CN108539798A - Energy-storage system Secondary Control strategy based on Model Predictive Control - Google Patents
Energy-storage system Secondary Control strategy based on Model Predictive Control Download PDFInfo
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- CN108539798A CN108539798A CN201810349876.5A CN201810349876A CN108539798A CN 108539798 A CN108539798 A CN 108539798A CN 201810349876 A CN201810349876 A CN 201810349876A CN 108539798 A CN108539798 A CN 108539798A
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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
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
- H02J3/48—Controlling the sharing of the in-phase component
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
- H02J3/50—Controlling the sharing of the out-of-phase component
-
- 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]
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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
- H02J3/003—Load forecast, e.g. methods or systems for forecasting future load demand
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Abstract
The invention discloses a kind of energy-storage system Secondary Control strategy based on Model Predictive Control.Existing frequency, the PI controls of voltage Secondary Control scheme generally use, in load fluctuation, frequency can not be stablized in reference frequency value, and frequency and the transient response of voltage are slower.The technical solution adopted by the present invention is:First, the inverter of energy-storage system and its state-space model of controlling unit are derived, secondly, establishes the prediction model of angular frequency and voltage;Then through rolling optimization and feedback compensation, the control variable of angular frequency and voltage, is finally respectively added on active power/angular frequency and reactive power/voltage droop control by the control variable for obtaining angular frequency and voltage, realize that frequency retrieval to the precise proportions of a reference value and reactive power distribute.There is the present invention faster frequency, voltage transient to respond, and control accuracy is high, highly practical.
Description
Technical field
It is specifically a kind of based on Model Predictive Control the invention belongs to distributed power generation and micro-capacitance sensor technical field
The secondary pressure regulation of energy-storage system, chirping strategies.
Background technology
Micro-capacitance sensor is by energy-storage system, diesel-driven generator distributed power supply (distributed generator, DG), work(
The equipment such as rate converter, load constitute, by with bulk power grid interact supplement can alleviate access power grid when caused by impact.Micro- electricity
When net is in island mode, power usually is provided for load by more DG parallel runnings, it is sagging with " plug and play " characteristic
Control is most common control mode.Traditional P-f droop characteristics in load variations can not by frequency stabilization in rated value, and
Line impedance in low pressure micro-capacitance sensor is in usually resistive or resistance sense, and traditional Q-V droop controls is made to cannot achieve reactive power
Proportional assignment, and the equal offset voltage a reference value of each output voltage.
To improve the assignment accuracy of reactive power, certain scholars propose to introduce virtual impedance in inverter output end, change
Output impedance characteristic, improves the power distribution precision of inverter, but cannot to solve outlet line difference equal to system for virtual impedance
The influence of stream, therefore some scholars use Secondary Control strategy, and Secondary Control is added respectively in frequency and the reference value of voltage
Optimized amount realizes that frequency retrieval to rated value and reactive power presses rated capacity pro rate;But traditional Secondary Control strategy
PI controls are all made of, the transient response of frequency and voltage in load fluctuation is affected.
Invention content
The technical problem to be solved by the present invention is to overcome above-mentioned the shortcomings of the prior art, provide a kind of based on model
The energy-storage system Secondary Control strategy of PREDICTIVE CONTROL, to realize the optimal control to energy-storage system voltage and frequency.
For this purpose, the present invention adopts the following technical scheme that:Energy-storage system Secondary Control strategy based on Model Predictive Control,
It includes:
Inverter and its state-space model of controlling unit are derived, the prediction model of angular frequency and voltage is established;
The optimization object function that angular frequency and voltage are respectively obtained according to desired value, it is excellent by being rolled to optimization object function
Change, obtains multiple controlling increments when making the function minimalization, output is acquired in conjunction with the initial prediction of a upper sampling instant
Revised output predicted value, the initial prediction as subsequent time are obtained after predicted value, with actual measured value feedback compensation;
Instant controlling increment is taken to constitute control variable simultaneously, as the Secondary Control amount for adjusting angular frequency and voltage.
Since PI controllers are only capable of using in the past and current measured value, using the Secondary Control strategy controlled based on PI,
When docking the energy storage device in micro-capacitance sensor as distributed generation resource into line frequency and voltage adjusting, transient response susceptible.
