CN113659618A - Control method and control device of virtual synchronous generator - Google Patents
Control method and control device of virtual synchronous generator Download PDFInfo
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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
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/40—Synchronising a generator for connection to a network or to another generator
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/12—Arrangements for reducing harmonics from ac input or output
- H02M1/126—Arrangements for reducing harmonics from ac input or output using passive filters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
- H02M7/53871—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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Abstract
The invention provides a control method and a control device of a virtual synchronous generator, wherein the method comprises the following steps: obtaining the output voltage u of the inverter under the dq coordinate systemdqAnd an output current idq(ii) a According to udqAnd idqCalculating active power P and reactive power Q of the inverter; according to Q and rated reactive power QsetObtaining outputVoltage amplitude U1(ii) a According to P, rated power PsetObtaining a phase angle theta of the virtual output voltage according to the rotor inertia J, and adjusting the J according to the output angular frequency omega and the P; according to udqAnd idq、U1Theta obtains Ud and Uq; acquiring a PWM (pulse-width modulation) signal according to Ud and Uq; and acquiring a control signal of a switching tube of the inverter according to the PWM modulation signal. The invention adaptively adjusts the rotor inertia during the control of the virtual synchronous generator, can ensure that the inverter can maintain certain stability when the load is disturbed, and can quickly respond when the disturbance is eliminated.
Description
Technical Field
The invention relates to the technical field of micro-grids, in particular to a control method and a control device of a virtual synchronous generator.
Background
In recent years, attention has been paid to micro-grids, in which distributed power sources require energy output by inverters. The traditional inverter algorithm only considers the quick response of the system and ignores the problem of impact on the power grid. Therefore, a virtual synchronous generator control strategy is adopted, so that the output of the inverter can simulate the output characteristic of the traditional synchronous generator, and certain stability can be maintained when the system is disturbed. In the related art, when a VSG control algorithm is adopted to simulate the output characteristic of a traditional synchronous generator, the inverter is controlled by adopting constant rotor inertia, although the stability of a system can be ensured when system disturbance occurs, in the disturbance elimination process, disturbance may occur once again during the frequency response recovery period, and greater harm is brought to the safe operation of the system.
Disclosure of Invention
The present invention is directed to solve the above technical problems, and a first object of the present invention is to provide a method for controlling a virtual synchronous generator, which adaptively adjusts a rotor inertia when controlling the virtual synchronous generator, and considers both the characteristics of the synchronous generator and the dynamic performance of an inverter, so that the inverter can maintain a certain stability when a load is disturbed, and can quickly respond when the disturbance is eliminated, thereby reducing the running time of a device in a disturbance state, and avoiding the occurrence of a next disturbance during a system recovery period due to an excessively long recovery time.
A second object of the present invention is to provide a control apparatus for a virtual synchronous generator.
The technical scheme adopted by the invention is as follows:
an embodiment of the first aspect of the present invention provides a method for controlling a virtual synchronous generator, where the virtual synchronous generator includes: a direct current voltage source, an inverter, and a filter circuit, the method comprising the steps of: obtaining the phase angle of the output voltage of the inverter and collecting the output three-phase voltage u of the inverterabcAnd outputs three-phase current iabcCarrying out park conversion on the signals to obtain the output voltage u of the inverter under the dq coordinate systemdqAnd an output current idq(ii) a According to the output voltage u of the inverter under the dq coordinate systemdqAnd an output current idqCalculating active power P and reactive power Q of the inverter; according to the reactive power Q of the inverter and the rated reactive power Q of the invertersetObtaining output voltage amplitude U of virtual synchronous generator1(ii) a According to the active power P of the inverter and the rated power P of the invertersetAcquiring an output voltage phase angle theta of the virtual synchronous generator according to the rotor inertia J of the virtual synchronous generator, wherein the rotor inertia J is adjusted according to the output angular frequency omega of the virtual synchronous generator and the active power P of the inverter; according to the output voltage u of the inverter under the dq coordinate systemdqAnd an output current idqOutput voltage amplitude U of virtual synchronous generator1Performing voltage and current double-loop control on an output voltage phase angle theta of the virtual synchronous generator to obtain voltage vector values Ud and Uq of the virtual synchronous generator in a dq coordinate system; performing Park inverse transformation according to the voltage vector values Ud and Uq of the virtual synchronous generator in the dq coordinate system to obtain a PWM (Pulse Width Modulation) Modulation signal; and acquiring a control signal m of a switching tube of the inverter according to the PWM modulation signal.
