CN114362224B - Frequency control method and device for battery energy storage system - Google Patents
Frequency control method and device for battery energy storage system Download PDFInfo
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Abstract
The invention discloses a frequency control method and a device for a battery energy storage system, comprising the following steps: acquiring a current frequency tracking error every time a sampling period arrives; obtaining a current logic signal output according to the current frequency tracking error and a preset switching rule; and adjusting the duty ratio of the DC/DC converter output signal according to the current logic signal output and the pre-acquired steady state value of the DC/DC converter duty ratio so as to realize the frequency control of the battery energy storage system. By adopting the embodiment of the invention, the frequency control capability, the power failure response speed and the voltage recovery capability of the battery energy storage system can be improved, and the calculated amount of the frequency control of the battery energy storage system can be simplified.
Description
Technical Field
The present invention relates to the field of power systems, and in particular, to a method and apparatus for controlling frequency of a battery energy storage system.
Background
With global energy shortage and climate deterioration, green energy has become a focus of attention at this stage. However, the integration of these intermittent and fluctuating renewable energy sources can affect the safety and stability of the grid. At present, large-scale wind power replaces the traditional power supply to be connected into a power grid, so that the inertia of the whole power system is reduced, and the stable frequency operation of the power grid is threatened. Therefore, there is an urgent need to improve the frequency response capability of grid-connected power systems containing high proportions of wind power.
Frequency fluctuations in the power system may be caused when the active power of the power supply is unbalanced with the load in the power system. The battery energy storage system (Battery Energy Storage System, BESS) has rapid power throughput capability, and the combination of the battery energy storage system and the wind generating set can improve the frequency stability problem of the wind power plant, so the BESS can be used for bearing the frequency modulation task of the system. When the frequency of the generator suddenly rises, controlling BESS charging to absorb redundant active power in the system; when the generator frequency suddenly drops, the BESS discharge is controlled to compensate for the active power deficiency in the system. The battery energy storage system is connected to the grid through a DC/DC converter and a DC/AC converter, and a frequency controller in the DC/DC converter can track the frequency and control the charging and discharging of the battery.
The frequency controller of the traditional battery energy storage system mainly controls the charge and discharge process by outputting the duty ratio of the DC/DC converter through the PI controller, so as to regulate the frequency. The PI controller is a linear controller, is simple and easy to realize, but cannot fully exert the maximum output capacity of equipment in emergency, and lacks robustness to nonlinearity and parameter uncertainty of the system. While the nonlinear controller can fully consider the nonlinearity of the power system model and the uncertainty of parameters, the algorithm of the nonlinear controller contains a large amount of calculation amount, which is unfavorable for the digital realization of the system.
Disclosure of Invention
The embodiment of the invention provides a frequency control method and a frequency control device for a battery energy storage system, which can effectively improve the frequency control capability, the power failure response speed and the voltage recovery capability of the battery energy storage system and simplify the calculated amount of the frequency control of the battery energy storage system.
To achieve the above object, an embodiment of the present invention provides a frequency control method for a battery energy storage system, including:
acquiring a current frequency tracking error every time a sampling period arrives;
obtaining a current logic signal output according to the current frequency tracking error and a preset switching rule;
and adjusting the duty ratio of the DC/DC converter output signal according to the current logic signal output and the pre-acquired steady state value of the DC/DC converter duty ratio so as to realize the frequency control of the battery energy storage system.
As an improvement of the above solution, the preset switching rule specifically includes:
wherein q (t) is the current logic signal output, e is the current frequency tracking error, e + Is the first error threshold, e - Is the second error threshold value e + >e - ,q old The logic signal of the last cycle is output.
