CN114825370B - Virtual synchronous generator control method based on self-adaptive inertia of nonlinear function - Google Patents
Virtual synchronous generator control method based on self-adaptive inertia of nonlinear function 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
- H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
- H02J3/241—The oscillation concerning frequency
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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
- H02J3/381—Dispersed generators
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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
- 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
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Abstract
The invention relates to the technical field of virtual synchronous generator control, in particular to a virtual synchronous generator control method based on self-adaptive inertia of a nonlinear function, which comprises the steps of firstly, introducing a tanh nonlinear function to control a virtual synchronous generator of the self-adaptive inertia, and accelerating the change of angular frequency by reducing the rotational inertia; 2. analyzing the influence of the rotational inertia on the control stability of the virtual synchronous generator by a Lyapunov first method; 3. flexible damping control is added to virtual synchronous generator control to account for both static stability and transient stability. The invention can effectively improve the stability of the control of the virtual synchronous generator.
Description
Technical Field
The invention relates to the technical field of Virtual Synchronous Generator (VSG) control, in particular to a virtual synchronous generator control method based on self-adaptive inertia of a nonlinear function.
Background
Under the double-carbon target, the power generation of new energy represented by wind energy and solar energy is rapidly developed in a large scale. The new energy power generation is characterized by weak damping and low inertia through power electronic grid connection, so that the anti-interference and stable operation maintaining capability of the system is weakened. For this reason, a technology of damping and inertia control of a power electronic device analog synchronous generator, that is, a Virtual Synchronous Generator (VSG), has attracted attention.
A control technology which relies on high-flexibility and controllable power electronic elements and aims at enhancing the stability and safety of power grid operation is developed, namely a virtual synchronous machine technology. The domestic and foreign researchers provide a virtual synchronous generator control technology based on the external operation characteristics of the synchronous generator, the control mode of the virtual synchronous generator control technology improves the stability of a power system and realizes friendly access of distributed energy to a power grid, and the performance of the virtual synchronous generator can be analyzed by applying a theoretical analysis method of the synchronous generator, so that the control strategy of the synchronous generator is conveniently introduced, and the mutual regulation of power, frequency and voltage is realized.
In recent years, researchers at home and abroad continuously and deeply research on virtual synchronous machine control, solve various problems in technical development and engineering application, and provide improvement measures, but system stability still needs to be further improved.
Disclosure of Invention
It is an object of the present invention to provide a virtual synchronous generator control method based on an adaptive inertia of a non-linear function that overcomes some or all of the disadvantages of the prior art.
The invention discloses a virtual synchronous generator control method based on self-adaptive inertia of a nonlinear function, which is characterized by comprising the following steps: which comprises the following steps:
1. a tanh nonlinear function is introduced to control the virtual synchronous generator with self-adaptive inertia, and the change of angular frequency is accelerated by reducing the rotational inertia;
2. analyzing the influence of the rotational inertia on the control stability of the virtual synchronous generator by a Lyapunov first method;
3. in view of the above-mentioned effects, flexible damping control is added to virtual synchronous generator control to take account of both static stability and transient stability.
Preferably, in the first step, the control is performed based on the adaptive inertia of the tanh function, and the formula is as follows:
in the formula, J 0 Is a virtual rotational inertia steady-state value; k is a compensation coefficient; g is a decision threshold, omega is the grid frequency, omega ref S (x) is a tanh nonlinear function which is taken as a reference frequency, and the rotation inertia value is realized at J through the tanh function 0 -k and J 0 A change between + k; the value range of the tanh function is between-1 and 1, and the high-frequency oscillation is avoided when the moment of inertia J changes by the tanh function; when the angular frequency is far from the reference angular frequency, the moment of inertia J is increased to suppress the change of the angular frequency, and when the angular frequency is close to the reference angular frequency, the angular frequency is restored to the reference frequency in a shorter time, and the moment of inertia J is decreased to accelerate the change of the angular frequency.
Preferably, in the second step, according to the lyapunov first method, if all the characteristic values are negative, the system is stable, and a root locus diagram is drawn to analyze the influence of the inertia time constant and the damping on the control stability of the virtual synchronous generator.
