CN115276048B - Power optimal allocation control method for hybrid energy storage system for black start of generator - Google Patents
Power optimal allocation control method for hybrid energy storage system for black start of generator Download PDFInfo
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/28—Arrangements for balancing of the load in a network by storage of energy
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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
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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
- H02J3/28—Arrangements for balancing of the load in a network by storage of energy
- H02J3/32—Arrangements for balancing of the load in a network by storage of energy using batteries with converting means
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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
- H02J2300/10—The dispersed energy generation being of fossil origin, e.g. diesel generators
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
A power optimization distribution control method of a hybrid energy storage system for black start of a generator comprises the hybrid energy storage system, wherein the system comprises a storage battery, a super capacitor, a first bidirectional DC/DC converter, a second bidirectional DC/DC converter, a bidirectional PWM converter and a diesel generator set. The control method of the invention collects the SOC of the storage battery and the super capacitor, adopts the power optimization distribution control strategy of the hybrid energy storage system, and can change the charge and discharge power distribution of the storage battery and the super capacitor by changing the parameters of the PI controller and the time constant tau in the LPF. The hybrid energy storage system is added, so that the system regulation function is enhanced from the outside through a power control method, and the control performance of the system voltage frequency is improved.
Description
Technical Field
The invention relates to the technical field of control of diesel generator sets of hydropower stations, in particular to a power optimization distribution control method of a hybrid energy storage system applied to black start of diesel generators of hydropower stations.
Background
At present, when a speed regulating system of a diesel generator set of a hydropower station is designed, the conventional PID control is still mostly adopted, and the function of quick speed regulation is realized through adjustment of a comparison example amplification coefficient kp, an integration coefficient ki and a differential coefficient kd. However, once the three coefficients kp, ki and kd are determined, the conventional PID control method is used as a control method of the diesel engine speed regulating system, and the three coefficients cannot be changed according to different requirements during system operation, so that the regulating speed and the overshoot cannot be well controlled.
More and more expert students now start to add the idea of fuzzy control to the rotational speed regulation control of diesel-electric sets. However, the traditional fuzzy PID control method still improves the speed regulation performance of the diesel speed regulation system, when the interference is too large, effective control cannot be achieved, and particularly when the method is applied to the black start of a hydropower station, as the power of the electric load of the plant can be changed at any time due to the start and stop of the oil pump motors of the various systems such as the speed regulator hydraulic system, the water-oil guide circulation system and the high-pressure oil system, if the traditional fuzzy PID control mode is directly and singly adopted, under the condition of black start, the voltage and the frequency of the electric system of the plant can be fluctuated obviously when the load is started and stopped.
Disclosure of Invention
In order to solve the technical problems, the invention provides a power optimal distribution control method of a hybrid energy storage system applied to the black start of a diesel generator of a hydropower station, which aims to strengthen the system regulating function from the outside by utilizing the hybrid energy storage system and adopting the power optimal distribution control method of the hybrid energy storage system, detect the SOC of a storage battery and a super capacitor, change the charge and discharge power of the storage battery and the super capacitor through a power optimal distribution control strategy, reduce the regulating time and overshoot of the voltage and the rotating speed of a factory power system and improve the control performance of the voltage frequency of the system under the condition of black start when a load is started and stopped.
The technical scheme adopted by the invention is as follows:
a hybrid energy storage system for a hydroelectric power plant diesel generator black start, comprising:
the device comprises a storage battery, a super capacitor, a first bidirectional DC/DC converter, a second bidirectional DC/DC converter, a bidirectional PWM converter,
The two poles of the storage battery are connected with one side of the first bidirectional DC/DC converter;
two ends of the super capacitor are connected with one side of the second bidirectional DC/DC converter;
the other side of the first bidirectional DC/DC converter is connected with two ends of a capacitor C1 in parallel;
the other side of the second bidirectional DC/DC converter is connected with two ends of a capacitor C1 in parallel, and the capacitor C1 plays a role in stabilizing voltage and filtering.
One side of the bidirectional PWM converter is connected with two ends of the capacitor C1 in parallel;
the other side of the bidirectional DC/AC converter is connected with one side of the transformer;
the other side of the transformer is connected with a diesel generator set.
The first bidirectional DC/DC converter and the second bidirectional DC/DC converter are both Buck/Boost bidirectional DC/DC converters.
When the diesel generator system is in a stable working state, the hybrid energy storage system is stopped, and the diesel generator system, the hybrid energy storage system and the three-phase load still meet the relation of formula (3); but when the diesel generator system fluctuates:
ΔP＝Pd iesel +P hess -P load (3)；
wherein: p (P) hess For hybrid energy storage power, P diesel The output power of the diesel generator is; p (P) load As load power, Δp is the system power variation.
When the load suddenly unloads, i.e. P load When it is reduced, P diesel ＞P load Delta P > 0, let P hess The negative increase of < 0 is absorbed, and the whole system comprises a diesel generator system, a hybrid energy storage system and the increase of three-phase load power, so that the rise of three-phase alternating current voltage and the increase of frequency are reduced;
when the load is suddenly increased, i.e. P load When increasing P diesel ＜P load Delta P is less than 0, and P can be made hess The positive increase of more than 0 supplements the deficiency of the whole system including a diesel generator system, a hybrid energy storage system and three-phase load power, thereby inhibiting the decrease of three-phase alternating current voltage and the reduction of frequency.
The bi-directional DC/DC converter strategy is as follows:
setting: i bat_ref For battery command current, I bat For the actual current of the storage battery, I sc_ref For super capacitor command current, I sc Is the actual current of the super capacitor, D bat Duty cycle, D, of a first bidirectional DC/DC converter for a battery branch sc The duty cycle of the second bidirectional DC/DC converter is the super capacitor branch.