The control method of the virtual synchronous generator provided by the invention can also have the following additional technical characteristics:
according to one embodiment of the invention, the rotor inertia J is adjusted according to the following formula:
Δω＝ω-ω0
ΔP＝Pset-P
wherein, J0Is the rotor inertia value P of the virtual synchronous generator in steady state operationsetIs the rated power of the inverter, P is the active power of the inverter, omega is the output angular frequency of the virtual synchronous generator, omega0Is the rated angular frequency, K, of the virtual synchronous generatorJ1、KJ2To adjust the coefficient, Cj1、Cj2、Cj3Respectively a first preset threshold, a second preset threshold, a third preset threshold, Cj1＞Cj2And Cj1＞Cj3。
According to an embodiment of the present invention, the value range of the rotor inertia J is:
wherein f iscFor the nominal frequency of said virtual synchronous generator, DpDamping of the virtual synchronous generator.
According to one embodiment of the invention, the output angular frequency ω of the virtual synchronous generator is obtained according to the following formula:
wherein, ω is0Is the rated angular frequency of the virtual synchronous generator, omega is the output angular frequency of the virtual synchronous generator, PsetIs the rated power of the inverter, P is the active power of the inverter, DpJ is the rotor inertia of the virtual synchronous generator for the damping of the virtual synchronous generator.
According to one embodiment of the invention, the output voltage amplitude U of the virtual synchronous generator is obtained according to the following formula1：U0-U1＝-Dq(Qset-Q); wherein, U0Is the rated voltage amplitude, U, of the virtual synchronous generator1Is the output voltage amplitude of the virtual synchronous generator, DqIs the Q-U droop coefficient, Q, of the virtual synchronous generatorsetAnd Q is the rated reactive power of the inverter, and Q is the output reactive power of the inverter.
An embodiment of the second aspect of the present invention provides a control apparatus of a virtual synchronous generator, including: a Phase Locked Loop (PLL) module configured to obtain a Phase angle of an output voltage of the inverter; an abc/dq module for collecting output three-phase voltage u of the inverterabcAnd outputs three-phase current iabcCarrying out park conversion on the signals to obtain the output voltage u of the inverter under the dq coordinate systemdqAnd an output current idq(ii) a A power calculation module for calculating the output voltage u of the inverter in dq coordinate systemdqAnd an output current idqCalculating active power P and reactive power Q of the inverter; a voltage control module for controlling the voltage according to the reactive power Q of the inverter and the rated reactive power Q of the invertersetObtaining output voltage amplitude U of virtual synchronous generator1(ii) a A frequency control module for controlling the frequency of the inverter according to the active power P of the inverter and the rated power P of the invertersetAcquiring an output voltage phase angle theta of the virtual synchronous generator according to the rotor inertia J of the virtual synchronous generator, wherein the rotor inertia J is adjusted according to the output angular frequency omega of the virtual synchronous generator and the active power P of the inverter; a voltage-current double-loop control module for controlling the voltage-current double-loop control module according to the output voltage u of the inverter under the dq coordinate systemdqAnd an output current idqOutput voltage amplitude U of virtual synchronous generator1Performing voltage and current double-loop control on an output voltage phase angle theta of the virtual synchronous generator to obtain voltage vector values Ud and Uq of the virtual synchronous generator in a dq coordinate system; a dq/abc module, configured to perform inverse Park transformation according to voltage vector values Ud and Uq of the virtual synchronous generator in a dq coordinate system to obtainA PWM modulation signal; and the PWM module is used for acquiring a control signal m of a switching tube of the inverter according to the PWM modulation signal.
