CN114530839A - Virtual Direct Current (DC) control strategy for energy storage side bidirectional DC/DC converter - Google Patents
Virtual Direct Current (DC) control strategy for energy storage side bidirectional DC/DC converter Download PDFInfo
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- 238000004146 energy storage Methods 0.000 title claims abstract description 32
- 238000011217 control strategy Methods 0.000 title claims abstract description 22
- 238000013016 damping Methods 0.000 claims abstract description 14
- 239000003990 capacitor Substances 0.000 claims description 9
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 claims description 4
- 230000006641 stabilisation Effects 0.000 claims description 3
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- 238000004088 simulation Methods 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 2
- 238000012795 verification Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 238000005070 sampling Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
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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
- H02J1/00—Circuit arrangements for dc mains or dc distribution networks
- H02J1/10—Parallel operation of dc sources
- H02J1/12—Parallel operation of dc generators with converters, e.g. with mercury-arc rectifier
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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
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
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- 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
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E70/00—Other energy conversion or management systems reducing GHG emissions
- Y02E70/30—Systems combining energy storage with energy generation of non-fossil origin
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Abstract
The invention discloses a virtual direct current motor control method for a bidirectional DC/DC converter at an energy storage side, which comprises the following steps: firstly, a current feedforward model is introduced, so that the voltage sudden change value of a direct current bus can be reduced at the moment of power fluctuation on a direct current side, and the inertia characteristic of a direct current micro-grid is enhanced; and secondly, an integral link is introduced into the traditional U-I droop control, so that the problem that the voltage steady-state error of a direct-current bus cannot be eliminated when the load power of the direct-current side fluctuates in the traditional U-I droop control is solved, and the damping effect of the direct-current micro-grid is enhanced. The control strategy of the invention improves the traditional U-I droop control, and aims to introduce inertia and damping characteristics similar to those of a direct current motor into a direct current micro-grid, thereby maintaining the voltage stability of a direct current bus. Through simulation verification, the control strategy used by the invention is at the moment u of load power fluctuation on the direct current sidedcThe change amplitude of the voltage is smaller, and compared with the control method of the virtual direct current motor under the traditional U-I control, the voltage can be reducedSmall steady state error.
Description
Technical Field
The invention belongs to the technical field of converter control, and particularly relates to a virtual Direct Current (DC) control strategy for a bidirectional DC/DC converter on an energy storage side.
Background
With the rapid development of renewable energy power generation technology, a direct current microgrid is currently considered to be the most effective mode for integrating distributed renewable energy power generation, meanwhile, the requirements of a power system on the quality of electric energy and the overall efficiency are continuously improved, the direct current microgrid has gained more and more attention, the direct current microgrid does not need to consider frequency, phase, reactive power and other factors, the control is simple, and the direct current microgrid becomes one of current research hotspots.
The direct-current micro-grid system consists of photovoltaic, wind power and other distributed power supplies, an energy storage device and alternating-current and direct-current loads, and the direct-current power supplies, the energy storage device and the alternating-current and direct-current loads are connected to a direct-current bus through power electronic converters respectively. Because the output power of the distributed power supply has intermittence and fluctuation along with the change of the self environment, the load is also continuously fluctuated, and particularly the fluctuation of the load has more obvious randomness. Meanwhile, compared with the traditional large power grid, the direct-current micro-grid is not provided with inertia equipment such as a rotating motor, the droop characteristic in the adopted droop control strategy does not provide inertia support, effective inertia response can not be carried out on voltage fluctuation caused by power deviation, and the temporary power difference between a power supply and a load easily causes obvious fluctuation of direct-current bus voltage. Therefore, effective measures need to be taken for the dc micro grid to ensure the stability of the bus voltage thereof.
The traditional virtual inertia research is mainly applied to the control aspect of inverters in alternating-current micro-grids, the control strategies are complex, and the requirements on hardware are high. Therefore, a virtual direct current motor control strategy simulating the characteristics of high damping and large inertia of the direct current motor is provided, the damping and inertia of the direct current micro-grid optical storage converter are improved by simulating the inertial response process of a direct current motor rotor to power fluctuation, the voltage fluctuation of a direct current bus can be effectively inhibited, and the dynamic stability of the direct current bus voltage is enhanced.
