CN114744641A - Reactive power sharing micro-grid distributed sliding mode voltage secondary control method - Google Patents
Reactive power sharing micro-grid distributed sliding mode voltage secondary control method Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/12—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load
- H02J3/16—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load by adjustment of reactive power
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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
- H02J3/12—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
- H02J3/50—Controlling the sharing of the out-of-phase component
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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
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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- Y02E40/30—Reactive power compensation
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Abstract
The invention discloses a reactive power uniform micro-grid distributed sliding mode voltage secondary control method, wherein each distributed power supply realizes the observation of average voltage in a micro-grid based on a distributed observation algorithm, then the current reactive power output rate of each distributed power supply is measured, the current reactive power reference output rate is calculated through a distributed cooperative control algorithm, then the current sliding mode function value is calculated, finally, the controller output value is obtained through the designed sliding mode voltage secondary control algorithm, and the control steps are executed in a circulating mode. The invention can enhance the robustness of the voltage secondary controller, accelerate the convergence speed of the microgrid control system in the dynamic process, and adjust the average voltage in the microgrid to a reference value while realizing the accurate equalization of the reactive power of all distributed power supplies so as to realize the minimization of voltage deviation and further improve the electric energy quality in the microgrid.
Description
Technical Field
The invention relates to the technical field of microgrid distributed control, in particular to a reactive power sharing microgrid distributed sliding mode voltage secondary control method.
Background
Safe and stable power supply has important significance for improving the national living standard and social productivity. However, conventional fossil fuel power generation is currently facing increasing shortages and environmental pollution. The development and utilization of renewable energy sources help to solve the energy crisis and environmental protection problems currently faced. However, direct integration of large-scale distributed renewable energy sources will make the stability of the power grid face many new challenges. In order to realize efficient utilization of renewable energy and provide stable and reliable power supply for users, a micro-grid concept is proposed. Typically, a microgrid is composed of distributed power generation, energy storage devices, loads, and control devices. The operation mode can be divided into a grid-connected mode and an island mode according to whether the micro-grid is connected with a main grid or not. In the grid-connected mode, the voltage and the frequency of the micro-grid during operation are both governed by the main grid. In contrast, islanded mode microgrid requires an appropriate control strategy to maintain a stable and reliable power output.
The control target of the island micro-grid comprises: 1. controlling the output voltage and frequency within an allowable range; 2. accurately sharing the active power and the reactive power; 3. energy management optimization and benefit maximization. The control of the microgrid can be divided into voltage control and frequency control, wherein the voltage control is responsible for adjusting voltage and realizing reactive power equalization, and the frequency control is responsible for adjusting frequency and realizing active power equalization. In general, unbiased regulation of frequency and active power sharing in a microgrid is easy to implement. However, there is a conflict between voltage unbiased regulation and reactive power sharing due to the general mismatch in impedances of the numerous distributed power sources in the microgrid. Therefore, the existing voltage control methods of the microgrid abandon the realization of the reactive power equalization. But this can overload the output reactive power of some distributed power sources in the microgrid and can cause system ringing, which in turn affects the efficiency of energy utilization and severely reduces the useful life of the power electronics. Therefore, it is important to achieve uniform distribution of reactive power in the microgrid, and for this purpose, the accuracy of voltage regulation needs to be sacrificed. The existing voltage control method capable of realizing reactive power sharing mainly comprises a droop control method based on self-adaptive virtual impedance and a secondary voltage control method based on distributed cooperative control. The self-adaptive virtual impedance technology is difficult to realize in practical application, and distributed cooperative control is relatively more reliable and easy to realize. The traditional distributed cooperative control for realizing reactive power equalization has too low convergence rate and poor robustness. This may cause a decrease in the overall control effect of voltage control in the microgrid.