Discovery is researched and analysed, Model Predictive Control (MPC) is under conditions of considering controll plant related constraint, not merely with current and mistake
The measured value gone also predicts Future Information using prediction model, adjusts control variable by rolling optimization, and to prediction
Output carries out feedback compensation, and output is maintained desired value.
The present invention can predict future course information using Model Predictive Control (MPC), and be carried out accurately to desired value
The characteristic of tracking establishes angular frequency and electricity by deriving the inverter of energy-storage system and its state-space model of controlling unit
The prediction model of pressure obtains the control variable of angular frequency and voltage, as active power/angle through rolling optimization and feedback compensation
The Secondary Control optimized amount of frequency and reactive power/voltage droop characteristic realizes frequency retrieval to a reference value and reactive power
Precise proportions distribution.It is compared and is found by the Secondary Control strategy controlled with PI, the present invention is based on the Secondary Control strategies of MPC
In load fluctuation, there is faster frequency and voltage transient response characteristic, in load fluctuation, frequency is maintained into frequency always
Rate a reference value, and the deviation of each output voltage and reference voltage is greatly reduced, while realizing reactive power in rated capacity ratio
Accurate distribution.
As the supplement of above-mentioned technical proposal, the construction step of the prediction model of the angular frequency and voltage, including:
Step 1):Sampling obtains inverter output end voltage uiWith electric current ii, filter output voltage uoWith electric current io、
Points of common connection voltage is Vs;uoDq axis variables u is got in return through park changesod、uoq, similarly obtain io、ui、iiAnd VsDq axis variables;If
The angular frequency of output voltage is ω when inverter stable operation0, derive ii、uoAnd ioState equation, respectively:
With
Wherein Lf、CfAnd RfRespectively filter inductance, capacitance and resistance;
L, R is respectively line inductance, resistance;ωn=2 π fnFor specified angular frequency, wherein fn=50Hz;
Step 2):Calculate active power and reactive power, respectively p=uodiod+uoqioq, q=uoqiod-uodioq, through cutting
Angle till frequency is ωcLow-pass filter obtain mean power be P, Q, i.e.,S is that drawing is general
Lars converts differential operator;
The droop control parameter of angular frequency and voltage is obtained using P, Q, while adding Secondary Control amount, is obtainedThe π of wherein ω=2 f, ωn=2 π fn, fn、UnRespectively frequency, a reference value of voltage;Pn、Qn
Respectively frequency, voltage corresponding active power and reactive power in a reference value;M, n is respectively the sagging coefficient of P- ω, Q-V;
ωs、uMThe angular frequency variable and voltage quantities respectively added;The voltage value that droop control is generated controls outer shroud as voltage
Reference signal, i.e.,
u* od=Un+n(Qn-Q)+uM、u* oq=0;
Step 3):Define voltage difference state variableI.e. to (u* od-uod) carry out integral acquisition variableSimilarly
To (u* oq-uoq) integral acquisition variableDesign voltage outer shroud governing equation
Wherein kvp、kviThe respectively ratio of outer voltage, integral parameter;H is to adjust output current ioParameter, outer voltage is controlled
The current signal i that equation generates* id、i* iqAs current inner loop reference signal;
Define current difference state variableI.e. to (i* id-iid) integral acquisition variable γd, similarly to (i* iq-
iiq) integral acquisition variable γq.Design current inner ring governing equation isIts
Middle kip、kiiThe respectively ratio of inner ring, integral parameter;Ignore the dynamic effects of switch sections at higher frequencies, it is believed that electric current
The voltage signal u that inner ring governing equation generates* id、u* iqRespectively equal to inverter output voltage uid、uiq;
Step 4):By ω=ωn+m(Pn-P)+ωsObtain angular frequency, the integrated dq axial coordinates for obtaining inverter and defining
Angle δ, i.e. δ=∫ ω dt, all variables are defined under the dq axis coordinate systems, if common bus voltage is (Vd, Vq), it will
(Vd, Vq) transform under the dq axis coordinate systems that inverter defines, it obtains