As an improvement of the above solution, the adjusting the duty ratio of the DC/DC converter output signal according to the current logic signal output and the pre-acquired steady state value of the DC/DC converter duty ratio specifically includes:
if the current logic signal output is-1, the duty ratio of the current output signal of the DC/DC converter is the sum of the steady state value and a first numerical value; wherein the first value is a positive value;
if the current logic signal output is 0, the duty ratio of the current output signal of the DC/DC converter is the steady state value;
if the current logic signal output is +1, the duty ratio of the current output signal of the DC/DC converter is the sum of the steady state value and a second value; wherein the second value is negative.
To achieve the above object, an embodiment of the present invention correspondingly provides a frequency control device for a battery energy storage system, including:
the data acquisition module is used for acquiring the current frequency tracking error every time the sampling period arrives;
the logic judgment module is used for obtaining current logic signal output according to the current frequency tracking error and a preset switching rule;
and the signal adjusting module is used for adjusting the duty ratio of the DC/DC converter output signal according to the current logic signal output and the pre-acquired steady state value of the DC/DC converter duty ratio so as to realize the frequency control of the battery energy storage system.
As an improvement of the above solution, the preset switching rule specifically includes:
wherein q (t) is the current logic signal output, e is the current frequency tracking error, e + Is the first error threshold, e - Is the second error threshold value e + >e - ,q old The logic signal of the last cycle is output.
As an improvement of the above solution, the signal conditioning module includes:
the first adjusting unit is used for outputting a duty ratio of a current output signal of the DC/DC converter to be the sum of the steady-state value and a first numerical value if the current logic signal is output to be-1; wherein the first value is a positive value;
the second adjusting unit is used for outputting a current duty ratio of a current output signal of the DC/DC converter to be the steady-state value if the current logic signal is output to be 0;
the third adjusting unit is used for outputting a duty ratio of the current output signal of the DC/DC converter to be the sum of the steady-state value and the second value if the current logic signal is +1; wherein the second value is negative.
Compared with the prior art, the frequency control method and the device for the battery energy storage system, disclosed by the embodiment of the invention, acquire the current frequency tracking error every time the sampling period arrives; obtaining a current logic signal output according to the current frequency tracking error and a preset switching rule; and adjusting the duty ratio of the DC/DC converter output signal according to the current logic signal output and the pre-acquired steady state value of the DC/DC converter duty ratio so as to realize the frequency control of the battery energy storage system. The invention can improve the frequency control capability, the power failure response speed and the voltage recovery capability of the battery energy storage system and simplify the calculated amount of the frequency control of the battery energy storage system.
Drawings
FIG. 1 is a flow chart of a method for controlling a frequency of a battery energy storage system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a battery energy storage system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a conventional frequency controller according to an embodiment of the present invention;
FIG. 4 is a flow chart of a method for controlling frequency of a battery energy storage system according to another embodiment of the present invention;
fig. 5 is a schematic structural diagram of a frequency control device for a battery energy storage system according to an embodiment of the present invention
FIG. 6 is a schematic circuit diagram of an improved IEEE4 set 11 node in accordance with one embodiment of the present invention;
fig. 7 is a schematic diagram of the duty cycle simulation of three frequency control strategies according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a flow chart of a frequency control method for a battery energy storage system according to an embodiment of the invention is shown.
The switch control method provided by the embodiment of the invention comprises the following steps:
s11, acquiring a current frequency tracking error every time a sampling period arrives;
s12, obtaining a current logic signal output according to the current frequency tracking error and a preset switching rule;
s13, according to the current logic signal output and a pre-acquired steady state value of the DC/DC converter duty ratio, the duty ratio of the DC/DC converter output signal is adjusted so as to realize the frequency control of the battery energy storage system.
