CN105356781B - A kind of control method for suppressing the virtual power-angle curve skew of droop control inverter transient state - Google Patents
A kind of control method for suppressing the virtual power-angle curve skew of droop control inverter transient state Download PDFInfo
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Abstract
The invention discloses a kind of control method for suppressing the virtual power-angle curve skew of droop control inverter transient state.Inverter output current is calculated using the method for adding feedforward parameter and feedforward control is carried out, to improve the voltage-tracing performance of inverter, so as to keep the transient stability of inverter.The estimation that two feedforward output currents are added in two current reference values that inverter primary voltage outer shroud is produced is worth to new current reference value.The inventive method can carry high-tension transient state tracking performance, effectively suppress the transient state skew of virtual power-angle curve, and need not increase extra sensor, and ensure that system has good transient state and small disturbance performance；And can be applied to other inverters for using double -loop control, such as virtual synchronous machine, also can further genralrlization apply to the big interference scene such as big load switching of the passive isolated network of multimachine, isolated network, improve power system transient stability.
Description
Technical Field
The invention relates to an inverter control method, in particular to a control method for restraining the deviation of a transient virtual power angle curve of a droop control inverter
Background
In recent years, renewable energy sources such as wind power and photovoltaic are rapidly developed, and large wind power and photovoltaic power stations with inverters as interfaces are built domestically, so that the stability of the inverters has important significance on safe operation of a power grid.
The droop control enables the inverter to have the characteristic of a voltage source, and the droop control can be widely applied in practice, and particularly can provide voltage and frequency support for a system when new energy is connected into a micro grid or a weak power grid. Research shows that under large interference, the droop-controlled inverter has similar power angle characteristics to the traditional synchronous generator, and the inverter has potential synchronization stability problems as the synchronous generator due to the nonlinearity of a sine function in output power.
At present, the stability research of the inverter mainly focuses on the research of the small interference stability of the inverter in the microgrid, but the transient stability problem under the large interference is relatively less researched (the content of the research of the invention refers to power angle stability or synchronous stability), and the stability mechanism is not clear yet.
Disclosure of Invention
In order to solve the technical problem that in the background art, due to the fact that three-loop control (droop control-voltage outer loop-current inner loop) influences the voltage tracking performance of an inverter, a virtual power angle curve in the transient process can deviate, and therefore the transient stability margin of the inverter is reduced, the invention provides a control method for restraining the deviation of the transient virtual power angle curve of the droop control inverter, so that the deviation of the transient virtual power angle curve of the inverter is controlled, and the transient stability of the inverter is improved.
The technical scheme of the invention adopts the following steps:
the invention aims at a transient virtual power angle' (namely a vector d axis and an infinite power grid voltage comprehensive vector)Included angle of the inverter), calculating the output current of the inverter by adding a feedforward parameter and performing feedforward control on the output current of the inverter so as to improve the voltage tracking performance of the inverter and further keep the transient stability of the inverter.
Although the transient voltage response of the inverter can be improved by setting the parameters of the outer ring controller, the outer ring control only acts when the output voltage of the inverter changes, hysteresis exists, and the parameter value is also restricted by the loop of the whole system. However, the invention considers that the change of the output voltage of the inverter is caused by current disturbance, so that the feedforward output current can be used for accelerating the response of the outer loop controller, improving the transient voltage tracking performance and further improving the large disturbance stability of the inverter.
As shown in FIG. 2, two current reference values are generated at the outer ring of the inverter primary voltageAndon the basis, respectively adding two estimated values I of feedforward output currentdo,estAnd Iqo,estTo obtain a new current reference valueAndnamely, the following formula is adopted:
wherein F is a feedforward coefficient.
Estimated values I of the two feedforward output currentsdo,estAnd Iqo,estThe following formula is used for calculation:
wherein, TIAnd TVFilter time constants for current and voltage, respectively, ω is the angular velocity of the inverter, Vd,VqAre d-axis and q-axis components of the inverter voltage vector, Id,IqAre d-and q-axis components of the inverter current vector, CFIs the capacitance of the inverter.
The invention has the beneficial effects that:
the invention solves the technical problem of transient virtual power angle deviation of the inverter, and uses the estimated output current of the inverter to carry out feedforward control so as to control the transient virtual power angle curve deviation of the inverter and improve the transient stability of the inverter.
The method can improve the transient tracking performance of the inverter voltage, effectively restrain the transient deviation of the virtual power angle curve, and does not need to add an additional sensor and change the steady-state operation characteristic of the system.
