CN112701732B - Control method and device for virtual synchronous generator and storage medium - Google Patents
Control method and device for virtual synchronous generator and storage medium Download PDFInfo
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
The invention discloses a control method, a device and a storage medium of a virtual synchronous generator, wherein the control mode of the virtual synchronous generator comprises an inertial droop control mode and a dead beat control mode, and the control method of the virtual synchronous generator comprises the following steps: monitoring the running state of the power grid side; if the power grid side is in a normal state, the virtual synchronous generator operates in an inertial droop control mode; if the power grid side is in a fault state, switching the virtual synchronous generator to a dead beat control mode to operate so as to inhibit the fault current of the virtual synchronous generator until the power grid side is restored to a normal state; the invention can be compatible with symmetric and asymmetric power grid side faults, effectively avoid equipment damage caused by overlarge impact current caused by the power grid side faults, and effectively improve the stability of the power grid.
Description
Technical Field
The present invention relates to the field of inverter control technologies, and in particular, to a method and apparatus for controlling a virtual synchronous generator, and a storage medium.
Background
Along with the development of society, the stock of fossil energy sources such as coal, petroleum and the like is reduced year by year, and the fossil energy sources are important core resources for human development, and all countries face the difficult problem of shortage of the fossil energy sources. In addition, fossil energy sources release a large amount of harmful gases and greenhouse gases during combustion, resulting in an increasing deterioration of natural ecological environment. Therefore, in order to alleviate the crisis of fossil energy and protect natural ecological environment, the development and use of new energy are necessary choices for various countries.
The common new energy has various forms such as wind power, photovoltaic energy and the like, has the characteristic of typical intermittence compared with the traditional fossil energy, and meanwhile, the output of the new energy power supply is also usually direct current or variable-frequency alternating current, and does not meet the grid-connected power supply requirement of a power system. Therefore, the conversion of electric energy of new energy sources by the power electronic converter becomes an important basis for the use of the new energy sources.
When a network side fault occurs, the existing method utilizes a virtual synchronous generator to quickly restrain the impact current by means of controlling switching, introducing virtual impedance, analyzing an excitation state, judging a fault state with return difference characteristics, limiting current by waves or modifying VSG reference voltage when the fault occurs.
However, the method has the defects of difficult application to the virtual synchronous generator without the current-voltage double closed loop, low suppression speed, low output power quality, small output inductance, complex structure, high nonlinearity degree, unstable system, incapability of reliably suppressing asymmetric faults and the like. And because the overcurrent capacity of the power electronic converter is weak, when a network side fault is encountered, a large current is easily formed at a port, so that related equipment is burnt. Therefore, the popularization and application of new energy are severely restricted.
Disclosure of Invention
The invention aims to provide a control method of a virtual synchronous generator, which can be compatible with symmetric and asymmetric power grid side faults, effectively avoid equipment damage caused by overlarge impact current caused by the power grid side faults, and effectively improve the stability of a power grid.
Still another object of the present invention is to provide a control device for a virtual synchronous generator, which is compatible with symmetric and asymmetric grid side faults, and effectively avoids equipment damage caused by excessive impact current due to the grid side faults, and effectively improves the stability of a grid.
It is still another object of the present invention to provide a storage medium that is compatible with both symmetric and asymmetric grid side faults, and that effectively avoids equipment damage due to excessive impact current caused by grid side faults, and that effectively improves the stability of the grid.
In order to achieve the above object, the present invention discloses a control method of a virtual synchronous generator, wherein the control mode of the virtual synchronous generator includes an inertial droop control mode and a dead beat control mode, and the control method of the virtual synchronous generator includes the following steps:
s1, monitoring the running state of a power grid side;
s2, if the power grid side is in a normal state, the virtual synchronous generator operates in an inertial droop control mode;
and S3, if the power grid side is in a fault state, switching the virtual synchronous generator to a dead beat control mode to operate so as to inhibit the fault current of the virtual synchronous generator until the power grid side is restored to a normal state.
Compared with the prior art, the invention suppresses the fault current of the virtual synchronous generator at the power grid side in a fault state by introducing a dead beat control mode, and avoids equipment damage caused by overlarge impact current caused by the power grid side fault; in addition, the invention does not need to pay attention to the symmetric fault or the asymmetric fault when the power grid side is in a fault state, namely the virtual synchronous generator is switched to a dead beat control mode for operation, and the compatibility of faults is effectively improved.
