CN117458534A - Novel liquid flow energy storage peak regulation and frequency modulation method and device - Google Patents
Novel liquid flow energy storage peak regulation and frequency modulation method and device Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
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Abstract
The invention relates to the technical field of frequency modulation of electric power systems, in particular to a novel liquid flow energy storage peak regulation and frequency modulation method, a device, equipment and a computer storage medium. The invention provides a novel liquid flow energy storage peak regulation and frequency modulation method, which aims at solving the problem of poor disturbance rejection capability of output voltage caused by electrochemical energy storage power change.
Description
Technical Field
The invention relates to the technical field of frequency modulation of electric power systems, in particular to a novel liquid flow energy storage peak regulation and frequency modulation method, a device, equipment and a computer storage medium.
Background
With the large-scale grid connection of renewable energy sources, the randomness of output fluctuation of the renewable energy sources tends to increase potential risks for the frequency stability of the power system. At present, the frequency modulation of an electric power system mainly depends on thermal power units and hydroelectric units, but a conventional generator cannot realize rapid and indifferent frequency adjustment due to rotation characteristics. The electrochemical energy storage is widely used as energy storage equipment at present, and PCS is used as a converter, so that power millisecond response can be realized, regional power grid frequency deviation is effectively eliminated, and the frequency stability of a power system is maintained. In order to enable the energy storage system to have damping and inertia similar to those of the synchronous generator, a VSG control strategy simulating transient characteristics of the synchronous generator is widely adopted in an energy storage PCS at present, and the energy storage equipment actively supports the frequency of the power system.
Under the condition of load change, the busbar voltage at the alternating current side of electrochemical energy storage often has fluctuation and overshoot, the busbar voltage can not be kept stable, the lithium iron phosphate battery needs to be charged and discharged frequently, and the service life of the lithium iron phosphate battery is greatly influenced.
In an energy storage VSG control system, voltage and current double closed loops PI are adopted as bottom control, and the traditional PI control does not have the capability of processing strong nonlinearity and parameter perturbation of a multi-coupling system, so that the stability of bus voltage is difficult to ensure, and the disturbance rejection capability of the energy storage VSG control system is poor. The prior document aims at improving the traditional energy storage PCS voltage PI control link, proposes a fuzzy PI control scheme, takes voltage deviation differentiation as a feedback signal, improves the voltage disturbance rejection capability of a control system, improves the traditional PI, and has limited effect. The prior document proposes a linear expansion observer, the tracking capability of the observer to voltage signals is analyzed, the accumulated effect of high gain to errors is overcome, the robustness of a control system is improved, the observer performance and the control parameter setting relationship are larger, and the applicability is poor. The nonlinear disturbance observer is introduced into the voltage control system in the prior art, the observation bandwidth is increased, the rapid zero-difference response of the integral link is realized, the influence of phase lag on the delay of the control system is avoided, and the small disturbance accurate inhibition cannot be executed.
Disclosure of Invention
Therefore, the invention aims to solve the technical problem of poor voltage control effect in the prior art.
In order to solve the technical problems, the invention provides a novel liquid flow energy storage peak regulation and frequency modulation method, which comprises the following steps:
corresponding a general state control equation of the second-order linear active disturbance rejection control with the electrochemical energy storage VSG grid-connected mathematical model to obtain a state variable and a total disturbance equation in the electrochemical energy storage VSG second-order linear active disturbance rejection control;
calculating to obtain a linear extended state observer function according to a state variable and a total disturbance equation in the electrochemical energy storage VSG second-order linear active disturbance rejection control;
calculating according to a state variable and a total disturbance equation in the electrochemical energy storage VSG second-order linear active disturbance rejection control to obtain an error robust integral tracking module transfer function;
establishing an electrochemical energy storage voltage active disturbance rejection control system according to the linear extended state observer function and the error robust integral tracking module transfer function;
and realizing the active disturbance rejection control of the voltage according to the electrochemical energy storage voltage active disturbance rejection control system.
