CN117239828B - Transient state synchronization stability boundary analysis method for parallel connection of inverter clusters and controller design method - Google Patents
Transient state synchronization stability boundary analysis method for parallel connection of inverter clusters and controller design method Download PDFInfo
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Abstract
The invention discloses a transient state synchronization stability boundary analysis method for parallel connection of inverter clusters and a controller design method. Firstly, constructing a simplified circuit model of a grid-built inverter cluster parallel system in an off-grid mode, and constructing a grid-built inverter control model; establishing a dynamic nonlinear mathematical equation of a virtual power angle of a universal inverter in the parallel connection process of the system and the inverter by combining kirchhoff theorem and a grid-formed inverter control model; based on the mathematical equation, the mechanism of transient state synchronization instability of the inverter in the parallel process is analyzed, and a transient state synchronization stability boundary is provided. The invention provides a transient synchronous stability boundary and a controller design of an inverter, so as to ensure that the inverter can keep transient synchronous stability in the parallel connection process and ensure safe and stable operation of a system.
Description
Technical Field
The invention relates to the technical field of stability evaluation of new energy power systems, in particular to a transient synchronous stability boundary analysis method for parallel connection of inverter clusters and a controller design method.
Background
Along with exhaustion of fossil fuel and improvement of importance degree of environmental protection, more and more renewable energy sources are connected to a power grid through an inverter, and flexible controllability of the renewable energy sources brings more possibility for a distributed power generation system, but simultaneously brings new challenges. The traditional inverter adopts a phase-locked loop as a synchronous unit, and the low inertia and low damping characteristics of the phase-locked loop enable the power grid regulation capacity to be reduced after a large amount of the phase-locked loop is connected, so that the stable operation of the power grid is endangered. To cope with this problem, grid-built inverters are receiving a lot of attention, and have the advantage of providing voltage and frequency support for the grid and of enabling smooth switching between grid-connected and off-grid modes.
At present, stability problems of the grid-structured inverter under power grid disturbance are increasingly concerned, and most of the work is focused on researching transient stability when a system generates large disturbance such as line fault under a small signal stability or grid-connected mode of the grid-structured inverter. With the great development of micro-grids, it is necessary to study the transient instability problem caused by the input of grid-built inverters in off-grid mode.
The dynamic mathematical model of the power angle in the sequential parallel process of the grid-built inverter clusters can be established to quantitatively analyze the power angle response process, reveal the transient synchronous instability mechanism and further determine the transient synchronous stability boundary to optimize the design and operation of the system, and the research and application of the transient synchronous stability boundary have important significance for maintaining the synchronous stability of the system. Therefore, it is necessary to analyze transient synchronous stability boundaries of the inverter cluster sequential parallel process.
Disclosure of Invention
In order to overcome the defects and shortcomings in the prior art, the invention provides a transient synchronous stability boundary analysis method for parallel connection of inverter clusters and a controller design method. The invention aims to solve the problem of inverter synchronization instability possibly occurring in the transient process of sequential parallel connection of inverter clusters in a micro-grid. Firstly, constructing a simplified circuit model of a grid-built inverter cluster parallel system in an off-grid mode, and constructing a grid-built inverter control model; establishing a dynamic nonlinear mathematical equation of a virtual power angle of a universal inverter in the parallel connection process of the system and the inverter by combining kirchhoff theorem and a grid-formed inverter control model; based on the mathematical equation, the mechanism of transient state synchronization instability of the inverter in the parallel process is analyzed, and a transient state synchronization stability boundary is provided. The invention provides a transient synchronous stability boundary and a controller design of an inverter, so as to ensure that the inverter can keep transient synchronous stability in the parallel connection process and ensure safe and stable operation of a system.
In order to solve the problems in the prior art, the invention is realized by the following technical scheme.
The first aspect of the invention provides a transient synchronous stability boundary analysis method for parallel connection of inverter clusters, which comprises the following steps:
s1, constructing a simplified circuit model of a grid-constructed inverter cluster parallel system in an off-grid mode based on the characteristics of an output port of an inverter; constructing a grid-built inverter control model based on a control algorithm and a control strategy of the inverter;
s2, using kirchhoff theorem and combining a grid-formed inverter control model in a simplified circuit model of the grid-formed inverter cluster parallel system in an off-grid mode, and establishing a general inverter virtual power angle dynamic nonlinear mathematical equation of the grid-formed inverter cluster parallel system in a parallel process with one inverter;
s3, analyzing a mechanism of transient state synchronous instability of the inverter in the parallel connection process based on the dynamic nonlinear mathematical equation of the virtual power angle of the inverter established in the step S2, and providing a transient state synchronous stability boundary.