According to δ, P, Q,γdq(γd、γq)、iidq(iid、
iiq)、uodq(uod、uoq)、iodq(iod、ioq) establish inverter and its condition of small signal spatial model of controlling unitWhereinFor state variable, Δ
U=[Δ ωsΔuMΔVdΔVq]TVariable in order to control,
Matrix ADG、BDGIn, Iid、Iiq、Iod、Ioq、Vod、VoqRespectively state space variable iid、iiq、iod、ioq、uod、uoq
The corresponding state value in inverter stable operation;
Step 5):Using master controller, the frequency and voltage U of each distributed generation resource output are obtained, average angular frequency is calculated
RateAnd average voltageEstablish the angular frequency prediction model that output predicted value is average angular frequency
Wherein, Cω=[0-m 0000000000 0], Dω=[1 0 0], Δ uω=[Δ ωsΔVdΔVq]T,
Matrix BDGωMiddle Iid、Iiq、Iod、Ioq、Vod、VoqRespectively state space variable iid、iiq、iod、ioq、uod、uoqInverse
Become corresponding state value when device stable operation;
Establish the voltage-prediction model that output predicted value is average voltage
Wherein, CU=[0 0-n 000000000 0], DU=[1 0 0], Δ uU=[Δ uMΔVdΔVq]T,
With sampling period TsBy the prediction model discretization of angular frequency and voltage, respectively
Wherein
In formula, triangle Δ indicates the small signal variation amount of certain variable.
As the supplement of above-mentioned technical proposal, desired value ω is given respectivelyn=2 π fn, fn=50Hz and Un=311V, then angle
The objective optimization function of frequency is
Wω、WsIt indicates to change the weight coefficient inhibited, L to tracking error and controlling increment respectivelyωIndicate angular frequency objective optimization letter
Several prediction steps, MωIndicate that control step-length, constraints are
ωsmax=2 π × 0.5rad/s, ωsmin=-2 π × 0.5rad/s distinguishes variable ω in order to controls(k) the upper limit, lower limit;Control increases
Measure Δ ωs(k) the upper limit, lower limit are respectively Δ ωsmax、Δωsmin;Predict that the upper limit of output quantity, lower limit are respectively Controlling increment [Δ ω is acquired by the objective optimization function of angular frequencys
(k),…,Δωs(k+Mω-1)]T, take instant controlling increment Δ ωs(k) variable ω is controlled with the angular frequency of a upper sampling instants
(k-1) the composition k moment controls variable ωs(k), it is added in active power/angular frequency droop control, realizes the secondary of angular frequency
It adjusts.
As the supplement of above-mentioned technical proposal, the objective optimization function of voltage is
WU、WuIt indicates respectively
The weight coefficient inhibited, L are changed to tracking error and controlling incrementUIndicate the prediction step of voltage target majorized function, MUTable
Show control step-length;Constraints is
Output voltage allow maximum deviation amount be
The 5% of a reference value, takes uMmin=-15V, uMmax=15V, thenBy the objective optimization of voltage
Function acquires controlling increment [Δ uM(k),…,ΔuM(k+MU-1)]T, take instant controlling increment Δ uM(k) with a upper sampling instant
Voltage control variable amount uM(k-1) the composition k moment controls variable uM(k), it is added in reactive power/voltage droop control, obtains
Resultant voltage, i.e. Un+n(Qn-Q)+uM, reduce the influence that load fluctuation deviates output voltage reference voltage.
As the supplement of above-mentioned technical proposal, the deviation of the average voltage by resultant voltage and actually measured carries out PI tune
Section, i.e.,In formula, kQpFor the proportionality coefficient that PI is adjusted, kQiFor the integral coefficient that PI is adjusted, s
For for Laplace transform differential operator, by the regulated quantity Δ U of acquisitionQIt is then added on resultant voltage, as final voltage
Reference value realizes that reactive power presses rated capacity pro rate with the limiting circuitry impedance influence uneven to reactive power distribution.
The present invention has the characteristic accurately tracked to desired value using Model Predictive Control Algorithm, obtains angular frequency and voltage
Secondary Control amount, be respectively added in active power/angular frequency droop control and reactive power/voltage droop control, realize
While reactive power presses rated capacity pro rate, system frequency is maintained into frequency reference value always, and is greatly reduced each
The deviation of output voltage and reference voltage.
