CN116960925A - Energy storage converter control method and system - Google Patents
Energy storage converter control method and system Download PDFInfo
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- CN116960925A CN116960925A CN202310958645.5A CN202310958645A CN116960925A CN 116960925 A CN116960925 A CN 116960925A CN 202310958645 A CN202310958645 A CN 202310958645A CN 116960925 A CN116960925 A CN 116960925A
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- 238000004146 energy storage Methods 0.000 title claims abstract description 64
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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
- H02J1/14—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
- 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
- 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
- H02M3/156—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 with automatic control of output voltage or current, e.g. switching regulators
- H02M3/158—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 with automatic control of output voltage or current, e.g. switching regulators including plural semiconductor devices as final control devices for a single load
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- Dc-Dc Converters (AREA)
Abstract
The application discloses a control method and a control system of an energy storage converter, which take a bidirectional Buck-Boost energy storage converter with a function of stabilizing a DC bus voltage as a research basis, adopt voltage compensation control on a voltage outer ring of the converter, and adopt second-order linear active disturbance rejection control on an inner loop and an outer loop of the converter. The method can remarkably improve the damping of the direct current micro-grid system while realizing inertial support, effectively inhibit disturbance fluctuation and oscillation fluctuation of the direct current bus voltage, enhance the stability of the system and comprehensively improve the power supply quality.
Description
Technical Field
The application relates to the field of stable control of optical storage island direct current micro-grids, in particular to a control method and a system of an energy storage converter.
Background
The specific application scene and structure of the light storage island direct current micro-grid comprise photovoltaic power generation, energy storage and constant power load. The photovoltaic power generation consists of a photovoltaic array and an interface converter Boost circuit with a prepositive capacitor, and the maximum power is constantly output to a direct current bus; the energy storage consists of an energy storage battery and a bidirectional Buck-Boost circuit of an interface converter thereof, can send or absorb power to a bus in a dual-mode operation mode, and has the function of keeping the voltage of the bus constant; the constant power load consists of a transmission line equivalent resistor, an equivalent inductor and a Buck converter with an equivalent input capacitor, and can operate in a mode of absorbing constant power through feedback control; the direct current bus is a common connecting line as the three parts. The control mode is usually as follows: the generation of the voltage command and the tracking control of the output voltage to the command value.
The document 'virtual inertia control strategy of the DC micro-grid multiport converter' proposes a virtual-synchronous-machine-like virtual inertia control strategy for the DC micro-grid multiport converter. And a small signal model of the converter is built, and the stability of the converter after the virtual inertial control strategy of the class VSG is added is analyzed. The inertia of the system is improved from the aspect of simulating the characteristics of the synchronous generator in the power grid, so that the disturbance suppression capability of the system is improved, but the control of the method is complex, the control variables are more, and the actual debugging is not easy.
The photovoltaic power generation adopts MPPT maximum power control, and certain power is injected into a direct current bus, wherein C is as follows PV1 Is the prepositive capacitor of the input end of the Boost converter, L PV Energy storage inductor boosting Boost, C PV2 A voltage stabilizing capacitor is output for Boost; the energy storage is taken as a core part and plays a role of maintaining the voltage of the direct current bus to be relatively stable, the no-load output voltage is 750V, and the energy storage system aims to improve the power supply capacity of the system and stabilize the voltage of the direct current busForce, a plurality of energy storage are used as voltage sources to be output to the direct current bus in parallel, the energy storage uniformly adopts voltage-current double-loop sagging control, and the direct current bus voltage v is adopted during sagging control Bus /v Po /v Bo Has a wider voltage operating range, wherein L B Energy storage inductor of Buck-Boost, C B A voltage stabilizing capacitor is output for Buck-Boost; the constant power load is used as the only load type for absorbing power in the micro-grid, adopts a voltage-current double-loop control mode and has the characteristic of constant power, wherein L is L To output the filter inductance C L For outputting filter capacitance, R L Is the load resistance at the output of the Buck converter.
Disclosure of Invention
Aiming at the defects of the prior art, the application provides the energy storage converter control method and the energy storage converter control system, which can effectively inhibit disturbance fluctuation and oscillation fluctuation of the voltage of a direct current bus and enhance the stability of the system.
