CN115065077A - Control method and device for energy storage voltage type current converter - Google Patents
Control method and device for energy storage voltage type current converter Download PDFInfo
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Abstract
The application provides a control method of an energy storage voltage type converter, which comprises the following steps: acquiring a VSG rotor motion equation of the energy storage voltage type converter, and converting the VSG rotor motion equation into a virtual angular frequency change rate mathematical model; converting the virtual angular frequency change rate mathematical model into a virtual angular frequency regulating quantity MPC discrete domain mathematical equation according to a power MPC discrete domain matrix equation at a second preset moment; establishing a two-step MPC frequency deviation power constraint function according to a virtual angular frequency adjustment MPC discrete domain mathematical equation to minimize an MPC frequency deviation power constraint function value, carrying out vector addition on an output value controlled by the MPC and a VSG active power reference value to obtain a target active power reference value, and carrying out VSG power control according to the target active power reference value to realize MPC control of the energy storage voltage type converter. The method and the device adopt a two-cycle delay compensation control strategy to carry out advanced control on system variables, and improve control precision.
Description
Technical Field
The present disclosure relates to the field of energy storage converter control technologies, and in particular, to a method and an apparatus for controlling an energy storage voltage type converter.
Background
As an energy storage technology, one of the key technologies of energy revolution, the energy storage technology has received much attention in the industry in recent years because it can provide various auxiliary services such as peak shaving, frequency modulation, emergency response and the like for the power grid. In order to realize friendly grid connection of an energy storage system and provide stable voltage and frequency support for a power grid, research on a control strategy of an energy storage converter needs to be developed.
At present, in the field of energy storage converter control, double closed-loop control and dead-beat control are mostly adopted to realize dynamic response of voltage and frequency. But the conventional control strategy cannot maintain the stability of the asynchronous energy storage converter control system under the high permeability of the distributed power supply.
Disclosure of Invention
The present application is directed to solving, at least in part, one of the technical problems in the related art.
Therefore, a first objective of the present application is to provide a Control method for an energy storage voltage type converter, which solves the technical problem that the existing method cannot maintain the stability of an asynchronous energy storage converter Control system under high permeability of a distributed power supply, and adopts a two-period delay compensation Control strategy, i.e., a two-step MPC (Model Predictive Control) Control method, to perform advanced Control on system variables, accurately sample and offset delay effects, and adopts a two-step MPC frequency deviation power constraint function to improve Control accuracy, implement steady-state Control of the energy storage voltage type converter, and avoid frequency oscillation.
A second objective of the present application is to provide a control device for a storage voltage type inverter.
In order to achieve the above object, an embodiment of the first aspect of the present application provides a control method for a converter of a storage voltage type, including: acquiring a VSG (Virtual Synchronous Generation) rotor motion equation of the energy storage voltage type converter, and converting the VSG rotor motion equation into a Virtual angular frequency change rate mathematical model; converting the virtual angular frequency change rate mathematical model into a virtual angular frequency regulating quantity MPC discrete domain mathematical equation according to a power MPC discrete domain matrix equation at a second preset moment; establishing a two-step MPC frequency deviation power constraint function according to a virtual angular frequency adjustment MPC discrete domain mathematical equation to minimize an MPC frequency deviation power constraint function value, carrying out vector addition on an output value controlled by the MPC and a VSG active power reference value to obtain a target active power reference value, and carrying out VSG power control according to the target active power reference value to realize MPC control of the energy storage voltage type converter.
Optionally, in an embodiment of the present application, obtaining a VSG rotor equation of motion of the energy storage voltage type converter includes:
acquiring an output active power mathematical model and an output reactive power mathematical model of the energy storage voltage type current converter;
and simulating the energy storage voltage type converter into a synchronous generator model according to the output active power mathematical model and the output reactive power mathematical model to obtain a VSG rotor motion equation of the energy storage voltage type converter.
Optionally, in an embodiment of the present application, before converting the virtual angular frequency change rate mathematical model into a virtual angular frequency adjustment MPC discrete domain mathematical equation according to the power MPC discrete domain matrix equation at the second preset time, the method further includes:
obtaining an active power change rate mathematical model and a reactive power change rate mathematical model of the energy storage voltage type current converter;
discretizing the active power change rate mathematical model and the reactive power change rate mathematical model to obtain an output active power MPC mathematical model, an output reactive power MPC mathematical model and an active and reactive power discrete domain matrix equation of the energy storage voltage type converter at a first preset moment;
and establishing a power MPC discrete domain matrix equation at a second preset moment according to the active power discrete domain matrix equation and the reactive power discrete domain matrix equation.
Optionally, in an embodiment of the present application, obtaining an output active power mathematical model and an output reactive power mathematical model of the energy storage voltage type converter includes:
constructing a current change rate equation of the energy storage voltage type current converter, and performing Clark conversion on the current change rate equation to obtain
A current change rate mathematical model under a coordinate system;
the energy storage voltage type current converter is obtained through a current change rate mathematical model to be static in two phases
A voltage change rate mathematical model under a coordinate system;
and obtaining an output active power mathematical model and an output reactive power mathematical model of the energy storage voltage type current converter according to the current change rate mathematical model and the voltage change rate mathematical model.
Optionally, in an embodiment of the present application, obtaining an active power change rate mathematical model and a reactive power change rate mathematical model of the energy storage voltage type converter includes:
obtaining an instantaneous change rate mathematical model of the output power of the energy storage voltage type current converter according to the output active power mathematical model and the output reactive power mathematical model;
substituting the current change rate mathematical model and the voltage change rate mathematical model into the output power instantaneous change rate mathematical model to obtain the two-phase static state of the energy storage voltage type current converter
An active power change rate mathematical model and a reactive power change rate mathematical model under a coordinate system.