Preferably, the step of obtaining the state variable and the total disturbance equation in the second-order linear active disturbance rejection control of the electrochemical energy storage VSG by corresponding the second-order linear active disturbance rejection control general state control equation to the electrochemical energy storage VSG grid-connected mathematical model includes:
acquiring a second-order linear active disturbance rejection control general state control equation:
wherein,、/>for the first and second order state variables, +.>For the distended state variable>Is->Derivative of>Is->Derivative of>Is->Derivative of>、/>Gain and output of second order linear active disturbance rejection control respectively, +.>For total disturbance->Output for disturbance observer;
and (3) corresponding the general state control equation of the second-order linear active disturbance rejection control with an electrochemical energy storage VSG grid-connected mathematical model to obtain a state variable and a total disturbance equation in the second-order linear active disturbance rejection control of the electrochemical energy storage VSG:
wherein,、/>，/>for Park transform matrix->，/>For storing VSG output voltage in dq rotation coordinate system, +.>，/>To store VSG output current in dq rotation coordinate system, +.>，/>，/>For storing VSG output voltage in abc three-phase coordinate system, < >>，/>，/>To store VSG output current in abc three-phase coordinate system, +.>For nominal virtual electrical angular velocity, < >>For filter capacitor->For filtering inductance +.>Is a filter resistor.
Preferably, the linear expansion state observer function is calculated according to a state variable and a total disturbance equation in the electrochemical energy storage VSG second-order linear active disturbance rejection control:
wherein,is->Estimate value->Is->Estimate value->Is->Estimate value->Is->Derivative of>Is->Derivative of>Is->Derivative of>,/>,/>Is a linear extended state observer gain.
Preferably, the linear extended state observer gain is chosen such that the observation error is minimized and the closed loop feature root is located in the left half of the root plane.
Preferably, the transfer function of the error robust integral tracking module is obtained according to state variables and a total disturbance equation in the electrochemical energy storage VSG second-order linear active disturbance rejection control;
defining an error variable in an error robust integral tracking module;
establishing an error robust integral tracking module state equation according to the error variable;
based on the state equation of the error robust integral tracking module, under the condition that the derivative of the stability criterion Lyapunov function is not more than 0, the derivative of the transfer function of the error robust integral tracking module is obtained;
and obtaining the transfer function of the error robust integral tracking module according to the derivative of the transfer function of the error robust integral tracking module.
Preferably, the establishing an error robust integral tracking module state equation according to the error variable comprises;
defining an error variable in the error robust integral tracking module as:
wherein,、/>first and second tracking error variables, respectively, ">、/>Tracking module gain for error robust integration, +.>For regulating error variable->Input to the error robust integral tracking module, < >>,/>Is a second order state variable>、/>Derivatives of the first and second tracking error variables, respectively,/->The derivative of the tracking module input is integrated for error robustness,/>is->An estimated value;
substituting the second tracking error variable and the derivative thereof into the regulation error variable, and deriving to obtain an error robust integral tracking module state equation.
Preferably, the error robust integral tracking module transfer functionThe method comprises the following steps:
wherein,for the second tracking error variable at the end of the observation time, < >>For the second tracking error variable at the end of the initial moment, < >>Gain for criterion function->、/>Tracking module gain for error robust integration, +.>、/>The first tracking error variable and the second tracking error variable are respectively.
The invention also provides a novel liquid flow energy storage peak regulation and frequency modulation device, which comprises:
the power characteristic analysis module is used for establishing a VSG control system in the electrochemical energy storage converter, carrying out characteristic analysis on VSG output power and obtaining a power change rate;
the variable virtual impedance introduction module is used for calculating variable parameter virtual impedance of self-adaptive power change according to the power change rate and introducing the variable parameter virtual impedance into an electrochemical energy storage voltage and current closed-loop control link;
the state variable and total disturbance equation building module is used for corresponding a second-order linear active disturbance rejection control general state control equation with the electrochemical energy storage VSG grid-connected mathematical model to obtain a state variable and a total disturbance equation in the electrochemical energy storage VSG second-order linear active disturbance rejection control;
the observer function and error feedback function calculation module is used for calculating a linear expansion state observer function and an error robust integral tracking module transfer function according to a state variable and a total disturbance equation in the electrochemical energy storage VSG second-order linear active disturbance rejection control;
and the voltage active disturbance rejection control module is used for establishing an electrochemical energy storage voltage active disturbance rejection control system according to the linear expansion state observer function and the error robust integral tracking module transfer function, and realizing the active disturbance rejection control of the voltage according to the electrochemical energy storage voltage active disturbance rejection control system.
