WO2024060683A1 - 储能换流器控制系统稳定性验证方法 - Google Patents
储能换流器控制系统稳定性验证方法 Download PDFInfo
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- WO2024060683A1 WO2024060683A1 PCT/CN2023/098558 CN2023098558W WO2024060683A1 WO 2024060683 A1 WO2024060683 A1 WO 2024060683A1 CN 2023098558 W CN2023098558 W CN 2023098558W WO 2024060683 A1 WO2024060683 A1 WO 2024060683A1
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- energy storage
- current
- reactive
- droop
- converter
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- 238000004146 energy storage Methods 0.000 title claims abstract description 138
- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000012795 verification Methods 0.000 title claims abstract description 15
- 230000014509 gene expression Effects 0.000 claims abstract description 38
- 230000003044 adaptive effect Effects 0.000 claims description 36
- 230000005540 biological transmission Effects 0.000 claims description 14
- 238000004590 computer program Methods 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 12
- 238000010586 diagram Methods 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 9
- 230000006870 function Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000003491 array Methods 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/0003—Details of control, feedback or regulation circuits
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0243—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model
- G05B23/0254—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model based on a quantitative model, e.g. mathematical relationships between inputs and outputs; functions: observer, Kalman filter, residual calculation, Neural Networks
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0283—Predictive maintenance, e.g. involving the monitoring of a system and, based on the monitoring results, taking decisions on the maintenance schedule of the monitored system; Estimating remaining useful life [RUL]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
-
- 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
- H02J3/28—Arrangements for balancing of the load in a network by storage of energy
-
- 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
-
- 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
- H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
- H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/30—Reactive power compensation
Definitions
- This application relates to the field of stability verification, and in particular, to a stability verification method for an energy storage converter control system.
- energy storage technology has received extensive attention in the industry in recent years because it can provide a variety of auxiliary services for the power grid, such as peak load regulation, frequency regulation, and emergency response.
- auxiliary services for the power grid such as peak load regulation, frequency regulation, and emergency response.
- This application provides a method for verifying the stability of an energy storage converter control system, to at least solve the technical problem of low accuracy of the method for verifying the stability of an energy storage converter control system.
- the first embodiment of the present application proposes a stability verification method for an energy storage inverter control system.
- the method includes:
- the root locus of the adaptive inertial reactive current droop coefficient is determined based on the energy storage system current droop small signal model equation, and the stability of the converter adaptive reactive current droop control system is verified based on the root locus.
- the active component expression and the reactive component expression of the current output by the energy storage converter are as follows:
- I d is the active component of the energy storage converter output current
- I q is the reactive component of the energy storage converter output current
- U s is the bus voltage of the transmission line
- ⁇ is the relationship between the energy storage converter output voltage and the transmission line
- the power angle between the bus voltages r is the transmission line impedance mode
- E is the energy storage converter output voltage
- ⁇ is the impedance angle.
- the energy storage system current droop control equation is calculated as follows:
- ⁇ is the output frequency of the energy storage converter
- ⁇ 0 is the rated angular frequency corresponding to the energy storage converter
- I d0 is the rated active current corresponding to the energy storage converter
- m is the active droop coefficient
- E 0 is the rated voltage output by the energy storage converter
- n i is the reactive power droop coefficient
- I q0 is the rated reactive current corresponding to the energy storage converter.
- the calculation formula of the current linearization model equation is as follows:
- ⁇ c is the low-pass filter cutoff frequency
- S is the differential operator
- ⁇ is the change of the power angle
- ⁇ E is the output voltage adjustment amount of the energy storage converter.
- the energy storage system current droop linearization model equation is calculated as follows:
- ⁇ is the angular frequency regulation
- m is the active power droop coefficient
- ⁇ id is the active current regulation
- ni is the reactive power droop coefficient
- ⁇ iq is the reactive current regulation
- the energy storage system current droop small signal model equation is calculated as follows:
- the root locus of the adaptive inertial reactive current droop coefficient is determined based on the energy storage system current droop small signal model equation, and the converter adaptive reactive current droop control is verified based on the root locus.
- System stability including:
- the stability of the converter adaptive reactive current droop control system is analyzed and verified based on the root locus diagram.