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a reactive power sharing micro-grid distributed sliding mode voltage secondary control method, so that the minimum deviation of the output voltage of the whole distributed power supply can be realized while the accurate reactive power sharing is realized, and the convergence speed of the reactive power sharing and the voltage regulation in the dynamic process is accelerated, thereby improving the robustness of the whole control system and further improving the quality of the electric energy output in the micro-grid.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention discloses a reactive power uniform micro-grid distributed sliding mode voltage secondary control method which is characterized by comprising the following steps of:
step 1, calculating an observed value of the ith distributed power supply to the average voltage in the microgrid at the moment k by using the formula (1)
In the formula (1), tau is the upper limit of communication delay,
is the observed value of the average voltage of the ith distributed power supply at time k-tau,
is the observed value of the average voltage of the jth distributed power supply at the moment K-tau, KoIs the observation gain, Ei(k) Is the local voltage measurement of the ith distributed power supply at time k, ei(k) Is the accumulated observed deviation of the ith distributed power supply at time k, ei(k-1) is the observed deviation accumulated by the ith distributed power supply at time k-1, NiIs a neighbor set of the ith distributed power supply; when k is less than or equal to 0, let
ei(k)＝0；
Step 2, calculating the reactive power output rate eta of the ith distributed power supply at the moment k by using the formula (2)i(k)；
ηi(k)＝Qi(k)/Qi,max (2)
In the formula (2), Qi(k) Is the reactive power measurement, Q, of the ith distributed power supply at time ki,maxIs the instantaneous output reactive power limit of the ith distributed power source;
step 3, calculating the reactive power reference output rate of the ith distributed power supply at the moment k by using the formula (3)
In the formula (3), etaj(k- τ) is the reactive power output rate of the jth distributed power supply at time k- τ, diIs the ith distributed power neighbor set NiThe number of neighbors in (1); when k is less than or equal to 0, let ηj(k)＝0；
Step (ii) of4, calculating a sliding mode function value s of the ith distributed power supply at the k moment by using the formula (4)i(k)；
In the formula (4), the reaction mixture is,
is the reactive power reference output rate of the ith distributed power supply at the time k-1, ErefIs a reference value for the voltage to be measured,
is the sliding mode parameter, k, of the ith distributed power supplyqiIs the voltage droop coefficient in the ith distributed power supply droop control;
step 5, calculating a sliding mode voltage secondary control output value u of the ith distributed power supply at the moment k by using the formula (5)i(k)；
In the formula (5), ui(k-1) is the sliding mode voltage secondary control output value of the ith distributed power supply at the moment of k-1, TsIs the sampling period of the secondary controller, epsilon is the anti-interference performance parameter of sliding mode control, epsilon is more than 0, q is the approach rate parameter of sliding mode control, q is more than 0, sgn]Is a symbolic function when si(k) When the value is more than or equal to 0, the sgn [ s ] is enabledi(k)]Otherwise, let sgn [ s ═ 1i(k)]＝-1；
And 6, assigning k +1 to k, and returning to the step 1 for sequential execution.
Compared with the prior art, the invention has the beneficial effects that:
1. the sliding mode voltage secondary control method of the microgrid is completely distributed, sliding mode control and distributed cooperative control are combined, and the designed index sliding mode approach rate of discrete time is utilized, so that the control system can be guaranteed to be converged to a stable state within limited time, the convergence speed of the system in a dynamic process is improved, the robust performance of the system on parameter perturbation and unknown disturbance is enhanced, and the electric energy quality in the microgrid is improved.
2. The sliding mode function designed by the invention gives consideration to the reactive power output rate deviation and the average voltage deviation, ensures that all distributed power supplies accurately track the average voltage by using the average voltage observation algorithm, can minimize the voltage deviation in the microgrid, realizes that a plurality of distributed power supplies keep the same reactive power output rate, further improves the stability and reliability of the microgrid, and prolongs the service life of power electronic equipment.
Drawings
FIG. 1 is a flow chart of a control method of the present invention;
fig. 2 is a diagram of a single distributed power control architecture.