The invention also provides novel liquid flow energy storage peak regulation and frequency modulation equipment, which comprises:
a memory for storing a computer program;
and the processor is used for realizing the novel liquid flow energy storage peak regulation and frequency modulation method steps when executing the computer program.
The invention also provides a computer readable storage medium, wherein the computer readable storage medium is stored with a computer program, and the computer program realizes the steps of the novel liquid flow energy storage peak regulation and frequency modulation method when being executed by a processor.
Compared with the prior art, the technical scheme of the invention has the following advantages:
the novel liquid flow energy storage peak regulation and frequency modulation method adopts virtual synchronous machine (Virtual Synchronous Generation, VSG) control for simulating the rotation and excitation characteristics of a synchronous motor in an electrochemical energy storage grid-connected converter (Power Conversion System, PCS) to realize the application of electrochemical energy storage in the frequency modulation field of an electric power system; aiming at the problem of poor disturbance rejection capability of output voltage caused by electrochemical energy storage power change, the invention provides a second-order linear disturbance rejection control method comprising an error robust integral tracking module, which realizes energy storage output voltage stabilization. PSCAD simulation results show that: the second-order linear active disturbance rejection control can effectively improve the voltage fluctuation suppression capability of a voltage control link and improve the robustness of an electrochemical energy storage VSG control system.
Drawings
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings, in which:
FIG. 1 is a flow chart of a novel liquid flow energy storage peak regulation and frequency modulation method;
FIG. 2 is a block diagram of electrochemical storage voltage active disturbance rejection control;
FIG. 3 is a graph of different ADCs+variable parameter virtual impedance VSG output voltage versus waveform;
fig. 4 is a power variation waveform diagram of random fluctuation of output power;
fig. 5 is a graph of electrochemical stored energy PCS output voltage versus waveform.
Detailed Description
The core of the invention is to provide a novel liquid flow energy storage peak regulation and frequency modulation method, device and equipment and a computer storage medium, so that the robustness of an electrochemical energy storage VSG control system is improved.
In order to better understand the aspects of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, fig. 1 is a flow chart illustrating an implementation of a novel method for storing energy, peak shaving and frequency modulation of a liquid stream according to the present invention; the specific operation steps are as follows:
s101, corresponding a general state control equation of second-order linear active disturbance rejection control with an electrochemical energy storage VSG grid-connected mathematical model to obtain a state variable and a total disturbance equation in the electrochemical energy storage VSG second-order linear active disturbance rejection control;
s102, calculating to obtain a linear expansion state observer function according to a state variable and a total disturbance equation in the electrochemical energy storage VSG second-order linear active disturbance rejection control;
s103, calculating according to a state variable and a total disturbance equation in the electrochemical energy storage VSG second-order linear active disturbance rejection control to obtain an error robust integral tracking module transfer function;
s104, establishing an electrochemical energy storage voltage active disturbance rejection control system according to the linear expansion state observer function and the error robust integral tracking module transfer function;
and S105, realizing the active disturbance rejection control of the voltage according to the electrochemical energy storage voltage active disturbance rejection control system.
Based on the above embodiments, the present embodiment describes step S101 in detail:
under the frequency modulation working condition, the electrochemical energy storage absorption/release power changes frequently, and particularly when the PCS load shedding working condition occurs, the voltage fluctuation is obvious, the accurate tracking of a voltage instruction cannot be realized by the traditional voltage PI control, and the disturbance rejection capability of a VSG control system is insufficient. Based on the method, a second-order linear active disturbance rejection control method comprising an error robust integral tracking module is provided, and energy storage output voltage stability is achieved.