After power distribution, the command power is divided by the voltage to obtain corresponding command current, and the duty ratio is obtained after PI.
The function of the comparator is to change the working mode, when the comparator 1 works and the comparator 2 does not work, the bidirectional DC/DC converter works in the BOOST state; when the comparator 1 does not work and the comparator 2 works, the bidirectional DC/DC converter works in a BUCK state; the storage battery command current passes through the PI and the comparator and then controls the first bidirectional DC/DC converter; the super capacitor command current passes through the PI and the comparator and then controls the second bidirectional DC/DC converter.
When the instruction current is more than 0, the hybrid energy storage system works in a BOOST state and generates power; when the instruction current is less than 0, the hybrid energy storage system works in a BOOST state to absorb power.
Meanwhile, as the actual rotating speed and the reference rotating speed are not possible to be ensured to be 100% consistent when the diesel generating set works under the condition of no fluctuation, in order to prevent the first bidirectional DC/DC converter and the second bidirectional DC/DC converter from frequently working, when the error between the actual rotating speed and the reference rotating speed is smaller, namely the instruction current is smaller, the first bidirectional DC/DC converter and the second bidirectional DC/DC converter are in a stop state.
The control strategy of the bidirectional PWM converter is double-loop control of a voltage outer loop and a current inner loop, and the control method after decoupling is as follows:
setting: u (U) dc_ref Is the reference value of the DC bus voltage, U dc Is the actual value of the DC bus voltage, I d_ref Is the command value of d-axis current, I d Is the actual value of d-axis current, I q_ref For the command value of q-axis current, I q Is the actual value of q-axis current, ωL is the equivalent impedance of the filter inductor, U d_ref Is the command value of d-axis voltage, U d As the actual value of d-axis voltage, U q_ref For the command value of q-axis voltage, U q Is the actual value of the q-axis voltage.
When the hybrid energy storage system is in a discharging mode, the voltage of the direct current bus capacitor is increased, U dc_ref －U dc < 0, instruction current I d_ref The power of the bidirectional PWM converter is less than 0, so that the bidirectional PWM converter is in an inversion mode and generates power to the diesel generator set;
when the hybrid energy storage system is in a charging mode, the voltage of the direct current bus capacitor is reduced, U dc_ref －U dc > 0, instruction current I d_ref And > 0, the bi-directional PWM converter is in a rectifying mode, absorbing power from the diesel genset.
When the total power of the hybrid energy storage system is constant, the parameters of the PI controller and the time constant tau in the LPF are changed by detecting the SOC of the storage battery and the super capacitor and the charge and discharge state of the system,
setting the discharging dead zone threshold of SOC as SOC min I.e. when SOC i (i=bat (battery) or sc (super capacitor)) < SOC min When the storage battery and the super capacitor are in use, the storage battery and the super capacitor can only be charged and cannot be discharged;
setting the discharge slowing region threshold of the SOC as the SOC low I.e. when SOC min ＜SOC i ＜SOC low When the storage battery and the super capacitor are normally charged, the discharge power is reduced;
setting the charging dead zone threshold of the SOC as the SOC max I.e. when SOC max ＜SOC i When the storage battery and the super capacitor are in use, the storage battery and the super capacitor cannot be charged and only can be discharged;
setting a charge slowing region threshold of the SOC as the SOC high I.e. when SOC high ＜SOC i ＜SOC max When the storage battery and the super capacitor are in a normal discharge state, the charging power of the storage battery and the super capacitor is reduced;
when SOC is low ＜SOC i ＜SOC high And when the storage battery and the super capacitor are charged and discharged normally.
The power optimization distribution control method of the hybrid energy storage system comprises the following steps:
P hess_ref for the total instruction power of the hybrid energy storage system, P bat_ref For battery command power, P sc_ref And commanding power for the super capacitor.
(1) When SOC is bat ＜SOC min And P is hess_ref When the power is more than 0, the first bidirectional DC/DC converter switch of the storage battery is closed to be in a stop state, and meanwhile PI parameters are reduced to enable P to be the same sc_ref ＝P hess_ref ；
(2) When SOC is sc ＜SOC min And P is hess_ref At > 0, the second bidirectional DC of the super capacitor is turned offthe/DC converter switch is in a stop state, and PI parameters are reduced to enable P bat_ref ＝P hess_ref ；
(3) When SOC is min ＜SOC bat 、SOC sc ＜SOC low And P is hess_ref When the PI parameter is more than 0, the PI parameter is reduced, and tau is unchanged;
(4) When SOC is min ＜SOC bat ＜SOC low ，SOC sc ＞SOC low And P is hess_ref When the PI parameter is more than 0, the PI parameter is unchanged, and tau is reduced;
(5) When SOC is min ＜SOC sc ＜SOC low ，SOC bat ＞SOC low And P is hess_ref When the PI parameter is more than 0, the PI parameter is unchanged, and tau is increased;
(6) When SOC is high ＜SOC sc ＜SOC max ，SOC bat ＜SOC high And P is hess_ref When the PI parameter is less than 0, the PI parameter is unchanged, and tau is increased;
(7) When SOC is high ＜SOC bat ＜SOC max ，SOC sc ＜SOC high And P is hess_ref When the PI parameter is less than 0, the PI parameter is unchanged, and τ is reduced;
(8) When SOC is high ＜SOC bat 、SOC sc ＜SOC max And P is hess_ref When the value is less than 0, the PI parameter is reduced, and tau is unchanged;
(9) When SOC is max ＜SOC bat And P is hess_ref When the value is less than 0, the bidirectional DC/DC switch of the storage battery is closed to be in a stop state, and meanwhile PI parameters are reduced to enable P sc_ref ＝P hess_ref ；
(10) When SOC is max ＜SOC sc And P is hess_ref When the voltage is less than 0, the bidirectional DC/DC switch of the super capacitor is closed to be in a stop state, and meanwhile PI parameters are reduced to enable P to be the same bat_ref ＝P hess_ref ；
Of course, when the load is not fluctuating, the bi-directional PWM converter, and the hybrid energy storage system power distribution, may be turned off, given the commanded power, when:
P bat_ref +P sc_ref ＝0 (6)。
the power optimization distribution control method of the hybrid energy storage system comprises the following steps:
(1) the method comprises the following steps When SOC is bat ＜SOC min And SOC (System on chip) sc ＞SOC high At the time, let P sc_ref > 0, i.e. the super capacitor discharges, at which point P bat_ref And less than 0, the storage battery is charged, so that the storage battery is separated from a discharging dead zone.