It should be noted that the structure of the battery energy storage system can be divided into three parts: an energy storage battery, a DC/DC converter and a DC/AC converter. The DC/DC converter takes charge of charge-discharge state control of the energy storage device with a voltage source converter (Voltage Source Converter, VSC), and the battery energy storage system is connected to the grid through the DC/AC converter. The frequency control method for the battery energy storage system is mainly used for controlling the charge and discharge of the battery energy storage system, so that the battery energy storage system participates in primary frequency modulation of a wind power system. The invention is used for the exemplified VSC control, namely grid connection control, adopts a d-q axis current control strategy, tracks current reference values through outer loop voltage control and inner loop current control, and outputs signal reference values required by PWM so as to realize voltage regulation. A schematic general structure of a battery energy storage system may refer to fig. 2; wherein, the general model for describing the dynamic performance of the rechargeable battery is as follows:
wherein v is p For polarization voltage, v b For battery voltage, i b Is the battery current. q e For the electric quantity passing in a certain time, SOC is the ratio of the residual capacity to the nominal capacity of the battery, i m For battery current through the low pass filter, T is the time constant of the low pass filter, E is the open circuit voltage, v e Is exponential voltage beta e Is the reciprocal of the exponential region time constant, R is the internal resistance of the battery, R p For polarization resistance, K p Is the polarization constant.
The accumulator being connected by a DC/DC converterTo the dc side of the VSC. The DC/DC converter may convert high voltage direct current to low voltage direct current when the battery is charged. The DC/DC converter may convert low voltage direct current to high voltage direct current when the battery is discharged. Battery voltage v b With high voltage DC side voltage v dc The relationship between them is as follows:
wherein s is the duty cycle of the DC/DC converter, n s Is the number of cells in series.
In contrast, a conventional frequency controller, as shown in fig. 3, first passes through a dead zone, when the frequency is within the dead zone threshold, the controller input is zero; when the threshold value is exceeded, the frequency deviation exceeding the threshold value is sent to the PI controller through a delay link, so that the controller outputs a corresponding duty ratio. The PI controller is a linear controller, is simple and easy to implement, but cannot fully exert the maximum output capability of the device in an emergency, and when the system is subjected to impact disturbance, the PI controller may destabilize the system because the maximum performance of the device is not exerted.
In some preferred embodiments, the preset switching rule is specifically:
wherein q (t) is the current logic signal output, e is the current frequency tracking error, e + Is the first error threshold, e - Is the second error threshold value e + >e - ,q old The logic signal of the last cycle is output.
Preferably, e=ω - ω ref The method comprises the steps of carrying out a first treatment on the surface of the Wherein ω is the actual angular frequency of the generator, ω ref Is the angular frequency reference of the generator.
It is worth to say that the frequency control method of the invention adds 0 logic signal output, which can effectively prevent the frequency from continuously oscillating, so that the output frequency of the battery energy storage system is finally converged, the battery energy storage system can rapidly reflect faults, and compared with a nonlinear controller, the calculated amount is greatly simplified.
In some preferred embodiments, in step S13, the duty cycle of the DC/DC converter output signal is adjusted according to the current logic signal output and the pre-acquired steady state value of the DC/DC converter duty cycle, specifically:
if the current logic signal output is-1, the duty ratio of the current output signal of the DC/DC converter is the sum of the steady state value and a first numerical value; wherein the first value is a positive value;
if the current logic signal output is 0, the duty ratio of the current output signal of the DC/DC converter is the steady state value;
if the current logic signal output is +1, the duty ratio of the current output signal of the DC/DC converter is the sum of the steady state value and a second value; wherein the second value is negative.
In a specific embodiment, the duty cycle s of the current output signal of the DC/DC converter duty The method specifically comprises the following steps:
wherein s is 0 Is the steady state value of the duty cycle of the DC/DC converter, s + Is a first numerical value, s + >0,s - Is a second value, s - <0。
It will be appreciated that when the frequency tracking error exceeds the first error threshold, or the logic signal output q of the previous cycle old When the current frequency is-1 and is still greater than the frequency reference value, the logic signal output of the controller is-1, the duty ratio of the current output signal of the DC/DC converter is the steady state value of the duty ratio plus a positive value, and the battery is charged so as to absorb redundant active power in the system; when the frequency tracking error is lower than the second error threshold, or the logic signal output q of the previous cycle old When the current frequency is 1 and is still smaller than the frequency reference value, the logic signal output of the controller is 1, the current output signal of the DC/DC converter is the steady state value of the duty ratio plus a negative value, and the battery is discharged to compensate the active power shortage in the system. When the actual frequency value is equal to the frequency reference value, or the previous period q is 0 and the current frequency is still within the first error threshold value and the second error threshold value, the logic signal output of the controller is 0, the current output signal of the DC/DC converter is a steady state value, and the battery is neither charged nor discharged. The specific frequency control logic process may be referred to in fig. 4.
