CN117595409A - Active power control method and related device for virtual synchronous machine of network-structured converter - Google Patents
Active power control method and related device for virtual synchronous machine of network-structured converter Download PDFInfo
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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
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
- H02J3/48—Controlling the sharing of the in-phase component
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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
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
- H02J3/241—The oscillation concerning frequency
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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
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Abstract
The invention discloses a method for controlling active power of a virtual synchronous machine of a grid-connected transformer and a related device. Meanwhile, compared with the conventional active power control method of the virtual synchronous machine of the grid-structured converter, the method can enable the virtual damping to be directly zero, so that the active power deviation generated during the frequency deviation of the power grid can be eliminated. Therefore, the invention can be applied to the field of control of the virtual synchronous machine of the grid-connected transformer, so as to solve the contradiction problem between dynamic oscillation and steady-state deviation existing in active power control of the virtual synchronous machine of the conventional grid-connected transformer and improve the accuracy of active power control.
Description
Technical Field
The invention relates to the technical field of new energy grid-connected power generation, in particular to an active power control method and a related device of a virtual synchronous machine of a grid-structured converter.
Background
Unlike conventional grid-connected converters, the grid-connected converter can work in a voltage source grid-connected mode, output three-phase adjustable alternating voltage and realize a grid-connected operation mode. The grid-structured converter often adopts a virtual synchronous machine control technology to improve the inertia and damping of the new energy grid-connected inverter and enhance the supporting capacity of the new energy grid-connected inverter to a power grid. Therefore, in recent years, virtual synchronous machine technology of a grid-structured converter has been widely paid attention to and studied. However, the introduction of virtual inertia makes the active frequency closed-loop control system become a typical second-order oscillation system, and power dynamic oscillation, overshoot and static difference can be inevitably generated under the condition of two conventional disturbances of grid-connected active reference instructions and grid frequency. Although adding virtual damping can suppress oscillation and overshoot of active power, virtual damping also introduces damping power, which can lead to a larger steady-state error of active power when the frequency of the power grid changes. Therefore, the active power control of the conventional network-structured converter virtual synchronous machine has the problem that the dynamic performance and the steady-state performance are difficult to balance.
The literature Dan Rongliang, yang Guihua, wangguo et al energy storage VSG grid-connected active response strategy [ J/OL ] based on active fractional differential correction electric power automation equipment 1-9[2023-09-06] "provides an improved transient damping control strategy of a virtual synchronous machine based on active fractional differential correction, and the method also realizes active power oscillation suppression and steady state error elimination when virtual damping is zero. However, fractional differential operations are difficult to implement.
The VSG control strategy [ J ]. Grid technology of transient electromagnetic power compensation is introduced, and 2022,46 (04): 1421-1429. "provides a virtual synchronous machine control strategy based on transient power compensation, wherein the strategy is to increase the transient power difference between electromagnetic power passing through a hysteresis link and self-construction on the basis of a conventional active power control loop, multiply the compensation coefficient and then add the transient power difference into power control, thereby forming transient electromagnetic power compensation in the power fluctuation process and achieving the effect of restraining oscillation. However, this method requires differential operation, and is liable to introduce the influence of high-frequency noise.
Document "Wang Yue, niu Ruigen, li Ming, etc.. Virtual synchronous motor control method based on bandpass damping voltage type converter [ P ]. Shanxi province: CN104734598B,2017-08-15 discloses a virtual synchronous motor control method based on a band-pass damping voltage type converter, and active power errors during power grid frequency offset are eliminated by designing the band-pass damping control method. However, the design of the bandpass filter is complicated.
According to the analysis, the problems of dynamic oscillation, overshoot and static difference of power can be inevitably generated under the condition of two conventional disturbances of a grid-connected active reference command and grid frequency in the traditional grid-connected converter virtual synchronous machine in the prior art, but most algorithms have or need to introduce differential operation, or have complex design and the like.