(2) The method comprises the following steps When SOC is sc ＜SOC min And SOC (System on chip) bat ＞SOC high At the time, let P bat > 0, i.e. battery discharge, at which point P sc_ref And (3) charging the super capacitor to enable the super capacitor to be separated from a discharging dead zone.
(3) The method comprises the following steps When SOC is bat ＞SOC max And SOC (System on chip) sc ＜SOC low At the time, let P bat > 0, i.e. battery discharge, at which point P sc_ref And (3) charging the super capacitor less than 0, so that the storage battery is separated from the charging dead zone.
(4) The method comprises the following steps When SOC is sc ＞SOC max And SOC (System on chip) bat ＜SOC low At the time, let P sc_ref > 0, i.e. the super capacitor discharges, at which point P bat_ref And (3) charging the storage battery to enable the super capacitor to be separated from the charging dead zone.
The invention discloses a power optimal allocation control method of a hybrid energy storage system applied to black start of a diesel generator of a hydropower station, which has the following technical effects:
1) The invention provides a power optimization distribution control strategy method of a hybrid energy storage system applied to a diesel generator set, which strengthens the system regulation function by adding the hybrid energy storage system and improving the control performance of the system voltage frequency through a power control method from the outside.
2) The method of the invention collects the SOC of the storage battery and the super capacitor, adopts the power optimization distribution control strategy of the hybrid energy storage system, and can change the charge and discharge power distribution of the storage battery and the super capacitor by changing the parameters of the PI controller and the time constant tau in the LPF.
3) Simulation analysis proves that when 50% of rated load is suddenly added and suddenly unloaded, compared with the overshoot and overshoot time of a traditional diesel generator set, the overshoot and overshoot time of the hybrid energy storage power optimization distribution control method is reduced by more than 30%, and the charging and discharging power of the storage battery and the super capacitor can be changed according to different working conditions, so that the effectiveness and reliability of the method are proved.
Drawings
FIG. 1 is a diagram of a synergistic control system of a Fuzzy PID and a hybrid energy storage system for the black start of a diesel generator in a hydropower station.
Fig. 2 is a block diagram of a diesel-electric set.
Fig. 3 is a mathematical model diagram of a diesel engine and its speed regulating system.
Fig. 4 is a hybrid energy storage system topology.
Fig. 5 is a topology diagram of a Buck/Boost type bi-directional DC/DC converter.
Fig. 6 is a block diagram of a hybrid energy storage system power distribution.
Fig. 7 is a block diagram of a bi-directional DC/DC converter control strategy.
Fig. 8 is a topology diagram of a bi-directional PWM converter.
Fig. 9 is a control block diagram of a bi-directional PWM converter.
Fig. 10 is a block diagram of a charge-discharge threshold structure.
FIG. 11 is a diesel generator set model incorporating a hybrid energy storage system
FIG. 12 is a graph of diesel generator speed versus waveform.
Fig. 13 is a graph of a hybrid energy storage system charge-discharge power waveform.
Fig. 14 is a waveform diagram of diesel generator speed versus speed.
FIG. 15 is a graph of the charge and discharge power waveforms of the hybrid energy storage system under condition 1.
FIG. 16 (a) is a graph of the charge and discharge power of the hybrid energy storage system under condition 2;
fig. 16 (b) is a graph of the charge and discharge power waveforms of the hybrid energy storage system under condition 3.
FIG. 16 (c) is a graph of the charge and discharge power waveforms of the hybrid energy storage system under condition 4.
FIG. 16 (d) is a graph of the charge and discharge power waveforms of the hybrid energy storage system under condition 5.
Detailed Description
A structure diagram of a Fuzzy PID and hybrid energy storage system cooperative control system applied to the black start of a diesel generator of a hydropower station is shown in figure 1, and the Fuzzy PID and hybrid energy storage system cooperative control system applied to the black start of the diesel generator of the hydropower station consists of a diesel generator set, a hybrid energy storage system, a bus and a three-phase load.
The diesel generator set is shown in figure 2. In view of the excessively complicated internal structure of the diesel generator set, for the convenience of electrical characteristic simulation, the internal structure of the diesel generator set needs to be properly simplified, for example: 1) The burning time of diesel oil, the flowing time of gas and the like are replaced by a first-order hysteresis link; 2) Neglecting the influence of temperature change generated during diesel combustion; 3) Neglecting delays in signal transfer between the constituent components, etc. The simplified equations of the rotating speed and the torque of the diesel engine are deduced after the simplified processing of each part in the speed regulating system of the diesel engine, the simplified equations are converted into transfer functions, mathematical models of the transfer functions are established, the mathematical models of the diesel engine and the speed regulating system of the diesel engine are shown in figure 3, and the speed regulating system comprises a main controller, an amplifying unit, an actuator, a diesel engine unit, an integrating unit and a unit delay (unit), and the models of the diesel engine and the speed regulating system mathematical models are respectively explained.