Optionally, in an embodiment of the present application, the VSG rotor equation of motion of the energy storage voltage type converter is expressed as:
wherein the content of the first and second substances,Jin order to be a virtual moment of inertia,
respectively VSG mechanical torque, electromagnetic torque and damping torque,
in order to be the angular frequency of the frequency,
is the active power reference value and is,
active power is output for the VSG, D is the damping coefficient,
in order to be the nominal angular frequency,
virtual electrical angles for the VSG.
Optionally, in an embodiment of the present application, the discrete domain matrix equation of the power MPC at the second preset time is expressed as:
wherein the content of the first and second substances,
is a matrix of coefficients, and is,
the active power prediction value is controlled for the two-step model,
the reactive power prediction value is controlled for the two-step model,
in order to output the mathematical model of the active power MPC,
in order to output a mathematical model of reactive power MPC,
is two phases at rest
Under the coordinate system
The shaft is supplied with a voltage on the ac mains side,
is two phases static
Under the coordinate system
Shaft ac mains side voltage.
Optionally, in an embodiment of the present application, the virtual angular frequency rate of change mathematical model is represented as:
wherein the content of the first and second substances,
in order to be the angular frequency of the frequency,Din order to be a damping coefficient of the damping,Jin order to be a virtual moment of inertia,
as a virtual amount of angular frequency adjustment,
is the VSG output power variation;
the virtual angular frequency adjustment quantity MPC discrete domain mathematical equation is expressed as:
wherein, the first and the second end of the pipe are connected with each other,
the predicted angular frequency change amount at time k +2,
for the predicted angular frequency change at time k +1, A, B is a coefficient matrix,
as a virtual amount of angular frequency adjustment,
is the VSG output power variation.
Optionally, in an embodiment of the present application, the two-step MPC frequency deviation power constraint function is expressed as:
wherein the content of the first and second substances,
representing a two-step MPC frequency deviation power constraint function,
representing the system frequency deviation weighting function at time k +2,
and representing the weight function of the active power output by the energy storage VSG at the k +2 moment.
Optionally, in an embodiment of the present application, the output active power MPC mathematical model and the output reactive power MPC mathematical model of the energy storage voltage type converter at the first preset time are expressed as:
wherein the content of the first and second substances,
in order to output the mathematical model of the active power MPC,
in order to output a mathematical model of reactive power MPC,
in order to sample the control period of the system,
is a filter inductor of an LC filter circuit,
is two phases static
Under the coordinate system
The shaft energy storage system outputs a voltage which,
is two phases at rest
Under the coordinate system
The shaft energy storage system outputs a voltage which,
is time k
The square of the voltage on the ac mains side of the shaft,
is time k
The square of the voltage on the ac mains side of the shaft,
is a filter inductor of an LC filter circuit,
the active power is output for the energy storage at the moment k,
the reactive power is output for the energy storage at the moment k,
、
for three-phase voltage of AC mains
In that
A shaft,
The axial component of the magnetic flux is,
is the angular frequency;
the active and reactive power discrete domain matrix equation of the energy storage voltage type converter at the first preset moment is expressed as follows:
wherein the content of the first and second substances,
in the form of a matrix of coefficients,
in order to output the mathematical model of the active power MPC,
in order to output a mathematical model of reactive power MPC,
the active power is output for the energy storage at the moment k,
the reactive power is output for the energy storage at the moment k,
is time k
The shaft is supplied with a voltage on the ac mains side,
is time k
Shaft ac mains side voltage.
In order to achieve the above object, a second aspect of the present application provides a control device for an inverter of a storage voltage type, including:
the acquisition module is used for acquiring a VSG rotor motion equation of the energy storage voltage type converter and converting the VSG rotor motion equation into a virtual angular frequency change rate mathematical model;
the conversion module is used for converting the virtual angular frequency change rate mathematical model into a virtual angular frequency regulating quantity MPC discrete domain mathematical equation according to the power MPC discrete domain matrix equation at the second preset moment;
and the control module is used for establishing a two-step MPC frequency deviation power constraint function according to a virtual angular frequency adjustment MPC discrete domain mathematical equation, minimizing an MPC frequency deviation power constraint function value, carrying out vector addition on an output value controlled by the MPC and a VSG active power reference value to obtain a target active power reference value, carrying out VSG power control according to the target active power reference value, and realizing MPC control of the energy storage voltage type converter.
The control method and the device for the energy storage voltage type current converter solve the technical problem that the existing method cannot maintain the stability of an asynchronous energy storage current converter control system under the high permeability of a distributed power supply, a two-period delay compensation control strategy, namely a two-step MPC control method, is adopted to carry out advanced control on system variables, accurately sample and offset delay influence, and a two-step MPC frequency deviation power constraint function is adopted to improve the control precision, realize the steady-state control of the energy storage voltage type current converter and avoid frequency oscillation.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a control method of an energy storage voltage type converter according to an embodiment of the present application;
fig. 2 is a topology diagram of a storage PCS circuit of a control method of a storage voltage type converter according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a control device of an energy storage voltage type inverter according to a second embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The following describes a control method and apparatus for a storage voltage type converter according to an embodiment of the present application with reference to the drawings.
Fig. 1 is a flowchart of a control method of an energy storage voltage type converter according to an embodiment of the present disclosure.
