CN106712115B - A kind of virtual synchronous engine controller without current feedback - Google Patents
A kind of virtual synchronous engine controller without current feedback Download PDFInfo
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- CN106712115B CN106712115B CN201710122864.4A CN201710122864A CN106712115B CN 106712115 B CN106712115 B CN 106712115B CN 201710122864 A CN201710122864 A CN 201710122864A CN 106712115 B CN106712115 B CN 106712115B
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- inverter
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/12—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load
- H02J3/16—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load by adjustment of reactive power
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- 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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Eletrric Generators (AREA)
Abstract
The present invention provides a kind of virtual synchronous engine controllers for not needing current feedback, including following part: 1) virtual rotor angular frequency and phase, the angular frequency as inverter is calculated in equation of rotor motion.2) voltage controls, and the control of simulation synchronous generator exciting and reactive voltage droop characteristic control inverter output voltage amplitude.3) inverter output power accounting equation.Inverter reactive power and virtual electromagnetic torque are calculated using the method for Transmission Lines power calculation.The equation has the characteristics that not needing the magnitude of current can be calculated.4) .dq transformation and dq inverse transformation unit, the angular frequency calculated using equation of rotor motion and phase are as Reference Phase Angle.In summary each section obtains a kind of virtual synchronous engine controller for not needing current feedback of the present invention.Compared with the existing methods, the present invention does not need current feedback, simplifies control algolithm；Current sensor is also omited simultaneously, reduces the construction cost of inverter.
Description
Technical field
The present invention relates to micro-capacitance sensor and distributed power generation field, in particular to the virtual synchronous generator control of a kind of inverter
Device processed.
Background technique
With the increase of the intermittences such as wind, light clean energy resource proportion in the power system, smart grid is especially micro-
Electric network consecutive becomes the research hotspot of power domain.Inverter in micro-capacitance sensor is the grid-connected major way of clean energy resource, therefore
Its control strategy just becomes the key technology of micro-capacitance sensor operation.Conventional control strategy for inverter micro-capacitance sensor multi-inverter simultaneously
Voltage, frequency support can not be provided in the case where net operation for micro-grid system, it is also difficult to reasonably distribute between each inverter
Output power, become restrict micro-capacitance sensor development the problem of.Synchronous generator has pressure regulation, frequency modulation special in conventional electric power system
The characteristic of power regulation when property and rotor inertia are to multiple unit operation.Simulate the inverter control of above-mentioned synchronous generator characteristic
Technology, i.e. virtual synchronous generator techniques become the hot spot studied at present.
Existing virtual synchronous engine controller requires the voltage and electric current that measure inverter output end simultaneously.And
Inverter could be controlled using the control operation that voltage, electric current carry out complexity.
Summary of the invention
The present invention provides a kind of virtual synchronous engine controllers for not needing current feedback.
To achieve the above object, the present invention is realized using following technical method:
As described in a kind of virtual synchronous engine controller without current feedback of the present invention, the present invention is only defeated to inverter
Voltage is sampled out.Clear two concepts are needed exist for, inverter output voltage connects LC filter rear end by inverter
Voltage on capacitor, inversion bridge output voltage are the output voltage at filter front end power electronic devices.Obtaining three-phase
It converts to obtain the dq component U of inverter output voltage by dq after output voltage sampled valued、Uq。
Control method is specifically with the realization of following 3 steps:
(1) voltage controls: according to above-mentioned inverter output voltage dq axis component Ud、Uq, with given Voltage Reference Vref,
And reactive power gives QsetWith inverter output reactive power Q.Consider simultaneously the control of voltage magnitude and reactive power with it is inverse
The sagging relationship for becoming device output voltage calculates the control amount of inverter output voltage using the following differential equation:
In above formula, KaVoltage magnitude gain；nqFor idle sagging gain；UoFor inverter output voltage amplitude, calculate public
Formula is as follows:
Obtain the control amount E of inverter output voltageqAfterwards, as PWM modulation voltage q axis component, and polishing is identical
In zero d axis component EdWith 0 axis component E0, PWM three-phase modulations wave is obtained after dq inverse transformation, to inverter bridge way switch into
Row control.
