CN116169661A - Comprehensive control method for busbar voltage of direct-current micro-grid - Google Patents
Comprehensive control method for busbar voltage of direct-current micro-grid Download PDFInfo
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- CN116169661A CN116169661A CN202310247674.0A CN202310247674A CN116169661A CN 116169661 A CN116169661 A CN 116169661A CN 202310247674 A CN202310247674 A CN 202310247674A CN 116169661 A CN116169661 A CN 116169661A
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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
- H02J1/00—Circuit arrangements for dc mains or dc distribution networks
- H02J1/02—Arrangements for reducing harmonics or ripples
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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
- H02J1/00—Circuit arrangements for dc mains or dc distribution networks
- H02J1/14—Balancing the load in a network
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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
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
Abstract
The invention discloses a comprehensive control method of a direct current micro-grid bus voltage, which mainly comprises an improved self-adaptive virtual inertia control, an oscillation inhibitor and a voltage compensator, wherein the improved self-adaptive virtual inertia control can adaptively adjust the magnitude of a virtual inertia coefficient according to the bus voltage change rate when a load is disturbed, so that the inertia of a system is changed, the inertia power required by the system is released to slow down the change speed of the direct current bus voltage, a smooth bus voltage transient waveform is obtained, and the dynamic characteristic of the system is improved. On the basis, the oscillation suppressor eliminates the high-frequency oscillation component of the bus voltage, thereby avoiding the next oscillation of the voltage caused by the oscillation component of the voltage entering a control link and remarkably suppressing the voltage oscillation. Furthermore, the voltage compensator can realize the unbiased adjustment of the bus voltage, and solves the problem of serious bus voltage drop when the load power is increased.
Description
Technical Field
The invention relates to the field of new energy distributed power generation, in particular to a comprehensive control method for busbar voltage of a direct-current micro-grid.
Background
Under the guidance of the 'double carbon' target, the electric power system is being greatly transformed, and particularly, the direct current micro-grid with remarkable advantages in the aspects of new energy utilization and load bearing is widely focused on the industry at home and abroad because of the advantages of few current conversion links, low line loss and the like. Because the problems of intermittence, fluctuation and the like of the new energy output can threaten the safe and stable operation of the power system, the research on the dynamic property and the stability of the direct current micro-grid when the new energy output fluctuates has important significance.
Because the direct-current micro-grid has almost no inertia, and the traditional droop control and the additional virtual inertia control with constant inertia are mainly adopted for the direct-current micro-grid at present, when load disturbance and new energy output fluctuation occur, the direct-current bus voltage can change rapidly, and meanwhile, the problems that the output voltage cannot accurately track rated voltage, bus voltage oscillation and the like can be caused, and the voltage sensitive load can be greatly influenced.
Disclosure of Invention
In order to solve the technical problems, the invention adopts the following technical scheme:
1) The storage battery is used as the energy source of the main circuit, and the output voltage u of the converter is obtained through the DC-DC converter o Then through the power side line resistor R S Inductance L S And bus capacitor C DC Obtaining the DC bus voltage u DC Then through the load side line resistor R F And inductance L F Back-fed constant power load Z load Supplying power;
2) At the beginning of each sampling period, the voltage u is output to the converter o Dc bus voltage u DC And the converter filter inductor current i b Respectively picking upThe data converted by the AD converter is sent to the DSP controller for processing through a parallel interface;
3) Rated value u of output voltage of converter oN Average value u of output voltage of converter agv After subtraction, the PI controller G passes through a voltage compensator b (s) obtaining the voltage compensation amount Deltau b Wherein the PI controller G of the voltage compensator b (s) has the expression G b (s)＝k pb +k ib /s，k pb PI controller G being a voltage compensator b Scaling factor of(s), k ib PI controller G being a voltage compensator b The integral coefficient of(s), s is Law's transformation complex variable operator;