As shown in fig. 1, the control method of the energy storage voltage type converter includes the following steps:
In the embodiment of the application, an energy storage PCS current change rate equation is constructed according to kirchhoff's voltage law, wherein the energy storage PCS current change rate equation is expressed as:
wherein the content of the first and second substances,
and L represents the equivalent inductance of the line,
for energy storage of the PCS alternating current three-phase current,
for storing energy PCS alternating current three-phase voltage,
，Rthe equivalent resistance of the line is shown,
is the three-phase voltage of an alternating current power grid,
、
、
the LC filter circuit is formed by the following steps,
、
is an equivalent load.
Clark conversion is carried out on the current change rate equation of the energy storage PCS, and the conversion is carried out
A mathematical model of rate of change of current in a coordinate system, wherein the mathematical model of rate of change of current is expressed as:
wherein, the first and the second end of the pipe are connected with each other,
、
outputting current for energy storage system
In that
A shaft,
The axial component of the magnetic flux is,
、
for outputting voltage to energy storage system
In that
A shaft,
The axial component of the magnetic flux is,
、
for three-phase voltage of AC mains
In that
A shaft,
An axial component.
Current change rate through energy storage PCS
Energy storage PCS (Power System) obtained by current change rate mathematical model under coordinate system is static in two phases
A mathematical model of rate of change of voltage under a coordinate system, wherein the mathematical model of rate of change of voltage is represented as:
wherein the content of the first and second substances,
、
for three-phase voltage of AC mains
In that
A shaft,
The axial component, E is the net side voltage amplitude,
is the angular frequency.
According to the stored energy PCS in
Current change rate mathematical model and energy storage PCS (process control system) in coordinate system are static in two phases
The voltage change rate mathematical model under the coordinate system obtains an energy storage PCS output active power and reactive power mathematical model, wherein the output active power and reactive power mathematical model is expressed as follows:
wherein, P is an active power mathematical model, Q is a reactive power mathematical model,
、
for three-phase voltage of AC mains
In that
A shaft,
The axial component of the magnetic flux is,
、
outputting current for energy storage system
In that
A shaft,
An axial component.
Outputting an active power and reactive power mathematical model according to the energy storage PCS, and simulating the energy storage PCS into a synchronous generator model to obtain a VSG rotor motion equation and a reactive power regulation equation, wherein the VSG rotor motion equation is expressed as:
wherein the content of the first and second substances,Jin order to be a virtual moment of inertia,
respectively VSG mechanical torque, electromagnetic torque and damping torque,
in order to be the angular frequency of the frequency,
is the active power reference value and is,
active power is output for the VSG, D is the damping coefficient,
in order to be the nominal angular frequency,
virtual electrical angles for the VSG.
In the VSG control system, the virtual rotational inertia J enables the energy storage PCS to have inertia and damping coefficient in the power and frequency adjusting processDSo that the energy storage PCS has the capability of suppressing grid power oscillations. The VSG control also has an excitation regulation inertia, and the reactive regulation equation is expressed as:
wherein the content of the first and second substances,uis a virtual internal potential of the VSG,
is the effective value of the rated voltage,
for the deviation between the virtual internal potential and the rated voltage,
in order to obtain the reactive power regulation coefficient,
the reactive power is output for the VSG,
is a reactive power reference value.
And 102, converting the virtual angular frequency change rate mathematical model into a virtual angular frequency regulating quantity MPC discrete domain mathematical equation according to the power MPC discrete domain matrix equation at the second preset time.
In the embodiment of the application, energy storage PCS outputs active power and a reactive power mathematical model to be derived with respect to time, and an energy storage PCS output power instantaneous change rate mathematical model is obtained, wherein the output power instantaneous change rate mathematical model is as follows:
wherein P is an active power mathematical model, Q is a reactive power mathematical model,
、
for three-phase voltage of AC mains
In that
A shaft,
The axial component of the magnetic flux is,
、
outputting current for energy storage system
In that
A shaft,
An axial component.
The stored energy is PCS in
Current change rate mathematical model and energy storage PCS (process control system) in coordinate system are static in two phases
Substituting the voltage change rate mathematical model under the coordinate system into the energy storage PCS output power instantaneous change rate mathematical model to obtain the energy storage PCS which is static in two phases
The mathematical models of the change rates of the active power and the reactive power under the coordinate system are expressed as follows:
wherein P is an active power mathematical model, Q is a reactive power mathematical model,
is two phases at rest
Under the coordinate system
The shaft energy storage system outputs a voltage which,
is two phases at rest
Under the coordinate system
The shaft energy storage system outputs a voltage which,
is a filter inductor of an LC filter circuit,
is a filter inductor of an LC filter circuit,
、
for three-phase voltage of AC mains
In that
A shaft,
The axial component of the magnetic flux is,
is the angular frequency.
