CN115800312A - Voltage type virtual synchronous generator self-adaptive inertia control method and system - Google Patents
Voltage type virtual synchronous generator self-adaptive inertia control method and system Download PDFInfo
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Abstract
The invention relates to the technical field of power system stability control, in particular to a voltage type virtual synchronous generator self-adaptive inertia control method and a system, comprising the following steps: determining a virtual inertia minimum initial value according to the measured output voltage effective value and the measured power grid voltage effective value of the virtual synchronous generator; setting a cut-off frequency, and obtaining a virtual inertia maximum initial value according to the cut-off frequency and a pre-obtained equivalent damping coefficient; and determining the virtual inertia minimum value of the voltage type virtual synchronous generator and the virtual inertia maximum value of the voltage type virtual synchronous generator according to the virtual inertia minimum initial value, the virtual inertia maximum initial value and the active power loop model so as to calculate the self-adaptive inertia value of the voltage type virtual synchronous generator. According to the invention, through self-adaptive inertia control, frequency fluctuation is better buffered, frequency oscillation is reduced, the requirements of dynamic performance and stability are met, and the system stability is improved.
Description
Technical Field
The invention relates to the technical field of power system stability control, in particular to a voltage type virtual synchronous generator self-adaptive inertia control method and system.
Background
With the continuous development of new energy, the island micro-grid containing high-proportion renewable energy has great challenges in frequency stability due to small rotating mass and low inertia level, and the virtual synchronous generator technology is developed on the background of urgent need of improving the inertia level.
However, in the conventional virtual synchronous generator technology, when the virtual inertia is calculated, the rotation speed deviation and the change rate signal thereof are not fully utilized, and when the system is disturbed, the virtual inertia cannot exert the adjustable advantage thereof, so that the influence on the system disturbance is not sufficiently inhibited, and the system fluctuation is large.
Disclosure of Invention
The invention provides a voltage type virtual synchronous generator self-adaptive inertia control method and system, and solves the technical problem that the traditional virtual synchronous generator technology cannot fully utilize rotating speed deviation and change rate signals thereof, so that the influence on system disturbance is not sufficiently inhibited, and the system fluctuation is larger.
In order to solve the technical problems, the invention provides a voltage type virtual synchronous generator self-adaptive inertia control method and system.
In a first aspect, the present invention provides a voltage-type virtual synchronous generator adaptive inertia control method, including the steps of:
determining a virtual inertia minimum initial value according to the measured output voltage effective value and the measured power grid voltage effective value of the virtual synchronous generator;
setting a cut-off frequency, and obtaining a virtual inertia maximum initial value according to the cut-off frequency and a pre-obtained equivalent damping coefficient;
determining a virtual inertia minimum value of the voltage type virtual synchronous generator according to the virtual inertia minimum initial value and the minimum active power loop model;
determining a virtual inertia maximum value of the voltage type virtual synchronous generator according to the virtual inertia maximum initial value and the maximum active power loop model;
and calculating to obtain a voltage type virtual synchronous generator self-adaptive inertia value according to the voltage type virtual synchronous generator virtual inertia minimum value and the voltage type virtual synchronous generator virtual inertia maximum value.
In a further embodiment, the calculation formula of the virtual inertia minimum initial value is specifically:
in the formula, J u0，min Representing a virtual inertia minimum initial value; v 1 Representing an effective value of an output voltage of the virtual synchronous generator; v ga Representing the effective value of the voltage of the power grid; f. of 0 Representing the rated frequency of the power grid; w is a 0 Representing the rated angular frequency of the generator; x s And the reactance per unit value between the voltage type virtual synchronous generator and the power grid is represented.
In a further embodiment, the calculation formula of the maximum initial value of the virtual inertia is specifically as follows:
wherein the content of the first and second substances,
in the formula, J u0,max Representing a virtual inertia maximum initial value; d eq,u Representing an equivalent damping coefficient; f. of pc Represents the cut-off frequency; PM (particulate matter) re Representing a phase angle margin; delta P represents the corresponding active power variation when the frequency variation is 1 Hz; w is a 0 Representing the generator nominal angular frequency.
In a further embodiment, the step of determining a virtual inertia minimum value of the voltage-type virtual synchronous generator according to the virtual inertia minimum initial value and the minimum active power loop model comprises:
calculating to obtain the active loop gain of the minimum initial value according to the virtual inertia minimum initial value and the minimum active power loop model;
determining an active power loop angle margin corresponding to the virtual inertia minimum initial value according to the active loop gain of the minimum initial value;
judging whether the phase angle margin of the active power loop corresponding to the minimum initial value of the virtual inertia is in a phase angle margin preset range, if so, taking the minimum initial value of the virtual inertia as the minimum value of the virtual inertia of the voltage type virtual synchronous generator;
and if the active power loop phase angle margin corresponding to the virtual inertia minimum initial value is not in the phase angle margin preset range, updating the virtual inertia minimum initial value through a preset correction rule, repeating the steps until the active power loop phase angle margin corresponding to the virtual inertia minimum initial value is in the phase angle margin preset range, and taking the virtual inertia minimum initial value as the virtual inertia minimum value of the voltage type virtual synchronous generator.