Preferably, in the third step, the flexible damping control is added into the virtual synchronous generator control to take account of static stability and transient stability, and the expression is as follows:
in the formula, D 0 To a damping coefficient, D s To fix the damping, D T For transient damping, T C Is the transient damping decay time constant;
the flexible damping control flexibly switches two states of fixed damping and transient damping according to the deviation of angular frequency; when low-frequency small disturbance occurs, switching to fixed damping; when high-frequency large disturbance occurs, transient damping is switched.
The invention provides a self-adaptive inertia VSG control strategy based on a tanh function, and introduces damping control which is flexibly switched according to angular frequency change, so that the stability of VSG control can be effectively improved.
Drawings
Fig. 1 is a flowchart of a virtual synchronous generator control method based on adaptive inertia of a nonlinear function in embodiment 1;
fig. 2 is a schematic diagram of a VSG control model in embodiment 1;
FIG. 3 is a schematic diagram of a power frequency characteristic of the generator in example 1;
fig. 4 is a control block diagram of the active-frequency control in embodiment 1;
fig. 5 is a control block diagram of reactive-voltage control in embodiment 1;
FIG. 6 is a diagram showing the s (x) function in example 1;
fig. 7 is a schematic diagram of VSG power angle stability analysis in example 1;
FIG. 8 is a schematic diagram of the feature root trajectories in example 1;
FIG. 9 shows the frequency domain response (D) of the fixed damping and the transient damping in example 1 0 = 1) schematic diagram;
fig. 10 is a block diagram of the VSG active control loop with transient damping in embodiment 1;
fig. 11 (a) is a schematic diagram of active power based active sudden increase simulation in embodiment 1;
fig. 11 (b) is a schematic diagram of frequency-based active surge simulation in embodiment 1;
fig. 12 (a) is a schematic diagram of active power based active power sudden decrease simulation in embodiment 1;
fig. 12 (b) is a schematic diagram of frequency-based active power dump simulation in embodiment 1;
fig. 13 is a schematic diagram of a three-phase short-circuit fault simulation in embodiment 1.
Detailed Description
For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples. It is to be understood that the examples are illustrative of the invention and not limiting.
Example 1
Virtual synchronous generator control strategy
The rotor motion equation and the stator potential equation in the mathematical model of the synchronous generator describe the conversion process of mechanical potential energy and electromagnetic energy. The synchronous generator has an energy storage function by means of rotor inertia. The storage function of the synchronous generator can effectively buffer power sudden change when the power system suffers load disturbance, inhibit energy fluctuation and improve system stability. The VSG control enables the VSG to have virtual moment of inertia and damping characteristics by simulating the voltage regulation and frequency regulation modes of the synchronous generator, and overcomes the defect that a power electronic inverter cannot support the voltage and the frequency of a power grid.
VSG control model As shown in FIG. 2, VSG control generates a reference voltage E mainly according to the operation state of the power system and the strategy objective m And a reference phase theta ref The voltage and current double-loop control circuit is used as an input signal of voltage and current double-loop control, so that the voltage frequency is adjusted, the control targets of inhibiting fluctuation, avoiding power angle instability and transmitting designated power are achieved, and distributed energy coordinated operation is achieved.
Active-frequency control
According to the power frequency droop characteristic of fig. 3, when the generator set has a sufficient power margin, the frequency stability is recovered by adjusting the mechanical torque or the output mechanical power, and based on the droop control theory, the relationship between the mechanical power output by the prime mover and the frequency change is obtained as follows:
P m ＝P ref +K f (ω ref -ω) (1.1)
in the formula, K f Frequency droop coefficient, omega, for primary frequency modulation ref Is a reference frequency, omega is a grid frequency, P ref Is a reference power, P m Is the output power.
Considering the transient process of the rotor motion and considering the damping, the equation expression of the rotor motion of the synchronous generator is as follows:
wherein J is the moment of inertia, D is the system damping coefficient, P e The electromagnetic power output by the system.