The control device for the virtual synchronous generator provided by the invention can also have the following additional technical characteristics:
according to one embodiment of the invention, the frequency control module adjusts the rotor inertia J according to the following equation:
wherein, J0Is the rotor inertia value P of the virtual synchronous generator in steady state operationsetIs the rated power of the inverter, P is the active power of the inverter, omega is the output angular frequency of the virtual synchronous generator, omega0Is the rated angular frequency, K, of the virtual synchronous generatorJ1、KJ2To adjust the coefficient, Cj1、Cj2、Cj3Respectively a first preset threshold, a second preset threshold, a third preset threshold, Cj1＞Cj2And Cj1＞Cj3. According to an embodiment of the present invention, the value range of the rotor inertia J is:
wherein f iscFor the nominal frequency of said virtual synchronous generator, DpDamping of the virtual synchronous generator.
According to one embodiment of the invention, the frequency control module obtains the output angular frequency ω of the virtual synchronous generator according to the following formula:
wherein, ω is0Is the rated angular frequency of the virtual synchronous generator, omega is the output angular frequency of the virtual synchronous generator, PsetIs the rated power of the inverter, P is the active power of the inverter, DpFor the virtual identityDamping of the step generator, J is rotor inertia of the virtual synchronous generator.
According to one embodiment of the invention, the voltage control module obtains the output voltage amplitude U of the virtual synchronous generator according to the following formula1：U0-U1＝-Dq(Qset-Q); wherein, U0Is the rated voltage amplitude, U, of the virtual synchronous generator1Is the output voltage amplitude of the virtual synchronous generator, DqIs the Q-U droop coefficient, Q, of the virtual synchronous generatorsetAnd Q is the rated reactive power of the inverter, and Q is the output reactive power of the inverter.
The invention has the beneficial effects that:
the method adaptively adjusts the rotor inertia during the control of the virtual synchronous generator, takes the characteristics of the synchronous generator and the dynamic performance of the inverter into consideration, can ensure that the inverter can maintain certain stability when the load is disturbed, can quickly respond when the disturbance is eliminated, reduces the running time of a device in a disturbance state, and avoids the phenomenon that the next disturbance occurs during the system recovery period due to overlong recovery time.
Drawings
FIG. 1 is a flow chart of a method of controlling a virtual synchronous generator according to one embodiment of the present invention;
FIG. 2 is a control schematic of a virtual synchronous generator according to one embodiment of the present invention;
FIG. 3 is a reactive power Q-output voltage magnitude U of a virtual synchronous generator according to one embodiment of the invention1A control block diagram of (1);
FIG. 4 is a schematic diagram of the acquisition of the output voltage phase angle θ of a virtual synchronous generator according to one embodiment of the invention;
FIG. 5 is a graph of the power angle (δ) of a virtual synchronous generator according to one embodiment of the invention;
FIG. 6 is a graph of rotor angular frequency (ω) oscillation of a virtual synchronous generator according to one embodiment of the present invention;
FIG. 7 is a schematic diagram of the adjustment of the rotor inertia J of a virtual synchronous generator according to one embodiment of the invention;
FIG. 8 is a simplified diagram of the active power P-angular velocity ω control architecture of a virtual synchronous generator according to one embodiment of the present invention;
FIG. 9 is a step response plot of active power of a virtual synchronous generator according to one embodiment of the present invention;
fig. 10 is a graph of an active power change process of a virtual synchronous generator according to a first specific example of the present invention;
FIG. 11 is a graph comparing a frequency response curve of a virtual synchronous generator under fixed rotor inertia control and an adaptive control rotor inertia according to a first specific example of the present invention;
fig. 12 is a graph of an active power change process of a virtual synchronous generator according to a second specific example of the present invention;
fig. 13 is a graph comparing a frequency response curve of a virtual synchronous generator under fixed rotor inertia control and an adaptive control rotor inertia according to a second specific example of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a flowchart of a control method of a virtual synchronous generator according to an embodiment of the present invention. Fig. 2 is a control schematic of a virtual synchronous generator according to one embodiment of the invention. As shown in fig. 2, the virtual synchronous generator includes: the virtual synchronous generator comprises a direct-current voltage source Vdc, an inverter 10 and a filter circuit 20, wherein Lg and Ls in fig. 2 represent inductors, Rg and Rs represent resistors, C represents a capacitor, K represents a circuit breaker, and the whole virtual synchronous generator is connected with a microgrid through the circuit breaker K. As shown in fig. 1, the control method includes the steps of:
s1, obtaining the phase angle of the output voltage of the inverter and collecting the output three-phase voltage u of the inverterabcAnd outputs three-phase current iabcThe signals are subjected to park conversion to obtain the output voltage u of the inverter under the dq coordinate systemdqAnd an output current idq。
S2, according to the output voltage u of the inverter in the dq coordinate systemdqAnd an output current idqAnd calculating the active power P and the reactive power Q of the inverter.