- the analysis and verification of the stability of the converter adaptive reactive current droop control system based on the root locus diagram includes:
- the characteristic roots far away from the imaginary axis gradually move away from the imaginary axis, and the characteristic roots closer to the imaginary axis fluctuate within a certain range as the dominant characteristic roots, and will not exceed the imaginary axis.
- the right half plane of the axis so the converter adaptive reactive current droop control system is within the stable range when adaptive inertia reactive current droop control is used.
- the second embodiment of the present application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor.
- the processor executes the program, the first aspect is implemented. methods described in the examples.
- a third aspect of the present application provides a computer-readable storage medium having a computer program stored thereon.
- the program is executed by a processor, the method described in the first aspect of the present application is implemented.
- the fourth embodiment of the present application provides a computer program product, including a computer program.
- the computer program The program implements the method described in the embodiment of the first aspect when executed by the processor.
- This application proposes a stability verification method for the energy storage converter control system.
- the method includes: obtaining the active component expression and reactive component expression of the current output by the energy storage converter, and the energy storage system current droop control equation; according to The current active component expression and the reactive component expression output by the energy storage converter establish a current linearization model equation; the energy storage system current droop linearization model equation is established according to the energy storage system current droop control equation; The current linearization model equation and the energy storage system current droop linearization model equation are substituted into the space state expression to obtain the energy storage system current droop small signal model equation; the energy storage system current droop small signal model equation is determined based on the energy storage system current droop small signal model equation.
- the root locus of the inertial reactive current droop coefficient is adapted, and the stability of the converter adaptive reactive current droop control system is verified based on the root locus.
- the technical solution proposed in this application verifies the stability of the converter adaptive reactive current droop control system based on the energy storage system current droop small signal model equation, which improves the verification accuracy.
- Figure 1 is a flow chart of a droop control method for an energy storage voltage type converter provided according to an embodiment of the present application
- Figure 2 is a root locus diagram of the variation of the adaptive inertial reactive current droop coefficient provided according to an embodiment of the present application.
- Figure 3 is an equivalent circuit diagram of the operation of the energy storage system of the inverter provided according to the embodiment of the present application.
- the present application proposes a method for verifying the stability of an energy storage converter control system, the method comprising: obtaining an expression of the active component and reactive component of the current output by the energy storage converter, and a current droop control equation of the energy storage system; establishing a current linearization model equation based on the active component and reactive component expressions of the current output by the energy storage converter; establishing a current droop linearization model equation of the energy storage system based on the current droop control equation of the energy storage system; substituting the current linearization model equation and the current droop linearization model equation of the energy storage system into the spatial state expression to obtain a current droop small signal model equation of the energy storage system; determining the root locus of the adaptive inertial reactive current droop coefficient based on the current droop small signal model equation of the energy storage system, and verifying the stability of the converter adaptive reactive current droop control system based on the root locus.
- the technical solution proposed in the present application verifies the stability of
- Figure 1 is a flow chart of a stability verification method for an energy storage converter control system provided according to an embodiment of the present application. As shown in Figure 1, the method includes:
- Step 1 Obtain the active component expression and reactive component expression of the current output by the energy storage converter, and the current droop control equation of the energy storage system.
- the active component expression and the reactive component expression of the current output by the energy storage converter are as follows:
- I d is the active component of the energy storage converter output current
- I q is the reactive component of the energy storage converter output current
- U s is the bus voltage of the transmission line
- ⁇ is the relationship between the energy storage converter output voltage and the transmission line
- the power angle between the bus voltages r is the transmission line impedance mode
- E is the energy storage converter output voltage
- ⁇ is the impedance angle.
- the calculation formula of the energy storage system current droop control equation is as follows:
- ⁇ is the output frequency of the energy storage converter
- ⁇ 0 is the rated angular frequency corresponding to the energy storage converter
- I d0 is the rated active current corresponding to the energy storage converter
- m is the active droop coefficient
- E 0 is the rated voltage output by the energy storage converter
- n i is the reactive power droop coefficient
- I q0 is the rated reactive current corresponding to the energy storage converter.
- Step 2 Establish a current linearization model equation based on the active component expression and reactive component expression of the current output by the energy storage converter.
- ⁇ c is the low-pass filter cutoff frequency
- S is the differential operator
- ⁇ is the change in power angle
- ⁇ E is the output voltage adjustment amount of the energy storage converter.
- Step 3 Establish an energy storage system current droop linearization model equation according to the energy storage system current droop control equation.