In combination with equations (1.1) and (1.2), in order to facilitate the construction of the control system, the parameters are converted into per unit values, and the active-frequency transfer function expression is as follows:
in the formula, S B The reference power is set to be a reference power,
time constant of inertia, K = ω ref K f /S B ，
P ref* ＝ω ref* ＝1；
According to the expression (1.2), active-frequency control simulates the primary frequency modulation process of a speed regulator, so that the grid-connected inverter has the damping characteristic and the rotational inertia of a synchronous generator, and the frequency is smoothly adjusted. The active-frequency control block diagram is shown in fig. 4.
Reactive-voltage control
The VSG potential E can be divided into 3 components: one is VSG no-load voltage component E 0 (ii) a Second, voltage deviation component delta E corresponding to reactive power control Q Primary voltage regulation is carried out on the VSG; thirdly, the voltage deviation Delta E corresponding to the excitation regulator of the synchronous generator u The voltage is regulated for the second time. The VSG reactive-voltage control link expression is as follows:
E＝E 0 +ΔE Q +ΔE u (1.4)
ΔE Q the expression is as follows:
ΔE Q ＝k Q (Q ref -Q) (1.5)
in the formula, k Q Is the reactive droop coefficient; q ref Rated reactive power output by the grid-connected inverter; q is inverseActual reactive power of the inverter output.
ΔE u The expression is as follows:
in the formula, k p2 Voltage proportionality coefficient for reactive-voltage control; k is a radical of i2 Is a voltage integral coefficient of reactive-voltage control; u shape ref Rated phase voltage for the power grid; and U is the actual phase voltage of the power grid.
According to the formulas (1.4), (1.5) and (1.6), the reactive-voltage control chart 5 can be obtained. Compared with the traditional grid-connected inverter control strategy, the reactive-voltage control of the virtual synchronous generator can provide reactive power support for a power grid and simultaneously perform static tracking on the voltage of the power grid, so that the quality of electric energy is improved, and the stability margin of a power system is increased.
As shown in fig. 1, the present embodiment provides a virtual synchronous generator control method based on self-adaptive inertia of a nonlinear function, which first introduces a tanh nonlinear function to perform virtual synchronous generator control of self-adaptive inertia, and accelerates the change of angular frequency by reducing rotational inertia; and then analyzing the influence of the rotational inertia on the control stability of the virtual synchronous generator by a Lyapunov first method, and finally adding flexible damping control into the control of the virtual synchronous generator aiming at the influence so as to give consideration to both static stability and transient stability.
Improved adaptive inertia VSG control principle and transient analysis
The control parameters of the virtual synchronous generator are not physically constrained, and the virtual inertia can be flexibly adjusted under the condition of meeting the stable operation. The method has the advantages of being beneficial to the flexible adjustment of virtual inertia and virtual damping, providing a comprehensive control strategy suitable for the virtual inertia and the damping, effectively inhibiting frequency oscillation and enhancing the static stability and the transient stability of a system during power disturbance.
General adaptive VSG control strategy:
in the formula, J 0 Is a virtual rotational inertia steady-state value; k compensation coefficients; g is a judgment threshold value.
The embodiment provides an adaptive inertia control strategy based on a tanh function:
the formula (2.3) is a tanh function, which is a commonly used non-linear function, and the rotation inertia value is realized at J by the tanh function as shown in FIG. 6 0 -k and J 0 A change between + k. the value range of the tanh function is between-1 and 1, and the tanh function avoids high-frequency oscillation when the virtual moment of inertia J changes. The modified adaptive inertia VSG control suppresses a change in the angular frequency by increasing the moment of inertia J when the angular frequency is far from the reference angular frequency, returns the angular frequency to the reference frequency in a shorter time when the angular frequency is close to the reference angular frequency, and accelerates the change in the angular frequency by decreasing the moment of inertia J.
Definition of δ max The maximum swing power angle of the VSG during active oscillation. In the event of a VSG failure, the active power is out of balance and the power angle is changed so that the VSG is brought back into active balance, and the different VSG control transients with the same damping are shown in figure 7. As can be seen from FIG. 7, δ cr Is 120 DEG, delta 0 At 30 degrees, the power angle swing range of the improved VSG is smaller during active oscillation, and the | delta of the improved VSG max -δ cr | less than | δ of adaptive VSG control strategy max -δ cr And conventional VSG control has been destabilized.
