CN116826692A - Energy storage converter control method, control system, storage medium and equipment - Google Patents
Energy storage converter control method, control system, storage medium and equipment Download PDFInfo
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- 238000003860 storage Methods 0.000 title claims abstract description 10
- 238000011217 control strategy Methods 0.000 claims abstract description 92
- 238000007665 sagging Methods 0.000 claims description 21
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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
- H02J1/00—Circuit arrangements for dc mains or dc distribution networks
- H02J1/10—Parallel operation of dc sources
- H02J1/102—Parallel operation of dc sources being switching converters
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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
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
- H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
- H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
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Abstract
The invention discloses a control method, a control system, a storage medium and equipment of an energy storage converter, wherein the method comprises the following steps: acquiring bus voltage of a direct current bus, energy storage input voltage, output current and device parameters of an energy storage converter; setting a droop control strategy for the energy storage converter by combining the output current; setting an initial adjustment factor of DOB based on the droop control strategy, the energy storage input voltage and the device parameters to obtain an initial energy storage converter control strategy; when one energy storage converter is required to operate, an initial adjustment factor is adjusted, and the steady-state deviation of the bus voltage is controlled to be equal to 0, so that a first final energy storage converter control strategy is obtained; when a plurality of energy storage converters are required to operate, the initial adjustment factor is adjusted, and the steady-state deviation of the bus voltage is controlled to be not equal to 0, so that a second final energy storage converter control strategy is obtained. The external characteristics of droop control and constant voltage control are provided, and the scene requirements of parallel operation of a plurality of energy storage converters and operation of a single energy storage converter are met.
Description
Technical Field
The present invention relates to the field of energy storage converter control, and in particular, to a method, a system, a storage medium, and an apparatus for controlling an energy storage converter.
Background
The energy storage system is an indispensable part in the low-voltage distribution network at present, and particularly in an island direct-current micro-grid, the energy storage system plays a role in constructing direct-current bus voltage. The energy storage converter is used as an intermediate link for connecting energy storage and a public direct current bus, and the temporary steady state performance of a control strategy of the energy storage converter directly influences the construction effect of the bus voltage, thereby influencing the load electricity utilization.
In the scenario of parallel operation of multiple energy storage converters, droop control is generally adopted. The droop control has the advantages that current distribution among the plurality of energy storage converters is easy to realize under the steady state condition, and the inherent disadvantages are that steady state deviation of bus voltage is brought and transient response speed is low. At present, steady-state voltage deviation can be reduced by adjusting a droop coefficient or an intercept of droop control, or transient characteristics of the constant-state voltage deviation can be improved by a parameter optimization design method, a feedforward method and the like. However, no control method can simultaneously consider transient characteristics and steady-state characteristics, and in a scene of only running a single energy storage converter, constant voltage control is generally adopted, voltage deviation is zero, and better power supply quality is achieved.
At present, no control method can simultaneously have the external characteristics of droop control and constant voltage control so as to meet the functional requirements of a plurality of energy storage converters in parallel operation and a single energy storage converter in operation.
Disclosure of Invention
The invention provides a control method and a control system of energy storage converters, which have the external characteristics of sagging control and constant voltage control, and meet the requirements of a plurality of energy storage converters in parallel operation and a single energy storage converter operation.
In order to solve the technical problems, the invention adopts the following technical scheme:
in a first aspect, there is provided a method for controlling an energy storage converter, including:
acquiring bus voltage of a direct current bus, energy storage input voltage, output current and device parameters of an energy storage converter;
setting a droop control strategy for the energy storage converter by combining the output current;
setting an initial adjustment factor of a disturbance observer DOB based on the droop control strategy, the energy storage input voltage and the device parameters to obtain an initial energy storage converter control strategy;
judging whether one energy storage converter or a plurality of energy storage converters are required to operate;
if one energy storage converter is required to run, an initial adjustment factor is adjusted, and the steady-state deviation of the busbar voltage is controlled to be equal to 0, so that the initial energy storage converter control strategy has a constant voltage characteristic, and a first final energy storage converter control strategy is obtained;
if a plurality of energy storage converters are required to operate, the initial adjustment factor is adjusted, and the steady-state deviation of the voltage of the control bus is not equal to 0, so that the initial energy storage converter control strategy has a sagging characteristic, and a second final energy storage converter control strategy is obtained.