Disclosure of Invention
The invention aims to provide a virtual direct current control strategy for an energy storage side bidirectional DC/DC converter, which can effectively improve the inertia and damping characteristics of a direct current microgrid and maintain the stable operation of the direct current microgrid.
The technical scheme adopted by the invention is that a virtual Direct Current (DC) control strategy for the energy storage side bidirectional DC/DC converter is specifically carried out according to the following steps:
and 2, introducing voltage stabilization control on the basis of virtual current feedforward control, and establishing a virtual machine control model of the bidirectional DC/DC converter.
The present invention is also characterized in that,
in the step 1, the method specifically comprises the following steps:
step 1.1, a current distribution equation of the energy storage side bidirectional DC/DC converter is shown as a formula (1):
idc-iout＝icap (1)；
in the formula (1), idcFront side current, i, output for a DC/DC converteroutFor the DC/DC converter to draw current icapTo flow through a DC capacitor CdcThe current of (a);
icapis represented by formula (2):
in the formula (2), CdcAnd GdcRespectively, a DC side capacitor and its admittance, udcAnd UNThe direct current bus voltage and the rated value thereof are respectively;
step 1.2, establishing a current distribution equation of the energy storage side bidirectional DC/DC converter, designing current feedforward control for the energy storage side bidirectional DC/DC converter, and combining the formula (1) and the formula (2) to obtain a formula (3):
step 1.3, establishing a direct current motor rotation equation as shown in formula (4):
in the formula (4), TmAnd TeMechanical torque and electromagnetic torque, respectively, J is moment of inertia, omega and omega0For the actual angular velocity and the nominal angular velocity,
d is a damping coefficient;
step 1.4, introducing virtual capacitor and virtual damping in the control strategy of the bidirectional DC/DC converter to enable the current to flow through CdcThe virtual current of (a) is formula (5):
in the formula (5), CvirAs a virtual capacitor, DvirFor virtual damping, u* dcIs a direct current bus voltage reference value; combining formula (3) with formula (5) to give formula (6):
equation (6) is the virtual current feedforward control of the energy storage side bidirectional DC/DC converter.
In the step 2, the method specifically comprises the following steps:
step 2.1, a traditional U-I droop control expression is shown as a formula (7):
iout_ref＝(UN-udc)·kd (7)；
and 2.2, correcting the traditional U-I droop control expression into a formula (8):
in the formula (8), i* outFor the corrected converter output current reference value, kpAnd kiProportional coefficient and integral coefficient respectively;
and 2.3, bringing the formula (8) into the formula (6) to obtain a formula (9):
expanding to obtain a formula (10), namely a virtual machine control model of the bidirectional DC/DC converter;
compared with the traditional U-I droop control, the virtual machine control strategy provided by the invention can simulate the rotation characteristic and the damping characteristic of the direct current motor by simulating the torque equation of the direct current motor. Firstly, a current feedforward model is introduced, so that the voltage sudden change value of a direct current bus can be reduced at the moment of power fluctuation on a direct current side, and the inertia characteristic of a direct current micro-grid is enhanced; an integral link is introduced into the traditional U-I droop control, so that the problem that the voltage steady-state error of a direct-current bus cannot be eliminated when the load power of a direct-current side fluctuates in the traditional U-I droop control is solved, and the damping effect of the direct-current micro-grid is enhanced.
