CN113972687A - Island microgrid secondary control method based on switching topology - Google Patents

Island microgrid secondary control method based on switching topology Download PDF

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CN113972687A
CN113972687A CN202111203973.1A CN202111203973A CN113972687A CN 113972687 A CN113972687 A CN 113972687A CN 202111203973 A CN202111203973 A CN 202111203973A CN 113972687 A CN113972687 A CN 113972687A
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voltage
distributed
frequency
secondary control
control method
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CN113972687B (en
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王源涛
黄天恩
李祥
周志全
唐剑
吴振杰
莫雅俊
牛涛
许�鹏
李凡
陈嘉宁
薛霖
苏熀兴
李成达
张超
廖培
夏衍
董航
周依希
孙思聪
张洁
徐双蝶
王艳
祝文澜
向新宇
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Hangzhou Power Supply Co of State Grid Zhejiang Electric Power Co Ltd
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Chongqing University
Hangzhou Power Supply Co of State Grid Zhejiang Electric Power Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/388—Islanding, i.e. disconnection of local power supply from the network
    • 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

Abstract

The invention discloses an island microgrid secondary control method based on switching topology, comprising the following steps of S1, taking a mobile emergency generator as a distributed generator for carrying out island microgrid scheduling; step S2, designing a fixed time distributed secondary control method to compensate frequency and voltage errors caused by primary control so as to accurately distribute active power; step S3, designing the distributed finite time controller to adjust the voltage and frequency of all distributed generators to fixed reference levels. According to the scheme, the frequency and the voltage of each distributed generator are recovered to the reference level within the limited time by switching the topological structure of the microgrid, meanwhile, accurate power distribution is achieved within the specified limited time, and the robustness of the microgrid under the condition of dealing with sudden extreme conditions is further improved.

