CN110198055A - Based on the microgrid bi-directional inverter control method of virtual synchronous machine and stability analysis - Google Patents
Based on the microgrid bi-directional inverter control method of virtual synchronous machine and stability analysis Download PDFInfo
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- CN110198055A CN110198055A CN201910514536.8A CN201910514536A CN110198055A CN 110198055 A CN110198055 A CN 110198055A CN 201910514536 A CN201910514536 A CN 201910514536A CN 110198055 A CN110198055 A CN 110198055A
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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
- H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
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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
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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
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
It is a kind of based on the microgrid bi-directional inverter control method of virtual synchronous machine and stability analysis, increase integrator by damping link in equation of rotor motion, feedback compensation angular frequency deviation value realizes the indifference control that subnet frequency is exchanged under microgrid off-network mode.In view of the transmitted in both directions characteristic of inverter, by changing virtual machine active power reference value given way, control target is switched to DC voltage from a-c cycle in real time, realizes the stability contorting of DC bus-bar voltage.By establishing power inner ring and voltage/frequency outer ring small-signal model, the transmission function under frequency inverter control and DC voltage control mode is sought respectively, and carried out stability analysis.The present invention can be good at realizing the non differential regulation of off-network mode lower frequency and the stability contorting of DC voltage.
Description
Technical field
The present invention relates to a kind of alternating current-direct current mixing microgrid bi-directional inverters.More particularly to a kind of based on virtual synchronous machine
Microgrid bi-directional inverter control method and stability analysis.
Background technique
As world today's environment and energy problem get worse, various distributed generation resources (photovoltaic, wind-force etc.) obtain phase
Close the great attention of scholar.Microgrid is proposed by American scholar professor R.H.Lasseter earliest, can be distributed access
Power distribution network provides effective approach.With the increase and the growth of quantity of distributed electrical source category, universal, the distribution of DC load
The complexity multiplicity of web frame, AC microgrids are difficult to meet growing power demands comprehensively.To guarantee new energy and renewable
The efficient utilization of the energy, and preferably meet user's diversification electricity needs, alternating current-direct current mixing microgrid comes into being.Alternating current-direct current
The advantages of mixing microgrid has both AC microgrids and direct-current micro-grid, belongs to research hotspot instantly.Communication area and direct current region pass through
The connection of microgrid bi-directional inverter plays a crucial role power-balance in maintenance alternating current-direct current mixing microgrid.
However, more and more new energy are connected to the grid, so that the permeability of various distributed generation resources is got in electric system
Come higher, accounting gradually decreases corresponding conventional synchronization generator power supply in the entire power system.It is with power electronic devices
The distributed generation resource of interface lacks inertia and damping possessed by conventional motors, when system emergent power fluctuates or breaks down
When, it is difficult to inhibit the rapid fluctuations of mains frequency.Virtual synchronous machine (virtual synchronous generator, VSG) control
The appearance of technology processed enables power electronic devices to simulate the characteristic of synchronous generator, that is, has the characteristics such as inertia and damping,
Effective solution electric system inertia damping deficiency problem due to distributed generation resource accesses, had obtained extensive pass in recent years
Note.When alternating current-direct current mixing microgrid off-network mode operation, system voltage and frequency stabilization should be maintained, and simultaneously in off-network handoff procedure
It should keep lesser transient process.But there are frequency departures for the control of traditional virtual synchronous machine, belong to droop control.
Summary of the invention
It can be realized microgrid ac bus frequency zero deflection the technical problem to be solved by the invention is to provide one kind to adjust
Based on the microgrid bi-directional inverter control method of virtual synchronous machine and stability analysis.
The technical scheme adopted by the invention is that: a kind of microgrid bi-directional inverter control method based on virtual synchronous machine,
It is an integral element in parallel in the equation of rotor motion damping link in existing virtual synchronous machine control, by rotor motion side
Journey becomes second-order equation from first-order equation, and the integral element isWherein, s is Laplace operator, KiTo integrate ring
The integral coefficient of section, byDetermine value range, wherein ξ indicates that active power ring closed loop transmits letter
Several damping ratios, D are damped coefficient, XsIt is the total output reactance of microgrid bi-directional inverter after introducing virtual impedance, E0Indicate steady
Microgrid bi-directional inverter output potential, U under state operating conditione0For microgrid bi-directional inverter output port electricity in the case of steady-state operation
Pressure, ω0For synchronized angular speed, J is the rotary inertia of synchronous generator.
The rotor motion second-order equation are as follows:
Wherein, KiFor the integral coefficient of integral element, J is the rotary inertia of synchronous generator, ω0For synchronized angle speed
Degree, ω are the actual angular speed of power grid, and d is differential operator, and t is time, PmIndicate the virtual machine of microgrid bi-directional inverter output
Tool active power, PeIndicate the active power of microgrid bi-directional inverter output, D is damped coefficient, and s is Laplace operator.