Drawings
FIG. 1 is a control block diagram of a virtual DC control system for an energy storage side bidirectional DC/DC converter of the present invention;
FIG. 2 is a control object of the virtual DC control system for the energy storage side bidirectional DC/DC converter of the present invention;
FIG. 3 is a graph of a conventional U-I droop control;
FIG. 4 is a DC microgrid simulation system architecture diagram of a virtual DC machine control system for an energy storage side bidirectional DC/DC converter of the present invention;
FIG. 5 shows the DC bus voltage U of the control strategy of the virtual DC motor under the control of the control model and the voltage-current double closed-loop control and the traditional U-I droop control according to the present invention when the load fluctuatesdcAnd (5) simulating a waveform comparison graph.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
According to the virtual direct current motor control system for the energy storage side bidirectional DC/DC converter, as shown in FIG. 1, a control object is a bidirectional DC/DC converter topology shown in FIG. 2, wherein vbIs the terminal voltage of the battery, LbIs an inductance in the converter, rbIs a resistance, ibFor the output of current of the accumulator idcFor the converter front-end output current, ioutFor the converter output current, CdcIs a DC side capacitor, icapIs flowed through CdcCurrent, udcIs the dc bus voltage. The specific structure of the topological circuit is as follows: the left side is connected with a storage battery, and the current direction is switched by two switching tubes of the same bridge arm in the middle (namely S)1Opening S2When the power is turned off, energy flows to the direct current side from the storage battery; s2Opening S1When the converter is turned off, the energy flows from the direct current side to the storage battery), the output of the converter on the right side passes through a voltage stabilizing capacitor CdcIs connected to a direct current bus;
the basic working principle of the bidirectional DC/DC converter is that when the voltage u of a direct current bus isdcHigher than rated voltage UNWhen the system power is excessive, the switch tube S is in the process1Closing, S2The storage battery absorbs the surplus power at the direct current side when the power supply is switched on; when the DC bus voltage is lower than UNWhen the system is in low power, the switch tube S is in the low power2Closing, S1The direct current side is powered on, and the storage battery provides power for the direct current side;
the control system of fig. 1 is implemented by the following steps: obtaining the output current i of the front end of the converter by sampling the converterdcAnd the DC bus voltage udcObtaining i according to formula (5)* outThen, the sample is compared with i obtained by sampling according to the formula (6)dcThe current difference is output u through an inertial damping link* dcAnd u obtained by samplingdcAfter the difference is made, a PI is passeduThe controller and the amplitude limiting link obtain a reference value i of the output current of the storage battery* bAnd the sampled actual output current i of the storage batterybAfter making a difference, passing through a PIiController and clipping element, resulting output transmissionFor PWM pulse signal generator, generating pulse signal to control S1And S2Turn on and turn off of;
pulse Width Modulation (PWM) basic principle: the control mode is to control the on-off of the switch device of the bidirectional DC/DC conversion circuit, so that a series of pulses with equal amplitude are obtained at the output end, and the pulses are used for replacing sine waves or required waveforms. That is, a plurality of pulses are generated in a half cycle of an output waveform, and the equivalent voltage of each pulse is a sine waveform, so that the obtained output is smooth and the low-order ramp wave harmonic is less. The width of each pulse is modulated according to a certain rule, so that the output voltage of the conversion circuit can be changed.
The invention relates to a virtual direct current control strategy for a bidirectional DC/DC converter on an energy storage side, which is specifically carried out according to the following steps:
step 1.1, a current distribution equation of the energy storage side bidirectional DC/DC converter is shown as a formula (1):
idc-iout＝icap (1)；
in the formula (1), idcFront side current, i, output for a DC/DC converteroutFor the DC/DC converter to draw current icapTo flow through a DC capacitor CdcThe dc capacitor generally does not allow a dc current to flow. Therefore, when the DC side voltage is stabilized, icapIs 0; when the DC side voltage fluctuates, the converter needs to supply or absorb power, at which moment icapNo longer 0, the expression is as shown in equation (2):
in the formula (2), CdcAnd GdcRespectively, a DC side capacitor and its admittance, udcAnd UNThe direct current bus voltage and the rated value thereof are respectively;
step 1.2, the output current of the converter changes along with the fluctuation of the direct current bus, so that a current distribution equation of the energy storage side bidirectional DC/DC converter is established, current feedforward control is designed for the energy storage side bidirectional DC/DC converter, and a formula (3) is obtained by combining the formula (1) and the formula (2):
step 1.3, establishing a direct current motor rotation equation as shown in formula (4):
in the formula (4), TmAnd TeMechanical torque and electromagnetic torque, respectively, J is moment of inertia, omega and omega0For the actual angular velocity and the nominal angular velocity,
d is a damping coefficient; due to the existence of the torque equation, the direct current motor has inertia characteristics and damping characteristics in the operation process, and can play a role in buffering when the load current suddenly changes.
