CN117791648A - Virtual synchronous machine response adjusting method, device, equipment and medium - Google Patents
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Abstract
The application discloses a response adjusting method, device, equipment and medium of a virtual synchronous machine, and relates to the technical field of energy storage inverter control. The scheme generates a dynamic adjustment gain based on a power error value by calculating the power error value of active power; when the power is adjusted, the dynamic adjustment gain after the power grid strength is reduced is larger than the dynamic adjustment gain before the power grid strength is reduced. The reason why the response speed of the virtual synchronous machine becomes slow when the strength of the power grid becomes weak is that: when the power changes to the same degree, the attack angle change rate of the virtual synchronous machine under the strong current network is far smaller than that under the weak current network; and because the attack angle is related to the initial increment angular frequency output by the virtual synchronous machine, the target initial increment angular frequency obtained by the scheme based on the initial increment angular frequency and the dynamic adjustment gain larger than the gain under the strong power grid can be larger than the initial increment angular frequency, the response speed of the virtual synchronous machine under the weak power grid is accelerated, the power grid strength is not required to be detected, and the resource expense is saved.
Description
Technical Field
The application relates to the technical field of energy storage inverter control, in particular to a method, a device, equipment and a medium for response adjustment of a virtual synchronous machine.
Background
Virtual synchro machines (Virtual Synchronous Machine, VSMs) are a control strategy that can coordinate the coordinated operation of multiple distributed energy resources (Distributed Energy Resources, deres) that can enable power control and power interaction to a micro-grid based on power electronics.
In the existing virtual synchronous machine control scheme, after parameter design is completed according to the current power grid strength, the output characteristics of the virtual synchronous machine cannot be changed. As the strength of the power grid is weakened, the stability of the virtual synchronous machine is enhanced, but the response speed is slow, and even the stability of the system operation is affected when the response speed is severe.
In view of the above-mentioned problems, how to solve the problem that the response speed change of the virtual synchronous machine caused by the power grid strength change affects the stability of the system is a problem to be solved by those skilled in the art.
Disclosure of Invention
The purpose of the application is to provide a response adjustment method for a virtual synchronous machine, so as to solve the problem that the response speed change of the virtual synchronous machine caused by the strength change of a power grid affects the stability of a system.
In order to solve the above technical problems, the present application provides a response adjustment method for a virtual synchronous machine, including:
acquiring a set reference value and an actual feedback value of active power of a power grid, and acquiring an initial increment angular frequency output by an active regulator of a virtual synchronous machine;
determining a power error value of the active power according to the set reference value and the actual feedback value;
generating a dynamic adjustment gain based on the power error value; when the power is regulated, the dynamic regulation gain after the power grid strength is reduced is larger than the dynamic regulation gain before the power grid strength is reduced;
and multiplying the initial increment angular frequency by the dynamic adjustment gain to obtain a target increment angular frequency, so as to adjust the power response of the virtual synchronous machine based on the target increment angular frequency.
In one aspect, obtaining the actual feedback value of the grid active power includes:
acquiring a current value of a three-phase output inductor and a voltage value of a three-phase filter capacitor;
acquiring the actual feedback value according to the current value and the voltage value;
correspondingly, the determining the power error value of the active power according to the set reference value and the actual feedback value comprises:
and obtaining a difference value between the set reference value and the actual feedback value to determine the power error value of the active power.
In another aspect, the generating a dynamic adjustment gain based on the power error value includes:
performing differential operation on the power error value to obtain a differential operation output result of the power error value;
filtering high-frequency noise in the differential operation output result;
solving the absolute value of the differential operation output result after filtering high-frequency noise;
and carrying out direct current unit gain bias on the absolute value to generate the dynamic adjustment gain.
In another aspect, the differentiating the power error value includes:
performing differential operation on the power error value based on a high-pass filter;
and obtaining the product of the differential gain and the power error value after differential operation to obtain the differential operation output result.
On the other hand, the filtering high-frequency noise in the differential operation output result includes:
and filtering high-frequency noise in the differential operation output result by using a low-pass filter, or filtering high-frequency noise in the differential operation output result by using a moving average filter.
On the other hand, when the high-frequency noise in the differential operation output result is filtered out by the low-pass filter, the expression of dynamically adjusting the gain includes:
K f ＝|ΔP*LPF*K*s|+1；
wherein K is f For dynamic gain adjustment, Δp is the power error value, K is the differential gain, s is the laplace operator, and 1 is the dc unity gain bias.