S3, according to the reactive power Q of the inverter and the rated reactive power Q of the invertersetObtaining output voltage amplitude U of virtual synchronous generator1。
In an embodiment of the present invention, the output voltage amplitude U of the virtual synchronous generator may be obtained according to an output Q-U control equation of the virtual synchronous generator, as shown in the following formula (1)1The control block diagram is shown in fig. 3.
U0-U1＝-Dq(Qset-Q) (1)
Wherein, U0Is the rated voltage amplitude, U, of the virtual synchronous generator1Is the output voltage amplitude of the virtual synchronous generator, DqIs the Q-U droop coefficient, Q, of a virtual synchronous generatorsetAnd Q is the rated reactive power of the inverter and the output reactive power of the inverter.
S4, according to the active power P of the inverter and the rated power P of the invertersetAnd acquiring an output voltage phase angle theta of the virtual synchronous generator by using the rotor inertia J of the virtual synchronous generator, wherein the rotor inertia J is adjusted according to the output angular frequency omega of the virtual synchronous generator and the active power P of the inverter.
Further, according to an embodiment of the present invention, the output angular frequency ω of the virtual synchronous generator can be obtained according to an output mechanical equation of the synchronous generator, as shown in formula (2), and then the output voltage phase angle θ of the virtual synchronous generator can be obtained through an integration step, and the specific principle can be shown in fig. 4;
wherein, ω is0Is the rated angular frequency of the virtual synchronous generator, omega is the output angular frequency of the virtual synchronous generator, PsetIs the rated power of the inverter, P is the active power of the inverter, DpJ is the rotor inertia of the virtual synchronous generator for damping of the virtual synchronous generator.
The power angle (δ) curve of the virtual synchronous generator is shown in fig. 5, the rotor angular frequency (ω) oscillation curve of the virtual synchronous generator is shown in fig. 6, one oscillation period is divided into 4 motion intervals (intervals 1-4) which respectively correspond to the time range t1—t2、t2—t3、t3—t4And t4—t5. Since the end d ω/dt of the interval 1 and the interval 3 is 0, the main control target in the two intervals is to prevent the overshoot caused by the excessively fast increase of the angular velocity, so that the rotor inertia J in the two intervals needs to be increased appropriately to slow down the increase rate of the angular velocity, and the rotor inertia in the interval 2 and the interval 4 tends to move toward the equilibrium point, so that a smaller rotor inertia is expected in the two intervals. The rotor angular speed and active power variation characteristics in 4 intervals are summarized as shown in table 1 below:
TABLE 1
Wherein Δ ω - ω0，ΔP＝Pset–Pe, + represents that a larger rotor inertia is expected, and-represents that a smaller rotor inertia is expected, as can be seen from the above table, d ω/dt is equal to Δ P, and when the product of d ω/dt and Δ ω is positive, a larger rotor inertia is expected, and when the product is negative, a smaller rotor inertia is expected, and in combination with the actual simulation results, the control principle for summarizing the rotor inertia J is shown in equation (3):
wherein, J0For rotor inertia values, P, during steady-state operation of the virtual synchronous generatorsetIs the rated power of the inverter, P is the active power of the inverter, omega is the output angular frequency of the virtual synchronous generator, omega0Is the rated angular frequency, K, of a virtual synchronous generatorJ1、KJ2To adjust the coefficient, Cj1、Cj2、Cj3Respectively a first preset threshold, a second preset threshold, a third preset threshold, Cj1＞Cj2And Cj1＞Cj3，Cj1Generally, the rated power of the inverter is 2% -5%, Cj2And Cj3Typically 0.05% of the rated power of the inverter.