The given way of virtual machine active power in the control of virtual synchronous machine is changed into two-way choosing by unidirectionally selecting
It selects, specifically, when exchanging subnet emergent power vacancy, microgrid bi-directional inverter transimission power is positive, and controls target at this time and is
Exchange subnet frequency；When direct current subnet emergent power vacancy, microgrid bi-directional inverter transimission power is negative, and controls target at this time
For DC bus-bar voltage.
The exchange subnet frequency formula is as follows:
Pm=Pref+kf(fref-f)
Wherein, PmIndicate the virtual machine active power of microgrid bi-directional inverter output, PrefAnd frefRespectively microgrid is double
The active power reference value and system frequency reference value exported to inverter, kfFor Frequency regulation factor；
The DC bus-bar voltage formula is as follows:
Wherein UdcIndicate DC bus-bar voltage, Udc_refIndicate DC bus-bar voltage reference value, kpuAnd kpiIt respectively indicates straight
Flow the proportionality coefficient and integral coefficient of busbar voltage pi regulator.
A kind of stability analysis of the microgrid bi-directional inverter control method based on virtual synchronous machine, is by establishing microgrid
The small-signal model of bi-directional inverter output power carries out stability analysis to microgrid bi-directional inverter control method, specifically such as
Under:
1) active-power P for exporting rotor motion second-order equation, microgrid bi-directional invertereAnd reactive power QeAnd it is micro-
Net bi-directional inverter output potential equationIn variable be expressed as steady-state quantity and disturbance
The sum of amount, i.e.,
Wherein, KqIndicate that microgrid bi-directional inverter output potential differential coefficient, E indicate microgrid bi-directional inverter output electricity
Gesture, QeAnd QrefRespectively microgrid bi-directional inverter output reactive power and output reactive power reference value, UeAnd UenIt is respectively micro-
Net bi-directional inverter output port voltage and output port voltage rating, DqFor voltage regulation coefficient；E0Indicate steady-state operation feelings
Microgrid bi-directional inverter output potential under condition,Indicate microgrid bi-directional inverter output potential disturbance quantity, δ is generator rotor angle, δ0For stable state
Generator rotor angle under operating condition,For generator rotor angle disturbance quantity, Pe0And Qe0Microgrid bi-directional inverter exports respectively in the case of steady-state operation
Active power and reactive power,WithThe active power disturbance quantity and reactive power of respectively microgrid bi-directional inverter output are disturbed
Momentum, PmIndicate the virtual machine active power of microgrid bi-directional inverter output, Pm0Microgrid is two-way in the case of indicating steady-state operation
The virtual machine active power of inverter output,Indicate the virtual machine active power disturbance of microgrid bi-directional inverter output
Amount, ω are the actual angular speed of power grid, ω0For synchronized angular speed,For the disturbance quantity of the actual angular speed of power grid, Ue0For
Microgrid bi-directional inverter output port voltage in the case of steady-state operation,For microgrid bi-directional inverter output port voltage disturbance
Amount.
Disturbance quantity quadratic component and steady-state quantity are eliminated, the small-signal model of microgrid bi-directional inverter output power is obtained:
In formula: X is the equivalent output reactance of microgrid bi-directional inverter, and D is damped coefficient, and J is that the rotation of synchronous generator is used
Amount, KiFor the integral coefficient of integral element；
When calculating the small-signal model of microgrid bi-directional inverter output power, setting:
Ue=E, sin δ0=δ0, cos δ0=1；
2) coupling for not considering active ring and idle ring is asked by the small-signal model of microgrid bi-directional inverter output power
The closed loop transfer function, formula of active power ring is as follows out:
In formula, G (s) is active power ring closed loop transfer function,WithRespectively microgrid is two-way under complex frequency domain
The active power disturbance quantity of inverter output and the virtual machine active power disturbance quantity of output, XsIt is after introducing virtual impedance
The total output reactance of microgrid bi-directional inverter, s indicate Laplace operator；K is proportionality constant,ωnAnd ξ
The natural oscillation angular frequency and damping ratio for respectively indicating active power ring closed loop transfer function, are acquired by following formula:
3) according to the closed loop transfer function, of active power ring with exchange subnet frequency formula, obtain microgrid bi-directional inverter control
Target processed is that open-loop transfer function is expressed as follows under exchange subnet frequency:
In formula, Gf(s) be microgrid bi-directional inverter control target be exchange subnet frequency under open-loop transfer function, kfFor
Frequency regulation factor.
When microgrid bi-directional inverter transimission power is negative, the active power of microgrid bi-directional inverter transmission are as follows:
In formula, ReqFor direct current subnet equivalent resistance, UdcFor DC bus-bar voltage, Pe1Function is transmitted for microgrid bi-directional inverter
The active power exported when rate is negative, C are DC bus capacitor, and d is differential operator.Consider under small signal interference, active power/straight
Stream voltage transfering function is expressed as follows:
In formula, GP-U(s) active power/DC voltage transmission function when being negative for microgrid bi-directional inverter transimission power,WithWhen DC bus-bar voltage disturbance quantity and microgrid bi-directional inverter transimission power are negative respectively in the case of steady-state operation
The active power disturbance quantity of output.