Correspondingly, the embodiment of the invention also provides a frequency control device for the battery energy storage system, which can realize all the flow of the frequency control method for the battery energy storage system.
Referring to fig. 5, a schematic structural diagram of a frequency control device for a battery energy storage system according to an embodiment of the invention is shown.
The frequency control device for the battery energy storage system provided by the embodiment of the invention comprises:
a data acquisition module 21, configured to acquire a current frequency tracking error every time a sampling period arrives;
the logic judgment module 22 is configured to obtain a current logic signal output according to the current frequency tracking error and a preset switching rule;
and the signal adjusting module 23 is configured to adjust the duty ratio of the DC/DC converter output signal according to the current logic signal output and the pre-acquired steady state value of the duty ratio of the DC/DC converter, so as to realize frequency control of the battery energy storage system.
As an optional implementation manner, the preset switching rule specifically includes:
wherein q (t) is the current logic signal output, e is the current frequency tracking error, e + Is the first error threshold, e - Is the second error threshold value,e + >e - ,q old The logic signal of the last cycle is output.
As one of the preferred embodiments, the signal conditioning module 23 includes:
the first adjusting unit is used for outputting a duty ratio of a current output signal of the DC/DC converter to be the sum of the steady-state value and a first numerical value if the current logic signal is output to be-1; wherein the first value is a positive value;
the second adjusting unit is used for outputting a current duty ratio of a current output signal of the DC/DC converter to be the steady-state value if the current logic signal is output to be 0;
the third adjusting unit is used for outputting a duty ratio of the current output signal of the DC/DC converter to be the sum of the steady-state value and the second value if the current logic signal is +1; wherein the second value is negative.
It should be noted that, the relevant detailed description and the beneficial effects of the embodiments of the frequency control device for a battery energy storage system of the present embodiment may refer to the relevant detailed description and the beneficial effects of the embodiments of the frequency control method for a battery energy storage system described above, and are not repeated herein.
It should be noted that the above-described apparatus embodiments are merely illustrative, and the units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the drawings of the embodiment of the device provided by the invention, the connection relation between the modules represents that the modules have communication connection, and can be specifically implemented as one or more communication buses or signal lines. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
The frequency control effect of the frequency control device for a battery energy storage system of the present invention will be described below through simulation.
Referring to FIG. 6, a time domain simulation of a multi-machine system including a Doubly Fed Induction Generator Wind Turbine (DFIGWT) and a Battery Energy Storage System (BESS) is performed by matlab. In order to verify the frequency control effect of the frequency control device, the node 11 of the IEEE4 machine is improved, synchronous generators of the node 2 and the node 4 are changed into double-fed fans which are mainstream at present, a high-proportion wind power grid-connected power system is constructed, a battery energy storage system is additionally arranged at the node 2, the battery energy storage system is composed of a storage battery, a DC/DC converter and a DC/AC converter, and an outer ring voltage control and an inner ring current control are adopted in a control strategy of the DC/AC converter. The frequency controller in the DC/DC converter adopts the frequency control device designed by the invention, and the control parameters are selected as follows: e, e + =0.001,e - =-0.001,s + =0.1,s - =-0.1。
In order to better illustrate the frequency control effect of the invention, a battery energy storage system without a frequency controller and a battery energy storage system with a traditional proportional-integral controller are also simulated. Thereby comparing the frequency control effects of different controllers in the battery energy storage system under fault disturbance. Let t=0, node 11 experiences a three-phase ground short fault and clears the fault at t=14 ms. Referring to fig. 7, the frequency controller of Case1 adopts a conventional PI controller, case2 does not adopt any controller, and Case3 adopts the frequency control device of the present invention. As can be seen from comparison of fig. 7, the frequency control device of the present invention is a logic signal output. In addition, the frequency response and the voltage recovery of the three frequency control strategies under fault disturbance are simulated and compared through matlab, the frequency control device has rapid frequency response capability and can rapidly respond to faults, and the frequency control device can rapidly respond to faults and improves the voltage recovery capability.
