WO2020192006A1 - Virtual inertia-based charge/discharge control method for electric vehicle - Google Patents

Virtual inertia-based charge/discharge control method for electric vehicle Download PDF

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Publication number
WO2020192006A1
WO2020192006A1 PCT/CN2019/102161 CN2019102161W WO2020192006A1 WO 2020192006 A1 WO2020192006 A1 WO 2020192006A1 CN 2019102161 W CN2019102161 W CN 2019102161W WO 2020192006 A1 WO2020192006 A1 WO 2020192006A1
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Prior art keywords
electric vehicle
virtual inertia
charging
current
constant
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PCT/CN2019/102161
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French (fr)
Chinese (zh)
Inventor
彭克
魏智宇
陈佳佳
焦提操
路茂增
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山东理工大学
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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
    • H02J3/28—Arrangements for balancing of the load in a network by storage of energy
    • H02J3/32—Arrangements for balancing of the load in a network by storage of energy using batteries with converting means
    • H02J3/322—Arrangements for balancing of the load in a network by storage of energy using batteries with converting means the battery being on-board an electric or hybrid vehicle, e.g. vehicle to grid arrangements [V2G], power aggregation, use of the battery for network load balancing, coordinated or cooperative battery charging
    • 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
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/007—Regulation of charging or discharging current or voltage
    • 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
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/007—Regulation of charging or discharging current or voltage
    • H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
    • H02J7/00714—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters in response to battery charging or discharging current
    • 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
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/007—Regulation of charging or discharging current or voltage
    • H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
    • H02J7/007182—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters in response to battery voltage
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles
    • Y02T90/167—Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
    • 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
    • Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
    • Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
    • Y04S30/12—Remote or cooperative charging

Definitions

  • the invention relates to the technical field of electric vehicle charging and discharging control, in particular to a method for controlling electric vehicle charging and discharging based on virtual inertia.
  • the DC power distribution system is the new development direction of the urban power distribution system in the future. With the increasing popularity of electric vehicles, it will have a significant impact on the stability of the DC distribution network. With the continuous development of electric vehicle charging and discharging technology, there are more and more charging and discharging methods for electric vehicles.
  • the conventional charging methods for electric vehicle batteries in DC distribution networks include constant current charging methods, constant power charging methods, constant voltage charging methods, and constant current and constant voltage charging methods.
  • the constant current charging, constant power charging and constant voltage charging methods are to keep the charging current, charging power, and charging voltage constant during the charging process.
  • the constant current and constant voltage charging method combines the two charging methods of constant current and constant voltage charging. As shown in Figure 1, the charging current remains constant in the first stage, and the charging voltage remains constant in the second stage. When the charging current drops to a minimum When it is time, or when an external stop charging command is received, the electric vehicle battery terminates charging.
  • the conventional discharge methods of electric vehicle batteries include constant current discharge and constant power discharge.
  • the electric vehicle adopts the constant current discharge method, it maintains the constant current discharge output and detects the voltage at both ends of the battery at any time.
  • the voltage at both ends of the battery is less than the system setting threshold or the electrical SOC state value is less than the system setting value, the electric vehicle’s The battery stops discharging.
  • the discharge constant power P is kept constant. Because the battery voltage continues to drop during the discharge process, the current during constant power discharge continues to rise.
  • the battery of the electric vehicle stops discharging.
  • the existing conventional charging and discharging control methods for electric vehicles generally use conventional power control such as constant current, constant voltage and constant power control.
  • the conventional control structure is simple and easy to implement. It can meet the charging requirements of the battery, but its control effect is poor. Because the constant power control exhibits negative damping characteristics, it will weaken the stability of the system, while the constant pressure control damping is in a critical state. The damping of the constant current control is theoretically greater than zero, which will not stimulate the instability phenomenon by itself, but due to the constant pressure and constant pressure
  • the flow control system has certain dynamic response characteristics, and the different control parameters will also affect the stability of the system. When the structure of the DC power distribution system is complex, the power quality may exceed the requirements.
  • One of the technical problems to be solved by the present invention is to provide a charging and discharging control method for electric vehicles based on virtual inertia.
  • the present invention provides a charging and discharging control method for electric vehicles based on virtual inertia, which adds virtual inertia as DC compensation during the charging and discharging control of electric vehicles.
  • the electric vehicle charging and discharging control method includes:
  • Proportional and integral processing is performed on the difference through the PI controller, and the PI controller is connected in parallel with a virtual inertia compensation function to introduce virtual inertia to supplement;
  • the electric vehicle charge and discharge control process includes: a constant current charge and discharge control process, a constant power charge and discharge control process, or a constant voltage charge and discharge control process.
  • the constant current charge and discharge control process is:
  • Proportional integral processing is performed on the difference through the PI controller of the current inner loop control link, and the virtual inertia G c is introduced for compensation through the virtual inertia compensation function parallel to the PI controller of the current inner loop control link;
  • the modulation signal P m of the electric vehicle chopper is output.
  • the constant current charge and discharge control process includes a constant current charge control process and a constant current discharge control process.
  • the constant power charge and discharge control process is:
  • the input signal P and its reference value Pref are processed for difference;
  • the difference is processed by the PI controller of the power outer loop control link by proportional integral processing, and the virtual inertia G c is introduced for compensation through the virtual inertia compensation function parallel to the PI controller of the power outer loop control link;
  • the modulation signal P m of the electric vehicle chopper is output.
  • the constant power charge and discharge control process includes a constant power charge control process and a constant power discharge control process.
  • the constant voltage charge and discharge control process is:
  • Proportional and integral processing is performed on the difference through the PI controller of the DC voltage outer loop control link, and the virtual inertia G c is introduced for compensation through the virtual inertia compensation function parallel to the PI controller of the DC voltage outer loop control link;
  • the modulation signal P m of the electric vehicle chopper is output.
  • the constant voltage charge and discharge control process includes a constant voltage charge control process and a constant voltage discharge control process.
  • the compensation function of the virtual inertia G c is:
  • K c is the damping parameter
  • H c is the inertia time constant
  • s is the Laplace operator
  • one or more embodiments of the present invention may have the following advantages:
  • the technical solution of the embodiment of the present invention is to increase the virtual inertia as DC compensation during the charging and discharging control process of the electric vehicle.
  • the virtual inertia compensation function in the outer loop of the conventional control, the system inertia is increased. Due to the virtual inertia control Provides high damping and large inertia, causing the DC bus voltage oscillation in the virtual inertia charging and discharging mode to gradually attenuate until it is stable.
  • it has stronger damping ability and can effectively improve system stability.
  • the system inertia is further improved, that is, when the DC distribution network is disturbed, it can prevent the instability of the grid caused by excessive voltage changes, and further meet the power supply quality requirements of other DC load users.
  • the technical solution of the embodiment of the present invention maintains a constant charge and discharge current in the constant current mode while maintaining a steady state, constant charge and discharge active power while maintaining a steady state in the constant power mode, and constant charge and discharge active power in the constant voltage mode.
  • the charging and discharging voltage is constant during the state, the system has greater inertia, and the system is more stable.
  • Figure 1 is a schematic diagram of a traditional constant current and constant voltage charging method
  • Fig. 2 is a flow chart showing a charging and discharging control method of an electric vehicle based on virtual inertia according to an exemplary embodiment
  • Fig. 3 is a block diagram of a constant current control structure of an electric vehicle based on virtual inertia of the present invention
  • FIG. 4 is a block diagram of a constant voltage control structure of an electric vehicle based on virtual inertia of the present invention
  • Figure 5 is a block diagram of a constant voltage control structure of an electric vehicle based on virtual inertia of the present invention
  • FIG. 6 is a circuit diagram of a simulation calculation example of a DC power distribution system including an electric vehicle according to the present invention.