According to the closed loop transfer function, of active power ring, DC bus-bar voltage formula and microgrid bi-directional inverter transimission power
Active power/DC voltage transmission function when being negative, obtaining microgrid bi-directional inverter control target is under DC bus-bar voltage
Open-loop transfer function is expressed as follows:
Wherein: GUIt (s) be microgrid bi-directional inverter control target is open-loop transfer function under DC bus-bar voltage, kpuWith
kpiRespectively indicate the proportionality coefficient and integral coefficient of DC bus-bar voltage pi regulator.
4) controlling target according to microgrid bi-directional inverter is that letter is transmitted in open loop under exchange subnet frequency and DC bus-bar voltage
Number carries out stability analysis.The analysis includes:
Controlling target according to microgrid bi-directional inverter is the open-loop transfer function for exchanging subnet frequency and DC bus-bar voltage,
Utilize root-locus technique rendering parameter J, D, KiWhen variation, variation track of the closed loop transfer function, pole in s plane, analysis can
:
Rotary inertia J is bigger, and for closed loop transfer function, pole closer to the imaginary axis, system is more unstable, and rotary inertia crosses conference
Cause the increase of overshoot, regulating time, to cause oscillation of power, system is less susceptible to stablize；With the increasing of damped coefficient
Greatly, system stability enhances；With the increase of the integral coefficient of integral element, closed-loop pole increases far from gradually real axis, overshoot,
But it remains on the left of the imaginary axis, system stability is constant.
When microgrid bi-directional inverter control target is DC bus-bar voltage, open-loop transfer function is by proportional component, single order
Differentiation element, integral element, order Oscillating link and first order inertial loop are constituted.To make system keep stablizing and having preferable
Dynamic characteristic, cutoff frequency fcPositioned at Mid Frequency, and meet kpi/kpu< fc< ωn。
It is of the invention based on the microgrid bi-directional inverter control method of virtual synchronous machine and stability analysis, realize microgrid
Ac bus frequency zero deflection is adjusted, and proves its correctness from theory deduction, while increasing the inertia of micro-grid system, negative
When lotus occurs fluctuation or breaks down, it is able to respond the rapid fluctuations of system frequency.In view of the transmitted in both directions characteristic of inverter,
Change virtual machine active power given way, realizes the real-time switching of a-c cycle and DC voltage control target.
Detailed description of the invention
Fig. 1 is the control block diagram of microgrid bi-directional inverter the first example of control method the present invention is based on virtual synchronous machine；
Fig. 2 is the control block diagram of microgrid bi-directional inverter the second example of control method the present invention is based on virtual synchronous machine；
Fig. 3 is main circuit equivalent circuit in the present invention；
Fig. 4 is active reactive power ring small-signal model in the present invention；
Fig. 5 is control block diagram under frequency control model in the present invention；
Closed loop transfer function, pole variation track when Fig. 6 a is the rotary inertia variation of synchronous generator；
Closed loop transfer function, pole variation track when Fig. 6 b is damped coefficient change；
Closed loop transfer function, pole variation track when Fig. 6 c is the integral coefficient variation of integral element；
Fig. 7 is system simplified model figure under DC bus-bar voltage control model in the present invention；
Fig. 8 is control block diagram under DC bus-bar voltage control model in the present invention；
Fig. 9 is that tradition VSG is controlled and a-c cycle waveform under this method frequency control model in embodiment in the present invention；
Figure 10 is ac bus voltage waveform under frequency control model in embodiment in the present invention；
Figure 11 is DC bus-bar voltage waveform under DC bus-bar voltage control model in embodiment in the present invention；
Figure 12 is a-c cycle waveform under DC bus-bar voltage control model in embodiment in the present invention.
Specific embodiment
Below with reference to embodiment and attached drawing to the microgrid bi-directional inverter control method of the invention based on virtual synchronous machine
And stability analysis is described in detail.
In alternating current-direct current mixing microgrid, microgrid bi-directional inverter coordinates exchange subnet and direct current subnet power distribution, undertakes
Maintain ac bus frequency and DC bus-bar voltage effect.The stable state of traditional virtual synchronous machine control simulation synchronous generator
Droop characteristic and transient state inertia and damping, have the stable state similar with synchronous generator and electromechanical dynamic characteristic.But microgrid off-network
Under operational mode, there are frequency departures for the control of traditional virtual synchronous machine, belong to droop control；
When exchanged in alternating current-direct current mixing microgrid subnet internal loading uprush lead to frequency fluctuation when, each distributed generation resource and microgrid
Bi-directional inverter adjusts respective power output and maintains power-balance in subnet.In the control of traditional virtual synchronous machine, active frequency link
Primary regulation is only able to achieve when load changes, and the offset of frequency will affect the normal operation of microgrid intermediate.