In order to solve the technical problems, the application adopts the following technical scheme: an energy storage converter control method, comprising the steps of:
actual bus voltage v of energy storage converter Bo The obtained result is subtracted from the actual bus voltage through a first-order inertia link to obtain Deltav Bo0 ，；
Will Deltav Bo0 Through correction link G h ＝k hp Obtain the output Deltav Bo ；
Will output Deltav Bo Adding the actual bus voltage to obtain an output v * Bo ；
Will v * Bo And the duty ratio signal of the switching tube of the energy storage converter is obtained as the input of a voltage-current double-loop control link.
Δv Bo The expression of (2) is:
wherein T is the time constant of a section of inertia link, s is a complex variable, and represents the frequency in the Laplace transform domain.
The specific implementation process for acquiring the duty ratio signal in the voltage-current double-loop control link comprises the following steps:
combining the first result with v Bore f、v * Bo Adding and subtracting to obtain v dB Wherein v is Boref Is a reference value of the DC bus voltage;
will v dB Through the voltage outer loop PI controller G Bvc ＝P Bvc +I Bvc S, the result obtained and the inductor current i LB The added result passes through the current inner loop PI controller G Bic ＝P Bic +I Bic S, obtaining a second result;
PWM modulation is carried out on the second result, and a duty ratio signal is obtained; wherein P is Bvc And P Bic Proportional coefficients of the voltage outer loop PI controller and the current inner loop PI controller respectively, I Bvc And I Bic The integral coefficients of the voltage outer loop PI controller and the current inner loop PI controller are respectively.
Inductor current i LB The expression of (2) is:
wherein d B Upper tube IGBT, S, for energy storage converter B2 Duty cycle, k of dB C is the sag coefficient of the energy storage converter B An output capacitance of the energy storage converter.
As an inventive concept, the present application also provides an energy storage converter control system including:
one or more processors;
and a memory having one or more programs stored thereon, which when executed by the one or more processors cause the one or more processors to implement the steps of the above-described method of the present application.
Compared with the prior art, the application has the following beneficial effects: aiming at the characteristics of low inertia, weak damping and the like of a micro-grid system, the application provides the energy storage converter stable control method based on voltage compensation and double-loop second-order linear active disturbance rejection control for disturbance fluctuation and oscillation fluctuation phenomena faced in stable operation of the system, realizes inertial support, obviously improves the damping of the direct-current micro-grid system, effectively inhibits the disturbance fluctuation and oscillation fluctuation of the direct-current bus voltage, enhances the stability of the system and comprehensively improves the power supply quality.
Drawings
FIG. 1 is a block diagram of an optical storage island DC micro-grid system;
FIG. 2 is a diagram showing a disturbance suppression method based on voltage compensation control according to an embodiment of the present application;
FIG. 3 is a block diagram of an oscillation suppression method based on a bi-cyclic second-order LADRC according to an embodiment of the present application;
FIG. 4 is an equivalent control block diagram of a second-order LADRC according to an embodiment of the present application;
FIG. 5 is a block diagram of an equivalent model of energy storage converter control under a bi-cyclic second-order LADRC according to an embodiment of the present application;
FIG. 6 shows the impedance ratio T without the method according to the embodiment of the application vc Load following power P L A varying bode plot;
FIG. 7 is a diagram illustrating a control architecture of an energy storage converter under a voltage compensation and bi-cyclic second order LADRC according to an embodiment of the present application;
FIG. 8 is a waveform diagram showing the variation of bus voltage with load power when the proposed method is not used for storing energy;
FIG. 9 is a graph showing the waveform comparison of the bus voltage with the load power before and after the voltage compensation control of the energy storage according to the embodiment of the application;
FIG. 10 is a waveform diagram showing the variation of bus voltage with load power after voltage compensation control is adopted for energy storage according to the embodiment of the application;
FIG. 11 is a waveform of voltage and current as a function of constant power load power without the proposed method;
FIG. 12 is a waveform of bus voltage and current as a function of load power after the energy storage uses a bi-cyclic second order LADRC;
FIG. 13 is a graph showing the waveform comparison of the bus voltage and current with load power before and after the energy storage adopts the method of the embodiment of the application;
FIG. 14 is a graph showing the voltage and current of the bus as a function of load power for stored energy using an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The method of the embodiment of the application comprises the following steps:
the disturbance suppression method based on voltage compensation control provided by the embodiment of the application is shown as a figure 2. In the outer ring of the energy storage converter voltage, firstly, for the actual bus voltage v Bo Through the first-order inertia link G d Data processing is carried out by =1/(1+ts), and the data is compared with the actual bus voltage v Bo Adding and subtracting to obtain Deltav Bo0 Then through correcting link G h Control output Deltav Bo Finally, the output value is added with the actual bus voltage to output v * Bo The value is used as the bus voltage of the sagging control link of the energy storage converter, and the PWM duty ratio is output through subsequent voltage-current double-loop control. In fig. 2, under the combined action of voltage compensation control and droop control, the effect of suppressing the disturbance of the direct-current micro-grid can be achieved, and the inertia and stability of the system are enhanced.