- the calculation formula of the current droop linearization model equation of the energy storage system is as follows:
- ⁇ ⁇ - ⁇ 0
- ⁇ is the angular frequency adjustment amount
- m is the active power droop coefficient
- ⁇ i d id - id0
- ⁇ i d is the active current adjustment amount
- ni is the reactive power droop coefficient
- ⁇ i q i q -i q0
- ⁇ i q is the reactive current adjustment amount.
- Step 4 Substitute the current linearization model equation and the energy storage system current droop linearization model equation into the space state expression to obtain the energy storage system current droop small signal model equation.
- the small signal model equation of the current droop of the energy storage system can be obtained.
- the calculation formula of the energy storage system current droop small signal model equation is as follows:
- Step 5 Determine the root locus of the adaptive inertial reactive current droop coefficient based on the energy storage system current droop small signal model equation, and verify the stability of the converter adaptive reactive current droop control system based on the root locus.
- step 5 specifically includes:
- Step 5-1 Use Matlab software to determine the root locus diagram of the adaptive inertial reactive current droop coefficient
- Step 5-2 Analyze and verify the stability of the converter adaptive reactive current droop control system based on the root locus diagram.
- Figure 2 shows the changing root locus of the adaptive inertial reactive current droop coefficient.
- the adaptive inertial reactive current droop coefficient increases, the characteristic roots far away from the imaginary axis gradually move away from the imaginary axis. , the characteristic root closer to the imaginary axis acts as the dominant characteristic root and fluctuates within a certain range, and will not exceed the right half plane of the imaginary axis. Therefore, the converter adaptive reactive current is adopted when adaptive inertia reactive current droop control is used.
- the droop control system is within the stable range, so the adaptive inertia reactive current droop control method will not affect the system stability.
- step 1 the method of the present application further includes:
- step 1) the relationship between the output current vector and the output voltage vector of the energy storage converter
- E is the output voltage of the energy storage converter
- ⁇ is the power angle between the output voltage of the energy storage converter and the bus voltage of the transmission line
- Id is the active component of the output current of the energy storage converter
- Iq is the reactive component of the output current of the energy storage converter
- Us is the bus voltage of the transmission line
- step 2) obtain the expressions of active and reactive components of the output current of the energy storage converter
- step 4 the expressions of active and reactive components of the output current of the energy storage converter are simplified, and the current droop control equation of the energy storage system is obtained according to the voltage regulation deviation of the energy storage converter.
- ⁇ is the frequency output by the energy storage converter
- ⁇ 0 is the rated angular frequency corresponding to the energy storage converter
- Id0 is the rated active current corresponding to the energy storage converter
- m is the active droop coefficient
- E0 the rated voltage output by the energy storage converter
- ni the reactive droop coefficient
- Iq0 the rated reactive current corresponding to the energy storage converter.
- the stability verification method of the energy storage converter control system proposed in this embodiment is based on the energy storage system current droop small signal model equation to verify the stability of the converter adaptive reactive current droop control system. Verification, improving verification accuracy.
- An embodiment of the present disclosure also provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor.
- a computer program stored in the memory and executable on the processor.
- An embodiment of the present disclosure also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method described in Embodiment 1 is implemented.
- An embodiment of the present disclosure proposes a computer program product, which includes a computer program that, when executed by a processor, implements the method described in the embodiment of the first aspect.
- first and second are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Therefore, features defined as “first” and “second” may explicitly or implicitly include at least one of these features.
- “plurality” means at least two, such as two, three, etc., unless otherwise expressly and specifically limited.
- a sequenced list of executable instructions that implements logical functions may be embodied in any computer-readable medium for use by a system, apparatus, or device for executing the instructions (such as a computer-based system, a system including a processor, or other system that can execute instructions from A system, device or device that fetches instructions and executes them), or is used in conjunction with these instruction execution systems, devices or devices.
- a "computer-readable medium” may be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
- Non-exhaustive list of computer readable media include the following: electrical connections with one or more wires (electronic device), portable computer disk cartridges (magnetic device), random access memory (RAM), Read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disc read-only memory (CDROM).
- the computer-readable medium may even be paper or other suitable medium on which the program may be printed, as the paper or other medium may be optically scanned, for example, and subsequently edited, interpreted, or otherwise suitable as necessary. process to obtain the program electronically and then store it in computer memory.