Detailed Description
In this embodiment, as shown in the flow of fig. 1, each distributed power source observes an average voltage in a microgrid based on a distributed observation algorithm, measures a current reactive power output rate of the distributed power source, calculates a current reactive power reference output rate through a distributed cooperative control algorithm, calculates a current sliding mode function value, obtains a controller output value through a designed sliding mode voltage secondary control algorithm, and executes control steps in a circulating manner. The invention can enhance the robustness of the voltage secondary controller, accelerate the convergence speed of the microgrid control system in the dynamic process, and adjust the average voltage in the microgrid to a reference value while realizing the accurate equalization of the reactive power of all distributed power supplies so as to realize the minimization of voltage deviation and further improve the electric energy quality in the microgrid. Specifically, the observation method comprises the following implementation steps:
step 1, calculating an observed value of the ith distributed power supply to the average voltage in the microgrid at the moment k by using the formula (1)
In the formula (1), tau is the upper limit of communication delay,
is the observed value of the average voltage of the ith distributed power supply at time k-tau,
is the observed value of the average voltage at time k-tau for the jth distributed power supply,
is transmitted to the ith distributed power supply through the distributed communication network in fig. 2, KoIs the observation gain, Ei(k) Is the local voltage measurement of the ith distributed power supply at time k, ei(k) Is the accumulated observed deviation of the ith distributed power supply at time k, ei(k-1) is the observed deviation accumulated by the ith distributed power supply at time k-1, NiIs a neighbor set of the ith distributed power supply; when k is less than or equal to 0, let
ei(k) 0; as shown in fig. 2, each distributed power source has an output impedance, and the output impedances of a plurality of distributed power sources are not matched, so that reactive power equalization and voltage non-deviation adjustment cannot be simultaneously realized, and therefore, the voltage adjustment precision is selected to be sacrificed to realize reactive power equalization; in order to minimize the voltage deviation, it is necessary to adjust the average value of all the distributed power supply output voltages to a reference value, whereas in a distributed control system, a single distributed power supply cannot directly acquire the average voltage, and thus, as shown in fig. 2, it is necessary to utilize an average voltage observer based on equation (1);
step 2, calculating the reactive power output rate eta of the ith distributed power supply at the moment k by using the formula (2)i(k)；
ηi(k)＝Qi(k)/Qi,max (2)
In the formula (2), Qi(k) Is the reactive power measurement, Q, of the ith distributed power supply at time ki,maxIs the instantaneous output reactive power limit of the ith distributed power source;
step 3, calculating the reactive power reference output rate of the ith distributed power supply at the moment k by using the formula (3)
In the formula (3), etaj(k- τ) is the reactive power output rate of the jth distributed power supply at time k- τ, diIs the ith distributed power neighbor set NiThe number of neighbors in (1); when k is less than or equal to 0, let ηj(k) 0; the average value of the reactive power of the neighbor distributed power supplies is used as a reference value, so that the reactive power output rates of all the distributed power supplies are ensured to be the same in a steady state, namely, the reactive power is uniformly divided;
step 4, calculating a sliding mode function value s of the ith distributed power supply at the time k by using the formula (4)i(k)；
In the formula (4), the reaction mixture is,
is the reactive power reference output rate of the ith distributed power supply at the time k-1, ErefIs a reference value for the voltage to be measured,
is the sliding mode parameter, k, of the ith distributed power supplyqiIs the voltage droop coefficient in the ith distributed power supply droop control; selected byWhen the selected sliding mode function is in a quasi-sliding mode on the switching surface, the adjustment of the reactive power average and the average voltage is realized; it is worth mentioning that the use herein
Rather than to
Thus, the analysis and design of the controller can be facilitated;
step 5, designing appropriate discrete sliding mode control aiming at the voltage control of the microgrid; in order to ensure that the discrete sliding mode function meets the existence and arrival conditions, the formula (5) needs to be met;
in the formula (5), sgn [, ]]Is a symbolic function when si(k) When not less than 0, sgn [ s ]i(k)]+1, otherwise sgn [ s ]i(k)]＝-1；