Specific implementation mode
The invention will be further described With reference to embodiment.
The present embodiment provides a kind of energy-storage system Secondary Control strategy based on Model Predictive Control, includes the following steps:
Step 1):Sampling obtains inverter output end voltage uiWith electric current ii, filter output voltage uoWith electric current io、
Points of common connection voltage is Vs;uoDq axis variables u is got in return through park changesod、uoq, similarly obtain io、ui、iiAnd VsDq axis variables;If
The angular frequency of output voltage is ω when inverter stable operation0, derive ii、uoAnd ioState equation, respectively:
With
Wherein Lf、CfAnd RfRespectively filter inductance, capacitance and resistance;
L, R is respectively line inductance, resistance;ωn=2 π fnFor specified angular frequency, wherein fn=50Hz.
Step 2):Calculate active power and reactive power, respectively p=uodiod+uoqioq, q=uoqiod-uodioq, through cutting
Angle till frequency is ωcLow-pass filter obtain mean power be P, Q, i.e.,
S is Laplace transform differential operator;
The droop control parameter of angular frequency and voltage is obtained using P, Q, while adding Secondary Control amount, is obtainedThe π of wherein ω=2 f, ωn=2 π fn, fn、UnRespectively frequency, a reference value of voltage;Pn、Qn
Respectively frequency, voltage corresponding active power and reactive power in a reference value;M, n is respectively the sagging coefficient of P- ω, Q-V;
ωs、uMThe angular frequency variable and voltage quantities respectively added;The voltage value that droop control is generated controls outer shroud as voltage
Reference signal, i.e.,
u* od=Un+n(Qn-Q)+uM、u* oq=0.
Step 3):Define voltage difference state variableI.e. to (u* od-uod) carry out integral acquisition variableSimilarly
To (u* oq-uoq) integral acquisition variableDesign voltage outer shroud governing equation
Wherein kvp、kviThe respectively ratio of outer voltage, integral parameter;H is to adjust output current ioParameter, outer voltage is controlled
The current signal i that equation generates* id、i* iqAs current inner loop reference signal;
Define current difference state variableI.e. to (i* id-iid) integral acquisition variable γd, similarly right
(i* iq-iiq) integral acquisition variable γq.Design current inner ring governing equation is
Wherein kip、kiiThe respectively ratio of inner ring, integral
Parameter;Ignore the dynamic effects of switch sections at higher frequencies, it is believed that the voltage signal u that current inner loop control equation generates* id、u* iqRespectively equal to inverter output voltage uid、uiq。
Step 4):By ω=ωn+m(Pn-P)+ωsObtain angular frequency, the integrated dq axial coordinates for obtaining inverter and defining
Angle δ, i.e. δ=∫ ω dt, all variables are defined under the dq axis coordinate systems, if common bus voltage is (Vd, Vq), it will
(Vd, Vq) transform under the dq axis coordinate systems that inverter defines, it obtains
According to δ, P, Q,γdq(γd、γq)、iidq(iid、
iiq)、uodq(uod、uoq)、iodq(iod、ioq) establish inverter and its condition of small signal spatial model of controlling unitWhereinFor state variable, Δ
U=[Δ ωsΔuMΔVdΔVq]TVariable in order to control,
Matrix ADG、BDGIn, Iid、Iiq、Iod、Ioq、Vod、VoqRespectively state space variable iid、iiq、iod、ioq、uod、uoq
The corresponding state value in inverter stable operation.
Step 5):Using master controller, the frequency and voltage U of each distributed generation resource output are obtained, average angular frequency is calculated
RateAnd average voltageEstablish the angular frequency prediction model that output predicted value is average angular frequency
Wherein, Cω=[0-m 0000000000 0], Dω=[1 0 0], Δ uω=[Δ ωsΔVdΔVq]T,
Matrix BDGωMiddle Iid、Iiq、Iod、Ioq、Vod、VoqRespectively state space variable iid、iiq、iod、ioq、uod、uoqInverse
Become corresponding state value when device stable operation.