The second-order linear active disturbance rejection control system comprises: and the linear extended state observer and the linear state error feedback module. The linear expansion state observer is used for observing the total disturbance including internal disturbance and external disturbance of the system; the linear state error feedback module is used for obtaining disturbance signals and carrying out feedback compensation on errors. The second order linear active disturbance rejection control general state control equation can be expressed as:
（1）
in the formula (1):、/>is a second order state variable; />Is an expansion state variable; />、/>The gain and the output are controlled by second-order linear active disturbance rejection respectively; />For total disturbance->Is the disturbance observer output.
The state variable and the total disturbance expression in the electrochemical energy storage VSG second-order linear active disturbance rejection control can be obtained by corresponding the formula (1) with the electrochemical energy storage VSG grid-connected mathematical model:
（2）
in the formula (2):、/>. Wherein (1)>For Park transform matrix->，/>To at the same timedqEnergy storage VSG output voltage under rotating coordinate system, < >>，/>To at the same timedqEnergy storage VSG (voltage swing generator) output current under rotating coordinate system, < + >>，/>，/>To at the same timeabcEnergy storage VSG output voltage under three-phase coordinate system, < >>，/>，/>To at the same timeabcThe energy storage VSG outputs current under the three-phase coordinate system,for nominal virtual electrical angular velocity, < >>For filter capacitor->For filtering inductance +.>Is a filter resistor.
Based on the above embodiments, the present embodiment describes step S102 in detail:
the linear extended state observer can be expressed as:
（3）
in the formula (3):is->Estimate value->Is->Estimate value->Is->Estimate value->Is->Derivative of>Is->Derivative of>Is->Is a derivative of (2); />,/>,/>For the linear extended state observer gain, the value needs to satisfy that the observation error is minimum, and the closed loop feature root is located at the left half part of the root plane, based on which, the set is: />、、/>. Wherein: />For linear extended state observer gain, +.>Is a linear extension of the state observer bandwidth. The linear state error feedback module transfer function can be expressed as:
（4）
in the formula (4):input for a linear state error feedback module, +.>、/>The invention is obtained by bandwidth parameter optimization for feedback gain, and is set as follows: />，/>. Wherein: />Is the bandwidth of the linear state error feedback module.
Based on the above embodiments, the present embodiment describes in detail step S103:
in the electrochemical energy storage response frequency modulation process, frequent charge/discharge is needed, the VSG output power adjustment range is large, and the power sudden reduction condition exists when PCS load reduction occurs. The disturbance term can be regarded as a characteristic of nonlinearity and strong disturbance in the active disturbance rejection control. The error robust integral tracking module is used for replacing the linear state error feedback module, so that the electrochemical energy storage voltage is robustly controlled. The tracking error variable in the error robust integral tracking module is defined as:
（5）
in formula (5):、/>the first tracking error variable and the second tracking error variable are respectively; />、/>Integrating the tracking module gain for error robustness; />For regulating error variable->Input to the error robust integral tracking module, < >>,/>Is a second order state variable>、/>Derivatives of the first and second tracking error variables, respectively,/->Derivative input for error robust integral tracking module, < >>Is->And (5) estimating a value.
Will beAnd its derivative->Substituting the regulation error variable +.>And deriving, the state equation can be expressed as:
（5）
in formula (6):the transfer function derivative is tracked for error robust integration. By means of the stability criterion Lyapunov function:
（7）
in the formula (7):gain is a function of the criteria. Deriving the formula (7) to obtain:
（8）
in order to makeSetting the derivative of the transfer function of the error robust integral tracking module as follows:
（9）
integrating the equation (23) to obtain the transfer function of the error robust integral tracking module as follows:
（10）
wherein,for the second tracking error variable at the end of the observation time, < >>For the second tracking error variable at the end of the initial moment, < >>Gain for criterion function->、/>Tracking module gain for error robust integration, +.>、/>The first tracking error variable and the second tracking error variable are respectively.
Based on the analysis, an electrochemical energy storage voltage active disturbance rejection control system is established, and a control block diagram of the system is shown in fig. 2.
Based on the above examples, in order to verify the effectiveness of the novel liquid flow energy storage peak regulation and frequency modulation strategy as proposed herein, two electrochemical energy storage PCS parallel simulation models were built in PSCAD, as shown in fig. 3.