Make energy storage PCS at two-phase standstill
Discretizing the mathematical model of the change rate of the active power and the reactive power under the coordinate system to obtain the energy storage PCS (process control system) output active power and reactive power MPC mathematical model and an active power and reactive power discrete domain matrix equation at a first preset moment, wherein the first preset moment can bekThe +1 time, k represents an arbitrary time, the first preset time is the next time of the k time,
kthe mathematical model of the energy storage PCS at the +1 moment for outputting the active power and the reactive power MPC is expressed as follows:
wherein the content of the first and second substances,
in order to output the mathematical model of the active power MPC,
in order to output a mathematical model of reactive power MPC,
in order to sample the control period of the device,
is a filter inductor of an LC filter circuit,
is two phases at rest
Under the coordinate system
The shaft energy storage system outputs a voltage which,
is two phases at rest
Under the coordinate system
The shaft energy storage system outputs a voltage which,
is time k
The square of the voltage on the ac mains side of the shaft,
is time k
The square of the voltage on the ac mains side of the shaft,
is a filter inductor of an LC filter circuit,
the active power is output for the energy storage at the moment k,
the reactive power is output for the energy storage at the moment k,
、
for three-phase voltage of AC mains
In that
A shaft,
The axial component of the magnetic flux is,
in order to be the angular frequency of the frequency,
according to a discrete domain mathematical model standard form equation:
，kthe energy storage PCS active power and reactive power discrete domain matrix equation at the +1 moment is expressed as follows:
wherein the content of the first and second substances,
in the form of a matrix of coefficients,
in order to output the mathematical model of the active power MPC,
in order to output a mathematical model of reactive power MPC,
the active power is output for the energy storage at the moment k,
the reactive power is output for the energy storage at the moment k,
is time k
The shaft is supplied with a voltage on the ac mains side,
is time k
The shaft is supplied with a voltage on the ac mains side,
wherein the content of the first and second substances,
in order to sample the control period of the device,
is two phases at rest
Under the coordinate system
The shaft energy storage system outputs a voltage which,
is two phases at rest
Under the coordinate system
The shaft energy storage system outputs a voltage which,
is a filter inductor of an LC filter circuit,
is a filter inductor of an LC filter circuit,
is time k
The shaft is supplied with a voltage on the ac mains side,
is time k
The shaft is supplied with a voltage on the ac mains side,
is the angular frequency.
Due to the inherent cycle delay phenomenon of the energy storage PCS control system in the sampling and calculating links, the three-phase voltage of the alternating current power grid at the k moment in the MPC control link is caused
The sampling value cannot be applied to the sampling period, and as errors are accumulated continuously, larger deviation of the control system is caused. In order to suppress control deviation caused by periodic delay, a two-period delay compensation control strategy, namely a two-step MPC control method, is adopted to carry out advanced control on system variables, accurately sample and offset delay influence, and improve control precision.
According to the energy storage PCS at the first preset moment, outputting an active power discrete domain matrix equation and a reactive power discrete domain matrix equation, establishing an energy storage PCS power MPC discrete domain matrix equation at the second preset moment, wherein the first preset moment can bekThe +1 time, k represents any time, the first preset time is the next time of the k time, and the second preset time may bek+2, k represents an arbitrary time, the second predetermined time beingkThe next time instant of the time instant +1,
kthe +2 moment energy storage PCS power MPC discrete domain matrix equation is expressed as:
wherein the content of the first and second substances,
in the form of a matrix of coefficients,
the active power prediction value is controlled for the two-step model,
the reactive power prediction value is controlled for the two-step model,
in order to output the mathematical model of the active power MPC,
in order to output a mathematical model of reactive power MPC,
is two phases at rest
Under the coordinate system
The shaft is supplied with a voltage on the ac mains side,
is two phases at rest
Under the coordinate system
Shaft ac mains side voltage.
According to the method, the MPC control is used as an upper-level control strategy of an energy storage PCS control link, the MPC control output value is used as an energy storage PCS to output active and reactive power reference values, VSG power is corrected in real time, the stability of a control system is improved, and frequency oscillation is avoided. To suppress frequency oscillations, the present application employs a two-step MPC frequency deviation power constraint function.
The MPC is used as a front-end control strategy of the VSG, the output of the MPC is the input of the VSG, and the MPC is used for correcting the active power reference value of the VSG, so that the effect of improving the control stability of the VSG is achieved.
Converting a VSG rotor motion equation of the energy storage voltage type converter into a virtual angular frequency change rate mathematical model, wherein the virtual angular frequency change rate mathematical model is expressed as:
wherein the content of the first and second substances,
in order to be the angular frequency of the frequency,Din order to be a damping coefficient of the damping,Jin order to be a virtual moment of inertia,
，
as a virtual amount of angular frequency adjustment,
in order to be at the nominal angular frequency,
，
for the amount of VSG output power variation,
is the active power reference value and is,
active power is output for the VSG.
Converting the virtual angular frequency change rate mathematical model into a virtual angular frequency adjustment MPC discrete domain mathematical equation according to a power MPC discrete domain matrix equation of the energy storage PCS at a second preset time, wherein the second preset time may bekAt the time +2, the time point,
the virtual angular frequency adjustment MPC discrete domain mathematical equation is expressed as:
wherein the content of the first and second substances,
the predicted angular frequency change amount at time k +2,
for the predicted angular frequency change at time k +1, A, B is a coefficient matrix,
，
as a virtual amount of angular frequency adjustment,
in order to be the nominal angular frequency,
，
for the amount of VSG output power variation,
is the active power reference value and is,
the active power is output for the VSG,
wherein A, B is represented as:
wherein the content of the first and second substances,Din order to be a damping coefficient of the damping,Jin order to be a virtual moment of inertia,
in order to sample the time for the system,
is a time constant.
103, establishing a two-step MPC frequency deviation power constraint function according to a virtual angular frequency adjustment MPC discrete domain mathematical equation to minimize an MPC frequency deviation power constraint function value, performing vector addition on an output value controlled by the MPC and a VSG active power reference value to obtain a target active power reference value, and performing VSG power control according to the target active power reference value to realize MPC control of the energy storage voltage type converter.
