CN114597914A - Active power loop control method and device of virtual synchronous generator and electronic equipment - Google Patents

Active power loop control method and device of virtual synchronous generator and electronic equipment Download PDF

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Publication number
CN114597914A
CN114597914A CN202210253295.8A CN202210253295A CN114597914A CN 114597914 A CN114597914 A CN 114597914A CN 202210253295 A CN202210253295 A CN 202210253295A CN 114597914 A CN114597914 A CN 114597914A
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synchronous generator
virtual synchronous
angular frequency
equation
power
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Inventor
李航
陈健
韩俊飞
任永峰
陶军
张一帆
王宇强
俞超宇
祝荣
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Inner Mongolia Electric Power Research Institute of Inner Mongolia Power Group Co Ltd
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Inner Mongolia Electric Power Research Institute of Inner Mongolia Power Group 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
    • H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
    • H02J3/241—The oscillation concerning frequency
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/381—Dispersed generators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/38—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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
    • H02J3/48—Controlling the sharing of the in-phase component
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
    • H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
    • 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
    • H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
    • H02J2300/20—The dispersed energy generation being of renewable origin
    • 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
    • H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
    • H02J2300/40—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation wherein a plurality of decentralised, dispersed or local energy generation technologies are operated simultaneously

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Eletrric Generators (AREA)

Abstract

The present disclosure provides an active loop control method, device and electronic device of a virtual synchronous generator, by obtaining the output active power and output angular frequency of the virtual synchronous generator; determining an angular frequency characteristic equation corresponding to the virtual synchronous generator according to a rotor motion equation of the virtual synchronous generator; determining a power frequency control equation corresponding to the virtual synchronous generator based on uncertainty and a disturbance estimation control algorithm according to an angular frequency characteristic equation; constructing an active ring control model corresponding to the virtual synchronous generator according to the power frequency control program; and taking the difference value of the output active power and the preset target input active power as the input of the active loop control model, and outputting an output voltage phase angle corresponding to the virtual synchronous generator by the active loop control model. The power frequency oscillation phenomenon of the virtual synchronous generator system can be effectively inhibited, and the robustness is high.

Description

Active power loop control method and device of virtual synchronous generator and electronic equipment
Technical Field
The disclosure relates to the technical field of power systems, in particular to an active loop control method and device of a virtual synchronous generator and electronic equipment.
Background
At present, with the increasing of the power generation proportion of new energy, but the traditional distributed power grid-connected inverter has the characteristic of high response speed under the high permeability, the operation stability of the system frequency is easily reduced due to the lack of inertia and damping, and therefore a grid-connected inverter control strategy based on a Virtual Synchronous Generator (VSG) concept is provided. The VSG technology is characterized in that a Synchronous Generator (SG) swing equation is introduced on the basis of traditional droop control, so that a grid-connected inverter can simulate SG transient characteristics to participate in system frequency modulation and voltage regulation, and inertial support is provided. When the system power is unbalanced, the VSG can reduce the frequency fluctuation by using the virtual inertia and the damping, and the stable operation capacity of the system is further improved.
However, the problem of power frequency oscillation is inevitably introduced by adopting a VSG technology to provide inertia support for a system, wherein the influence of rotational inertia and a damping coefficient on an active ring is particularly prominent, when a synchronous generator is subjected to step disturbance of an input active instruction, active power under the step disturbance is not immediately stabilized at a target active power but swings in a certain power region due to inertia action, and finally is finally stabilized at an initial value under the damping action, and the frequency and the power also swing, so that the power frequency oscillation phenomenon occurs in the system, and further the stability of the power system is reduced.
Disclosure of Invention
The embodiment of the disclosure at least provides an active loop control method and device of a virtual synchronous generator and an electronic device, which can effectively suppress the active frequency oscillation phenomenon of a virtual synchronous generator system and have higher robustness.
The embodiment of the disclosure provides an active loop control method of a virtual synchronous generator, which comprises the following steps:
determining an angular frequency characteristic equation corresponding to a virtual synchronous generator according to a rotor motion equation of the virtual synchronous generator;
determining a power frequency control equation corresponding to the virtual synchronous generator based on uncertainty and disturbance estimation control algorithm according to the angular frequency characteristic equation;
constructing an active ring control model corresponding to the virtual synchronous generator according to the active frequency control program;
acquiring output active power of the virtual synchronous generator;
and taking the difference value of the output active power and a preset target input active power as the input of the active loop control model, and outputting an output voltage phase angle corresponding to the virtual synchronous generator by the active loop control model.
In an optional implementation manner, the determining, according to the angular frequency characteristic equation, a power frequency control equation corresponding to the virtual synchronous generator based on an uncertainty and disturbance estimation control algorithm specifically includes:
acquiring a target output angular frequency preset by the virtual synchronous generator;
determining an angular frequency tracking error equation corresponding to the virtual synchronous generator according to a preset state quantity coefficient matrix and an error feedback gain, wherein the angular frequency tracking error equation is used for enabling the output angular frequency corresponding to the virtual synchronous generator to accurately track the change of the target output angular frequency;
determining a power frequency characteristic equation corresponding to the virtual synchronous generator according to the angular frequency tracking error equation, the angular frequency characteristic equation, the target output angular frequency and a preset control coefficient matrix, wherein the power frequency characteristic equation comprises a lumped disturbance term;
determining a lumped disturbance equation corresponding to the virtual synchronous generator according to a unit impulse response corresponding to a preset filter;
and replacing the lumped disturbance term by the lumped disturbance equation to determine the power frequency control equation.
In an optional implementation manner, the constructing an active loop control model corresponding to the virtual synchronous generator according to the active frequency control program specifically includes:
constructing an uncertainty and disturbance estimation control unit according to the power frequency control program;
an integral control unit and a proportion control unit are sequentially arranged behind the uncertainty and disturbance estimation control unit, wherein the proportion control unit is determined according to an inverter output voltage effective value, a power grid voltage effective value and an equivalent impedance effective value corresponding to the virtual synchronous generator;
and determining the uncertainty and disturbance estimation control unit, the integral control unit and the proportional control unit as the active loop control model.