Description

Island microgrid secondary control method based on switching topology
Technical Field
The invention relates to the technical field of emergency control of power systems, in particular to an island microgrid secondary control method based on switching topology.
Background
In recent years, natural disasters and the subsequent destructive events have caused many serious blackout accidents. For example, the hurricane Sandy strikes the east coast of the united states and causes nearly 835 million users to lose their power supply, this outage causing significant economic losses and a significant threat to life health. The importance of increasing the flexibility of power systems, particularly microgrid-based power distribution systems, is prompted by this accident. The microgrid may accommodate different types of distributed energy sources (DER), including Mobile Emergency Generators (MEG).
To achieve DER coordination, droop control is widely used in power systems to provide active damping for them, while it can cause frequency and voltage deviations. When any disturbance occurs in the microgrid, the instantaneous frequency differs depending on the location of the disturbance and the type DER. This difference may compromise power sharing between DERs and worsen the input to secondary control, which relies on local measurements in a decentralized scheme. Secondary control is implemented using a master controller that collects and processes information provided by the local controllers. Such a centralized solution requires powerful communication and computing power, which may be affected by a single point of failure.
Therefore, distributed secondary control is applied based on a continuous communication network connecting various distributed energy resources. DER installed in a microgrid (e.g., natural gas turbines, wind turbine generators, photovoltaic panels) is defined in the present invention as a local DER. Furthermore, Mobile Emergency Resources (MERs), typically onboard generators with battery storage, are considered to provide mobility, rapid response and critical flexibility in the formation and regulation of micro-grids. The MER may provide spatial flexibility to enhance the flexibility of the distribution system through the transportation network. With the redundancy of the mesh structure and the traffic network, the MER can effectively enhance the viability and elasticity of the power system. MER integration technology in an island microgrid presents the following challenges:
given the frequent MER operations (i.e., connection/disconnection) in a microgrid, distributed quadratic control should provide guaranteed convergence for a limited time, independent of initial conditions. In consideration of load uncertainty and DER variability, the existing scheme is slow in response under the rapidly changing microgrid operation condition, and generally adopts a convergence control rule within a limited time to improve the convergence speed of distributed secondary control, wherein frequency following, voltage recovery and active power distribution are realized within the limited time. However, the upper limit of the limited convergence time depends on the initial state of the microgrid before the control scheme is activated. Therefore, the finite time control scheme cannot ensure convergence, since the a priori initial operating state is usually not reachable. In particular, when severe interference causes a status error to be outside a given range, these schemes may be inefficient unless some event triggering mechanism is applied. Therefore, the upper limit of the convergence time should be independent of the initial system state to accommodate frequent MER operations.
Disclosure of Invention
The invention aims to provide an island microgrid secondary control method based on switching topology, which ensures that the frequency and the voltage of each distributed generator are recovered to reference levels within limited time by switching the topological structure of a microgrid, realizes accurate power distribution within specified limited time, and further improves the robustness of the microgrid in response to sudden extreme conditions.
In order to achieve the technical purpose, the invention provides a technical scheme of an island microgrid secondary control method based on switching topology, which comprises the following steps:
step S1, the mobile emergency generator is used as a distributed generator for carrying out island microgrid scheduling;
step S2, designing a fixed time distributed secondary control method to compensate frequency and voltage errors caused by primary control so as to accurately distribute active power;
step S3, designing the distributed finite time controller to adjust the voltage and frequency of all distributed generators to fixed reference levels.
The distributed secondary control problem is formulated by considering a switching topology, because the communication topology may become unstable after a disaster, based on the Lyapunov theory, a distributed control scheme is provided, the frequency of each Distributed Generator (DG) is recovered to a reference level within a limited time, meanwhile, accurate power distribution is achieved within a specified limited time, initial deviation generated by primary control is further ignored, a distributed limited time controller is designed to adjust the voltage of all DGs to the reference level, and robustness of a micro-grid under the condition of dealing with sudden extreme conditions is further improved.
Preferably, step S1 includes the steps of:
each island micro-grid area is provided with n distributed generators and a plurality of loads, each generator is provided with a distributed controller, and the n distributed generators are in communication connection with the plurality of loads through the distributed controllers; and characterizing the topological structures of loads and distributed generators in the island micro-grid through an undirected graph.
Preferably, step S2 includes the steps of:
s21, balancing the active and reactive demands in the microgrid by adjusting the frequency and the voltage droop amplitude, wherein the control loop formula is as follows:
Figure BDA0003306154580000021
Figure BDA0003306154580000022
wherein, ω isi(t) is the angular frequency of DGi, which is the ith distributed generator,
Figure BDA0003306154580000023
as primary control reference for DGi angular frequency, miIs the coefficient of decline of DGi; pi(t) is the measured active power of DGi;
Figure BDA0003306154580000024
voltage amplitude of DGi;
Figure BDA0003306154580000025
a primary control reference value that is the DGi voltage output; k is a radical ofiIs the pressure drop coefficient of DGi; qi(t) is the measured reactive power of DGi.
Preferably, the control strategy of the primary voltage is:
Figure BDA0003306154580000031
Vqi(t)＝0
satisfy the requirement of
Figure BDA0003306154580000032
Is Vdi(t) and VqiThe sum of squares of (t); the droop control loop formula is:
Figure BDA0003306154580000033
preferably, the active power allocation comprises the steps of:
at a fixed time TfAnd internally eliminating frequency and voltage deviation, wherein the formula is as follows:
Figure BDA0003306154580000034
Figure BDA0003306154580000035
accurate active power distribution is realized, and the formula is as follows:
Figure BDA0003306154580000036
