034
Wherein c is the active gain, δ ωiTo rated frequencyωratedAdding to obtain a reference frequency
Figure BDA0003147644200000035
Figure BDA0003147644200000036
Frequency support is provided for the micro-grid, and meanwhile, the output active power of the voltage source type grid support inverter is controlled;
6) the reactive power regulator controls the reactive power output by the current source type grid-supporting inverter to be distributed in proportion according to the estimated reactive power serving as the reference reactive power of the power loop on one hand, and obtains a correction term delta e of voltage through a proportional integral controller on the other handi：
Figure BDA0003147644200000037
In the formula, δ eiIs a voltage correction term caused by reactive power deviation, s is a Laplace operator, gp_qAnd gi_qProportional coefficient and integral coefficient of the proportional-integral controller, b is reactive gain;
7) the voltage source type grid-supporting inverter corrects the voltage by a term delta eiAnd the average voltage of the voltage regulator output
Figure BDA0003147644200000038
Adding to obtain a reference voltage
Figure BDA0003147644200000039
Figure BDA00031476442000000310
The voltage control loop and the current control loop realize the average voltage recovery of the inverter according to the reference voltage, and finely adjust the actual output voltage according to the voltage correction term to control the reactive power of the inverter.
Compared with the existing control method, the method has the following advantages:
1. aiming at the parallel operation mode of the grid-supported inverter, a diffusion algorithm is utilized, and the first-layer control and the second-layer control are combined, so that the power is distributed in proportion while the average voltage and the frequency are recovered.
2. Compared with the widely applied consistency algorithm, the method has better convergence and convergence speed.
Drawings
Fig. 1 is an equivalent circuit diagram of an ac microgrid suitable for use in the present invention.
Fig. 2 is a block diagram of system control according to the present invention.
Fig. 3 is a control block diagram of a coordinated control strategy according to the present invention.
Fig. 4 is a control block diagram of a diffusion algorithm according to the present invention.
Fig. 5 is a time domain simulation diagram using hierarchical control, where (a) is voltage and frequency and (b) is active power and reactive power.
FIG. 6 is a time domain simulation of coordinated control using a coherence algorithm, where (a) is voltage and frequency and (b) is active and reactive power.
Fig. 7 is a simulation diagram of a coordinated control time domain using a diffusion algorithm, wherein (a) is voltage and frequency, and (b) is active power and reactive power.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
Examples
The invention discloses an alternating current microgrid coordinated control method based on a grid-supporting inverter, and an equivalent circuit diagram of an alternating current microgrid corresponding to an embodiment is shown in fig. 1. The micro gas turbine with stable output is connected with the alternating current bus through the voltage source type grid supporting inverter to provide voltage and frequency support for the system; photovoltaic and fan with unstable output utilize a current source type grid-supporting inverter to follow the maximum power output.
The system control block diagram is shown in fig. 2, measuring local voltage and power, recovering average voltage and frequency of the microgrid, and implementing power proportioning according to the coordinated control strategy presented herein. Fig. 3 is a coordination control strategy based on a grid-supported inverter, which includes: the system comprises a communication network, a voltage regulator, a reactive power regulator and an active power regulator. Each controller adopts a distributed control mode, only local node information and adjacent node information are needed, the global average voltage and power are estimated by using a diffusion algorithm, and adjustment signals of voltage and frequency and reference values of power are given according to the global average voltage and power, and the method specifically comprises the following steps:
the voltage regulator uses diffusion algorithm #1 (see FIG. 4) to estimate the global average voltage, i.e.
Figure BDA0003147644200000041
In the formula, #u,i(k) Is an intermediate variable of the voltage at node i at time k.
Measuring local active power and reactive power, and arbitrarily selecting the actual output power of one inverter as a reference value (p) of power0，q0) And introducing the concepts of standard active power and standard reactive power, and defining as follows:
Figure BDA0003147644200000042
Figure BDA0003147644200000043
in the reactive power regulator, the diffusion algorithm #2 (as shown in fig. 4) averages the standard reactive power according to the standard reactive power information of the local and adjacent nodes, as shown in the following formula:
Figure BDA0003147644200000044
in the formula, #q,i(k) Is an intermediate variable that node i calibrates the reactive power at time k. Based on the estimated standard reactive power, the estimated value of the reactive power can be expressed as:
Figure BDA0003147644200000045
in the formula, niIs the proportionality coefficient of reactive power.