In an optional embodiment, the determining, according to a rotor motion equation of a virtual synchronous generator, an angular frequency characteristic equation corresponding to the virtual synchronous generator specifically includes:
determining the corresponding rotational inertia and damping coefficient of the virtual synchronous generator and the rated angular frequency of the power grid;
and determining the angular frequency characteristic equation according to the rotational inertia, the damping coefficient and the rated angular frequency of the power grid, wherein the angular frequency characteristic equation is used for reflecting the relationship among the angular frequency corresponding to the virtual synchronous generator, the mechanical power corresponding to the virtual synchronous generator and the difference value of the output active power.
In an optional implementation manner, the determining, according to a unit impulse response corresponding to a preset filter, a lumped disturbance equation corresponding to the virtual synchronous generator specifically includes:
and carrying out convolution operation on the unit impulse response and the lumped disturbance term to obtain the lumped disturbance equation.
In an optional embodiment, the angular frequency tracking error value corresponding to the angular frequency tracking error equation gradually converges to zero;
the filter adopts a first-order low-pass filter.
The embodiment of the present disclosure further provides a control device of an active loop of a virtual synchronous generator, where the control device includes:
the first determination module is used for determining an angular frequency characteristic equation corresponding to the virtual synchronous generator according to a rotor motion equation of the virtual synchronous generator;
the second determination module is used for determining a power frequency control equation corresponding to the virtual synchronous generator based on uncertainty and a disturbance estimation control algorithm according to the angular frequency characteristic equation;
the building module is used for building an active ring control model corresponding to the virtual synchronous generator according to the active frequency control program;
the acquisition module is used for acquiring the output active power of the virtual synchronous generator;
and the control module is used for taking the difference value of the output active power and preset target input active power as the input of the active loop control model, and outputting the output voltage phase angle corresponding to the virtual synchronous generator by the active loop control model.
In an optional implementation manner, the second determining module is specifically configured to:
acquiring a target output angular frequency preset by the virtual synchronous generator;
determining an angular frequency tracking error equation corresponding to the virtual synchronous generator according to a preset state quantity coefficient matrix and an error feedback gain, wherein the angular frequency tracking error equation is used for enabling the output angular frequency corresponding to the virtual synchronous generator to accurately track the change of the target output angular frequency;
determining a power frequency characteristic equation corresponding to the virtual synchronous generator according to the angular frequency tracking error equation, the angular frequency characteristic equation, the target output angular frequency and a preset control coefficient matrix, wherein the power frequency characteristic equation comprises a lumped disturbance term;
determining a lumped disturbance equation corresponding to the virtual synchronous generator according to a unit impulse response corresponding to a preset filter;
and replacing the lumped disturbance term by using the lumped disturbance equation to determine the power frequency control equation.
In an optional implementation manner, the building module is specifically configured to:
constructing an uncertainty and disturbance estimation control unit according to the power frequency control program;
an integral control unit and a proportion control unit are sequentially arranged behind the uncertainty and disturbance estimation control unit, wherein the proportion control unit is obtained by determining an inverter output voltage effective value, a power grid voltage effective value and an equivalent impedance effective value corresponding to the virtual synchronous generator;
and determining the uncertainty and disturbance estimation control unit, the integral control unit and the proportional control unit as the active loop control model.
In an optional implementation manner, the first determining module is specifically configured to:
determining the corresponding rotational inertia and damping coefficient of the virtual synchronous generator and the rated angular frequency of the power grid;
and determining the angular frequency characteristic equation according to the rotational inertia, the damping coefficient and the rated angular frequency of the power grid, wherein the angular frequency characteristic equation is used for reflecting the relationship among the angular frequency corresponding to the virtual synchronous generator, the mechanical power corresponding to the virtual synchronous generator and the difference value of the output active power.
In an optional implementation, the second determining module is further configured to:
and carrying out convolution operation on the unit impulse response and the lumped disturbance term to obtain the lumped disturbance equation.
An embodiment of the present disclosure further provides an electronic device, including: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is running, the machine readable instructions when executed by the processor performing the above-described method of active loop control of a virtual synchronous generator, or the steps in any one of the possible embodiments of the above-described method of active loop control of a virtual synchronous generator.
The embodiments of the present disclosure also provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program executes the method for controlling an active loop of the virtual synchronous generator or the steps in any possible implementation manner of the method for controlling an active loop of the virtual synchronous generator.
The active power loop control method, the active power loop control device and the electronic equipment of the virtual synchronous generator provided by the embodiment of the disclosure are characterized in that the output active power of the virtual synchronous generator is obtained; determining an angular frequency characteristic equation corresponding to the virtual synchronous generator according to a rotor motion equation of the virtual synchronous generator; determining a power frequency control equation corresponding to the virtual synchronous generator based on uncertainty and a disturbance estimation control algorithm according to an angular frequency characteristic equation; constructing an active ring control model corresponding to the virtual synchronous generator according to the power frequency control program; and taking the difference value of the output active power and the preset target input active power as the input of the active loop control model, and outputting an output voltage phase angle corresponding to the virtual synchronous generator by the active loop control model. The power frequency oscillation phenomenon of the virtual synchronous generator system can be effectively inhibited, and the robustness is high.
In order to make the aforementioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly described below, and the drawings herein incorporated in and forming a part of the specification illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the technical solutions of the present disclosure. It is appreciated that the following drawings depict only certain embodiments of the disclosure and are therefore not to be considered limiting of its scope, for those skilled in the art will be able to derive additional related drawings therefrom without the benefit of the inventive faculty.