When sudden load increase, there is deviation in mechanical output and electromagnetic power, and the synchronous generator rotor equation of motion can be deformed into:
The linear first-order differential equation is solved:
In formula, KiFor the integral coefficient of integral element, J is the rotary inertia of synchronous generator, ω0For synchronized angle speed
Degree, ω are the actual angular speed of power grid, and d is differential operator, and t is the time, and D is damped coefficient, and s is Laplace operator, and Δ P is
The virtual machine active power of microgrid bi-directional inverter output and the difference of active power, C is constant, by the primary condition of state
It determines.
It can be obtained by above formula analysis, the angular frequency after sudden load increase consists of two parts, steady-state componentAnd transient state
ComponentTransient state component finally decays to zero, and damping time constant isSo angular frequency is final under tradition VSG control
Steady-state value isBelong to droop control.Frequency offset depends on power deviation and damped coefficient, appropriate to increase resistance
Buddhist nun's coefficient can reduce steady frequency offset.
Microgrid bi-directional inverter control method based on virtual synchronous machine of the invention, as shown in Figure 1, being existing virtual
An integral element in parallel in equation of rotor motion damping link in synchronous machine control, the integral element areIts
In, s is Laplace operator, KiFor the integral coefficient of integral element, byDetermine value range,
Wherein, ξ indicates the damping ratio of active power ring closed loop transfer function, and D is damped coefficient, XsIt is the microgrid introduced after virtual impedance
The total output reactance of bi-directional inverter, E0Microgrid bi-directional inverter output potential in the case of expression steady-state operation, Ue0For stable state fortune
Microgrid bi-directional inverter output port voltage, ω in row situation0For synchronized angular speed, J is that the rotation of synchronous generator is used
Amount.
To which equation of rotor motion is become second-order equation, the rotor motion second-order equation from first-order equation are as follows:
Wherein, KiFor the integral coefficient of integral element, J is the rotary inertia of synchronous generator, ω0For synchronized angle speed
Degree, ω are the actual angular speed of power grid, and d is differential operator, and t is time, PmIndicate the virtual machine of microgrid bi-directional inverter output
Tool active power, PeIndicate the active power of microgrid bi-directional inverter output, D is damped coefficient, and s is Laplace operator.
Above formula is arranged as Second Order with Constant Coefficients differential equation canonical form:
For make system keep stable operation, need setup parameter so that the equation of rotor motion canonical form solution meet with
Lower form:
Wherein: t is time, C1And C2Indicate the initial value of transient state situation lower corner frequency component 1 and 2, T1And T2It respectively indicates
The damping time constant of transient state situation lower corner frequency component 1 and 2, ω*(t) after indicating the decaying of transient state situation lower corner frequency component
Steady-state value.When sudden load increase, frequency mutates and tends towards stability.Solution formula (5) can obtain stable situation lower frequency expression formula are as follows:
ω=ω*(t)=ω0 (6)
As it can be seen that under microgrid off-grid operation mode, by being pushed away to the second order sync generator amature equation of motion in the case of transient state
It leads, it was demonstrated that it, which is controlled, belongs to non differential regulation, realizes the zero deflection control of microgrid off-network mode lower frequency.
In view of the transmitted in both directions characteristic of microgrid bi-directional inverter, change the given side of virtual machine active power reference value
Formula realizes the real-time switching of a-c cycle and DC bus-bar voltage control target.DC voltage control strategy in direct-current grid
The sagging control of active/voltage is generally used, but there are problems that voltage deviation.Real power control device shown in FIG. 1, pull-in frequency deviation
To calculate virtual machine active power, by adjusting angular frequency to control active power output.It is analogous in exchange subnet
The zero deflection of frequency controls, and when load fluctuation occurs in direct current subnet, control amount becomes DC bus-bar voltage, and voltage is inclined
Difference is sent into pi regulator and virtual machine active power is calculated, and realizes the stability contorting of DC bus-bar voltage.Present invention setting,
Microgrid bi-directional inverter power flows to exchange subnet from direct current subnet and is positive.
As shown in Fig. 2, the present invention is by the given way of the virtual machine active power in the control of virtual synchronous machine by unidirectional
Two-way choice is changed into selection, and specifically, when exchanging subnet emergent power vacancy, microgrid bi-directional inverter transimission power is
Just, control target is exchange subnet frequency at this time；When direct current subnet emergent power vacancy, microgrid bi-directional inverter transimission power
It is negative, controlling target at this time is DC bus-bar voltage.Wherein,
The exchange subnet frequency formula is as follows:
Pm=Pref+kf(fref-f) (7)
Wherein PmIndicate the virtual machine active power of microgrid bi-directional inverter output, PrefAnd frefRespectively microgrid is two-way
The active power reference value and system frequency reference value of inverter output, kfFor Frequency regulation factor；
The DC bus-bar voltage formula is as follows:
Wherein UdcIndicate DC bus-bar voltage, Udc_refIndicate DC bus-bar voltage reference value, kpuAnd kpiIt respectively indicates straight
Flow the proportionality coefficient and integral coefficient of busbar voltage pi regulator.
