CN114744641B - Reactive power average micro-grid distributed slip mode voltage secondary control method - Google Patents
Reactive power average micro-grid distributed slip mode voltage secondary control method Download PDFInfo
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- 125000003275 alpha amino acid group Chemical group 0.000 claims description 3
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Classifications
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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
-
- 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
-
- 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]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/30—Reactive power compensation
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Abstract
The invention discloses a reactive power average micro-grid distributed sliding mode voltage secondary control method, wherein each distributed power supply is used for realizing the observation of average voltage in a micro-grid based on a distributed observation algorithm, measuring the current reactive power output rate of each distributed power supply, calculating the current reactive power reference output rate through a distributed cooperation control algorithm, calculating the current sliding mode function value, finally obtaining the output value of a controller through a designed sliding mode voltage secondary control algorithm, and circularly executing the control step. The invention can enhance the robust performance of the voltage secondary controller, quicken the convergence speed of the micro-grid control system in the dynamic process, and adjust the average voltage in the micro-grid to the reference value while realizing the accurate equipartition of reactive power of all distributed power sources so as to realize the minimization of voltage deviation and further improve the electric energy quality in the micro-grid.
Description
Technical Field
The invention relates to the technical field of distributed control of micro-grids, in particular to a reactive power average micro-grid distributed slip mode voltage secondary control method.
Background
The safe and stable power supply has important significance for improving national living standard and social productivity. However, at present, conventional fossil fuel power generation faces the problems of increasing shortage, environmental pollution and the like. Development and utilization of renewable energy sources helps to solve the energy crisis and environmental protection problems currently faced. However, direct grid connection of large-scale distributed renewable energy sources will face many new challenges for the stability of the grid. In order to achieve efficient use of renewable energy sources, a concept of micro-grid is proposed to provide a stable and reliable power supply for users. Typically, a microgrid is made up of distributed power generation, energy storage devices, load and control devices. The operation modes of the micro-grid can be divided into a grid-connected mode and an island mode according to whether the micro-grid is connected with the main grid or not. In grid-tie mode, both the voltage and frequency of the micro-grid operation are governed by the main grid. In contrast, island mode micro-grids require appropriate control strategies to maintain a stable and reliable power output.
The control targets of the island micro-grid include: 1. controlling the output voltage and frequency within an allowable range; 2. accurate equipartition of active power and reactive power; 3. energy management optimization and benefit maximization. The control of the micro-grid can be divided into voltage control and frequency control, wherein the voltage control is responsible for regulating voltage and realizing reactive power sharing, and the frequency control is responsible for regulating frequency and realizing active power sharing. In general, unbiased adjustment of frequency and active power sharing in a microgrid is easy to achieve. However, since the impedance of many distributed power sources in a micro-grid is often not matched, there is a discrepancy between voltage non-deviation adjustment and reactive power sharing. Therefore, many existing microgrid voltage control methods forego the realization of reactive power sharing. However, this can overload the output reactive power of some distributed power sources in the micro-grid and can cause system circulation, thereby affecting the energy utilization efficiency and severely reducing the service life of the power electronics. It is critical to achieve reactive power sharing in micro-grids, for which the accuracy of voltage regulation needs to be sacrificed. The existing voltage control method capable of realizing reactive power equipartition mainly comprises a droop control method based on self-adaptive virtual impedance and a secondary voltage control method based on distributed cooperative control. The adaptive virtual impedance technology is difficult to realize in practical application, and the distributed cooperative control is relatively more reliable and easy to realize. The traditional distributed cooperative control for realizing reactive power sharing has too slow convergence speed and poor robustness. This may result in a decrease in the overall control effect of the voltage control in the micro grid.
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 output voltage deviation of an integral distributed power supply is minimum while accurate reactive power sharing is realized, and the convergence speed of reactive power sharing and voltage regulation in a dynamic process is accelerated, thereby improving the robust performance of an integral control system and further improving the output power quality in the micro-grid.