FIG. 1 illustrates a schematic diagram of a virtual synchronous generator main circuit topology and control architecture provided by an embodiment of the present disclosure;
FIG. 2 is a schematic diagram illustrating an angular frequency root locus provided by an embodiment of the present disclosure;
fig. 3 is a schematic diagram illustrating an active power closed loop root locus provided by an embodiment of the present disclosure;
FIG. 4 is a schematic diagram illustrating an angular frequency response characteristic provided by an embodiment of the present disclosure;
fig. 5 is a schematic diagram illustrating an active power response characteristic provided by an embodiment of the present disclosure;
FIG. 6 illustrates a flow chart of a method for active loop control of a virtual synchronous generator provided by an embodiment of the present disclosure;
fig. 7 illustrates a schematic structural diagram of an active loop control model provided in an embodiment of the present disclosure;
fig. 8 is a waveform diagram illustrating an angular frequency tracking error under an active command disturbance according to an embodiment of the present disclosure;
fig. 9 is a waveform diagram illustrating a corner frequency response under an active command disturbance provided by an embodiment of the present disclosure;
fig. 10 is a waveform diagram illustrating a corner frequency response under a grid frequency disturbance according to an embodiment of the present disclosure;
fig. 11 is a schematic waveform diagram illustrating an active power response under an active command disturbance according to an embodiment of the present disclosure;
FIG. 12 is a waveform diagram illustrating an active power response under a grid frequency disturbance according to an embodiment of the present disclosure;
fig. 13 is a schematic diagram illustrating an active loop control apparatus of a virtual synchronous generator provided in an embodiment of the present disclosure;
fig. 14 shows a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, not all of the embodiments. The components of the embodiments of the present disclosure, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure, presented in the figures, is not intended to limit the scope of the claimed disclosure, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the disclosure without making creative efforts, shall fall within the protection scope of the disclosure.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.
The term "and/or" herein merely describes an associative relationship, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.
Research shows that the problem of power frequency oscillation is inevitably introduced when inertia support is provided for a system by adopting a VSG technology at present, wherein the influence of rotational inertia and a damping coefficient on an active ring is particularly prominent, when a synchronous generator is subjected to step disturbance of an input active instruction, active power under the step disturbance cannot be immediately stabilized at a target active power but swings in a certain power area due to the inertia effect, and finally is stabilized at an initial value under the damping effect, the frequency also swings like the power, and the power frequency oscillation phenomenon occurs in the system, so that the stability of the power system is reduced.
Based on the research, the present disclosure provides an active loop control method, apparatus and electronic device for a virtual synchronous generator, by obtaining an output active power and an output angular frequency of the virtual synchronous generator; determining an angular frequency characteristic equation corresponding to the virtual synchronous generator according to a rotor motion equation of the virtual synchronous generator; determining a power frequency control equation corresponding to the virtual synchronous generator based on uncertainty and a disturbance estimation control algorithm according to an angular frequency characteristic equation; constructing an active ring control model corresponding to the virtual synchronous generator according to the power frequency control program; and taking the difference value of the output active power and the preset target input active power as the input of the active loop control model, and outputting an output voltage phase angle corresponding to the virtual synchronous generator by the active loop control model. The power frequency oscillation phenomenon of the virtual synchronous generator system can be effectively inhibited, and the robustness is high.
For facilitating understanding of the present embodiment, first, a virtual synchronous generator main circuit topology and a control structure disclosed in the embodiments of the present disclosure are described in detail, and refer to fig. 1, which is a schematic diagram of a virtual synchronous generator main circuit topology and a control structure provided in the embodiments of the present disclosure.
As shown in FIG. 1, the DC side voltage of the virtual synchronous generator can be directly supplied from the DC power source UdcInstead of this; e.g. of the typeabc＝[ea eb ec]TRepresents the inverse ofA neutral point voltage of a converter arm; u. ofabc＝[ua ub uc]TRepresenting the inverter output terminal voltage; u. ugabc＝[uga ugb ugc]TRepresenting the grid voltage; l issRepresents a filter inductance; c represents a filter capacitor; r represents parasitic resistance; i.e. iLabc＝[iLa iLb iLc]TRepresenting the filter inductor current; l isgIs a line inductance; peRepresenting the output active power of the virtual synchronous generator; qeRepresenting the output reactive power of the virtual synchronous generator. PsetRepresenting an input active command value of the virtual synchronous generator; qsetA reactive power command value representing a virtual synchronous generator; delta represents the phase of the given value of the output voltage; emRepresenting the magnitude of the output voltage setpoint.
The control principle of the VSG technology is that an SG swinging equation is introduced on the basis of the traditional droop control, so that the inverter can simulate SG transient characteristics to participate in frequency modulation and voltage regulation of the system, an inertial support is provided for the system, and the operation stability of the system is improved.
During the specific application of the virtual synchronous generator, when the virtual synchronous generator is subjected to step disturbance of an input active command, a power frequency oscillation phenomenon occurs in the system, for example, when the active command is stepped from P1 to P2, the active power of the system swings. Due to inertia, the active power does not immediately stabilize at P2 under the step disturbance, but swings from the power region between P1 and P2 into the power region larger than P2. After reaching the maximum value P3, the damping device moves from the power region between P2 and P3 to the power region between P1 and P2, and reciprocates in such a way, and is finally stabilized at P2 under the damping action. For the same reason, the frequency also oscillates and eventually stabilizes at the initial value under the action of the damping.
Further, based on the schematic diagram of the virtual synchronous generator main circuit topology and the control structure shown in fig. 1, it can be derived that the angular frequency response and the active power response closed-loop transfer functions based on the active command step are respectively:
Figure BDA0003547505350000081
Figure BDA0003547505350000082
the formula (1) is an angular frequency response closed-loop transfer function based on active instruction steps, the formula (2) is an active power response closed-loop transfer function based on active instruction steps, and Pm represents mechanical power; j represents moment of inertia; d represents a damping coefficient in the formula (2)
Figure BDA0003547505350000083
E represents the effective value of the output voltage of the inverter; u represents the effective value of the voltage of the power grid; z represents the effective value of the equivalent impedance.
Furthermore, the influence of the rotational inertia and the damping coefficient on the power frequency oscillation characteristic can be analyzed by drawing the root track of the closed-loop transfer function of the system output angular frequency and the active power and the corresponding input active instruction step response simulation waveform. Referring to fig. 2 and fig. 3, fig. 2 is a schematic diagram of an angular frequency root locus provided in an embodiment of the present disclosure; fig. 3 is a schematic diagram of an active power closed-loop root locus provided by an embodiment of the present disclosure.
As shown in FIGS. 2 and 3, when the rated capacity is set to 20kVA, D ∈ [5,25], J ∈ [0.05,2 ]. Along with the increase of the rotational inertia J, the angular frequency and the active power closed-loop pole are gradually close to the virtual axis, the system stability margin is small, and the oscillation is intensified. And as the damping coefficient D increases, the pole of the closed loop gradually gets away from the virtual axis, and the oscillation weakens.