Further preferably, in step S1, the simplified circuit model of the grid-structured inverter cluster parallel system specifically means that each inverter is connected with a filter inductor and a filter capacitor, and the current after the output and filtering of the inverter is collected at the common coupling point after passing through the line reactance to form a total output current, and the current is output to the local load after passing through the line reactance.
Further preferably, in step S1, the active control link and the reactive loop in the grid-formed inverter control model adopt a droop control strategy, the active control link and the reactive control link generate phase and amplitude instructions of the voltage reference value, and then generate driving signals after passing through the voltage current loop, and the driving signals are fed into the PWM generator to realize the control function.
Further preferably, in the step S1, the inverter adopts a power outer loop as droop control, the inner loop adopts a control strategy of cascading double-loop vector voltage and current, the time scale of the power outer loop is far larger than that of the inner loop, the voltage current inner loop is regarded as uniform gain with ideal reference tracking in the analysis process, and the droop control active power loop mathematical model of the inverter is that
ω i ＝ω 0 +K pi (P refi -P i )；
Wherein K is pi ，P i ，P refi Droop coefficients, output active power and line reference active power, ω, of the ith (i=1, … n+1) inverter, respectively 0 Is the rated frequency.
Further preferably, in step S2, kirchhoff theorem is used in the simplified circuit model of the grid-connected inverter cluster parallel system in the off-grid mode constructed in step S1, so that the i-th inverter can output active power as
Wherein V is oi ，X gi Output voltage amplitude and line reactance of the ith (i=1, 2 … n+1) inverter respectively, power angle delta of the ith inverter i Set as the phase angle difference of the inverter output voltage and the Point of Common Coupling (PCC) voltage, V PCC Is the point of common coupling voltage amplitude.
Further, assuming that the frequency of a Point of Common Coupling (PCC) is constant, the value of the Point of Common Coupling (PCC) is equal to the frequency value of the inverter after parallel connection and stable operation are realized, and the virtual power angle dynamic nonlinear mathematical equation of the i-th inverter in the S2 step can be obtained by combining the droop control active power loop mathematical model of the inverter and the output active power of the inverter,
wherein P is refeqi ，C i Equivalent reference active power and droop weight, P, of the ith inverter respectively load Active power for local load; v (V) oi ，X gi Output voltage amplitude and line reactance of the ith (i=1, 2 … n+1) inverter, V PCC Is the common coupling point voltage amplitude; k (K) pj A droop coefficient representing the jth inverter; p (P) refj The line representing the j-th inverter references active power.
Further preferably, in step S3, the mechanism of transient state synchronization instability of the inverters during the parallel connection process specifically means that when the n+1th inverter and the system formed by the n previous inverters are connected in parallel, the equivalent reference active power of each inverter changes in steps, resulting in imbalance between the equivalent reference active power and the maximum active power transmittable by the inverter, i.e. |p refeqi |＞3V oi V PCC /2X gi Further leading to retention ofThe final power angle is continuously increased to infinity, and transient state synchronous instability occurs in the system.
Still further preferably, the adequate requirement for maintaining transient synchronous stability of the droop control-based inverter during the parallel connection, i.e. the transient synchronous stability boundary,
the second aspect of the present invention provides a controller design method based on the transient synchronization stability boundary, which specifically includes the following steps:
and determining the value range of the droop coefficient of the n+1th inverter connected in parallel with an inverter cluster parallel system formed by n grid-connected inverters, and ensuring that the inverter keeps stable transient state synchronization with the inverter cluster parallel system in the parallel process.
Different inverter cluster parallel system conditions correspond to different droop coefficient value ranges, and in particular,
when P refn+1 ≤P MAXn+1 When K is pn+1 The desirable ranges are as follows:
when P refn+1 >P MAXn+1 When K is pn+1 The desirable ranges are as follows:
wherein P is MAXn+1 ＝3V on+1 V PCC /2X gn+1 Is the maximum active power that can be transmitted by the n+1th inverter.