The control method can also be applied to other inverters adopting double-loop control, such as virtual synchronous machines and the like, and can also be further popularized and applied to large-interference scenes such as multi-machine passive isolated network, isolated network large load switching and the like, so that the transient stability of the system is improved.
Drawings
Fig. 1 is a system control structure diagram of a single inverter incorporated into an infinite power grid according to the present invention.
Fig. 2 is a block diagram of an output current feedforward control strategy proposed in the present invention for a droop control inverter.
Fig. 3 is a schematic diagram of the definition of each angle in the system of the single inverter incorporated into the infinite power grid of the present invention.
Fig. 4 is a steady-state virtual power angle characteristic curve when the inverter output current is not saturated in an example of the present invention.
Fig. 5 is a steady-state virtual power angle characteristic curve when the inverter output current is saturated according to an example of the present invention.
Fig. 6 is a vector diagram during an inverter transient in an example of the present invention.
Fig. 7 is a graph of an unsaturated virtual power angle curve and a saturated virtual power angle curve of a transient inverter according to an example of the present invention.
Fig. 8 is a virtual power angle trajectory diagram in an example of the present invention, in which the deviation of the transient virtual power angle curve is taken into consideration after the inverter power command is stepped.
FIG. 9 is a graph of inverter dq axis voltage amplitude using different feed forward values in simulation verification of the present invention.
Fig. 10 is a graph of current magnitude for the inverter dq axis with different feed forward values used in simulation verification of the present invention.
Fig. 11 shows the transient virtual power angle curve offset of the inverter when different feedforward values are adopted in the simulation verification of the present invention.
FIG. 12 is a graph of the power response of an inverter using different feed forward values in a simulation test of the present invention.
Fig. 13 is a diagram of transient virtual power angle trajectories of inverters when different feedforward values are used in simulation verification according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
The principle of the invention is as follows:
when renewable energy is connected to a weak power grid or a micro-grid, an inverter serving as a grid-connected interface often adopts a three-loop controller of 'power droop-voltage outer loop-current inner loop', and adopts vector control based on dq coordinate transformation. Wherein, the voltage outer ring sets the q-axis component V of the voltageqIs zero, so that the output voltage of the inverter is integrated into a vectorPositioned on the d-axis. The typical structure of the inverter is shown in fig. 1, and the definitions and physical meanings of some variables in the diagram are shown in an attached chart 1.
TABLE 1 symbolic definition and description of partial system variables in the drawings of the present invention
In dq coordinates, the state equation of the inverter in fig. 1 is:
wherein L is∑The definitions and physical meanings of the remaining variables for line inductance are shown in table 1.
The reactive power-voltage droop control equation is shown as a formula (4), the active power-frequency droop equation is written into a form of a formula (7), wherein V is an inverter output voltage comprehensive vectorThe amplitude of (c).
V-V0＝kQ×(Q0-QE) (4)
Δω＝ω*-ωg＝kP×(P0-PE) (5)
Let' be the voltage vector of d-axis and infinite gridThe included angle between the two points can be regarded as the power angle of the inverter, namely the virtual power angle. The binding formula (5) can be obtained:
the definitions and physical meanings of the variables in the above formulas (4) to (6) are shown in the attached chart 1, and the related schematic diagram is shown in fig. 3. The offsets α, β of the virtual power angle curve can be obtained according to fig. 3 as shown in formula (7) and formula (8):
the invention mainly analyzes the motion change of the virtual power angle' under large interference, and then simplifies the electromagnetic transient process of the inverter and the transient response process of control:
assume that 1: the harmonic component, the negative sequence component and the zero sequence component in the system are not considered;
assume 2: inverter output voltage vector under steady statePositioned on the d-axis and in unitsPower factor operation;
assume that 3: disregarding the resistance of the line and the filter inductor, disregarding the electromagnetic transient of the filter inductor and the line, i.e.And neglecting the influence of capacitance current in the LCL filter;
assume 4: considering that the control bandwidth of the inner loop of the inverter is large enough, so that the transient process of the current inner loop in the control of the inverter can be ignored, namely, the given value of the current inner loop is considered to be equal to the actual value;
assume that 5: irrespective of the case where the drop in voltage due to Q-V droop is low, it is considered that(i.e., the inverter output voltage has a magnitude of V0)；
Assume 6: without loss of generality, the large disturbance analyzed comes from the active power command P0Step (for other types of large interference causing operating point shift, the analysis process and conclusion are also applicable).
Equation (3) can be simplified from the above assumptions:
will synthesize the vectorComplex numbers expressed as:
where j represents the imaginary component.
Formula (11) can be obtained by combining formula (9) with formula (10):
the inverter output power expression is:
where Re () represents the real part of the vector in parentheses.