The main controller and the amplifying unit form a speed regulating controller of the diesel engine and a speed regulating system thereof, which is a core part of the whole speed regulating system, and the transfer function G1(s) based on the traditional PID control method is as follows:
wherein e(s) is the input of the speed regulating controller, namely the rotating speed error; u(s) is the output of the speed regulation controller, namely an accelerator control signal; k (k) p The proportional amplification factor of the speed regulation controller; k (k) i The integral coefficient of the speed regulation controller; k (k) d Is the differential coefficient of the governor.
Although the transfer function of the speed regulation controller is the same as that of formula (1) when the Fuzzy PID-based hybrid energy storage system is adopted for cooperative control, the obvious difference is thatThe method comprises the following steps: scaling factor k for conventional PID control p Integral coefficient k i Differential coefficient k d Is fixed, and the proportional coefficient k is controlled by adopting the Fuzzy PID and the hybrid energy storage system to cooperatively control p Integral coefficient k i Differential coefficient k d The operation principle thereof can be automatically adjusted and is analyzed in detail later.
The actuator of the diesel generator speed regulating system adopts a direct current servo motor, and has the function of changing the displacement of the toothed bar of the fuel injection pump through an electromagnet of the direct current servo motor according to an input throttle control signal, so as to ensure the real-time change of the fuel injection quantity of the diesel engine. The actuator motion increment equation is:
wherein y is the displacement of the toothed bar of the fuel injection pump; m is the mass of the actuator sliding rod; d is the resistance coefficient of the system; k (k) s Stiffness for the actuator spring; deltaF m Is the variation of the electromagnetic force of the actuator.
The equation of motion of the electromagnetic mechanism is:
ΔF m ＝K u Δ ll -K x Δx (3)
wherein k is u The amplification factor of the actuator; k (k) x Is the sum of the displacement gain and the spring rate of the actuator; deltau is the change of the throttle control signal; and Deltax is the displacement variation of the oil injection pump toothed bar.
Combining the formulas (2) and (3) and carrying out Law transformation to obtain the compound:
ms 2 Δx+DsΔx+K x Δx＝K u Δu-KxΔx (4)
simplifying the transfer function G of the actuator 2 (s) is:
wherein U(s) is the input of the actuator, namely an accelerator control signal; delta X(s) is an actuatorThe output of (a) is the displacement change of the oil injection pump rack; zeta type toy η The natural oscillation angle frequency is undamped for the actuator; omega η Is the damping factor of the actuator.
The parameters adopted in the simulation are set as follows: k (k) u ＝1、ξ η ＝1.414、ω η ＝35.355。
The motion equation of the diesel engine can be obtained according to the darbeol principle:
wherein J is the rotational inertia of the diesel engine unit; omega is the angular speed of the crankshaft of the diesel engine unit; m is M d Torque emitted by the diesel engine set; m is M c Is the resistance moment of the diesel engine set.
Equation (6) can be expressed in delta as:
the simple formula (7) is simplified, the influence of the load moment is ignored, and the rotation speed and the displacement equation of the toothed bar of the fuel injection pump can be obtained and are equivalent to a first-order proportional inertia link, so that the transfer function G of the motion equation of the diesel engine set 3 (s) is:
wherein k is η Is the amplification factor of the diesel engine; t (T) a The acceleration time constant of the diesel engine; t (T) g Is the self-stabilization coefficient of the diesel engine.
The parameters adopted in the simulation are set as follows: k (k) η ＝1、T a ＝0.0384、k η ＝1。
The output part of the diesel engine and the speed regulating system thereof consists of an integrating unit, a unit delay unit and a product unit shown in figure 3. The function of the device is to convert the rotational speed output by the diesel engine unit into mechanical power as the input quantity of the synchronous generator.
The parameters adopted in the simulation are set as follows: delay time T of unit d ＝0.024。
As can be taken from fig. 3, when the diesel generator system is in a steady operation state, the expression is satisfied:
P diesel ＝P load (1)
p in the formula diesel The output power of the diesel generator is; p (P) load Is the load power.
When the load fluctuates:
ΔP＝P diesel -P load (2)
wherein: Δp is the system power variation.
When the load suddenly unloads, i.e. P load When it is reduced, P diesel ＞P load Delta P is more than 0, and the excessive power can increase the voltage and frequency of the three-phase alternating current; when the load is suddenly increased, i.e. P load When increasing P diesel ＜P load Delta P is smaller than 0, and the power is insufficient, so that the voltage of the three-phase alternating current is reduced, and the frequency is reduced.
The development of the existing excitation system is mature, the voltage effective value is regulated relatively rapidly, and the rotating speed of the diesel engine speed regulating system is regulated slowly, so that the power control is carried out by adding the hybrid energy storage system, and the rotating speed regulating capability of the diesel generator set is improved.
As can be seen from fig. 3, when the three-phase alternating current fluctuates, a large rotational speed difference is generated, and the whole system is regulated by the speed regulation controller. However, the governor control can only regulate the rotational speed difference caused by the fluctuation, and does not control the fluctuation from the point of view of the fluctuation, i.e., the power change.
For this purpose, hybrid energy storage systems are added, the rotational speed regulation capability of the diesel generator system is improved in terms of reduced power variation, and strategies for power optimization distribution control thereof are studied.
Considering that the hybrid energy storage system operates in a dc environment and the diesel generator set provides three-phase ac power to the main grid, the present invention has been developed in accordance with the hybrid energy storage system shown in fig. 4. In fig. 4, two bidirectional DC/DC converters are respectively used for charge and discharge management of the storage battery and the super capacitor, and the bidirectional PWM converter performs power conversion between the direct current working environment of the storage battery and the super capacitor and the alternating current working environment of the diesel generator set.
When the diesel generator system is in a stable working state, the hybrid energy storage system is stopped, and the system still meets the relation of the formula (3); but when the system fluctuates:
ΔP＝P diesel +P hess -P load (3)
wherein: p (P) hess Is a hybrid stored energy power.