Further, referring to fig. 4 and 5, fig. 4 is a schematic diagram of an angular frequency response characteristic provided by the embodiment of the present disclosure; fig. 5 is a schematic diagram of an active power response characteristic curve provided in an embodiment of the present disclosure.
As shown in fig. 4 and 5, as the inertia moment J increases, the angular frequency and the active power overshoot increase, the adjustment time becomes longer, and the oscillation becomes worse. And as the damping is increased, the overshoot is reduced, the adjustment time is shortened, and the oscillation is weakened. Therefore, the factors which have large influence on the system power frequency oscillation mainly comprise the moment of inertia J and the damping coefficient D.
Next, a detailed description is given of an active loop control method of a virtual synchronous generator disclosed in the embodiments of the present disclosure, where an execution main body of the active loop control method of the virtual synchronous generator provided in the embodiments of the present disclosure is generally a computer device with certain computing capability, and the computer device includes, for example: a terminal device, which may be a User Equipment (UE), a mobile device, a User terminal, a cellular phone, a cordless phone, a Personal Digital Assistant (PDA), a handheld device, a computing device, a vehicle mounted device, a wearable device, or a server or other processing device. In some possible implementations, the active loop control method of the virtual synchronous generator may be implemented by a processor calling computer readable instructions stored in a memory.
Referring to fig. 6, a flowchart of a method for controlling an active loop of a virtual synchronous generator according to an embodiment of the present disclosure is shown, where the method includes steps S601 to S605, where:
s601, determining an angular frequency characteristic equation corresponding to the virtual synchronous generator according to a rotor motion equation of the virtual synchronous generator.
In the step, an angular frequency characteristic equation reflecting the relationship between the angular frequency and the power of the virtual synchronous generator is determined according to a rotor motion equation (a swing equation) of the virtual synchronous generator.
In a specific implementation process, an angular frequency characteristic equation is determined based on the following method: determining the corresponding rotational inertia and damping coefficient of the virtual synchronous generator and the rated angular frequency of the power grid; and determining the angular frequency characteristic equation according to the rotational inertia, the damping coefficient and the rated angular frequency of the power grid, wherein the angular frequency characteristic equation is used for reflecting the relationship among the angular frequency corresponding to the virtual synchronous generator, the mechanical power corresponding to the virtual synchronous generator and the difference value of the output active power.
Here, the rotor motion equation (roll equation) of the virtual synchronous generator is:
Figure BDA0003547505350000091
wherein, TmRepresents mechanical torque, Tm ═ Pm/ω，PmRepresents mechanical power; t iseRepresenting electromagnetic torque, Te＝Pe/ω，PeRepresents electromagnetic power; delta represents the voltage phase angle, omeganRepresenting the rated angular frequency of the power grid; j represents moment of inertia; d represents the damping coefficient. The VSG outputs active power through active loop control, participates in primary frequency modulation of the system, and provides inertial support and damps system oscillation for the system.
Further, according to the formula (3), it can be derived that the angular frequency characteristic equation corresponding to the virtual synchronous generator is:
Figure BDA0003547505350000092
here, let Ps＝Pm-PeAs system control inputs; the angular frequency ω is used as a control variable, and the above equation (4) can be further simplified as:
Figure BDA0003547505350000093
wherein the content of the first and second substances,
Figure BDA0003547505350000094
the moment of inertia J in the polynomial denominator is not zero and Δ ω can be considered bounded.
S602, determining a power frequency control equation corresponding to the virtual synchronous generator based on uncertainty and disturbance estimation control algorithm according to the angular frequency characteristic equation.
In the step, because an Uncertainty and Disturbance estimation control (UDE) algorithm has obvious advantages in solving the problem of system oscillation caused by parameter Uncertainty and external Disturbance, and has strong system robustness, the UDE algorithm is adopted to determine the power frequency control equation corresponding to the virtual synchronous generator.
Here, first, a first-order linear time-invariant system is taken as an example to briefly introduce the principle of the UDE control theory, and a corresponding first-order dynamic system may be:
Figure BDA0003547505350000101
wherein x is (x)1，…，xn，)TRepresenting a control state quantity; u (t) ═ u1(t),…,un(t)]TRepresents a system control input; a represents a known state quantity coefficient matrix; f represents an unknown uncertain state quantity coefficient matrix; b represents a control coefficient matrix and meets the column full rank; d (t) represents an external perturbation.
In order to make the system state quantity x progressively track the reference model state quantity x by selecting a suitable control input u (t)mAnd further, the gradual convergence of the state error to 0 is realized, so that the expression of the reference model can be set as follows:
Figure BDA0003547505350000102
wherein x ismRepresenting a reference model state quantity; c (t) represents a reference model given quantity; a. themA state quantity coefficient matrix representing a reference model; b ismA matrix of control coefficients representing a reference model.
Further, the formula for the state error e can be expressed as:
e＝xm-x (8)
further, the appropriate control input u (t) is selected such that the following equation (9) holds:
Figure BDA0003547505350000103
wherein A ismLess than 0, K less than 0; k represents the error feedback gain.
Further, by combining the formulas (6) to (9), it is possible to obtain:
Amx+BmC(t)-Ax-Fx-Bu(t)-d(t)＝Ke (10)
the control input u (t) can be expressed according to equation (10) as:
u(t)＝B+[Amx+BmC(t)-Ax-Fx-d(t)-Ke] (11)
wherein B + represents the pseudo-inverse of the control coefficient matrix B, B+＝(BTB)-1BT。
Here, in order to satisfy the condition error, which gradually converges to 0, it is necessary to satisfy the following equation (12) from equation (11):
[I-BB+][Amx+BmC(t)-Ax-Fx-d(t)-Ke]＝0 (12)
here, if B is reversible, the above equation (12) holds. If B is not reversible, this can be achieved by selecting a suitable reference model and error feedback gain.