On the other hand, before the set reference value and the actual feedback value of the active power of the power grid are obtained, the method further comprises the following steps:
when the power grid strength is greater than a threshold value, configuring each control parameter of the virtual synchronous machine active regulator;
wherein the control parameters include virtual inertia, virtual damping, and reference frequency.
In order to solve the above technical problem, the present application further provides a response adjusting device for a virtual synchronous machine, including:
the acquisition module is used for acquiring a set reference value and an actual feedback value of the active power of the power grid and acquiring initial increment angular frequency output by the active regulator of the virtual synchronous machine;
the determining module is used for determining a power error value of the active power according to the set reference value and the actual feedback value;
a generation module for generating a dynamic adjustment gain based on the power error value; when the power is regulated, the dynamic regulation gain after the power grid strength is reduced is larger than the dynamic regulation gain before the power grid strength is reduced;
and the adjusting module is used for multiplying the initial increment angular frequency with the dynamic adjustment gain to obtain a target increment angular frequency so as to adjust the power response of the virtual synchronous machine based on the target increment angular frequency.
In order to solve the above technical problem, the present application further provides a response adjustment device for a virtual synchronous machine, including:
a memory for storing a computer program;
and the processor is used for realizing the steps of the response adjusting method of the virtual synchronous machine when executing the computer program.
In order to solve the above technical problem, the present application further provides a computer readable storage medium, where a computer program is stored on the computer readable storage medium, and the steps of the virtual synchronous machine response adjustment method are implemented when the computer program is executed by a processor.
According to the virtual synchronous machine response adjusting method, the set reference value and the actual feedback value of the active power of the power grid are obtained, and the initial increment angular frequency output by the active regulator of the virtual synchronous machine is obtained; determining a power error value of the active power according to the set reference value and the actual feedback value; generating a dynamic adjustment gain based on the power error value; when the power is regulated, the dynamic regulation gain after the power grid strength is reduced is larger than the dynamic regulation gain before the power grid strength is reduced; the initial increment angular frequency is multiplied by the dynamic adjustment gain to obtain a target increment angular frequency, so that the power response of the virtual synchronous machine is adjusted based on the target increment angular frequency. It can be known that the above scheme generates the dynamic adjustment gain based on the power error value by calculating the power error value of the active power; when the power is regulated, the dynamic regulation gain after the power grid strength is reduced is larger than the dynamic regulation gain before the power grid strength is reduced; the reason why the response speed of the virtual synchronous machine becomes slow when the strength of the power grid becomes weak is that: when the power changes to the same degree, the attack angle change rate of the virtual synchronous machine under the strong current network is far smaller than that under the weak current network; because the attack angle is related to the initial increment angular frequency output by the virtual synchronous machine, the target initial increment angular frequency obtained based on the initial increment angular frequency and the dynamic adjustment gain which is larger than the gain under the strong power grid can be larger than the initial increment angular frequency, so that the response speed of the virtual synchronous machine under the weak power grid can be effectively accelerated. The whole process does not need to detect the power grid strength, and resource expenditure is saved.
In addition, the application also provides a response adjusting device, equipment and medium of the virtual synchronous machine, and the effects are the same as above.
Drawings
For a clearer description of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described, it being apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a response adjustment method of a virtual synchronous machine provided in an embodiment of the present application;
fig. 2 is a schematic diagram of an active regulator of a virtual synchronous machine according to an embodiment of the present application;
fig. 3 is a schematic diagram of a power grid strength adaptive regulator according to an embodiment of the present application;
fig. 4 is a schematic diagram of a virtual synchronous machine active regulator provided with a grid strength adaptive regulator according to an embodiment of the present application;
fig. 5 is a schematic diagram of a response adjustment device of a virtual synchronous machine provided in an embodiment of the present application;
fig. 6 is a schematic diagram of a response adjustment device of a virtual synchronous machine according to an embodiment of the present application.
Detailed Description
The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments herein without making any inventive effort are intended to fall within the scope of the present application.
The core of the application is to provide a method, a device, equipment and a medium for regulating response of a virtual synchronous machine, so as to solve the problem that the stability of a system is affected by the response speed change of the virtual synchronous machine caused by the strength change of a power grid.
In order to provide a better understanding of the present application, those skilled in the art will now make further details of the present application with reference to the drawings and detailed description.