When the load suddenly unloads, i.e. P load When it is reduced, P diesel ＞P load Delta P > 0, let P hess Less than 0, absorbing the increase of the system power, thereby reducing the rise of the three-phase alternating current voltage and the increase of the frequency; when the load is suddenly increased, i.e. P load When increasing P diesel ＜P load Delta P is less than 0, and P can be made hess And (3) supplementing the deficiency of system power to inhibit the reduction of the three-phase alternating current voltage and the reduction of frequency.
Buck/Boost type bidirectional DC/DC converter is shown in FIG. 5.
A block diagram of the hybrid energy storage system power distribution is shown in fig. 6. In FIG. 6, ω ref The reference rotation speed of the diesel generator set is that omega is the actual rotation speed of the diesel generator set, and P hess_ref For the total instruction power of the hybrid energy storage system, P bat_ref For battery command power, P sc_ref And commanding power for the super capacitor.
As can be seen from FIG. 6 and the previous analysis, when ω > ω ref Description of P diesel ＞P load Delta P > 0. Let P hess An increase in absorption system power of < 0; when omega < omega ref Description of P diesel ＜P load Delta P is less than 0. Can let P hess > 0, supplementing the system power shortfall.
Meanwhile, according to the characteristics of the storage battery and the super capacitor, the total instruction power is used as storage battery instruction power after passing through an LPF (Low-pass filter), and the rest is used as super capacitor instruction power.
The power relationship of the hybrid energy storage system is then:
P sc ＝P hess -P bat (5)；
wherein: τ is the time constant of the low pass filter.
The bi-directional DC/DC converter control strategy is shown in fig. 7. In FIG. 7, I bat_ref For battery command current, I bat For the actual current of the storage battery, I sc_ref For super capacitor command current, I sc Is the actual current of the super capacitor, D bat For the bidirectional DC/DC duty ratio of the storage battery branch, D sc The bidirectional DC/DC duty ratio is the bidirectional DC/DC duty ratio of the super capacitor branch. After power distribution, the command power is divided by the voltage to obtain corresponding command current, and the duty ratio is obtained after PI.
In fig. 7, the function of the comparator is to change the mode of operation. When the comparator 1 works and the comparator 2 does not work, the bidirectional DC/DC works in a BOOST state; when the comparator 1 is not in operation and the comparator 2 is in operation, the bidirectional DC/DC is in BUCK state.
When the instruction current is more than 0, the hybrid energy storage system works in a BOOST state and generates power; when the instruction current is less than 0, the hybrid energy storage system works in a BOOST state to absorb power.
Meanwhile, as the diesel generator set works without fluctuation, the actual rotating speed is impossible to be 100% consistent with the reference rotating speed, so that in order to prevent the bidirectional DC/DC from frequently working, when the error between the actual rotating speed and the reference rotating speed is smaller, namely the instruction current is smaller, the bidirectional DC/DC is in a shutdown state.
The topology of the bi-directional PWM converter is shown in FIG. 8, where C_dc is the DC bus capacitance, D 1 To D 6 The IGBT is adopted, L is a filter inductor, and C is a filter capacitor.
Bidirectional PWM converterThe control strategy is double-loop control of a voltage outer loop and a current inner loop, and a control block diagram after decoupling is shown in fig. 9. In FIG. 9, U dc_ref Is the reference value of the DC bus voltage, U dc Is the actual value of the DC bus voltage, I d_ref Is the command value of d-axis current, I d Is the actual value of d-axis current, I q_ref For the command value of q-axis current, I q Is the actual value of q-axis current, ωL is the equivalent impedance of the filter inductor, U d_ref Is the command value of d-axis voltage, U d As the actual value of d-axis voltage, U q_ref For the command value of q-axis voltage, U q Is the actual value of the q-axis voltage.
When the hybrid energy storage system is in a discharging mode, the voltage of the direct current bus capacitor is increased, U dc_ref －U dc < 0, instruction current I d_ref The power of the bidirectional PWM converter is less than 0, so that the bidirectional PWM converter is in an inversion mode and generates power to the diesel generator set; when the hybrid energy storage system is in a charging mode, the voltage of the direct current bus capacitor is reduced, U dc_ref －U dc > 0, instruction current I d_ref And > 0, the bi-directional PWM converter is in a rectifying mode, absorbing power from the diesel genset.
In the structure of the traditional hybrid energy storage system, the parameters of the PI controller are constant, the method does not need to be modified, is quick and convenient after the parameters are set, but the defects are also quite prominent, namely, when the SOC of the storage battery is bat And SOC of super capacitor sc At lower levels, insufficient power cannot be emitted; when SOC is bat And SOC (System on chip) sc At higher levels, a large amount of power cannot be absorbed. If not altered, it can cause the system to become disturbed.
Meanwhile, as shown in analysis formulas (4) and (5), when the total power of the hybrid energy storage is constant, the power of the storage battery and the super capacitor can be distributed by changing the time constant tau in the LPF. The present invention thus improves the above-described problem by detecting the SOC of the battery and super capacitor and the system charge-discharge state, changing the PI controller parameters and the time constant τ in the LPF.
Setting the discharging dead zone threshold of SOC as SOC min I.e. when SOC i (i=bat (battery) or sc (super capacitor)) < SOC min When the storage battery and the super capacitor are in use, the storage battery and the super capacitor can only be charged and cannot be discharged; setting the discharge slowing region threshold of the SOC as the SOC low I.e. when SOC min ＜SOC i ＜SOC low When the storage battery and the super capacitor are normally charged, the discharge power is reduced; setting the charging dead zone threshold of the SOC as the SOC max I.e. when SOC max ＜SOC i When the storage battery and the super capacitor are in use, the storage battery and the super capacitor cannot be charged and only can be discharged; setting a charge slowing region threshold of the SOC as the SOC high I.e. when SOC high ＜SOC i ＜SOC max When the storage battery and the super capacitor are in a normal discharge state, the charging power of the storage battery and the super capacitor is reduced; when SOC is low ＜SOC i ＜SOC high And when the storage battery and the super capacitor are charged and discharged normally. The threshold structure is shown in fig. 10.