Referring to the actual engineering case, the hardware simulation parameters are shown in table 1, the corresponding PCS is selected according to the rated power of the stored energy, and the control system parameters are shown in table 2 in combination with the control strategy provided herein.
TABLE 1 simulation parameters of new energy storage micro-grid
Tab.1 Simulation parameters of new energy microgrid
| Parameters (parameters) | Numerical value | Parameters (parameters) | Numerical value | Parameters (parameters) | Numerical value | Parameters (parameters) | Numerical value |
| Energy storage rated power/MW | 0.5 | PCS rated voltage/V | 380 | PCS filter resistor/omega | 0.01 | DC busLine voltage/V | 800 |
| PCS filter inductor/mH | 0.6 | PCS filter capacitor/. Mu.F | 1450 | Energy storage SOC interval | 10~90% | Transmission line length/km | 35 |
Table 2 grid-tie inverter control system parameters
Tab.2 Control system parameters of grid converter
| Parameters (parameters) | Numerical value | Parameters (parameters) | Numerical value | Parameters (parameters) | Numerical value | Parameters (parameters) | Numerical value |
| Virtual inertia | 0.5kg·m2 | Coefficient of reactive sag | 0.05 | Integral coefficient of active change | 0.011 | Reactive power change scaling factor | 0.0002 |
| Damping coefficient | 1.1 | Reactive voltage scaling factor | 0.002 | Linear extended state observer bandwidth | 1750dB | Linear state error feedback module bandwidth | 350dB |
| Initial value of virtual inductance | 1mH | Active coefficient of proportionality | 0.0012 |
In order to verify the voltage fluctuation inhibition capability of the voltage active disturbance rejection control on the frequent power change, the simulation working condition is set to be that the active power output by the electrochemical energy storage converter randomly fluctuates between 0.2MW and 0.7MW, the power fluctuation waveform is shown in fig. 4, and the electrochemical energy storage PCS output voltage is compared with the waveform as shown in fig. 5.
According to fig. 4 and fig. 5, when the electrochemical energy storage output power fluctuates randomly, the PCS output voltage also has frequent regulation phenomenon, the voltage does not adopt a voltage active disturbance rejection control strategy, the voltage fluctuates by +/-12V, the voltage fluctuation can be effectively inhibited by adopting the first-order active disturbance rejection control, but also fluctuates by +/-4V, the voltage is almost maintained at 380V by adopting the voltage active disturbance rejection control strategy provided by the invention, the energy storage output voltage is stable, the voltage fluctuation is obviously reduced, the robustness performance of the control system is high, and the control system is more suitable for frequent regulation of the chemical energy storage power.
In order to improve the circulation suppression capability and the voltage control robustness of the electrochemical energy storage VSG, the invention provides an electrochemical energy storage VSG control scheme with variable parameter virtual impedance and second-order linear active disturbance rejection control, wherein different virtual impedances are set according to the power change rate, so that the equivalent impedance is adaptively changed, and different power changes are matched, thereby avoiding circulation generation between PCS devices. And a second-order linear active disturbance rejection control method comprising an error robust integral tracking module is adopted to realize the stability of the output voltage of the electrochemical energy storage PCS.
Simulation results show that: the voltage auto-disturbance rejection control strategy provided by the invention can reduce the overshoot and the adjustment time in the voltage adjustment process, can maintain the PCS output voltage to be stable in a certain range in the face of the power frequent adjustment working condition, and can improve the robustness of an electrochemical energy storage VSG control system.
The embodiment of the invention also provides a novel liquid flow energy storage peak regulation and frequency modulation device; the specific apparatus may include:
the state variable and total disturbance equation building module is used for corresponding a second-order linear active disturbance rejection control general state control equation with the electrochemical energy storage VSG grid-connected mathematical model to obtain a state variable and a total disturbance equation in the electrochemical energy storage VSG second-order linear active disturbance rejection control;
the linear extended state observer function calculation module is used for calculating and obtaining a linear extended state observer function according to a state variable and a total disturbance equation in the electrochemical energy storage VSG second-order linear active disturbance rejection control;
the transfer function calculation module of the error robust integral tracking module is used for calculating and obtaining the transfer function of the error robust integral tracking module according to the state variable and the total disturbance equation in the electrochemical energy storage VSG second-order linear active disturbance rejection control;
the voltage active disturbance rejection control system establishing module is used for establishing an electrochemical energy storage voltage active disturbance rejection control system according to the linear extended state observer function and the error robust integral tracking module transfer function;
and the voltage active disturbance rejection control module is used for realizing the active disturbance rejection control of the voltage according to the electrochemical energy storage voltage active disturbance rejection control system.
