CN109830988A - A kind of virtual synchronous control method and system for V2G system - Google Patents
A kind of virtual synchronous control method and system for V2G system Download PDFInfo
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Abstract
The invention discloses a kind of virtual synchronous control methods and system for V2G system, comprising: obtains active given value and idle given value from grid side and acquires the output power of inverter according to inverter output current and voltage；Pass through the given value of idle control and the sagging control output q shaft current of voltage；The given value of d shaft current is exported by active adjusting and equation of rotor motion；The response of similar synchronous machine is generated the invention has the advantages that: the invention enables inverters in transient process, so that its is generated external characteristics similar with synchronous generator, improves the virtual inertia of system.
Description
Technical field
The present invention relates to virtual synchronous control technology field more particularly to a kind of virtual synchronous controls for V2G system
Method and system.
Background technique
Only there is provided background technical informations related to the present invention for the statement of this part, it is not necessary to so constitute first skill
Art.
In recent years, new-energy automobile is constantly universal, and wherein increased number it is the most considerable be electric car.Therewith
Bring is the energy storage potentiality of huge batteries of electric automobile, is applied in active distribution network, by voltage, the frequency to power grid
Rate stability is of great advantage, generates huge economic benefit.
V2G is the abbreviation of Vehicle-to-grid, it describes such a system: when hybrid electric vehicle or pure
The energy of battery when operation, can be transmitted to power grid by electric vehicle, in turn, when the battery needs of electric vehicle are full of
When, battery can obtain electric energy from power grid.
In order to realize the universal access that necessarily will cause the converter comprising a large amount of power electronic devices of V2G, these changes
The response of parallel operation is usually too fast, and there is no the rotatory inertias and damping characteristic of similar synchronous generator.When net side power demand goes out
When now fluctuating, the inertia that the inverter of power electronic devices composition lacks similar synchronous generator is adjusted, and will lead to V2G system
It is unstable.Inversion compared with the synchronous generator of conventional electric power system, under common P/Q control, U/f control, sagging control
Device is difficult to provide to the vital rotator inertia of the stabilization of power grids and droop characteristic.
Virtual synchronous machine technology improves the control of inverter by the mechanical structure and working characteristics of research synchronous generator
Strategy keeps its generation similar with synchronous generator so that inverter generates the response of similar synchronous machine in transient process
External characteristics improves the virtual inertia of system.
Inventors have found that application control strategy of the virtual synchronous motor technology disclosed in the prior art in micro-capacitance sensor,
It is on the basis of common virtual synchronous, to the change that control circuit carries out, there is no have to control object and its control loop
Big change participates in bulk power grid frequency modulation and voltage modulation, that is, V2G system for electric car and is not suitable for.
Summary of the invention
The invention proposes a kind of virtual synchronous control methods and system for V2G system, for controlling electric car
The simulation in common virtual synchronous control to inverter output voltage and stator is omitted in the inverter being connected between power grid
The simulation of electrical equation, is reduced to double -loop control for three close-loop control, improves the reliability of control.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of virtual synchronous control method for V2G system disclosed in one or more embodiments, comprising:
Active given value and idle given value are obtained from grid side, and inversion is acquired according to inverter output current and voltage
The output power of device；
Pass through the given value of idle control and the sagging control output q shaft current of voltage；
The given value of d shaft current is exported by active adjusting and equation of rotor motion；
The actual current that the given value of q shaft current is exported with inverter makes the difference in the current component of q axis, and d shaft current is given
The actual current that definite value is exported with inverter makes the difference in the current component of d axis；
Electric current after making the difference generates the pwm control signal for controlling inverter power switch after dq is converted.
Further, the given value by idle control and the sagging control output q shaft current of voltage, specifically:
From grid side obtain idle given value and inverter output reactive power make the difference after multiplied by Proportional coefficient Kq, obtain
Vqref1；
Inverter output voltage given value is obtained by sagging control, the voltage given value and inverter output voltage
Difference is multiplied by Proportional coefficient Kv, obtain Vqref2；
To Vqref1And Vqref2The sum of integrated, then by PI adjust output q shaft current given value.
Further, the given value that d shaft current is exported by active adjusting and equation of rotor motion, specifically:
The difference DELTA P of the active given value obtained from grid side and inverter active power of output is input to rotor motion
Equation obtains electrical network angular frequency ω, and the given value of the electrical network angular frequency and electrical network angular frequency obtains Δ ω, Δ ω warp after making the difference
Cross the given value that PI adjusts output d shaft current.
Further, the equation of rotor motion specifically:
Wherein, J and D is respectively the rotary inertia and damped coefficient of synchronous generator.