Above-mentioned dq transformation and dq inverse transformation are required with reference to angular frequencyrIt is calculated with phase by equation of rotor motion.Turn
2nd step of sub- equation of motion controller to realize the present invention.Above-mentioned inverter output reactive power Q is inverse by the 3rd step
Become device output power calculating equation calculation to obtain.Subsequent step is specific as follows.
(2) equation of rotor motion: the equation of rotor motion of synchronous generator can be described with following formula.
Wherein H is rotor inertia time constant, TmAnd TeRespectively machine torque and electromagnetic torque, ωrFor virtual rotor
Angular velocity of rotation refers to angular frequency with dq inverse transformation as dq transformation, under the premise of ignoring inverter bridge path loss consumption, ωr
The as angular frequency of inversion bridge output voltage.Machine torque TmIt can be sought, be calculated with synchronous generator governor mathematical model
Formula is as follows.
Tm≈Pset+Dp(fn-ωr/(2π)) (4)
Wherein PsetGiven, the D for active power of outputpFor droop characteristic coefficient, fnFor mains frequency.
Electromagnetic torque T in formula (3)eIt is obtained by the 3rd step inverter output power equation calculation, it is specific as follows.
(3) inverter output power accounting equation: as described above with EqAs PWM modulation voltage q axis component, and polishing
The d axis component E that perseverance is 0dWith 0 axis component E0, with ωrAngular frequency is referred to dq inverse transformation as dq transformation.Ignoring inverter bridge
Under the premise of path loss consumes, it is believed that inversion bridge output voltage amplitude is Eq.It is reference with inverter bridge output voltage phase
Phase, then inverter output voltage can be sought with inversion bridge output voltage phase difference δ by following formula:
Inverter active power of output P and idle function can be sought using the calculation formula of transmission line of electricity power transmission equation
Rate Q.Output work can be enabled since revolving speed is substantially near synchronous rotational speed using existing conclusion in synchronous generator steady-state analysis
Rate is equal to electromagnetic power, i.e. electromagnetic torque Te.Therefore, required electromagnetic torque T in step (2) equation of rotor motioneIt can be with defeated
Electric line power transmission equation is sought.Specific formula is as follows:
Wherein RfFor the equivalent resistance in inverter LC filter inductance, XfFor LC filter inductance induction reactance.
Similarly, reactive power Q calculation formula is as follows:
Compared with prior art, advantages of the present invention is embodied in: using transmission line of electricity power transmission equation calculation inverter
Output power, i.e. electromagnetic torque here and reactive power, calculating do not need current value.Therefore it can be omitted current feedback,
Inverter does not need installation current sensor, has saved construction cost.Voltage control considers the sagging of voltage and reactive power
Relationship takes into account the control of reactive power while controlling voltage stabilization.
Detailed description of the invention
Fig. 1 is a kind of overall construction drawing of the virtual synchronous engine controller without current feedback of the present invention；
Fig. 2 is voltage control and inverter output power accounting equation part-structure；
Fig. 3 is equation of rotor motion module detailed construction.
Specific embodiment
A specific embodiment of the invention is described with reference to the accompanying drawing, preferably so as to those skilled in the art
Understand the present invention.Requiring particular attention is that in the following description, when known function and the detailed description of design perhaps
When can desalinate main contents of the invention, these descriptions will be ignored herein.
Fig. 1 is a kind of overall construction drawing of the virtual synchronous engine controller without current feedback of the present invention, including master
Circuit, inverter output power accounting equation, voltage control, equation of rotor motion, dq transformation, dq inverse transformation these part structures
At.Lower mask body introduces Each part:
1) main circuit part, including IGBT three-phase full-bridge inverting circuit (IGBT Bridge) and LC filter and voltage pass
Sensor.LfFor LC filter inductance, RfFor LfUpper equivalent resistance, CfFor LC filter capacity.ZLFor networking line impedance, vbFor net
Side voltage.Ua、Ub、UcThe three-phase voltage obtained for voltage sensor measurement.