  • Figure 7 is a simulation diagram of the DC bus voltage of constant current and virtual inertia constant current charging
  • Figure 8 is a simulation diagram of the DC bus voltage of constant voltage and virtual inertia constant voltage charging
  • Figure 9 is a simulation diagram of DC bus voltage for constant power and virtual inertia constant power charging
  • Figure 10 is a simulation diagram of the DC bus voltage of constant current and virtual inertia constant current discharge.
  • Figure 11 is a simulation diagram of the DC bus voltage of constant power and virtual inertia constant power discharge.
  • the embodiment of the present invention provides a virtual inertia-based charging and discharging control method for an electric vehicle, which adds the virtual inertia as DC compensation during the charging and discharging control process of the electric vehicle.
  • the constant power control exhibits negative damping characteristics, it will weaken the stability of the system, while the constant pressure control damping is in a critical state.
  • the damping of the constant current control is theoretically greater than zero, which will not stimulate the instability phenomenon by itself, but due to the constant pressure and constant pressure
  • the flow control system has certain dynamic response characteristics, and the different control parameters will also affect the stability of the system.
  • the invention can introduce a virtual inertia link in the outer loop control to increase the system inertia without changing other control parameters, and achieve the purpose of enhancing the stability of the DC power distribution system.
  • Fig. 2 is a flowchart showing a charging and discharging control method of an electric vehicle based on virtual inertia according to an exemplary embodiment.
  • an embodiment of the present invention provides a virtual inertia-based charging and discharging control method for an electric vehicle, including:
  • Proportional and integral processing is performed on the difference through the PI controller, and the PI controller is connected in parallel with a virtual inertia compensation function to introduce virtual inertia to supplement;
  • the electric vehicle charge and discharge control process includes: a constant current charge and discharge control process, a constant power charge and discharge control process, or a constant voltage charge and discharge control process.
  • the constant current charge and discharge control process is:
  • Proportional integral processing is performed on the difference through the PI controller of the current inner loop control link, and the virtual inertia G c is introduced for compensation through the virtual inertia compensation function parallel to the PI controller of the current inner loop control link;
  • the modulation signal P m of the electric vehicle chopper is output.
  • the constant current charge and discharge control process includes a constant current charge control process and a constant current discharge control process.
  • the constant power charge and discharge control process is:
  • the input signal P and its reference value Pref are processed for difference;
  • the difference is processed by the PI controller of the power outer loop control link by proportional integral processing, and the virtual inertia G c is introduced for compensation through the virtual inertia compensation function parallel to the PI controller of the power outer loop control link;
  • the modulation signal P m of the electric vehicle chopper is output.
  • the constant power charge and discharge control process includes a constant power charge control process and a constant power discharge control process.
  • the constant voltage charge and discharge control process is:
  • Proportional and integral processing is performed on the difference through the PI controller of the DC voltage outer loop control link, and the virtual inertia G c is introduced for compensation through the virtual inertia compensation function parallel to the PI controller of the DC voltage outer loop control link;
  • the modulation signal P m of the electric vehicle chopper is output.
  • the constant voltage charge and discharge control process includes a constant voltage charge control process and a constant voltage discharge control process.
  • the compensation function of the virtual inertia G c is:
  • K c is the damping parameter
  • H c is the inertial time constant
  • s is the Laplace operator
  • the present invention introduces a virtual inertia compensation function in the outer loop of conventional control, introduces the compensation of direct current, and increases the inertia of the system.
  • the form of the virtual inertia compensation function used is:
  • the virtual inertia control mentioned in the present invention is based on conventional control. Therefore, the following will introduce the constant current and constant power charging and discharging strategies of electric vehicles based on virtual inertia, and those based on virtual inertia.
  • the constant voltage charging strategy for electric vehicles is based on conventional control.
  • the constant current charging and discharging strategy of electric vehicles can make the charging and discharging current of electric vehicles unchanged. After adding the virtual inertia, the system stability must be enhanced while keeping the charging and discharging current constant.
  • the block diagram of the constant current control structure of electric vehicles based on virtual inertia is shown in Figure 3.
  • i and i ref are the current inner loop DC current signal and its reference value
  • P m is the modulation signal of the chopper
  • K pi +K ii /s is the PI controller of the current inner loop control link
  • K pi And K ii are respectively the proportional coefficient and integral coefficient of the current inner loop PI control.
  • the DC current flowing into the electric vehicle is taken as the input signal i, and the difference between the input signal i and its reference value i ref is passed through the proportional integral link K pi + K ii /s, and the final output of the electric vehicle chopper Modulation signal P m .
  • the virtual inertia G c is introduced in the form of a parallel virtual inertia compensation function at the PI controller K pi + K ii /s. Since the measured value is still the DC current flowing into the electric vehicle, it can be charged and discharged during the charging and discharging process. The current does not change.
  • the constant power charging and discharging strategy of electric vehicles can make the charging and discharging power of electric vehicles unchanged. After adding the virtual inertia, the system stability must be enhanced while keeping the charging and discharging power unchanged.
  • the block diagram of the electric vehicle constant power control structure based on virtual inertia is shown in Figure 4.
  • P and Pref are the active power signal of the outer power loop and its reference value
  • K pp + K ip /s is the PI controller of the power outer loop control link
  • K pp and K ip are the active power outer loop respectively.
  • the proportional coefficient and integral coefficient of PI control The other variables have the same meaning as in Figure 3.
  • the active power flowing into the electric vehicle is taken as the input signal P. After the difference between the input signal P and its reference value Pref, it passes through the power outer loop proportional integral link K pp + K ip /s, and the output current is inner loop DC
  • the current reference value i ref is controlled by the conventional current inner loop to output the electric vehicle chopper modulation signal P m .
  • the virtual inertia G c is introduced in the form of a parallel virtual inertia compensation function at the power outer loop PI controller K pp + K ip /s. Since the measured value is still the active power flowing into the electric vehicle, it can also be charged and discharged. The charge and discharge power remains unchanged.
  • the electric vehicle constant voltage discharge strategy can make the electric vehicle discharge voltage unchanged. After adding the virtual inertia, the system stability must be enhanced while keeping the discharge voltage unchanged.
  • the block diagram of the electric vehicle constant voltage control structure based on virtual inertia is shown in Figure 5.
  • U dc and U dcref are the DC voltage outer loop DC voltage signal and its reference value
  • K pv +K iv /s is the PI controller of the DC voltage outer loop control link
  • K pv and K iv are the voltages respectively The proportional coefficient and integral coefficient of the outer loop PI control.
  • the other variables have the same meaning as in Figure 3.
  • the DC voltage on the electric vehicle side is taken as the input signal U dc , the difference between the input signal U dc and its reference value U dcref is passed through the DC voltage outer loop proportional integration link K pv +K iv /s, and the output current
  • the inner-loop direct current reference value i ref is controlled by the conventional current inner-loop to output the electric vehicle chopper modulation signal P m .
  • the virtual inertia is introduced in the form of a parallel virtual inertia compensation function at the DC voltage outer loop PI controller K pv + K iv /s. Since the measured value is still the DC voltage on the electric vehicle side, it can also be charged during charging and discharging. The discharge voltage is unchanged.
  • the public DC bus is selected as the indicator to measure the stability of the system, and the system stability difference before and after the introduction of the virtual inertia compensation function is compared and verified.
  • the present invention proposes a charging (discharging) control method for electric vehicles based on virtual inertia. Without changing the electrical parameters and other control parameters of the DC distribution network, the electric vehicle The inertia of the DC power distribution system is further increased, and the stability is enhanced to further meet the power supply quality requirements of other DC load users.