In a further embodiment, the step of determining the virtual inertia maximum value of the voltage-type virtual synchronous generator according to the virtual inertia maximum initial value and the maximum active power loop model comprises:
calculating to obtain the active loop gain of the maximum initial value according to the virtual inertia maximum initial value and the maximum active power loop model;
determining an active power loop phase angle margin corresponding to the virtual inertia maximum initial value according to the maximum initial value active loop gain;
judging whether an active power loop phase angle margin corresponding to the virtual inertia maximum initial value is in a phase angle margin preset range or not, and if so, taking the virtual inertia maximum initial value as a virtual inertia maximum value of the voltage type virtual synchronous generator;
and if the active power loop phase angle margin corresponding to the virtual inertia maximum initial value is not in the phase angle margin preset range, updating the virtual inertia maximum initial value through a preset correction rule, repeating the steps until the active power loop phase angle margin corresponding to the virtual inertia maximum initial value is in the phase angle margin preset range, and taking the virtual inertia maximum initial value as the virtual inertia maximum value of the voltage type virtual synchronous generator.
In a further embodiment, the phase angle margin preset range is (30 °,70 °).
In a further embodiment, the voltage-type virtual synchronous generator adaptive inertia value is calculated by the formula:
wherein the content of the first and second substances,
in the formula, J u Representing the adaptive inertia value of the voltage type virtual synchronous generator; j. the design is a square u,max Representing the maximum value of virtual inertia of the voltage type virtual synchronous generator; j. the design is a square u,min Representing the virtual inertia minimum value of the voltage type virtual synchronous generator; j. the design is a square u,0 Representing a virtual inertia steady-state value of the voltage type virtual synchronous generator; Δ ω represents the rotational speed deviation; omega th Representing a speed deviation threshold; sinh (x) represents a hyperbolic sine function; si isgn (x) denotes a sign function.
In a second aspect, the present invention provides an adaptive inertial control system for a voltage-mode virtual synchronous generator, the system comprising:
the minimum initial value acquisition module is used for determining a virtual inertia minimum initial value according to the measured output voltage effective value and the power grid voltage effective value of the virtual synchronous generator;
the maximum initial value acquisition module is used for setting a cut-off frequency and determining a virtual inertia maximum initial value according to the cut-off frequency and a pre-acquired equivalent damping coefficient;
the inertia minimum value determining module is used for determining a virtual inertia minimum value of the voltage type virtual synchronous generator according to the virtual inertia minimum initial value and the minimum active power loop model;
the inertia maximum value determining module is used for determining the virtual inertia maximum value of the voltage type virtual synchronous generator according to the virtual inertia maximum initial value and the maximum active power loop model;
and the self-adaptive inertia value calculating module is used for calculating to obtain a voltage type virtual synchronous generator self-adaptive inertia value according to the voltage type virtual synchronous generator virtual inertia minimum value and the voltage type virtual synchronous generator virtual inertia maximum value.
Meanwhile, in a third aspect, the present invention also provides a computer device, which includes a processor and a memory, where the processor is connected to the memory, the memory is used for storing a computer program, and the processor is used for executing the computer program stored in the memory, so that the computer device executes the steps for implementing the method.
In a fourth aspect, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the above method.
The invention provides a voltage type virtual synchronous generator self-adaptive inertia control method and a system, wherein the method acquires a virtual inertia minimum initial value and a virtual inertia maximum initial value by acquiring physical quantities such as an output voltage effective value and a power grid voltage effective value of a virtual synchronous generator, then adjusts the virtual inertia maximum value and the virtual inertia minimum value of the voltage type virtual synchronous generator according to an active power loop model, and solves the virtual inertia maximum value and the virtual inertia minimum value of the adjusted voltage type virtual synchronous generator to obtain a voltage type virtual synchronous generator self-adaptive inertia value. Compared with the prior art, the method can realize the control of the voltage type virtual synchronous generator self-adaptive inertia controller parameters, so that the output is more stable, the power pulsation can be better inhibited, the dynamic characteristic is stronger, and the stability of a power grid system is improved.
Drawings
FIG. 1 is a schematic flow chart of a voltage-type virtual synchronous generator adaptive inertia control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a simulation system provided by an embodiment of the invention;
FIG. 3 is a schematic diagram of a minimum cut-off frequency determination provided by an embodiment of the present invention;
fig. 4 is an active loop gain bode diagram corresponding to a minimum initial value of virtual inertia according to an embodiment of the present invention;
fig. 5 is an active loop gain bode diagram corresponding to the corrected virtual inertia minimum initial value according to the embodiment of the present invention;
fig. 6 is an active loop gain bode diagram corresponding to the maximum initial value of the virtual inertia according to the embodiment of the present invention;
FIG. 7 is a comparative schematic of the results of the inertial control provided by the embodiments of the invention;
FIG. 8 is a block diagram of an adaptive inertia control system for a voltage-type virtual synchronous generator according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a computer device according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, which are given solely for the purpose of illustration and are not to be construed as limitations of the present invention, including reference to and illustration of the accompanying drawings, which are not to be construed as limitations of the scope of the invention, since many variations thereof are possible without departing from the spirit and scope of the invention.