In order to correct the VSG power in real time, improve the control system stability, and avoid frequency oscillation, it is necessary to minimize the MPC frequency deviation power constraint function value. In the energy storage PCS control system, a two-step power MPC control strategy is combined with VSG control to form a closed-loop control system. Wherein the output of the MPC control is compared with the VSG active power reference value
Vector addition is carried out to obtain a new active power reference value, the new active power reference value participates in VSG power control, and VSG outputs active power
Reactive power
Sum net side angular frequency
Is an input to the MPC. The VSG power reference value is continuously corrected through the two-step MPC frequency deviation power constraint function, when the network side frequency rises, the MPC active output is negative, and the VSG active power reference value is enabled to be
Reduce, thereby reducing VSG output power
And further, the rise of the network side frequency is suppressed. When the frequency of the network side is reduced, the active output of the MPC is positive, so that the VSG active power reference value is enabled
Increase to increase VSG output power
And further, the network side frequency drop is suppressed.
According to the control method of the energy storage voltage type converter, the VSG rotor motion equation of the energy storage voltage type converter is obtained, and the VSG rotor motion equation is converted into a virtual angular frequency change rate mathematical model; converting the virtual angular frequency change rate mathematical model into a virtual angular frequency regulating quantity MPC discrete domain mathematical equation according to a power MPC discrete domain matrix equation at a second preset moment; establishing a two-step MPC frequency deviation power constraint function according to a virtual angular frequency adjustment MPC discrete domain mathematical equation to minimize an MPC frequency deviation power constraint function value, carrying out vector addition on an output value controlled by the MPC and a VSG active power reference value to obtain a target active power reference value, and carrying out VSG power control according to the target active power reference value to realize MPC control of the energy storage voltage type converter. Therefore, the technical problem that the existing method cannot maintain the stability of the control system of the asynchronous energy storage converter under the high permeability of the distributed power supply can be solved, a two-period delay compensation control strategy, namely a two-step MPC control method, is adopted to carry out advanced control on system variables, accurately sample and offset delay influence, and a two-step MPC frequency deviation power constraint function is adopted to improve the control precision, realize the steady-state control of the energy storage voltage type converter and avoid frequency oscillation.
Further, in the embodiment of the present application, obtaining the VSG rotor motion equation of the energy storage voltage type converter includes:
acquiring an output active power mathematical model and an output reactive power mathematical model of the energy storage voltage type current converter;
and simulating the energy storage voltage type converter into a synchronous generator model according to the output active power mathematical model and the output reactive power mathematical model to obtain a VSG rotor motion equation of the energy storage voltage type converter.
Further, in this embodiment of the present application, before converting the virtual angular frequency change rate mathematical model into the virtual angular frequency adjustment MPC discrete domain mathematical equation according to the power MPC discrete domain matrix equation at the second preset time, the method further includes:
obtaining an active power change rate mathematical model and a reactive power change rate mathematical model of the energy storage voltage type current converter;
discretizing the active power change rate mathematical model and the reactive power change rate mathematical model to obtain an output active power MPC mathematical model, an output reactive power MPC mathematical model and an active and reactive power discrete domain matrix equation of the energy storage voltage type current converter at the first preset moment;
and establishing a power MPC discrete domain matrix equation at a second preset moment according to the active power discrete domain matrix equation and the reactive power discrete domain matrix equation.
Further, in this embodiment of the present application, obtaining an output active power mathematical model and an output reactive power mathematical model of the energy storage voltage type converter includes:
constructing a current change rate equation of the energy storage voltage type current converter, and performing Clark conversion on the current change rate equation to obtain
A current change rate mathematical model under a coordinate system;
the energy storage voltage type current converter is obtained by a mathematical model of the current change rate in a two-phase static state
A voltage change rate mathematical model under a coordinate system;
and obtaining an output active power mathematical model and an output reactive power mathematical model of the energy storage voltage type current converter according to the current change rate mathematical model and the voltage change rate mathematical model.
Further, in this embodiment of the present application, obtaining an active power change rate mathematical model and a reactive power change rate mathematical model of the energy storage voltage type converter includes:
obtaining an output power instantaneous change rate mathematical model of the energy storage voltage type current converter according to the output active power mathematical model and the output reactive power mathematical model;
substituting the current change rate mathematical model and the voltage change rate mathematical model into the output power instantaneous change rate mathematical model to obtain the energy storage voltage type current converter between twoPhase stationary
An active power change rate mathematical model and a reactive power change rate mathematical model under a coordinate system.
Further, in the embodiment of the present application, the VSG rotor motion equation of the energy storage voltage type converter is expressed as:
wherein the content of the first and second substances,Jin order to be a virtual moment of inertia,
respectively VSG mechanical torque, electromagnetic torque and damping torque,
in order to be the angular frequency of the frequency,
is the active power reference value and is,
active power is output for the VSG, D is the damping coefficient,
in order to be the nominal angular frequency,
is the VSG virtual electrical angle.
Further, in the embodiment of the present application, the discrete domain matrix equation of the power MPC at the second preset time is expressed as:
wherein the content of the first and second substances,
in the form of a matrix of coefficients,
the active power prediction value is controlled for the two-step model,
the reactive power predicted value is controlled for the two-step model,
in order to output the mathematical model of the active power MPC,
in order to output a mathematical model of reactive power MPC,
is two phases static
Under the coordinate system
The shaft is supplied with a voltage on the ac mains side,
is two phases at rest
Under the coordinate system
Shaft ac mains side voltage.