Optionally, obtaining the bus voltage of the direct current bus and the energy storage input voltage, the output current and the device parameters of the energy storage converter includes:
obtaining a bus voltage u of a direct current bus C ；
Acquiring energy storage input voltage U of energy storage converter bat Output current i L And the device parameters comprise an inductance value L of the filter inductor and a capacitance value C of the filter capacitor.
Optionally, setting a droop control strategy for the energy storage converter in combination with the output current includes:
reference voltage U for setting droop control of energy storage converter ref Proportional-integral controller PI of current loop I Current inner loop reference value i ref Coefficient of sagging k d ，PI I ＝k p +k i /s，k p K i Is a preset parameter;
reference voltage U controlled according to droop ref Proportional-integral controller PI of current loop I Current inner loop reference value i ref Coefficient of sagging k d Output current i L And constructing and obtaining a sagging control strategy, wherein a bus voltage steady-state deviation expression of the sagging control strategy is as follows:
U ref -u C ＝k d i ref ＝k d i L 。
optionally, setting an initial adjustment factor of the disturbance observer DOB based on the droop control strategy, the energy storage input voltage and the device parameter, to obtain an initial energy storage converter control strategy, including:
setting a disturbance observer DOB based on a droop control strategy;
combined with energy-storage input voltage U bat The inductance value L and the capacitance value C are constructed to obtain a controlled object expression of a droop control strategy with a disturbance observer DOB, wherein the controlled object expression is as follows:
obtaining the output current i of the disturbance observer DOB obv_0 ；
Connecting an initial adjustment factor omega with the output end of the disturbance observer DOB to obtain an initial energy storage converter control strategy, wherein the initial adjustment factor omega is more than or equal to 0 and less than or equal to 1;
wherein the initial energy storage converter control strategy is i obv ＝ωi obv_0 。
Optionally, adjusting the initial adjustment factor, controlling the bus voltage steady state deviation to be equal to 0 includes:
the initial adjustment factor omega is adjusted to 1 to obtain i obv ＝i obv_0 ；
When in steady state, i is obtained according to the principle of a disturbance observer DOB obv ＝i obv_0 ＝-i L Based on current loop proportional-integral controller PI I I is obtained by the principle of (2) ref -i obv -i L =0, calculated as i ref ＝i obv +i L ＝0；
Will i ref ＝i obv +i L =0 substituted into bus voltage steady state deviation expression U ref -u C ＝k d i ref ＝k d i L Obtaining the steady-state deviation U of the bus voltage ref -u C ＝k d i ref ＝0。
Optionally, adjusting the initial adjustment factor, controlling the bus voltage steady-state deviation to be not equal to 0 includes:
adjusting the initial adjustment factor omega to be more than 0 and less than 1 to obtain i obv ＝ωi obv_0 ；
When in steady state, i is obtained according to the principle of a disturbance observer DOB obv ＝-ωi L Calculating to obtain i ref ＝i obv +i L ＝-ωi L +i L ＝(1-ω)i L ≠0；
Will i ref ＝i obv +i L ＝-ωi L +i L ＝(1-ω)i L Not equal to 0 is substituted into the bus voltage steady-state deviation expression U ref -u C ＝k d i ref ＝k d i L Obtaining the steady-state deviation U of the bus voltage ref -u C ＝k d i ref ＝k d (1-ω)i L ≠0。
Optionally, the energy storage converter control method further includes:
when a droop control strategy is needed, the initial adjustment factor omega is adjusted to be equal to 0, so that i is obtained obv =0, such that the disturbance observer DOB is disabled.
In a second aspect, there is provided an energy storage converter control system comprising:
the at least one energy storage system is connected with the direct current bus through a corresponding energy storage converter;
and a controller for executing the energy storage converter control method in the first aspect.
In a third aspect, there is provided a computer readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by a computing device, cause the computing device to perform the energy storage converter control method of the first aspect.
In a fourth aspect, a computing device is provided that includes one or more processors, one or more memories, and one or more programs, wherein the one or more programs are stored in the one or more memories and configured to be executed by the one or more processors, the one or more programs including instructions for performing the energy storage converter control method of the first aspect.