Referring to fig. 1, an embodiment of the present invention provides a voltage type virtual synchronous generator adaptive inertia control method, as shown in fig. 1, the method includes the following steps:
s1, determining a virtual inertia minimum initial value according to a measured output voltage effective value and a measured power grid voltage effective value of a virtual synchronous generator; in this embodiment, the calculation formula of the minimum initial value of the virtual inertia is specifically:
in the formula, J u0，min Representing a virtual inertia minimum initial value; v 1 Representing an effective value of an output voltage of a Virtual Synchronous Generator (VSG); v ga Representing the effective value of the voltage of the power grid; f. of 0 Representing the rated frequency of the power grid; w is a 0 Representing the rated angular frequency of the generator; x s To express the reactance per unit value between the voltage type virtual synchronous generator and the power grid, this embodiment preferably uses X s Set to 0.05, from which the virtual inertia minimum initial value can be calculated as:
specifically, as shown in fig. 2, in this embodiment, a test system is built on a Matlab/Simulink simulation platform and time domain simulation is performed, where parameters of the simulation system specifically include: the rated frequency value is 50Hz, the voltage amplitude is 311V, the impedance of a line1 (ZLine 1) is (0.03 + j0.11 Ω), the impedance of a line2 (ZLine 2) is (0.23 + j0.1 Ω), the impedance of a line3 (ZLine 3) is (0.03 + j0.11 Ω), the rated capacities of VSG1 and VSG2 are 20kW/5kVar, wherein when the system frequency changes by 1Hz, the VSG outputs active power which changes by 100%, namely, delta P =20kW, ω 0 =100 pi, the equivalent damping coefficient D is calculated therefrom eq,u ：
In the formula, D eq,u Representing an equivalent damping coefficient; Δ P represents the corresponding active power variation when the frequency variation is 1 Hz; w is a 0 Representing the rated angular frequency of the generator, and is taken as 100 pi.
S2, setting a cut-off frequency, and obtaining a virtual inertia maximum initial value according to the cut-off frequency and a pre-obtained equivalent damping coefficient.
In particular, for a set cut-off frequency f pc The present embodiment first depends on the effective value V of the output voltage of the Virtual Synchronous Generator (VSG) 1 And the effective value V of the network voltage ga Calculating to obtain the maximum cut-off frequency f pc,max Wherein, the maximum cut-off frequency is calculated according to the formula:
then, the present embodiment provides the phase angle margin PM re Preferably 30 DEG, and according to the effective value V of the output voltage of the Virtual Synchronous Generator (VSG) 1 Effective value V of grid voltage ga And equivalent damping coefficient D eq,u From the formula
And
drawing J separately u And f pc The frequency corresponding to the intersection of the two curves is taken as the minimum cut-off frequency f pc,min As shown in fig. 3, the minimum cut-off frequency f pc,min ＝6.41Hz。
At the maximum cut-off frequency f calculated pc,max And minimum cut-off frequency f pc,min Then, the present embodiment will cut off the frequency f pc Firstly, the value is one tenth of the double power frequency, namely 10Hz, when the cut-off frequency f pc Cut off when =10HzWhether the frequency lies at the maximum cut-off frequency f pc,max And minimum cut-off frequency f pc,min If so, the cut-off frequency f pc Is 10Hz; otherwise, the cut-off frequency f pc Get close to the interval (f) pc,min ,f pc,max ) The value of (c).
After setting the cut-off frequency, the present embodiment calculates a virtual inertia maximum initial value according to the set cut-off frequency, the equivalent damping coefficient, and a preset phase angle margin, where in the present embodiment, a calculation formula of the virtual inertia maximum initial value is specifically:
wherein, the first and the second end of the pipe are connected with each other,
in the formula, J u0,max Representing a virtual inertia maximum initial value; d eq,u Representing an equivalent damping coefficient; f. of pc Represents the cut-off frequency; PM (particulate matter) re Representing the phase angle margin, the present embodiment is the phase angle margin PM re Preferably, 30 degrees are taken so as to obtain the maximum initial value J of the virtual inertia u0,max ＝0.399kg·m 2 。
And S3, determining the virtual inertia minimum value of the voltage type virtual synchronous generator according to the virtual inertia minimum initial value and the minimum active power loop model.