The stability analysis of microgrid bi-directional inverter control method based on virtual synchronous machine of the invention, is to pass through foundation
The small-signal model of microgrid bi-directional inverter output power carries out stability analysis, tool to microgrid bi-directional inverter control method
Body is as follows:
Step 1)
In Fig. 3, ReAnd LeEquivalent output resistance and reactance for virtual synchronous machine, the then equivalent output resistance of virtual synchronous machine
Anti- Z are as follows:
Z=Re+jωLe≈jX (9)
Microgrid bi-directional inverter bridge arm mid-point voltage phasor representation is E ∠ δ, and exchange subnet port voltage is Ue∠ 0, then it is micro-
The active power and reactive power of net bi-directional inverter output are as follows:
The active-power P that rotor motion second-order equation, microgrid bi-directional inverter are exportedeAnd reactive power QeAnd microgrid
Bi-directional inverter output potential equationIn variable be expressed as steady-state quantity and disturbance quantity
The sum of, i.e.,
Wherein, KqIndicate that microgrid bi-directional inverter output potential differential coefficient, E indicate microgrid bi-directional inverter output electricity
Gesture, QeAnd QrefRespectively microgrid bi-directional inverter output reactive power and output reactive power reference value, UeAnd UenIt is respectively micro-
Net bi-directional inverter output port voltage and output port voltage rating, DqFor voltage regulation coefficient；E0Indicate steady-state operation feelings
Microgrid bi-directional inverter output potential under condition,Indicate microgrid bi-directional inverter output potential disturbance quantity, δ is generator rotor angle, δ0For stable state
Generator rotor angle under operating condition,For generator rotor angle disturbance quantity, Pe0And Qe0Microgrid bi-directional inverter exports respectively in the case of steady-state operation
Active power and reactive power,WithThe active power disturbance quantity and reactive power of respectively microgrid bi-directional inverter output are disturbed
Momentum, PmIndicate the virtual machine active power of microgrid bi-directional inverter output, Pm0Microgrid is two-way in the case of indicating steady-state operation
The virtual machine active power of inverter output,Indicate the virtual machine active power disturbance of microgrid bi-directional inverter output
Amount, ω are the actual angular speed of power grid, ω0For synchronized angular speed,For the disturbance quantity of the actual angular speed of power grid, Ue0For
Microgrid bi-directional inverter output port voltage in the case of steady-state operation,For microgrid bi-directional inverter output port voltage disturbance
Amount.
Disturbance quantity quadratic component and steady-state quantity are eliminated, the small-signal model of microgrid bi-directional inverter output power is obtained:
In formula: X is the equivalent output reactance of microgrid bi-directional inverter, and D is damped coefficient, and J is that the rotation of synchronous generator is used
Amount, KiFor the integral coefficient of integral element；
When calculating the small-signal model of microgrid bi-directional inverter output power, setting:
Ue=E, sin δ0=δ0, cos δ0=1；
Laplace transform is carried out to the equation after linearisation, available active ring and idle ring small-signal model are transmitted
Block diagram, as shown in Figure 4.
As shown in Figure 4, there is coupling in active ring and idle ring, but couples branch gain and contain δ0?.Microgrid is normally transported
In row situation, generator rotor angle numerical value very little.The present invention realizes the approximation of active ring and idle ring by introducing virtual impedance control algolithm
Decoupling control.Synchronous generator potential E, output stator electric current I and end voltage UeRelationship is as follows:
In formula, LvFor the corresponding virtual inductor of virtual reactance, XsIt is the inverter output reactance introduced after virtual impedance.
It introduces virtual impedance and is equivalent to virtual inductor of connecting with inverter output end, increase the output resistance of inverter
It is anti-, so that coupling branch gain be made to greatly reduce, realize active ring and idle loop Approximate Decoupling.
2) coupling for not considering active ring and idle ring is asked by the small-signal model of microgrid bi-directional inverter output power
The closed loop transfer function, formula of active power ring is as follows out:
In formula, G (s) is active power ring closed loop transfer function,WithMicrogrid is two-way respectively under complex frequency domain changes
Flow the active power disturbance quantity of device output and the virtual machine active power disturbance quantity of output, XsIt is micro- after introducing virtual impedance
The total output reactance of net bi-directional inverter, s indicate Laplace operator；K is proportionality constant,ωnWith ξ points
Not Biao Shi active power ring closed loop transfer function, natural oscillation angular frequency and damping ratio, acquired by following formula:
3) according to the closed loop transfer function, of active power ring, exchange subnet frequency formula, frequency control shown in fig. 5 can be obtained
Control block diagram under mode, and open-loop transfer function under calculated rate control model are as follows:
Under normal circumstances, direct current sub-network side is according to upper layer optimization power stability operation.In the case of transient state, exchange subnet passes through
AC/DC bi-directional inverter injects or absorbs active power to direct current subnet.To simplify design, direct current subnet can be equivalent to direct current mother
Constant resistance element R on lineeq, the resistance value of resistance is depending on injection direct current sub-network side active power.