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
the invention discloses a reactive power average micro-grid distributed sliding mode voltage secondary control method which is characterized by comprising the following steps of:
step 1, calculating an observation value of the average voltage in the micro-grid at the time k of the ith distributed power source by using the formula (1)
In the formula (1), τ is the upper limit of communication delay,is the observation of the average voltage of the ith distributed power supply at time k- τ, +.>Is the observed value of the average voltage of the jth distributed power supply at the moment of K-tau, K o Is the observation gain, E i (k) Is the local voltage measurement of the ith distributed power supply at time k, e i (k) Is the accumulated observed deviation of the ith distributed power supply at the k moment, e i (k-1) is the observed deviation, N, of the ith distributed power supply accumulated at time k-1 i Is the neighbor of the ith distributed power supplyA collection; when k is less than or equal to 0, let ∈ ->e i (k)＝0；
Step 2, calculating the reactive power output rate eta of the ith distributed power supply at the k moment by using the formula (2) i (k)；
η i (k)＝Q i (k)/Q i,max (2)
In the formula (2), Q i (k) Is the reactive power measurement value of the ith distributed power supply at the moment k, Q i,max Is the instantaneous output reactive power limit of the ith distributed power supply;
step 3, calculating reactive power reference output rate of the ith distributed power supply at k moment by using the formula (3)
In the formula (3), eta j (k-tau) is the reactive power output rate of the jth distributed power supply at the moment k-tau, d i Is the ith distributed power neighbor set N i The number of neighbors in (a); let eta be equal to or less than 0 j (k)＝0；
Step 4, 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 amino acid sequence of the compound,is the reactive power reference output rate of the ith distributed power supply at the time of k-1, E ref Is a voltage reference value, ">Is the sliding mode parameter, k, of the ith distributed power supply qi Is the voltage droop coefficient in the ith distributed power droop control;
step 5, calculating the slip mode voltage secondary control output value u of the ith distributed power supply at the k moment by using the formula (5) i (k)；
In the formula (5), u i (k-1) is the slip mode voltage secondary control output value, T, of the ith distributed power supply at time k-1 s Is the sampling period of the secondary controller, epsilon is the disturbance rejection performance parameter of the sliding mode control, epsilon > 0, q is the approach rate parameter of the sliding mode control, and q > 0, sgn [ []Is a sign function, when s i (k) When not less than 0, sgn [ s ] is made i (k)]= +1, otherwise, let sgn [ s ] i (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 micro-grid sliding mode voltage secondary control method is completely distributed, and by combining sliding mode control with distributed cooperative control and utilizing the designed exponential sliding mode approach rate of discrete time, the control system can be ensured to be converged to a stable state in limited time, the convergence speed of the system in a dynamic process is improved, the robust performance of the system to parameter perturbation and unknown disturbance is enhanced, and the electric energy quality in the micro-grid is further improved.
2. The sliding mode function designed by the invention gives consideration to reactive power output rate deviation and average voltage deviation, ensures that all distributed power supplies accurately track average voltage by utilizing an average voltage observation algorithm, can minimize voltage deviation in a micro-grid, realizes that a plurality of distributed power supplies keep the same reactive power output rate, further improves stability and reliability of the micro-grid, 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, according to the method for secondary control of distributed slipform voltage of a reactive power-sharing micro-grid, as shown in the flow of fig. 1, each distributed power source realizes the observation of average voltage in the micro-grid based on a distributed observation algorithm, measures its current reactive power output rate, calculates the current reactive power reference output rate through a distributed cooperative control algorithm, calculates the current slipform function value, and finally obtains the controller output value through the designed slipform voltage secondary control algorithm, and performs the control steps in a circulating manner. The invention can enhance the robust performance of the voltage secondary controller, quicken the convergence speed of the micro-grid control system in the dynamic process, and adjust the average voltage in the micro-grid to the reference value while realizing the accurate equipartition of reactive power of all distributed power sources so as to realize the minimization of voltage deviation and further improve the electric energy quality in the micro-grid. Specifically, the observation method comprises the following implementation steps:
step 1, calculating an observation value of the average voltage in the micro-grid at the time k of the ith distributed power source by using the formula (1)
In the formula (1), τ is the upper limit of communication delay,is the observation of the average voltage of the ith distributed power supply at time k- τ, +.>Is the j-th distributed power supply is leveled at the moment of k-tauObservation value of average voltage +.>Is transmitted to the ith distributed power source, K, through the distributed communications network of FIG. 2 o Is the observation gain, E i (k) Is the local voltage measurement of the ith distributed power supply at time k, e i (k) Is the accumulated observed deviation of the ith distributed power supply at the k moment, e i (k-1) is the observed deviation, N, of the ith distributed power supply accumulated at time k-1 i Is the neighbor set of the ith distributed power supply; when k is less than or equal to 0, let ∈ ->e i (k) =0; as shown in fig. 2, each distributed power supply has an output impedance, and the output impedances of the distributed power supplies are not matched, so that reactive power sharing and voltage unbiased adjustment cannot be simultaneously realized, and therefore, the voltage adjustment precision is sacrificed to realize reactive power sharing; 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 the 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 k moment by using the formula (2) i (k)；