The novel liquid flow energy storage peak regulation and frequency modulation device of this embodiment is used for implementing the foregoing novel liquid flow energy storage peak regulation and frequency modulation method, so that the specific implementation of the novel liquid flow energy storage peak regulation and frequency modulation device can be found in the foregoing example parts of the novel liquid flow energy storage peak regulation and frequency modulation method, for example, a state variable and total disturbance equation establishing module, a linear extended state observer function calculating module, an error robust integral tracking module transfer function calculating module, an electric voltage active disturbance rejection control system establishing module, and a voltage active disturbance rejection control module are respectively used for implementing steps S101, S102, S103, S104 and S105 in the foregoing novel liquid flow energy storage peak regulation and frequency modulation method, so that the specific implementation thereof can refer to the description of the corresponding examples of each part and will not be repeated herein.
The specific embodiment of the invention also provides novel liquid flow energy storage peak regulation and frequency modulation equipment, which comprises the following components: a memory for storing a computer program; and the processor is used for realizing the steps of the novel liquid flow energy storage peak regulation and frequency modulation method when executing the computer program.
The specific embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium is stored with a computer program, and the computer program realizes the steps of the novel liquid flow energy storage peak regulation and frequency modulation method when being executed by a processor.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application 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 application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. 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.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present invention will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.
Claims (10)
1. The novel liquid flow energy storage peak regulation and frequency modulation method is characterized by comprising the following steps of:
corresponding a general state control equation of the second-order linear active disturbance rejection control with the electrochemical energy storage VSG grid-connected mathematical model to obtain a state variable and a total disturbance equation in the electrochemical energy storage VSG second-order linear active disturbance rejection control;
calculating to obtain a linear extended state observer function according to a state variable and a total disturbance equation in the electrochemical energy storage VSG second-order linear active disturbance rejection control;
calculating according to a state variable and a total disturbance equation in the electrochemical energy storage VSG second-order linear active disturbance rejection control to obtain an error robust integral tracking module transfer function;
establishing an electrochemical energy storage voltage active disturbance rejection control system according to the linear extended state observer function and the error robust integral tracking module transfer function;
and realizing the active disturbance rejection control of the voltage according to the electrochemical energy storage voltage active disturbance rejection control system.
2. The method of claim 1, wherein the step of mapping the second-order linear active disturbance rejection control general state control equation to the electrochemical energy storage VSG grid-connected mathematical model to obtain the state variable and the total disturbance equation in the electrochemical energy storage VSG second-order linear active disturbance rejection control comprises:
acquiring a second-order linear active disturbance rejection control general state control equation:
wherein,、/>for the first and second order state variables, +.>For the distended state variable>Is->Derivative of>Is->Derivative of>Is->Derivative of>、/>Gain and output of second order linear active disturbance rejection control respectively, +.>For total disturbance->Is a disturbanceA dynamic observer output;
and (3) corresponding the general state control equation of the second-order linear active disturbance rejection control with an electrochemical energy storage VSG grid-connected mathematical model to obtain a state variable and a total disturbance equation in the second-order linear active disturbance rejection control of the electrochemical energy storage VSG:
wherein,、/>，/>for Park transform matrix->，/>To at the same timedqEnergy storage VSG output voltage under rotating coordinate system, < >>，/>To at the same timedqEnergy storage VSG (voltage swing generator) output current under rotating coordinate system, < + >>，/>，/>To at the same timeabcEnergy storage VSG output voltage under three-phase coordinate system, < >>，/>，/>To at the same timeabcEnergy storage VSG (voltage swing generator) output current under three-phase coordinate system, < >>For nominal virtual electrical angular velocity, < >>For filter capacitor->For filtering inductance +.>Is a filter resistor.