A kind of virtual synchronous control system for V2G system disclosed in one or more embodiments, comprising:
For obtaining the device of active given value and idle given value from grid side；
For acquiring inverter output current and voltage, and calculate the device of the output power of inverter；
For the device by idle control and the sagging control output q shaft current given value of voltage；
For exporting the device of d shaft current given value by active adjusting and equation of rotor motion；
Device for making the difference the actual current of the given value of q shaft current and inverter output in the current component of q axis；
Device for making the difference the actual current of the given value of d shaft current and inverter output in the current component of d axis；
For carrying out the device of dq transformation to the electric current after making the difference；
For generating the device of the pwm control signal of control inverter power switch.
A kind of virtual synchronous control system for V2G system disclosed in one or more embodiments, including clothes
Be engaged in device, the server include memory, processor and storage on a memory and the computer journey that can run on a processor
Sequence, the processor realize the above-mentioned virtual synchronous control method for V2G system when executing described program.
A kind of computer readable storage medium disclosed in one or more embodiments, is stored thereon with computer journey
Sequence, the program execute the above-mentioned virtual synchronous control method for V2G system when being executed by processor.
Compared with prior art, the beneficial effects of the present invention are:
The invention enables inverters to generate the response of similar synchronous machine in transient process, generates it and synchronous generator
The similar external characteristics of machine, improves the virtual inertia of system.
Present invention omits the simulations in the control of common virtual synchronous to inverter output voltage, by P/Q-U-I tricyclic
Control is reduced to P/Q-I double -loop control, improves the reliability of control.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is the virtual synchronous control method schematic diagram that V2G system is used in embodiment one；
Fig. 2 is virtual synchronous control method schematic diagram in the prior art；
Fig. 3 (a) is V2G system structure diagram；
Fig. 3 (b) relation schematic diagram of each vector between under dq coordinate system for V2G system in embodiment one and wherein；
Fig. 4 (a)-(b) is respectively under embodiment of the present invention and PQ control in the given variation of net side power, and output is active
The comparison of power and reactive power；
Fig. 5 (a)-(d) be respectively different inertia coeffeicent when embodiment of the present invention controls the given fluctuation of lower power and
The comparison of active power of output under damped coefficient；
Wherein, the 1. sagging control of idle-voltage, 2. active adjustings-equation of rotor motion part, 3. current inner loop controls.
Specific embodiment
It is noted that described further below be all exemplary, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms that the present invention uses have logical with the application person of an ordinary skill in the technical field
The identical meanings understood.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
Embodiment one
Common virtual synchronous control strategy as shown in Figure 2, main thought are as follows: analog mechanical torque T is come with P/ ωm,
Pref/ ω simulates electromagnetic torque Te, in conjunction with synchronous machine rotor equationComplete active power
Control, then obtained ω is integrated, the phase angle difference θ for the synchronous machine output end voltage and network voltage simulated.Nothing
Function part then utilizes sagging control, obtains analog terminal voltages amplitude E, the voltage of E and θ synthesis converter output is given, then
Given value of current is obtained again, then pwm control signal is obtained compared with current actual value.The control method passes through power/voltage/electric current
Three close-loop control, control is complicated, and can not achieve the accurate control to power, and the θ that this control method generates is applied to dq coordinate
Theoretically there are also problems for the angle of transformation of transformation, not very practical in the case where V2G system does not have to consider island state.
Based on the above issues, a kind of virtual synchronous control for V2G system is disclosed in one or more embodiments
Method processed, as shown in Figure 1, comprising the following steps:
1) by the acquisition to electric network information, obtain that desired inverter active power of output is given and reactive power to
It is fixed.
2) voltage and electric current of inverter output are collected, and the wattful power that inverter exports in real time is calculated by formula
Rate and reactive power.
3) active and reactive power that the active and reactive power exported in real time and power grid provide is given respectively, passes through synchronization
The rotor equation of motion and idle sagging control obtain the given of d, q axis of output electric current respectively.
4) by the given and actual acquisition for exporting electric current to output electric current make the difference and generate PWM modulation wave.
Referring to Fig. 1, the control method of this embodiment includes: the sagging control 1 of idle-voltage, active adjusting-equation of rotor motion
Part 2 and current inner loop control 3.
It is given given with active power from grid side acquisition reactive power, respectively as in the sagging control of idle-voltage
QrefWith the P in active adjusting-equation of rotor motion partref；Electric current, voltage are collected from inverter outlet side, through formula meter
After calculation, the reactive power Q and active-power P of inverter output at this time are acquired.
The given value of q shaft current is exported by idle control and the sagging control of voltage, specifically:
From grid side obtain idle given value and inverter output reactive power make the difference after multiplied by Proportional coefficient Kq, obtain
Vqref1；Inverter output voltage given value, the difference of the voltage given value and inverter output voltage are obtained by sagging control
Value is multiplied by Proportional coefficient Kv, obtain Vqref2；
To Vqref1And Vqref2The sum of integrated, then by PI adjust output q shaft current given value.