After the voltage compensation control link, there are:
then for the energy storage converter the two-loop control loop is:
mathematical transformation of formula (2) is performed
Analysis of the energy storage converter circuit and control yields the following expression:
the method can be obtained by the following formula:
substituting formula (4) into formula (3)
The inductor current i can be obtained from (5) LB The method comprises the following steps:
for energy flowing through an inductance, there are:
the combination of formula (6) and formula (7) can be obtained:
further simplification of formula (8) can be obtained:
let formula (9):
then formula (9) converts to:
as can be seen from equation (10), when the voltage compensation control link is not adopted, the energy flowing through the inductor is:
E LB0 ＝AF 2 (11)
therefore, after the voltage compensation control link is adopted, the change amount of the energy flowing through the inductor is as follows:
as known from the energy balance of the system, when the input power of the constant power load suddenly increases and is larger than the total output power of the photovoltaic power generation and the energy storage, the bus voltage v Bo Will fall off faster, i.e.:
when k is hp When positive, there are:
so that:
analysis of formula (12), formula (13), formula (14) and formula (15) can result in:
ΔE LB ＞0 (16)
the energy flowing through the inductor is additionally increased under the action of the voltage compensation control link.
From the analysis, when the input power of the constant power load suddenly increases and is larger than the total output power of the photovoltaic power generation and the energy storage, the bus voltage v Bo The voltage compensation control link provided by the embodiment of the application can be dropped faster, and after the voltage compensation control link is adopted, the energy storage reacts rapidly to output power, more energy is transmitted to the inductor, and the energy is controlled by the converter to be output to the system for constant power load consumption. The energy storage plays a role in balancing the output power of the source converter and the input power of the constant power load, so that the over-discharge output power of the direct current bus can be avoided, and the problems of rapid voltage drop and large drop of the direct current bus are solved.
Compared with PI control, the energy storage converter in the research scene of the embodiment of the application adopts a double-loop second-order LADRC control mode, which can obviously improve the positive damping characteristic of the energy storage converter, further improve the damping of a DC micro-grid system and avoid the occurrence of medium-high frequency oscillation phenomenon of the system.
The structure diagram of the energy storage converter oscillation suppression method of the double-loop second-order LADRC is shown in figure 3, and for the output of the controller, if the system parameter setting is reasonable and the control effect is ideal, z is 1 Infinitely tending towards y, z 2 Is infinitely tending toz 3 Infinitely trend toward f, and z 1 For inductor current i LB Or the sum of the voltage of the outer ring bus and the droop voltage, because the current and the voltage quantity can be actually measured by an ammeter or a voltmeter, the current or the voltage quantity in the LSEF is not the observed value of the LESO, but the value measured by the ammeter or the voltmeter is directly adopted. Under the control method shown in fig. 3, the damping of the direct current micro-grid system can be improved, the oscillation of the direct current bus voltage is effectively restrained, and the stability of the system is enhanced.
The transfer function is obtained by carrying out the equivalent of the control structure of the second-order LADRC, which is beneficial to the analysis and research of the whole control system from the frequency domain angle.
According to the LESO in fig. 3, its state expression is first established as follows:
wherein beta is 1 ＝3w o ,β 2 ＝3w o 2 ,β 3 ＝w o 3 ，w o Is the bandwidth of the observer.
The LSEF expression of the system can be derived from FIG. 3 as:
wherein k is p ＝w c 2 ,k d ＝2w c Respectively proportional and integral coefficients, where w c Is the controller bandwidth.