In one embodiment, the step of determining the virtual inertia minimum value of the voltage type virtual synchronous generator according to the virtual inertia minimum initial value and the minimum active power loop model comprises:
calculating to obtain the active loop gain of the minimum initial value according to the virtual inertia minimum initial value and the minimum active power loop model;
determining an active power loop angle margin corresponding to the virtual inertia minimum initial value according to the active loop gain of the minimum initial value;
judging whether the phase angle margin of the active power loop corresponding to the minimum initial value of the virtual inertia is in a phase angle margin preset range, if so, taking the minimum initial value of the virtual inertia as the minimum value of the virtual inertia of the voltage type virtual synchronous generator;
and if the active power loop phase angle margin corresponding to the virtual inertia minimum initial value is not in the phase angle margin preset range, updating the virtual inertia minimum initial value through a preset correction rule, repeating the steps until the active power loop phase angle margin corresponding to the virtual inertia minimum initial value is in the phase angle margin preset range, and taking the virtual inertia minimum initial value as the virtual inertia minimum value of the voltage type virtual synchronous generator.
Specifically, in this embodiment, the virtual inertia minimum initial value is input into the minimum active power loop model to obtain the active loop gain of the minimum initial value, and an active loop gain bode diagram corresponding to the virtual inertia minimum initial value is drawn, specifically as shown in fig. 4, a calculation formula of the active loop gain of the minimum initial value is as follows:
in this embodiment, a corresponding active power loop phase angle margin is obtained according to an active loop gain bode diagram corresponding to a minimum initial value of virtual inertia, where a calculation formula of the active power loop phase angle margin is as follows:
in the formula, gamma (omega) c ) Representing an active power loop phase angle margin; omega c Representing the frequency when the amplitude in the active loop gain bode diagram is 0 dB;
representing a frequency of ω c The corresponding phase angle.
If the virtual inertia minimum initial value corresponds to the active power loop phase angle margin gamma (omega) c ) Is located in a phaseWithin a preset range (30 degrees and 70 degrees) of the angle margin, J is enabled u,min ＝J u0,min (ii) a If the virtual inertia minimum initial value corresponds to the active power loop phase angle margin gamma (omega) c ) When the value is lower than the minimum value of the phase angle margin preset range, the virtual inertia minimum initial value is reduced in sequence by the preset reduction amount, the reduced virtual inertia minimum initial value is used as the updated virtual inertia minimum initial value, and the steps are repeated until the active power ring phase angle margin gamma (omega) corresponding to the virtual inertia minimum initial value is reached c ) Within a preset range (30 degrees and 70 degrees) of the phase angle margin; if the virtual inertia minimum initial value corresponds to the active power loop phase angle margin gamma (omega) c ) When the maximum value of the phase angle margin preset range is higher than the maximum value of the phase angle margin preset range, sequentially increasing the virtual inertia minimum initial value by a preset increasing amount, taking the increased virtual inertia minimum initial value as an updated virtual inertia minimum initial value, and repeating the steps until the active power loop phase angle margin gamma (omega) corresponding to the virtual inertia minimum initial value is reached c ) Is positioned in a preset range (30 degrees and 70 degrees) of the phase angle margin; in the present embodiment, the preset decrease amount is preferably set to 0.01, and the preset increase amount is preferably set to 0.01, such as: if gamma (omega) c ) Greater than 70 deg., then J u0,min Increased by 0.01 and the increased value is taken as a new J u0,min Repeating the above steps until J u0,min Corresponding active power loop phase angle margin gamma (omega) c ) Within a preset range (30 degrees and 70 degrees) of the phase angle margin; if gamma (omega) c ) Less than 30 deg., then J u0,min Reduced by 0.01 and the reduced value is taken as the new J u0,min Repeating the above steps until J u0,min Corresponding active power loop phase angle margin gamma (omega) c ) Within a preset range (30 deg., 70 deg.) of the phase angle margin.
In this embodiment, according to the active loop gain bode diagram shown in fig. 4, an active power loop phase angle margin γ (ω) is obtained c ) Is 80.8 deg., however, this value is not within the phase angle margin preset range (30 deg., 70 deg.), and this value is greater than 70 deg., J u0,min Increased by 0.01, and the increased value is taken as a new J u0,min In this case, there is J u0,min =0.0307, repeat the above steps until gamma (omega) c ) Located at (30 DEG, 70 DEG)In time, final determination
Is 0.047kg · m 2 And calculating to obtain gamma (omega) according to an active loop gain bode diagram corresponding to the corrected virtual inertia minimum initial value as shown in fig. 5 c ) Is 70 degrees and is positioned between (30 degrees and 70 degrees), the phase angle margin requirement is met, and therefore, the virtual inertia minimum initial value is taken as the virtual inertia minimum value J of the voltage type virtual synchronous generator u,min ＝J u0,min ＝0.047kg·m 2 。
And S4, determining the virtual inertia maximum value of the voltage type virtual synchronous generator according to the virtual inertia maximum initial value and the maximum active power loop model.