As shown in Figure 7, when ignoring inverter inside active power loss, the active power of inverter transmission is
In formula, ReqFor direct current subnet equivalent resistance, UdcFor DC bus-bar voltage, Pe1Function is transmitted for microgrid bi-directional inverter
The active power exported when rate is negative, C are DC bus capacitor, and d is differential operator.Consider under small signal interference, active power/straight
It is as follows to flow voltage transfering function:
In formula, GP-U(s) active power/DC voltage transmission function when being negative for microgrid bi-directional inverter transimission power,WithIt is defeated when DC bus-bar voltage disturbance quantity and microgrid bi-directional inverter transimission power are negative respectively in the case of steady-state operation
Active power disturbance quantity out.According to the closed loop transfer function, of active power ring, DC bus-bar voltage formula and microgrid is two-way changes
Active power/DC voltage transmission function when stream device transimission power is negative, it can obtain and be controlled under frequency control model shown in Fig. 8
Block diagram processed, and acquire open-loop transfer function under DC bus-bar voltage control model are as follows:
Wherein: GUIt (s) be microgrid bi-directional inverter control target is open-loop transfer function under DC bus-bar voltage, kpuWith
kpiRespectively indicate the proportionality coefficient and integral coefficient of DC bus-bar voltage pi regulator.
4) controlling target according to microgrid bi-directional inverter is that letter is transmitted in open loop under exchange subnet frequency and DC bus-bar voltage
Number carries out stability analysis.The analysis includes:
Controlling target according to microgrid bi-directional inverter is the open-loop transfer function for exchanging subnet frequency and DC bus-bar voltage,
Utilize root-locus technique rendering parameter J, D, KiWhen variation, variation track of the closed loop transfer function, pole in s plane, analysis can
:
By Fig. 6 (a) it is found that rotary inertia J is bigger, for closed loop transfer function, pole closer to the imaginary axis, system is more unstable, turns
Dynamic inertia crosses conference and causes the increase of overshoot, regulating time, to cause oscillation of power, system is less susceptible to stablize；By Fig. 6
(b) (c) it is found that with damped coefficient increase, system stability enhancing；With the increase of the integral coefficient of integral element, close
Central pole increases far from gradually real axis, overshoot, but remains on the left of the imaginary axis, and system stability is constant.
When microgrid bi-directional inverter control target is DC bus-bar voltage, open-loop transfer function is by proportional component, single order
Differentiation element, integral element, order Oscillating link and first order inertial loop are constituted.To make system keep stablizing and having preferable
Dynamic characteristic, cutoff frequency fcPositioned at Mid Frequency, and meet kpi/kpu< fc< ωn。
Example is given below:
Alternating current-direct current mixing microgrid bi-directional inverter control method based on virtual synchronous machine of the invention, is applied in alternating current-direct current
It mixes in microgrid, realizes that the zero deflection control of a-c cycle and stablizing for DC bus-bar voltage are controlled by microgrid bi-directional inverter
System.Under normal circumstances, alternating current-direct current mixing microgrid stable operation, microgrid bi-directional inverter transimission power is zero.When exchange side load
When uprushing, frequency decline, control system detects frequency departure, generates virtual machine active power signal by operation,
It is sent into inertia damping link, realizes that the zero deflection of frequency is adjusted by integral element feedback compensation.It dashes forward when load occurs for DC side
When increasing, DC bus-bar voltage decline, system switching control mode generates virtual machine wattful power by DC voltage deviation signal
Rate signal maintains the stabilization of DC bus-bar voltage.
In order to verify effectiveness of the invention, alternating current-direct current mixing microgrid is established, wherein ac bus voltage class is 380V
(line voltage), DC bus-bar voltage 800V, microgrid bi-directional inverter filter select LC filter, and wherein circuit parameter is set
It is calculated as inductance L=0.6H, capacitor C=20 μ F, control circuit parameter designing is rotary inertia J=2kg.m2, damped coefficient D=
50, integral coefficient Ki=1000.
When off-grid operation, initial time, microgrid bi-directional inverter works under frequency control model, transmitting active power
80kW, system stable operation.Load 40kW is cut off when exchanging subnet investment load 20kW, 1s when 0.5s.Fig. 9 gives tradition
Frequency under VSG control and this method frequency control model changes waveform.When inverter is controlled using traditional virtual synchronous machine, just
Beginning frequency stabilization frequency in 49.92Hz, 0.5s declines and stablizes in 49.87Hz, 1s frequency and rises and steady through small overshoot
It is fixed to 49.96Hz or so.When using this method frequency control model, original frequency is stablized the frequency in 50Hz, 0.5s and 1s and is passed through
Of short duration variation can restore rapidly and maintain rated frequency.Comparison is played to be it is found that can both reduce the variation of frequency
System provides the effect of inertial supports, and dynamic response is almost the same.But under the effect of this method frequency control model, it can accomplish frequency
Zero deflection is adjusted.When frequency departure is more than threshold value, using this method frequency control model microgrid frequency is restored to specified
Value improves the independently operated frequency stability of system.Figure 10 shows ac bus voltage amplitude under this method frequency control model
It is worth waveform.When 0.5s sudden load increase, ac bus voltage magnitude restores to stablize through short term oscillation, when 1s load dump, voltage amplitude
Value slightly reduces, but is always maintained at and stablizes in 311V or so.