  • the present invention has the following characteristics:
  • the active power of charging and discharging remains constant in the steady state; the system has greater inertia and the system is more stable.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

A virtual inertia-based charge/discharge control method for an electric vehicle, comprising: obtaining an input signal; obtaining the difference between the input signal and a reference value and outputting the difference; performing proportional integral (PI) processing on the difference by means of a PI controller, and introducing virtual inertia by means of a virtual inertia compensation function connected in parallel to the PI controller for compensation; and outputting a modulation signal. The introduction of a virtual inertia compensation function into an outer loop of conventional control increases the system inertia; the virtual inertia-based control provides high damping and large inertia, causes direct current bus voltage oscillation in a virtual inertia charge/discharge mode to gradually attenuate until it is stable, and has stronger damping capability than a conventional control method.

Description

一种基于虚拟惯量的电动汽车充放电控制方法A charging and discharging control method for electric vehicles based on virtual inertia
本申请要求享有2019年03月25日提交的名称为“一种基于虚拟惯量的电动汽车充放电控制方法”的中国专利申请CN201910225096.4的优先权，其全部内容通过引用并入本文中。This application claims the priority of the Chinese patent application CN201910225096.4 filed on March 25, 2019, entitled "A method for controlling charge and discharge of electric vehicles based on virtual inertia", the entire content of which is incorporated herein by reference.
技术领域Technical field
本发明涉及电动汽车充放电控制技术领域，具体地说，涉及一种基于虚拟惯量的电动汽车充放电控制方法。The invention relates to the technical field of electric vehicle charging and discharging control, in particular to a method for controlling electric vehicle charging and discharging based on virtual inertia.
背景技术Background technique
直流配电***是未来城市配电***新的发展方向，随着电动汽车的日益普及，将对直流配电网稳定性产生重大影响。随着电动汽车充放电技术的不断发展，电动汽车充放电方式也越来越多。目前，直流配电网中电动汽车电池的常规充电方法包括恒流充电方式、恒功率充电方式、恒压充电方式和恒流恒压充电方式。其中恒流充电、恒功率充电以及恒压充电方式就是保持其充电过程中分别保持充电电流、充电功率、充电电压恒定。恒流恒压充电方式综合了恒流和恒压充电两种充电方式，如图1所示，第一阶段中充电电流保持恒定，第二阶段中充电电压保持恒定，当充电电流下降到最小值时，或者接受到外部停止充电命令时，电动汽车电池终止充电。The DC power distribution system is the new development direction of the urban power distribution system in the future. With the increasing popularity of electric vehicles, it will have a significant impact on the stability of the DC distribution network. With the continuous development of electric vehicle charging and discharging technology, there are more and more charging and discharging methods for electric vehicles. At present, the conventional charging methods for electric vehicle batteries in DC distribution networks include constant current charging methods, constant power charging methods, constant voltage charging methods, and constant current and constant voltage charging methods. Among them, the constant current charging, constant power charging and constant voltage charging methods are to keep the charging current, charging power, and charging voltage constant during the charging process. The constant current and constant voltage charging method combines the two charging methods of constant current and constant voltage charging. As shown in Figure 1, the charging current remains constant in the first stage, and the charging voltage remains constant in the second stage. When the charging current drops to a minimum When it is time, or when an external stop charging command is received, the electric vehicle battery terminates charging.
电动汽车电池的常规放电方式包括恒流放电方式和恒功率放电方式。电动汽车采用的恒流放电方式时，保持恒定电流放电输出，并随时检测蓄电池的两端电压，当电池两端电压小于***设定阈值或者电SOC状态值小于***设定值时，电动汽车的电池停止放电。电动汽车恒功率放电时，保持放电恒功率P恒定不变，因放电过程中电池的电压持续下降，所以恒功率放电中电流是持续上升的，当电池两端电压小于***设定阈值时或者电SOC状态值小于***设定值时，电动汽车的电池停止放电。The conventional discharge methods of electric vehicle batteries include constant current discharge and constant power discharge. When the electric vehicle adopts the constant current discharge method, it maintains the constant current discharge output and detects the voltage at both ends of the battery at any time. When the voltage at both ends of the battery is less than the system setting threshold or the electrical SOC state value is less than the system setting value, the electric vehicle’s The battery stops discharging. During constant power discharge of electric vehicles, the discharge constant power P is kept constant. Because the battery voltage continues to drop during the discharge process, the current during constant power discharge continues to rise. When the voltage across the battery is less than the system set threshold, or When the SOC state value is less than the system setting value, the battery of the electric vehicle stops discharging.
随着直流配电网负荷不断增多，难免会产生一些扰动，现有的电动汽车常规充放电控制方法一般使用恒流、恒压和恒功率控制等常规功率控制，常规控制结构简单，易于实现，可以满足电池的充电要求，但是其控制效果较差。由于恒功率控制呈现负阻尼特性，会减 弱***的稳定性，而恒压控制阻尼处于临界状态，恒流控制的阻尼理论上大于零，本身不会激发失稳的现象，但由于恒压以及恒流控制***具有一定的动态响应特性，控制参数的不同也会影响***的稳定性。当直流配电***结构较为复杂时，电能质量可能会超出要求。As the load of the DC distribution network continues to increase, some disturbances will inevitably occur. The existing conventional charging and discharging control methods for electric vehicles generally use conventional power control such as constant current, constant voltage and constant power control. The conventional control structure is simple and easy to implement. It can meet the charging requirements of the battery, but its control effect is poor. Because the constant power control exhibits negative damping characteristics, it will weaken the stability of the system, while the constant pressure control damping is in a critical state. The damping of the constant current control is theoretically greater than zero, which will not stimulate the instability phenomenon by itself, but due to the constant pressure and constant pressure The flow control system has certain dynamic response characteristics, and the different control parameters will also affect the stability of the system. When the structure of the DC power distribution system is complex, the power quality may exceed the requirements.
发明内容Summary of the invention
本发明所要解决的技术问题之一是需要提供一种基于虚拟惯量的电动汽车充放电控制方法。One of the technical problems to be solved by the present invention is to provide a charging and discharging control method for electric vehicles based on virtual inertia.
1)为了解决上述技术问题，本发明提供了一种基于虚拟惯量的电动汽车充放电控制方法，在电动汽车充放电控制过程中增加虚拟惯量作为直流量的补偿。1) In order to solve the above technical problems, the present invention provides a charging and discharging control method for electric vehicles based on virtual inertia, which adds virtual inertia as DC compensation during the charging and discharging control of electric vehicles.
2)在本发明的第1)项的一个优选实施方式中，所述电动汽车充放电控制方法包括：2) In a preferred embodiment of item 1) of the present invention, the electric vehicle charging and discharging control method includes:
获取输入信号；Get input signal;
将输入信号与参考值做差输出差值；Make the difference between the input signal and the reference value and output the difference;
通过PI控制器对差值进行比例积分处理，同时PI控制器并联有虚拟惯量补偿函数引入虚拟惯量进行补充；Proportional and integral processing is performed on the difference through the PI controller, and the PI controller is connected in parallel with a virtual inertia compensation function to introduce virtual inertia to supplement;
输出调制信号。Output modulation signal.
3)在本发明的第2)项的一个优选实施方式中，所述电动汽车充放电控制过程包括：恒电流充放电控制过程、恒功率充放电控制过程或恒电压充放电控制过程。3) In a preferred embodiment of item 2) of the present invention, the electric vehicle charge and discharge control process includes: a constant current charge and discharge control process, a constant power charge and discharge control process, or a constant voltage charge and discharge control process.
4)在本发明的第3)项的一个优选实施方式中，所述恒电流充放电控制过程为：4) In a preferred embodiment of item 3) of the present invention, the constant current charge and discharge control process is:
取流入电动汽车的直流电流为输入信号i；Take the DC current flowing into the electric vehicle as the input signal i;
将输入信号i与其参考值i ref做差处理； Perform difference processing between the input signal i and its reference value i ref ;
通过电流内环控制环节的PI控制器对差值进行比例积分处理，同时通过与电流内环控制环节的PI控制器并联的虚拟惯量补偿函数引入虚拟惯量G c进行补偿； Proportional integral processing is performed on the difference through the PI controller of the current inner loop control link, and the virtual inertia G c is introduced for compensation through the virtual inertia compensation function parallel to the PI controller of the current inner loop control link;
输出电动汽车斩波器的调制信号P m。 The modulation signal P m of the electric vehicle chopper is output.