The invention has the beneficial effects that:
setting an initial adjustment factor of a disturbance observer DOB on the basis of a droop control strategy of a traditional energy storage converter to obtain an initial energy storage converter control strategy, adjusting the initial adjustment factor when one energy storage converter is required to operate, controlling the steady-state deviation of bus voltage to be equal to 0, enabling the initial energy storage converter control strategy to have a constant voltage characteristic to obtain a first final energy storage converter control strategy, adjusting the initial adjustment factor when a plurality of energy storage converters are required to operate, controlling the steady-state deviation of bus voltage to be not equal to 0, enabling the initial energy storage converter control strategy to have a droop characteristic, obtaining a second final energy storage converter control strategy, enabling seamless switching between the constant voltage characteristic and the droop characteristic to be achieved, multiplexing the droop characteristic and the constant voltage characteristic with the same set of control loops, and avoiding impact caused by switching between two sets of control loops when scene function requirements change; when the current distribution is switched to the droop characteristic, compared with the traditional droop control strategy, the voltage transient state recovery time and steady-state voltage deviation are greatly reduced, the current distribution capacity is maintained, and the current distribution method is suitable for a scene of parallel operation of a plurality of converters; when the voltage characteristic is switched to be constant, the steady-state voltage deviation is zero, the transient voltage recovery time is faster than that when the voltage characteristic is switched to be droop, and the method is applicable to a scene of operation of only one energy storage converter.
Drawings
Fig. 1 is a schematic diagram of the connection of an energy storage converter control system according to the present invention;
fig. 2 is a schematic flow chart of a control method of the energy storage converter according to the present invention;
fig. 3 is a circuit topology of the energy storage converter of the present invention;
FIG. 4 is a small signal model diagram of a conventional droop control strategy;
FIG. 5 is a small signal model diagram of an initial energy storage converter control strategy of the present invention;
fig. 6 is a simulation test chart of the present invention with ω=0;
fig. 7 is a simulation test chart of the present invention ω=1;
fig. 8 is a simulation test chart of the present invention ω=0.55;
fig. 9 is a simulation test chart of omega from 0.55 to 1 when the single energy storage converter of the invention is operated;
fig. 10 is a schematic structural diagram of the control system of the energy storage converter of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
The energy storage converter control system comprises at least one energy storage system, the at least one energy storage system is connected with the direct current bus through corresponding energy storage converters, in the embodiment shown in fig. 1, the number of the two energy storage systems is two, the number of the corresponding energy storage converters is also two, in practical application, the number of the energy storage systems can be more than two, the two energy storage systems are respectively connected to the direct current bus through one energy storage converter, and a switch S is arranged between the energy storage converters and the direct current bus 1 And S is 2 The method shows that only one energy storage system is connected, and two energy storage systems are connected in parallel to a direct current bus at the same time.
Based on the above energy storage converter control system, as shown in fig. 2, an embodiment of the present invention provides a method for controlling an energy storage converter, including the following steps:
201, acquiring bus voltage of a direct current bus, energy storage input voltage, output current and device parameters of an energy storage converter;
the circuit topology diagram of the energy storage converter is shown in fig. 3, and the bus voltage u of the direct current bus can be obtained through detection C Energy storage input voltage U of energy storage converter obtained by detecting energy storage system bat Output current i L And the device parameters comprise an inductance value L of the filter inductor and a capacitance value C of the filter capacitor.
202, setting a droop control strategy for the energy storage converter by combining the output current;
the droop control strategy of the energy storage converter adopts a traditional droop control strategy, a small signal model of the traditional droop control strategy is shown in fig. 4, and the reference voltage U of the droop control of the energy storage converter ref Proportional-integral controller PI of current loop I Current inner loop reference value i ref Coefficient of sagging k d ，PI I ＝k p +k i /s，k p K i For the preset parameter, the reference voltage U is controlled according to sagging ref Proportional-integral controller PI of current loop I Current inner loop reference value i ref Coefficient of sagging k d Output current i L ；
In FIG. 4, i dis For power disturbance, in terms of transient performance, the bus voltage u C The response speed of the current loop is mainly determined by the bandwidth of the current loop, but the excessive bandwidth can cause the control system to respond to i dis Is poor in the anti-jamming capability. In the aspect of steady state performance, no integration link is arranged on the outer ring of the voltage, so that no difference control of the voltage cannot be realized, and i is arranged under the steady state condition L ＝i ref Then the steady-state deviation expression of the bus voltage of the droop control strategy is U ref -u C ＝k d i ref ＝k d i L 。
203, setting an initial adjustment factor of a disturbance observer DOB based on a droop control strategy, an energy storage input voltage and device parameters to obtain an initial energy storage converter control strategy;
in step 202, it is described that the conventional droop control strategy cannot realize the dead-time control of the voltage, so that transient and steady-state characteristics of the conventional droop control can be optimized simultaneously, and seamless switching between the droop characteristic and the constant-voltage characteristic can be realized to adapt to functional requirements under different situations, a disturbance observer (disturbance observer, DOB) is designed on the conventional droop control strategy, and an adjustable initial adjustment factor is connected in series with an output end of the disturbance observer DOB, so that an adjustable observer (adjustable disturbance observer, ADOB) is formed, thereby forming an initial energy storage converter control strategy different from the conventional droop control strategy.