That is, when (Δ P-C)J1)*(Δω–CJ2)<When 0, the rotor inertia value is taken as a steady state value; when (Δ P-C)J1)*(Δω–CJ2) When the value of J is more than or equal to 0, the system determines the value of J according to an adaptive control algorithm, and when the value of | omega-omega is larger than or equal to 00|<CJ3Determining the value of the inertia of the rotor according to the difference value of the rotating speed of the rotor, when the value is | omega-omega0|>CJ3The value of the inertia of the rotor is determined at the rate of change of the rotor speed, whereby the frequency conversion curve can be made more smooth, and the adjustment diagram is shown in fig. 7.
FIG. 8 is a simplified diagram of the P- ω control structure, PeAnd PsetThe open loop transfer function between is shown in equation (4):
wherein Gop(s) represents PeAnd PsetE represents the output voltage of the virtual synchronous generator, U represents the output voltage of the virtual synchronous generator, X∑Representing the sum of impedances in the loop, DpFor damping of the virtual synchronous generator, s represents a complex number.
According to the step response curve of the virtual synchronous generator in fig. 9, it can be known that the value of J has a large influence on the overshoot and the fluctuation period of the power response curve, and the larger the value of J is, the larger the corresponding frequency response overshoot is, the longer the adjustment period is. Substituting j2 pi fc into Gop(s) to obtain formula (5):
when the phase margin is 45 degrees, the value range of the rotor inertia J can be obtained as shown in the formula (6):
wherein f iscIs the rated frequency of the virtual synchronous generator, DpDamping of the virtual synchronous generator.
That is to say, the rotor inertia J of the virtual synchronous generator needs to meet the requirement of the above equation (6), so as to avoid system damage caused by too large rotor inertia.
S5, according to the output voltage u of the inverter in the dq coordinate systemdqAnd an output current idqOutput voltage amplitude U of virtual synchronous generator1And performing voltage and current double-loop control on an output voltage phase angle theta of the virtual synchronous generator to obtain voltage vector values Ud and Uq of the virtual synchronous generator in a dq coordinate system.
S6, performing Park inverse transformation according to the voltage vector values Ud and Uq of the virtual synchronous generator in the dq coordinate system to obtain the PWM modulation signal uabc。
S7, according to the PWM modulation signal uabcAnd acquiring a control signal m of a switching tube of the inverter.
From the above, the control method of the virtual synchronous generator adaptively adjusts the rotor inertia when the virtual synchronous generator is controlled, and takes the characteristics of the synchronous generator and the dynamic performance of the inverter into consideration, so that the inverter can maintain certain stability when the load is disturbed, can quickly respond when the disturbance is eliminated, reduce the running time of the device in a disturbance state, and avoid the phenomenon that the next disturbance occurs during the system recovery period due to overlong recovery time.
In order to verify the effectiveness of the control method of the virtual synchronous generator provided by the invention, the inventor carries out simulation on MATLAB/Simulink, and simulation parameters are shown in Table 2.
TABLE 2
And (3) simulation process:
example 1:
the initial inverter outputs 20kW active power, the system generates disturbance for increasing 5kW active power in 0.15s, the disturbance is eliminated after 0.1s, and the load is recovered to a rated state.
Fig. 10 is a graph of active power variation and fig. 11 is a graph comparing a frequency response curve under fixed rotor inertia control and a frequency response curve under adaptive control rotor inertia.
Example 2:
the initial inverter outputs 20kW active power, the system generates disturbance reducing 5kW active power at 0.15s, the disturbance is eliminated after 0.1s, and the load is recovered to a rated state.
Fig. 12 is a graph of active power variation process, and fig. 13 is a graph comparing a frequency response curve under fixed rotor inertia control and a frequency response curve under adaptive control rotor inertia.