η i (k)＝Q i (k)/Q i,max (2)
In the formula (2), Q i (k) Is the reactive power measurement value of the ith distributed power supply at the moment k, Q i,max Is the instantaneous output reactive power limit of the ith distributed power supply;
step 3, calculating reactive power reference output rate of the ith distributed power supply at k moment by using the formula (3)
In the formula (3), eta j (k-tau) is the reactive power output rate of the jth distributed power supply at the moment k-tau, d i Is the ith distributed power neighbor set N i The number of neighbors in (a); let eta be equal to or less than 0 j (k) =0; the average value of the reactive power of the neighbor distributed power sources is used as a reference value, so that the reactive power output rates of all the distributed power sources are ensured to be the same in a steady state, and reactive power average is realized;
step 4, 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 amino acid sequence of the compound,is the reactive power reference output rate of the ith distributed power supply at the time of k-1, E ref Is a voltage reference value, ">Is the sliding mode parameter, k, of the ith distributed power supply qi Is the voltage droop coefficient in the ith distributed power droop control; when the selected sliding mode function is in a quasi-sliding mode on the switching surface, the reactive power average division and the average voltage adjustment are realized; it is worth mentioning that +.>Rather than +.>Thus, the analysis and design of the controller can be facilitated;
step 5, proper discrete sliding mode control is required to be designed aiming at micro-grid voltage control; to ensure that the discrete sliding mode function satisfies the presence and arrival conditions, equation (5) needs to be satisfied;
in the formula (5), sgn []Is a sign function, when s i (k) When not less than 0, sgn [ s ] i (k)]= +1, otherwise sgn [ s ] i (k)]＝-1；
In the embodiment, an exponential approach law in a discrete form is designed as shown in a formula (6);
in formula (6), T s Is a sampling period, epsilon is an anti-interference performance parameter of sliding mode control, and q is an approach rate parameter of sliding mode control; formula (7) is obtainable from formula (6);
to ensure that formula (5) is satisfied, ε > 0, q > 0, qt are required s 2, and sampling period T s Is very small;
in the micro-grid, the reactive power output rate of the ith distributed power source can be obtained by the formula (8);
η i (k+1)＝A i η i (k)+H i [u i (k)+f i (k)] (8)
in the formula (8), u i (k) Is the slip mode voltage secondary control output value of the ith distributed power supply at the moment k, f i (k) The sum of a disturbance term, a modeling error term and a nonlinear term of the ith distributed power supply at the k moment; a is that i Is a system coefficient, H i Is an input coefficient;
droop control characteristics in the microgrid may be modeled in discrete form as shown in equation (9);
E i (k+1)＝E * -k qi Q i (k+1)+u i (k) (9)
combining formula (1), formula (2) and formula (9) to obtain formula (10);
combining formula (4), formula (8) and formula (10) to obtain formula (11);
in the formula (11), takeThe formula (12) is available;
calculating a slip mode voltage secondary control output value u of the ith distributed power supply at k moment by using a formula (13) in combination with an index approach law formula (6) i (k)；
In the formula (13), u i (k-1) is the slip mode voltage secondary control output value, T, of the ith distributed power supply at time k-1 s Is 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. The reactive power average micro-grid distributed slip mode voltage secondary control method is characterized by comprising the following steps of:
step 1, calculating an observation value of the average voltage in the micro-grid at the time k of the ith distributed power source by using the formula (1)
In the formula (1), τ is the upper limit of communication delay,is the observation of the average voltage of the ith distributed power supply at time k- τ, +.>Is the observed value of the average voltage of the jth distributed power supply at the moment of K-tau, K o Is the observation gain, E i (k) Is the local voltage measurement of the ith distributed power supply at time k, e i (k) Is the accumulated observed deviation of the ith distributed power supply at the k moment, e i (k-1) is the observed deviation, N, of the ith distributed power supply accumulated at time k-1 i Is the neighbor set of the ith distributed power supply; when k is less than or equal to 0, let ∈ ->e i (k)＝0；
Step 2, calculating the reactive power output rate eta of the ith distributed power supply at the k moment by using the formula (2) i (k)；
η i (k)＝Q i (k)/Q i,max (2)
In the formula (2), Q i (k) Is the reactive power measurement value of the ith distributed power supply at the moment k, Q i,max Is the instantaneous output reactive power limit of the ith distributed power supply;
step 3, calculating reactive power reference output rate of the ith distributed power supply at k moment by using the formula (3)
In the formula (3), eta j (k-tau) is the reactive power output rate of the jth distributed power supply at the moment k-tau, d i Is the ith distributed power neighbor set N i The number of neighbors in (a); let eta be equal to or less than 0 j (k)＝0；
Step 4, 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 amino acid sequence of the compound,is the reactive power reference output rate of the ith distributed power supply at the time of k-1, E ref Is a voltage reference value, ">Is the sliding mode parameter, k, of the ith distributed power supply qi Is the voltage droop coefficient in the ith distributed power droop control;
step 5, calculating the slip mode voltage secondary control output value u of the ith distributed power supply at the k moment by using the formula (5) i (k)；
In the formula (5), u i (k-1) is the slip mode voltage secondary control output value, T, of the ith distributed power supply at time k-1 s Is the sampling period of the secondary controller, epsilon is the disturbance rejection performance parameter of the sliding mode control, epsilon > 0, q is the approach rate parameter of the sliding mode control, and q > 0, sgn [ []Is a sign function, when s i (k)≥0, let sgn [ s ] i (k)]= +1, otherwise, let sgn [ s ] i (k)]＝-1；
And 6, assigning k+1 to k, and returning to the step 1 for sequential execution.
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