Preferably, the virtual synchronous generator includes: the three-phase bridge inverter module is used for modulating direct current at a direct current side into alternating current of power frequency through an LC filter after being converted into SPWM; the voltage and current sampling module is used for collecting voltage signals and current signals of the three-phase bridge inverter module and the power grid side, and converting the collected voltage signals and current signals so that the central controller module can identify and call the collected voltage signals and current signals; the central controller module is used for generating PWM reference signals according to the three-phase bridge inverter module, the voltage signals and the current signals at the power grid side; the PWM driving module is used for controlling the on-off of the switching module according to the PWM reference signal so as to switch the control mode of the virtual synchronous generator.
Preferably, in the step (3), the virtual synchronous generator is switched to a dead beat control mode to operate, so as to inhibit a fault current of the virtual synchronous generator until the grid side is restored to a normal state, and the method specifically includes:
s31, acquiring an internal reference voltage value, a grid side voltage value, an output current value and a direct current side voltage value of the virtual synchronous generator at the moment before the grid side fails;
s32, calculating the duty ratio of the switch module according to the internal reference voltage value, the power grid side voltage value, the output current value and the direct current side voltage value of the virtual synchronous generator;
s33, updating register information of the PWM driving module according to the duty ratio of the switching module;
s34, the PWM driving module controls the on-off of the switching module according to the duty ratio of the switching module so as to switch the virtual synchronous generator to a dead beat control mode.
Preferably, in the step (3), the virtual synchronous generator is switched to a dead beat control mode to operate, so as to suppress a fault current of the virtual synchronous generator until the grid side is restored to a normal state, and the method further includes:
s301, switching a virtual synchronous control link of the virtual synchronous generator into a constant power control mode so as to inhibit fault power of the virtual synchronous generator;
s302, establishing virtual electric connection between the virtual synchronous control link and the power grid side so as to form virtual current between the virtual synchronous control link and the power grid side;
s303, tracking the virtual current;
s304, judging whether the power grid side is restored to a normal state according to the virtual current.
Preferably, the step (302) specifically includes:
s3021, establishing a virtual resistor between the virtual synchronous control link and the power grid side.
Preferably, the step (304) specifically includes:
s3041, if the difference value between the virtual current and the output current of the virtual synchronous generator in the normal state is smaller than or equal to a preset difference value threshold, the power grid side is restored to the normal state;
s3042, if the difference value between the virtual current and the output current of the virtual synchronous generator in the normal state is greater than a preset difference value threshold, the power grid side is still in a fault state.
Preferably, the step (1) specifically includes:
s101, monitoring the output current of the virtual synchronous generator;
s102, if the output current of the virtual synchronous generator is smaller than a preset current threshold value, marking that the power grid side is in a normal state;
and S103, if the output current of the virtual synchronous generator is greater than or equal to a preset current threshold value, marking that the power grid side is in a fault state.
Preferably, the step (3) further includes:
s4, the virtual synchronous generator is restored to an inertia droop control mode to continue operation.
Correspondingly, the invention also discloses a control device of the virtual synchronous generator, wherein the control mode of the virtual synchronous generator comprises an inertial droop control mode and a dead beat control mode, and the control device of the virtual synchronous generator comprises the following components:
the monitoring unit is used for monitoring the running state of the power grid side;
the judging unit is used for judging the running state of the power grid side;
the first control unit is used for controlling the virtual synchronous generator to operate in an inertial droop control mode if the power grid side operates in a normal state;
and the second control unit is used for controlling the virtual synchronous generator to operate in a dead beat control mode if the power grid side operates in a fault state so as to inhibit the fault current of the virtual synchronous generator until the power grid side returns to a normal state.
Correspondingly, the invention also discloses a storage medium for storing a computer program which, when being executed by a processor, realizes the control method of the virtual synchronous generator.
Drawings
FIG. 1 is a schematic diagram of the structure of a virtual synchronous generator of the present invention;
FIG. 2 is a flow chart diagram of a method of controlling a virtual synchronous generator of the present invention;
FIG. 3 is a schematic diagram of fault current suppression control of a virtual synchronous generator according to an embodiment of the present invention;
FIG. 4 is a current reference diagram of current control during the grid-side fault of FIG. 3;
FIG. 5 is P in FIG. 3 set And Q set Is described in (a) a calculated reference map;
FIG. 6 is a reference diagram of port voltage phase extraction calculations in FIG. 3;
fig. 7 is a block diagram showing the configuration of a control device for a virtual synchronous generator according to the present invention.