As can be seen from the simulation results shown in fig. 12 and 13, the present invention can maintain a certain stability of the system under the condition of system disturbance by adaptively controlling the rotor inertia, and can rapidly recover the frequency response to the normal operation state without impact when the disturbance is eliminated.
The effectiveness of the control method of the virtual synchronous generator provided by the invention is verified.
In summary, according to the control method of the virtual synchronous generator in the embodiment of the present invention, the rotor inertia is adaptively adjusted during the control of the virtual synchronous generator, the characteristics of the synchronous generator and the dynamic performance of the inverter are considered, the inverter can maintain a certain stability when the load is disturbed, the inverter can quickly respond when the disturbance is eliminated, the running time of the device in the disturbance state is reduced, and the phenomenon that the next disturbance occurs during the system recovery period due to the overlong recovery time is avoided.
Corresponding to the above method for controlling a virtual synchronous generator, the present invention further provides a device for controlling a virtual synchronous generator, and since the device embodiment of the present invention corresponds to the above method embodiment, details that are not disclosed in the device embodiment may refer to the above method embodiment, and are not described again in the present invention.
As shown in fig. 2, the control device of the virtual synchronous generator according to the present invention includes: PLL module 1, abc/dq module 2, power calculation module 3, voltage control module 4, frequency control module 5, voltage-current dual-loop control module 6, dq/abc module 7, PWM module 8, wherein,
the PLL module 1 is used for acquiring a phase angle of an output voltage of the inverter; the abc/dq module 2 is used for acquiring the output three-phase voltage u of the inverterabcAnd outputs three-phase current iabcThe signals are subjected to park conversion to obtain the output voltage u of the inverter under the dq coordinate systemdqAnd an output current idq(ii) a The power calculation module 3 is used for calculating the output voltage u of the inverter in the dq coordinate systemdqAnd an output current idqCalculating active power P and reactive power Q of the inverter; the voltage control module 4 is used for controlling the voltage according to the reactive power Q of the inverter and the rated reactive power Q of the invertersetObtaining output voltage amplitude U of virtual synchronous generator1(ii) a The frequency control module 5 is used for controlling the frequency according to the active power P of the inverter and the rated power P of the invertersetAcquiring an output voltage phase angle theta of the virtual synchronous generator according to the rotor inertia J of the virtual synchronous generator, wherein the rotor inertia J is adjusted according to the output angular frequency omega of the virtual synchronous generator and the active power P of the inverter; the voltage and current double-loop control module 6 is used for controlling the output voltage u of the inverter under the dq coordinate systemdqAnd an output current idqVirtual synchronous generatorOutput voltage amplitude U1Performing voltage and current double-loop control on an output voltage phase angle theta of the virtual synchronous generator to obtain voltage vector values Ud and Uq of the virtual synchronous generator in a dq coordinate system; the dq/abc module 7 is used for performing Park inverse transformation according to voltage vector values Ud and Uq of the virtual synchronous generator in a dq coordinate system to acquire a PWM (pulse width modulation) signal uabc(ii) a The PWM module 8 is used for modulating a signal u according to PWMabcAnd acquiring a control signal m of a switching tube of the inverter.
According to one embodiment of the invention, the frequency control module 3 adjusts the rotor inertia J according to the following formula:
wherein, J0For rotor inertia values, P, during steady-state operation of the virtual synchronous generatorsetIs the rated power of the inverter, P is the active power of the inverter, omega is the output angular frequency of the virtual synchronous generator, omega0Is the rated angular frequency, K, of a virtual synchronous generatorJ1、KJ2To adjust the coefficient Cj1、Cj2、Cj3Respectively a first preset threshold, a second preset threshold, a third preset threshold, Cj1＞Cj2And Cj1＞Cj3。
According to one embodiment of the invention, the value range of the rotor inertia J is:
wherein f iscIs the rated frequency of the virtual synchronous generator, DpDamping of the virtual synchronous generator.
According to one embodiment of the invention, the frequency control module 5 obtains the output angular frequency ω of the virtual synchronous generator according to the following formula:
wherein, ω is0Is the rated angular frequency of the virtual synchronous generator, omega is the output angular frequency of the virtual synchronous generator, PsetIs the rated power of the inverter, P is the active power of the inverter, DpJ is the rotor inertia of the virtual synchronous generator for damping of the virtual synchronous generator.