- various parts of the present application can be implemented in hardware, software, firmware, or a combination thereof.
- various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system.
- a suitable instruction execution system For example, if it is implemented in hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: discrete logic gate circuits with logic functions for implementing data signals; Logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.
- each functional unit in various embodiments of the present application can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module.
- the above integrated modules can be implemented in the form of hardware or software function modules. If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.
- the storage media mentioned above can be read-only memory, magnetic disks or optical disks, etc.
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Abstract
提供了一种储能换流器控制系统稳定性验证方法，包括：获取储能换流器输出的电流有功分量及无功分量表达式、储能系统电流下垂控制方程；根据分量表达式建立电流线性化模型方程；根据下垂控制方程建立电流下垂线性化模型方程；将电流线性化模型方程与下垂线性化模型方程代入空间状态表达式中，得到小信号模型方程；基于小信号模型方程确定自适应惯性无功电流下垂系数的根轨迹，并基于根轨迹验证换流器自适应无功电流下垂控制系统的稳定性。
Description
相关申请的交叉引用
本申请基于申请号为202211145647.4、申请日为2022年9月20日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
本申请涉及稳定性验证领域，尤其涉及一种储能换流器控制系统稳定性验证方法。
作为能源变革关键技术之一的储能技术，因为其可以为电网提供调峰、调频、应急响应等多种辅助服务，近年来受到了业内的广泛关注。为了实现储能系统友好型并网，为电网提供稳定电压、频率支撑，需要开展储能换流器控制策略研究。
目前在储能换流器控制领域，大多采用双闭环控制、无差拍控制来实现电压、频率动态响应。但常规控制策略无法维持分布式电源高渗透率下非同步储能换流器控制系统稳定。现有的储能换流器控制系统稳定性验证的方法精确度不高，因此亟需提出一种可以精确验证储能换流器控制系统稳定性的方法。
发明内容
本申请提供一种储能换流器控制系统稳定性验证方法，以至少解决储能换流器控制系统稳定性验证的方法精确度不高的技术问题。
本申请第一方面实施例提出一种储能换流器控制系统稳定性验证方法，所述方法包括：
获取储能换流器输出的电流有功分量表达式及无功分量表达式、储能系统电流下垂控制方程；
根据所述储能换流器输出的电流有功分量表达式及无功分量表达式建立电流线性化模型方程；
根据所述储能系统电流下垂控制方程建立储能系统电流下垂线性化模型方程；
将所述电流线性化模型方程与所述储能系统电流下垂线性化模型方程代入空间状态表达式中，得到储能系统电流下垂小信号模型方程；
基于所述储能系统电流下垂小信号模型方程确定自适应惯性无功电流下垂系数的根轨迹，并基于所述根轨迹验证换流器自适应无功电流下垂控制系统的稳定性。
在一个实施例中，所述储能换流器输出的电流有功分量表达式及无功分量表达式如下：
式中，Id为储能换流器输出电流有功分量，Iq为储能换流器输出电流无功分量，Us为输电线路母线电压，δ为储能换流器输出电压与输电线路母线电压之间的功角，r为输电线路阻抗模，E为储能换流器输出电压，θ为阻抗角。
在一个实施例中，所述储能系统电流下垂控制方程的计算式如下：