When microgrid bi-directional inverter work in DC bus-bar voltage control model, transmit the active power of 180kW, at this time
The control purpose of inverter is to maintain DC bus-bar voltage and stablizes.Assuming that direct current subnet load increases 50kW suddenly in 0.5s.
Figure 11 show DC bus-bar voltage waveform under DC bus-bar voltage control model, and Figure 12 is under DC bus-bar voltage control model
Ac bus frequency waveform.Voltage stabilization is in voltage rating 800V when initial, and DC bus-bar voltage bust is extremely in 0.5s
It 780V or so and is gradually restored near rated value.This method DC bus-bar voltage control model is able to maintain DC bus electricity
The stabilization of pressure.When load increases suddenly, ac bus frequency is increased slightly, but frequency values are basically stable at 50Hz.
Claims (6)
1. a kind of microgrid bi-directional inverter control method based on virtual synchronous machine, which is characterized in that be in existing virtual synchronous
An integral element in parallel in equation of rotor motion damping link in machine control, equation of rotor motion is become from first-order equation
Second-order equation, the integral element areWherein, s is Laplace operator, KiFor the integral coefficient of integral element, byDetermine value range, wherein ξ indicates the damping ratio of active power ring closed loop transfer function, and D is
Damped coefficient, XsIt is the total output reactance of microgrid bi-directional inverter after introducing virtual impedance, E0It is micro- in the case of expression steady-state operation
Net bi-directional inverter output potential, Ue0For microgrid bi-directional inverter output port voltage, ω in the case of steady-state operation0It is same for power grid
Angular speed is walked, J is the rotary inertia of synchronous generator.
2. the microgrid bi-directional inverter control method according to claim 1 based on virtual synchronous machine, which is characterized in that institute
The rotor motion second-order equation stated are as follows:
Wherein, KiFor the integral coefficient of integral element, J is the rotary inertia of synchronous generator, ω0For synchronized angular speed, ω
For the actual angular speed of power grid, d is differential operator, and t is time, PmIndicate that the virtual machine of microgrid bi-directional inverter output is active
Power, PeIndicate the active power of microgrid bi-directional inverter output, D is damped coefficient, and s is Laplace operator.
3. the microgrid bi-directional inverter control method according to claim 1 based on virtual synchronous machine, which is characterized in that will
The given way of virtual machine active power in the control of virtual synchronous machine changes into two-way choice by unidirectionally selecting, specifically,
When exchanging subnet emergent power vacancy, microgrid bi-directional inverter transimission power is positive, and controlling target at this time is exchange subnet frequency
Rate；When direct current subnet emergent power vacancy, microgrid bi-directional inverter transimission power is negative, and controlling target at this time is DC bus
Voltage.
4. the microgrid bi-directional inverter control method according to claim 3 based on virtual synchronous machine, which is characterized in that institute
The exchange subnet frequency formula stated is as follows:
Pm=Pref+kf(fref-f)
Wherein, PmIndicate the virtual machine active power of microgrid bi-directional inverter output, PrefAnd frefThe respectively two-way change of current of microgrid
The active power reference value and system frequency reference value of device output, kfFor Frequency regulation factor；
The DC bus-bar voltage formula is as follows:
Wherein UdcIndicate DC bus-bar voltage, Udc_refIndicate DC bus-bar voltage reference value, kpuAnd kpiRespectively indicate direct current mother
The proportionality coefficient and integral coefficient of line voltage pi regulator.
5. a kind of stability analysis of the microgrid bi-directional inverter control method described in claim 1 based on virtual synchronous machine,
It is characterized in that, being the small-signal model by establishing microgrid bi-directional inverter output power, microgrid bi-directional inverter is controlled
Method carries out stability analysis, specific as follows:
The active-power P that step 1) exports rotor motion second-order equation, microgrid bi-directional invertereAnd reactive power QeAnd it is micro-
Net bi-directional inverter output potential equationIn variable be expressed as steady-state quantity and disturbance
The sum of amount, i.e.,
Wherein, KqIndicate that microgrid bi-directional inverter output potential differential coefficient, E indicate microgrid bi-directional inverter output potential, QeWith
QrefRespectively microgrid bi-directional inverter output reactive power and output reactive power reference value, UeAnd UenRespectively microgrid is two-way
Inverter output port voltage and output port voltage rating, DqFor voltage regulation coefficient；E0It is micro- in the case of expression steady-state operation
Net bi-directional inverter output potential,Indicate microgrid bi-directional inverter output potential disturbance quantity, δ is generator rotor angle, δ0For steady-state operation feelings
Generator rotor angle under condition,For generator rotor angle disturbance quantity, Pe0And Qe0The wattful power that microgrid bi-directional inverter exports respectively in the case of steady-state operation
Rate and reactive power,WithThe respectively active power disturbance quantity and reactive power disturbance amount of microgrid bi-directional inverter output, Pm
Indicate the virtual machine active power of microgrid bi-directional inverter output, Pm0Microgrid bi-directional inverter is defeated in the case of indicating steady-state operation
Virtual machine active power out,Indicate the virtual machine active power disturbance quantity of microgrid bi-directional inverter output, ω is electricity
Net actual angular speed, ω0For synchronized angular speed,For the disturbance quantity of the actual angular speed of power grid, Ue0For steady-state operation
In the case of microgrid bi-directional inverter output port voltage,For microgrid bi-directional inverter output port voltage disturbance amount.