According to an embodiment of the present invention, the voltage control module 4 obtains the output voltage amplitude U of the virtual synchronous generator according to the following formula1：
U0-U1＝-Dq(Qset-Q)；
Wherein, U0Is the rated voltage amplitude, U, of the virtual synchronous generator1Is the output voltage amplitude of the virtual synchronous generator, DqIs the Q-U droop coefficient, Q, of a virtual synchronous generatorsetAnd Q is the rated reactive power of the inverter and the output reactive power of the inverter.
In summary, according to the control device of the virtual synchronous generator in the embodiment of the present invention, the rotor inertia is adaptively adjusted during the control of the virtual synchronous generator, the characteristics of the synchronous generator and the dynamic performance of the inverter are considered, the inverter can maintain a certain stability when the load is disturbed, and can quickly respond when the disturbance is eliminated, thereby reducing the operation time of the device in the disturbance state, and avoiding the occurrence of the next disturbance during the system recovery period due to the overlong recovery time.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. The meaning of "plurality" is two or more unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction. In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A control method of a virtual synchronous generator, characterized in that the virtual synchronous generator comprises: a direct current voltage source, an inverter, and a filter circuit, the method comprising the steps of:
obtaining the phase angle of the output voltage of the inverter and collecting the output three-phase voltage u of the inverterabcAnd outputs three-phase current iabcCarrying out park conversion on the signals to obtain the output voltage u of the inverter under the dq coordinate systemdqAnd an output current idq；
According to the inverter in dq coordinate systemOutput voltage udqAnd an output current idqCalculating active power P and reactive power Q of the inverter;
according to the reactive power Q of the inverter and the rated reactive power Q of the invertersetObtaining output voltage amplitude U of virtual synchronous generator1；
According to the active power P of the inverter and the rated power P of the invertersetAcquiring an output voltage phase angle theta of the virtual synchronous generator according to the rotor inertia J of the virtual synchronous generator, wherein the rotor inertia J is adjusted according to the output angular frequency omega of the virtual synchronous generator and the active power P of the inverter;
according to the output voltage u of the inverter under the dq coordinate systemdqAnd an output current idqOutput voltage amplitude U of virtual synchronous generator1Performing voltage and current double-loop control on an output voltage phase angle theta of the virtual synchronous generator to obtain voltage vector values Ud and Uq of the virtual synchronous generator in a dq coordinate system;
performing Park inverse transformation according to the voltage vector values Ud and Uq of the virtual synchronous generator in the dq coordinate system to obtain a PWM (pulse width modulation) signal;
and acquiring a control signal m of a switching tube of the inverter according to the PWM modulation signal.
2. The method of controlling a virtual synchronous generator according to claim 1, wherein the rotor inertia J is adjusted according to the following formula:
Δω＝ω-ω0
ΔP＝Pset-P
wherein, J0Is the rotor inertia value P of the virtual synchronous generator in steady state operationsetIs the rated power of the inverter, P is the active power of the inverter, and ω is the virtualOutput angular frequency, omega, of a quasi-synchronous generator0Is the rated angular frequency, K, of the virtual synchronous generatorJ1、KJ2To adjust the coefficient, Cj1、Cj2、Cj3Respectively a first preset threshold, a second preset threshold, a third preset threshold, Cj1＞Cj2And Cj1＞Cj3。
3. The method of claim 2, wherein the rotor inertia J has a value range of:
wherein f iscFor the nominal frequency of said virtual synchronous generator, DpDamping of the virtual synchronous generator.
4. The method of controlling a virtual synchronous generator according to claim 1, wherein the output angular frequency ω of the virtual synchronous generator is obtained according to the following formula:
wherein, ω is0Is the rated angular frequency of the virtual synchronous generator, omega is the output angular frequency of the virtual synchronous generator, PsetIs the rated power of the inverter, P is the active power of the inverter, DpJ is the rotor inertia of the virtual synchronous generator for the damping of the virtual synchronous generator.