The virtual power angle characteristic equation of the inverter is obtained by combining the vertical type (7) and the formula (12):
when the inverter is in steady state, VqWhere 0 is obtained from formula (7) when α is 0, formula (13) can be written as:
PE＝Pumsin′ (14)
wherein, PumAnd the maximum value of the active power output by the inverter when the output current is not saturated is shown.
The above derivation does not take the clipping control of the inverter output current into consideration, and therefore, the above equation gives a virtual power angle characteristic curve (referred to as "unsaturated virtual power angle curve" in the present invention) when the inverter output current is unsaturated, and as shown in fig. 4, two equilibrium points a and B exist in [0, pi ], where point a is a stable equilibrium point and point B is an unstable equilibrium point.
Since the inverter is damaged by the overcurrent, the output current amplitude of the inverter is often limited in the control. Common inverter current amplitude limiting modes include d-axis and q-axis current proportional amplitude limiting and d-axis and q-axis current dynamic amplitude limiting. It is assumed that the inverter employs a d-axis current-first clipping scheme (and if other clipping schemes are employed, the analysis process and method are similar).
For analyzing the problem of large interference stability of the system in the d-axis and q-axis current dynamic amplitude limiting mode, the output of a PI regulator of a d-axis voltage outer ring is recorded asq axis is Under the amplitude limiting mode of d-axis current priority, the current given output signal of the amplitude limiting link is as follows:
as can be seen from equations (15) and (16): when I ismag≤ImaxWhen amplitude limiting regulation is not active, inverter currentCan be obtained from formula (7); when I ismag>ImaxIn time, there are:the preferred clipping mode of d-axis current may be such that IdKeep priority increasing and reach Imax. When in useWhen the d-axis current is positioned on the d-axis, the output power of the inverter under the steady state is shown as the formula (17), and therefore the d-axis current is preferentially increased to enable the inverter to achieve the output of the maximum power.
PE＝VdId(17)
When the current reaches the maximum value (as can be seen from the assumption 4, the corresponding current reference value reaches the upper limit), the inverter will be switched off. Therefore, considering the output power of the inverter after saturation as:
wherein,is the power factor angle on the side of the infinite power grid, theta' is 90 deg. -theta,
as can be seen from FIG. 4, θ' isAndthe included angle therebetween. The output power expression (18) of the inverter after current saturation is in a coupled relation with the expression (12) when the inverter is not saturated, so that the inverter current is saturated and has the problem of synchronous stability.
Further, defining θ' as the power angle at inverter current saturation, the combination of equation (8) yields:
θ′＝′+β+90° (19)
by substituting equation (19) for equation (18), the virtual power angle characteristic in inverter current saturation can be obtained:
when the current is saturated, the d-axis current is gradually increased to I due to the action of the preferential limiting mode of the d-axis currentmaxThe q-axis current will gradually increaseReduced to 0. thereafter, β is 0 andit holds, so equation (20) can be further written as:
wherein, PsmAnd the maximum value of the active power output by the inverter when the output current is saturated is shown.
From the equation (20) or (21), a virtual power angle characteristic curve under inverter current saturation (referred to as a "saturated virtual power angle curve" in the present invention because of taking inverter current saturation into consideration) is obtained, and as shown in fig. 5, two equilibrium points of C and D exist in [ -pi, pi ], where point C is a stable equilibrium point and point D is an unstable equilibrium point.
As shown in fig. 6, when the inverter receives a power increase command, the frequency increases and the virtual power angle' increases. In the ideal voltage tracking case, the output voltage and current vector can track the change of the virtual power angle, namely, alpha is 0 and beta is 0. However, because of the three-loop control, the voltage control needs to be realized through the current control, the bandwidth of the voltage control is limited, and the voltage control lags behind the dq coordinate to generate a negative q-axis voltage component and a positive q-axis current component, so that both alpha and beta are larger than zero.
Since both α and β are greater than zero during the transient process, it can be seen from the two formulas, i.e., the characteristic equation (13) of the unsaturated virtual power angle curve and the characteristic equation (20) of the saturated virtual power angle curve, that both the unsaturated virtual power angle curve and the saturated virtual power angle curve are shifted, as shown by curves 1 and 2 in fig. 7. It can be seen that the ordinate of the intersection point of the two shifted curves is reduced, that is, the corresponding output power is reduced when the current of the inverter is saturated, and the stability margin of the inverter is reduced.