VSG transient damping
The VSG frequency can be effectively accelerated to recover to the power grid frequency by adjusting the rotary inertia J according to the frequency feedback, the rotary inertia J can run synchronously with the power grid, but the change of the rotary inertia J can also influence the stability of a VSG system, the influence of the rotary inertia J on the VSG active control stability is analyzed through the Lyapunov first method, and a transient damping link is provided and added into the VSG active control to enhance the transient stability.
According to the power flow calculation principle of the power system, the electromagnetic power output by the VSG is as follows:
wherein E is VSG no-load voltage, U is power grid phase voltage, and X d In order to be the reactance of the line,
power coefficient, δ = δ m -δ 0 The power angle difference between the VSG output voltage and the power grid voltage.
The response speed of the voltage and current double-loop control is far faster than that of the power outer loop, so the influence of the voltage and current double-loop control on the VSG power outer loop is ignored. The VSG active control state space can be obtained according to fig. 4 and equation (1.2):
in the formula (I), the compound is shown in the specification,
is used as the reference power and is used as the reference power,
the eigenvalues of the state space are:
VSG control parameters are shown in Table 1, and according to the Lyapunov first method, if all the characteristic values are negative, the system is stable, and a root locus diagram is drawn to analyze inertia time constantsT J And the effect of damping D on VSG active control stability, as shown in fig. 8.
TABLE 1VSG System parameter Table
As can be seen from fig. 8, in VSG control with the same damping D and different moments of inertia J, the moment of inertia J is too large or too small, and the feature root moves toward the virtual axis. And the damping transient characteristic is simulated, a differential link is introduced into a damping feedback loop, and high-frequency harmonic waves are filtered through a first-order lag link, so that the damping is enhanced when the VSG generates power disturbance, the acceleration area is reduced, and the transient stability of the VSG is improved. As shown in fig. 8, when the system is disturbed, the angular frequency variation increases, the transient damping control increases the damping coefficient, and the characteristic root locus moves toward the virtual axis direction. The VSG transient stability is analyzed, and the result shows that damping effectively increases the limit cut-off angle, but the rotational inertia can eliminate the damping effect. Transient damping effectively suppresses high-frequency oscillation, but has the problem that low-frequency oscillation cannot be effectively suppressed, resulting in prolonged time for the system to recover to steady operation in low-frequency oscillation.
The embodiment provides a flexible damping control, which considers both static stability and transient stability of VSG control, and its expression is:
in the formula, D 0 As damping coefficient, D s To fix the damping, D T For transient damping, T C Is the transient damping decay time constant.
According to the actual requirements of the synchronous generator and the amplitude-frequency characteristic of the first-order lead-lag link, when the frequency is lower than 0.5Hz, G is taken D (s) the gain is less than-3 dB, i.e.:
solving to obtain T c ＝0.3183s。
And the flexible damping control flexibly switches two states of fixed damping and transient damping according to the deviation of the angular frequency. According to fig. 9, when low-frequency small disturbance occurs, the damping is switched to be fixed damping, the fixed damping effect is stronger than transient damping, oscillation is effectively inhibited, the fixed damping value is small, and the problem that the response speed of VSG control for adjusting output active power is too slow is avoided; when high-frequency large disturbance occurs, transient damping is switched to be transient damping, the transient damping coefficient is large in high-frequency response, high-frequency oscillation is effectively restrained, and the transient stability of the VSG is improved. The active control block diagram is shown in fig. 10.
Simulation analysis
In order to verify the effectiveness of the VSG control strategy provided by the embodiment, a virtual synchronous generator grid-connected model is built on a matlab/simulink platform, and active power oscillation and three-phase short-circuit fault simulation of a traditional VSG strategy, a self-adaptive inertia VSG strategy and an improved self-adaptive inertia VSG strategy are respectively performed.
Active power oscillation
In the case of sudden active load increase, different VSG control strategies have an effect on active oscillation suppression, as shown in fig. 11 (a) and 11 (b). The simulation results of fig. 11 (a) and 11 (b) show that the active power is stepped from 1p.u to 1.4p.u at 3s, the active oscillation is suppressed more quickly when the improved VSG control is adopted, the overshoot of the active oscillation is lower than that of other VSG strategies, the system frequency is maintained in a safe range, and the maximum frequency deviation of the improved VSG control is less than 0.05Hz.