5. The method of claim 1, wherein the output voltage amplitude U of the virtual synchronous generator is obtained according to the following formula1：
U0-U1＝-Dq(Qset-Q)；
Wherein, U0Is the rated voltage amplitude, U, of the virtual synchronous generator1Is the output voltage amplitude of the virtual synchronous generator, DqIs the Q-U droop coefficient, Q, of the virtual synchronous generatorsetAnd Q is the rated reactive power of the inverter, and Q is the output reactive power of the inverter.
6. A control apparatus of a virtual synchronous generator, comprising:
the PLL module is used for acquiring a phase angle of an output voltage of the inverter;
an abc/dq module for collecting output three-phase voltage u of the inverterabcAnd outputs three-phase current iabcCarrying out park conversion on the signals to obtain the output voltage u of the inverter under the dq coordinate systemdqAnd an output current idq；
A power calculation module for calculating the output voltage u of the inverter in dq coordinate systemdqAnd an output current idqCalculating active power P and reactive power Q of the inverter;
a voltage control module for controlling the voltage according to the reactive power Q of the inverter and the rated reactive power Q of the invertersetObtaining output voltage amplitude U of virtual synchronous generator1；
A frequency control module for controlling the frequency of the inverter according to the active power P of the inverter and the rated power P of the invertersetAcquiring an output voltage phase angle theta of the virtual synchronous generator according to the rotor inertia J of the virtual synchronous generator, wherein the rotor inertia J is adjusted according to the output angular frequency omega of the virtual synchronous generator and the active power P of the inverter;
a voltage-current double-loop control module for controlling the voltage-current double-loop control module according to the output voltage u of the inverter under the dq coordinate systemdqAnd an output current idqVirtual synchronous transmissionOutput voltage amplitude U of motor1Performing voltage and current double-loop control on an output voltage phase angle theta of the virtual synchronous generator to obtain voltage vector values Ud and Uq of the virtual synchronous generator in a dq coordinate system;
the dq/abc module is used for performing Park inverse transformation according to voltage vector values Ud and Uq of the virtual synchronous generator in a dq coordinate system to acquire a PWM (pulse width modulation) signal;
and the PWM module is used for acquiring a control signal m of a switching tube of the inverter according to the PWM modulation signal.
7. The control device of the virtual synchronous generator according to claim 6, wherein the frequency control module adjusts the rotor inertia J according to the following formula:
wherein, J0Is the rotor inertia value P of the virtual synchronous generator in steady state operationsetIs the rated power of the inverter, P is the active power of the inverter, omega is the output angular frequency of the virtual synchronous generator, omega0Is the rated angular frequency, K, of the virtual synchronous generatorJ1、KJ2To adjust the coefficient, Cj1、Cj2、Cj3Respectively a first preset threshold, a second preset threshold, a third preset threshold, Cj1＞Cj2And Cj1＞Cj3。
8. The control device of the virtual synchronous generator according to claim 7, wherein the rotor inertia J has a value range of:
wherein f iscFor the nominal frequency of said virtual synchronous generator, DpDamping of the virtual synchronous generator.
9. The control apparatus of the virtual synchronous generator according to claim 6, wherein the frequency control module obtains the output angular frequency ω of the virtual synchronous generator according to the following formula:
wherein, ω is0Is the rated angular frequency of the virtual synchronous generator, omega is the output angular frequency of the virtual synchronous generator, PsetIs the rated power of the inverter, P is the active power of the inverter, DpJ is the rotor inertia of the virtual synchronous generator for the damping of the virtual synchronous generator.
10. The control device of the virtual synchronous generator according to claim 6, wherein the voltage control module obtains the output voltage amplitude U of the virtual synchronous generator according to the following formula1：
U0-U1＝-Dq(Qset-Q)；
Wherein, U0Is the rated voltage amplitude, U, of the virtual synchronous generator1Is the output voltage amplitude of the virtual synchronous generator, DqIs the Q-U droop coefficient, Q, of the virtual synchronous generatorsetAnd Q is the rated reactive power of the inverter, and Q is the output reactive power of the inverter.
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