Further, in the embodiment of the present application, the virtual angular frequency change rate mathematical model is expressed as:
wherein the content of the first and second substances,
in order to be the angular frequency of the frequency,Din order to be a damping coefficient of the damping,Jin order to be a virtual moment of inertia,
，
as a virtual amount of angular frequency adjustment,
in order to be the nominal angular frequency,
，
for the amount of change in the VSG output power,
is the active power reference value and is,
outputting active power for the VSG;
the virtual angular frequency regulating quantity MPC discrete domain mathematical equation is expressed as follows:
wherein, the first and the second end of the pipe are connected with each other,
the predicted angular frequency change amount at time k +2,
for the predicted angular frequency change at time k +1, A, B is a coefficient matrix,
，
as a virtual amount of angular frequency adjustment,
in order to be the nominal angular frequency,
，
for the amount of VSG output power variation,
is the active power reference value and is,
the active power is output for the VSG,
wherein A, B is represented as:
wherein the content of the first and second substances,Din order to be a damping coefficient of the damping,Jin order to be a virtual moment of inertia,
in order to sample the time for the system,
is a time constant.
The method comprises the steps of taking an energy storage PCS power MPC discrete domain matrix equation as an upper-layer control system of a VSG rotor motion equation and a reactive power regulation equation of an energy storage converter, taking an MPC control output value as a VSG active power reference value and a VSG reactive power reference value, correcting VSG power in real time, improving the stability of the control system, and avoiding frequency oscillation so as to inhibit the frequency oscillation.
Further, in the embodiment of the present application, the two-step MPC frequency deviation power constraint function is expressed as:
wherein the content of the first and second substances,
representing a two-step MPC frequency deviation power constraint function,
representing the system frequency deviation weighting function at time k +2,
and representing the weight function of the active power output by the energy storage VSG at the k +2 moment.
In order to obtain a frequency deviation weight function, an energy storage PCS power simulation synchronous machine control equation is established:
wherein the content of the first and second substances,Jin order to be a virtual moment of inertia,
is the active power reference value and is,
active power is output for the energy storage PCS,Das damping coefficient, virtual moment of inertiaJThe energy storage PCS has inertia and damping coefficient in the process of power and frequency adjustmentDSo that the energy storage PCS has the capability of suppressing grid power oscillations,
according to the energy storage PCS power simulation synchronous machine control equation, establishing a frequency deviation weight function as follows:
wherein the content of the first and second substances,
in order to be the angular frequency of the frequency,Din order to be a damping coefficient of the damping,Jin order to be a virtual moment of inertia,
，
as a virtual amount of angular frequency adjustment,
in order to be at the nominal angular frequency,
，
for the amount of change in the VSG output power,
is the active power reference value and is,
the active power is output for the VSG,
converting the frequency deviation weight function into a virtual angular frequency adjustment quantity MPC discrete domain mathematical equation according to a second preset moment energy storage PCS power MPC discrete domain matrix equation:
wherein the content of the first and second substances,
the predicted angular frequency change amount at time k +2,
for the predicted angular frequency change at time k +1, A, B is a coefficient matrix,
，
as a virtual amount of angular frequency adjustment,
in order to be the nominal angular frequency,
，
for the amount of VSG output power variation,
is the active power reference value and is,
the active power is output for the VSG,
wherein A, B is represented as:
wherein the content of the first and second substances,Din order to be a damping coefficient of the damping,Jin order to be a virtual moment of inertia,
is a system ofThe time of sampling is such that,
is a time constant.
According to a virtual angular frequency adjustment quantity MPC discrete domain mathematical equation, a two-step MPC frequency deviation power constraint function can be expressed as follows:
wherein the content of the first and second substances,
is composed ofkThe time virtual angular frequency regulating quantity is the controlled output quantity,
in order to control the amount of input in the domain,
for the minimum prediction horizon for a two-step MPC,
for the maximum prediction horizon of a two-step MPC,pin order to control the range of the control,
are weighting factors used to reduce the amount of MPC control adjustment.
The problem of MPC optimization for virtual angular frequency adjustments with frequency deviation power constraint functions can be expressed as:
wherein the content of the first and second substances,
for the purpose of the frequency deviation power constraint function,
the predicted angular frequency variation at time k +2+ i,
the predicted angular frequency change at time k +1+ i, A, B is a coefficient matrix,
，
as a virtual amount of angular frequency adjustment,
in order to be the nominal angular frequency,
，
for the amount of VSG output power variation,
is the active power reference value and is,
the active power is output for the VSG,
is the angular frequency at time k + i,
the angular frequency at time k + i-1,
the predicted angular frequency variation at time k + i-1,
predicted angular frequency variation at time k +2+ iThe minimum value of (a) is determined,
the maximum value of the predicted angular frequency change amount at the time k +2+ i.
Further, in this embodiment of the present application, the mathematical model of the output active power MPC and the mathematical model of the output reactive power MPC of the energy storage voltage type converter at the first preset time are expressed as follows:
wherein the content of the first and second substances,
in order to output the mathematical model of the active power MPC,
in order to output the mathematical model of the reactive power MPC,
in order to sample the control period of the device,
is a filter inductor of an LC filter circuit,
is two phases at rest
Under the coordinate system
The shaft energy storage system outputs a voltage which,
is two phases at rest
Coordinate systemLower part
The shaft energy storage system outputs a voltage which,
is time k
The square of the voltage on the ac mains side of the shaft,
is time k
The square of the voltage on the ac mains side of the shaft,
is a filter inductor of an LC filter circuit,
the active power is output for the energy storage at the moment k,
the reactive power is output for the energy storage at the moment k,
、
for three-phase voltage of AC mains
In that
A shaft,
The axial component of the magnetic flux is,
is the angular frequency;
the active and reactive power discrete domain matrix equation of the energy storage voltage type converter at the first preset moment is expressed as follows:
wherein the content of the first and second substances,
in the form of a matrix of coefficients,
in order to output the mathematical model of the active power MPC,
in order to output a mathematical model of reactive power MPC,
the active power is output for the energy storage at the moment k,
the reactive power is output for the energy storage at the moment k,
is time k
The shaft is supplied with a voltage on the ac mains side,
is time k
Shaft ac mains side voltage.