The virtual synchronous machine is a control strategy capable of coordinating the coordinated operation of a plurality of distributed energy resources, and can realize power control and electric energy interaction of a micro-grid based on power electronic equipment. In the existing virtual synchronous machine control scheme, after parameter design is completed according to the current power grid strength, the output characteristics of the virtual synchronous machine cannot be changed. Once the power grid strength changes, the output characteristics of the virtual synchronous machine tend to change, so that the response speed is slow, and the running stability of the virtual synchronous machine is even affected when the response speed is severe. Some control schemes have improved on this: the power grid strength is continuously detected, a plurality of groups of control parameters are set in advance, and the control parameters are switched according to the range of the power grid strength. However, the scheme needs to detect the power grid strength in real time, and has high requirements on detection precision, so that the resource overhead is seriously increased; and once the detection result fluctuates near a certain parameter switching critical point, the control parameter can jump back and forth, and the stability of the system is affected. In view of the above problems, the application provides a response adjustment method for a virtual synchronous machine, which aims to solve the problem that the response speed of the virtual synchronous machine is changed due to the change of the power grid strength, and the stability of a system is affected.
Fig. 1 is a flowchart of a response adjustment method of a virtual synchronous machine according to an embodiment of the present application. As shown in fig. 1, the method includes:
s10: and acquiring a set reference value and an actual feedback value of the active power of the power grid, and acquiring the initial increment angular frequency output by the active regulator of the virtual synchronous machine.
Specifically, a set reference value and an actual feedback value of active power of a power grid are obtained through an inverter, and initial increment angular frequency output by an active regulator of a virtual synchronous machine is obtained. It can be understood that the set reference value of the active power is a set value and can be directly obtained. The actual feedback value of the active power of the power grid is an instantaneous value and can be calculated according to the operation parameters of the power grid. In this embodiment, the method for obtaining the actual feedback value of the active power of the power grid is not limited, and depends on the specific implementation situation.
Fig. 2 is a schematic diagram of an active regulator of a virtual synchronous machine according to an embodiment of the present application. As shown in fig. 2, the virtual synchronous machine active regulator includes three control parameters, namely virtual inertia J and virtual damping k d And reference frequency omega n . Typically, when these three parameters are designed, the virtual synchrony machine can output the corresponding initial incremental angular frequency Δω.
S11: and determining a power error value of the active power according to the set reference value and the actual feedback value.
And further determining a power error value of the active power according to the set reference value and the actual feedback value, and specifically, performing difference between the set reference value and the actual feedback value to obtain the power error value of the active power.
S12: a dynamically adjusted gain is generated based on the power error value.
When the power is adjusted, the dynamic adjustment gain after the power grid strength is reduced is larger than the dynamic adjustment gain before the power grid strength is reduced.
S13: the initial increment angular frequency is multiplied by the dynamic adjustment gain to obtain a target increment angular frequency, so that the power response of the virtual synchronous machine is adjusted based on the target increment angular frequency.
As can be seen from FIG. 2, when the virtual inertia J and the virtual damping k in the virtual synchronous machine active regulator d And reference frequency omega n After the three parameters are designed, the corresponding initial incremental angular frequency delta omega can be output. In this case, once the intensity of the power grid changes, the output characteristics of the virtual synchronous machine change: as the grid strength becomes weaker, the stability of the virtual synchronous machine will increase, while the response speed will slow down. The reason for the slow response is: based on the same degree of power change, the change rate of the attack angle delta of the virtual synchronous machine under the strong current network is far smaller than that under the weak current network; the attack angle delta can be obtained by integral operation on the initial increment angular frequency delta omega output by the virtual synchronous machine, namely:
where δ is the angle of attack, Δω is the initial incremental angular frequency, and s is the laplace operator.
It can be seen that, in order to improve the response speed of the virtual synchronous machine under the weak current network, only the initial increment angular frequency delta omega of the output of the virtual synchronous machine needs to be increased.
Therefore, in order to increase the initial increment angular frequency delta omega of the virtual synchronous machine output, the response speed of the virtual synchronous machine under the weak current network is improved, and after the power error value of the active power is obtained, the dynamic adjustment gain is generated based on the power error value. It should be noted that when adjusting power, the dynamic adjustment gain after the power grid strength is reduced is greater than the dynamic adjustment gain before the power grid strength is reduced, i.e. the dynamic adjustment gain when adjusting power under a weak current network is greater than the gain under a strong current network. The initial delta angular frequency is multiplied by the dynamic adjustment gain to obtain a target delta angular frequency delta omega'. Since the dynamic adjustment gain is greater under weak current networks than under strong current networks, the target delta angular frequency Δω' must be greater than the initial delta angular frequency Δω. The power response of the virtual synchronous machine is regulated based on the target increment angular frequency delta omega', so that the response speed of the virtual synchronous machine under a weak power grid can be accelerated.