by secondary control of voltagedi(t) may follow a fixed voltage reference value Vref。
Preferably, the design of the distributed finite time controller comprises ensuring frequency following by a frequency recovery method in a fixed time and ensuring voltage following by a voltage recovery method in a fixed time.
Preferably, the frequency regulation input and the active power regulation input formula in the frequency recovery method in the fixed time are as follows:
Figure BDA0003306154580000037
Figure BDA0003306154580000038
where a and b are positive odd integers such that a < b, α, β, and γ are given positive control gains, sig () is a sign function.
Preferably, the voltage quadratic control formula in the voltage recovery method in a fixed time is as follows:
Figure BDA0003306154580000039
where ε is a given positive scalar quantity, let eV(t)＝[eV1(t),eV2(t),...,eVn(t)]T，eVi(t)＝Vdi(t)-Vref,
Figure BDA00033061545800000310
The second order lyapunov function is given as follows:
Figure BDA00033061545800000311
estimating the upper limit of the stabilization time; the formula is as follows:
Figure BDA0003306154580000041
the invention has the beneficial effects that: according to the island microgrid secondary control method based on the switching topology, the distributed secondary control problem is formulated by considering the switching topology, because the communication topology may become unstable after a disaster, based on the Lyapunov theory, a distributed control scheme is provided, the frequency of each Distributed Generator (DG) is recovered to a reference level within a limited time, meanwhile, accurate power distribution is achieved within a specified limited time, initial deviation generated by primary control is further ignored, a distributed limited time controller is designed to adjust the voltage of all DGs to the reference level, and the robustness of a microgrid under the condition of emergency extreme is further improved.
Drawings
Fig. 1 is a flowchart of an island microgrid secondary control method based on switching topology.
Detailed Description
For the purpose of better understanding the objects, technical solutions and advantages of the present invention, the following detailed description of the present invention with reference to the accompanying drawings and examples should be understood that the specific embodiment described herein is only a preferred embodiment of the present invention, and is only used for explaining the present invention, and not for limiting the scope of the present invention, and all other embodiments obtained by a person of ordinary skill in the art without making creative efforts shall fall within the scope of the present invention.
Example (b):
as shown in fig. 1, one technical solution is an island microgrid secondary control method based on switching topology, which is characterized in that: the method comprises the following steps:
step S1, the mobile emergency generator is used as a distributed generator for carrying out island microgrid scheduling; each island micro-grid area is provided with n distributed generators and a plurality of loads, each generator is provided with a distributed controller, and the n distributed generators are in communication connection with the plurality of loads through the distributed controllers; and characterizing the topological structures of loads and distributed generators in the island micro-grid through an undirected graph.
And step S2, designing a fixed time distributed secondary control method to compensate frequency and voltage errors caused by primary control so as to accurately perform active power distribution.
Step S2 includes the following steps:
s21, balancing the active and reactive demands in the microgrid by adjusting the frequency and the voltage droop amplitude, wherein the control loop formula is as follows:
Figure BDA0003306154580000042
Figure BDA0003306154580000043
wherein, ω isi(t) is the angular frequency of DGi, which is the ith distributed generator,
Figure BDA0003306154580000051
as primary control reference for DGi angular frequency, miIs the coefficient of decline of DGi; pi(t) is the measured active power of DGi; vmi(t) is the voltage magnitude of DGi;
Figure BDA0003306154580000052
primary control reference for DGi voltage outputA value; k is a radical ofiIs the pressure drop coefficient of DGi; qi(t) is the measured reactive power of DGi.
The control strategy for the primary voltage is:
Figure BDA0003306154580000053
Vqi(t)＝0
satisfy the requirement of
Figure BDA0003306154580000054
Is Vdi(t) and VqiThe sum of squares of (t); the droop control loop formula is:
Figure BDA0003306154580000055
the active power distribution comprises the following steps:
at a fixed time TfAnd internally eliminating frequency and voltage deviation, wherein the formula is as follows:
Figure BDA0003306154580000056
Figure BDA0003306154580000057
accurate active power distribution is realized, and the formula is as follows:
Figure BDA0003306154580000058
by secondary control of voltagedi(t) may follow a fixed voltage reference value Vref。
Step S3, designing the distributed finite time controller to adjust the voltage and frequency of all distributed generators to fixed reference levels.
The design of the distributed finite time controller comprises that a frequency recovery method in fixed time is adopted to ensure frequency following and a voltage recovery method in fixed time is adopted to ensure voltage following.
The frequency regulation input and active power regulation input formulas in the frequency recovery method in fixed time are as follows:
Figure BDA0003306154580000059
Figure BDA00033061545800000510
where a and b are positive odd integers such that a < b, α, β, and γ are given positive control gains, sig () is a sign function.
The voltage quadratic control formula in the voltage recovery method in fixed time is as follows:
Figure BDA0003306154580000061
where ε is a given positive scalar quantity, let eV(t)＝[eV1(t),eV2(t),...,eVn(t)]T，eVi(t)＝Vdi(t)-Vref,
Figure BDA0003306154580000062
The second order lyapunov function is given as follows:
Figure BDA0003306154580000063
estimating the upper limit of the stabilization time; the formula is as follows:
Figure BDA0003306154580000064
in the embodiment, a distributed secondary control problem is formulated by considering a switching topology, because the post-disaster communication topology may become unstable, based on the lyapunov theory, a distributed control scheme is provided, the frequency of each Distributed Generator (DG) is restored to a reference level within a limited time, meanwhile, accurate power distribution is achieved within a specified limited time, initial deviation generated by primary control is further ignored, a distributed limited time controller is designed to adjust the voltage of all DGs to the reference level, and robustness of a micro-grid under the condition of dealing with sudden extreme is further improved.
The above-mentioned embodiments are preferred embodiments of the island microgrid secondary control method based on the switching topology, and the scope of the present invention is not limited thereto, and the scope of the present invention includes and is not limited to the embodiments, and all equivalent changes made according to the shape and structure of the present invention are within the scope of the present invention.