5)在本发明的第4)项的一个优选实施方式中，所述恒电流充放电控制过程包括恒电流充电控制过程和恒电流放电控制过程。5) In a preferred embodiment of item 4) of the present invention, the constant current charge and discharge control process includes a constant current charge control process and a constant current discharge control process.
6)在本发明的第3)项的一个优选实施方式中，所述恒功率充放电控制过程为：6) In a preferred embodiment of item 3) of the present invention, the constant power charge and discharge control process is:
取流入电动汽车的有功功率为输入信号P；Take the active power flowing into the electric vehicle as the input signal P;
输入信号P与其参考值P ref做差处理； The input signal P and its reference value Pref are processed for difference;
通过功率外环控制环节的PI控制器对差值进行比例积分处理，同时通过与功率外环控制环节的PI控制器并联的虚拟惯量补偿函数引入虚拟惯量G c进行补偿； The difference is processed by the PI controller of the power outer loop control link by proportional integral processing, and the virtual inertia G c is introduced for compensation through the virtual inertia compensation function parallel to the PI controller of the power outer loop control link;
输出电流内环直流电流参考值i ref； The reference value i ref of the inner loop DC current of the output current;
取流入电动汽车的直流电流为输入信号i；Take the DC current flowing into the electric vehicle as the input signal i;
将输入信号i与电流内环直流电流参考值i ref做差处理； Perform difference processing between the input signal i and the current inner loop DC current reference value i ref ;
通过电流内环控制环节的PI控制器对差值进行比例积分处理；Proportional and integral processing of the difference through the PI controller of the current inner loop control link;
输出电动汽车斩波器的调制信号P m。 The modulation signal P m of the electric vehicle chopper is output.
7)在本发明的第6)项的一个优选实施方式中，所述恒功率充放电控制过程包括恒功率充电控制过程和恒功率放电控制过程。7) In a preferred embodiment of item 6) of the present invention, the constant power charge and discharge control process includes a constant power charge control process and a constant power discharge control process.
8)在本发明的第3)项的一个优选实施方式中，所述恒电压充放电控制过程为：8) In a preferred embodiment of item 3) of the present invention, the constant voltage charge and discharge control process is:
取电动汽车侧的直流电压为输入信号U dc； Take the DC voltage on the electric vehicle side as the input signal U dc ;
将输入信号U dc与其参考值U dcref做差处理； Perform difference processing between the input signal U dc and its reference value U dcref ;
通过直流电压外环控制环节的PI控制器对差值进行比例积分处理，同时通过与直流电压外环控制环节的PI控制器并联的虚拟惯量补偿函数引入虚拟惯量G c进行补偿； Proportional and integral processing is performed on the difference through the PI controller of the DC voltage outer loop control link, and the virtual inertia G c is introduced for compensation through the virtual inertia compensation function parallel to the PI controller of the DC voltage outer loop control link;
输出电流内环直流电流参考值i ref； The reference value i ref of the inner loop DC current of the output current;
取流入电动汽车的直流电流为输入信号i；Take the DC current flowing into the electric vehicle as the input signal i;
将输入信号i与电流内环直流电流参考值i ref做差处理； Perform difference processing between the input signal i and the current inner loop DC current reference value i ref ;
通过电流内环控制环节的PI控制器对差值进行比例积分处理；Proportional and integral processing of the difference through the PI controller of the current inner loop control link;
输出电动汽车斩波器的调制信号P m。 The modulation signal P m of the electric vehicle chopper is output.
9)在本发明的第8)项的一个优选实施方式中，所述恒电压充放电控制过程包括恒电压充电控制过程和恒电压放电控制过程。9) In a preferred embodiment of item 8) of the present invention, the constant voltage charge and discharge control process includes a constant voltage charge control process and a constant voltage discharge control process.
10)在本发明的第1)项-第9)项中任意一项的一个优选实施方式中，所述虚拟惯量G c的补偿函数为： 10) In a preferred embodiment of any one of items 1) to 9) of the present invention, the compensation function of the virtual inertia G c is:
Figure PCTCN2019102161-appb-000001
Figure PCTCN2019102161-appb-000001
式中，K c为阻尼参数，H c为惯量时间常数，s为拉普拉斯算子。 In the formula, K c is the damping parameter, H c is the inertia time constant, and s is the Laplace operator.
与现有技术相比，本发明的一个或多个实施例可以具有如下优点：Compared with the prior art, one or more embodiments of the present invention may have the following advantages:
本发明实施例的技术方案是在电动汽车充放电控制过程中增加虚拟惯量作为直流量的补偿，通过在常规控制的外环中引入了虚拟惯量补偿函数，增大了***惯性，由于虚拟惯量控制提供了高阻尼和大惯性，致使虚拟惯量充放电方式下直流母线电压振荡逐渐衰减直至稳定，相对于引入虚拟惯量补偿函数之前的常规控制方式具有更强的阻尼能力，能够有效提高***稳定性，在常规充放电方式的常规控制基础上进一步提高***惯性，即当直流配电网受到扰动时，防止电压过快变化而造成电网的不稳定，进一步满足其他直流负荷用户的供电质量需求。The technical solution of the embodiment of the present invention is to increase the virtual inertia as DC compensation during the charging and discharging control process of the electric vehicle. By introducing the virtual inertia compensation function in the outer loop of the conventional control, the system inertia is increased. Due to the virtual inertia control Provides high damping and large inertia, causing the DC bus voltage oscillation in the virtual inertia charging and discharging mode to gradually attenuate until it is stable. Compared with the conventional control method before the introduction of the virtual inertia compensation function, it has stronger damping ability and can effectively improve system stability. On the basis of the conventional control of conventional charging and discharging methods, the system inertia is further improved, that is, when the DC distribution network is disturbed, it can prevent the instability of the grid caused by excessive voltage changes, and further meet the power supply quality requirements of other DC load users.
引入虚拟惯量后，本发明实施例的技术方案的恒流模式下保持稳态时充放电电流恒定不变、恒功率模式下保持稳态时充放电有功功率恒定不变、恒压模式下保持稳态时充放电电压恒定不变，***具有更大的惯性，***更加稳定。After the introduction of virtual inertia, the technical solution of the embodiment of the present invention maintains a constant charge and discharge current in the constant current mode while maintaining a steady state, constant charge and discharge active power while maintaining a steady state in the constant power mode, and constant charge and discharge active power in the constant voltage mode. The charging and discharging voltage is constant during the state, the system has greater inertia, and the system is more stable.
本发明的其它特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本发明而了解。本发明的目的和其他优点可通过在说明书、权利要求书以及附图中所特别指出的结构来实现和获得。Other features and advantages of the present invention will be described in the following description, and partly become obvious from the description, or understood by implementing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the structures specifically pointed out in the specification, claims and drawings.