4) Output voltage u of the converter o Via an oscillation suppressor G a (s) obtaining a process voltage u oa Then the voltage rating u is output by the converter oN And the voltage compensation quantity Deltau b After addition, the voltage is then connected with the process voltage u oa Making difference, and obtaining output quantity i through droop controller d 1 Wherein the oscillation suppressor G a The expression of(s) is
Omega is the oscillation suppressor G a (s) a cutoff frequency;
further, the expression of the droop controller d is: d=k droop U o /U s Wherein k is droop Is the sagging coefficient, U o Is the converter output voltage u o Steady state value of U s Is the output voltage u of the storage battery s Steady state values of (2);
5) The DC bus voltage u DC Through a high-pass filter G A (s) obtaining the DC bus voltage change rate du DC And (d) taking the absolute value delta of the voltage change rate of the direct current bus 1 Adding it to the constant 1 to obtain the result 1+delta 1 Then the voltage change rate du of the DC bus is calculated DC Dividing/dt by (1+delta) 1 ) The absolute value is taken and multiplied by the voltage regulation systemObtaining virtual inertia coefficient compensation quantity delta C by a number m v And when delta 1 When the voltage change rate is smaller than or equal to the set threshold K, the process variable S is caused to 1 When delta is =0 1 When the voltage change rate is larger than the set threshold K, the process variable S is caused to 1 =1, process variable S 1 Multiplying by the virtual inertia coefficient compensation quantity deltac v Adding the virtual inertia coefficient initial value C v0 Obtaining a virtual inertia coefficient C virb Wherein the high pass filter G A The expression of(s) is
T 1 Is the time constant of the high pass filter;
in addition, virtual inertia coefficient C virb The expression of (2) is
6) Rated value u of output voltage of converter oN And process voltage u oa After square variance, the virtual inertial controller G is used h (s) processing to obtain an intermediate variable h, wherein the virtual inertial controller G h The expression of(s) is:
T 2 is a virtual inertial controller G h A time constant of the first-order inertial member in(s);
7) Multiplying the intermediate variable h by the virtual inertia coefficient C virb Improved adaptive virtual inertial control output i 2 Adding the droop controller output i 1 Obtaining the current reference value i of the filter inductor of the converter bref Then the inductor current i is filtered by the converter b After making the difference, the difference passes through a current loop PI controller G ii (s) processing, and outputting control signal by PWM control, therebyThe DC-DC converter controls, wherein, the current loop PI controller G ii (s) has the expression G b (s)＝k pi +k ii /s，k pi Is a current loop PI controller G ii Scaling factor of(s), k ii Is a current loop PI controller G ii An integration coefficient of(s); converter filter inductor current reference value i bref The expression of (2) is
Compared with the prior art, the invention has the following beneficial effects: the invention discloses a comprehensive control method for bus voltage of a direct current micro-grid, which mainly comprises an improved self-adaptive virtual inertia control, an oscillation inhibitor and a voltage compensator, wherein the improved self-adaptive virtual inertia control can adaptively adjust the magnitude of a virtual inertia coefficient according to the change rate of the bus voltage when a load is disturbed, so that the inertia of a system is changed, the inertia power required by the system is released to slow down the change speed of the direct current bus voltage, a smooth bus voltage transient waveform is obtained, and the dynamic characteristic of the system is improved. On the basis, the oscillation suppressor eliminates the high-frequency oscillation component of the bus voltage, thereby avoiding the next oscillation of the voltage caused by the oscillation component of the voltage entering a control link and remarkably suppressing the voltage oscillation. Furthermore, the voltage compensator can realize the unbiased adjustment of the bus voltage, and solves the problem of serious bus voltage drop when the load power is increased.
Drawings
Fig. 1 is a topological structure diagram of a dc micro grid;
FIG. 2 is a control block diagram of the integrated control method;
FIG. 3 is a diagram showing waveforms of a conventional control method and a comprehensive control method according to an embodiment of the present invention.
Detailed Description
FIG. 1 is a schematic diagram of a DC micro-grid topology, with a battery as the energy source for the main circuit, and a DC-DC converter to obtain the converter output voltage u o Then through the power side line resistor R S Inductance L S And bus capacitor C DC Obtaining the DC bus voltage u DC Then through the load side line resistor R F And inductance L F Back-fed constant power load Z load Supplying power; wherein u is s For the output voltage of the accumulator, i b Filtering inductor current for converter, i o The current is output for the converter.