204, judging that one energy storage converter is required to operate or a plurality of energy storage converters are required to operate;
in practical application, since there are a plurality of energy storage converters, there may be a case that one energy storage converter is required to operate, and there may also be a case that a plurality of energy storage converters are required to operate, if one energy storage converter is required to operate, step 205 is executed; if multiple energy storage converters are required to operate, step 206 is performed.
205, adjusting an initial adjustment factor, and controlling the steady-state deviation of the bus voltage to be equal to 0, so that the initial energy storage converter control strategy has a constant voltage characteristic, and obtaining a first final energy storage converter control strategy;
in step 203, it is described that the initial adjustment factor is adjustable, so that when an energy storage converter is required to operate, it is required to have a constant voltage characteristic, and by adjusting the initial adjustment factor, the bus voltage steady-state deviation obtained by control is equal to zero, the transient voltage recovery is extremely fast, and the method is suitable for a scene of operation of an energy storage converter, and the first final energy storage converter control strategy is obtained.
206, adjusting the initial adjustment factor, and controlling the steady-state deviation of the bus voltage to be not equal to 0, so that the initial energy storage converter control strategy has a sagging characteristic, and a second final energy storage converter control strategy is obtained.
When the plurality of energy storage converters are required to operate, the sagging characteristic is required to be displayed, transient voltage recovery time and steady voltage deviation can be reduced simultaneously, current distribution capacity is maintained, an initial adjustment factor is adjusted, bus voltage steady state deviation is controlled to be different from 0, the method is suitable for a scene of parallel operation of the plurality of energy storage converters, and a second final energy storage converter control strategy is obtained.
The implementation principle of the embodiment of the invention is as follows:
setting an initial adjustment factor of a disturbance observer DOB on the basis of a droop control strategy of a traditional energy storage converter to obtain an initial energy storage converter control strategy, adjusting the initial adjustment factor when one energy storage converter is required to operate, controlling the steady-state deviation of bus voltage to be equal to 0, enabling the initial energy storage converter control strategy to have a constant voltage characteristic to obtain a first final energy storage converter control strategy, adjusting the initial adjustment factor when a plurality of energy storage converters are required to operate, controlling the steady-state deviation of bus voltage to be not equal to 0, enabling the initial energy storage converter control strategy to have a droop characteristic, obtaining a second final energy storage converter control strategy, enabling seamless switching between the constant voltage characteristic and the droop characteristic to be achieved, multiplexing the droop characteristic and the constant voltage characteristic with the same set of control loops, and avoiding impact caused by switching between two sets of control loops when scene function requirements change; when the current distribution is switched to the droop characteristic, compared with the traditional droop control strategy, the voltage transient state recovery time and steady-state voltage deviation are greatly reduced, the current distribution capacity is maintained, and the current distribution method is suitable for a scene of parallel operation of a plurality of converters; when the voltage characteristic is switched to be constant, the steady-state voltage deviation is zero, the transient voltage recovery time is faster than that when the voltage characteristic is switched to be droop, and the method is applicable to a scene of operation of only one energy storage converter.