By the combination of the formula (17) and the formula (18)
Simultaneously carrying out Lawster transformation on two sides of the (19) to obtain
Wherein,,
the following transfer functions can be obtained still further:
the Lawster transformation is carried out on two sides of the (21) at the same time to obtain
The combination formula (21) and the formula (22) can be obtained:
let the perturbation of Y(s) in equation (23) be zero, it is possible to obtain:
let the perturbation of R(s) in equation (24) be zero, it is possible to obtain:
the second-order ladc controller can be equivalent to the control block diagram shown in fig. 4 by analyzing the expression (23), the expression (24), and the expression (25).
Wherein: inner ring controller B 2 (s) is:
the forward path from R(s) to U(s) is:
then from formulas (26) and (27), it is possible to obtain:
by performing the above-mentioned equivalent on the control structure of the second-order ladc, the equivalent control model block diagram of the dual-loop second-order ladc lower energy storage converter of fig. 5 can be obtained, and further the following equation set can be obtained:
then by solving the above equation set, the output impedance of the energy storage converter of the bi-cyclic second-order ladc can be obtained as:
obtaining B in the second-order LADRC equivalent model through the theoretical analysis and the deduction algorithm 1 And B 2 And the expression further obtains an equivalent model block diagram of the energy storage converter under the double-loop second-order LADRC and output impedance thereof. Therefore, each transfer function in the direct current micro-grid can be deduced, and theoretical support is provided for the design of the following double-loop second-order LADRC control parameters.
Fig. 6 is a graph of the change in the system impedance bode plot under energy storage using bi-cyclic second order larc oscillation suppression. It can be seen that, near the impedance amplitude-frequency cross-over frequency band of the BVCC and the bcc, i.e. the frequency range from 600Hz to 700Hz, the phase-frequency curve of the BVCC impedance is constantly in the positive damping region, which is beneficial to the stability of the system, and the positive damping characteristic is further enhanced with the increase of the constant power load power; in the case of the BCCC impedance, the impedance,it has little variation; looking at T from the interaction of BVCC and BCCC vc Is also continuously moved away from-180 DEG with the strengthening of BVCC positive damping characteristics, i.e. with P L Is increased by the impedance ratio T vc The phase margin of (c) is continuously increasing and the stability of the system is continuously improving.
The disturbance suppression method based on voltage compensation control and the double-loop second-order LADRC oscillation suppression method are adopted respectively, so that the anti-interference capability of the direct-current micro-grid can be enhanced, and the oscillation suppression capability of the system can be improved. The two control methods are used in the direct-current micro-grid at the same time and reasonably and effectively matched, so that the energy storage converter control structure diagram based on voltage compensation control and double-loop second-order LADRC as shown in figure 7 can be obtained.
Fig. 8 is a waveform of the dc bus voltage and current as a function of the constant power load power when the energy storage converter does not employ the method according to the embodiment of the present application. As can be seen from the graph, when the load power is suddenly increased or reduced, the bus voltage can generate larger drop quantity, and the steady-state adjusting time is longer, so that when the method is not adopted, the transient stability of the system is weaker, the inertia is lower, and therefore, the disturbance inhibition capability of the system is weaker.
Fig. 9 and 10 are graphs showing waveforms of the dc bus voltage and current varying with the constant power load power before and after the energy storage converter adopts the voltage compensation control method, wherein red is a waveform when the energy storage converter does not adopt the voltage compensation control method, and green is a waveform when the energy storage converter adopts the voltage compensation control method. As can be seen from the graph, compared with the case of not adopting the voltage compensation control method provided by the embodiment of the application, the transient process is excellent in performance, the maximum drop is small, and the steady state adjustment time is short under the same scene working condition.
FIG. 11 shows a method according to an embodiment of the present applicationWaveform of direct current bus voltage and current along with constant power load power. At 0.8s, P L Sudden increase from 50kW to 70kW and lasting for 1.2s, busbar voltage v Bus Drop and rise and diverge gradually until oscillation occurs in a 61V voltage range, the maximum drop being 52V, and at the same time, the bus current i Bus Also present is the bus voltage v Bus And (3) synchronizing the oscillating state.