The power optimization distribution control method of the hybrid energy storage system comprises the following steps:
(1) When SOC is bat ＜SOC min And P is hess_ref When the value is more than 0, the bidirectional DC/DC switch of the storage battery is closed to be in a stop state, and meanwhile PI parameters are reduced to enable P to be the same sc_ref ＝P hess_ref ；
(2) When SOC is sc ＜SOC min And P is hess_ref When the current is more than 0, the bidirectional DC/DC switch of the super capacitor is closed to be in a stop state, and meanwhile PI parameters are reduced to enable P to be the same bat_ref ＝P hess_ref ；
(3) When SOC is min ＜SOC bat 、SOC sc ＜SOC low And P is hess_ref When the PI parameter is more than 0, the PI parameter is reduced, and tau is unchanged;
(4) When SOC is min ＜SOC bat ＜SOC low ，SOC sc ＞SOC low And P is hess_ref When the PI parameter is more than 0, the PI parameter is unchanged, and tau is reduced;
(5) When SOC is min ＜SOC sc ＜SOC low ，SOC bat ＞SOC low And P is hess_ref When the PI parameter is more than 0, the PI parameter is unchanged, and tau is increased;
(6) When SOC is high ＜SOC sc ＜SOC max ，SOC bat ＜SOC high And P is hess_ref When the PI parameter is less than 0, the PI parameter is unchanged, and tau is increased;
(7) When SOC is high ＜SOC bat ＜SOC max ，SOC sc ＜SOC high And P is hess_ref When the PI parameter is less than 0, the PI parameter is unchanged, and τ is reduced;
(8) When SOC is high ＜SOC bat 、SOC sc ＜SOC max And P is hess_ref When the value is less than 0, the PI parameter is reduced, and tau is unchanged;
(9) When SOC is max ＜SOC bat And P is hess_ref When the value is less than 0, the bidirectional DC/DC switch of the storage battery is closed to be in a stop state, and meanwhile PI parameters are reduced to enable P sc_ref ＝P hess_ref ；
(10) When SOC is max ＜SOC sc And P is hess_ref When the voltage is less than 0, the bidirectional DC/DC switch of the super capacitor is closed to be in a stop state, and meanwhile PI parameters are reduced to enable P to be the same bat_ref ＝P hess_ref ；
Of course, when the load does not fluctuate, the bi-directional PWM switch and the hybrid energy storage system power distribution can be turned off, given the command power, at this time:
P bat_ref +P sc_ref ＝0
(6)
therefore, the charge and discharge between the storage battery and the super capacitor can be developed, and the power distribution control method is briefly described as follows:
(1) When SOC is bat ＜SOC min And SOC (System on chip) sc ＞SOC high At the time, let P sc_ref > 0, i.e. the super capacitor discharges, at which point P bat_ref And less than 0, the storage battery is charged, so that the storage battery is separated from a discharging dead zone.
(2) When SOC is sc ＜SOC min And SOC (System on chip) bat ＞SOC high At the time, let P bat > 0, i.e. battery discharge, at which point P sc_ref And (3) charging the super capacitor to enable the super capacitor to be separated from a discharging dead zone.
(3) When SOC is bat ＞SOC max And SOC (System on chip) sc ＜SOC low At the time, let P bat > 0, i.e. battery discharge, at which point P sc_ref And (3) charging the super capacitor less than 0, so that the storage battery is separated from the charging dead zone.
(4) When SOC is sc ＞SOC max And SOC (System on chip) bat ＜SOC low At the time, let P sc_ref > 0, i.e. the super capacitor discharges, at which point P bat_ref And (3) charging the storage battery to enable the super capacitor to be separated from the charging dead zone.
In order to verify a power optimization distribution control strategy of a hybrid energy storage system applied to a diesel generator set, a simulation model of the diesel generator set added with the hybrid energy storage system is built by Matlab/simulink simulation software, and as shown in FIG. 11, the hybrid energy storage system consists of a diesel engine and a speed regulation system thereof, an excitation system, a synchronous generator, the hybrid energy storage system, hybrid energy storage control and three-phase load. . For ease of illustration, the critical simulation parameters are summarized in table 1.
Table 1 list of critical simulation parameters tab..1 1key simulation parameter table
The simulation setup will now be described as follows: when 15s, 50% of rated load is suddenly unloaded, and when 20s, 50% of rated load is suddenly added, compared with the change situation of the rotation speed of the conventional diesel generator set and the diesel generator set after adding the hybrid energy storage, as shown in fig. 12. In fig. 12, the red curve is the rotational speed variation of a conventional diesel-electric set; blue is the rotational speed variation of the diesel generator set added to the hybrid energy storage system.
At this time, the charge and discharge power of the hybrid energy storage system is shown in fig. 13. In fig. 13, the red curve is the power waveform of the battery; blue is the power waveform of the super capacitor.
Comparative analysis fig. 12, 13, can be obtained: when the rated load is suddenly added and suddenly removed by 50%, the overshoot of the traditional diesel generator set is more than 0.037, and the adjustment time is more than 3.5s. After the mixed energy storage is added, the overshoot of the rotating speed of the diesel generator is reduced to below 0.02 by the mixed energy storage through charge and discharge, and the adjusting time is reduced to below 1.5 s.