Step 1.4, comparing the formula (3) with the formula (4), and comparing the capacitance C of the storage battery side in the general direct current micro-griddcAnd its admittance GdcAnd the level is muF, compared with the rotational inertia J and the damping coefficient D in the direct current motor, the micro-grid is usually very small, inertia cannot be provided for the direct current micro-grid, and extra capacitance and damping need to be introduced, so that the anti-interference capability of the direct current micro-grid in coping with load sudden change is improved.
Therefore, according to the formula (4), virtual capacitance and virtual damping are introduced into the control strategy of the bidirectional DC/DC converter to enable the current to flow through CdcThe virtual current of (a) is formula (5):
in the formula (5), CvirAs a virtual capacitor, DvirFor virtual damping, u* dcIs straightA current bus voltage reference; combining formula (3) with formula (5) to give formula (6):
equation (6) is the virtual current feedforward control of the energy storage side bidirectional DC/DC converter;
step 2.1, a traditional U-I droop control expression is shown in a formula (7):
iout_ref＝(UN-udc)·kd (7)；
in the formula (7), iout_refFor the converter output current reference value, kdFor the droop coefficient, a downward sloping control curve can be obtained, as shown in fig. 3;
step 2.2, as can be seen from fig. 3, when the load changes, the converter outputs current I by adopting the traditional U-I droop controloutWill change, the DC bus voltage deviates from the rated value UNWherein k isdCorresponding to a proportionality coefficient, the direct current bus voltage has a steady-state error. Therefore, in order to maintain the voltage stability of the direct current bus, the traditional U-I droop control expression is modified into the formula (8):
in the formula (8), i* outFor the corrected converter output current reference value, kpAnd kiProportional and integral coefficients, respectively.
And 2.5, bringing the formula (8) into the formula (6) to obtain a formula (9):
unfolding to give formula (10):
constructing a control block diagram of the energy storage bidirectional DC/DC converter according to the formula (10) to obtain a direct current bus voltage reference value u* dcAnd combining with the traditional voltage-current double closed-loop control, further obtaining the virtual direct current control model, as shown in fig. 1.
FIG. 3 is a conventional U-I droop control curve, in which UN+Δvmax、UN-ΔvmaxRespectively, the upper and lower limits of the DC bus voltage, ImaxThe maximum allowable output current of the converter. When the load on the DC side is increased, the DC bus voltage is lower than the rated value UNThe output current of the converter is increased, and the storage battery discharges; when the load is reduced, the voltage of the direct current bus is higher than the rated value UNThe converter output current decreases and the battery is charged. By varying the sag factor kdTo adjust the sag curve.
Fig. 4 is a diagram showing the architecture of a simulation system of a dc microgrid. The photovoltaic side Boost circuit is controlled by Maximum Power Point Tracking (MPPT); the storage battery side bidirectional DC/DC converter adopts the virtual machine control strategy provided by the invention.
From the above analysis, a simulation is built in MATLAB in combination with FIG. 1, FIG. 2 and FIG. 4 to simulate the photovoltaic output power P in the initial statePVIs 5000W; load power PLoadThe initial value was 4920W.
The feasibility of the control strategy of the invention in the load power fluctuation is verified. The illumination intensity and the temperature are kept unchanged. Fig. 5 is a diagram of dc bus voltage waveform when the load power fluctuates, and the load power changes from 4920W to 4450W at 1.0s of simulation and from 4450W to 4780W at 2.0s of simulation. It can be seen that compared with the control strategy of the virtual direct current motor under the control of voltage and current double closed-loop control and the traditional U-I droop control, the control model provided by the invention can reduce the voltage U of the direct current bus at the moment of load fluctuationdcA mutation value, and u can be effectively reduceddcReturn to steady state after steady stateAn error value.