Further, by converting the above equation (11) to the S domain by laplace transform, the following equation (13) can be obtained:
U(s)＝B+[AmX(s)+BmC(s)-AX(s)-KE(s)]+B+[-FX(s)-D(s)] (13)
as can be seen from equation (13):
Ud(s)＝B+[-FX(s)-D(s)] (14)
further, since the core idea of UDE is to equate uncertainty and disturbance in the system to lumped disturbance, the lumped disturbance is estimated with a filter with a suitable bandwidth. Thus, if there is a filter G with unity gainf(s) has a suitable bandwidth, then UDE can be expressed as:
UDE＝B+[-FX(s)-DX(s)]Gf(s) (15)
thus, based on equations (6) through (15), the control law based on UDE can be expressed as:
U(s)＝B+[AmX(s)+BmC(s)-AX(s)-KE(s)]+UDE (16)
by combining equation (16) with equation (15), we can obtain:
U(s)＝(I-B+BGf(s))-1B+[Amx+BmC-KE-AX(1-Gf(s))-sGf(s)X] (17)
thus, as can be seen from the above description, the control law of the UDE control strategy can be expressed in the form of equation (17).
Further, the UDE control algorithm described in the formula (6) to the formula (15) is applied to determine the power frequency control equation corresponding to the virtual synchronous generator, and the specific process may be as follows: acquiring a target output angular frequency preset by the virtual synchronous generator; determining an angular frequency tracking error equation corresponding to the virtual synchronous generator according to a preset state quantity coefficient matrix and an error feedback gain, wherein the angular frequency tracking error equation is used for enabling the output angular frequency to accurately track the change of the target output angular frequency; determining a power frequency characteristic equation corresponding to the virtual synchronous generator according to the angular frequency tracking error equation, the angular frequency characteristic equation, the target output angular frequency and a preset control coefficient matrix, wherein the power frequency characteristic equation comprises a lumped disturbance term; determining a lumped disturbance equation corresponding to the virtual synchronous generator according to a unit impulse response corresponding to a preset filter; and replacing the lumped disturbance term by the lumped disturbance equation to determine the power frequency control equation.
Specifically, it can be known from step S601 that the angular frequency characteristic equation corresponding to the virtual synchronous generator can be simplified to the form of formula (6), and therefore, based on the UDE control algorithm, it is necessary to select an appropriate control input PsInput command omega can be accurately tracked by output angular frequency omega of virtual synchronous generatorrefI.e. a change in the preset target output angular frequency. Therefore, the tracking error e can be expressed according to the formula (9)ω＝ωrefThe angular frequency tracking error equation for ω is expressed as:
Figure BDA0003547505350000121
wherein A ismRepresenting a preset control coefficient matrix; k omega represents the error feedback gain and the angular frequency tracking error value eωEventually, it can gradually converge to 0, so that the angular frequency tracking error equation represented by equation (18) is gradually stable.
Further, combining equation (5) with equation (18) can obtain:
Figure BDA0003547505350000122
further, the formula (19) is sorted to obtain a power frequency characteristic equation corresponding to the virtual synchronous generator, namely, the control input PsThe requirements are as follows:
Figure BDA0003547505350000123
wherein C is an angular frequency set value,
Figure BDA0003547505350000124
and the delta omega is used as a lumped disturbance term and consists of two parts of uncertainty of internal parameters of the system and unknown external disturbance of the system.
Further, selecting a proper bandwidth filter to estimate the lumped disturbance, the UDE-based lumped disturbance equation can be expressed by the following formula (21):
Figure BDA0003547505350000125
here, the unit impulse response and the lumped disturbance term are subjected to convolution operation to obtain the lumped disturbance equation.
Wherein, is the convolution symbol, gfOf filters gf(s)The unit impulse response, gf(s), needs to be strictly truly stable and have a suitable bandwidth.
Further, the lumped disturbance term Δ ω in the formula (20) is replaced by the formula (21), and after the formula is arranged, the following results are obtained:
Figure BDA0003547505350000126
here, the uncertainty and external disturbance that affect power frequency oscillation, including the moment of inertia, damping coefficient, input active command, and grid frequency, are replaced with lumped disturbance, and the lumped disturbance is estimated by selecting an appropriate filter. Since uncertainty and external disturbance affecting power frequency oscillation are mostly in a low frequency range, an order low pass filter gf(s) is selected in the present embodiment.
For the first order low pass filter gf(s), it is the corresponding unit impulse response gfThe laplace transform of (g), gf(s), can be expressed as:
Figure BDA0003547505350000131
wherein T is 1/omegafT represents a response time constant; omegafThe lumped upper limit of the disturbance band in the system. When ω is<ωfThe filter maintains unity gain. When ω is>ωfThe gain attenuation is 0.
Further, by combining the formula (22) and the formula (23), a power frequency control program corresponding to the virtual synchronous generator can be obtained:
Figure BDA0003547505350000132
thus, uncertainty and unknown perturbation terms are not already contained in equation (24).
S603, constructing an active ring control model corresponding to the virtual synchronous generator according to the active frequency control program.
In this step, the active loop control structure of the virtual synchronous generator is established according to the formula (24), and when the lumped disturbance Δ ω is bounded, the filter gf(s) is strictly true and stable and keeps the unit output gain in the frequency band of Δ ω and the gain is attenuated to 0 in other ranges, the active loop control structure of the virtual synchronous generator is bounded and stable.
As a possible implementation manner, referring to fig. 7, fig. 7 is a schematic structural diagram of an active loop control model provided in an embodiment of the present disclosure.
Specifically, an uncertainty and disturbance estimation control unit is constructed according to the power frequency control program; an integral control unit and a proportion control unit are sequentially arranged behind the uncertainty and disturbance estimation control unit, wherein the proportion control unit is obtained by determining an inverter output voltage effective value, a power grid voltage effective value and an equivalent impedance effective value corresponding to the virtual synchronous generator; and determining the uncertainty and disturbance estimation control unit, the integral control unit and the proportional control unit as the active loop control model.
As shown in FIG. 7, the integral control unit is 1/S; the proportional control unit is SEWherein the proportional control unit is SECan be determined according to the above equation (2).