Compared with the prior art, the beneficial technical effects brought by the invention are as follows:
1. the invention fills the blank of transient state synchronous stability analysis of the inverter under the working condition aiming at the transient state synchronous stability boundary provided by the sequential parallel process of the inverter clusters in the off-grid mode, and can quantitatively analyze the synchronous stability characteristics of the inverter clusters in the sequential parallel transient process in the off-grid mode based on the established dynamic mathematical model of the power angle.
2. The design criteria of the inverter controller parameters provided by the invention aims to ensure that an inverter connected in parallel with a system can keep transient synchronous stability in the parallel process. This approach significantly improves the stability and operational reliability of the system.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.
Fig. 1 is an off-grid system model of an inverter cluster provided in an embodiment of the present application;
fig. 2 is a droop control-based inverter control model provided in an embodiment of the present application;
fig. 3 is a simulation waveform of an inverter power angle under an experiment for changing a line reactance variable of a first inverter according to an embodiment of the present application;
fig. 4 is a waveform of power angle simulation of the inverter under the experiment of changing the droop coefficient variable of the first inverter according to the embodiment of the present application;
fig. 5 is an inverter power angle simulation waveform under an experiment for changing a reference active power variable of a first inverter according to an embodiment of the present application;
fig. 6 is a simulation waveform of the power angle of the inverter under the experiment of changing the sagging coefficient variable of the third inverter according to the embodiment of the present application;
fig. 7 is an inverter power angle simulation waveform under an experiment for changing a reference active power variable of a third inverter according to an embodiment of the present application;
fig. 8 is an inverter power angle simulation waveform under an experiment for changing a local load power variable of a third inverter according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Example 1
As a preferred embodiment of the present invention, referring to fig. 1 of the specification, the present embodiment discloses a transient synchronization stability boundary analysis method for parallel connection of inverter clusters, the method comprising the following steps:
s1, constructing a simplified circuit model of a grid-constructed inverter cluster parallel system in an off-grid mode based on the characteristics of an output port of an inverter; constructing a grid-built inverter control model based on a control algorithm and a control strategy of the inverter;
s2, using kirchhoff theorem in a simplified circuit model of a grid-connected inverter cluster parallel system in an off-grid mode and combining a grid-connected inverter control model to establish a general inverter virtual power angle dynamic nonlinear mathematical equation in the parallel process of the grid-connected inverter cluster parallel system and an inverter;
s3, analyzing a mechanism of transient state synchronous instability of the inverter in the parallel connection process based on the dynamic nonlinear mathematical equation of the virtual power angle of the inverter established in the step S2, and providing a transient state synchronous stability boundary.
As an example of the present embodiment, referring to fig. 1 of the specification, in the off-grid mode, a grid-type inverter cluster system model is formed by LC-filtering (filter inductance L f Filter capacitor C f ) Then go through the line reactance L g Access to the point of common coupling via line reactance L line And local load Z load Connection, V o And I o Representing the output voltage vector and the output current vector of the filtered inverter. The n inverters are controlled by sagging, and each control coefficient and the line reactance can take different values. N+1th station in systemThe inverter represents an inverter to be connected in parallel with the PCC point, the control strategy is the same as that of the first n, and when the switch S1 is closed and the pre-synchronization control module of the inverter is cut off, the n+1th inverter is connected in parallel with the system.
As another example of this embodiment, referring to fig. 2 of the specification, the active control link and the reactive loop in the grid-formation inverter control model both adopt a droop control strategy, and the loop does not use a low-pass filter, so that the active and reactive control links generate phase and amplitude instructions of voltage reference values; and then a driving signal is generated after passing through the voltage and current double inner rings and is fed into the PWM generator to generate PWM waves to control the switching tube to be switched off, so that a control function is realized. The presynchronization module enables the phase of the output voltage of the inverter to be consistent with the PCC point, and prevents overcurrent from being generated in parallel connection instant so as to damage the inverter.
Example 2
As a further preferred embodiment of the present invention, this embodiment is further supplemented and explained in detail by the technical solution of the present invention based on embodiment 1 described above. In this embodiment, in step S1, the inverter uses a power outer loop as droop control, the inner loop is a control strategy of cascading dual-loop vector voltage and current, the time scale of the power outer loop is far greater than that of the inner loop, the voltage current inner loop is regarded as a unified gain with ideal reference tracking in the analysis process, and in fig. 2, the droop control active power loop mathematical model of the inverter is
ω i ＝ω 0 +K pi (P refi -P i ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein K is pi ，P i ，P refi Droop coefficients, output active power and line reference active power, ω, of the ith (i=1, … n+1) inverter, respectively 0 Is the rated frequency.