3. The novel liquid flow energy storage peak regulation and frequency modulation method according to claim 2, wherein the linear expansion state observer function is obtained by calculating state variables and a total disturbance equation in the electrochemical energy storage VSG second-order linear active disturbance rejection control:
wherein,is->Estimate value->Is->Estimate value->Is->Estimate value->Is->Is used for the purpose of determining the derivative of (c),is->Derivative of>Is->Derivative of>,/>,/>Is a linear extended state observer gain.
4. The method of claim 3, wherein the linear extended state observer gain is chosen to minimize the observation error and the closed loop feature root is located in the left half of the root plane.
5. The novel liquid flow energy storage peak regulation and frequency modulation method according to claim 2, wherein the error robust integral tracking module transfer function is obtained according to state variables and a total disturbance equation in the electrochemical energy storage VSG second-order linear active disturbance rejection control;
defining an error variable in an error robust integral tracking module;
establishing an error robust integral tracking module state equation according to the error variable;
based on the state equation of the error robust integral tracking module, under the condition that the derivative of the stability criterion Lyapunov function is not more than 0, the derivative of the transfer function of the error robust integral tracking module is obtained;
and obtaining the transfer function of the error robust integral tracking module according to the derivative of the transfer function of the error robust integral tracking module.
6. The method of claim 5, wherein the establishing an error robust integral tracking module state equation based on the error variable comprises;
defining an error variable in the error robust integral tracking module as:
wherein,、/>first and second tracking error variables, respectively, ">、/>The tracking module gain is integrated for error robustness,for regulating error variable->Input to the error robust integral tracking module, < >>,/>Is a second order state variable>、/>Derivatives of the first and second tracking error variables, respectively,/->Derivative input for error robust integral tracking module, < >>Is->An estimated value;
substituting the second tracking error variable and the derivative thereof into the regulation error variable, and deriving to obtain an error robust integral tracking module state equation.
7. The method of claim 5, wherein the error robust integral tracking module transfer functionThe method comprises the following steps:
wherein,for the second tracking error variable at the end of the observation time, < >>For the second tracking error variable at the end of the initial time,gain for criterion function->、/>Tracking module gain for error robust integration, +.>、/>The first tracking error variable and the second tracking error variable are respectively.
8. The utility model provides a novel liquid flow energy storage peak regulation frequency modulation device which characterized in that includes:
the state variable and total disturbance equation building module is used for corresponding a second-order linear active disturbance rejection control general state control equation with the electrochemical energy storage VSG grid-connected mathematical model to obtain a state variable and a total disturbance equation in the electrochemical energy storage VSG second-order linear active disturbance rejection control;
the linear extended state observer function calculation module is used for calculating and obtaining a linear extended state observer function according to a state variable and a total disturbance equation in the electrochemical energy storage VSG second-order linear active disturbance rejection control;
the transfer function calculation module of the error robust integral tracking module is used for calculating and obtaining the transfer function of the error robust integral tracking module according to the state variable and the total disturbance equation in the electrochemical energy storage VSG second-order linear active disturbance rejection control;
the voltage active disturbance rejection control system establishing module is used for establishing an electrochemical energy storage voltage active disturbance rejection control system according to the linear extended state observer function and the error robust integral tracking module transfer function;
and the voltage active disturbance rejection control module is used for realizing the active disturbance rejection control of the voltage according to the electrochemical energy storage voltage active disturbance rejection control system.
9. Novel liquid flow energy storage peak regulation frequency modulation equipment, characterized by comprising:
a memory for storing a computer program;
a processor for performing the steps of a novel liquid flow energy storage peak shaving and frequency modulation method as claimed in any one of claims 1 to 7 when said computer program is executed.
10. A computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, the computer program implementing the steps of a novel liquid flow energy storage peak shaving and frequency modulation method according to any one of claims 1 to 7 when executed by a processor.
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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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Non-Patent Citations (1)
| Title |
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| 李祥柱 等: "储能VSG环流抑制及电压稳定控制策略研究", 电源学报, 20 December 2023 (2023-12-20), pages 1 - 13 * |
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| 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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