Establish the voltage-prediction model that output predicted value is average voltage
Wherein, CU=[0 0-n 000000000 0], DU=[1 0 0], Δ uU=[Δ uMΔVdΔVq]T,
With sampling period TsBy the prediction model discretization of angular frequency and voltage, respectively,
Wherein
In formula, triangle Δ indicates the small signal variation amount of certain variable.
Desired value ω is given respectivelyn=2 π fn, fn=50Hz and Un=311V, then the objective optimization function of angular frequency beWω、Ws
It indicates to change the weight coefficient inhibited, L to tracking error and controlling increment respectivelyωIndicate the pre- of angular frequency objective optimization function
Survey step-length, MωIndicate control step-length.
Constraints isωsmax=2 π × 0.5rad/s,
ωsmin=-2 π × 0.5rad/s distinguishes variable ω in order to controls(k) the upper limit, lower limit;Controlling increment Δ ωs(k) the upper limit, under
Limit is respectively Δ ωsmax、Δωsmin;Predict that the upper limit of output quantity, lower limit are respectively Controlling increment [Δ ω is acquired by the objective optimization function of angular frequencys
(k),…,Δωs(k+Mω-1)]T, take instant controlling increment Δ ωs(k) variable ω is controlled with the angular frequency of a upper sampling instants
(k-1) the composition k moment controls variable ωs(k), it is added in active power/angular frequency droop control, realizes the secondary of angular frequency
It adjusts.
The objective optimization function of voltage is
WU、WuExpression pair respectively
Tracking error and controlling increment change the weight coefficient inhibited, LUIndicate the prediction step of voltage target majorized function, MUIt indicates
Control step-length.Constraints is
The maximum deviation amount that output voltage allows is base
The 5% of quasi- value, takes uMmin=-15V, uMmax=15V, thenBy the objective optimization letter of voltage
Number acquires controlling increment [Δ uM(k),…,ΔuM(k+MU-1)]T, take instant controlling increment Δ uM(k) with a upper sampling instant
Voltage control variable amount uM(k-1) the composition k moment controls variable uM(k), it is added in reactive power/voltage droop control, is closed
At voltage, i.e. Un+n(Qn-Q)+uM, reduce the influence that load fluctuation deviates output voltage reference voltage.
The deviation of the average voltage by resultant voltage and actually measured carries out PI adjustings (ratio-integral adjustment), i.e.,In formula, kQpFor the proportionality coefficient that PI is adjusted, kQiFor the integral coefficient that PI is adjusted, s is drawing
Laplace transform differential operator.By the regulated quantity Δ U of acquisitionQIt is then added on resultant voltage, as final voltage reference value,
With the limiting circuitry impedance influence uneven to reactive power distribution, realize that reactive power presses rated capacity pro rate.
Embodiments of the present invention above described embodiment only expresses, can not be therefore understands that protect model to the present invention
The limitation enclosed also not makes any form of restriction the structure of the present invention.It should be pointed out that for the common of this field
For technical staff, without departing from the inventive concept of the premise, several changes and improvements can also be made, these belong to this
The protection domain of invention.
Claims (5)
1. the energy-storage system Secondary Control strategy based on Model Predictive Control, which is characterized in that including:
Inverter and its state-space model of controlling unit are derived, the prediction model of angular frequency and voltage is established;
The optimization object function that angular frequency and voltage are respectively obtained according to desired value, by optimization object function rolling optimization,
Multiple controlling increments when making the function minimalization are obtained, output prediction is acquired in conjunction with the initial prediction of a upper sampling instant
Value, and obtains revised output predicted value, the initial prediction as subsequent time after actual measured value feedback compensation;Simultaneously
Instant controlling increment is taken to constitute control variable, as the Secondary Control amount for adjusting angular frequency and voltage.