Here, the error feedback gain K is obtained by adjusting the reference modelωAnd a filter Gf(s) parameters to ensure asymptotically stable tracking to achieve sufficiently high steady state adjustment accuracy. Because the filter bandwidth selection needs to be larger than the lumped disturbance bandwidth and the requirement of the system on the target tracking capability is considered, the cut-off frequency omega of the first-order low-pass filter can be selected in the practical application processf＝20π，KωAs the bandwidth of the desired error step response, its value should be less than ωf. Setting reference model parameters C as 100 pi, | Am|＝|Bm|。
As a possible implementation, the parameter settings of the active loop control model may be as shown in table 1 below:
TABLE 1 UDE-based active Ring control model parameters
Parameter(s) Numerical value Parameter(s) Numerical value
ωf/rad·s-1 20π Am -0.02
Kω -0.08 Bm 0.02
S604, acquiring the output active power and the output angular frequency of the virtual synchronous generator.
In the step, the output active power P of the virtual synchronous generator is obtainedeAnd an output angular frequency omega.
And S605, taking the difference value of the output active power and a preset target input active power as the input of the active loop control model, and outputting an output voltage phase angle corresponding to the virtual synchronous generator by the active loop control model.
In this step, the output active power P is calculatedeAnd the preset target input active power PsetThe difference value of the virtual synchronous generator is used as the input of the active loop control model, and the active loop control model outputs an output voltage phase angle delta corresponding to the virtual synchronous generator.
Specifically, the active loop control model may be located in a virtual synchronization and control module in a virtual synchronous generator control structure as shown in fig. 1, an output voltage phase angle δ output by the active loop control model is input to a voltage-current dual-loop control link in the virtual synchronous generator control structure as shown in fig. 1, an output angular frequency ω output by the uncertainty and disturbance estimation control unit and an output active power P output by the output voltage phase angle δ via a proportional linkeThe negative feedback returns to the input of the active loop control model to circulate and continuously compensate the tracking error eωMake the angular frequency tracking error eωGradually converging to 0.
As a possible implementation manner, in the embodiment of the application, a single 20kW virtual synchronous machine grid-connected simulation model is built based on a Matlab/Simulink software platform, and specific parameters are shown in table 2 below:
TABLE 2 virtual synchronous Generator simulation parameters
Figure BDA0003547505350000141
Figure BDA0003547505350000151
Here, J is 0.05 and D is 25 in the comparative simulation test, and the simulation time is set to 1 s. Respectively setting input active instruction step disturbance and power grid frequency disturbance, and specifically performing simulation operations as follows: (1) after the inverter is normally connected to the grid, an input active power instruction is set to be stepped down to 15kW at 0.5s, the input active power instruction is restored to 20kW at 0.7s, and an input reactive power instruction value is set to be 0. (2) After the inverter is normally connected to the grid, setting the grid frequency step to rise to 50.2Hz at the time of 0.5s, restoring to 50Hz at the time of 0.7s, and setting the input reactive power instruction value to be 0.
Referring to fig. 8, fig. 8 is a waveform schematic diagram of an angular frequency tracking error under an active command disturbance according to an embodiment of the present disclosure.
Here, as shown in fig. 8, under active command step disturbance, the angular frequency has a difference of 0.72rad/s only at the moment of disturbance, while the difference is kept at 0 at other times.
Referring to fig. 9 and 10, fig. 9 is a waveform schematic diagram of a corner frequency response under an active command disturbance provided by the embodiment of the present disclosure; fig. 10 is a waveform schematic diagram of a frequency response of a corner under a grid frequency disturbance according to an embodiment of the present disclosure.
Here, as shown in fig. 9, under the active command step disturbance, the maximum amplitude of the first pendulum under the conventional control of the angular frequency is 1.25rad/s, and the maximum amplitude of the first pendulum is 0.72rad/s and the difference is 0.53rad/s by the method mentioned in the text, i.e. the oscillation amplitude of the output angular frequency is significantly reduced and is maintained at the initial value very quickly. Meanwhile, under the action of the integral term, the transient adjustment process is obviously shortened, and the dynamic performance of the system is improved.
Further, as shown in FIG. 10, the maximum amplitude of the first pendulum under the conventional control under the power grid frequency disturbance is 0.51rad/s, and the maximum amplitude of the first pendulum is 0.19rad/s by the method provided herein, and the difference is 0.32 rad/s. Compared with the traditional control, the oscillation amplitude of the output angular frequency is obviously reduced, and the transient state adjusting process is shortened.
Referring to fig. 11 and 12, fig. 11 is a schematic waveform diagram of an active power response under an active command disturbance according to an embodiment of the present disclosure; fig. 12 is a schematic waveform diagram of an active power response under a power grid frequency disturbance according to an embodiment of the present disclosure.
Here, as shown in fig. 11, under the active command step disturbance, the maximum amplitude of the first pendulum under the conventional control of the active power is 2052W, and the maximum amplitude of the first pendulum by the method mentioned herein is 774W, and the difference is 1278W. The oscillation amplitude of the output active power is obviously reduced, and the transient state adjusting process is shortened. Under the condition that the output angular frequency is almost unchanged, the control input is also kept unchanged, so that the active output Pe can quickly follow the command change and keep consistent.
Further, as shown in fig. 12, the system may continuously adjust the control input under the grid frequency disturbance to improve the stability of the output angular frequency. Although the output active power is not consistent with the active command value any more, the maximum oscillation amplitude of the output active power at the first pendulum is only 1.32kW, which is still smaller than that of the traditional control, and the transient state adjustment process is shorter.
The active loop control method of the virtual synchronous generator provided by the embodiment of the disclosure includes acquiring output active power and output angular frequency of the virtual synchronous generator; determining an angular frequency characteristic equation corresponding to the virtual synchronous generator according to a rotor motion equation of the virtual synchronous generator; determining a power frequency control equation corresponding to the virtual synchronous generator based on uncertainty and a disturbance estimation control algorithm according to an angular frequency characteristic equation; constructing an active ring control model corresponding to the virtual synchronous generator according to the power frequency control program; and taking the difference value of the output active power and the preset target input active power as the input of the active loop control model, and outputting an output voltage phase angle corresponding to the virtual synchronous generator by the active loop control model. The power frequency oscillation phenomenon of the virtual synchronous generator system can be effectively inhibited, and the robustness is high.