Claims (3)
1. The virtual direct current control strategy for the energy storage side bidirectional DC/DC converter is characterized by comprising the following steps of:
step 1, designing virtual current feedforward control of a bidirectional DC/DC converter on an energy storage side;
and 2, introducing voltage stabilization control on the basis of virtual current feedforward control, and establishing a virtual machine control model of the bidirectional DC/DC converter.
2. The virtual direct current control strategy for the energy storage side bidirectional DC/DC converter according to claim 1, wherein in the step 1, specifically:
step 1.1, a current distribution equation of the energy storage side bidirectional DC/DC converter is shown as a formula (1):
idc-iout＝icap (1)；
in the formula (1), idcFront side current, i, output for a DC/DC converteroutFor the DC/DC converter to draw current icapTo flow through a DC capacitor CdcThe current of (a);
icapis represented by formula (2):
in the formula (2), CdcAnd GdcRespectively, a DC side capacitor and its admittance, udcAnd UNThe direct current bus voltage and the rated value thereof are respectively;
step 1.2, establishing a current distribution equation of the energy storage side bidirectional DC/DC converter, designing current feedforward control for the energy storage side bidirectional DC/DC converter, and combining the formula (1) and the formula (2) to obtain a formula (3):
step 1.3, establishing a direct current motor rotation equation as shown in formula (4):
in the formula (4), TmAnd TeMechanical torque and electromagnetic torque, respectively, J is moment of inertia, omega and omega0For the actual angular velocity and the nominal angular velocity,
d is a damping coefficient;
step 1.4, introducing virtual capacitor and virtual damping in the control strategy of the bidirectional DC/DC converter to enable the current to flow through CdcThe virtual current of (a) is formula (5):
in the formula (5), CvirAs a virtual capacitor, DvirFor virtual damping, u* dcIs a direct current bus voltage reference value; combining formula (3) with formula (5) to give formula (6):
equation (6) is the virtual current feedforward control of the energy storage side bidirectional DC/DC converter.
3. The virtual direct current control strategy for the energy storage side bidirectional DC/DC converter according to claim 2, wherein in the step 2, specifically:
step 2.1, a traditional U-I droop control expression is shown as a formula (7):
iout_ref＝(UN-udc)·kd (7)；
and 2.2, correcting the traditional U-I droop control expression into a formula (8):
in the formula (8), i* outFor the corrected converter output current reference value, kpAnd kiProportional coefficient and integral coefficient respectively;
and 2.3, bringing the formula (8) into the formula (6) to obtain a formula (9):
expanding to obtain a formula (10), namely a virtual machine control model of the bidirectional DC/DC converter;
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109638889A (en) * | 2019-01-15 | 2019-04-16 | 广东志成冠军集团有限公司 | The DC side inertia that island bavin stores up mixed power supply system enhances control method |
| CN112242788A (en) * | 2020-10-21 | 2021-01-19 | 西安理工大学 | Virtual direct current motor control method applied to bidirectional DC/DC converter |
| CN113241753A (en) * | 2021-06-09 | 2021-08-10 | 大连海事大学 | Improved virtual generator control method for direct-current micro-grid |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109638889A (en) * | 2019-01-15 | 2019-04-16 | 广东志成冠军集团有限公司 | The DC side inertia that island bavin stores up mixed power supply system enhances control method |
| WO2020147193A1 (en) * | 2019-01-15 | 2020-07-23 | 广东志成冠军集团有限公司 | Dc-side inertia enhancement control method for island diesel-storage hybrid power supply system |
| CN112242788A (en) * | 2020-10-21 | 2021-01-19 | 西安理工大学 | Virtual direct current motor control method applied to bidirectional DC/DC converter |
| CN113241753A (en) * | 2021-06-09 | 2021-08-10 | 大连海事大学 | Improved virtual generator control method for direct-current micro-grid |
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| Title |
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| 崔健等: "一种新型虚拟直流电机控制技术", 《中国电机工程学报》, vol. 39, no. 10, 20 May 2019 (2019-05-20), pages 3029 - 2038 * |
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