2) dq transformation and dq inverse transformation unit execute dq transformation and refer to angular frequency required for dq inverse transformationrAnd phase
Position is provided by equation of rotor motion part.The input of dq converter unit is the three-phase voltage U that voltage sensor measurement obtainsa、Ub、
Uc, by obtaining three-phase voltage dq axis component U after transformationd、Uq.The input of dq inverse transformation unit is voltage control division point output Eq,
As q axis component, and polishing perseverance is 0 d axis component EdWith 0 axis component E0, three-phase PWM modulating wave is obtained after inverse transformation, is controlled
IGBT Bridge work processed.
3) inverter output power accounting equation dotted line in inverter output power equation part, detailed construction such as Fig. 2
Shown in frame portion point.The part calculates inverter output reactive power Q and virtual using the method for transmission line of electricity power transmission equation
Electromagnetic torque Te.Input is three-phase voltage dq axis component Ud、UqAnd Eq.It is calculated by the following formula to obtain TeAnd Q.And by TeMake
For the input of equation of rotor motion part, Q is as voltage control division point input.
4) voltage control division point, detailed construction is as shown in voltage control dotted box portion in Fig. 2.The input of the part is
Three-phase voltage dq axis component Ud、Uq, voltage give Vref, reactive power give QsetIt is calculated with inverter output power equation part
Obtained reactive power Q.The part can be used to its mathematical model of lower differential equation.
Voltage controls specific work process are as follows: by VrefWith UoDifference multiplied by gain KaValue and QsetDifference with Q is multiplied by gain
nqValue be added.Then it carries out integrating and be exported after clipping to get the control amount E of inverter output voltage is arrivedq.As PWM
Modulation voltage q axis component, and d axis, 0 axis component perseverance are 0.E simultaneouslyqIt feeds back to inverter output power accounting equation and participates in meter
It calculates.
5) equation of rotor motion part, the part detailed construction are as shown in Figure 3.Its working principle is, first by power grid frequency
Rate fnSubtract inverter frequency fr, fr=ωr/2π.Obtained difference is multiplied by droop characteristic coefficient Dp.Along with active power of output
Given Pset, pass through the i.e. virtual machine torque T of the value obtained after amplitude limit linkm.By TmWith inverter output power equation part
Obtained electromagnetic torque TeSubtract each other, divided by inertia time constant 2H, then the value obtained after integrating is inversion bridge output voltage
Angular frequencyr, to ωrIntegral can obtain its phase theta.
In summary to the description of each section, a kind of virtual synchronous without current feedback that can be obtained as shown in Figure 1 generates electricity
The overall structure of machine controller.
Specific embodiment:
A kind of design parameter of circuit control device of the present invention is shown below.
Inverter parameters: three-phase inverter, rated frequency fn=50Hz；Rated output power 50kW；Voltage rating VrefFor
380V；Rated output power QsetFor 0var.Specified DC terminal voltage is 700V.Filter segment parameter is Lf=2mH is right
The X answeredf=0.628 Ω；Rf=0.1 Ω；Cf=13 μ F.Sagging coefficient Dp=100 000, nqIt is 0.15, voltage magnitude gain Ka
=20.Rotor inertia time constant H=2.
Although the illustrative specific embodiment of the present invention is described above, in order to the technology of the art
Personnel understand the present invention, it should be apparent that the present invention is not limited to the range of specific embodiment, to the common skill of the art
For art personnel, if various change the attached claims limit and determine the spirit and scope of the present invention in, these
Variation is it will be apparent that all utilize the innovation and creation of present inventive concept in the column of protection.