In the embodiment shown in fig. 2 above, step 203 sets the adjustment factor of the disturbance observer DOB for the droop control strategy, the energy storage input voltage, and the device parameters, and obtains the initial energy storage converter control strategy, which specifically includes:
setting a disturbance observer DOB based on a droop control strategy, wherein the disturbance observer DOB is provided with a low-pass filter Q(s);
combined with energy-storage input voltage U bat The inductance value L and the capacitance value C are constructed to obtain a controlled object expression with a droop control strategy of a disturbance observer DOB as follows
Obtaining the output current i of the disturbance observer DOB obv_0 ；
The output end of the disturbance observer DOB is connected with an initial adjusting factor omega so as to construct and obtain an initial energy storage converter control strategy i obv ＝ωi obv_0 The regulating factor is greater than or equal to 0 and less than or equal to 1, i.e. omega epsilon [0,1 ]]。
As shown in fig. 5, since the initial energy storage converter control strategy is a scenario that needs to satisfy one energy storage converter operation and multiple converters operation,
when an energy storage converter is required to operate, the principle is as follows:
the initial adjustment factor omega is adjusted to 1 to obtain i obv ＝i obv_0 ；
When in steady state, i is obtained according to the principle of a disturbance observer DOB obv ＝i obv_0 ＝-i L Based on current loop proportional-integral controller PI I I is obtained by the principle of (2) ref -i obv -i L =0, calculated as i ref ＝i obv +i L ＝0；
Will i ref ＝i obv +i L =0 substituted into bus voltage steady state deviation expression U ref -u C ＝k d i ref ＝k d i L Obtaining the steady-state deviation U of the bus voltage ref -u C ＝k d i ref =0. The current transformer is characterized by a constant voltage characteristic, and is suitable for a scene of operation of one current transformer. When two converters are combinedDuring the intermodal operation, current distribution cannot be performed according to the sagging coefficient, and in the actual operation, two converters which show constant voltage characteristics are not allowed to operate in parallel.
And (II) when a plurality of energy storage converters are required to operate, the principle is as follows:
adjusting the initial adjustment factor omega to be more than 0 and less than 1 to obtain i obv ＝ωi obv_0 ；
When in steady state, i is obtained according to the principle of a disturbance observer DOB obv ＝-ωi L Calculating to obtain i ref ＝i obv +i L ＝-ωi L +i L ＝(1-ω)i L ≠0；
Will i ref ＝i obv +i L ＝-ωi L +i L ＝(1-ω)i L Not equal to 0 is substituted into the bus voltage steady-state deviation expression U ref -u C ＝k d i ref ＝k d i L The resulting steady-state deviation of the bus voltage is as follows:
U ref -u C ＝k d i ref ＝k d (1-ω)i L ≠0。
i.e. when 0<ω<When 1, the steady-state deviation of the bus voltage is always unequal to zero, so that the bus voltage is characterized by sagging, and the bus voltage has current distribution capacity and is suitable for the scene of parallel operation of multiple converters. Further, by formula U ref -u C ＝k d i ref ＝k d (1-ω)i L As seen from +.0, as the adjustment factor ω increases, the steady-state deviation of the bus voltage will decrease, and thus the steady-state deviation of the bus voltage of the energy storage converter control strategy of the present invention is relatively small compared to the conventional droop control strategy. And the transient characteristic can be improved because DOB has disturbance suppression function.
(iii) ω=1 and 0 except in (one) and (two) above<ω<1, in addition to two cases, the case where ω=0 needs to be considered, i obv =0, i.e. let the disturbance observer DOB lose function, using the conventional droop control strategy.
Based on the above theory, two energy storage converters in fig. 1 are taken as examples for illustration:
table 1 below shows the simulation parameters in the examples.
Table 1 simulation parameters
When ω=0 is set, a conventional droop control strategy is used. The two energy storage converters are started with 50 omega resistor loads respectively, and are put into 3 omega public loads at t=1.0s. As shown in fig. 6, fig. 6 is a simulation test chart with ω=0, it can be seen that the steady-state deviation of the bus voltage is about 2V, the transient recovery time is about 0.35s, and the current output ratio of the two energy storage converters is about 2:1. Therefore, although the conventional droop control strategy has the current distribution capability, the voltage deviation is larger and the transient performance is poor.
When ω=1 is set, a constant voltage characteristic is exhibited. The two energy storage converters are started with 50 omega resistor loads respectively, and are put into 3 omega public loads at t=1.0s. As shown in fig. 7, fig. 7 is a simulation test chart with ω=1, where the steady-state deviation of the bus voltage is about 0V, and the transient recovery is very fast, but the load current is basically concentrated in the converter 1, and the capacity of current distribution is not provided, so that the parallel operation of two energy storage converters with constant voltage characteristics is not allowed.
When 0< ω <1, specifically set ω=0.55, a sagging characteristic is exhibited. The two energy storage converters are started with 50 omega resistor loads respectively, and are put into 3 omega public loads at t=1.0s. As shown in fig. 8, fig. 8 is a simulation test chart with ω=0.55, the steady-state deviation of the bus voltage is about 0.2V, the transient recovery time is about 0.21s, and the current output ratio of the two energy storage converters is about 2:1. Compared with the traditional sagging control strategy, the bus voltage steady-state deviation and transient recovery time of the invention are both obviously reduced, and the current distribution capacity is still maintained.