It should be noted that, in this embodiment, the specific generation process of the dynamically adjusted gain is not limited, and depends on the specific implementation.
In the embodiment, the initial increment angular frequency output by the active regulator of the virtual synchronous machine is obtained by obtaining a set reference value and an actual feedback value of the active power of the power grid; determining a power error value of the active power according to the set reference value and the actual feedback value; generating a dynamic adjustment gain based on the power error value; when the power is regulated, the dynamic regulation gain after the power grid strength is reduced is larger than the dynamic regulation gain before the power grid strength is reduced; the initial increment angular frequency is multiplied by the dynamic adjustment gain to obtain a target increment angular frequency, so that the power response of the virtual synchronous machine is adjusted based on the target increment angular frequency. It can be known that the above scheme generates the dynamic adjustment gain based on the power error value by calculating the power error value of the active power; when the power is adjusted, the dynamic adjustment gain after the power grid strength is reduced is larger than the dynamic adjustment gain before the power grid strength is reduced. The reason why the response speed of the virtual synchronous machine becomes slow when the strength of the power grid becomes weak is that: when the power changes to the same degree, the attack angle change rate of the virtual synchronous machine under the strong current network is far smaller than that under the weak current network; because the attack angle is related to the initial increment angular frequency output by the virtual synchronous machine, the target initial increment angular frequency obtained based on the initial increment angular frequency and the dynamic adjustment gain which is larger than the gain under the strong power grid can be larger than the initial increment angular frequency, so that the response speed of the virtual synchronous machine under the weak power grid can be effectively accelerated. The whole process does not need to detect the power grid strength, and resource expenditure is saved.
Based on the above embodiments, in some embodiments, obtaining an actual feedback value of the active power of the power grid includes:
s101: and acquiring the current value of the three-phase output inductor and the voltage value of the three-phase filter capacitor.
S102: and acquiring an actual feedback value according to the current value and the voltage value.
Correspondingly, determining the power error value of the active power according to the set reference value and the actual feedback value comprises:
s103: and obtaining a difference value between the set reference value and the actual feedback value to determine a power error value of the active power.
In order to obtain an actual feedback value of the active power of the power grid, in the implementation, a current value of a three-phase output inductor and a voltage value of a three-phase filter capacitor in the power grid can be obtained, the actual feedback value of the active power of the power grid is obtained based on a power calculation formula and by using the obtained current value and voltage value, and then a difference value between a set reference value and the actual feedback value is obtained, so that a power error value of the active power is determined, and generation of a subsequent dynamic adjustment gain is facilitated.
Based on the above embodiments, in some embodiments, generating the dynamic adjustment gain based on the power error value includes:
s121: and performing differential operation on the power error value to obtain a differential operation output result of the power error value.
S122: and filtering high-frequency noise in the differential operation output result.
S123: and obtaining the absolute value of the differential operation output result after filtering the high-frequency noise.
S124: the absolute value is dc unity gain biased to generate a dynamically adjusted gain.
Fig. 3 is a schematic diagram of a power grid strength adaptive regulator according to an embodiment of the present application. As shown in fig. 3, the dynamic adjustment gain is generated by the grid strength adaptive regulator. The power grid intensity self-adaptive regulator consists of four parts, namely a differential operation part, a low-pass filtering part, an absolute value solving part and a direct current unit gain biasing part.
Specifically, the power error value is first subjected to differential operation by the differential operation section to obtain a differential operation output result of the power error value. The purpose of the differential operation is to ensure dynamic adjustment of the gain K during steady state operation f The value of (2) is 1. It should be noted that, in this embodiment, the specific process of differentiating the power error value is not limited, and depends on the specific implementation.
And the low-pass filtering part is used for filtering high-frequency noise in the differential operation output result. It can be understood that after the differential operation is performed on the power error value, high-frequency noise mixed in the signal is filtered, so that the influence of noise on the output result can be effectively prevented. The specific manner of filtering the high-frequency noise in the present embodiment is not limited, and depends on the specific implementation.
After filtering out high-frequency noise in the differential operation output result, the absolute value of the differential operation output result after filtering out the high-frequency noise is obtained by the absolute value obtaining part. The purpose is to prevent the power error from causing dynamic adjustment of gain K during positive-negative conversion f Less than 1, effecting subsequent adjustments to the initial incremental angular frequency Δω.