式中，ω为储能换流器输出的频率，ω0为储能换流器对应的额定角频率，Id0为储能换流器对应的额定有功电流，m为有功下垂系数，E0为储能换流器输出的额定电压，ni为无功下垂系数，Iq0为储能换流器对应的额定无功电流。
在一个实施例中，所述电流线性化模型方程的计算式如下：
式中，为储能换流器输出电流有功分量的微分变化量，ωc为低通滤波截止频率，S为微分算子，Δδ为功角变化量，为储能换流器输出电流无功分量的微分变化量，ΔE为储能换流器输出电压调节量。
在一个实施例中，所述储能系统电流下垂线性化模型方程的计算式如下：
式中，Δω为角频率调节量，m为有功下垂系数，Δid为有功电流调节量，ni为无功下垂系数，Δiq为无功电流调节量。
在一个实施例中，所述储能系统电流下垂小信号模型方程的计算式如下：
式中，为功角微分变化量，为有功电流微分调节量，为无功电流微分调节量。
在一个实施例中，所述基于所述储能系统电流下垂小信号模型方程确定自适应惯性无功电流下垂系数的根轨迹，并基于所述根轨迹验证换流器自适应无功电流下垂控制系统的稳定性，包括：
利用Matlab软件确定自适应惯性无功电流下垂系数的根轨迹图；
基于所述根轨迹图对所述换流器自适应无功电流下垂控制系统的稳定性进行分析验证。
在一个实施例中，所述基于所述根轨迹图对所述换流器自适应无功电流下垂控制系统的稳定性进行分析验证，包括：
随着自适应惯性无功电流下垂系数的增大，离虚轴较远的特征根逐渐远离虚轴，离虚轴较近的特征根作为主导特征根在一定范围内波动，且不会超过虚轴右半平面，故采用自适应惯性无功电流下垂控制时所述换流器自适应无功电流下垂控制系统在稳定范围内。
本申请第二方面实施例提出一种电子设备，包括：存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时，实现如第一方面实施例所述的方法。
本申请第三方面实施例提出一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时，实现如第一方面实施例所述的方法。
本申请第四方面实施例提出一种计算机程序产品，包括计算机程序，所述计算机程
序在被处理器执行时实现如第一方面实施例所述的方法。
本申请提出了储能换流器控制系统稳定性验证方法，所述方法包括：获取储能换流器输出的电流有功分量表达式及无功分量表达式、储能系统电流下垂控制方程；根据所述储能换流器输出的电流有功分量表达式及无功分量表达式建立电流线性化模型方程；根据所述储能系统电流下垂控制方程建立储能系统电流下垂线性化模型方程；将所述电流线性化模型方程与所述储能系统电流下垂线性化模型方程代入空间状态表达式中，得到储能系统电流下垂小信号模型方程；基于所述储能系统电流下垂小信号模型方程确定自适应惯性无功电流下垂系数的根轨迹，并基于所述根轨迹验证换流器自适应无功电流下垂控制系统的稳定性。本申请提出的技术方案，基于储能系统电流下垂小信号模型方程对所述换流器自适应无功电流下垂控制系统的稳定性进行验证，提高了验证精度。
本申请附加的方面以及优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
本申请上述的和/或附加的方面以及优点从下面结合附图对实施例的描述中将变得明显和容易理解，其中：
图1为根据本申请实施例提供的一种储能电压型换流器的下垂控制方法的流程图；
图2为根据本申请实施例提供的自适应惯性无功电流下垂系数变化根轨迹图
图3为根据本申请实施例提供的换流器的储能系统运行等效电路图。
下面详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本申请，而不能理解为对本申请的限制。
本申请提出的一种储能换流器控制系统稳定性验证方法，所述方法包括：获取储能换流器输出的电流有功分量表达式及无功分量表达式、储能系统电流下垂控制方程；根据所述储能换流器输出的电流有功分量表达式及无功分量表达式建立电流线性化模型方程；根据所述储能系统电流下垂控制方程建立储能系统电流下垂线性化模型方程；将所述电流线性化模型方程与所述储能系统电流下垂线性化模型方程代入空间状态表达式中，得到储能系统电流下垂小信号模型方程；基于所述储能系统电流下垂小信号模型方程确定自适应惯性无功电流下垂系数的根轨迹，并基于所述根轨迹验证换流器自适应无功电流下垂控制系统的稳定性。本申请提出的技术方案，基于储能系统电流下垂小信号模型方程对所述换流器自适应无功电流下垂控制系统的稳定性进行验证，提高了验证精度。
下面参考附图描述本申请实施例的储能换流器控制系统稳定性验证方法。
图1为根据本申请实施例提供的一种储能换流器控制系统稳定性验证方法的流程图，如图1所示，所述方法包括：
步骤1：获取储能换流器输出的电流有功分量表达式及无功分量表达式、储能系统电流下垂控制方程。
在本公开实施例中，所述储能换流器输出的电流有功分量表达式及无功分量表达式如下：