The average reactive power of the current source type grid-supporting inverter can be used as a reference value of a power loop to control the output reactive power of the inverter to be proportionally distributed. For the voltage source type grid-supporting inverter, a voltage correction term is obtained according to the estimated reactive power, and the formula is as follows:
Figure BDA0003147644200000046
in the formula, gp_qAnd gi_qProportional coefficient and integral coefficient of proportional-integral controller; and b is reactive gain. The voltage reference value of the voltage source type grid-supporting inverter is as follows:
Figure BDA0003147644200000051
in the formula (I), the compound is shown in the specification,
Figure BDA0003147644200000052
after passing through the voltage and current control loop, the voltage of the voltage source type grid-supporting inverter is controlled to be a rated value, and the proportional distribution of the output reactive power is realized.
In the active power regulator, the standard active power is estimated as its average value by diffusion algorithm #3 (fig. 4), as shown in the following equation:
Figure BDA0003147644200000053
in the formula, #p,i(k) Is an intermediate variable that node i calibrates the reactive power at time k. The estimated value of the active power can be expressed as follows according to the average value of the standard active power:
Figure BDA0003147644200000054
in the formula, miIs the proportionality coefficient of active power. Regarding the current source type grid-supporting inverter, the estimated active power can be used as a reference value of a power loop to control the output active power of the inverter to be distributed in proportion. For the voltage source type grid-supporting inverter, the fine adjustment quantity delta omega of the frequency is obtained according to the estimated active poweri：
Figure BDA0003147644200000055
Wherein c is the active gain. Delta omegaiWith rated frequency omegaratedAdding to obtain a reference frequency
Figure BDA0003147644200000056
And frequency support is provided for the micro-grid, and the output active power of the voltage source type grid support inverter is controlled at the same time.
Figure BDA0003147644200000057
FIG. 5 is a time domain simulation curve for two-layer control based on droop mechanism; FIG. 6 is a time domain simulation plot for coordinated control using a consensus algorithm; fig. 7 is a time domain simulation curve in the case of cooperative control using the diffusion algorithm. As shown in fig. 5, there are shifts in voltage and frequency under droop control, and reactive power cannot be apportioned due to line impedance. And applying a virtual impedance method at 10s to realize reactive power proportional distribution. And at 20s, two-layer control is introduced, the voltage and the frequency are restored to the rated values, the active power is kept in proportion, but the reactive power is damaged and cannot be distributed in proportion. In fig. 6, the active and reactive power can be apportioned, with the voltage maintained near the nominal value and the frequency maintained at the nominal value. The power on the load side is doubled in 10s and 20s respectively, the dynamic response of the system is fast (active 1.0s and reactive 1.5s), the active power can distribute the load power according to the preset proportion in a steady state, but the error of the reactive power is gradually increased, and the voltage cannot be stabilized at the rated value. However, in fig. 7, the dynamic response of the system is very fast (active 0.3s, and reactive 0.8s), the average voltage and frequency can be kept at the rated values, and both active and reactive can be accurately distributed according to the preset proportion.
The corresponding main parameters in the above embodiments are as follows:
observation weight μ: 0.32 of;
nominal angular frequency omega*：100πrad/s；
Rated voltage U*：110V；
LC filtering Lf，Cf：0.78mH,107μF；
Line impedance Zline1：0.05Ω,0.55mH；
Line impedance Zline2：0.05Ω,0.55mH；
Line impedance Zline3：0.15Ω,1.55mH；
Line impedance Zline4：0.15Ω,1.55mH；
Line impedance Zline5：0.1Ω,1.1mH；
Line impedance Zline6：0.1Ω,1.1mH；
Load power Pload，Qload：869W，178Var。
According to the embodiment, the grid-supporting inverter-based alternating-current micro-power coordination control scheme can effectively realize coordination control of each grid-supporting inverter. Under the condition of not depending on a droop mechanism, the first-layer control and the second-layer control are combined, the voltage and the frequency are controlled to be close to the rated value, and the output power of each distributed power supply is proportionally distributed.
While the present invention has been described in detail by the above embodiments, it should be appreciated that the above description should not be construed as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.