Finally, the direct-current unit gain bias part is utilized to carry out direct-current unit gain bias on the absolute value, thereby ensuring the dynamic adjustment gain K of the system f Will not be less than 1 during transient operation and will ensure 1 during steady operation, resulting in a dynamic adjustment gain K f 。
In this embodiment, the dynamically adjusted gain K is generated by the grid strength adaptive regulator f Can ensure the dynamic adjustment of the gain K in steady-state operation f 1, the gain K is dynamically adjusted when the active power changes f And when the power is larger than 1, the power is only used when the power is changed, so that the stability in steady-state operation is ensured.
Based on the above embodiments, in some embodiments, differentiating the power error value includes:
s200: the power error value is differentiated based on a high pass filter.
S201: and obtaining the product of the differential gain and the power error value after differential operation to obtain the differential operation output result.
In practice, the differentiation operation may be replaced by a high pass filter, since the ideal differentiation is not realized in reality. The expression of the high-pass filter is:
wherein omega HPF Is the cut-off frequency of the high pass filter HPF, s is the laplace operator. It will be appreciated that the cut-off frequency ω of the high pass filter HPF HPF Can be selected according to the specific situation, and is not limited in this embodiment. The laplace operator s is the power error value after differential operation.
It should be noted that, after the power error value is differentiated by the high-pass filter, the product of the differential gain K and the differentiated power error value needs to be obtained to obtain the differential operation output result, i.e., k×s.
In addition, in the process of filtering high-frequency noise in the differential operation output result, a low-pass filter can be specifically used for filtering high-frequency noise in the differential operation output result, or a moving average filter can be used for filtering high-frequency noise in the differential operation output result. Note that when the high-frequency noise in the differential operation output result is filtered out by the low-pass filter, the form and cut-off frequency of the low-pass filter may be set according to the specific situation, and no limitation is made in the present embodiment.
On the basis of the above embodiment, when filtering out high frequency noise in the differential operation output result using a low pass filter, the expression for dynamically adjusting the gain includes:
K f ＝|ΔP*LPF*K*s|+1；
wherein K is f To dynamically adjust gain, ΔP is the power error value and K isDifferential gain, s is the Laplacian, and 1 is the DC unity gain bias.
It can be appreciated that the gain K is dynamically adjusted as described above f In the generation process of (2), a low pass filter LPF is utilized to filter high frequency noise in the differential operation output result. When the power grid is in steady state operation, the high-pass filtering part in the formula is 0, the absolute value part is 0, and the dynamic adjustment gain K is obtained f 1 is shown in the specification; when the active power of the power grid changes, the high-pass filtering part in the formula is not 0, so that the absolute value part is not 0, and the gain K is dynamically adjusted f Greater than 1, i.e. the structure dynamically adjusts the gain K only when power is changed f Can only work, and ensures the stability of the power grid in steady-state operation.
Fig. 4 is a schematic diagram of a virtual synchronous machine active regulator provided with a grid strength adaptive regulator according to an embodiment of the present application. As can be seen from the foregoing embodiments, the present scheme utilizes the characteristic that the response speed of the virtual synchronous machine can be improved only by increasing the initial increment angular frequency Δω of the virtual synchronous machine output under the weak current network condition, and in the transient process of power adjustment, the initial increment angular frequency Δω of the virtual synchronous machine output is multiplied by the dynamic adjustment gain K greater than 1 f The response speed of the virtual synchronous machine under the weak power network is accelerated; after the transient process is finished, the dynamic adjustment gain is restored to 1, so that the steady state is not affected. Therefore, in order to ensure implementation of the present solution, on the basis of the above embodiment, in a specific implementation, before acquiring the set reference value and the actual feedback value of the active power of the power grid, as shown in fig. 4, the method further includes:
s14: when the power grid strength is greater than a threshold value, configuring each control parameter of the virtual synchronous machine active regulator;
wherein the control parameters include virtual inertia, virtual damping, and reference frequency.
It can be understood that the power grid strength is greater than the threshold value, that is, the power grid reaches the strong power grid standard and is under the strong power grid. The threshold value is not limited in this embodiment, and depends on the specific implementation. When in a strong grid, virtual synchronization is requiredAnd each control parameter of the active regulator of the machine is configured, so that the running stability of the virtual synchronous machine under a strong power grid is ensured. The control parameter is virtual inertia J and virtual damping k d And reference frequency omega n Three parameters. The differential gain K and the cut-off frequency of the low-pass filter in the power grid strength self-adaptive regulator can be further adjusted according to the actual working condition, so that the response speed of the virtual synchronous machine under the weak power grid can be adjusted.
In the above embodiments, the details of the method for adjusting the response of the virtual synchronous machine are described, and the application further provides a corresponding embodiment of the device for adjusting the response of the virtual synchronous machine.