Disclosure of Invention
The invention discloses a method and a related device for controlling active power of a virtual synchronous machine of a grid-structured converter, aiming at solving the contradiction problem that the active power control of the virtual synchronous machine of the conventional grid-structured converter dynamically has oscillation and power deviation exists in a steady state.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a method for controlling active power of a virtual synchronous machine of a network-structured converter comprises the following steps:
step 1, setting the amount of the power gridConstant angular frequency omega 0 The angular frequency omega outputted by the virtual synchronous machine control strategy of the grid-structured converter is differenced and multiplied by a droop coefficient k ω Obtaining a first power deviationThe method comprises the following steps:
wherein the rated angular frequency omega of the power grid 0 100 pi rad/s;
step 2, setting an active power reference value P of the virtual synchronous machine ref Deviation from the first power obtained in step 1Adding and subtracting the active power P output by the virtual synchronous machine e Obtaining a second power deviation->The method comprises the following steps:
step 3, the second power deviation obtained in the step 2Performing integral operation according to the following formula to obtain a first frequency deviation +.>The method comprises the following steps:
wherein s represents a Laplase operator, and J represents virtual inertia of the virtual synchronous machine;
step 4, the first frequency deviation obtained in the step 3With a set rated angular frequency omega of the power grid 0 Adding to obtain the angular frequency omega output by the virtual synchronous machine, wherein the angular frequency omega satisfies the following conditions:
step 5, performing integral operation on the angular frequency omega output by the virtual synchronous machine obtained in the step 4 to obtain a first angle theta output by the virtual synchronous machine 1 The method comprises the following steps:
step 6, outputting the first angle theta of the virtual synchronous machine obtained in the step 5 1 Subtracting based on active power P e The obtained correction angleObtaining a second angle theta output by the virtual synchronous machine 2 The method comprises the following steps:
step 7, outputting a second angle theta according to the virtual synchronous machine obtained in the step 6 2 And generating a voltage reference value based on the voltage amplitude E output by the virtual synchronous machine obtained by reactive power control of the virtual synchronous machine, performing voltage and current double closed-loop control of the virtual synchronous machine, and finally outputting a PWM signal to realize control of the virtual synchronous machine.
Further, the virtual synchronous machine in step 2 outputs active power P e The calculation steps of (a) are as follows:
step 2-1, sampling abc three-phase grid-connected voltage u output by virtual synchronous machine a 、u b 、u c And transform it to restObtaining abc three-phase grid-connected voltage u on a coordinate system a 、u b 、u c At rest +.>Alpha component u in the coordinate system α And->Component->The method comprises the following steps:
step 2-2, sampling abc three-phase grid-connected current i output by virtual synchronous machine a 、i b 、i c And transform it to restObtaining abc three-phase grid-connected current i on a coordinate system a 、i b 、i c At rest +.>Alpha component i in coordinate system α And->Component->The method comprises the following steps:
step 2-3, the voltage alpha component u obtained according to step 2-1 α Andcomponent->The current alpha component i obtained in step 2-2 α And->Component->The active power P is calculated according to the following e The method comprises the following steps:
。
further, the active power P is based in the step 6 e The obtained correction angleThe calculation method of (1) satisfies the following conditions:
wherein omega c Cut-off frequency, k, of first order hysteresis d Is the gain of the first-order hysteresis link.