Analysis of the power optimization distribution control strategy of the hybrid energy storage shows that the PI parameter is more adjusted, and the working condition 1 is defined as follows: when SOC is high ＜SOC bat 、SOC sc ＜SOC max And P is hess_ref When the value is less than 0, the analysis is carried out according to working condition 1, because the PI parameter is reduced at the moment, but tau is unchanged, so that the influence of the PI parameter on the system can be conveniently analyzed. The corresponding condition is that the rated load of 50% is suddenly unloaded when the system is 15s, and the comparison graph of the rotating speed is shown in fig. 14. In fig. 14, the red curve is the rotational speed waveform of the diesel generator set added to the hybrid energy storage system under normal conditions; and when the blue color is the working condition 1, adding the rotational speed waveform of the diesel generating set of the hybrid energy storage system. At this time, the charge and discharge power of the hybrid energy storage system is shown in fig. 15. In fig. 15, the red curve is the power waveform of the battery; blue is the power waveform of the super capacitor.
Comparative analysis of fig. 12 to 15 can be obtained: when the PI parameter is reduced, the total power of the hybrid energy storage system is reduced, resulting in a reduction in rotational speed adjustment capability, at which time the overshoot is increased to 0.028, while the adjustment time is extended to 2s.
As can be seen from analysis of a power optimization distribution control strategy of hybrid energy storage, tau parameter adjustment is more, and analysis is carried out by using two working conditions 2 and 3:
(1) Working condition 2: when SOC is high ＜SOC bat ＜SOC max ，SOC sc ＜SOC high And P is hess_ref When less than 0, the PI parameter is unchanged, but tau is reduced;
(2) Working condition 3: when SOC is high ＜SOC sc ＜SOC max ，SOC bat ＜SOC high And P is hess_ref When the PI parameter is less than 0, the PI parameter is unchanged, and tau is increased.
Because the PI parameters are unchanged under the two working conditions, the influence of tau parameters on the system can be conveniently analyzed. Both conditions were a sudden unloading of 50% of the rated load at 15s for the system.
Since the PI parameter is unchanged at this time, the rotation speed change curves are the same, and the charge and discharge power of the hybrid energy storage system is shown in fig. 16 (a) and 16 (b). In fig. 16 (a) and 16 (b), the red curve is the power waveform of the battery; blue is the power waveform of the super capacitor.
As can be obtained by comparing and analyzing fig. 13, fig. 16 (a) and fig. 16 (b), when the total instruction power of the hybrid energy storage is unchanged, and when τ is reduced, the charge and discharge power of the storage battery is reduced, and the charge and discharge power of the super capacitor is increased; when tau is increased, the charge and discharge power of the storage battery is increased, and the charge and discharge power of the super capacitor is reduced.
According to analysis of a power optimization distribution control strategy of the hybrid energy storage, the system can close a bidirectional PWM switch and power distribution of the hybrid energy storage system, give instruction power, enable charge and discharge management between a storage battery and a super capacitor, and analyze according to two working conditions 4 and 5:
(1) Working condition 4: when SOC is bat ＞SOC max And SOC (System on chip) sc ＜SOC low At the time, let P bat > 0, i.e. battery discharge, at which point P sc_ref And less than 0, and charging the super capacitor.
(2) Working condition 5: when SOC is sc ＞SOC max And SOC (System on chip) bat ＜SOC low At the time, let P sc_ref > 0, i.e. the super capacitor discharges, at which point P bat_ref < 0, and charging the storage battery.
At this time, as shown in fig. 16 (c) and 16 (d), the charging and discharging power of the hybrid energy storage system is shown, and in fig. 16 (c) and 16 (d), the red curve is the power waveform of the battery; blue is the power waveform of the super capacitor. As can be seen from an analysis of fig. 16 (c), 16 (d), the hybrid energy storage system can accomplish internal power conversion when given a commanded power.
As can be obtained from analysis of fig. 12 to 15 and fig. 16 (a) to 16 (d), after the hybrid energy storage system is added, the purpose of reducing the overshoot and the adjustment time of the rotation speed of the diesel generator set is achieved through charging and discharging of the hybrid energy storage system. Meanwhile, after the power optimization distribution control strategy of the hybrid energy storage is adopted, the aim of adjusting the charge and discharge power of the storage battery and the super capacitor according to different working conditions is fulfilled.