Fig. 5 is a schematic diagram of a response adjusting device of a virtual synchronous machine provided in an embodiment of the present application. As shown in fig. 5, the apparatus includes:
the obtaining module 10 is configured to obtain a set reference value and an actual feedback value of active power of the power grid, and obtain an initial incremental angular frequency output by the active regulator of the virtual synchronous machine.
The determining module 11 is configured to determine a power error value of the active power according to the set reference value and the actual feedback value.
A generation module 12 for generating a dynamic adjustment gain based on the power error value; when the power is adjusted, the dynamic adjustment gain after the power grid strength is reduced is larger than the dynamic adjustment gain before the power grid strength is reduced.
The adjusting module 13 is configured to multiply the initial increment angular frequency with a dynamic adjustment gain to obtain a target increment angular frequency, so as to adjust the power response of the virtual synchronous machine based on the target increment angular frequency.
In some embodiments, the acquisition module 10 includes:
the first acquisition submodule is used for acquiring the current value of the three-phase output inductor and the voltage value of the three-phase filter capacitor.
And the second acquisition sub-module is used for acquiring an actual feedback value according to the current value and the voltage value.
Correspondingly, the determining module 11 includes:
and the third acquisition sub-module is used for acquiring the difference value between the set reference value and the actual feedback value so as to determine the power error value of the active power.
In some embodiments, the generation module 12 includes:
and the differential operation module is used for carrying out differential operation on the power error value so as to obtain a differential operation output result of the power error value.
And the noise filtering module is used for filtering high-frequency noise in the differential operation output result.
The absolute value obtaining module is used for obtaining the absolute value of the differential operation output result after the high-frequency noise is filtered.
And the direct current unit gain bias module is used for carrying out direct current unit gain bias on the absolute value so as to generate dynamic adjustment gain.
In some embodiments, the differential operation module comprises:
and the high-pass filtering module is used for performing differential operation on the power error value based on the high-pass filter.
And the differential operation output result acquisition module is used for obtaining the product of the differential gain and the power error value after differential operation so as to obtain a differential operation output result.
In some embodiments, the noise filtering module is specifically configured to filter high frequency noise in the differential operation output result by using a low-pass filter, or filter high frequency noise in the differential operation output result by using a moving average filter.
In some embodiments, when filtering high frequency noise in the differential operation output result using a low pass filter, dynamically adjusting the expression of the gain includes:
K f ＝|ΔP*LPF*K*s|+1；
wherein K is f For dynamic gain adjustment, Δp is the power error value, K is the differential gain, s is the laplace operator, and 1 is the dc unity gain bias.
In some embodiments, further comprising:
and the configuration module is used for configuring each control parameter of the virtual synchronous machine active regulator when the power grid strength is greater than the threshold value.
Wherein the control parameters include virtual inertia, virtual damping, and reference frequency.
In this embodiment, the virtual synchronous machine response adjusting device includes an obtaining module, a determining module, a generating module and an adjusting module. The virtual synchronous machine response adjusting device can realize all the steps of the virtual synchronous machine response adjusting method when in operation. Acquiring a set reference value and an actual feedback value of active power of a power grid, and acquiring an initial increment angular frequency output by an active regulator of a virtual synchronous machine; determining a power error value of the active power according to the set reference value and the actual feedback value; generating a dynamic adjustment gain based on the power error value; when the power is regulated, the dynamic regulation gain after the power grid strength is reduced is larger than the dynamic regulation gain before the power grid strength is reduced; the initial increment angular frequency is multiplied by the dynamic adjustment gain to obtain a target increment angular frequency, so that the power response of the virtual synchronous machine is adjusted based on the target increment angular frequency. The reason why the response speed of the virtual synchronous machine becomes slow when the strength of the power grid becomes weak is that: when the power changes to the same degree, the attack angle change rate of the virtual synchronous machine under the strong current network is far smaller than that under the weak current network; because the attack angle is related to the initial increment angular frequency output by the virtual synchronous machine, the target initial increment angular frequency obtained based on the initial increment angular frequency and the dynamic adjustment gain which is larger than the gain under the strong power grid can be larger than the initial increment angular frequency, so that the response speed of the virtual synchronous machine under the weak power grid can be effectively accelerated. The whole process does not need to detect the power grid strength, and resource expenditure is saved.
Fig. 6 is a schematic diagram of a response adjustment device of a virtual synchronous machine according to an embodiment of the present application. As shown in fig. 6, the virtual synchronous machine response adjustment apparatus includes:
a memory 20 for storing a computer program.