FIG. 8 shows the inverter power command after considering the transient virtual power angle curve offsetFrom P0Step to P1The trace diagram of the rear virtual power angle shows that the virtual power angle no longer moves along the ideal virtual power angle curve, but shows a significant downward moving trend, so that the current source instability mode can be entered earlier, the larger the offsets α and β are, the earlier the current source mode is entered, and the earlier the problem of virtual power angle instability occurs.
The specific embodiment of the invention is as follows:
the embodiment takes a single inverter incorporated into an infinite system (as shown in fig. 1) as an example, a single-machine infinite system is used for simulation, the current adopts a d-axis current-preferred amplitude limiting mode, and the amplitude limiting value is ImaxThe remaining parameters used for the simulation are shown in figure 2, which is 1.05. Inverter with P0Starting at 0.3, and when t is 3s, P0The step is stepped to 1.0, and the transient performance of the proposed control method is tested with a droop control strategy without output current feed-forward as a control group.
TABLE 2 example parameter values for partial system variables in simulation verification
When the method of adding inverter output current feedforward control is adopted, fig. 9-13 show the transient response of the inverter when different current feedforward coefficients are used, wherein F is 0, i.e. no current feedforward is taken as a control group. It can be seen that the transient performance of the inverter using output current feed forward is significantly better than that of the inverter without output current feed forward. A detailed comparative analysis of the transient waveforms of these two controls is performed below.
Fig. 9 and 10 show the dq-axis voltage and current waveforms of the inverter controlled by two types in the transient process respectively. It can be seen that the voltage tracking performance of the inverter of the comparison group is obviously limited, the d-axis output voltage has an obvious drop of about 8%, and the q-axis voltage also has an offset of about 5%. Meanwhile, the d-axis current response of the comparison group inverter is obviously slower than that of the inverter adopting feed-forward control, and the q-axis current also has larger transient component. As a result, as shown in fig. 11, the virtual power angle curve of the inverter of the control group is significantly shifted, and large α and β components appear. As can be seen from fig. 9-11, the larger the F value is, the better the voltage and current tracking effect is, and the smaller the virtual power angle transient deviation is. However, the larger F, the more significant the oscillation of the output voltage and current. Therefore, it is necessary to select a proper F value to ensure that the system has good transient and small interference performance at the same time.
Fig. 12 shows the inverter output power for both controls during a transient. Due to the fact that large transient virtual power angle curve deviation occurs, stability margin is reduced, the inverter of the comparison group cannot reach given power, and current source type instability occurs. In addition, the reactive power of the inverter has obvious reverse regulation characteristic, namely, the reactive power firstly falls and then rises, and the change is consistent with the change of the q-axis current. Compared to inverters with feed forward, the control group of inverters absorbs more transient reactive power, which is also disadvantageous for the transient stability of the system.
Fig. 13 shows the change of the virtual power angle in the transient process, and it can be seen that, due to the existence of the transient process, the inverters all deviate from the ideal virtual power angle curve, but the deviation of the inverter adopting the output current feedforward is obviously smaller than that of the inverter of the comparison group, and a new balance point can be reached, and the larger F is, the smaller deviation is; inverters that do not employ output current feed-forward may lose virtual power angle stability.
The invention has prominent technical effects: the phenomenon that the transient stability margin of the inverter is reduced due to the fact that the virtual power angle curve is shifted in the transient process is analyzed, and researches show that a right half-plane zero point exists in a transfer function of voltage outer ring control and the voltage tracking performance is restrained. On this basis, a method of feedforward control using the estimated inverter output current is proposed. The method can improve the transient tracking performance of the voltage, effectively restrain the transient deviation of the virtual power angle curve, and does not need to add an additional sensor. Meanwhile, the method needs to reasonably select the feedforward coefficient of the output current so as to ensure that the system has good transient and small interference performance.
According to the mechanism of inverter instability, the method can also be applied to other inverters adopting a voltage outer ring-current inner ring (double-ring control), such as a virtual synchronous machine and the like, and can also be further popularized and applied to large interference scenes such as multi-machine passive isolated network, isolated network large load switching and the like, so that the transient stability of the system is improved.