Detailed Description
In order to describe the technical content, the constructional features, the achieved objects and effects of the present invention in detail, the following description is made in connection with the embodiments and the accompanying drawings.
Referring to fig. 1-3, the control method of the virtual synchronous generator 100 of the present embodiment is applicable to a virtual synchronous generator 100 with high power quality fault ride through capability, and is of course also applicable to a common virtual synchronous generator.
The control modes of the virtual synchronous generator 100 include an inertial droop control mode and a dead beat control mode. The inertial droop control mode is a common control method of the virtual synchronous generator 100, and will not be described herein. The dead beat control mode is a control mode based on discrete control theory, and is aimed at finding an input signal which can be output to enter a steady state in the shortest time for a specific system, and is aimed at the virtual synchronous generator 100 in the embodiment, and the dead beat control mode is introduced to quickly inhibit the impact current generated at the output end of the virtual synchronous generator 100 when the power grid side fails, so as to avoid damage to equipment due to overlarge impact current.
The control method of the virtual synchronous generator 100 includes the steps of:
s1, monitoring the running state of the power grid side.
The operating states of the grid side include a normal state and a fault state. It can be understood that the fault state refers to a fault that occurs on the power grid side and affects the normal operation of the virtual synchronous generator 100 and damages related devices, and the fault that occurs on the power grid side and does not affect the normal operation of the virtual synchronous generator 100 and damage related devices can be categorized into a normal state, which is not described herein.
S2, if the power grid side is in a normal state, the virtual synchronous generator 100 operates in an inertia droop control mode.
It will be appreciated that the grid side is normally in a normal state, and therefore the virtual synchronous generator 100 is normally operated in an inertial droop control mode.
And S3, if the power grid side is in a fault state, switching the virtual synchronous generator 100 to a dead beat control mode to operate so as to inhibit the fault current of the virtual synchronous generator 100 until the power grid side is restored to a normal state.
It will be appreciated that the recovery of the grid side from the normal state may be performed manually or automatically.
Preferably, the virtual synchronous generator 100 includes: the three-phase bridge inverter comprises a three-phase bridge inverter module 1, a voltage and current sampling module 2, a central controller module 3, a PWM driving module 4 and a switch module, wherein the switch module is a circuit breaker. The three-phase bridge inverter module 1 is used for modulating direct current at a direct current side into SPWM through a three-phase bridge, and converting the SPWM into power frequency alternating current through an LC filter so as to realize an energy channel for power conversion.
The voltage and current sampling module 2 is configured to collect voltage signals and current signals of the three-phase bridge inverter module 1 and the power grid, and convert the collected voltage signals and current signals, so that the central controller module 3 can identify and call the signals.
The central controller module 3 is configured to receive the data uploaded by the voltage and current sampling module 2, and generate a PWM reference signal according to the data uploaded by the voltage and current sampling module 2 (i.e., the three-phase bridge inverter module 1, the voltage signal and the current signal on the power grid side).
The PWM driving module 4 is configured to receive the PWM reference signal and amplify the PWM reference signal to meet the driving requirement of the three-phase bridge inverter module 1, where the PWM driving module 4 controls the on/off of the switching module according to the PWM reference signal, so as to switch the control mode of the virtual synchronous generator 100.
Preferably, in the step (3), the virtual synchronous generator 100 is switched to a dead-beat control mode to operate, so as to suppress a fault current of the virtual synchronous generator 100 until the grid side is restored to a normal state, which specifically includes:
and S31, acquiring an internal reference voltage value, a grid side voltage value, an output current value and a direct current side voltage value of the virtual synchronous generator 100 at the moment before the grid side fails.
S32, calculating the duty ratio of the switch module according to the internal reference voltage value, the power grid side voltage value, the output current value and the direct current side voltage value of the virtual synchronous generator 100.
S33, updating the register information of the PWM driving module 4 according to the duty ratio of the switching module.