A processor 21 for implementing the steps of the virtual synchronous machine response adjustment method as mentioned in the above embodiments when executing a computer program.
The virtual synchronous machine response adjustment device provided in the embodiment may include, but is not limited to, a smart phone, a tablet computer, a notebook computer, a desktop computer, or the like.
Processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 may be implemented in hardware in at least one of a digital signal processor (Digital Signal Processor, DSP), a Field programmable gate array (Field-Programmable Gate Array, FPGA), a programmable logic array (Programmable Logic Array, PLA). The processor 21 may also comprise a main processor, which is a processor for processing data in an awake state, also called central processor (Central Processing Unit, CPU), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 21 may be integrated with a graphics processor (Graphics Processing Unit, GPU) for use in connection with rendering and rendering of content to be displayed by the display screen. In some embodiments, the processor 21 may also include an artificial intelligence (Artificial Intelligence, AI) processor for processing computing operations related to machine learning.
Memory 20 may include one or more computer-readable storage media, which may be non-transitory. Memory 20 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used for storing a computer program 201, where the computer program, when loaded and executed by the processor 21, can implement the relevant steps of the virtual synchronous machine response adjustment method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may further include an operating system 202, data 203, and the like, where the storage manner may be transient storage or permanent storage. The operating system 202 may include Windows, unix, linux, among others. The data 203 may include, but is not limited to, data related to a virtual synchronous machine response adjustment method.
In some embodiments, the virtual synchronous machine response adjustment device may further comprise a display 22, an input-output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.
Those skilled in the art will appreciate that the structure shown in fig. 6 does not constitute a limitation of the virtual synchrony machine response adjustment device, and may include more or fewer components than shown.
In this embodiment, the virtual synchronous machine response adjustment device includes a memory and a processor. The memory is used for storing a computer program. The processor is adapted to implement the steps of the virtual synchronous machine response adjustment method as mentioned in the above embodiments when executing the computer program. Acquiring a set reference value and an actual feedback value of active power of a power grid, and acquiring an initial increment angular frequency output by an active regulator of a virtual synchronous machine; determining a power error value of the active power according to the set reference value and the actual feedback value; generating a dynamic adjustment gain based on the power error value; when the power is regulated, the dynamic regulation gain after the power grid strength is reduced is larger than the dynamic regulation gain before the power grid strength is reduced; the initial increment angular frequency is multiplied by the dynamic adjustment gain to obtain a target increment angular frequency, so that the power response of the virtual synchronous machine is adjusted based on the target increment angular frequency. The reason why the response speed of the virtual synchronous machine becomes slow when the strength of the power grid becomes weak is that: when the power changes to the same degree, the attack angle change rate of the virtual synchronous machine under the strong current network is far smaller than that under the weak current network; because the attack angle is related to the initial increment angular frequency output by the virtual synchronous machine, the target initial increment angular frequency obtained based on the initial increment angular frequency and the dynamic adjustment gain which is larger than the gain under the strong power grid can be larger than the initial increment angular frequency, so that the response speed of the virtual synchronous machine under the weak power grid can be effectively accelerated. The whole process does not need to detect the power grid strength, and resource expenditure is saved.
Finally, the present application also provides a corresponding embodiment of the computer readable storage medium. The computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps as described in the method embodiments above.
It will be appreciated that the methods of the above embodiments, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored on a computer readable storage medium. With such understanding, the technical solution of the present application, or a part contributing to the prior art or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium, performing all or part of the steps of the method described in the various embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In this embodiment, a computer program is stored on a computer readable storage medium, and when the computer program is executed by a processor, the steps described in the above method embodiments are implemented. Acquiring a set reference value and an actual feedback value of active power of a power grid, and acquiring an initial increment angular frequency output by an active regulator of a virtual synchronous machine; determining a power error value of the active power according to the set reference value and the actual feedback value; generating a dynamic adjustment gain based on the power error value; when the power is regulated, the dynamic regulation gain after the power grid strength is reduced is larger than the dynamic regulation gain before the power grid strength is reduced; the initial increment angular frequency is multiplied by the dynamic adjustment gain to obtain a target increment angular frequency, so that the power response of the virtual synchronous machine is adjusted based on the target increment angular frequency. The reason why the response speed of the virtual synchronous machine becomes slow when the strength of the power grid becomes weak is that: when the power changes to the same degree, the attack angle change rate of the virtual synchronous machine under the strong current network is far smaller than that under the weak current network; because the attack angle is related to the initial increment angular frequency output by the virtual synchronous machine, the target initial increment angular frequency obtained based on the initial increment angular frequency and the dynamic adjustment gain which is larger than the gain under the strong power grid can be larger than the initial increment angular frequency, so that the response speed of the virtual synchronous machine under the weak power grid can be effectively accelerated. The whole process does not need to detect the power grid strength, and resource expenditure is saved.