In one embodiment, the step of determining the virtual inertia maximum value of the voltage-type virtual synchronous generator according to the virtual inertia maximum initial value and the maximum active power loop model comprises:
calculating to obtain the active loop gain of the maximum initial value according to the virtual inertia maximum initial value and the maximum active power loop model;
determining an active power loop phase angle margin corresponding to the virtual inertia maximum initial value according to the maximum initial value active loop gain;
judging whether an active power loop phase angle margin corresponding to the virtual inertia maximum initial value is in a phase angle margin preset range or not, and if so, taking the virtual inertia maximum initial value as a virtual inertia maximum value of the voltage type virtual synchronous generator;
if the active power loop phase angle margin corresponding to the virtual inertia maximum initial value is not in the phase angle margin preset range, updating the virtual inertia maximum initial value through a preset correction rule, repeating the steps until the active power loop phase angle margin corresponding to the virtual inertia maximum initial value is in the phase angle margin preset range, and taking the virtual inertia maximum initial value as the virtual inertia maximum value of the voltage type virtual synchronous generator; in the present embodiment, the phase angle margin preset range is (30 °,70 °).
Specifically, in this embodiment, the virtual inertia maximum initial value is input to the maximum active power loop model to obtain the maximum initial value active loop gain, and an active loop gain bode diagram corresponding to the virtual inertia maximum initial value is drawn, specifically as shown in fig. 6, a calculation formula of the maximum initial value active loop gain is as follows:
in this embodiment, an active power loop phase angle margin is obtained according to an active loop gain bode diagram corresponding to a maximum initial value of virtual inertia, where a calculation formula of the active power loop phase angle margin is as follows:
in the formula, gamma (omega) c ) Representing an active power loop phase angle margin; omega c Representing the frequency when the amplitude value in an active loop gain baud chart is 0 dB;
representing a frequency of ω c The corresponding phase angle.
If the active power loop phase angle margin gamma (omega) corresponding to the maximum initial value of the virtual inertia c ) Within the preset range (30 degrees and 70 degrees) of the phase angle margin, then J is made u,max ＝J u0,max (ii) a If the active power loop phase angle margin gamma (omega) corresponding to the maximum initial value of the virtual inertia c ) When the value is lower than the minimum value of the phase angle margin preset range, the virtual inertia maximum initial value is reduced in sequence by the preset reduction amount, the reduced virtual inertia maximum initial value is used as the updated virtual inertia maximum initial value, and the steps are repeated until the active power ring phase angle margin gamma (omega) corresponding to the virtual inertia maximum initial value is reached c ) Within a preset range (30 degrees and 70 degrees) of the phase angle margin; if the active power loop phase angle margin gamma (omega) corresponding to the maximum initial value of the virtual inertia c ) When the maximum value of the phase angle margin preset range is higher than the maximum value of the phase angle margin preset range, the virtual inertia maximum initial value is sequentially increased by a preset increasing amount, andtaking the increased virtual inertia maximum initial value as an updated virtual inertia maximum initial value, and repeating the steps until the active power ring phase angle margin gamma (omega) corresponding to the virtual inertia maximum initial value c ) Within a preset range (30 degrees and 70 degrees) of the phase angle margin; in this embodiment, the preset decrease amount is preferably set to 0.01, and the preset increase amount is preferably set to 0.01, such as: if gamma (omega) c ) Greater than 70 deg., then J u0,max Increased by 0.01 and the increased value is taken as a new J u0,max Repeating the above steps until J u0,max Corresponding active power loop phase angle margin gamma (omega) c ) Is positioned in a preset range (30 degrees and 70 degrees) of the phase angle margin; if gamma (omega) c ) Less than 30 DEG, then J u0,max Reduced by 0.01 and the reduced value is taken as the new J u0,max Repeating the above steps until J u0,max Corresponding active power loop phase angle margin gamma (omega) c ) Within a preset range (30 deg., 70 deg.) of the phase angle margin.
In this embodiment, an active power loop phase angle margin γ (ω) is obtained according to the active loop gain bode diagram shown in fig. 6 c ) Is 31 DEG, and the value is within a preset range (30 DEG, 70 DEG) of the phase angle margin, therefore, the virtual inertia maximum initial value is taken as the virtual inertia maximum value J of the voltage type virtual synchronous generator u,max ＝J u0,max ＝0.399kg·m 2 。
And S5, calculating to obtain a self-adaptive inertia value of the voltage type virtual synchronous generator according to the virtual inertia minimum value of the voltage type virtual synchronous generator and the virtual inertia maximum value of the voltage type virtual synchronous generator.