The given value of d shaft current is exported by active adjusting and equation of rotor motion, specifically:
The active given value obtained from grid side and inverter active power of output are made the difference to obtain Δ P, Δ P, which is input to, to be turned
The sub- equation of motion obtains electrical network angular frequency ω, and the given value of electrical network angular frequency and electrical network angular frequency obtains Δ ω, Δ ω after making the difference
The given value of output d shaft current is adjusted by PI.
Δ ω is feedbacked be added with Δ P after be input to equation of rotor motionObtain new power grid
Angular frequency forms closed loop feedback, completes the simulation to equation of rotor motion.
The actual current that the given value of q shaft current is exported with inverter makes the difference in the current component of q axis, and d shaft current is given
The actual current that definite value is exported with inverter makes the difference in the current component of d axis；Electric current after making the difference generates PWM after dq is converted
Modulating wave obtains the control signal of inverter power switch afterwards compared with carrier wave, completes the control of inverter.
It should be noted that all kinds of common inverters may be selected in inverter, the control strategy of the present embodiment can be used to control
The inverter being connected between electric car processed and power grid.
The principle of the present embodiment control method is illustrated on the basis of Fig. 3 (a)-(b) system diagram and vector relations below:
Various common inverters may be selected in V2G system components such as Fig. 3 (a), inverter.Converter exchanges side voltage and current
Shown in vector correlation such as Fig. 3 (b), wherein X is exchange side impedance, because inductance is much larger than resistance, when negligible resistance has X=
ωL；For converter three-phase output voltage vector,For net side three-phase alternating voltage vector；For converter ac-side current
Vector；δ isWithBetween angle；Voltage vectorIt is rotated counterclockwise with angular velocity omega, voltage vectorWith angular velocity omega*
Rotation counterclockwise；There is ω=ω when systematic steady state operation*.Assuming that withDirection is d axis, and 90 degree of phases of advanced d axis are q
Axis establishes dq coordinate system.
The voltage vector relationship of available converter are as follows:
According to vector correlation in Fig. 3 (b), and similar triangles property is utilized, can obtained:
It can be in the hope of component of the grid-connected current under dq coordinate system are as follows:
Under normal conditions, the pressure drop very little on inductance L,δ → 0, it is known that,Further
It can be in the hope of Id、IqApproximation be
Grid-connection converter output voltage vectorAccording to the angular frequency rotation of converter and voltage on line side vectorAccording to
Electrical network angular frequency ω*Rotation, vectorAnd vectorAngle δ can indicate are as follows:
δ=∫ (ω-ω*)dt；
In controlIt can be regarded as a constant, so the difference of frequency is by an integral element multiplied by certain
Proportionality coefficient can serve as the instruction of converter d shaft current component, be converted into frequency domain i.e.:
In order to improve stability, integral element is replaced with a PI link, then the current-order of electric current loop can indicate are as follows:
And in equation of rotor motion:
By above formula in conjunction with equation of rotor motion, and ω*Can be obtained from net side, then can by the d axis of electric current loop it is given with
It is active given by ω and ω*It connects.
It can be seen that IqRelated to the amplitude of output voltage, then the q axis of electric current is given can be used the sagging control of idle-amplitude
System:
E=U+n (Qref-Q)；
The given of output voltage can be obtained by sagging control, and I can be obtained after adjusting using PIqIt is given, in order to
Reactive power output is also had into certain inertia, integral element is increased in transmission function.It, will by the control of this link
The q axis of electric current is given to be connected with idle give, and can be realized to idle sagging control, and have certain be used to
Property.
Iq *=K1(E-U)+K2(Qref-Q)；
Then the q axis of electric current is given and is connected with idle give, in actually control, in order to allow reactive power to adjust together
Sample possesses certain inertia, in IqIt is given before added an integral element.
In the control program of present embodiment, including the sagging control 1 of idle-voltage, active adjusting-equation of rotor motion portion
Divide 2 and 3 three parts of current inner loop control, it is active and idle given from grid side acquisition, respectively as active adjusting-rotor
The P of equation of motion part 2 and the sagging control 1 of idle-voltagerefAnd Qref, and Current Voltage is collected from inverter outlet side, it passes through
After formula calculates, the power for acquiring the output of inverter at this time is i.e. idle-the sagging control 1 of voltage and active adjusting-rotor motion side
P and Q in journey part 2.
In the sagging control section of idle-voltage, by idle-sagging 1 one given value of output of control, as electric current
The q axis of electric current is given in inner loop control.