S34, the PWM driving module 4 controls the on-off of the switch module according to the duty ratio of the switch module so as to switch the virtual synchronous generator 100 to a dead beat control mode.
Preferably, in the step (3), the virtual synchronous generator 100 is switched to a dead-beat control mode to suppress a fault current of the virtual synchronous generator 100 until the grid side is restored to a normal state, and further comprising:
and S301, switching the virtual synchronous control link of the virtual synchronous generator 100 into a constant power control mode so as to inhibit the fault power of the virtual synchronous generator 100.
S302, establishing virtual electric connection between the virtual synchronous control link and the power grid side so as to form virtual current between the virtual synchronous control link and the power grid side.
S303, tracking the virtual current.
S304, judging whether the power grid side is restored to a normal state according to the virtual current.
Preferably, the step (302) specifically includes:
s3021, establishing a virtual resistor between the virtual synchronous control link and the power grid side.
Preferably, the step (304) specifically includes:
s3041, if the difference value between the virtual current and the output current of the virtual synchronous generator 100 in the normal state is smaller than or equal to a preset difference value threshold, the power grid side is restored to the normal state;
s3042, if the difference between the virtual current and the output current of the virtual synchronous generator 100 in the normal state is greater than the preset difference threshold, the grid side is still in the fault state.
The virtual synchronous generator 100 remains operating in deadbeat control mode while the grid side is still in a fault condition.
Preferably, the step (1) specifically includes:
s101, monitoring the output current of the virtual synchronous generator;
s102, if the output current of the virtual synchronous generator is smaller than a preset current threshold value, marking that the power grid side is in a normal state;
and S103, if the output current of the virtual synchronous generator is greater than or equal to a preset current threshold value, marking that the power grid side is in a fault state.
Preferably, the step (3) further includes:
s4, the virtual synchronous generator 100 is restored to the inertia droop control mode to continue operation.
Referring to fig. 1 to 6, a process of the control method of the virtual synchronous generator 100 according to the present invention will be described.
Step one: when the grid side is in a normal state, the virtual synchronous generator 100 operates in an inertial droop control mode.
Step two: when a grid fault occurs on the grid side, the virtual synchronous generator 100 is switched to run in the dead beat control mode. The virtual synchronous generator 100 can respond to a fault very quickly in a dead beat control mode, thereby rapidly and effectively limiting a fault current, and can secure the power quality of an output current of the virtual synchronous generator 100, thus providing an unparalleled advantage in suppressing a fault impact current.
Meanwhile, the virtual synchronous control link of the virtual synchronous generator 100 is switched to a constant power control mode to inhibit the fault power of the virtual synchronous generator 100, and virtual impedance is introduced to connect the virtual synchronous generator 100 with a power grid to track dead beat output current, so as to monitor and judge whether the power grid side is restored to a normal state in real time.
Step three: after clearing the grid fault, the virtual synchronous generator 100 should wait for a period of time until the virtual current is controlled very close to the actual output current, and the grid side is not considered to be in a normal state.
Step four: when the virtual synchronous generator 100 is switched back to the inertia droop control mode again, the output current of the virtual synchronous generator 100 will be adjusted to be in a normal state, so that the external output of the virtual synchronous generator 100 is not affected.
Wherein, the block diagram of the virtual synchronous generator 100 is shown in fig. 1. In the figure, the virtual current is
As shown in fig. 3, when the power grid is in a normal state, S p And S is q In an open state. S is S 1 、S 2 、S 3 And S is 4 Are connected to position 1. Accordingly, the virtual synchronous generator 100 operates in an inertial droop control mode.
When a serious grid fault occurs on the grid side, at this time, whether the grid side fault occurs is detected by detecting an instantaneous current at the output end of the three-phase bridge inverter module 10, and the operation mode of the virtual synchronous generator 100 is rapidly switched to the dead beat control mode. When any phase of the fault rush current output by the virtual synchronous generator 100 is greater than a protection reference value, S p And S is q Will be closed; s is S 1 、S 2 、S 3 And S is 4 Is switched to position 2 to switch the virtual synchronous generator 100 to operate in deadbeat control mode.
The reference current calculation method for the a phase in the dead beat control mode is shown in formula (2), and the reference current calculation method for the B phase and the C phase in the dead beat control mode is shown in formula (3), that is, the B phase and the C phase in the dead beat control mode can be obtained by rotating the a phase by 120 ° and-120 °, respectively.