Claims (1)
1. A power optimization distribution control method applied to a hybrid energy storage system for black start of a diesel generator of a hydropower station is characterized by comprising the following steps of: the hybrid energy storage system includes:
the device comprises a storage battery, a super capacitor, a first bidirectional DC/DC converter, a second bidirectional DC/DC converter, a bidirectional PWM converter,
The two poles of the storage battery are connected with one side of the first bidirectional DC/DC converter;
two ends of the super capacitor are connected with one side of the second bidirectional DC/DC converter;
the other side of the first bidirectional DC/DC converter is connected with two ends of a capacitor C1 in parallel;
the other side of the second bidirectional DC/DC converter is connected with two ends of a capacitor C1 in parallel, and the capacitor C1 plays a role in stabilizing voltage and filtering;
one side of the bidirectional PWM converter is connected with two ends of the capacitor C1 in parallel;
the other side of the bidirectional DC/AC converter is connected with one side of the transformer;
the other side of the transformer is connected with a diesel generator set;
the power optimization distribution control method of the hybrid energy storage system comprises the following steps:
P hess_ref for the total instruction power of the hybrid energy storage system, P bat_ref For battery command power, P sc_ref Command power for the super capacitor;
(1) When SOC is bat ＜SOC min And P is hess_ref When the power is more than 0, the first bidirectional DC/DC converter switch of the storage battery is closed to be in a stop state, and meanwhile PI parameters are reduced to enable P to be the same sc_ref ＝P hess_ref ；
(2) When SOC is sc ＜SOC min And P is hess_ref When the current value is more than 0, the second bidirectional DC/DC converter switch of the super capacitor is closed to be in a stop state, and meanwhile PI parameters are reduced to enable P to be the same bat_ref ＝P hess_ref ；
(3) When SOC is min ＜SOC bat 、SOC sc ＜SOC low And P is hess_ref When the PI parameter is more than 0, the PI parameter is reduced, and tau is unchanged;
(4) When SOC is min ＜SOC bat ＜SOC low ，SOC sc ＞SOC low And P is hess_ref When the PI parameter is more than 0, the PI parameter is unchanged, and tau is reduced;
(5) When SOC is min ＜SOC sc ＜SOC low ，SOC bat ＞SOC low And P is hess_ref When the PI parameter is more than 0, the PI parameter is unchanged, and tau is increased;
(6) When SOC is high ＜SOC sc ＜SOC max ，SOC bat ＜SOC high And P is hess_ref When the PI parameter is less than 0, the PI parameter is unchanged, and tau is increased;
(7) When SOC is high ＜SOC bat ＜SOC max ，SOC sc ＜SOC high And P is hess_ref When the PI parameter is less than 0, the PI parameter is unchanged, and τ is reduced;
(8) When SOC is high ＜SOC bat 、SOC sc ＜SOC max And P is hess_ref When the value is less than 0, the PI parameter is reduced, and tau is unchanged;
(9) When SOC is max ＜SOC bat And P is hess_ref When the value is less than 0, the bidirectional DC/DC switch of the storage battery is closed to be in a stop state, and meanwhile PI parameters are reduced to enable P sc_ref ＝P hess_ref ；
(10) When SOC is max ＜SOC sc And P is hess_ref When the voltage is less than 0, the bidirectional DC/DC switch of the super capacitor is closed to be in a stop state, and meanwhile PI parameters are reduced to enable P to be the same bat_ref ＝P hess_ref ；
Of course, when the load is not fluctuating, the bi-directional PWM converter is turned off, and the hybrid energy storage system power distribution, given the commanded power, at which time:
P bat_ref +P sc_ref ＝0；
(1) the method comprises the following steps When SOC is bat ＜SOC min And SOC (System on chip) sc ＞SOC high At the time, let P sc_ref > 0, i.e. the super capacitor discharges, at which point P bat_ref Less than 0, charging the storage battery to enable the storage battery to be separated from a discharging dead zone;
(2) the method comprises the following steps When SOC is sc ＜SOC min And SOC (System on chip) bat ＞SOC high At the time, let P bat > 0, i.e. battery discharge, at which point P sc_ref Charging the super capacitor to enable the super capacitor to be separated from a discharging dead zone;
(3) the method comprises the following steps When SOC is bat ＞SOC max And SOC (System on chip) sc ＜SOC low At the time, let P bat > 0, i.e. battery discharge, at which point P sc_ref Charging the super capacitor less than 0 to separate the storage battery from the charging dead zone;
(4) the method comprises the following steps When SOC is sc ＞SOC max And SOC (System on chip) bat ＜SOC low At the time, let P sc_ref > 0, i.e. the super capacitor discharges, at which point P bat_ref Less than 0, charging the storage battery to enable the super capacitor to be separated from a charging dead zone;
the control strategy of the bidirectional PWM converter is double-loop control of a voltage outer loop and a current inner loop, and the control method after decoupling is as follows:
setting: u (U) dc_ref Is the reference value of the DC bus voltage, U dc Is the actual value of the DC bus voltage, I d_ref Is the command value of d-axis current, I d Is the actual value of d-axis current, I q_ref For the command value of q-axis current, I q Is the actual value of q-axis current, ωL is the equivalent impedance of the filter inductor, U d_ref Is the command value of d-axis voltage, U d As the actual value of d-axis voltage, U q_ref For the command value of q-axis voltage, U q Is the actual value of the q-axis voltage;
when the hybrid energy storage system is in a discharging mode, the voltage of the direct current bus capacitor is increased, U dc_ref －U dc < 0, instruction current I d_ref The power of the bidirectional PWM converter is less than 0, so that the bidirectional PWM converter is in an inversion mode and generates power to the diesel generator set;
when the hybrid energy storage system is in a charging mode, the voltage of the direct current bus capacitor is reduced, U dc_ref －U dc > 0, instruction current I d_ref The bi-directional PWM converter is in a rectifying mode and absorbs power from the diesel generator set;
when the total power of the hybrid energy storage system is constant, the parameters of the PI controller and the time constant tau in the LPF are changed by detecting the SOC of the storage battery and the super capacitor and the charge and discharge states of the system;
setting SOCThe threshold value of the dead zone is SOC min I.e. when SOC i ＜SOC min When the storage battery and the super capacitor are in use, the storage battery and the super capacitor can only be charged and cannot be discharged; i=battery bat or supercapacitor sc;
setting the discharge slowing region threshold of the SOC as the SOC low I.e. when SOC min ＜SOC i ＜SOC low When the storage battery and the super capacitor are normally charged, the discharge power is reduced;
setting the charging dead zone threshold of the SOC as the SOC max I.e. when SOC max ＜SOC i When the storage battery and the super capacitor are in use, the storage battery and the super capacitor cannot be charged and only can be discharged;
setting a charge slowing region threshold of the SOC as the SOC high I.e. when SOC high ＜SOC i ＜SOC max When the storage battery and the super capacitor are in a normal discharge state, the charging power of the storage battery and the super capacitor is reduced;
when SOC is low ＜SOC i ＜SOC high When the storage battery and the super capacitor are normally charged and discharged;
the power relationship of the hybrid energy storage system is:
P sc ＝P bess -P bat ；
wherein: τ is the time constant of the low pass filter.
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| CN115276049B (en) * | 2022-07-01 | 2024-05-10 | 中国长江电力股份有限公司 | Fuzzy PID and hybrid energy storage cooperative control system applied to black start of diesel generator of hydropower station |
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