附图说明Description of the drawings
附图用来提供对本发明的进一步理解，并且构成说明书的一部分，与本发明的实施例共同用于解释本发明，并不构成对本发明的限制。在附图中：The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention, and do not constitute a limitation to the present invention. In the attached picture:
图1是传统恒流恒压充电方式的示意图；Figure 1 is a schematic diagram of a traditional constant current and constant voltage charging method;
图2是根据一示例性实施例示出的一种基于虚拟惯量的电动汽车充放电控制方法的流程图；Fig. 2 is a flow chart showing a charging and discharging control method of an electric vehicle based on virtual inertia according to an exemplary embodiment;
图3是本发明的一种基于虚拟惯量的电动汽车恒电流控制结构框图；Fig. 3 is a block diagram of a constant current control structure of an electric vehicle based on virtual inertia of the present invention;
图4是本发明的一种基于虚拟惯量的电动汽车恒压控制结构框图；4 is a block diagram of a constant voltage control structure of an electric vehicle based on virtual inertia of the present invention;
图5是本发明的一种基于虚拟惯量的电动汽车恒压控制结构框图；Figure 5 is a block diagram of a constant voltage control structure of an electric vehicle based on virtual inertia of the present invention;
图6是本发明的含电动汽车的直流配电***仿真算例电路图；6 is a circuit diagram of a simulation calculation example of a DC power distribution system including an electric vehicle according to the present invention;
图7是恒流、虚拟惯量恒流充电直流母线电压仿真图；Figure 7 is a simulation diagram of the DC bus voltage of constant current and virtual inertia constant current charging;
图8是恒压、虚拟惯量恒压充电直流母线电压仿真图；Figure 8 is a simulation diagram of the DC bus voltage of constant voltage and virtual inertia constant voltage charging;
图9是恒功率、虚拟惯量恒功率充电直流母线电压仿真图；Figure 9 is a simulation diagram of DC bus voltage for constant power and virtual inertia constant power charging;
图10是恒流、虚拟惯量恒流放电直流母线电压仿真图；以及Figure 10 is a simulation diagram of the DC bus voltage of constant current and virtual inertia constant current discharge; and
图11是恒功率、虚拟惯量恒功率放电直流母线电压仿真图。Figure 11 is a simulation diagram of the DC bus voltage of constant power and virtual inertia constant power discharge.
具体实施方式detailed description
为使本发明的目的、技术方案和优点更加清楚，以下结合附图对本发明作进一步地详细说明。In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings.
为能清楚说明本方案的技术特点，下面通过具体实施方式，并结合其附图，对本发明进行详细阐述。下文的公开提供了许多不同的实施例或例子用来实现本发明的不同结构。为了简化本发明的公开，下文中对特定例子的部件和设置进行描述。此外，本发明可以在不同例子中重复参考数字和/或字母。这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施例和/或设置之间的关系。应当注意，在附图中所图示的部件不一定按比例绘制。本发明省略了对公知组件和处理技术及工艺的描述以避免不必要地限制本发明。In order to clearly illustrate the technical characteristics of the present solution, the present invention will be described in detail below through specific implementations and in conjunction with the accompanying drawings. The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. To simplify the disclosure of the present invention, the components and settings of specific examples are described below. In addition, the present invention may repeat reference numbers and/or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not indicate the relationship between the various embodiments and/or settings discussed. It should be noted that the components illustrated in the drawings are not necessarily drawn to scale. The present invention omits descriptions of well-known components and processing techniques and processes to avoid unnecessarily limiting the present invention.
本发明实施例提供的一种基于虚拟惯量的电动汽车充放电控制方法，在电动汽车充放电控制过程中增加虚拟惯量作为直流量的补偿。由于恒功率控制呈现负阻尼特性，会减弱***的稳定性，而恒压控制阻尼处于临界状态，恒流控制的阻尼理论上大于零，本身不会激发失稳的现象，但由于恒压以及恒流控制***具有一定的动态响应特性，控制参数的不同也会影响***的稳定性。本发明可在不改变其他控制参数的基础上，在外环控制里引入虚拟惯量环节来增大***惯性，达到增强直流配电***稳定性的目的。The embodiment of the present invention provides a virtual inertia-based charging and discharging control method for an electric vehicle, which adds the virtual inertia as DC compensation during the charging and discharging control process of the electric vehicle. Because the constant power control exhibits negative damping characteristics, it will weaken the stability of the system, while the constant pressure control damping is in a critical state. The damping of the constant current control is theoretically greater than zero, which will not stimulate the instability phenomenon by itself, but due to the constant pressure and constant pressure The flow control system has certain dynamic response characteristics, and the different control parameters will also affect the stability of the system. The invention can introduce a virtual inertia link in the outer loop control to increase the system inertia without changing other control parameters, and achieve the purpose of enhancing the stability of the DC power distribution system.
图2是根据一示例性实施例示出的一种基于虚拟惯量的电动汽车充放电控制方法的流程图。如图2所述，本发明实施例提供的一种基于虚拟惯量的电动汽车充放电控制方法，包括：Fig. 2 is a flowchart showing a charging and discharging control method of an electric vehicle based on virtual inertia according to an exemplary embodiment. As shown in Fig. 2, an embodiment of the present invention provides a virtual inertia-based charging and discharging control method for an electric vehicle, including:
获取输入信号；Get input signal;
将输入信号与参考值做差输出差值；Make the difference between the input signal and the reference value and output the difference;
通过PI控制器对差值进行比例积分处理，同时PI控制器并联有虚拟惯量补偿函数引入虚拟惯量进行补充；Proportional and integral processing is performed on the difference through the PI controller, and the PI controller is connected in parallel with a virtual inertia compensation function to introduce virtual inertia to supplement;
输出调制信号。Output modulation signal.
在一种可能的实现方式中，所述电动汽车充放电控制过程包括：恒电流充放电控制过 程、恒功率充放电控制过程或恒电压充放电控制过程。In a possible implementation manner, the electric vehicle charge and discharge control process includes: a constant current charge and discharge control process, a constant power charge and discharge control process, or a constant voltage charge and discharge control process.
在一种可能的实现方式中，所述恒电流充放电控制过程为：In a possible implementation manner, the constant current charge and discharge control process is:
取流入电动汽车的直流电流为输入信号i；Take the DC current flowing into the electric vehicle as the input signal i;
将输入信号i与其参考值i ref做差处理； Perform difference processing between the input signal i and its reference value i ref ;
通过电流内环控制环节的PI控制器对差值进行比例积分处理，同时通过与电流内环控制环节的PI控制器并联的虚拟惯量补偿函数引入虚拟惯量G c进行补偿； Proportional integral processing is performed on the difference through the PI controller of the current inner loop control link, and the virtual inertia G c is introduced for compensation through the virtual inertia compensation function parallel to the PI controller of the current inner loop control link;
输出电动汽车斩波器的调制信号P m。 The modulation signal P m of the electric vehicle chopper is output.
在一种可能的实现方式中，所述恒电流充放电控制过程包括恒电流充电控制过程和恒电流放电控制过程。In a possible implementation manner, the constant current charge and discharge control process includes a constant current charge control process and a constant current discharge control process.
在一种可能的实现方式中，所述恒功率充放电控制过程为：In a possible implementation manner, the constant power charge and discharge control process is:
取流入电动汽车的有功功率为输入信号P；Take the active power flowing into the electric vehicle as the input signal P;
输入信号P与其参考值P ref做差处理； The input signal P and its reference value Pref are processed for difference;
通过功率外环控制环节的PI控制器对差值进行比例积分处理，同时通过与功率外环控制环节的PI控制器并联的虚拟惯量补偿函数引入虚拟惯量G c进行补偿； The difference is processed by the PI controller of the power outer loop control link by proportional integral processing, and the virtual inertia G c is introduced for compensation through the virtual inertia compensation function parallel to the PI controller of the power outer loop control link;
输出电流内环直流电流参考值i ref； The reference value i ref of the inner loop DC current of the output current;
取流入电动汽车的直流电流为输入信号i；Take the DC current flowing into the electric vehicle as the input signal i;
将输入信号i与电流内环直流电流参考值i ref做差处理； Perform difference processing between the input signal i and the current inner loop DC current reference value i ref ;
通过电流内环控制环节的PI控制器对差值进行比例积分处理；Proportional and integral processing of the difference through the PI controller of the current inner loop control link;
输出电动汽车斩波器的调制信号P m。 The modulation signal P m of the electric vehicle chopper is output.
在一种可能的实现方式中，所述恒功率充放电控制过程包括恒功率充电控制过程和恒功率放电控制过程。In a possible implementation manner, the constant power charge and discharge control process includes a constant power charge control process and a constant power discharge control process.