In the embodiment, the exponential approximation law of the designed discrete form is shown as formula (6);
in the formula (6), TsIs a sampling period, epsilon is an anti-interference performance parameter of sliding mode control, and q is an approach rate parameter of the sliding mode control; formula (7) is obtainable from formula (6);
to ensure that equation (5) is satisfied, ε > 0, q > 0, qT are requireds2 and a sampling period TsAre small;
in the microgrid, the reactive power output rate of the ith distributed power supply can be obtained by equation (8);
ηi(k+1)＝Aiηi(k)+Hi[ui(k)+fi(k)] (8)
in the formula (8), ui(k) Is the sliding mode voltage secondary control output value f of the ith distributed power supply at the moment ki(k) The sum of a disturbance term, a modeling error term and a nonlinear term of the ith distributed power supply at the time k; a. theiIs the system coefficient, HiIs the input coefficient;
the droop control characteristic in the microgrid can be modeled into a discrete form as shown in a formula (9);
Ei(k+1)＝E*-kqiQi(k+1)+ui(k) (9)
combining formula (1), formula (2) and formula (9) to obtain formula (10);
formula (11) is obtained by combining formula (4), formula (8) and formula (10);
in formula (11), is
Obtainable formula (12);
calculating a sliding mode voltage secondary control output value u of the ith distributed power supply at the time k by using an equation (13) in combination with an exponential approaching law equation (6)i(k)；
In the formula (13), ui(k-1) is the sliding mode voltage secondary control output of the ith distributed power supply at the moment of k-1Out value, TsIs the sampling period of the secondary controller, as shown in fig. 2, the output value of the secondary voltage controller will be used in droop control;
and 6, assigning k +1 to k as shown in FIG. 1, and returning to the step 1 for sequential execution.
Claims (1)
1. A reactive power sharing micro-grid distributed sliding mode voltage secondary control method is characterized by comprising the following steps:
step 1, calculating an observed value of the ith distributed power supply to the average voltage in the microgrid at the moment k by using the formula (1)
In the formula (1), tau is the upper limit of communication delay,
is the observed value of the average voltage of the ith distributed power supply at time k-tau,
is the observed value of the average voltage of the jth distributed power supply at the moment K-tau, KoIs the observation gain, Ei(k) Is the local voltage measurement of the ith distributed power supply at time k, ei(k) Is the accumulated observed deviation of the ith distributed power supply at time k, ei(k-1) is the accumulated observed deviation of the ith distributed power supply at time k-1, NiIs the neighbor set of the ith distributed power supply; when k is less than or equal to 0, let
ei(k)＝0；
Step 2, calculating reactive power of the ith distributed power supply at the time k by using the formula (2)Rate output rate etai(k)；
ηi(k)＝Qi(k)/Qi,max (2)
In the formula (2), Qi(k) Is the reactive power measurement, Q, of the ith distributed power supply at time ki,maxIs the instantaneous output reactive power limit of the ith distributed power source;
step 3, calculating the reactive power reference output rate of the ith distributed power supply at the moment k by using the formula (3)
In the formula (3), etaj(k- τ) is the reactive power output rate of the jth distributed power supply at time k- τ, diIs the ith distributed power neighbor set NiThe number of neighbors in (1); when k is less than or equal to 0, let ηj(k)＝0；
Step 4, calculating a sliding mode function value s of the ith distributed power supply at the time k by using the formula (4)i(k)；
In the formula (4), the reaction mixture is,
is the reactive power reference output rate of the ith distributed power supply at time k-1, ErefIs a reference value for the voltage to be measured,
is the sliding mode parameter, k, of the ith distributed power supplyqiIs the voltage droop coefficient in the ith distributed power supply droop control;
step 5, calculating the ith distributed mode by using the formula (5)Sliding mode voltage secondary control output value u of power supply at time ki(k)；
In the formula (5), ui(k-1) is the sliding mode voltage secondary control output value of the ith distributed power supply at the moment of k-1, TsIs the sampling period of the secondary controller, epsilon is the anti-interference performance parameter of sliding mode control, and epsilon is more than 0, q is the approach rate parameter of sliding mode control, and q is more than 0, sgn [ 2 ]]Is a symbolic function when si(k) When the value is more than or equal to 0, the sgn [ s ] is enabledi(k)]Otherwise, let sgn [ s ═ 1i(k)]＝-1；
And 6, assigning k +1 to k, and returning to the step 1 for sequential execution.
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