Disturbance quantity quadratic component and steady-state quantity are eliminated, the small-signal model of microgrid bi-directional inverter output power is obtained:
In formula: X is the equivalent output reactance of microgrid bi-directional inverter, and D is damped coefficient, and J is the rotary inertia of synchronous generator, Ki
For the integral coefficient of integral element；
When calculating the small-signal model of microgrid bi-directional inverter output power, setting:
Ue=E, sin δ0=δ0, cos δ0=1；
2) coupling for not considering active ring and idle ring has been found out by the small-signal model of microgrid bi-directional inverter output power
The closed loop transfer function, formula of function power ring is as follows:
In formula, G (s) is active power ring closed loop transfer function,WithMicrogrid bi-directional inverter respectively under complex frequency domain
The active power disturbance quantity of output and the virtual machine active power disturbance quantity of output, XsIt is the microgrid pair after introducing virtual impedance
The output reactance total to inverter, s indicate Laplace operator；K is proportionality constant,ωnTable is distinguished with ξ
It is shown with the natural oscillation angular frequency and damping ratio of function power ring closed loop transfer function, is acquired by following formula:
3) according to the closed loop transfer function, of active power ring with exchange subnet frequency formula, obtain microgrid bi-directional inverter control mesh
Open-loop transfer function under exchange subnet frequency is designated as to be expressed as follows:
In formula, Gf(s) be microgrid bi-directional inverter control target be exchange subnet frequency under open-loop transfer function, kfFor frequency
Adjustment factor.
When microgrid bi-directional inverter transimission power is negative, the active power of microgrid bi-directional inverter transmission are as follows:
In formula, ReqFor direct current subnet equivalent resistance, UdcFor DC bus-bar voltage, Pe1It is for microgrid bi-directional inverter transimission power
The active power exported when negative, C are DC bus capacitor, and d is differential operator.Consider under small signal interference, active power/direct current
Pressure transmission function is expressed as follows:
In formula, GP-U(s) active power/DC voltage transmission function when being negative for microgrid bi-directional inverter transimission power,
WithOutput when DC bus-bar voltage disturbance quantity and microgrid bi-directional inverter transimission power are negative respectively in the case of steady-state operation
Active power disturbance quantity.
It is negative according to the closed loop transfer function, of active power ring, DC bus-bar voltage formula and microgrid bi-directional inverter transimission power
When active power/DC voltage transmission function, obtain microgrid bi-directional inverter control target be DC bus-bar voltage under open loop
Transmission function is expressed as follows:
Wherein: GUIt (s) be microgrid bi-directional inverter control target is open-loop transfer function under DC bus-bar voltage, kpuAnd kpiPoint
Not Biao Shi DC bus-bar voltage pi regulator proportionality coefficient and integral coefficient.
4) according to microgrid bi-directional inverter control target be exchange subnet frequency and DC bus-bar voltage under open-loop transfer function into
Row stability analysis.
6. the stability analysis of the microgrid bi-directional inverter control method according to claim 5 based on virtual synchronous machine,
It is characterized in that, analysis described in step 4) includes:
Controlling target according to microgrid bi-directional inverter is the open-loop transfer function for exchanging subnet frequency and DC bus-bar voltage, is utilized
Root-locus technique rendering parameter J, D, KiWhen variation, variation track of the closed loop transfer function, pole in s plane, analysis can be obtained:
Rotary inertia J is bigger, and for closed loop transfer function, pole closer to the imaginary axis, system is more unstable, and rotary inertia is crossed conference and caused
The increase of overshoot, regulating time, to cause oscillation of power, system is less susceptible to stablize；With the increase of damped coefficient, it is
Stability of uniting enhancing；With the increase of the integral coefficient of integral element, closed-loop pole increases far from gradually real axis, overshoot, but begins
It is maintained on the left of the imaginary axis eventually, system stability is constant.
When microgrid bi-directional inverter control target is DC bus-bar voltage, open-loop transfer function is by proportional component, first differential
Link, integral element, order Oscillating link and first order inertial loop are constituted.To make system keep stablizing and there is preferable dynamic
Characteristic, cutoff frequency fcPositioned at Mid Frequency, and meet kpi/kpu< fc< ωn。
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