Claims (8)

1. An island microgrid secondary control method based on switching topology is characterized in that: the method comprises the following steps:
step S1, the mobile emergency generator is used as a distributed generator for carrying out island microgrid scheduling;
step S2, designing a fixed time distributed secondary control method to compensate frequency and voltage errors caused by primary control so as to accurately distribute active power;
step S3, designing the distributed finite time controller to adjust the voltage and frequency of all distributed generators to fixed reference levels.
2. The island microgrid secondary control method based on switching topology according to claim 1, characterized in that:
step S1 includes the following steps:
each island micro-grid area is provided with n distributed generators and a plurality of loads, each generator is provided with a distributed controller, and the n distributed generators are in communication connection with the plurality of loads through the distributed controllers; and characterizing the topological structures of loads and distributed generators in the island micro-grid through an undirected graph.
3. The island microgrid secondary control method based on switching topology according to claim 1, characterized in that:
step S2 includes the following steps:
s21, balancing the active and reactive demands in the microgrid by adjusting the frequency and the voltage droop amplitude, wherein the control loop formula is as follows:
Figure FDA0003306154570000011
Figure FDA0003306154570000012
wherein, ω isi(t) is the angular frequency of DGi, which is the ith distributed generator,
Figure FDA0003306154570000013
as primary control reference for DGi angular frequency, miIs the coefficient of decline of DGi; pi(t) is the measured active power of DGi; vmi(t) is the voltage magnitude of DGi;
Figure FDA0003306154570000014
a primary control reference value that is the DGi voltage output; k is a radical ofiIs the pressure drop coefficient of DGi; qi(t) is the measured reactive power of DGi.
4. The island microgrid secondary control method based on switching topology is characterized in that:
the control strategy of the primary voltage is
Figure FDA0003306154570000015
Vqi(t)＝0
Satisfy the requirement of
Figure FDA0003306154570000016
Is Vdi(t) and VqiThe sum of squares of (t); the droop control loop formula is:
Figure FDA0003306154570000017
5. the island microgrid secondary control method based on the switching topology is characterized in that:
the active power distribution comprises the following steps:
at a fixed time TfAnd internally eliminating frequency and voltage deviation, wherein the formula is as follows:
Figure FDA0003306154570000021
Figure FDA0003306154570000022
accurate active power distribution is realized, and the formula is as follows:
Figure FDA0003306154570000023
by secondary control of voltagedi(t) may follow a fixed voltage reference value Vref。
6. The island microgrid secondary control method based on switching topology is characterized in that:
the design of the distributed finite time controller comprises that a frequency recovery method in fixed time is adopted to ensure frequency following and a voltage recovery method in fixed time is adopted to ensure voltage following.
7. The island microgrid secondary control method based on switching topology according to claim 6, characterized in that: the frequency regulation input and active power regulation input formulas in the frequency recovery method in fixed time are as follows:
Figure FDA0003306154570000024
Figure FDA0003306154570000025
where a and b are positive odd integers such that a < b, α, β, and γ are given positive control gains, sig () is a sign function.
8. The island microgrid secondary control method based on switching topology according to claim 6, characterized in that: the voltage secondary control formula in the voltage recovery method in fixed time is as follows:
Figure FDA0003306154570000026
where ε is a given positive scalar quantity, let eV(t)＝[eV1(t),eV2(t),...,eVn(t)]T，
Figure FDA0003306154570000028
The second order lyapunov function is given as follows:
Figure FDA0003306154570000027
and then the upper limit of the settling time is estimated.
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CN107465211A (en) * 2017-09-06 2017-12-12 重庆大学 The distributed set time control method for coordinating of isolated island micro-capacitance sensor
EP3591784A1 (en) * 2018-07-06 2020-01-08 ENSEA - Ecole Nationale Supérieure de l'Electronique et de ses Applications Active electrical compensation device
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