A virtual synchronous machine active power control device of a network-structured transformer virtual synchronous machine control strategy based on power angle correction comprises:
a first power deviation calculation module for setting rated angular frequency omega of the power grid 0 And the angular frequency omega outputted by the virtual synchronous machine is differenced and multiplied by a droop coefficient k ω Obtaining a first power deviationThe method comprises the following steps:
wherein the rated angular frequency omega of the power grid 0 100 pi rad/s;
a second power deviation calculation module for setting the virtual synchronous machine active power reference value P ref A first power deviation calculated by the first power deviation calculation moduleAdding and subtracting the active power P output by the virtual synchronous machine e Obtaining a second power deviation->The method comprises the following steps:
a first frequency deviation calculation module for calculating the second power deviation calculated by the second power deviation calculation modulePerforming integral operation according to the following formula to obtain a first frequency deviation +.>The method comprises the following steps:
wherein s represents a Laplase operator, and J represents virtual inertia of the virtual synchronous machine;
the angular frequency acquisition module is used for calculating the first frequency deviation calculated by the first frequency deviation calculation moduleWith a set rated angular frequency omega of the power grid 0 Adding to obtain the angular frequency omega output by the virtual synchronous machine, wherein the angular frequency omega satisfies the following conditions:
the first angle calculation module is used for carrying out integral operation on the angular frequency omega of the virtual synchronous machine output obtained by the angular frequency acquisition module to obtain a first angle theta of the virtual synchronous machine output 1 The method comprises the following steps:
the second angle calculation module is used for outputting the first angle theta of the virtual synchronous machine obtained by the first angle calculation module 1 Subtracting based on active power P e The obtained correction angleObtaining a second angle theta output by the virtual synchronous machine 2 The method comprises the following steps:
the virtual synchronous machine control module is used for calculating a second angle theta outputted by the virtual synchronous machine according to the second angle calculation module 2 And generating a voltage reference value based on the voltage amplitude E output by the virtual synchronous machine obtained by reactive power control of the virtual synchronous machine, performing voltage and current double closed-loop control of the virtual synchronous machine, and finally outputting a PWM signal to realize control of the virtual synchronous machine.
Further, the virtual synchronous machine outputs active power P e The calculation steps of (a) are as follows:
step 2-1, sampling abc three-phase grid-connected voltage u output by virtual synchronous machine a 、u b 、u c And transform it to restObtaining abc three-phase grid-connected voltage u on a coordinate system a 、u b 、u c At rest +.>Alpha component u in the coordinate system α And->Component->The method comprises the following steps:
step 2-2, sampling abc three-phase grid-connected current i output by virtual synchronous machine a 、i b 、i c And transform it to restObtaining abc three-phase grid-connected current i on a coordinate system a 、i b 、i c At rest +.>Alpha component i in coordinate system α And->Component->The method comprises the following steps:
step 2-3, the voltage alpha component u obtained according to step 2-1 α Andcomponent->The current alpha component i obtained in step 2-2 α And->Component->The active power P is calculated according to the following e The method comprises the following steps:
。
further, the second angle calculation module is based on active power P e The obtained correction angleThe calculation method of (1) satisfies the following conditions:
wherein omega c Cut-off frequency, k, of first order hysteresis d Is the gain of the first-order hysteresis link.
An active power control system of a virtual synchronous machine of a network-structured converter, comprising: a computer readable storage medium and a processor;
the computer-readable storage medium is for storing executable instructions;
the processor is used for reading executable instructions stored in the computer readable storage medium and executing the active power control method of the network-structured converter virtual synchronous machine.
A non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of active power control of a networked converter virtual synchronous machine.
Compared with the prior art, the invention has the following beneficial effects:
the invention discloses an active power control method of a virtual synchronous machine of a network-structured converter. Unlike the conventional method, the invention introduces the output active power P based on the virtual synchronous machine e The method corrects the active power P e The angle output by the virtual synchronous machine is corrected after a first-order hysteresis link, so that the power angle correction is realized, the transient damping of the system is increased, the active power oscillation and overshoot of the virtual synchronous machine can be restrained when the virtual damping is zero, the active power deviation caused by the deviation of the power grid frequency is eliminated, and the virtual synchronous machine has good dynamic characteristics and good steady-state characteristics. Compared with the conventional method, the method does not need to introduce differential operation or design a complex band-pass filter, and only needs to reasonably adjust the first-order hysteresis loop introduced by the methodThe cut-off frequency and the gain of the section can ensure that the virtual synchronous machine has inertia and damping characteristics and has no power steady-state error.
Drawings
FIG. 1 is a block diagram of active power control of a conventional networked converter virtual synchronous machine;
FIG. 2 is a control block diagram of the active power control method of the networked converter virtual synchronous machine of the present invention;
FIG. 3 is a block diagram of virtual synchronous machine main circuit and power calculation;
FIG. 4 is a comparative simulation result of a conventional virtual synchronous machine and the method according to the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present 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.