Claims (1)

1. A grid-supporting inverter-based AC micro-grid coordination control method is characterized by comprising the following steps:
1) the method comprises the steps that multiple distributed power supplies are connected into a microgrid through a voltage source grid supporting inverter and a current source grid supporting inverter, controllers of the grid supporting inverter comprise a voltage regulator, an active power regulator, a reactive power regulator and communication networks among all the distributed controllers are established, the voltage regulator, the active power regulator and the reactive power regulator are respectively provided with a diffusion algorithm #1, a diffusion algorithm #2 and a diffusion algorithm #3, the global average value is estimated according to information of local nodes and adjacent nodes, and voltage/frequency control and power distribution are achieved;
2) measuring active power p output by each inverter in all local I grid-supporting invertersiAnd reactive power qiActive power and reactive power of any one inverter are selected and named as p respectively0And q is0(ii) a The standard active power p of the ith grid-supporting inverternormiAnd standard reactive power qnormiRespectively expressed as:
Figure FDA0003147644190000011
Figure FDA0003147644190000012
in the formula, a subscript i represents an ith grid-supporting inverter; m isiAnd niThe active power proportionality constant and the reactive power proportionality constant of the ith grid-supporting inverter are respectively set; therefore, the active power distribution proportion and the reactive power distribution proportion of the output of all the I inverters are respectively as follows:
Figure FDA0003147644190000013
Figure FDA0003147644190000014
in the formula (I), the compound is shown in the specification,
Figure FDA0003147644190000015
respectively allocating an active power allocation proportion and a reactive power allocation proportion of the ith grid-supporting inverter;
3) each grid-supporting inverter comprises an active power regulator and a reactive power regulator; the voltage and the standard power measured locally at the time k are used as sampling values ugi(k)、pnormi(k) And q isnormi(k) And the calculation is respectively input into the diffusion algorithm #1, the diffusion algorithm #2 and the diffusion algorithm #3 for calculation:
the voltage regulator described employs diffusion algorithm #1 to estimate the global average voltage, i.e.
Figure FDA0003147644190000016
In the formula, #u,i(k) Is an intermediate variable of the voltage of node i at time k;
secondly, the reactive power regulator adopts a diffusion algorithm #2 to calculate the average value of the standard reactive power according to the following formula:
Figure FDA0003147644190000017
in the formula, #q,i(k) Is an intermediate variable of the standard reactive power of the node i at time k, and according to the estimated standard reactive power, the estimated value of the reactive power can be expressed as:
Figure FDA0003147644190000021
in the formula, niIs the proportionality coefficient of reactive power;
thirdly, the active power regulator adopts a diffusion algorithm #3 to estimate the average value of the standard active power according to the following formula:
Figure FDA0003147644190000022
in the formula, #p,i(k) Is an intermediate variable of the standard reactive power at node i at time k,
estimating the active power based on the average value of the standard active power
Figure FDA0003147644190000023
Can be expressed as:
Figure FDA0003147644190000024
in the formula, miThe proportionality coefficient of active power;
4) the current source type grid-supporting inverter has estimated value of active power
Figure FDA0003147644190000025
As a reference value of the power loop, the reference value passes through the power loop and the current loop to control the actual output active power and realize the proportional distribution of the active power
5) The voltage source grid-supporting inverter obtains the frequency according to the estimated active powerFine adjustment of rate δ ωi：
Figure FDA0003147644190000026
Wherein c is the active gain, δ ωiWith rated frequency omegaratedAdding to obtain a reference frequency
Figure FDA0003147644190000027
Figure FDA0003147644190000028
Frequency support is provided for the micro-grid, and meanwhile, the output active power of the voltage source type grid support inverter is controlled;
6) the reactive power regulator controls the reactive power output by the current source type grid-supporting inverter to be distributed in proportion according to the estimated reactive power serving as the reference reactive power of the power loop on one hand, and obtains a correction term delta e of voltage through a proportional integral controller on the other handi：
Figure FDA0003147644190000029
In the formula, δ eiIs a voltage correction term caused by reactive power deviation, s is a Laplace operator, gp_qAnd gi_qProportional coefficient and integral coefficient of the proportional-integral controller, b is reactive gain;
7) the voltage source type grid-supporting inverter corrects the voltage by a term delta eiAnd the average voltage of the voltage regulator output
Figure FDA00031476441900000210
Adding to obtain a reference voltage
Figure FDA00031476441900000211
Figure FDA00031476441900000212
The voltage control loop and the current control loop realize the average voltage recovery of the inverter according to the reference voltage, and finely adjust the actual output voltage according to the voltage correction term to control the reactive power of the inverter.
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