FIG. 2 is a control block diagram of an integrated control method for rating a converter output voltage u oN Average value u of output voltage of converter agv After subtraction, the PI controller G passes through a voltage compensator b (s) obtaining the voltage compensation amount Deltau b ；
PI controller G of voltage compensator b The expression of(s) is
G b (s)＝k pb +k ib /s (1)
Wherein k is pb PI controller G being a voltage compensator b Scaling factor of(s), k ib PI controller G being a voltage compensator b The integral coefficient of(s), s is Law's transformation complex variable operator;
output voltage u of the converter o Via an oscillation suppressor G a (s) obtaining a process voltage u oa Then the voltage rating u is output by the converter oN And the voltage compensation quantity Deltau b After addition, the voltage is then connected with the process voltage u oa Making difference, and obtaining output quantity i through droop controller d 1 ；
Oscillation suppressor G a The expression of(s) is
Where ω is the oscillation suppressor G a (s) a cutoff frequency;
the droop controller d has the expression of
d＝k droop U o /U s (3)
Wherein k is droop Is the sagging coefficient, U o Is the output voltage of the converteru o Steady state value of U s Is the output voltage u of the storage battery s Steady state values of (2);
the DC bus voltage u DC Through a high-pass filter G A (s) obtaining the DC bus voltage change rate du DC And (d) taking the absolute value delta of the voltage change rate of the direct current bus 1 Adding it to the constant 1 to obtain the result 1+delta 1 Then the voltage change rate du of the DC bus is calculated DC Dividing/dt by (1+delta) 1 ) Then taking the absolute value and multiplying the absolute value by the voltage regulating coefficient m to obtain the virtual inertia coefficient compensation quantity delta C v And when delta 1 When the voltage change rate is smaller than or equal to the set threshold K, the process variable S is caused to 1 When delta is =0 1 When the voltage change rate is larger than the set threshold K, the process variable S is caused to 1 =1, process variable S 1 Multiplying by the virtual inertia coefficient compensation quantity deltac v Adding the virtual inertia coefficient initial value C v0 Obtaining a virtual inertia coefficient C virb ；
High pass filter G A The expression of(s) is
Wherein T is 1 Is the time constant of the high pass filter;
virtual coefficient of inertia C virb The expression of (2) is
Rated value u of output voltage of converter oN And process voltage u oa After square variance, the virtual inertial controller G is used h (s) processing to obtain an intermediate variable h;
virtual inertial controller G h The expression of(s) is
Wherein T is 2 Is a virtual inertial controller G h A time constant of the first-order inertial member in(s);
multiplying the intermediate variable h by the virtual inertia coefficient C virb Improved adaptive virtual inertial control output i 2 Adding the droop controller output i 1 Obtaining the current reference value i of the filter inductor of the converter bref Then the inductor current i is filtered by the converter b After making the difference, the difference passes through a current loop PI controller G ii (s) processing, and outputting a control signal through PWM control, thereby controlling the DC-DC converter;
current loop PI controller G ii The expression of(s) is
G b (s)＝k pi +k ii /s (7)
Wherein k is pi Is a current loop PI controller G ii Scaling factor of(s), k ii Is a current loop PI controller G ii An integration coefficient of(s);
converter filter inductor current reference value i bref The expression of (2) is
Improved adaptive virtual inertial control will virtual inertial coefficient C virb And the rate of change du of the voltage of the direct current bus DC The/dt relation is used for realizing that the system can adaptively adjust the virtual inertia coefficient C according to the change of the voltage during the load disturbance virb To change the inertia of the system, thereby further improving the dynamic performance of the system; because the excessive virtual inertia can cause unstable system, an S-shaped function with amplitude limiting capability is adopted to construct a formula, so that the virtual inertia coefficient C is avoided when the voltage change rate is excessive virb Too large to cause instability of the system; the specific working principle is as follows: when the system is operating normally, the rate of change du of the DC bus voltage DC The absolute value of/dt is smaller than or equal to a set threshold value K of the voltage change rate, and the virtual inertia coefficient C virb Maintained as a virtual inertial systemInitial value C v0 The method comprises the steps of carrying out a first treatment on the surface of the When the system is disturbed by abrupt load change, the voltage of the direct current bus is abrupt, and the voltage change rate du of the direct current bus is equal to the voltage change rate du DC The absolute value of/dt will quickly reach maximum, and when the set threshold K of the voltage change rate is exceeded, the virtual inertia coefficient compensation link related to the voltage change rate is started, the virtual inertia coefficient C virb The voltage change rate is changed to a larger value in a short time, so that larger inertial power is released to slow down the change speed of the voltage of the direct current bus; virtual inertia coefficient C as the rate of change of voltage decreases virb The voltage is gradually reduced, so that the release of inertial power is reduced, and the voltage recovery speed is increased; when the bus voltage approaches a steady state value, the DC bus voltage change rate du DC The absolute value of/dt will be less than the set threshold, the virtual inertia coefficient C virb Again maintained as the virtual inertia coefficient initial value C v0 To help stabilize the system.
FIG. 3 is a graph of waveforms comparing a conventional control method and a comprehensive control method, wherein the load is suddenly increased from 5kW to 48kW at 1.05s, the comprehensive control method starts the improved self-adaptive virtual inertia control and oscillation suppressor at 1.05s, and the voltage compensator is started at 2s, and it is obvious that the system DC bus voltage is rapidly reduced to about 758V at the time of the sudden increase of the load, the oscillation amplitude is about 9V, the dropping speed of the DC bus voltage is obviously slowed down, the oscillation amplitude is reduced to about 2V, the bus voltage is restored to about 800V after the voltage compensator is started, and the system voltage quality is obviously improved.