As shown in fig. 2, the first aspect of the present invention provides a method for controlling active power of a virtual synchronous machine of a grid-structured converter, comprising the following steps:
step 1, setting rated angular frequency omega of a power grid 0 The angular frequency omega outputted by the virtual synchronous machine control strategy of the grid-structured converter is differenced and multiplied by a droop coefficient k ω Obtaining a first power deviationThe method comprises the following steps:
wherein the rated angular frequency omega of the power grid 0 100 pi rad/s.
Step 2, setting an active power reference value P of the virtual synchronous machine ref And step 1 is obtainedFirst power deviation of (2)Adding and subtracting the active power P output by the virtual synchronous machine e Obtaining a second power deviation->The method comprises the following steps:
step 3, the second power deviation obtained in the step 2Performing integral operation according to the following formula to obtain a first frequency deviation +.>The method comprises the following steps:
where s represents the Laplase operator and J represents the virtual inertia of the virtual synchronous machine.
Step 4, the first frequency deviation obtained in the step 3With a set rated angular frequency omega of the power grid 0 Adding to obtain the angular frequency omega output by the virtual synchronous machine, wherein the angular frequency omega satisfies the following conditions:
step 5, performing integral operation on the angular frequency omega output by the virtual synchronous machine obtained in the step 4 to obtain a first angle theta output by the virtual synchronous machine 1 The method comprises the following steps:
step 6, outputting the first angle theta of the virtual synchronous machine obtained in the step 5 1 Subtracting based on active power P e The obtained correction angleObtaining a second angle theta output by the virtual synchronous machine 2 The method comprises the following steps:
step 7, outputting a second angle theta according to the virtual synchronous machine obtained in the step 6 2 And generating a voltage reference value based on the voltage amplitude E output by the virtual synchronous machine obtained by reactive power control of the virtual synchronous machine, performing voltage and current double closed-loop control of the virtual synchronous machine, and finally outputting a PWM signal to realize control of the virtual synchronous machine.
Wherein, the virtual synchronous machine in the step 2 outputs active power P e The calculation steps of (a) are as follows:
step 2-1, sampling abc three-phase grid-connected voltage u output by virtual synchronous machine a 、u b 、u c And transform it to restObtaining abc three-phase grid-connected voltage u on a coordinate system a 、u b 、u c At rest +.>Alpha component u in the coordinate system α And->Component->The method comprises the following steps:
step 2-2, sampling abc three-phase grid-connected current i output by virtual synchronous machine a 、i b 、i c And transform it to restObtaining abc three-phase grid-connected current i on a coordinate system a 、i b 、i c At rest +.>Alpha component i in coordinate system α And->Component->The method comprises the following steps:
step 2-3, the voltage alpha component u obtained according to step 2-1 α Andcomponent->The current alpha component i obtained in step 2-2 α And->Component->The active power P is calculated according to the following e The method comprises the following steps:
。
active power P based in step 6 e The calculation method of the obtained correction angle theta satisfies the following conditions:
wherein omega c Cut-off frequency, k, of first order hysteresis d Is the gain of the first-order hysteresis link.
The second aspect of the present invention provides an active power control device for a virtual synchronous machine of a grid-structured converter, comprising:
a first power deviation calculation module for setting rated angular frequency omega of the power grid 0 And the angular frequency omega outputted by the virtual synchronous machine is differenced and multiplied by a droop coefficient k ω Obtaining a first power deviationThe method comprises the following steps:
wherein the rated angular frequency omega of the power grid 0 100 pi rad/s.
A second power deviation calculation module for setting the virtual synchronous machine active power reference value P ref A first power deviation calculated by the first power deviation calculation moduleAdding and subtracting the active power P output by the virtual synchronous machine e Obtaining a second power deviation->The method comprises the following steps:
a first frequency deviation calculation module for calculating the second power deviation calculated by the second power deviation calculation modulePerforming integral operation according to the following formula to obtain a first frequency deviation +.>The method comprises the following steps:
where s represents the Laplase operator and J represents the virtual inertia of the virtual synchronous machine.