在一种可能的实现方式中，所述恒电压充放电控制过程为：In a possible implementation manner, the constant voltage charge and discharge control process is:
取电动汽车侧的直流电压为输入信号U dc； Take the DC voltage on the electric vehicle side as the input signal U dc ;
将输入信号U dc与其参考值U dcref做差处理； Perform difference processing between the input signal U dc and its reference value U dcref ;
通过直流电压外环控制环节的PI控制器对差值进行比例积分处理，同时通过与直流电压外环控制环节的PI控制器并联的虚拟惯量补偿函数引入虚拟惯量G c进行补偿； Proportional and integral processing is performed on the difference through the PI controller of the DC voltage outer loop control link, and the virtual inertia G c is introduced for compensation through the virtual inertia compensation function parallel to the PI controller of the DC voltage outer loop control link;
输出电流内环直流电流参考值i ref； The reference value i ref of the inner loop DC current of the output current;
取流入电动汽车的直流电流为输入信号i；Take the DC current flowing into the electric vehicle as the input signal i;
将输入信号i与电流内环直流电流参考值i ref做差处理； Perform difference processing between the input signal i and the current inner loop DC current reference value i ref ;
通过电流内环控制环节的PI控制器对差值进行比例积分处理；Proportional and integral processing of the difference through the PI controller of the current inner loop control link;
输出电动汽车斩波器的调制信号P m。 The modulation signal P m of the electric vehicle chopper is output.
在一种可能的实现方式中，所述恒电压充放电控制过程包括恒电压充电控制过程和恒电压放电控制过程。In a possible implementation manner, the constant voltage charge and discharge control process includes a constant voltage charge control process and a constant voltage discharge control process.
在一种可能的实现方式中，所述虚拟惯量G c的补偿函数为： In a possible implementation manner, the compensation function of the virtual inertia G c is:
Figure PCTCN2019102161-appb-000002
Figure PCTCN2019102161-appb-000002
式中，K c为阻尼参数，H c为惯性时间常数，s为拉普拉斯算子。 In the formula, K c is the damping parameter, H c is the inertial time constant, and s is the Laplace operator.
随着直流配电网负荷不断增多，难免会产生一些扰动，为了在常规充放电方式的常规控制基础上进一步提高***惯性，即当直流配电网受到扰动时，防止电压过快变化而造成电网的不稳定，提高***稳定性。本发明在常规控制的外环中引入了虚拟惯量补偿函数，引入了直流量的补偿，增大了***惯性。所采用的虚拟惯量补偿函数形式为：As the load of the DC distribution network continues to increase, some disturbances will inevitably occur. In order to further improve the inertia of the system on the basis of the conventional control of the conventional charging and discharging methods, that is, when the DC distribution network is disturbed, the power grid will be prevented from excessive voltage changes. The instability of the system improves system stability. The present invention introduces a virtual inertia compensation function in the outer loop of conventional control, introduces the compensation of direct current, and increases the inertia of the system. The form of the virtual inertia compensation function used is:
Figure PCTCN2019102161-appb-000003
Figure PCTCN2019102161-appb-000003
为了进一步对本发明的技术方案进行验证，本发明提及的虚拟惯量控制是基于常规控制之上的，因此下面将分别介绍基于虚拟惯量的电动汽车恒流、恒功率充放电策略，以及基于虚拟惯量的电动汽车恒压充电策略。In order to further verify the technical solution of the present invention, the virtual inertia control mentioned in the present invention is based on conventional control. Therefore, the following will introduce the constant current and constant power charging and discharging strategies of electric vehicles based on virtual inertia, and those based on virtual inertia. The constant voltage charging strategy for electric vehicles.
1、基于虚拟惯量的电动汽车恒流充放电策略1. Constant current charging and discharging strategy for electric vehicles based on virtual inertia
电动汽车恒流充放电策略可使电动汽车充放电电流不变，加入虚拟惯量后必须在保持充放电电流保持不变的前提下，增强***稳定性。基于虚拟惯量的电动汽车恒流控制结构框图如图3所示。图3中，i和i ref为电流内环直流电流信号及其参考值，P m为斩波器的调制信号，K pi+K ii/s为电流内环控制环节的PI控制器，K pi和K ii依次分别为电流内环PI控制的比例系数和积分系数。 The constant current charging and discharging strategy of electric vehicles can make the charging and discharging current of electric vehicles unchanged. After adding the virtual inertia, the system stability must be enhanced while keeping the charging and discharging current constant. The block diagram of the constant current control structure of electric vehicles based on virtual inertia is shown in Figure 3. In Figure 3, i and i ref are the current inner loop DC current signal and its reference value, P m is the modulation signal of the chopper, K pi +K ii /s is the PI controller of the current inner loop control link, K pi And K ii are respectively the proportional coefficient and integral coefficient of the current inner loop PI control.
在常规恒流控制中，取流入电动汽车的直流电流为输入信号i，输入信号i与其参考值i ref做差后经过比例积分环节K pi+K ii/s，最终输出电动汽车斩波器的调制信号P m。通 过在PI控制器K pi+K ii/s处并联虚拟惯量补偿函数的形式引入虚拟惯量G c，由于测量值还是取的流入电动汽车的直流电流，故还能使其充放电过程中充放电电流不变。 In conventional constant current control, the DC current flowing into the electric vehicle is taken as the input signal i, and the difference between the input signal i and its reference value i ref is passed through the proportional integral link K pi + K ii /s, and the final output of the electric vehicle chopper Modulation signal P m . The virtual inertia G c is introduced in the form of a parallel virtual inertia compensation function at the PI controller K pi + K ii /s. Since the measured value is still the DC current flowing into the electric vehicle, it can be charged and discharged during the charging and discharging process. The current does not change.
2、基于虚拟惯量的电动汽车恒功率充放电策略2. Constant power charging and discharging strategy for electric vehicles based on virtual inertia
电动汽车恒功率充放电策略可使电动汽车充放电功率不变，加入虚拟惯量后必须在保持充放电功率保持不变的前提下，增强***稳定性。基于虚拟惯量的电动汽车恒功率控制结构框图如图4所示。图4中，P和P ref为功率外环有功功率信号及其参考值，K pp+K ip/s为功率外环控制环节的PI控制器，K pp和K ip依次分别为有功功率外环PI控制的比例系数和积分系数。其他变量与图3中含义相同。 The constant power charging and discharging strategy of electric vehicles can make the charging and discharging power of electric vehicles unchanged. After adding the virtual inertia, the system stability must be enhanced while keeping the charging and discharging power unchanged. The block diagram of the electric vehicle constant power control structure based on virtual inertia is shown in Figure 4. In Figure 4, P and Pref are the active power signal of the outer power loop and its reference value, K pp + K ip /s is the PI controller of the power outer loop control link, and K pp and K ip are the active power outer loop respectively. The proportional coefficient and integral coefficient of PI control. The other variables have the same meaning as in Figure 3.
在常规恒功率控制中，取流入电动汽车的有功功率为输入信号P，输入信号P与其参考值P ref做差后经过功率外环比例积分环节K pp+K ip/s，输出电流内环直流电流参考值i ref，经过常规电流内环控制，输出电动汽车斩波器调制信号P m。通过在功率外环PI控制器K pp+K ip/s处并联虚拟惯量补偿函数的形式引入虚拟惯量G c，由于测量值还是取的流入电动汽车的有功功率，故还能使其充放电过程中充放电功率不变。 In conventional constant power control, the active power flowing into the electric vehicle is taken as the input signal P. After the difference between the input signal P and its reference value Pref, it passes through the power outer loop proportional integral link K pp + K ip /s, and the output current is inner loop DC The current reference value i ref is controlled by the conventional current inner loop to output the electric vehicle chopper modulation signal P m . The virtual inertia G c is introduced in the form of a parallel virtual inertia compensation function at the power outer loop PI controller K pp + K ip /s. Since the measured value is still the active power flowing into the electric vehicle, it can also be charged and discharged. The charge and discharge power remains unchanged.