2. the energy-storage system Secondary Control strategy according to claim 1 based on Model Predictive Control, which is characterized in that institute
The construction step of the prediction model of angular frequency and voltage is stated, including:
Step 1):Sampling obtains inverter output end voltage uiWith electric current ii, filter output voltage uoWith electric current io, public company
Junction voltage is Vs;uoDq axis variables u is got in return through park changesod、uoq, similarly obtain io、ui、iiAnd VsDq axis variables;If inverter
The angular frequency of output voltage is ω when stable operation0, derive ii、uoAnd ioState equation, respectively:
With
Wherein Lf、CfAnd RfRespectively filter inductance, capacitance and resistance;L、R
Respectively line inductance, resistance;ωn=2 π fnFor specified angular frequency, wherein fn=50Hz;
Step 2):Calculate active power and reactive power, respectively p=uodiod+uoqioq, q=uoqiod-uodioq, through angle of cut-off
Frequency is ωcLow-pass filter obtain mean power be P, Q, i.e.,S is Laplce
Convert differential operator;
The droop control parameter of angular frequency and voltage is obtained using P, Q, while adding Secondary Control amount, is obtained
The π of wherein ω=2 f, ωn=2 π fn, fn、UnRespectively frequency, a reference value of voltage;Pn、QnRespectively frequency, voltage are in a reference value
When corresponding active power and reactive power;M, n is respectively the sagging coefficient of P- ω, Q-V;ωs、uMThe angular frequency respectively added
Variable and voltage quantities;The voltage value that droop control is generated controls the reference signal of outer shroud, i.e. u as voltage* od=Un+n
(Qn-Q)+uM、u* oq=0;
Step 3):Define voltage difference state variableI.e. to (u* od-uod) carry out integral acquisition variableIt is similarly right
(u* oq-uoq) integral acquisition variableDesign voltage outer shroud governing equation
Wherein kvp、kviThe respectively ratio of outer voltage, integral parameter;H is to adjust output current ioParameter, outer voltage is controlled
The current signal i that equation generates* id、i* iqAs current inner loop reference signal;
Define current difference state variableI.e. to (i* id-iid) integral acquisition variable γd, similarly to (i* iq-
iiq) integral acquisition variable γq, design current inner ring governing equation is
Wherein kip、kiiThe respectively ratio of inner ring, integral parameter;Ignore the dynamic effects of switch sections at higher frequencies, it is believed that electricity
Flow the voltage signal u that inner ring governing equation generates* id、u* iqRespectively equal to inverter output voltage uid、uiq;
Step 4):By ω=ωn+m(Pn-P)+ωsObtain angular frequency, the integrated angle for obtaining inverter and defining lower dq axial coordinates
δ, i.e. δ=∫ ω dt are spent, all variables are defined under the dq axis coordinate systems, if common bus voltage is (Vd, Vq), by (Vd,
Vq) transform under the dq axis coordinate systems that inverter defines, it obtainsAccording to δ, P, Q,
γd、γq、iid、iiq、uod、uoq、iod、ioqEstablish inverter and its condition of small signal spatial model of controlling unitWhereinFor state variable,
Δ u=[Δ ωs ΔuM ΔVd ΔVq]TVariable in order to control, matrix ADG、BDGIn, Iid、Iiq、Iod、Ioq、Vod、VoqRespectively
For state space variable iid、iiq、iod、ioq、uod、uoqThe corresponding state value in inverter stable operation;
Step 5):Using master controller, the frequency and voltage U of each distributed generation resource output are obtained, average angular frequency is calculatedWith
Average voltageEstablish the angular frequency prediction model that output predicted value is average angular frequency
Wherein, Cω=[0-m 0000000000 0], Dω=[1 0 0], Δ uω=[Δ ωs ΔVd ΔVq]T,
Matrix BDGωMiddle Iid、Iiq、Iod、Ioq、Vod、VoqRespectively state space variable iid、iiq、iod、ioq、uod、uoqIn inverter
Corresponding state value when stable operation;
Establish the voltage-prediction model that output predicted value is average voltage
Wherein, CU=[0 0-n 000000000 0], DU=[1 0 0], Δ uU=[Δ uM ΔVd ΔVq]T,
With sampling period TsBy the prediction model discretization of angular frequency and voltage, respectively
Wherein,
In formula, triangle Δ indicates the small signal variation amount of certain variable.