As shown in fig. 9, a simulation test chart is shown in which ω is changed from 0.55 to 1 when the single energy storage converter is operated, only the energy storage converter 1 is operated at this time, when ω=0.55 is initially set, a resistive load with 50Ω is started, the resistive load shows a droop characteristic, and a load with 3Ω is put into t=1.0s, and the steady-state deviation of the bus voltage is about 1V. When t=1.0 s, ω=1 is adjusted to exhibit constant voltage characteristics, and the steady-state deviation of the bus voltage is reduced to 0. Therefore, when only one energy storage converter in the system operates, seamless switching from the droop characteristic to the constant voltage characteristic can be realized, and higher power supply quality is provided.
In the above description, the energy storage converter control method is described in detail, and the energy storage converter control system is described below by way of example, as shown in fig. 10:
at least one energy storage system 1001, the at least one energy storage system being connected to the dc bus via a corresponding energy storage converter 1002;
a controller 1003 for performing the steps in the energy storage converter control method described above.
The initial adjustment factor of the disturbance observer DOB is set on the basis of the droop control strategy of the traditional energy storage converter, the initial energy storage converter control strategy is obtained, when one energy storage converter is required to operate, the initial adjustment factor is adjusted, the steady-state deviation of the control bus voltage is equal to 0, the initial energy storage converter control strategy has a fixed voltage characteristic, the first final energy storage converter control strategy is obtained, when a plurality of energy storage converters are required to operate, the initial adjustment factor is adjusted, the steady-state deviation of the control bus voltage is not equal to 0, the initial energy storage converter control strategy has a droop characteristic, the second final energy storage converter control strategy is obtained, seamless switching between the fixed voltage characteristic and the droop characteristic can be realized, the droop characteristic and the fixed voltage characteristic are multiplexed into the same set of control ring, and the impact caused by switching between two sets of control rings when the requirement of the scene function changes is avoided; when the current distribution is switched to the droop characteristic, compared with the traditional droop control strategy, the voltage transient state recovery time and steady-state voltage deviation are greatly reduced, the current distribution capacity is maintained, and the current distribution method is suitable for a scene of parallel operation of a plurality of converters; when the voltage characteristic is switched to be constant, the steady-state voltage deviation is zero, the transient voltage recovery time is faster than that when the voltage characteristic is switched to be droop, and the method is applicable to a scene of operation of only one energy storage converter.
Based on the same technical solution, the present invention also discloses a computer readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by a computing device, cause the computing device to perform the energy storage converter control method described above.
Based on the same technical scheme, the invention also discloses a computing device, which comprises one or more processors, one or more memories and one or more programs, wherein the one or more programs are stored in the one or more memories and are configured to be executed by the one or more processors, and the one or more programs comprise instructions for executing the energy storage converter control method.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing is illustrative of the present invention and is not to be construed as limiting thereof, but rather as providing for the use of additional embodiments and advantages of all such modifications, equivalents, improvements and similar to the present invention are intended to be included within the scope of the present invention as defined by the appended claims.
Claims (10)
1. The energy storage converter control method is characterized by being applied to an energy storage converter control system, wherein the energy storage converter control system comprises at least one energy storage system, the at least one energy storage system is connected with a direct current bus through a corresponding energy storage converter, and the energy storage converter control method comprises the following steps:
acquiring bus voltage of the direct current bus, energy storage input voltage, output current and device parameters of an energy storage converter;
setting a droop control strategy for the energy storage converter in combination with the output current;
setting an initial adjustment factor of a disturbance observer DOB based on the droop control strategy, the energy storage input voltage and the device parameter to obtain an initial energy storage converter control strategy;
judging whether one energy storage converter or a plurality of energy storage converters are required to operate;
if one energy storage converter is required to run, the initial adjustment factor is adjusted, and the steady-state deviation of the busbar voltage is controlled to be equal to 0, so that the initial energy storage converter control strategy has a constant voltage characteristic, and a first final energy storage converter control strategy is obtained;
and if a plurality of energy storage converters are required to operate, the initial adjustment factor is adjusted, and the steady-state deviation of the voltage of the control bus is not equal to 0, so that the initial energy storage converter control strategy has a sagging characteristic, and a second final energy storage converter control strategy is obtained.