It will be understood by those skilled in the art that in the method of the present invention, the order of writing the steps does not imply a strict order of execution and any limitations on the implementation, and the specific order of execution of the steps should be determined by their function and possible inherent logic.
Based on the same inventive concept, the embodiment of the present disclosure further provides an active ring control apparatus of a virtual synchronous generator corresponding to the active ring control method of the virtual synchronous generator, and as the principle of the apparatus in the embodiment of the present disclosure for solving the problem is similar to the active ring control method of the virtual synchronous generator described above in the embodiment of the present disclosure, the implementation of the apparatus may refer to the implementation of the method, and repeated details are omitted.
Referring to fig. 13, fig. 13 is a schematic diagram of an active loop control device of a virtual synchronous generator according to an embodiment of the present disclosure. As shown in fig. 13, an active loop control apparatus 1300 provided by the embodiment of the present disclosure includes: a first determination module 1310; a second determination module 1320; a build module 1330; an obtaining module 1340; a control module 1350.
A first determining module 1310, configured to determine an angular frequency characteristic equation corresponding to a virtual synchronous generator according to a rotor motion equation of the virtual synchronous generator;
a second determining module 1320, configured to determine, according to the angular frequency characteristic equation, a power frequency control equation corresponding to the virtual synchronous generator based on an uncertainty and a disturbance estimation control algorithm;
a constructing module 1330, configured to construct an active ring control model corresponding to the virtual synchronous generator according to the power frequency control program;
an obtaining module 1340, configured to obtain output active power and output angular frequency of the virtual synchronous generator;
the control module 1350 is configured to use a difference between the output active power and a preset target input active power as an input of the active loop control model, and the active loop control model outputs an output voltage phase angle corresponding to the virtual synchronous generator.
Optionally, the second determining module 1320 is specifically configured to:
acquiring a target output angular frequency preset by the virtual synchronous generator;
determining an angular frequency tracking error equation corresponding to the virtual synchronous generator according to a preset state quantity coefficient matrix and an error feedback gain, wherein the angular frequency tracking error equation is used for enabling the output angular frequency to accurately track the change of the target output angular frequency;
determining a power frequency characteristic equation corresponding to the virtual synchronous generator according to the angular frequency tracking error equation, the angular frequency characteristic equation, the target output angular frequency and a preset control coefficient matrix, wherein the power frequency characteristic equation comprises a lumped disturbance term;
determining a lumped disturbance equation corresponding to the virtual synchronous generator according to a unit impulse response corresponding to a preset filter;
and replacing the lumped disturbance term by the lumped disturbance equation to determine the power frequency control equation.
Optionally, the constructing module 1330 is specifically configured to:
constructing an uncertainty and disturbance estimation control unit according to the power frequency control program;
an integral control unit and a proportion control unit are sequentially arranged behind the uncertainty and disturbance estimation control unit, wherein the proportion control unit is determined according to an inverter output voltage effective value, a power grid voltage effective value and an equivalent impedance effective value corresponding to the virtual synchronous generator;
and determining the uncertainty and disturbance estimation control unit, the integral control unit and the proportional control unit as the active loop control model.
Optionally, the first determining module 1310 is specifically configured to:
determining the corresponding rotational inertia and damping coefficient of the virtual synchronous generator and the rated angular frequency of the power grid;
and determining the angular frequency characteristic equation according to the rotational inertia, the damping coefficient and the rated angular frequency of the power grid, wherein the angular frequency characteristic equation is used for reflecting the relationship among the angular frequency corresponding to the virtual synchronous generator, the mechanical power corresponding to the virtual synchronous generator and the difference value of the output active power.
Optionally, the second determining module 1320 is further configured to:
and carrying out convolution operation on the unit impulse response and the lumped disturbance term to obtain the lumped disturbance equation.
The description of the processing flow of each module in the device and the interaction flow between the modules may refer to the related description in the above method embodiments, and will not be described in detail here.
The active loop control device of the virtual synchronous generator provided by the embodiment of the disclosure obtains the output active power and the output angular frequency of the virtual synchronous generator; determining an angular frequency characteristic equation corresponding to the virtual synchronous generator according to a rotor motion equation of the virtual synchronous generator; determining a power frequency control equation corresponding to the virtual synchronous generator based on uncertainty and a disturbance estimation control algorithm according to an angular frequency characteristic equation; constructing an active ring control model corresponding to the virtual synchronous generator according to the power frequency control program; and taking the difference value of the output active power and the preset target input active power as the input of the active loop control model, and outputting an output voltage phase angle corresponding to the virtual synchronous generator by the active loop control model. The power frequency oscillation phenomenon of the virtual synchronous generator system can be effectively inhibited, and the robustness is high.
Corresponding to the active loop control method of the virtual synchronous generator in fig. 6, an embodiment of the present disclosure further provides an electronic device 1400, as shown in fig. 14, a schematic structural diagram of the electronic device 1400 provided in the embodiment of the present disclosure includes:
processor 141, memory 142, and bus 143; the memory 142 is used for storing instructions to be executed and includes a memory 1421 and an external memory 1422; the memory 1421 is also referred to as an internal memory, and is used for temporarily storing the operation data in the processor 141 and the data exchanged with the external memory 1422 such as a hard disk, the processor 141 exchanges data with the external memory 1422 through the memory 1421, and when the electronic device 1400 is operated, the processor 141 and the memory 142 communicate through the bus 143, so that the processor 141 executes the steps of the positioning detection method in fig. 6.
The embodiments of the present disclosure also provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program performs the steps of the active loop control method of the virtual synchronous generator described in the above method embodiments. The storage medium may be a volatile or non-volatile computer-readable storage medium.