Performing park transformation on the reference current and the internal potential in the dead beat control mode by taking the internal potential phase angle as a rotation angle to obtain i sd 、i sq 、u d And u q Then, the virtual power outputted by the virtual synchronous generator 100 at this time can be obtained by calculation of the formula (4), and the power is used as the reference P for virtual synchronous control set And Q set Can ensure virtual current i s Gradually approach hysteresis output current i out 。
The detailed description of the deadbeat control mode is as follows:
equation (5) is an implementation expression of the dead beat control mode:
In the formula (5), i vsg (n) inverter output current sampled at time n, u vsg (n) is the internal reference voltage of the inverter at time n, u g (n) and i * vsg (n+1) is the grid voltage sampled at time n and the inverter reference current at time (n+1), D (n) is the duty cycle of the inverter switching tube, u dc And (n) is the voltage value of the DC side.
The specific implementation method of the dead beat part comprises the steps that firstly, the internal reference voltage value, the network side voltage value, the inverter output current value and the direct current side voltage value of the virtual synchronous generator 100 at the previous moment are obtained through a voltage and current sampling module; and substituting the state quantities of the voltage, the current and the like obtained by sampling into a formula (5), substituting the tracked current reference value, the filter inductance value and the sampling time into the formula (5) to calculate to obtain the duty ratio D (n) of the switching tube, and updating a PWM register in the controller by using the duty ratio to finish the dead beat control process.
Correspondingly, the invention also discloses a control device of the virtual synchronous generator 100, wherein the control mode of the virtual synchronous generator 100 comprises an inertial droop control mode and a dead beat control mode, and the control device of the virtual synchronous generator 100 comprises:
a monitoring unit 10 for monitoring an operating state of the grid side;
a judging unit 20, configured to judge an operation state of the grid side;
a first control unit 30 for controlling the virtual synchronous generator 100 to operate in an inertial droop control mode if the grid side is operating in a normal state;
and a second control unit 40, configured to control the virtual synchronous generator 100 to operate in a dead beat control mode if the grid side is operating in a fault state, so as to suppress a fault current of the virtual synchronous generator 100 until the grid side is restored to a normal state.
Accordingly, the present invention also discloses a storage medium for storing a computer program which, when executed by a processor, implements the control method of the virtual synchronous generator 100 as described above.
Referring to fig. 1 to 7, the present invention suppresses the fault current of the virtual synchronous generator 100 in a fault state at the grid side by introducing a dead beat control mode, thereby avoiding the damage of equipment caused by the excessive impact current due to the fault at the grid side; in addition, the invention is suitable for the operation of switching the virtual synchronous generator 100 to the dead beat control mode only when the power grid side is in a fault state without paying attention to the symmetrical fault or the asymmetrical fault of the power grid side fault, can ensure the continuous output of high-power quality current of the virtual synchronous generator 100 during the power grid side fault, and effectively improves the fault compatibility.
The foregoing description of the preferred embodiments of the present invention is not intended to limit the scope of the claims, which follow, as defined in the claims.
Claims (8)
1. A control method of a virtual synchronous generator, characterized in that the control mode of the virtual synchronous generator includes an inertial droop control mode and a dead beat control mode, the control method of the virtual synchronous generator comprising the steps of:
monitoring the running state of the power grid side;
if the power grid side is in a normal state, the virtual synchronous generator operates in an inertial droop control mode;
if the power grid side is in a fault state, switching the virtual synchronous generator to a dead beat control mode to operate so as to inhibit the fault current of the virtual synchronous generator until the power grid side is restored to a normal state;
the switching the virtual synchronous generator to a dead beat control mode to operate so as to inhibit the fault current of the virtual synchronous generator until the power grid side is recovered to a normal state, and the method further comprises the following steps:
switching a virtual synchronous control link of the virtual synchronous generator into a constant power control mode so as to inhibit fault power of the virtual synchronous generator;
establishing a virtual electrical connection between the virtual synchronous control link and the power grid side to form a virtual current between the virtual synchronous control link and the power grid side;
tracking the virtual current;
if the difference value of the output current of the virtual current and the output current of the virtual synchronous generator in the normal state is smaller than or equal to a preset difference value threshold value, the power grid side is restored to the normal state;
and if the difference value of the output current of the virtual current and the output current of the virtual synchronous generator in the normal state is larger than a preset difference value threshold, the power grid side is still in a fault state.