In the case of an active load sudden decrease, different VSG control strategies have a damping effect on active oscillations, as shown in fig. 12 (a) and 12 (b). The simulation results of fig. 12 (a) and 12 (b) show that the active power is stepped from 1p.u to 0.6p.u at 3s, the active oscillation is suppressed more quickly when the improved VSG control is adopted, the overshoot of the active oscillation is lower than that of other VSG strategies, the system frequency is maintained in a safe range, and the maximum frequency deviation of the improved VSG control is less than 0.05Hz.
Three-phase short-circuit fault
The inverter is operated in an off-grid mode, three-phase short-circuit fault simulation is carried out under the control of different VSGs, and the VSG simulation result is shown in FIG. 13. When the system t =1.5s, a three-phase short circuit fault occurs in the system, after 0.05s, the fault is removed, the system frequency is recovered to be normal again, and the deviation of the improved VSG control frequency is smaller than that of other VSGs.
The embodiment provides a self-adaptive inertia VSG control strategy based on a tanh function, transient stability of different VSGs is compared and analyzed, influences of different J and D on the VSG stability are analyzed through a root track, and damping control flexibly switched according to angular frequency change is introduced; and finally, a VSG simulation model is built on the MATLAB/Simulink platform, active power oscillation and three-phase short circuit fault simulation are carried out under different VSG strategies, and the performance of the control system is verified.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, without departing from the spirit of the present invention, a person of ordinary skill in the art should understand that the present invention shall not be limited to the embodiments and the similar structural modes without creative design.
Claims (3)
1. The virtual synchronous generator control method based on the self-adaptive inertia of the nonlinear function is characterized by comprising the following steps: which comprises the following steps:
1. introducing a tanh nonlinear function to control the virtual synchronous generator with self-adaptive inertia, and accelerating the change of angular frequency by reducing the rotational inertia;
2. analyzing the influence of the rotational inertia on the control stability of the virtual synchronous generator by a Lyapunov first method;
3. adding flexible damping control into the virtual synchronous generator control to give consideration to both static stability and transient stability aiming at the influence;
in the third step, the flexible damping control is added into the virtual synchronous generator control to give consideration to both static stability and transient stability, and the expression is as follows:
D T ＝D 0 G D (s)
D＝max{D s ,D T }
in the formula, D 0 To a damping coefficient, D s To fix the damping, D T For transient damping, T C Is the transient damping decay time constant; d is a system damping coefficient;
the flexible damping control flexibly switches two states of fixed damping and transient damping according to the deviation of angular frequency; when low-frequency small disturbance occurs, switching to fixed damping; when high-frequency large disturbance occurs, transient damping is switched.
2. The virtual synchronous generator control method of adaptive inertia based on nonlinear function according to claim 1, characterized in that: in the first step, control is performed based on the adaptive inertia of the tanh function, and the formula is as follows:
in the formula, J 0 Is a virtual rotational inertia steady-state value; k is a compensation coefficient; g is a decision threshold, omega is the grid frequency, omega ref S (x) is a tanh nonlinear function as a reference frequency, and the rotation inertia value is realized at J through the tanh function 0 -k and J 0 A change between + k; the value range of the tanh function is between-1 and 1, and the high-frequency oscillation is avoided when the moment of inertia J is changed by the tanh function; when the angular frequency is far from the reference angular frequency, the signal is onThe moment of inertia J is increased to suppress the change in the angular frequency, and is decreased to accelerate the change in the angular frequency so that the angular frequency is returned to the reference frequency in a shorter time when the angular frequency approaches the reference angular frequency.
3. The virtual synchronous generator control method of adaptive inertia based on nonlinear function according to claim 2, characterized in that: and step two, according to the Lyapunov first method, if all the characteristic values are negative, the system is stable, and a root locus diagram is drawn to analyze the influence of the inertia time constant and the damping on the control stability of the virtual synchronous generator.
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