Fig. 12 shows waveforms of dc bus voltage and current according to constant power load power change after the energy storage converter adopts the double loop second-order ladc, and it can be found that the effect of suppressing the oscillation of the original system is achieved, the stability of the system is improved, and a certain inertia improvement effect is achieved after the energy storage double loop adopts the second-order ladc.
Fig. 13 and 14 are graphs comparing waveforms of dc bus voltage and current with constant power load power before and after the energy storage converter adopts the voltage compensation and bi-cyclic second-order ladc method according to the embodiment of the present application, wherein red and blue waveforms are waveforms of voltage and current without adopting the method according to the embodiment of the present application, and purple and pink waveforms are waveforms of voltage and current with adopting the method according to the embodiment of the present application. As can be found by comparison, the method provided by the embodiment of the application is applied to the voltage v of the direct current bus Bus The system has the advantages that a good oscillation suppression effect is obtained, the steady-state stability is improved, a good disturbance suppression effect is achieved, and the transient stability of the system is improved; bus current i Bus The inhibition effect is better in both steady state and transient state processes.
The transient stability of the system is analyzed from the angles of the maximum drop amount and the maximum rise amount of the bus voltage, the drop amount or the rise amount of the bus voltage can be reduced to a large extent after the voltage compensation control and the double-loop second-order LADRC method provided by the embodiment of the application are adopted, and the voltage compensation control and the double-loop second-order LADRC method are adopted in each stage P L During a transient of change, the bus voltage v Bus After falling or rising to a maximum value, both the overshoot and the adjustment time of the bus voltage are significantly reduced.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (5)
1. The energy storage converter control method is characterized by comprising the following steps of:
actual bus voltage v of energy storage converter Bo The obtained result is subtracted from the actual bus voltage through a first-order inertia link to obtain Deltav Bo0 ；
Will Deltav Bo0 Through correction link G h ＝k hp Obtain the output Deltav Bo ；
Will output Deltav Bo Adding the actual bus voltage to obtain an output v * Bo ；
Will v * Bo And the duty ratio signal of the switching tube of the energy storage converter is obtained as the input of a voltage-current double-loop control link.
2. The energy storage converter control method according to claim 1, wherein Δv Bo The expression of (2) is:
where T is the time constant of a section of inertia, and s represents the frequency in the laplace transform domain.
3. The method for controlling an energy storage converter according to claim 1, wherein the specific implementation process of obtaining the duty cycle signal in the voltage-current dual-loop control link includes:
bus current i of energy storage converter Bo A first result is obtained through a proportion link;
combining the first result with v Boref 、v * Bo Adding and subtracting to obtain v dB Wherein v is Boref Is a reference value of the DC bus voltage;
will v dB Through the voltage outer loop PI controller G Bvc ＝P Bvc +I Bvc S, the result obtained and the inductor current i LB The added result passes through the current inner loop PI controller G Bic ＝P Bic +I Bic S, obtaining a second result;
PWM modulation is carried out on the second result, and a duty ratio signal is obtained; wherein P is Bvc And P Bic Proportional coefficients of the voltage outer loop PI controller and the current inner loop PI controller respectively, I Bvc And I Bic The integral coefficients of the voltage outer loop PI controller and the current inner loop PI controller are respectively.
4. A method of controlling an energy storage converter according to claim 3, characterized in that the inductor current i LB The expression of (2) is:
wherein d B Duty ratio, k, of upper tube IGBT for energy storage converter dB C is the sag coefficient of the energy storage converter B An output capacitance of the energy storage converter.
5. An energy storage converter control system, comprising:
one or more processors;
a memory having one or more programs stored thereon, which when executed by the one or more processors, cause the one or more processors to implement the steps of the method of any of claims 1-4.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310958645.5A CN116960925A (en) | 2023-08-01 | 2023-08-01 | Energy storage converter control method and system |
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| CN202310958645.5A CN116960925A (en) | 2023-08-01 | 2023-08-01 | Energy storage converter control method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117895460A (en) * | 2024-03-14 | 2024-04-16 | 国网四川省电力公司电力科学研究院 | Method and system for setting linear active disturbance rejection control parameters of micro-grid energy storage converter |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117895460A (en) * | 2024-03-14 | 2024-04-16 | 国网四川省电力公司电力科学研究院 | Method and system for setting linear active disturbance rejection control parameters of micro-grid energy storage converter |
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