Claims (1)
1. A control method for restraining the transient virtual power angle curve deviation of a droop control inverter is characterized by comprising the following steps: aiming at the problem of the deviation of the transient virtual power angle', the method of adding a feedforward parameter is adopted to calculate the output current of the inverter and carry out feedforward control on the output current so as to improve the voltage tracking performance of the inverter and further keep the transient stability of the inverter;
two current reference values generated at the outer ring of the original voltage of the inverterAndon the basis, respectively adding two estimated values I of feedforward output currentdo,estAnd Iqo,estTo obtain a new current reference valueAndnamely, the following formula is adopted:
<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msubsup> <mi>I</mi> <mrow> <mi>d</mi> <mn>1</mn> </mrow> <mrow> <mo>*</mo> <mo>*</mo> </mrow> </msubsup> <mo>=</mo> <msubsup> <mi>I</mi> <mi>d</mi> <mrow> <mo>*</mo> <mo>*</mo> </mrow> </msubsup> <mo>+</mo> <msub> <mi>FI</mi> <mrow> <mi>d</mi> <mi>o</mi> <mo>,</mo> <mi>e</mi> <mi>s</mi> <mi>t</mi> </mrow> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msubsup> <mi>I</mi> <mrow> <mi>q</mi> <mn>1</mn> </mrow> <mrow> <mo>*</mo> <mo>*</mo> </mrow> </msubsup> <mo>=</mo> <msubsup> <mi>I</mi> <mi>q</mi> <mrow> <mo>*</mo> <mo>*</mo> </mrow> </msubsup> <mo>+</mo> <msub> <mi>FI</mi> <mrow> <mi>q</mi> <mi>o</mi> <mo>,</mo> <mi>e</mi> <mi>s</mi> <mi>t</mi> </mrow> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced>
wherein F is a feedforward coefficient;
estimated values I of the two feedforward output currentsdo,estAnd Iqo,estThe following formula is used for calculation:
<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>I</mi> <mrow> <mi>d</mi> <mi>o</mi> <mo>,</mo> <mi>e</mi> <mi>s</mi> <mi>t</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mrow> <mn>1</mn> <mo>+</mo> <msub> <mi>T</mi> <mi>I</mi> </msub> <mi>s</mi> </mrow> </mfrac> <msub> <mi>I</mi> <mi>d</mi> </msub> <mo>-</mo> <msub> <mi>C</mi> <mi>F</mi> </msub> <mfrac> <mi>s</mi> <mrow> <mn>1</mn> <mo>+</mo> <msub> <mi>T</mi> <mi>V</mi> </msub> <mi>s</mi> </mrow> </mfrac> <msub> <mi>V</mi> <mi>d</mi> </msub> <mo>+</mo> <msub> <mi>&omega;C</mi> <mi>F</mi> </msub> <msub> <mi>V</mi> <mi>q</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>I</mi> <mrow> <mi>q</mi> <mi>o</mi> <mo>,</mo> <mi>e</mi> <mi>s</mi> <mi>t</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mrow> <mn>1</mn> <mo>+</mo> <msub> <mi>T</mi> <mi>I</mi> </msub> <mi>s</mi> </mrow> </mfrac> <msub> <mi>I</mi> <mi>q</mi> </msub> <mo>-</mo> <msub> <mi>C</mi> <mi>F</mi> </msub> <mfrac> <mi>s</mi> <mrow> <mn>1</mn> <mo>+</mo> <msub> <mi>T</mi> <mi>V</mi> </msub> <mi>s</mi> </mrow> </mfrac> <msub> <mi>V</mi> <mi>q</mi> </msub> <mo>-</mo> <msub> <mi>&omega;C</mi> <mi>F</mi> </msub> <msub> <mi>V</mi> <mi>d</mi> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced>
wherein, TIAnd TVFilter time constants for current and voltage, respectively, ω is the angular velocity of the inverter, Vd、VqD-and q-axis components, I, respectively, of the inverter voltage vectord、IqD-and q-axis components, C, of the inverter current vector, respectivelyFIs the capacitance of the inverter and s represents the complex variable in the complex frequency domain.
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| CN105826949B (en) * | 2016-05-20 | 2018-10-09 | 国网浙江省电力公司电力科学研究院 | A kind of transient state control method improving the virtual synchronous control inverter stability of synchronization |
| CN110768257A (en) * | 2019-11-04 | 2020-02-07 | 四川英杰电气股份有限公司 | Method, device and equipment for suppressing network side harmonic current and readable storage medium |
| CN111969641A (en) * | 2020-08-24 | 2020-11-20 | 中国电建集团华东勘测设计研究院有限公司 | Fault current suppression method for sending-end MMC of flexible direct-current power transmission system |
| CN112968466B (en) * | 2021-02-02 | 2023-02-17 | 四川大学 | Grid-connected inverter transient control method based on power angle estimation |
| CN113472008B (en) * | 2021-06-18 | 2023-09-22 | 浙江大学 | Anti-saturation enhanced droop control method for improving synchronous stability of inverter |
| CN116937708A (en) * | 2023-07-20 | 2023-10-24 | 上海正泰电源***有限公司 | Method, device and medium for controlling output voltage of inverter under weak current network |
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