Further, in step S2, the kirchhoff theorem is used in the simplified circuit model of the grid-structured inverter cluster parallel system in the off-grid mode constructed in step S1 to obtain the inverter output active power in fig. 1 as
Wherein V is oi ，X gi Output voltage amplitude and line reactance of the ith (i=1, 2 … n+1) inverter respectively, power angle delta of the ith inverter i Set as the phase angle difference of the inverter output voltage and the Point of Common Coupling (PCC) voltage, V PCC Is the point of common coupling voltage amplitude.
Assuming constant frequency of a common coupling Point (PCC), the value of the PCC is equal to the frequency value of the inverter after parallel connection and stable operation are realized, and by combining a droop control active power loop mathematical model of the inverter and the output active power of the inverter, a virtual power angle dynamic nonlinear mathematical equation of an i-th inverter in the S2 step can be obtained,
wherein P is refeqi ，C i Equivalent reference active power and droop weight, P, of the ith inverter respectively load Active power for local load; v (V) oi ，X gi Output voltage amplitude and line reactance of the ith (i=1, 2 … n+1) inverter, V PCC Representing the point of common coupling voltage amplitude; k (K) pj A droop coefficient representing the jth inverter; p (P) refi The line representing the j-th inverter references active power.
Example 3
As a further preferred embodiment of the present invention, this embodiment is further supplemented and explained in detail by the technical solution of the present invention based on embodiment 1 or embodiment 2 described above. In this embodiment, the transient state synchronization instability mechanism of the inverter occurs in the parallel process,specifically, when the n+1th inverter and the n front inverters form a parallel system, the equivalent reference active power of each inverter changes in step, resulting in unbalanced equivalent reference active power and maximum active power transmittable by the inverters, i.e. |P refeqi |＞3V oi V PCC /2X gi Further leading to retention ofThe final power angle is continuously increased to infinity, and transient state synchronous instability occurs in the system.
The full necessary condition that the inverter based on droop control keeps transient synchronous stability in the parallel connection process can be obtained according to the transient synchronous instability mechanism, namely the transient synchronous stability boundary,
example 4
As a further preferred embodiment of the present invention, this embodiment is further supplemented and explained in detail by the technical solution of the present invention based on the above-described embodiment 1, embodiment 2 or embodiment 3. The embodiment discloses a controller design method based on the transient synchronous stability boundary, which comprises the following steps:
and determining the value range of the droop coefficient of the n+1th inverter connected in parallel with an inverter cluster parallel system formed by n grid-connected inverters, and ensuring that the inverter keeps stable transient state synchronization with the inverter cluster parallel system in the parallel process.
Different inverter cluster parallel system conditions correspond to different droop coefficient value ranges, and in particular,
when P refn+1 ≤P MAXn+1 When K is pn+1 The desirable ranges are as follows:
when P refn+1 >P MAXn+1 When K is pn+1 The desirable ranges are as follows:
wherein P is MAXn+1 ＝3V on+1 V PCC /2X gn+1 Is the maximum active power that can be transmitted by the n+1th inverter.
Example 5
The correctness of the schemes described in the above-described examples 1 to 4 is verified by specific examples below.
Aiming at the case that two grid-structured inverters are stably operated and a third grid-structured inverter is connected with a system in parallel, a control variable experiment is carried out on the first inverter, so that the correctness of a transient synchronous stability boundary is verified.