The angular frequency acquisition module is used for calculating the first frequency deviation calculated by the first frequency deviation calculation moduleWith a set rated angular frequency omega of the power grid 0 Adding to obtain the angular frequency omega output by the virtual synchronous machine, wherein the angular frequency omega satisfies the following conditions:
the first angle calculation module is used for carrying out integral operation on the angular frequency omega of the virtual synchronous machine output obtained by the angular frequency acquisition module to obtain a first angle theta of the virtual synchronous machine output 1 The method comprises the following steps:
the second angle calculation module is used for outputting the first angle theta of the virtual synchronous machine obtained by the first angle calculation module 1 Subtracting based on active power P e The obtained correction angleObtaining a second angle theta output by the virtual synchronous machine 2 The method comprises the following steps:
the virtual synchronous machine control module is used for calculating a second angle theta outputted by the virtual synchronous machine according to the second angle calculation module 2 And generating a voltage reference value based on the voltage amplitude E of the virtual synchronous machine output obtained by the reactive power control of the virtual synchronous machine, and performing virtual synchronizationAnd the voltage and current of the machine are controlled in a double closed loop mode, and finally PWM signals are output to realize the control of the virtual synchronous machine.
In order to verify the effectiveness of the method provided by the invention, a comparison simulation study is carried out with a conventional active power control strategy (shown in figure 1) of a virtual synchronous machine of a network-structured converter. During simulation, active power reference value P ref 5kW before 2s, P at 2s ref Sudden increase from 5kW to 10kW, P at 4s ref From 10kW to 5kW, the actual angular frequency omega of the power grid at 6s g The burst was reduced from 100 pi rad/s (50 Hz) to 99.8 pi rad/s (49.9 Hz). Virtual inertia J of 0.5kg/m 2 Rated angular frequency omega of power grid 0 100 pi rad/s, sag factor k ω 2000, the peak value of the grid phase voltage is 311V, and the virtual synchronous machine outputs a voltage peak value 311. The line resistance of the power grid is 0.2 omega, and the line inductance is 20mH.
Fig. 4 shows the result of comparative simulation of active power control of a conventional grid-built converter virtual synchronous machine and active power control of the grid-built converter virtual synchronous machine according to the present invention. During simulation, the virtual damping coefficient D of the conventional method is respectively 0 Ws/rad and 5Ws/rad. Omega is obtained by the method c At 8.5rad/s, k d 0.0003.
As can be seen from fig. 4, when the virtual damping coefficient D is 0, the active power output by the conventional virtual synchronous machine control strategy has obvious oscillation and overshoot. When the virtual damping coefficient D is increased to 5, the oscillation is obviously inhibited. However, as can be seen from fig. 4, the increase of the virtual damping coefficient also causes a significant increase in the steady-state deviation of the active power when the grid frequency deviates (after 6 s). Therefore, the conventional active power control strategy of the virtual synchronous machine cannot realize active power dynamic oscillation suppression and steady-state static difference elimination simultaneously by adjusting the virtual damping coefficient.
As can be seen from FIG. 4, the virtual damping coefficient D is 0 (i.e., the damping power P is ignored by the method of the present invention compared to the conventional method shown in FIG. 1) D Equivalent to the conventional method d=0 shown in fig. 1), the method provided by the invention not only suppresses the active power oscillation, but also approximates the steady-state deviation of the active power when the power grid frequency deviates (after 6 s)Zero (i.e. the active power of the proposed method is equal to the active power of the conventional method d=0). It can be seen that the method of the invention can be implemented by adjusting the cut-off frequency omega of the first-order hysteresis link introduced c And gain k d Meanwhile, active power dynamic oscillation suppression and steady-state static difference elimination are realized. This demonstrates the effectiveness of the proposed method.