In active adjusting-equation of rotor motion part 2, by PrefMake ratio with P and electrical network angular frequency ω, as electromagnetic torque
And machine torque, and a given value is exported by the equation of rotor motion in active adjusting-equation of rotor motion part, by it
D axis as the electric current in current inner loop control is given.
In 3 part of current inner loop control, by the sagging control 1 of idle-voltage and active adjusting-equation of rotor motion part 2
The given value of current obtained with adopt the actual current of inverter output is made the difference, obtained current error is raw after dq is converted
At PWM modulation wave, obtains the control signal of inverter power switch afterwards compared with carrier wave, complete the control of inverter.
Embodiment two
A kind of virtual synchronous control system for V2G system is disclosed in one or more embodiments, comprising:
For obtaining the device of active given value and idle given value from grid side；
For acquiring inverter output current and voltage, and calculate the device of the output power of inverter；
For the device by idle control and the sagging control output q shaft current given value of voltage；
For exporting the device of d shaft current given value by active adjusting and equation of rotor motion；
Device for making the difference the actual current of the given value of q shaft current and inverter output in the current component of q axis；
Device for making the difference the actual current of the given value of d shaft current and inverter output in the current component of d axis；
For carrying out the device of dq transformation to the electric current after making the difference；
For generating the device of the pwm control signal of control inverter power switch.
Embodiment three
A kind of virtual synchronous control system for V2G system, including clothes are disclosed in one or more embodiments
Be engaged in device, the server include memory, processor and storage on a memory and the computer journey that can run on a processor
Sequence, the processor realize the virtual synchronous control method that V2G system is used for described in embodiment one when executing described program.
A kind of computer readable storage medium is disclosed in one or more embodiments, is stored thereon with computer journey
Sequence executes the virtual synchronous control method that V2G system is used for described in embodiment one when the program is executed by processor.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (7)
1. a kind of virtual synchronous control method for V2G system characterized by comprising
Active given value and idle given value are obtained from grid side, and inverter is acquired according to inverter output current and voltage
Output power；
Pass through the given value of idle control and the sagging control output q shaft current of voltage；
The given value of d shaft current is exported by active adjusting and equation of rotor motion；
The actual current that the given value of q shaft current is exported with inverter makes the difference in the current component of q axis, the given value of d shaft current
It is made the difference with the actual current of inverter output in the current component of d axis；
Electric current after making the difference generates the pwm control signal for controlling inverter power switch after dq is converted.
2. a kind of virtual synchronous control method for V2G system as described in claim 1, which is characterized in that described to pass through
The given value of idle control and the sagging control output q shaft current of voltage, specifically:
From grid side obtain idle given value and inverter output reactive power make the difference after multiplied by Proportional coefficient Kq, obtain
Vqref1；
Inverter output voltage given value, the difference of the voltage given value and inverter output voltage are obtained by sagging control
Multiplied by Proportional coefficient Kv, obtain Vqref2；
To Vqref1And Vqref2The sum of integrated, then by PI adjust output q shaft current given value.
3. a kind of virtual synchronous control method for V2G system as described in claim 1, which is characterized in that described to pass through
The given value of active adjusting and equation of rotor motion output d shaft current, specifically:
The difference DELTA P of the active given value obtained from grid side and inverter active power of output is input to equation of rotor motion
Obtain electrical network angular frequency ω, the given value of the electrical network angular frequency and electrical network angular frequency obtains Δ ω after making the difference, Δ ω passes through PI
Adjust the given value of output d shaft current.
4. a kind of virtual synchronous control method for V2G system as claimed in claim 3, which is characterized in that the rotor
The equation of motion specifically:
Wherein, J and D is respectively the rotary inertia and damped coefficient of synchronous generator.
5. a kind of virtual synchronous control system for V2G system characterized by comprising
For obtaining the device of active given value and idle given value from grid side；
For acquiring inverter output current and voltage, and calculate the device of the output power of inverter；
For the device by idle control and the sagging control output q shaft current given value of voltage；
For exporting the device of d shaft current given value by active adjusting and equation of rotor motion；
Device for making the difference the actual current of the given value of q shaft current and inverter output in the current component of q axis；
Device for making the difference the actual current of the given value of d shaft current and inverter output in the current component of d axis；
For carrying out the device of dq transformation to the electric current after making the difference；
For generating the device of the pwm control signal of control inverter power switch.
6. a kind of virtual synchronous control system for V2G system, which is characterized in that including server, the server includes
Memory, processor and storage on a memory and the computer program that can run on a processor, processor execution institute
The described in any item virtual synchronous control methods for V2G system of claim 1-4 are realized when stating program.
7. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor
Perform claim requires the described in any item virtual synchronous control methods for V2G system of 1-4 when row.
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