In summary, the frequency control method and the device for the battery energy storage system provided by the embodiment of the invention acquire the current frequency tracking error when the sampling period arrives every time; obtaining a current logic signal output according to the current frequency tracking error and a preset switching rule; and adjusting the duty ratio of the DC/DC converter output signal according to the current logic signal output and the pre-acquired steady state value of the DC/DC converter duty ratio so as to realize the frequency control of the battery energy storage system. The invention can improve the frequency control capability, the power failure response speed and the voltage recovery capability of the battery energy storage system and simplify the calculated amount of the frequency control of the battery energy storage system.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.
Claims (4)
1. A method of frequency control for a battery energy storage system, comprising:
acquiring a current frequency tracking error every time a sampling period arrives;
obtaining a current logic signal output according to the current frequency tracking error and a preset switching rule;
according to the current logic signal output and a pre-acquired steady state value of the DC/DC converter duty ratio, the duty ratio of the DC/DC converter output signal is adjusted so as to realize the frequency control of the battery energy storage system;
the preset switching rule specifically comprises the following steps:
wherein q (t) is the current logic signal output, e is the current frequency tracking error, e + Is the first error threshold, e - Is the second error threshold value e + >e - ,q old The logic signal of the last cycle is output.
2. The method for controlling the frequency of a battery energy storage system according to claim 1, wherein the adjusting the duty ratio of the DC/DC converter output signal according to the current logic signal output and a pre-obtained steady state value of the DC/DC converter duty ratio is specifically:
if the current logic signal output is-1, the duty ratio of the current output signal of the DC/DC converter is the sum of the steady state value and a first numerical value; wherein the first value is a positive value;
if the current logic signal output is 0, the duty ratio of the current output signal of the DC/DC converter is the steady state value;
if the current logic signal output is +1, the duty ratio of the current output signal of the DC/DC converter is the sum of the steady state value and a second value; wherein the second value is negative.
3. A frequency control device for a battery energy storage system, comprising:
the data acquisition module is used for acquiring the current frequency tracking error every time the sampling period arrives;
the logic judgment module is used for obtaining current logic signal output according to the current frequency tracking error and a preset switching rule;
the signal adjusting module is used for adjusting the duty ratio of the DC/DC converter output signal according to the current logic signal output and the pre-acquired steady state value of the DC/DC converter duty ratio so as to realize the frequency control of the battery energy storage system;
the preset switching rule specifically comprises the following steps:
wherein q (t) is the current logic signal output, e is the current frequency tracking error, e + Is the first error threshold, e - Is the second error threshold value e + >e - ,q old The logic signal of the last cycle is output.
4. The frequency control device for a battery energy storage system of claim 3, wherein said signal conditioning module comprises:
the first adjusting unit is used for outputting a duty ratio of a current output signal of the DC/DC converter to be the sum of the steady-state value and a first numerical value if the current logic signal is output to be-1; wherein the first value is a positive value;
the second adjusting unit is used for outputting a current duty ratio of a current output signal of the DC/DC converter to be the steady-state value if the current logic signal is output to be 0;
the third adjusting unit is used for outputting a duty ratio of the current output signal of the DC/DC converter to be the sum of the steady-state value and the second value if the current logic signal is +1; wherein the second value is negative.
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