In one embodiment, the voltage type virtual synchronous generator adaptive inertia value is calculated by the following formula:
wherein, the first and the second end of the pipe are connected with each other,
in the formula, J u Representing the self-adaptive inertia value of the voltage type virtual synchronous generator; j. the design is a square u,max Representing the maximum value of virtual inertia of the voltage type virtual synchronous generator; j is a unit of u,min Representing the virtual inertia minimum value of the voltage type virtual synchronous generator; j is a unit of u,0 Representing a virtual inertia steady-state value of the voltage type virtual synchronous generator; Δ ω represents the rotational speed deviation; omega th Indicating a rotational speed deviation threshold; sinh (x) denotes a hyperbolic sine function, i.e.
sign (x) denotes a sign function, i.e.
Specifically, the embodiment obtains the maximum value J of the virtual inertia of the voltage-type virtual synchronous generator according to the above description u,max ＝0.399kg·m 2 Virtual inertia minimum value J of sum voltage type virtual synchronous generator u,min ＝0.047kg·m 2 And calculating to obtain a virtual inertia steady-state value J of the voltage type virtual synchronous generator u,0 ＝0.223kg·m 2 Then, the virtual inertia maximum value J of the voltage type virtual synchronous generator is calculated u,max ＝0.399kg·m 2 Virtual inertia minimum value J of voltage type virtual synchronous generator u,min ＝0.047kg·m 2 Virtual inertia steady state value J of sum voltage type virtual synchronous generator u,0 ＝0.223kg·m 2 Inputting a voltage type virtual synchronous generator self-adaptive inertia value calculation formula to obtain:
wherein, the embodiment preferentially uses the threshold value omega of the rotation speed deviation th Set to 0.0314.
In order to verify the effectiveness of the voltage type virtual synchronous generator adaptive inertia control method provided by the embodiment, the embodiment designs the following experiment, specifically:
the VSG1 operates independently with a 15kW load, the VSG2 operates in a no-load mode, meanwhile, VSG2 grid connection pre-synchronization control is started, when the voltage is 0.2s, the amplitude and the phase of the VSG2 output voltage and the amplitude and the phase of the grid side voltage are synchronized, the VSG2 grid connection pre-synchronization control is quitted, and meanwhile, a VSG2 grid connection switch is closed.
Experimental comparative protocols included:
scheme 1: the VSG virtual inertia value is kept unchanged and is always a steady-state value to be used as a blank contrast;
scheme 2: the VSG system adopts other self-adaptive inertia control, and the performance of the inertia control is compared;
scheme 3: the VSG system adopts the self-adaptive inertia control designed by the method;
as shown in fig. 7, it can be seen from the simulation results of the three schemes that after the system is disturbed, the frequency oscillation caused by the adaptive inertia control designed by the present embodiment is minimum, and therefore, the adaptive inertia control method designed by the present embodiment can better buffer the frequency fluctuation and reduce the frequency oscillation.
The embodiment of the invention provides a voltage type virtual synchronous generator self-adaptive inertia control method, which comprises the steps of firstly obtaining a virtual inertia minimum initial value for an output voltage effective value and a power grid voltage effective value based on a virtual synchronous generator; then setting a cut-off frequency, and obtaining a virtual inertia maximum initial value according to the cut-off frequency and a pre-obtained equivalent damping coefficient; and finally, applying the virtual inertia minimum initial value and the virtual inertia maximum initial value to the voltage type virtual synchronous generator self-adaptive inertia control to realize the self-adaptive inertia control of the voltage type virtual synchronous generator. The invention provides a voltage type virtual synchronous generator self-adaptive inertia control method, which fully utilizes hyperbolic sine function amplification rotating speed deviation and a change rate signal thereof as input, thereby leading smaller input signals to obtain larger control output, simultaneously having the capability of inhibiting power pulsation, improving the control sensitivity, meeting the requirements of dynamic performance and stability and improving the system stability.
It should be noted that, the sequence numbers of the above processes do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of each process, and should not limit the implementation process of the embodiment of the present application.
In one embodiment, as shown in fig. 8, an embodiment of the present invention provides a voltage-mode virtual synchronous generator adaptive inertia control system, which includes:
a minimum initial value obtaining module 101, configured to determine a virtual inertia minimum initial value according to the measured output voltage effective value of the virtual synchronous generator and the measured grid voltage effective value;
a maximum initial value obtaining module 102, configured to set a cutoff frequency, and determine a virtual inertia maximum initial value according to the cutoff frequency and a pre-obtained equivalent damping coefficient;
the inertia minimum value determining module 103 is configured to determine a virtual inertia minimum value of the voltage type virtual synchronous generator according to the virtual inertia minimum initial value and the minimum active power loop model;
the inertia maximum value determining module 104 is configured to determine a virtual inertia maximum value of the voltage type virtual synchronous generator according to the virtual inertia maximum initial value and the maximum active power loop model;
and the self-adaptive inertia value calculation module 105 is configured to calculate a voltage type virtual synchronous generator self-adaptive inertia value according to the voltage type virtual synchronous generator virtual inertia minimum value and the voltage type virtual synchronous generator virtual inertia maximum value.