Fig. 3-8 are power angle simulation waveforms of the first inverter, and fig. 3-8 correspond to six control variable experiments for changing only the line reactance, droop coefficient, reference active power, droop coefficient of the third inverter, reference active power and local load power of the first inverter, respectively. As can be seen from fig. 3-8, the first inverter can maintain transient stability when the six variables meet transient synchronization stability boundaries, respectively; conversely, transient synchronization instability occurs when not satisfied. The correctness of the theoretical analysis is verified.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (5)
1. The transient state synchronous stability boundary analysis method for the parallel connection of the inverter clusters is characterized by comprising the following steps of: the method comprises the steps of,
s1, constructing a simplified circuit model of a grid-constructed inverter cluster parallel system in an off-grid mode based on the characteristics of an output port of an inverter; constructing a grid-built inverter control model based on a control algorithm and a control strategy of the inverter;
s2, using kirchhoff theorem and combining a grid-formed inverter control model in a simplified circuit model of the grid-formed inverter cluster parallel system in an off-grid mode, and establishing a general inverter virtual power angle dynamic nonlinear mathematical equation of the grid-formed inverter cluster parallel system in a parallel process with one inverter;
s3, analyzing a mechanism of transient state synchronous instability of the inverter in the parallel connection process based on the dynamic nonlinear mathematical equation of the virtual power angle of the inverter established in the step S2, and providing a transient state synchronous stability boundary;
in the S1 step, the inverter adopts a power outer loop as a droop control strategy, an inner loop is a control strategy of cascading double loop vector voltage and current, the time scale of the power outer loop is far larger than that of the inner loop, the voltage current inner loop is regarded as a unified gain with ideal reference tracking in the analysis process, and the droop control active power loop mathematical model of the inverter is as follows:
the method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>，/>，/>Respectively +.>Droop coefficient of the table inverter, output active power and line reference active power, +.>，/>Is rated frequency;
in the step S2, the kirchhoff theorem is used in a simplified circuit model of a grid-structured inverter cluster parallel system in an off-grid mode, and the output active power of the inverter can be obtained as follows:；
wherein,，/>respectively +.>Output voltage amplitude, line reactance of the station inverter, +.>Power angle of the desk inverter>Setting as phase angle difference of inverter output voltage and common coupling point voltage, < >>Is the common coupling point voltage amplitude;
assuming that the frequency of the common coupling point is constant, the value of the common coupling point is equal to the frequency value of the inverter after parallel connection and stable operation are realized, and the droop control active power loop mathematical model of the inverter and the output active power of the inverter are combined to obtain the first step in the S2The virtual power angle dynamic nonlinear mathematical equation of the inverter,
；
；
；
wherein,，/>respectively +.>Equivalent reference active power and droop weight of the table inverter, < ->Active power for local load; /> ，/>Respectively +.>Output voltage amplitude of the table inverter, line reactance, < >>Representing the point of common coupling voltage amplitude; />Indicate->Sag factor of the table inverter; />Indicate->The line of the table inverter references the active power;
in the step S3, the transient state synchronization instability mechanism of the inverter in the parallel connection process is specifically that when the first step isStage inverter and front->When the system formed by the inverters is connected in parallel, the equivalent reference active power of each inverter is subjected to step change, so that the equivalent reference active power is unbalanced with the maximum active power which can be transmitted by the inverters, namelyFurther leading to a hold->Finally, the power angle is continuously increased to infinity, and transient state synchronous instability occurs in the system;
the full necessary condition that the inverter based on droop control keeps transient synchronous stability in the parallel connection process can be obtained according to the transient synchronous instability mechanism, namely the transient synchronous stability boundary,
。
2. the method for analyzing transient synchronous stability boundaries of parallel inverter clusters according to claim 1, wherein: in step S1, the simplified circuit model of the grid-structured inverter cluster parallel system specifically means that each inverter is connected with a filter inductor and a filter capacitor, the current after the output and filtering of the inverter is collected at a common coupling point after passing through a line reactance, so as to form a total output current, and the current is output to a local load after passing through the line reactance.
3. The method for analyzing transient synchronous stability boundaries of parallel inverter clusters according to claim 1, wherein: in the S1 step, an active control link and a reactive control link in a grid-built inverter control model adopt a sagging control strategy, the active control link and the reactive control link generate phase and amplitude instructions of voltage reference values, and then drive signals are generated after passing through a voltage current loop and fed into a PWM generator to realize a control function.
4. A method for designing a transient synchronization stability boundary based on the transient synchronization stability boundary analysis method according to any one of claims 1 to 3, characterized in that: the method comprises the following steps:
determining and determining the basisInverter cluster parallel system formed by network-structured inverters is connected in parallel>The value range of the sagging coefficient of the inverter ensures that the inverter keeps stable transient state synchronization with the inverter cluster parallel system in the parallel process.
5. The controller design method according to claim 4, wherein: different inverter cluster parallel system conditions correspond to different droop coefficient value ranges, and in particular,
when (when)P refn+1 ≤P MAXn+1 In the time-course of which the first and second contact surfaces,K pn+1 the desirable ranges are as follows:
；
when (when)P refn+1 >P MAXn+1 In the time-course of which the first and second contact surfaces,K pn+1 the desirable ranges are as follows:
；
wherein,P MAXn+1 =3V on+1 V PCC /2X gn+1 is the maximum active power that can be transmitted by the n+1th inverter.
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