3、基于虚拟惯量的电动汽车恒压放电策略3. Electric vehicle constant voltage discharge strategy based on virtual inertia
电动汽车恒压放电策略可使电动汽车放电电压不变，加入虚拟惯量后必须在保持放电电压保持不变的前提下，增强***稳定性。基于虚拟惯量的电动汽车恒压控制结构框图如图5所示。图5中，U dc和U dcref为直流电压外环直流电压信号及其参考值，K pv+K iv/s为直流电压外环控制环节的PI控制器，K pv和K iv依次分别为电压外环PI控制的比例系数和积分系数。其他变量与图3中含义相同。 The electric vehicle constant voltage discharge strategy can make the electric vehicle discharge voltage unchanged. After adding the virtual inertia, the system stability must be enhanced while keeping the discharge voltage unchanged. The block diagram of the electric vehicle constant voltage control structure based on virtual inertia is shown in Figure 5. In Figure 5, U dc and U dcref are the DC voltage outer loop DC voltage signal and its reference value, K pv +K iv /s is the PI controller of the DC voltage outer loop control link, K pv and K iv are the voltages respectively The proportional coefficient and integral coefficient of the outer loop PI control. The other variables have the same meaning as in Figure 3.
在常规恒压控制中，取电动汽车侧的直流电压为输入信号U dc，输入信号U dc与其参考值U dcref做差后经过直流电压外环比例积分环节K pv+K iv/s，输出电流内环直流电流参考值i ref，在通过常规电流内环控制，输出电动汽车斩波器调制信号P m。通过在直流电压外环PI控制器K pv+K iv/s处并联虚拟惯量补偿函数的形式引入虚拟惯量，由于测量值还是取的电动汽车侧直流电压，故还能使其充放电过程中充放电电压不变。 In the conventional constant voltage control, the DC voltage on the electric vehicle side is taken as the input signal U dc , the difference between the input signal U dc and its reference value U dcref is passed through the DC voltage outer loop proportional integration link K pv +K iv /s, and the output current The inner-loop direct current reference value i ref is controlled by the conventional current inner-loop to output the electric vehicle chopper modulation signal P m . The virtual inertia is introduced in the form of a parallel virtual inertia compensation function at the DC voltage outer loop PI controller K pv + K iv /s. Since the measured value is still the DC voltage on the electric vehicle side, it can also be charged during charging and discharging. The discharge voltage is unchanged.
4、仿真验证4. Simulation verification
为了比较引入虚拟惯量补偿函数前后***稳定性差异，验证本发明的有效性，在DIgSILENT仿真软件中搭建了典型的含电动汽车的直流配电***仿真算例，如图6所示。算例交流电压等级为0.22kV，公共直流母线额定电压为0.4kV。In order to compare the difference in system stability before and after the introduction of the virtual inertia compensation function and verify the effectiveness of the present invention, a typical simulation example of a DC power distribution system containing electric vehicles was built in the DIgSILENT simulation software, as shown in FIG. 6. The AC voltage level of the calculation example is 0.22kV, and the rated voltage of the public DC bus is 0.4kV.
由于直流电压是衡量直流配电***稳定性的重要指标，故选取了公共直流母线作为衡量***稳定性的指标，对引入虚拟惯量补偿函数前后***稳定性差异进行了对比验证。Since the DC voltage is an important indicator to measure the stability of the DC distribution system, the public DC bus is selected as the indicator to measure the stability of the system, and the system stability difference before and after the introduction of the virtual inertia compensation function is compared and verified.
1)充电仿真验证1) Charging simulation verification
恒流充电方式、恒压充电方式和恒功率充电方式与其分别对应的虚拟惯量充电方式直流母线电压波形分别如图7、图8和图9所示。The DC bus voltage waveforms of the constant current charging mode, constant voltage charging mode and constant power charging mode and their respective corresponding virtual inertia charging modes are shown in Figure 7, Figure 8, and Figure 9, respectively.
由图7、图8和图9可知，三种常规充电方式下直流母线电压振荡发散，***失稳；由于虚拟惯量控制提供了高阻尼和大惯性，致使虚拟惯量充电方式下直流母线电压振荡逐渐衰减直至稳定。It can be seen from Figure 7, Figure 8 and Figure 9 that the DC bus voltage oscillations diverge under the three conventional charging methods and the system is unstable; due to the high damping and large inertia provided by the virtual inertia control, the DC bus voltage oscillations under the virtual inertia charging method gradually Attenuate until stable.
2)放电仿真验证2) Discharge simulation verification
恒流放电方式和恒功率放电方式与其分别对应的虚拟惯量放电方式直流母线电压波形如如图10和图11所示。The DC bus voltage waveforms of the constant current discharge mode and the constant power discharge mode and their respective corresponding virtual inertia discharge modes are shown in Figure 10 and Figure 11.
由图10和图11可知，两种常规放电方式下直流母线电压振荡发散，***失稳；由于虚拟惯量控制提供了高阻尼和大惯性，致使虚拟惯量放电方式下直流母线电压振荡逐渐衰减直至稳定。From Figure 10 and Figure 11, it can be seen that the DC bus voltage oscillation diverges under the two conventional discharge modes, and the system is unstable; due to the high damping and large inertia provided by the virtual inertia control, the DC bus voltage oscillation in the virtual inertia discharge mode is gradually attenuated until stable .
综合分析以上仿真验证，本发明提出的在常规控制基础上引入虚拟惯量的控制方式比引入之前的常规控制方式具有更强的阻尼能力，能够有效提高***稳定性。Comprehensive analysis of the above simulation verification shows that the control method proposed by the present invention that introduces virtual inertia on the basis of conventional control has stronger damping ability than the conventional control method before introduction, and can effectively improve system stability.
针对含电动汽车的直流配电***，本发明提出了一种基于虚拟惯量的电动汽车充(放)控制方式，在不改变直流配电网络电气参数和其他控制参数的前提下，使得含电动汽车直流配电***惯性进一步增大，稳定性增强，进一步满足其他直流负荷用户的供电质量需求。与现有技术相比较，本发明具有以下特点：Aiming at the DC power distribution system containing electric vehicles, the present invention proposes a charging (discharging) control method for electric vehicles based on virtual inertia. Without changing the electrical parameters and other control parameters of the DC distribution network, the electric vehicle The inertia of the DC power distribution system is further increased, and the stability is enhanced to further meet the power supply quality requirements of other DC load users. Compared with the prior art, the present invention has the following characteristics:
1、恒流模式下，引入虚拟惯量后，依旧保持稳态时充放电电流恒定不变；***具有更大的惯性，***更加稳定。1. In the constant current mode, after introducing the virtual inertia, the charge and discharge current remains constant when the steady state is still maintained; the system has greater inertia and the system is more stable.
2、恒功率模式下，引入虚拟惯量后，仍然保持稳态时充放电有功功率恒定不变；***具有更大的惯性，***更加稳定。2. In the constant power mode, after introducing the virtual inertia, the active power of charging and discharging remains constant in the steady state; the system has greater inertia and the system is more stable.
3、恒压模式下，引入虚拟惯量后，依旧保持稳态时充放电电压恒定不变；***具有更大的惯性，***更加稳定。3. In the constant voltage mode, after introducing the virtual inertia, the charging and discharging voltage remains constant in the steady state; the system has greater inertia and the system is more stable.
上述虽然结合附图对本发明的具体实施方式进行了描述，但并非对本发明保护范围的限制。对于所属领域的技术人员来说，在上述说明的基础上还可以做出其它不同形式的修 改或变形。这里无需也无法对所有的实施方式予以穷举。在本发明的技术方案的基础上，本领域技术人员不需要付出创造性劳动即可做出的各种修改或变形仍在本发明的保护范围以内。Although the specific embodiments of the present invention are described above in conjunction with the accompanying drawings, they do not limit the protection scope of the present invention. For those skilled in the art, other different forms of modification or deformation can be made on the basis of the above description. It is unnecessary and impossible to list all the implementation methods here. On the basis of the technical solution of the present invention, various modifications or variations that can be made by those skilled in the art without creative work are still within the protection scope of the present invention.