For specific limitations of the adaptive inertia control system of the voltage-type virtual synchronous generator, reference may be made to the above limitations of the adaptive inertia control method of the voltage-type virtual synchronous generator, and details are not described here again. Those of ordinary skill in the art will appreciate that the various modules and steps described in connection with the embodiments disclosed herein may be implemented in hardware, software, or a combination of both. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
According to the voltage type virtual synchronous generator self-adaptive inertia control system provided by the embodiment of the invention, the minimum initial value acquisition module obtains a virtual inertia minimum initial value based on an output voltage effective value and a power grid voltage effective value of a virtual synchronous generator, and the maximum initial value acquisition module obtains a virtual inertia maximum initial value by setting a cut-off frequency and according to the cut-off frequency and a pre-obtained equivalent damping coefficient; the inertia minimum value determining module and the inertia maximum value determining module determine a voltage type virtual synchronous generator virtual inertia minimum value and a voltage type virtual synchronous generator virtual inertia maximum value, and the self-adaptive inertia value calculating module applies the voltage type virtual synchronous generator virtual inertia minimum value and the voltage type virtual synchronous generator virtual inertia maximum value to the voltage type virtual synchronous generator self-adaptive inertia control to realize the self-adaptive inertia control of the voltage type virtual synchronous generator. Compared with the prior art, the method and the device effectively restrain the oscillation of power by controlling the value of the virtual inertia value, can better buffer the frequency fluctuation, and reduce the frequency oscillation, thereby improving the frequency stability of the system.
FIG. 9 is a computer device including a memory, a processor, and a transceiver connected via a bus according to an embodiment of the present invention; the memory is used to store a set of computer program instructions and data and may transmit the stored data to the processor, which may execute the program instructions stored by the memory to perform the steps of the above-described method.
Wherein the memory may comprise volatile memory or nonvolatile memory, or may comprise both volatile and nonvolatile memory; the processor may be a central processing unit, a microprocessor, an application specific integrated circuit, a programmable logic device, or a combination thereof. By way of example, and not limitation, the programmable logic device described above may be a complex programmable logic device, a field programmable gate array, general array logic, or any combination thereof.
In addition, the memory may be a physically separate unit or may be integrated with the processor.
It will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 9 is a block diagram of only a portion of the configuration associated with the present application, and is not intended to limit the computing device to which the present application may be applied, and that a particular computing device may include more or fewer components than shown, or may combine certain components, or have the same arrangement of components.
In one embodiment, the present invention provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the above-described method.
According to the voltage type virtual synchronous generator self-adaptive inertia control method and system provided by the embodiment of the invention, the voltage type virtual synchronous generator self-adaptive inertia control method can better buffer frequency fluctuation and reduce frequency oscillation after the system is disturbed through the control of the self-adaptive virtual inertia parameters, the dynamic performance and stability of an inertia controller are considered, and the method and system have guiding significance for the stable operation of a power grid system.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optic, digital subscriber line) or wirelessly (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., SSD), among others.
Those skilled in the art will appreciate that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and the computer program can include the processes of the embodiments of the methods described above when executed.
The above-mentioned embodiments only express some preferred embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, without departing from the technical principle of the present invention, several improvements and substitutions can be made, and these improvements and substitutions should also be regarded as the protection scope of the present application. Therefore, the protection scope of the present patent application shall be subject to the protection scope of the claims.
Claims (10)
1. A voltage type virtual synchronous generator self-adaptive inertia control method is characterized by comprising the following steps:
determining a virtual inertia minimum initial value according to the measured output voltage effective value and the measured power grid voltage effective value of the virtual synchronous generator;
setting a cut-off frequency, and obtaining a virtual inertia maximum initial value according to the cut-off frequency and a pre-obtained equivalent damping coefficient;
determining a virtual inertia minimum value of the voltage type virtual synchronous generator according to the virtual inertia minimum initial value and the minimum active power loop model;
determining a virtual inertia maximum value of the voltage type virtual synchronous generator according to the virtual inertia maximum initial value and the maximum active power loop model;
and calculating to obtain a voltage type virtual synchronous generator self-adaptive inertia value according to the voltage type virtual synchronous generator virtual inertia minimum value and the voltage type virtual synchronous generator virtual inertia maximum value.
2. The adaptive inertia control method of claim 1, wherein the calculation formula of the virtual inertia minimum initial value is specifically as follows:
in the formula, J u0，min Representing a virtual inertia minimum initial value; v 1 Representing an effective value of the output voltage of the virtual synchronous generator; v ga Representing the effective value of the voltage of the power grid; f. of 0 Representing the rated frequency of the power grid; w is a 0 Representing the rated angular frequency of the generator; x s And the reactance per unit value between the voltage type virtual synchronous generator and the power grid is represented.
3. The adaptive inertia control method of a voltage-type virtual synchronous generator according to claim 1, wherein the calculation formula of the maximum initial value of the virtual inertia is specifically:
wherein the content of the first and second substances,
in the formula, J u0,max Representing a virtual inertia maximum initial value; d eq,u Representing an equivalent damping coefficient; f. of pc Represents the cut-off frequency; PM (particulate matter) re Representing a phase angle margin; Δ P represents a frequency change of 1The corresponding active power variation at Hz; w is a 0 Representing the generator rated angular frequency.