The method, the device, the equipment and the medium for adjusting the response of the virtual synchronous machine are described in detail. In the description, each embodiment is described in a progressive manner, and each embodiment is mainly described by the differences from other embodiments, so that the same similar parts among the embodiments are mutually referred. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section. It should be noted that it would be obvious to those skilled in the art that various improvements and modifications can be made to the present application without departing from the principles of the present application, and such improvements and modifications fall within the scope of the claims of the present application.
It should also be noted that in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A method for adjusting response of a virtual synchronous machine, comprising:
acquiring a set reference value and an actual feedback value of active power of a power grid, and acquiring an initial increment angular frequency output by an active regulator of a virtual synchronous machine;
determining a power error value of the active power according to the set reference value and the actual feedback value;
generating a dynamic adjustment gain based on the power error value; when the power is regulated, the dynamic regulation gain after the power grid strength is reduced is larger than the dynamic regulation gain before the power grid strength is reduced;
and multiplying the initial increment angular frequency by the dynamic adjustment gain to obtain a target increment angular frequency, so as to adjust the power response of the virtual synchronous machine based on the target increment angular frequency.
2. The virtual synchronous machine response adjustment method of claim 1, wherein obtaining the actual feedback value of the grid active power comprises:
acquiring a current value of a three-phase output inductor and a voltage value of a three-phase filter capacitor;
acquiring the actual feedback value according to the current value and the voltage value;
correspondingly, the determining the power error value of the active power according to the set reference value and the actual feedback value comprises:
and obtaining a difference value between the set reference value and the actual feedback value to determine the power error value of the active power.
3. The virtual synchronous machine response adjustment method of claim 1, wherein the generating a dynamic adjustment gain based on the power error value comprises:
performing differential operation on the power error value to obtain a differential operation output result of the power error value;
filtering high-frequency noise in the differential operation output result;
solving the absolute value of the differential operation output result after filtering high-frequency noise;
and carrying out direct current unit gain bias on the absolute value to generate the dynamic adjustment gain.
4. A virtual synchronous machine response adjustment method as recited in claim 3, wherein differentiating the power error value comprises:
performing differential operation on the power error value based on a high-pass filter;
and obtaining the product of the differential gain and the power error value after differential operation to obtain the differential operation output result.
5. A method of adjusting a response of a virtual synchronous machine according to claim 3, wherein filtering out high frequency noise in the differential operation output result comprises:
and filtering high-frequency noise in the differential operation output result by using a low-pass filter, or filtering high-frequency noise in the differential operation output result by using a moving average filter.
6. The method according to claim 5, wherein when the low-pass filter is used to filter out high-frequency noise in the differential operation output result, the expression for dynamically adjusting gain includes:
K f ＝|ΔP*LPF*K*s|+1；
wherein K is f For dynamic gain adjustment, Δp is the power error value, K is the differential gain, s is the laplace operator, and 1 is the dc unity gain bias.
7. The method for adjusting the response of a virtual synchronous machine according to any one of claims 1 to 6, further comprising, before the acquiring the set reference value and the actual feedback value of the active power of the power grid:
when the power grid strength is greater than a threshold value, configuring each control parameter of the virtual synchronous machine active regulator;
wherein the control parameters include virtual inertia, virtual damping, and reference frequency.
8. A virtual synchronous machine response adjustment device, comprising:
the acquisition module is used for acquiring a set reference value and an actual feedback value of the active power of the power grid and acquiring initial increment angular frequency output by the active regulator of the virtual synchronous machine;
the determining module is used for determining a power error value of the active power according to the set reference value and the actual feedback value;
a generation module for generating a dynamic adjustment gain based on the power error value; when the power is regulated, the dynamic regulation gain after the power grid strength is reduced is larger than the dynamic regulation gain before the power grid strength is reduced;
and the adjusting module is used for multiplying the initial increment angular frequency with the dynamic adjustment gain to obtain a target increment angular frequency so as to adjust the power response of the virtual synchronous machine based on the target increment angular frequency.
9. A virtual synchronous machine response adjustment device, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the virtual synchronous machine response adjustment method according to any one of claims 1 to 7 when executing the computer program.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the virtual synchronous machine response adjustment method according to any of claims 1 to 7.
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