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉该技术的人员在本发明所揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应该以权利要求的保护范围为准。The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person familiar with the technology can easily think of changes or substitutions within the technical scope disclosed in the present invention. , Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims (10)

  1. 一种基于虚拟惯量的电动汽车充放电控制方法，其中，在电动汽车充放电控制过程中增加虚拟惯量作为直流量的补偿。A virtual inertia-based charging and discharging control method for an electric vehicle, wherein the virtual inertia is added as a compensation for the direct current during the charging and discharging control process of the electric vehicle.
  2. 根据权利要求1所述的一种基于虚拟惯量的电动汽车充放电控制方法，其中，所述电动汽车充放电控制方法包括：The charging and discharging control method of an electric vehicle based on virtual inertia according to claim 1, wherein the charging and discharging control method of the electric vehicle comprises:
    获取输入信号；Get input signal;
    将输入信号与参考值做差输出差值；Make the difference between the input signal and the reference value and output the difference;
    通过PI控制器对差值进行比例积分处理，同时PI控制器并联有虚拟惯量补偿函数引入虚拟惯量进行补充；Proportional and integral processing is performed on the difference through the PI controller, and the PI controller is connected in parallel with a virtual inertia compensation function to introduce virtual inertia to supplement;
    输出调制信号。Output modulation signal.
  3. 根据权利要求2所述的一种基于虚拟惯量的电动汽车充放电控制方法，其中，所述电动汽车充放电控制过程包括：恒电流充放电控制过程、恒功率充放电控制过程或恒电压充放电控制过程。The charge and discharge control method of an electric vehicle based on virtual inertia according to claim 2, wherein the charge and discharge control process of the electric vehicle includes: a constant current charge and discharge control process, a constant power charge and discharge control process, or a constant voltage charge and discharge Control the process.
  4. 根据权利要求3所述的一种基于虚拟惯量的电动汽车充放电控制方法，其中，所述恒电流充放电控制过程为：The charging and discharging control method of an electric vehicle based on virtual inertia according to claim 3, wherein the constant current charging and discharging control process is:
    取流入电动汽车的直流电流为输入信号i；Take the DC current flowing into the electric vehicle as the input signal i;
    将输入信号i与其参考值i ref做差处理； Perform difference processing between the input signal i and its reference value i ref ;
    通过电流内环控制环节的PI控制器对差值进行比例积分处理，同时通过与电流内环控制环节的PI控制器并联的虚拟惯量补偿函数引入虚拟惯量G c进行补偿； Proportional integral processing is performed on the difference through the PI controller of the current inner loop control link, and the virtual inertia G c is introduced for compensation through the virtual inertia compensation function parallel to the PI controller of the current inner loop control link;
    输出电动汽车斩波器的调制信号P m。 The modulation signal P m of the electric vehicle chopper is output.
  5. 根据权利要求4所述的一种基于虚拟惯量的电动汽车充放电控制方法，其中，所述恒电流充放电控制过程包括恒电流充电控制过程和恒电流放电控制过程。The charging and discharging control method of an electric vehicle based on virtual inertia according to claim 4, wherein the constant current charging and discharging control process includes a constant current charging control process and a constant current discharging control process.
  6. 根据权利要求3所述的一种基于虚拟惯量的电动汽车充放电控制方法，其中，所述恒功率充放电控制过程为：The charging and discharging control method of an electric vehicle based on virtual inertia according to claim 3, wherein the constant power charging and discharging control process is:
    取流入电动汽车的有功功率为输入信号P；Take the active power flowing into the electric vehicle as the input signal P;
    输入信号P与其参考值P ref做差处理； The input signal P and its reference value Pref are processed for difference;
    通过功率外环控制环节的PI控制器对差值进行比例积分处理，同时通过与功率外环控制环节的PI控制器并联的虚拟惯量补偿函数引入虚拟惯量G c进行补偿； The difference is processed by the PI controller of the power outer loop control link by proportional integral processing, and the virtual inertia G c is introduced for compensation through the virtual inertia compensation function parallel to the PI controller of the power outer loop control link;
    输出电流内环直流电流参考值i ref； The reference value i ref of the inner loop DC current of the output current;
    取流入电动汽车的直流电流为输入信号i；Take the DC current flowing into the electric vehicle as the input signal i;
    将输入信号i与电流内环直流电流参考值i ref做差处理； Perform difference processing between the input signal i and the current inner loop DC current reference value i ref ;
    通过电流内环控制环节的PI控制器对差值进行比例积分处理；Proportional and integral processing of the difference through the PI controller of the current inner loop control link;
    输出电动汽车斩波器的调制信号P m。 The modulation signal P m of the electric vehicle chopper is output.
  7. 根据权利要求6所述的一种基于虚拟惯量的电动汽车充放电控制方法，其中，所述恒功率充放电控制过程包括恒功率充电控制过程和恒功率放电控制过程。The charging and discharging control method of an electric vehicle based on virtual inertia according to claim 6, wherein the constant power charging and discharging control process includes a constant power charging control process and a constant power discharging control process.
  8. 根据权利要求3所述的一种基于虚拟惯量的电动汽车充放电控制方法，其中，所述恒电压充放电控制过程为：The charging and discharging control method of an electric vehicle based on virtual inertia according to claim 3, wherein the constant voltage charging and discharging control process is:
    取电动汽车侧的直流电压为输入信号U dc； Take the DC voltage on the electric vehicle side as the input signal U dc ;
    将输入信号U dc与其参考值U dcref做差处理； Perform difference processing between the input signal U dc and its reference value U dcref ;
    通过直流电压外环控制环节的PI控制器对差值进行比例积分处理，同时通过与直流电压外环控制环节的PI控制器并联的虚拟惯量补偿函数引入虚拟惯量G c进行补偿； Proportional and integral processing is performed on the difference through the PI controller of the DC voltage outer loop control link, and the virtual inertia G c is introduced for compensation through the virtual inertia compensation function parallel to the PI controller of the DC voltage outer loop control link;
    输出电流内环直流电流参考值i ref； The reference value i ref of the inner loop DC current of the output current;
    取流入电动汽车的直流电流为输入信号i；Take the DC current flowing into the electric vehicle as the input signal i;
    将输入信号i与电流内环直流电流参考值i ref做差处理； Perform difference processing between the input signal i and the current inner loop DC current reference value i ref ;
    通过电流内环控制环节的PI控制器对差值进行比例积分处理；Proportional and integral processing of the difference through the PI controller of the current inner loop control link;
    输出电动汽车斩波器的调制信号P m。 The modulation signal P m of the electric vehicle chopper is output.
  9. 根据权利要求8所述的一种基于虚拟惯量的电动汽车充放电控制方法，其中，所述恒电压充放电控制过程包括恒电压充电控制过程和恒电压放电控制过程。8. The charge and discharge control method of an electric vehicle based on virtual inertia according to claim 8, wherein the constant voltage charge and discharge control process includes a constant voltage charge control process and a constant voltage discharge control process.
  10. 根据权利要求1所述的一种基于虚拟惯量的电动汽车充放电控制方法，其中，所述虚拟惯量G c的补偿函数为： The charging and discharging control method of an electric vehicle based on virtual inertia according to claim 1, wherein the compensation function of the virtual inertia G c is:
    Figure PCTCN2019102161-appb-100001
    Figure PCTCN2019102161-appb-100001
    式中，K c为阻尼参数，H c为惯量时间常数，s为拉普拉斯算子。 In the formula, K c is the damping parameter, H c is the inertia time constant, and s is the Laplace operator.
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