Unlike the conventional method, the invention introduces the virtual synchronous machine output active power P based on the network-structured converter e The method corrects the active power P e The angle output by the virtual synchronous machine is corrected after a first-order hysteresis link, so that the power angle correction is realized, the transient damping of the system is increased, the active power oscillation and overshoot of the virtual synchronous machine can be restrained when the virtual damping is zero, the active power deviation caused by the deviation of the power grid frequency is eliminated, and the virtual synchronous machine has good dynamic characteristics and good steady-state characteristics.
Another aspect of the present invention provides an active power control system for a virtual synchronous machine of a grid-connected converter, including: a computer readable storage medium and a processor;
the computer-readable storage medium is for storing executable instructions;
the processor is configured to read executable instructions stored in the computer readable storage medium, and execute the active power control method of the network-structured converter virtual synchronous machine according to the first aspect.
In another aspect, the present invention provides a non-transitory computer readable storage medium, on which a computer program is stored, which when executed by a processor implements the active power control method of the grid-connected converter virtual synchronous machine according to the first aspect.
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.
Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.
Claims (8)
1. The active power control method of the virtual synchronous machine of the grid-structured converter is characterized by comprising the following steps of:
step 1, rated angular frequency of a set power gridThe angular frequency omega outputted by the virtual synchronous machine control strategy of the grid-structured converter is differenced and multiplied by a droop coefficient k ω Obtain a first power deviation->The method comprises the following steps:
wherein the rated angular frequency omega of the power grid 0 100 pi rad/s;
step 2, setting an active power reference value P of the virtual synchronous machine ref Deviation from the first power obtained in step 1Adding and subtracting the active power P output by the virtual synchronous machine e Obtaining a second power deviation->The method comprises the following steps:
step 3, the second power deviation obtained in the step 2According to the followingPerforming integral operation to obtain a first frequency deviationThe method comprises the following steps:
wherein s represents a Laplase operator, and J represents virtual inertia of the virtual synchronous machine;
step 4, the first frequency deviation obtained in the step 3With a set rated angular frequency omega of the power grid 0 Adding to obtain the angular frequency omega output by the virtual synchronous machine, wherein the angular frequency omega satisfies the following conditions:
step 5, performing integral operation on the angular frequency omega output by the virtual synchronous machine obtained in the step 4 to obtain a first angle theta output by the virtual synchronous machine 1 The method comprises the following steps:
step 6, outputting the first angle theta of the virtual synchronous machine obtained in the step 5 1 Subtracting based on active power P e The obtained correction angleObtaining a second angle theta output by the virtual synchronous machine 2 The method comprises the following steps:
step 7, outputting a second virtual synchronous machine according to the step 6Angle theta 2 And generating a voltage reference value based on the voltage amplitude E output by the virtual synchronous machine obtained by reactive power control of the virtual synchronous machine, performing voltage and current double closed-loop control of the virtual synchronous machine, and finally outputting a PWM signal to realize control of the virtual synchronous machine.
2. The method for controlling the active power of a virtual synchronous machine of a grid-connected converter as set forth in claim 1, wherein the active power P outputted from the virtual synchronous machine in step 2 e The calculation steps of (a) are as follows:
step 2-1, sampling abc three-phase grid-connected voltage u output by virtual synchronous machine a 、u b 、u c And transform it to restObtaining abc three-phase grid-connected voltage u on a coordinate system a 、u b 、u c At rest +.>Alpha component u in the coordinate system α And->Component->The method comprises the following steps:
step 2-2, sampling abc three-phase grid-connected current i output by virtual synchronous machine a 、i b 、i c And transform it to restObtaining abc three-phase grid-connected current i on a coordinate system a 、i b 、i c At rest +.>Alpha component i in coordinate system α And->Component->The method comprises the following steps:
step 2-3, the voltage alpha component u obtained according to step 2-1 α Andcomponent->The current alpha component i obtained in step 2-2 α And->Component->The active power P is calculated according to the following e The method comprises the following steps:
。
3. the method for controlling active power of a virtual synchronous machine of a grid-connected converter as set forth in claim 1, wherein the active power P is based in step 6 e The obtained correction angleThe calculation method of (1) satisfies the following conditions:
wherein omega c Cut-off frequency, k, of first order hysteresis d Is the gain of the first-order hysteresis link.