式中，Id为储能换流器输出电流有功分量，Iq为储能换流器输出电流无功分量，Us为输电线路母线电压，δ为储能换流器输出电压与输电线路母线电压之间的功角，r为输电线路阻抗模，E为储能换流器输出电压，θ为阻抗角。
在本公开实施例中，所述储能系统电流下垂控制方程的计算式如下：
式中，ω为储能换流器输出的频率，ω0为储能换流器对应的额定角频率，Id0为储能换流器对应的额定有功电流，m为有功下垂系数，E0为储能换流器输出的额定电压，ni为无功下垂系数，Iq0为储能换流器对应的额定无功电流。
步骤2：根据所述储能换流器输出的电流有功分量表达式及无功分量表达式建立电流线性化模型方程。
在本公开实施例中，所述电流线性化模型方程的计算式如下：
式中，为储能换流器输出电流有功分量的微分变化量，ωc为低通滤波截止频率，
S为微分算子，Δδ为功角变化量，为储能换流器输出电流无功分量的微分变化量，ΔE为储能换流器输出电压调节量。
步骤3：根据所述储能系统电流下垂控制方程建立储能系统电流下垂线性化模型方程。
在本公开实施例中，所述储能系统电流下垂线性化模型方程的计算式如下：
式中，Δω＝ω-ω0,Δω为角频率调节量，m为有功下垂系数，Δid＝id-id0,Δid为有功电流调节量，ni为无功下垂系数，Δiq＝iq-iq0,Δiq为无功电流调节量。
步骤4：将所述电流线性化模型方程与所述储能系统电流下垂线性化模型方程代入空间状态表达式中，得到储能系统电流下垂小信号模型方程。
在本公开实施例中，基于电流线性化模型方程、储能系统电流下垂线性化模型方程将代入Δid、Δiq、Δδ代入空间状态表达式中，可以得到储能系统电流下垂小信号模型方程。
在本公开实施例中，所述储能系统电流下垂小信号模型方程的计算式如下：
式中，为功角微分变化量，为有功电流微分调节量，为无功电流微分调节量。
步骤5：基于所述储能系统电流下垂小信号模型方程确定自适应惯性无功电流下垂系数的根轨迹，并基于所述根轨迹验证换流器自适应无功电流下垂控制系统的稳定性。
在本公开实施例中，所述步骤5具体包括：
步骤5-1：利用Matlab软件确定自适应惯性无功电流下垂系数的根轨迹图；
步骤5-2：基于所述根轨迹图对所述换流器自适应无功电流下垂控制系统的稳定性进行分析验证。
需要说明的是，如图2所示为自适应惯性无功电流下垂系数变化根轨迹图，随着自适应惯性无功电流下垂系数的增大，离虚轴较远的特征根逐渐远离虚轴，离虚轴较近的特征根作为主导特征根在一定范围内波动，且不会超过虚轴右半平面，故采用自适应惯性无功电流下垂控制时所述换流器自适应无功电流下垂控制系统在稳定范围内，所以采用自适应惯性无功电流下垂控制方法不会对系统稳定性造成影响。
在本公开实施例中，所述步骤1之前，本申请的方法还包括：
1)构建储能系统线路阻抗表达式Z＝R+jX＝r∠θ，式中，，Z为储能系统线路阻抗，R为输电线路等效电阻，X为输电线路等效电抗，j为矢量，r为输电线路阻抗模，θ为阻抗角，其中，R＝rcosθ，X＝rsinθ；其中，如图3所示为换流器的储能系统运行等效电路，基于所述等效电路图，建立储能系统线路阻抗表达式；
2)根据步骤1)储能换流器输出电流矢量与输出电压矢量关系式式中，为储能换流器输出电流矢量，E为储能换流器输出电压，δ为储能换流器输出电压与输电线路母线电压之间的功角，Id为储能换流器输出电流有功分量，Iq为储能换流器输出电流无功分量，Us为输电线路母线电压；
3)根据步骤2)得到储能换流器输出电流有功、无功分量表达式
4)当输电线路线路阻抗为感性，将步骤3)储能换流器输出电流有功、无功分量表达式进行简化得到
5)根据步骤4)储能换流器输出电流有功、无功分量简化表达式，并且根据储能换流器电压调节偏差得到储能系统电流下垂控制方程式中，ω为储能换流器输出的频率，ω0为储能换流器对应的额定角频率，Id0为储能换流器对应的额定有功电流，m为有功下垂系数，E0为储能换流器输出的额定电压，ni为无功下垂系数，Iq0为储能换流器对应的额定无功电流。
综上所述，本实施例提出的储能换流器控制系统稳定性验证方法，基于储能系统电流下垂小信号模型方程对所述换流器自适应无功电流下垂控制系统的稳定性进行验证，提高了验证精度。
本公开实施例还提出一种电子设备，包括：存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时，实现如实施例一所述的方法。
本公开实施例还提出一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如实施例一所述的方法。
本公开实施例提出一种计算机程序产品，包括计算机程序，所述计算机程序在被处理器执行时实现如第一方面实施例所述的方法。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于实现定制逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本申请的优选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本申请的实施例所属技术领域的技术人员所理解。