Fig. 2 is a topology diagram of a storage PCS circuit of a method for controlling a storage voltage type converter according to an embodiment of the present application.
As shown in figure 2 of the drawings, in which,
in order to store the dc side bus voltage of the PCS,
、
for energy storage PCS alternating current A, B, C three-phase voltage and current,
is the three-phase voltage of an alternating current power grid,
、
、
the LC filter circuit is formed by the following steps,
、
is an equivalent load.
Fig. 3 is a schematic structural diagram of a control device of an energy storage voltage type inverter according to a second embodiment of the present application.
As shown in fig. 3, the control apparatus for a converter of a storage voltage type includes:
the acquiring module 10 is used for acquiring a VSG rotor motion equation of the energy storage voltage type converter and converting the VSG rotor motion equation into a virtual angular frequency change rate mathematical model;
the conversion module 20 is configured to convert the virtual angular frequency change rate mathematical model into a virtual angular frequency adjustment MPC discrete domain mathematical equation according to the power MPC discrete domain matrix equation at the second preset time;
and the control module 30 is configured to establish a two-step MPC frequency deviation power constraint function according to a virtual angular frequency adjustment MPC discrete domain mathematical equation, minimize an MPC frequency deviation power constraint function value, perform vector addition on an output value controlled by the MPC and a VSG active power reference value to obtain a target active power reference value, perform VSG power control according to the target active power reference value, and implement MPC control of the energy storage voltage type converter.
The control device of the energy storage voltage type converter comprises an obtaining module, a calculating module and a control module, wherein the obtaining module is used for obtaining a VSG rotor motion equation of the energy storage voltage type converter and converting the VSG rotor motion equation into a virtual angular frequency change rate mathematical model; the conversion module is used for converting the virtual angular frequency change rate mathematical model into a virtual angular frequency regulating quantity MPC discrete domain mathematical equation according to the power MPC discrete domain matrix equation at the second preset moment; and the control module is used for establishing a two-step MPC frequency deviation power constraint function according to a virtual angular frequency adjustment MPC discrete domain mathematical equation, minimizing an MPC frequency deviation power constraint function value, carrying out vector addition on an output value controlled by the MPC and a VSG active power reference value to obtain a target active power reference value, carrying out VSG power control according to the target active power reference value, and realizing MPC control of the energy storage voltage type converter. Therefore, the technical problem that the existing method cannot maintain the stability of the control system of the asynchronous energy storage converter under the high permeability of the distributed power supply can be solved, a two-period delay compensation control strategy, namely a two-step MPC control method, is adopted to carry out advanced control on system variables, accurately sample and offset delay influence, and a two-step MPC frequency deviation power constraint function is adopted to improve the control precision, realize the steady-state control of the energy storage voltage type converter and avoid frequency oscillation.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example" or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (11)
1. A method for controlling a converter of a stored energy voltage type, comprising:
acquiring a VSG rotor motion equation of an energy storage voltage type converter, and converting the VSG rotor motion equation into a virtual angular frequency change rate mathematical model;
converting the virtual angular frequency change rate mathematical model into a virtual angular frequency regulating quantity MPC discrete domain mathematical equation according to a power MPC discrete domain matrix equation at a second preset moment;
and establishing a two-step MPC frequency deviation power constraint function according to the virtual angular frequency adjustment value MPC discrete domain mathematical equation to minimize an MPC frequency deviation power constraint function value, carrying out vector addition on an output value controlled by the MPC and a VSG active power reference value to obtain a target active power reference value, and carrying out VSG power control according to the target active power reference value to realize MPC control of the energy storage voltage type converter.
2. The method for controlling the energy storage voltage type converter according to claim 1, wherein the obtaining of the VSG rotor motion equation of the energy storage voltage type converter comprises:
acquiring an output active power mathematical model and an output reactive power mathematical model of the energy storage voltage type current converter;
and simulating the energy storage voltage type converter into a synchronous generator model according to the output active power mathematical model and the output reactive power mathematical model to obtain a VSG rotor motion equation of the energy storage voltage type converter.
3. A method for controlling a converter according to claim 2, wherein before said converting said virtual angular frequency change rate mathematical model into a virtual angular frequency adjustment MPC discrete domain mathematical equation according to a power MPC discrete domain matrix equation at a second predetermined time, further comprising:
obtaining an active power change rate mathematical model and a reactive power change rate mathematical model of the energy storage voltage type current converter;
discretizing the active power change rate mathematical model and the reactive power change rate mathematical model to obtain an output active power MPC mathematical model, an output reactive power MPC mathematical model and an active and reactive power discrete domain matrix equation of the energy storage voltage type converter at the first preset moment;
and establishing a power MPC discrete domain matrix equation at a second preset moment according to the active power discrete domain matrix equation and the reactive power discrete domain matrix equation.