Claims (1)
1. a kind of virtual synchronous engine controller without current feedback, comprising:
--- voltage control: according to the dq axis component U of inverter output voltaged、Uq, with given Voltage Reference Vref, Yi Jiwu
Function power gives QsetWith inverter output reactive power Q, while considering that the control of voltage magnitude and reactive power are defeated with inverter
The sagging relationship of voltage out calculates the control amount of inverter output voltage using the following differential equation:
In above formula, KaVoltage magnitude gain；nqFor idle sagging gain；UoFor inverter output voltage amplitude, calculation formula is such as
Under:
Obtain the control amount E of inverter output voltageqAfterwards, as PWM modulation voltage q axis component, and polishing identically vanishing
D axis component EdWith 0 axis component E0, PWM three-phase modulations wave is obtained after dq inverse transformation, to the electronic power inversion electricity of inverter
Road is controlled；
--- dq transformation and dq inverse transformation unit: angular frequency is referred to needed for above-mentioned dq transformation and dq inverse transformationrWith phase by rotor
The equation of motion is calculated；In this way, set end voltage Ua、Ub、UcBe converted to the voltage dq component U under rotor rotating coordinate systemd、Uq；
--- dq inverse transformation unit will control voltage Ed、EqAnd one value of supplement for 0 component respectively as dq0 axis component,
Dq inverse transformation is carried out according to the calculated angular position theta of equation of rotor motion unit, three-phase PWM modulating wave is obtained, controls IGBT
Bridge work；
--- equation of rotor motion: the equation of rotor motion of synchronous generator is described with following formula:
Wherein H is rotor inertia time constant, TmAnd TeRespectively machine torque and electromagnetic torque, ωrIt is rotated for virtual rotor
Angular speed refers to angular frequency with dq inverse transformation as dq transformation, under the premise of ignoring inverter bridge path loss consumption, ωrAs
The angular frequency of inversion bridge output voltage；Machine torque TmIt is sought with synchronous generator governor mathematical model, calculation formula is such as
Under:
Tm≈Pset+Dp(fn-ωr/(2π)) (4)
Wherein PsetGiven, the D for active power of outputpFor droop characteristic coefficient, fnFor mains frequency；Electromagnetic torque in formula (3)
TeIt is obtained by inverter output power equation calculation；
--- inverter output power accounting equation: under the premise of ignoring inverter bridge loss, it is believed that inversion bridge output
Voltage magnitude is Eq；Using inverter bridge output voltage phase as fixed phase, then inverter output voltage and inversion bridge are defeated
Voltage phase difference δ is sought by following formula out:
Inverter active power of output P and reactive power Q are sought using the calculation formula of transmission line of electricity power transmission equation；It utilizes
Existing conclusion in synchronous generator steady-state analysis enables output power be equal to electromagnetism since revolving speed is substantially near synchronous rotational speed
Power, i.e. electromagnetic torque Te；Therefore, required electromagnetic torque T in equation of rotor motioneWith transmission line of electricity power transmission equation
It seeks；Specific formula is as follows:
Wherein RfFor the equivalent resistance in inverter LC filter inductance, XfFor LC filter inductance induction reactance；
Similarly, reactive power Q calculation formula is as follows:
It is characterized by: not needing current feedback, i.e. inverter master using formula (6), (7) calculating electromagnetic torque and reactive power
Current sensor is not needed in circuit yet.
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| GB2563086B (en) * | 2017-06-04 | 2020-09-16 | Zhong Qingchang | Cyber Synchronous Machine (in short, Cybersync Machine) |
| CN108321845B (en) * | 2018-03-19 | 2021-04-02 | 电子科技大学 | Self-synchronizing grid-connected control device for inverter |
| CN108879770A (en) * | 2018-07-16 | 2018-11-23 | 电子科技大学 | A kind of circuit control device |
| JP7292042B2 (en) | 2019-02-01 | 2023-06-16 | 三菱重工エンジン＆ターボチャージャ株式会社 | Combined power generation system in isolated operation |
| CN110829461B (en) * | 2019-11-14 | 2021-05-14 | 国网四川省电力公司经济技术研究院 | Inverter controller with function of participating in system low-frequency oscillation suppression |
| CN113224993B (en) * | 2021-05-25 | 2022-12-20 | 中国神华能源股份有限公司哈尔乌素露天煤矿 | Mining electric wheel restarting method and system |
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