Claims (4)
1. The comprehensive control method of the busbar voltage of the direct-current micro-grid is characterized by comprising the following steps of:
1) The storage battery is used as the energy source of the main circuit, and the output voltage u of the converter is obtained through the DC-DC converter o Then through the power side line resistor R S Inductance L S And bus capacitor C DC Obtaining the DC bus voltage u DC Then through the load side line resistor R F And inductance L F Back-fed constant power load Z load Supplying power;
2) At the beginning of each sampling period, the voltage u is output to the converter o Dc bus voltage u DC And the converter filter inductor current i b Sampling respectively, and sending the data converted by the AD converter to a DSP controller for processing through a parallel interface;
3) Rated value u of output voltage of converter oN Average value u of output voltage of converter agv After subtraction, the PI controller G passes through a voltage compensator b (s) obtaining the voltage compensation amount Deltau b Wherein the PI controller G of the voltage compensator b (s) has the expression G b (s)＝k pb +k ib /s，k pb PI controller G being a voltage compensator b Scaling factor of(s), k ib PI controller G being a voltage compensator b The integral coefficient of(s), s is Law's transformation complex variable operator;
4) Output voltage u of the converter o Via an oscillation suppressor G a (s) obtaining a process voltage u oa Then the voltage rating u is output by the converter oN And the voltage compensation quantity Deltau b After addition, the voltage is then connected with the process voltage u oa Making difference, and obtaining output quantity i through droop controller d 1 Wherein the oscillation suppressor G a The expression of(s) is
Omega is the oscillation suppressor G a (s) a cutoff frequency;
further, the expression of the droop controller d is: d=k droop U o /U s Wherein k is droop Is the sagging coefficient, U o Is the converter output voltage u o Steady state value of U s Is the output voltage u of the storage battery s Steady state values of (2);
5) The DC bus voltage u DC Through a high-pass filter G A (s) obtaining the DC bus voltage change rate du DC Dt, take absolute valueTo the absolute delta of the rate of change of the voltage of the direct current bus 1 Adding it to the constant 1 to obtain the result 1+delta 1 Then the voltage change rate du of the DC bus is calculated DC Dividing/dt by (1+delta) 1 ) Then taking the absolute value and multiplying the absolute value by the voltage regulating coefficient m to obtain the virtual inertia coefficient compensation quantity delta C v And when delta 1 When the voltage change rate is smaller than or equal to the set threshold K, the process variable S is caused to 1 When delta is =0 1 When the voltage change rate is larger than the set threshold K, the process variable S is caused to 1 =1, process variable S 1 Multiplying by the virtual inertia coefficient compensation quantity deltac v Adding the virtual inertia coefficient initial value C v0 Obtaining a virtual inertia coefficient C virb Wherein the high pass filter G A The expression of(s) is
T 1 Is the time constant of the high pass filter;
in addition, virtual inertia coefficient C virb The expression of (2) is
6) Rated value u of output voltage of converter oN And process voltage u oa After square variance, the virtual inertial controller G is used h (s) processing to obtain an intermediate variable h, wherein the virtual inertial controller G h The expression of(s) is:
T 2 is a virtual inertial controller G h A time constant of the first-order inertial member in(s);
7) Multiplying the intermediate variable h by the virtual inertia coefficient C virb Improved adaptive virtual inertial control output i 2 Adding the droop controller output i 1 Obtaining the current reference value i of the filter inductor of the converter bref Then the inductor current i is filtered by the converter b After making the difference, the difference passes through a current loop PI controller G ii (s) processing and outputting a control signal by PWM control to further control the DC-DC converter, wherein the current loop PI controller G ii (s) has the expression G b (s)＝k pi +k ii /s，k pi Is a current loop PI controller G ii Scaling factor of(s), k ii Is a current loop PI controller G ii An integration coefficient of(s); converter filter inductor current reference value i bref The expression of (2) is
2. The integrated control method of dc micro-grid bus voltage according to claim 1, wherein in step 3), k is pb PI controller G being a voltage compensator b The proportionality coefficient of(s) is in the range of 0.001-k pb ≤1；k ib PI controller G being a voltage compensator b The integral coefficient of(s) is in the range of 0.4.ltoreq.k ib ≤0.6。
3. The integrated control method of dc micro grid bus voltage according to claim 1, wherein ω is an oscillation suppressor G in step 4) a The cut-off frequency of(s) is 31.4 rad/s.ltoreq.ω.ltoreq.628 rad/s.
4. The integrated control method of dc micro-grid bus voltage according to claim 1, wherein in step 5), C v0 Is the initial value of the virtual inertia coefficient, and the value range is 0.01 to less than or equal to C v0 Less than or equal to 0.4; k is a set threshold value of the voltage change rate, and the value range of K is more than or equal to 0.01 and less than or equal to 10; m is a voltage regulation coefficient, and the value range of m is more than or equal to 0.01 and less than or equal to 1.
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| CN116613781A (en) * | 2023-06-08 | 2023-08-18 | 广东工业大学 | Control method of DC bus oscillation suppression device based on duty ratio calculation |
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