2. The method for controlling an energy storage converter according to claim 1, wherein the obtaining the bus voltage of the dc bus and the energy storage input voltage, the output current and the device parameters of the energy storage converter includes:
obtaining the bus voltage u of the direct current bus C ；
Acquiring energy storage input voltage U of energy storage converter bat Output current i L And the device parameters comprise an inductance value L of the filter inductor and a capacitance value C of the filter capacitor.
3. The energy storage converter control method of claim 2, wherein the setting a droop control strategy for the energy storage converter in combination with the output current comprises:
setting a reference voltage U for droop control of the energy storage converter ref Current loop proportional-integral controller PII, current loop reference value i ref Coefficient of sagging k d The PI is I ＝k p +k i S, said k p Said k i Is a preset parameter;
reference voltage U controlled according to the sag ref The current loop proportional-integral controller PI I The current inner loop reference value i ref The sagging coefficient k d The output current i L And constructing and obtaining a sagging control strategy, wherein a bus voltage steady-state deviation expression of the sagging control strategy is as follows:
U ref -u C ＝k d i ref ＝k d i L 。
4. the energy storage converter control method according to claim 3, wherein said setting an initial adjustment factor of a disturbance observer DOB based on the droop control strategy, the energy storage input voltage, and the device parameter, to obtain an initial energy storage converter control strategy, comprises:
setting a disturbance observer DOB based on the droop control strategy;
combining the energy storage input voltage U bat The inductance value L and the capacitance value C are constructed to obtain a controlled object expression of the droop control strategy with the disturbance observer DOB, wherein the controlled object expression is as follows:
obtaining the output current i of the disturbance observer DOB obv_0 ；
Connecting an initial adjustment factor omega with the output end of the disturbance observer DOB to obtain an initial energy storage converter control strategy, wherein the initial adjustment factor omega is more than or equal to 0 and less than or equal to 1;
wherein the initial energy storage converter control strategy is i obv ＝ωi obv_0 。
5. The method of claim 4, wherein said adjusting the initial adjustment factor to control the bus voltage steady state deviation to be equal to 0 comprises:
adjusting the initial adjustment factor omega to 1 to obtain i obv ＝i obv_0 ；
When in steady state, i is derived according to the principle of the disturbance observer DOB obv ＝i obv_0 ＝-i L Based on the current loop proportional-integral controller PI I I is obtained by the principle of (2) ref -i obv -i L =0, calculated to givei ref ＝i obv +i L ＝0；
The i is set ref ＝i obv +i L =0 substituted into the bus voltage steady-state deviation expression U ref -u C ＝k d i ref ＝k d i L Obtaining the steady-state deviation U of the bus voltage ref -u C ＝k d i ref ＝0。
6. The method of claim 4, wherein said adjusting the initial adjustment factor, controlling the steady state deviation of the bus voltage to be unequal to 0, comprises:
adjusting the initial adjustment factor omega to be more than 0 and less than 1 to obtain i obv ＝ωi obv_0 ；
When in steady state, i is derived according to the principle of the disturbance observer DOB obv ＝-ωi L Calculating to obtain i ref ＝i obv +i L ＝-ωi L +i L ＝(1-ω)i L ≠0；
The i is set ref ＝i obv +i L ＝-ωi L +i L ＝(1-ω)i L Not equal to 0 is substituted into the bus voltage steady-state deviation expression U ref -u C ＝k d i ref ＝k d i L Obtaining the steady-state deviation U of the bus voltage ref -u C ＝k d i ref ＝k d (1-ω)i L ≠0。
7. The energy storage converter control method of claim 4, further comprising:
when the sagging control strategy is needed, the initial adjustment factor omega is adjusted to be equal to 0, so as to obtain i obv =0, such that the disturbance observer DOB is disabled.
8. An energy storage converter control system, comprising:
the at least one energy storage system is connected with the direct current bus through a corresponding energy storage converter;
a controller for performing the energy storage converter control method of any one of claims 1-7.
9. A computer-readable storage medium, comprising:
one or more programs are stored that comprise instructions, which when executed by a computing device, cause the computing device to perform the energy storage converter control method of any of claims 1-7.
10. A computing device, comprising:
one or more processors, one or more memories, and one or more programs, wherein the one or more programs are stored in the one or more memories and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing the energy storage converter control method of any of claims 1-7.
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