4. The method for controlling a storage voltage type converter according to claim 3, wherein the obtaining of the mathematical model of the output active power and the mathematical model of the output reactive power of the storage voltage type converter comprises:
constructing a current change rate equation of the energy storage voltage type current converter, and performing Clark conversion on the current change rate equation to obtain
A current change rate mathematical model under a coordinate system;
obtaining the static state of the energy storage voltage type current converter in two phases through the current change rate mathematical model
A voltage change rate mathematical model under a coordinate system;
and obtaining an output active power mathematical model and an output reactive power mathematical model of the energy storage voltage type current converter according to the current change rate mathematical model and the voltage change rate mathematical model.
5. The method for controlling the energy storage voltage type converter according to claim 4, wherein the step of obtaining the mathematical model of the active power change rate and the mathematical model of the reactive power change rate of the energy storage voltage type converter comprises:
obtaining an output power instantaneous change rate mathematical model of the energy storage voltage type current converter according to the output active power mathematical model and the output reactive power mathematical model;
substituting the current change rate mathematical model and the voltage change rate mathematical model into the output power instantaneous change rate mathematical model to obtain the condition that the energy storage voltage type current converter is static at two phases
An active power change rate mathematical model and a reactive power change rate mathematical model under a coordinate system.
6. The method for controlling an energy storage voltage type converter according to claim 1, wherein the VSG rotor motion equation of the energy storage voltage type converter is expressed as:
wherein J is a virtual moment of inertia,
respectively VSG mechanical torque, electromagnetic torque and damping torque,
in order to be the angular frequency of the frequency,
is the active power reference value and is,
active power is output for the VSG, D is the damping coefficient,
in order to be at the nominal angular frequency,
is the VSG virtual electrical angle.
7. A method for controlling a converter according to claim 1, wherein the discrete domain matrix equation of the power MPC at the second predetermined time is expressed as:
wherein the content of the first and second substances,
is a matrix of coefficients, and is,
the active power prediction value is controlled for the two-step model,
the reactive power prediction value is controlled for the two-step model,
in order to output the mathematical model of the active power MPC,
in order to output a mathematical model of reactive power MPC,
is two phases at rest
Under the coordinate system
The voltage on the ac mains side of the shaft,
is two phases static
Under the coordinate system
Shaft ac mains side voltage.
8. A method of controlling a converter according to claim 1 wherein the mathematical model of the rate of change of virtual angular frequency is expressed as:
wherein the content of the first and second substances,
angular frequency, D damping coefficient, J virtual moment of inertia,
as a virtual amount of angular frequency adjustment,
is the VSG output power variation;
the virtual angular frequency regulating quantity MPC discrete domain mathematical equation is expressed as follows:
wherein the content of the first and second substances,
the predicted angular frequency change amount at time k +2,
the predicted angular frequency change at time k +1, A, B is a coefficient matrix,
as a virtual amount of angular frequency adjustment,
is the VSG output power variation.
9. A method of controlling a converter according to claim 1 wherein the two-step MPC frequency deviation power constraint function is expressed as:
wherein the content of the first and second substances,
representing a two-step MPC frequency deviation power constraint function,
representing the system frequency deviation weighting function at time k +2,
to representAnd the energy storage VSG outputs an active power weight function at the k +2 moment.
10. A method for controlling a storage voltage type converter according to claim 3, characterized in that the mathematical models of the output active power MPC and the output reactive power MPC of the storage voltage type converter at the first predetermined moment are expressed as:
wherein the content of the first and second substances,
in order to output the mathematical model of the active power MPC,
in order to output a mathematical model of reactive power MPC,
in order to sample the control period of the device,
is a filter inductor of an LC filter circuit,
is two phases at rest
Under the coordinate system
The shaft energy storage system outputs a voltage which,
is two phases at rest
Under the coordinate system
The shaft energy storage system outputs a voltage which,
is time k
The square of the voltage on the ac mains side of the shaft,
is time k
The square of the voltage on the ac mains side of the shaft,
is a filter inductor of an LC filter circuit,
the active power is output for the energy storage at the moment k,
the reactive power is output for the energy storage at the moment k,
、
for three-phase voltage of AC mains
In that
A shaft,
The axial component of the magnetic flux is,
is the angular frequency;
the active and reactive power discrete domain matrix equation of the energy storage voltage type converter at the first preset moment is expressed as follows:
wherein the content of the first and second substances,
in the form of a matrix of coefficients,
in order to output the mathematical model of the active power MPC,
in order to output a mathematical model of reactive power MPC,
the active power is output for the energy storage at the moment k,
the reactive power is output for the energy storage at the moment k,
is time k
The shaft is supplied with a voltage on the ac mains side,
is time k
Shaft ac mains side voltage.
11. A control apparatus for a converter of the energy storage voltage type, comprising:
the acquisition module is used for acquiring a VSG rotor motion equation of the energy storage voltage type converter and converting the VSG rotor motion equation into a virtual angular frequency change rate mathematical model;
the conversion module is used for converting the virtual angular frequency change rate mathematical model into a virtual angular frequency regulating quantity MPC discrete domain mathematical equation according to a power MPC discrete domain matrix equation at a second preset time;
and the control module is used for establishing a two-step MPC frequency deviation power constraint function according to the virtual angular frequency adjustment value MPC discrete domain mathematical equation, minimizing an MPC frequency deviation power constraint function value, carrying out vector addition on an output value controlled by the MPC and a VSG active power reference value to obtain a target active power reference value, carrying out VSG power control according to the target active power reference value, and realizing MPC control of the energy storage voltage type converter.
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