2. The control method of a virtual synchronous generator according to claim 1, wherein the virtual synchronous generator comprises: the three-phase bridge inverter module is used for modulating direct current at a direct current side into alternating current of power frequency through an LC filter after being converted into SPWM; the voltage and current sampling module is used for collecting voltage signals and current signals of the three-phase bridge inverter module and the power grid side, and converting the collected voltage signals and current signals so that the central controller module can identify and call the collected voltage signals and current signals; the central controller module is used for generating PWM reference signals according to the three-phase bridge inverter module, the voltage signals and the current signals at the power grid side; the PWM driving module is used for controlling the on-off of the switching module according to the PWM reference signal so as to switch the control mode of the virtual synchronous generator.
3. The control method of a virtual synchronous generator according to claim 1, wherein the switching the virtual synchronous generator to a dead beat control mode operation to suppress a fault current of the virtual synchronous generator until the grid side returns to a normal state, specifically comprises:
acquiring an internal reference voltage value, a grid side voltage value, an output current value and a direct current side voltage value of the virtual synchronous generator at the moment before the grid side fails;
calculating the duty ratio of a switch module according to the internal reference voltage value, the power grid side voltage value, the output current value and the direct current side voltage value of the virtual synchronous generator;
updating register information of the PWM driving module according to the duty ratio of the switching module;
the PWM driving module controls the on-off of the switching module according to the duty ratio of the switching module so as to switch the virtual synchronous generator into a dead beat control mode.
4. The method for controlling a virtual synchronous generator according to claim 1, wherein a virtual electrical connection is established between the virtual synchronous control link and a grid side to form a virtual current between the virtual synchronous control link and the grid side, specifically comprising:
and establishing a virtual resistor between the virtual synchronous control link and the power grid side.
5. The method for controlling a virtual synchronous generator according to claim 1, wherein the monitoring of the operating state of the grid side comprises:
monitoring the output current of the virtual synchronous generator;
if the output current of the virtual synchronous generator is smaller than a preset current threshold value, marking that the power grid side is in a normal state;
and if the output current of the virtual synchronous generator is greater than or equal to a preset current threshold value, marking that the power grid side is in a fault state.
6. The control method of a virtual synchronous generator according to claim 1, wherein if the grid side is in a fault state, the virtual synchronous generator is switched to a dead beat control mode operation to suppress a fault current of the virtual synchronous generator until the grid side is restored to a normal state, and further comprising:
and restoring the virtual synchronous generator to an inertia droop control mode to continue operation.
7. A control device of a virtual synchronous generator, wherein a control mode of the virtual synchronous generator includes an inertial droop control mode and a dead beat control mode, the virtual synchronous generator control device comprising:
the monitoring unit is used for monitoring the running state of the power grid side;
the judging unit is used for judging the running state of the power grid side;
the first control unit is used for controlling the virtual synchronous generator to operate in an inertial droop control mode if the power grid side operates in a normal state;
the second control unit is used for controlling the virtual synchronous generator to operate in a dead beat control mode if the power grid side operates in a fault state so as to inhibit the fault current of the virtual synchronous generator until the power grid side returns to a normal state;
the method for controlling the virtual synchronous generator to be switched to a dead beat control mode to operate, so as to inhibit fault current of the virtual synchronous generator until the power grid side is recovered to a normal state, further comprises the following steps:
switching a virtual synchronous control link of the virtual synchronous generator into a constant power control mode so as to inhibit fault power of the virtual synchronous generator;
establishing a virtual electrical connection between the virtual synchronous control link and the power grid side to form a virtual current between the virtual synchronous control link and the power grid side;
tracking the virtual current;
if the difference value of the output current of the virtual current and the output current of the virtual synchronous generator in the normal state is smaller than or equal to a preset difference value threshold value, the power grid side is restored to the normal state;
and if the difference value of the output current of the virtual current and the output current of the virtual synchronous generator in the normal state is larger than a preset difference value threshold, the power grid side is still in a fault state.
8. A storage medium storing a computer program, characterized by: the program, when executed by a processor, implements the control method of a virtual synchronous generator according to any one of claims 1 to 6.
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