4. The adaptive inertia control method of claim 1, wherein the step of determining the virtual inertia minimum value of the voltage-type virtual synchronous generator according to the virtual inertia minimum initial value and the minimum active power loop model comprises:
calculating to obtain the active loop gain of the minimum initial value according to the virtual inertia minimum initial value and the minimum active power loop model;
determining an active power loop phase angle margin corresponding to the virtual inertia minimum initial value according to the active loop gain of the minimum initial value;
judging whether the phase angle margin of the active power loop corresponding to the minimum initial value of the virtual inertia is in a phase angle margin preset range, if so, taking the minimum initial value of the virtual inertia as the minimum value of the virtual inertia of the voltage type virtual synchronous generator;
and if the active power loop phase angle margin corresponding to the virtual inertia minimum initial value is not in the phase angle margin preset range, updating the virtual inertia minimum initial value through a preset correction rule, repeating the steps until the active power loop phase angle margin corresponding to the virtual inertia minimum initial value is in the phase angle margin preset range, and taking the virtual inertia minimum initial value as the virtual inertia minimum value of the voltage type virtual synchronous generator.
5. The adaptive inertia control method of claim 1, wherein the step of determining the virtual inertia maximum value of the voltage-type virtual synchronous generator according to the virtual inertia maximum initial value and the maximum active power loop model comprises:
calculating to obtain the active loop gain of the maximum initial value according to the virtual inertia maximum initial value and the maximum active power loop model;
determining an active power loop phase angle margin corresponding to the virtual inertia maximum initial value according to the maximum initial value active loop gain;
judging whether the phase angle margin of the active power loop corresponding to the maximum initial value of the virtual inertia is in a phase angle margin preset range, if so, taking the maximum initial value of the virtual inertia as the maximum value of the virtual inertia of the voltage type virtual synchronous generator;
and if the active power loop phase angle margin corresponding to the virtual inertia maximum initial value is not in the phase angle margin preset range, updating the virtual inertia maximum initial value through a preset correction rule, repeating the steps until the active power loop phase angle margin corresponding to the virtual inertia maximum initial value is in the phase angle margin preset range, and taking the virtual inertia maximum initial value as the virtual inertia maximum value of the voltage type virtual synchronous generator.
6. A voltage-type virtual synchronous generator adaptive inertia control method as claimed in claim 4 or 5, characterized in that: the phase angle margin preset range is (30 degrees, 70 degrees).
7. The adaptive inertia control method for the voltage type virtual synchronous generator according to claim 1, wherein the adaptive inertia value of the voltage type virtual synchronous generator is calculated by the formula:
wherein, the first and the second end of the pipe are connected with each other,
in the formula, J u Representing the adaptive inertia value of the voltage type virtual synchronous generator; j. the design is a square u,max Representing the maximum value of virtual inertia of the voltage type virtual synchronous generator; j. the design is a square u,min Representing the virtual inertia minimum value of the voltage type virtual synchronous generator; j is a unit of u,0 Representing a virtual inertia steady-state value of the voltage type virtual synchronous generator; Δ ω represents the rotational speed deviation; omega th Indicating a rotational speed deviation threshold; sinh (x) represents a hyperbolic sine function; sign (x) denotes a sign function.
8. An adaptive inertial control system for a voltage-mode virtual synchronous generator, the system comprising:
the minimum initial value acquisition module is used for determining a virtual inertia minimum initial value according to the measured output voltage effective value of the virtual synchronous generator and the measured power grid voltage effective value;
the maximum initial value acquisition module is used for setting a cut-off frequency and determining a virtual inertia maximum initial value according to the cut-off frequency and a pre-acquired equivalent damping coefficient;
the inertia minimum value determining module is used for determining a virtual inertia minimum value of the voltage type virtual synchronous generator according to the virtual inertia minimum initial value and the minimum active power loop model;
the inertia maximum value determining module is used for determining the virtual inertia maximum value of the voltage type virtual synchronous generator according to the virtual inertia maximum initial value and the maximum active power loop model;
and the self-adaptive inertia value calculation module is used for calculating to obtain a voltage type virtual synchronous generator self-adaptive inertia value according to the voltage type virtual synchronous generator virtual inertia minimum value and the voltage type virtual synchronous generator virtual inertia maximum value.
9. A computer device, characterized by: comprising a processor and a memory, the processor being connected to the memory, the memory being adapted to store a computer program, the processor being adapted to execute the computer program stored in the memory to cause the computer device to perform the method of any of claims 1 to 7.
10. A computer-readable storage medium characterized by: the computer-readable storage medium has stored thereon a computer program which, when executed, implements the method of any one of claims 1 to 7.
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