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实
现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。
应当理解，本申请的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。如，如果用硬件来实现和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
本技术领域的普通技术人员可以理解实现上述实施例方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
此外，在本申请各个实施例中的各功能单元可以集成在一个处理模块中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。
上述提到的存储介质可以是只读存储器，磁盘或光盘等。
尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。
Claims (11)
- 一种储能换流器控制系统稳定性验证方法，包括：获取储能换流器输出的电流有功分量表达式及无功分量表达式、储能系统电流下垂控制方程；根据所述储能换流器输出的电流有功分量表达式及无功分量表达式建立电流线性化模型方程；根据所述储能系统电流下垂控制方程建立储能系统电流下垂线性化模型方程；将所述电流线性化模型方程与所述储能系统电流下垂线性化模型方程代入空间状态表达式中，得到储能系统电流下垂小信号模型方程；基于所述储能系统电流下垂小信号模型方程确定自适应惯性无功电流下垂系数的根轨迹，并基于所述根轨迹验证换流器自适应无功电流下垂控制系统的稳定性。
- 如权利要求1所述的方法，其中，所述储能换流器输出的电流有功分量表达式及无功分量表达式如下：
式中，Id为储能换流器输出电流有功分量，Iq为储能换流器输出电流无功分量，US为输电线路母线电压，δ为储能换流器输出电压与输电线路母线电压之间的功角，r为输电线路阻抗模，E为储能换流器输出电压，θ为阻抗角。 - 如权利要求1或2所述的方法，其中，所述储能系统电流下垂控制方程的计算式如下：
式中，ω为储能换流器输出的频率，ω0为储能换流器对应的额定角频率，Id0为储能换流器对应的额定有功电流，m为有功下垂系数，E0为储能换流器输出的额定电压， ni为无功下垂系数，Iq0为储能换流器对应的额定无功电流。 - 如权利要求1至3中任一项所述的方法，其中，所述电流线性化模型方程的计算式如下：
式中，为储能换流器输出电流有功分量的微分变化量，ωc为低通滤波截止频率，S为微分算子，Δδ为功角变化量，为储能换流器输出电流无功分量的微分变化量，ΔE为储能换流器输出电压调节量。 - 如权利要求1至4中任一项所述的方法，其中，所述储能系统电流下垂线性化模型方程的计算式如下：
式中，Δω为角频率调节量，m为有功下垂系数，Δid为有功电流调节量，ni为无功下垂系数，Δiq为无功电流调节量。 - 如权利要求1至5中任一项所述的方法，其中，所述储能系统电流下垂小信号模型方程的计算式如下：
式中，为功角微分变化量，为有功电流微分调节量，为无功电流微分调节量。 - 如权利要求1至6中任一项所述的方法，其中，所述基于所述储能系统电流下垂小信号模型方程确定自适应惯性无功电流下垂系数的根轨迹，并基于所述根轨迹验证换流器自适应无功电流下垂控制系统的稳定性，包括：利用Matlab软件确定自适应惯性无功电流下垂系数的根轨迹图；基于所述根轨迹图对所述换流器自适应无功电流下垂控制系统的稳定性进行分析验证。
- 如权利要求7所述的方法，其中，所述基于所述根轨迹图对所述换流器自适应无功电流下垂控制系统的稳定性进行分析验证，包括：随着自适应惯性无功电流下垂系数的增大，离虚轴较远的特征根逐渐远离虚轴，离虚轴较近的特征根作为主导特征根在一定范围内波动，且不会超过虚轴右半平面，故采用自适应惯性无功电流下垂控制时所述换流器自适应无功电流下垂控制系统在稳定范围内。
- 一种电子设备，包括：存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时，实现如权利要求1至8中任一项所述的方法。
- 一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如权利要求1至8中任一项所述的方法。
- 一种计算机程序产品，包括计算机程序，所述计算机程序在被处理器执行时实现权利要求1至8中任一项所述的方法。
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