3. the energy-storage system Secondary Control strategy according to claim 2 based on Model Predictive Control, which is characterized in that point
It Gei Ding not desired value ωn=2 π fn, fn=50Hz and Un=311V, then the objective optimization function of angular frequency beWω、WsIt is indicated respectively to tracking
Error and controlling increment change the weight coefficient inhibited, LωIndicate the prediction step of angular frequency objective optimization function, MωIt indicates
Step-length is controlled, constraints isωsmax=2 π × 0.5rad/s,
ωsmin=-2 π × 0.5rad/s distinguishes variable ω in order to controls(k) the upper limit, lower limit;Controlling increment Δ ωs(k) the upper limit, under
Limit is respectively Δ ωsmax、Δωsmin;Predict that the upper limit of output quantity, lower limit are respectively Controlling increment [Δ ω is acquired by the objective optimization function of angular frequencys(k),…,Δωs(k+Mω-
1)]T, take instant controlling increment Δ ωs(k) variable ω is controlled with the angular frequency of a upper sampling instants(k-1) the composition k moment controls
Variable ωs(k), it is added in active power/angular frequency droop control, realizes the Secondary Control of angular frequency.
4. energy-storage system Secondary Control strategy according to claim 3, which is characterized in that the objective optimization function of voltage isWU、WuIt is indicated respectively to tracking error
Change the weight coefficient inhibited, L with controlling incrementUIndicate the prediction step of voltage target majorized function, MUIndicate control step
Long, constraints isThe maximum that output voltage allows is partially
5% be worth on the basis of residual quantity, takes uMmin=-15V, uMmax=15V, thenBy the mesh of voltage
Mark majorized function acquires controlling increment [Δ uM(k),…,ΔuM(k+MU-1)]T, take instant controlling increment Δ uM(k) it is adopted with upper one
The voltage control variable amount u at sample momentM(k-1) the composition k moment controls variable uM(k), it is added to reactive power/voltage droop control
In, obtain resultant voltage, i.e. Un+n(Qn-Q)+uM, reduce the influence that load fluctuation deviates output voltage reference voltage.
5. energy-storage system Secondary Control strategy according to claim 4, which is characterized in that measure resultant voltage with practical
Average voltage deviation carry out PI adjustings, i.e.,In formula, kQpThe ratio system adjusted for PI
Number, kQiFor the integral coefficient that PI is adjusted, s is Laplace transform differential operator, by the regulated quantity Δ U of acquisitionQIt is then added to conjunction
At on voltage, realized idle with the limiting circuitry impedance influence uneven to reactive power distribution as final voltage reference value
Power presses rated capacity pro rate.
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CN109217709A (en) * | 2018-10-15 | 2019-01-15 | 深圳市安和威电力科技股份有限公司 | Bi-directional power conversion AC-DC control system and method based on IGBT |
CN109598088A (en) * | 2018-12-20 | 2019-04-09 | 中国矿业大学 | A kind of belt conveyor belt speed setting control method |
CN110148956A (en) * | 2019-05-07 | 2019-08-20 | 万克能源科技有限公司 | A kind of battery energy storage system auxiliary AGC control method based on MPC |
CN110855155A (en) * | 2019-12-04 | 2020-02-28 | 兰州交通大学 | Screen grid power supply control method based on model predictive control |
CN110932336A (en) * | 2019-11-25 | 2020-03-27 | 云南电网有限责任公司临沧供电局 | Low-voltage distribution station voltage control method and system based on model predictive control |
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CN110855155A (en) * | 2019-12-04 | 2020-02-28 | 兰州交通大学 | Screen grid power supply control method based on model predictive control |
CN110855155B (en) * | 2019-12-04 | 2021-06-18 | 兰州交通大学 | Screen grid power supply control method based on model predictive control |
CN112350352A (en) * | 2020-11-20 | 2021-02-09 | 西安热工研究院有限公司 | Method for increasing energy storage reactive power regulation rate |
CN113054690A (en) * | 2021-03-17 | 2021-06-29 | 华翔翔能科技股份有限公司 | Voltage control method and system based on event triggering and electronic equipment |
CN113629748A (en) * | 2021-10-11 | 2021-11-09 | 国网江西省电力有限公司电力科学研究院 | Five-level energy storage converter cascade model prediction control method and device |
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