The computer program product may be implemented by hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, and in another alternative embodiment, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK), or the like.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again. In the several embodiments provided in the present disclosure, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solutions of the present disclosure, which are essential or part of the technical solutions contributing to the prior art, may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present disclosure. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Finally, it should be noted that: the above-mentioned embodiments are merely specific embodiments of the present disclosure, which are used to illustrate the technical solutions of the present disclosure, but not to limit the technical solutions, and the scope of the present disclosure is not limited thereto, and although the present disclosure is described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the art can modify or easily conceive of the technical solutions described in the foregoing embodiments or equivalent technical features thereof within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present disclosure, and should be construed as being included therein. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims (10)

1. An active loop control method for a virtual synchronous generator, the method comprising:
determining an angular frequency characteristic equation corresponding to a virtual synchronous generator according to a rotor motion equation of the virtual synchronous generator;
determining a power frequency control equation corresponding to the virtual synchronous generator based on uncertainty and disturbance estimation control algorithm according to the angular frequency characteristic equation;
constructing an active ring control model corresponding to the virtual synchronous generator according to the active frequency control program;
acquiring output active power of the virtual synchronous generator;
and taking the difference value of the output active power and a preset target input active power as the input of the active loop control model, and outputting an output voltage phase angle corresponding to the virtual synchronous generator by the active loop control model.
2. The method according to claim 1, wherein the determining, according to the angular frequency characteristic equation, a power frequency control equation corresponding to the virtual synchronous generator based on an uncertainty and disturbance estimation control algorithm specifically includes:
acquiring a target output angular frequency preset by the virtual synchronous generator;
determining an angular frequency tracking error equation corresponding to the virtual synchronous generator according to a preset state quantity coefficient matrix and an error feedback gain, wherein the angular frequency tracking error equation is used for enabling the output angular frequency corresponding to the virtual synchronous generator to accurately track the change of the target output angular frequency;
determining a power frequency characteristic equation corresponding to the virtual synchronous generator according to the angular frequency tracking error equation, the angular frequency characteristic equation, the target output angular frequency and a preset control coefficient matrix, wherein the power frequency characteristic equation comprises a lumped disturbance term;
determining a lumped disturbance equation corresponding to the virtual synchronous generator according to a unit impulse response corresponding to a preset filter;
and replacing the lumped disturbance term by the lumped disturbance equation to determine the power frequency control equation.
3. The method according to claim 1, wherein the constructing an active loop control model corresponding to the virtual synchronous generator according to the power frequency control program specifically includes:
constructing an uncertainty and disturbance estimation control unit according to the power frequency control program;
an integral control unit and a proportion control unit are sequentially arranged behind the uncertainty and disturbance estimation control unit, wherein the proportion control unit is obtained by determining an inverter output voltage effective value, a power grid voltage effective value and an equivalent impedance effective value corresponding to the virtual synchronous generator;
and determining the uncertainty and disturbance estimation control unit, the integral control unit and the proportional control unit as the active loop control model.
4. The method according to claim 1, wherein the determining an angular frequency characteristic equation corresponding to the virtual synchronous generator according to a rotor motion equation of the virtual synchronous generator specifically comprises:
determining the corresponding rotational inertia and damping coefficient of the virtual synchronous generator and the rated angular frequency of the power grid;
and determining the angular frequency characteristic equation according to the rotational inertia, the damping coefficient and the rated angular frequency of the power grid, wherein the angular frequency characteristic equation is used for reflecting the relationship among the angular frequency corresponding to the virtual synchronous generator, the mechanical power corresponding to the virtual synchronous generator and the difference value of the output active power.
5. The method according to claim 2, wherein the determining the lumped disturbance equation corresponding to the virtual synchronous generator according to the unit impulse response corresponding to the preset filter specifically includes:
and carrying out convolution operation on the unit impulse response and the lumped disturbance term to obtain the lumped disturbance equation.
6. The method of claim 2, wherein:
the angular frequency tracking error value corresponding to the angular frequency tracking error equation gradually converges to zero;
the filter adopts a first-order low-pass filter.
7. An active loop control device of a virtual synchronous generator, comprising:
the first determination module is used for determining an angular frequency characteristic equation corresponding to the virtual synchronous generator according to a rotor motion equation of the virtual synchronous generator;
the second determination module is used for determining a power frequency control equation corresponding to the virtual synchronous generator based on uncertainty and a disturbance estimation control algorithm according to the angular frequency characteristic equation;
the building module is used for building an active ring control model corresponding to the virtual synchronous generator according to the active frequency control program;
the acquisition module is used for acquiring the output active power of the virtual synchronous generator;
and the control module is used for taking the difference value of the output active power and the preset target input active power as the input of the active loop control model, and outputting the output voltage phase angle corresponding to the virtual synchronous generator by the active loop control model.
8. The apparatus of claim 7, wherein the second determining module is specifically configured to:
acquiring a target output angular frequency preset by the virtual synchronous generator;
determining an angular frequency tracking error equation corresponding to the virtual synchronous generator according to a preset state quantity coefficient matrix and an error feedback gain, wherein the angular frequency tracking error equation is used for enabling the output angular frequency corresponding to the virtual synchronous generator to accurately track the change of the target output angular frequency;
determining a power frequency characteristic equation corresponding to the virtual synchronous generator according to the angular frequency tracking error equation, the angular frequency characteristic equation, the target output angular frequency and a preset control coefficient matrix, wherein the power frequency characteristic equation comprises a lumped disturbance term;
determining a lumped disturbance equation corresponding to the virtual synchronous generator according to a unit impulse response corresponding to a preset filter;
and replacing the lumped disturbance term by the lumped disturbance equation to determine the power frequency control equation.
9. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is operating, the machine-readable instructions when executed by the processor performing the steps of the active loop control method according to any one of claims 1 to 6.
10. A computer-readable storage medium, having stored thereon a computer program for performing the steps of the active loop control method according to any one of claims 1 to 6 when executed by a processor.
CN202210253295.8A 2022-03-15 2022-03-15 Active power loop control method and device of virtual synchronous generator and electronic equipment Pending CN114597914A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116614019A (en) * 2023-06-07 2023-08-18 广东电网有限责任公司广州供电局 Bandwidth improving method under direct-current voltage stabilizing framework of bidirectional charging pile virtual synchronous machine

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116614019A (en) * 2023-06-07 2023-08-18 广东电网有限责任公司广州供电局 Bandwidth improving method under direct-current voltage stabilizing framework of bidirectional charging pile virtual synchronous machine
CN116614019B (en) * 2023-06-07 2024-01-23 广东电网有限责任公司广州供电局 Bandwidth improving method under direct-current voltage stabilizing framework of bidirectional charging pile virtual synchronous machine

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