4. The utility model provides a net-structured converter virtual synchronous machine active power controlling means which characterized in that includes:
a first power deviation calculation module for setting rated angular frequency omega of the power grid 0 And the angular frequency omega outputted by the virtual synchronous machine is differenced and multiplied by a droop coefficient k ω Obtaining a first power deviationThe method comprises the following steps:
wherein the rated angular frequency omega of the power grid 0 100 pi rad/s;
a second power deviation calculation module for setting the virtual synchronous machine active power reference value P ref A first power deviation calculated by the first power deviation calculation moduleAdding and subtracting the active power P output by the virtual synchronous machine e Obtaining a second power deviation->The method comprises the following steps:
first frequency deviation calculation moduleFor calculating the second power deviation calculated by the second power deviation calculation module in the step 2Performing integral operation according to the following formula to obtain a first frequency deviation +.>The method comprises the following steps:
wherein s represents a Laplase operator, and J represents virtual inertia of the virtual synchronous machine;
the angular frequency acquisition module is used for calculating the first frequency deviation calculated by the first frequency deviation calculation moduleWith a set rated angular frequency omega of the power grid 0 Adding to obtain the angular frequency omega output by the virtual synchronous machine, wherein the angular frequency omega satisfies the following conditions:
the first angle calculation module is used for carrying out integral operation on the angular frequency omega of the virtual synchronous machine output obtained by the angular frequency acquisition module to obtain a first angle theta of the virtual synchronous machine output 1 The method comprises the following steps:
the second angle calculation module is used for outputting the first angle theta of the virtual synchronous machine obtained by the first angle calculation module 1 Subtracting based on active power P e The obtained correction angleObtainingTo a second angle theta of virtual synchronous machine output 2 The method comprises the following steps:
the virtual synchronous machine control module is used for calculating a second angle theta outputted by the virtual synchronous machine according to the second angle calculation module 2 And generating a voltage reference value based on the voltage amplitude E output by the virtual synchronous machine obtained by reactive power control of the virtual synchronous machine, performing voltage and current double closed-loop control of the virtual synchronous machine, and finally outputting a PWM signal to realize control of the virtual synchronous machine.
5. The active power control device of the virtual synchronous machine of the network-structured converter of claim 4, wherein the active power control device comprises: active power P output by the virtual synchronous machine e The calculation steps of (a) are as follows:
step 2-1, sampling abc three-phase grid-connected voltage u output by virtual synchronous machine a 、u b 、u c And transform it to restObtaining abc three-phase grid-connected voltage u on a coordinate system a 、u b 、u c At rest +.>Alpha component u in the coordinate system α And->Component->The method comprises the following steps:
step 2-2, sampling virtual synchronizationAbc three-phase grid-connected current i output by machine a 、i b 、i c And transform it to restObtaining abc three-phase grid-connected current i on a coordinate system a 、i b 、i c At rest +.>Alpha component i in coordinate system α And->Component->The method comprises the following steps:
step 2-3, the voltage alpha component u obtained according to step 2-1 α Andcomponent->The current alpha component i obtained in step 2-2 α And->Component->The active power P is calculated according to the following e The method comprises the following steps:
。
6. a structure according to claim 4The active power control device of the virtual synchronous machine of the network type converter is characterized in that: the second angle calculation module is based on active power P e The obtained correction angleThe calculation method of (1) satisfies the following conditions:
wherein omega c Cut-off frequency, k, of first order hysteresis d Is the gain of the first-order hysteresis link.
7. An active power control system of a virtual synchronous machine of a network-structured converter, comprising: a computer readable storage medium and a processor;
the computer-readable storage medium is for storing executable instructions;
the processor is configured to read executable instructions stored in the computer readable storage medium and execute the active power control method of the grid-connected converter virtual synchronous machine of any one of claims 1-3.
8. A non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of active power control of a networked converter virtual synchronous machine of any of claims 1-3.
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