技术领域technical field
本发明属于电气工程领域，特别涉及一种大容量集中式虚拟同步机控制方法、装置及系统。The invention belongs to the field of electrical engineering, and in particular relates to a large-capacity centralized virtual synchronous machine control method, device and system.
背景技术Background technique
目前，我国的风力发电、光伏发电的装机规模已经位居世界第一，并保持高速发展。但与传统的火电等同步发电机相比，风力发电、光伏发电等存在功率间歇性、随机性波动等问题，且不具备阻尼功率振荡、惯性调频、自主调压的能力，在大规模接入电网后，将影响电网的电压/频率稳定性。At present, my country's installed capacity of wind power and photovoltaic power generation ranks first in the world and maintains rapid development. However, compared with traditional synchronous generators such as thermal power, wind power generation and photovoltaic power generation have problems such as power intermittent and random fluctuations, and do not have the ability to damp power oscillations, inertial frequency modulation, and autonomous voltage regulation. After the grid, it will affect the voltage/frequency stability of the grid.
针对该问题，可以通过在风电、光伏场站增加大容量集中式储能，来平抑波动的功率。受储能电池及其电池管理系统(BMS)技术所限，无法实现大容量电池的直接并联，故现有的大容量储能电站一般都是通过多台PCS实现储能电池与电网的连接，每台PCS连接相应容量的储能电池，实现电池的SOC控制。各台PCS接受后台调度的指令，从电网吸收或向电网释放功率。当容量较大时，由于储能电池及各台PCS的差异，响应时间也存在差异，从而不能作为一个协调的整体。In response to this problem, it is possible to stabilize fluctuating power by adding large-capacity centralized energy storage to wind power and photovoltaic stations. Limited by energy storage batteries and their battery management system (BMS) technology, direct parallel connection of large-capacity batteries cannot be realized. Therefore, existing large-capacity energy storage power stations generally use multiple PCSs to connect energy storage batteries to the grid. Each PCS is connected to an energy storage battery of corresponding capacity to realize SOC control of the battery. Each PCS accepts the background dispatching instructions to absorb or release power from or to the grid. When the capacity is large, due to the differences in the energy storage battery and each PCS, the response time is also different, so it cannot be used as a coordinated whole.
借鉴传统同步发电机组的运行外特性，基于虚拟同步发电机算法的电力电子变流器控制策略成为当前的一个研究热点，其结合储能系统，使变流器输出接近于同步发电机的外特性。大规模间歇式新能源场站中的储能系统采用虚拟同步机技术接入电网，一是能够主动参与一次调频、调压，提供一定的有功和无功支撑；二是能够提供惯性阻尼，有效抑制频率振荡。采用虚拟同步机技术，可使间歇式新能源发电具备与常规同步发电机组接近的外特性。Drawing on the external characteristics of traditional synchronous generators, the control strategy of power electronic converters based on the virtual synchronous generator algorithm has become a current research hotspot. Combined with the energy storage system, the converter output is close to the external characteristics of synchronous generators . The energy storage system in the large-scale intermittent new energy station uses virtual synchronous machine technology to connect to the power grid. First, it can actively participate in frequency regulation and voltage regulation to provide certain active and reactive power support; second, it can provide inertial damping, effectively Suppresses frequency oscillations. Using virtual synchronous machine technology, intermittent new energy power generation can have external characteristics close to those of conventional synchronous generator sets.
发明内容Contents of the invention
本发明的目的在于提供一种大容量集中式虚拟同步机控制方法、装置及系统，用于解决大容量储能电池的SOC均衡控制比较难的问题。The purpose of the present invention is to provide a large-capacity centralized virtual synchronous machine control method, device and system, which are used to solve the problem of relatively difficult SOC balance control of large-capacity energy storage batteries.
为实现上述目的，本发明的技术方案是：For realizing the above object, technical scheme of the present invention is:
一种大容量集中式虚拟同步机控制方法，该方法包括以下步骤：A large-capacity centralized virtual synchronous machine control method, the method includes the following steps:
步骤1)：采集直流母线电压及各储能电池组的SOC；Step 1): Collect the DC bus voltage and the SOC of each energy storage battery pack;
步骤2)：设定直流电流-直流母线电压的下垂控制曲线，即I-U下垂控制曲线；Step 2): setting the droop control curve of DC current-DC bus voltage, that is, the I-U droop control curve;
步骤3)：根据各储能电池组的SOC，以及直流母线电压，结合所述I-U下垂控制曲线，计算DC/DC电路的指令电流，控制DC/DC电路按该指令电流输出；其中通过各储能电池组的SOC对DC/DC电路的指令电流进行补偿，补偿量与各储能电池组SOC之间的均衡程度有关；Step 3): According to the SOC of each energy storage battery pack and the DC bus voltage, combined with the I-U droop control curve, calculate the command current of the DC/DC circuit, and control the DC/DC circuit to output according to the command current; The SOC of the energy storage battery pack compensates the command current of the DC/DC circuit, and the compensation amount is related to the balance degree between the SOC of each energy storage battery pack;
步骤4)：建立虚拟同步发电机的机械模型和电磁模型，控制DC/AC电路输出。Step 4): Establish a mechanical model and an electromagnetic model of the virtual synchronous generator to control the output of the DC/AC circuit.
所述I-U下垂控制曲线为：The I-U droop control curve is:
其中，ijref为指令电流，Udc为采集的直流母线电压，I1j、I2j为DC/DC电路的指令电流标幺值。Among them, ijref is the command current, Udc is the collected DC bus voltage, and I1j and I2j are the per unit value of the command current of the DC/DC circuit.
所述DC/DC电路的指令电流标幺值I1j、I2j为：The command current per unit values I1j and I2j of the DC/DC circuit are:
其中：SOCj为第j个DC/DC电路对应储能电池的SOC，SOCmax为系统中各个储能电池的SOC的最大值，SOCmin为系统中各个储能电池的SOC的最小值，ΔSOC＝SOCmax-SOCmin。Where: SOCj is the SOC of the energy storage battery corresponding to the jth DC/DC circuit, SOCmax is the maximum value of the SOC of each energy storage battery in the system, SOCmin is the minimum value of the SOC of each energy storage battery in the system, ΔSOC =SOCmax -SOCmin .
本发明还提供了一种大容量集中式虚拟同步机控制装置，该装置包括：The present invention also provides a large-capacity centralized virtual synchronous machine control device, which includes:
采集单元：用于采集直流母线电压及各储能电池组的SOC；Acquisition unit: used to collect the DC bus voltage and the SOC of each energy storage battery pack;
设定单元：用于设定直流电流-直流母线电压的下垂控制曲线，即I-U下垂控制曲线；Setting unit: used to set the droop control curve of DC current-DC bus voltage, that is, the I-U droop control curve;
计算单元：用于根据各储能电池组的SOC，以及直流母线电压，结合所述I-U下垂控制曲线，计算DC/DC电路的指令电流，控制DC/DC电路按该指令电流输出；其中通过各储能电池组的SOC对DC/DC电路的指令电流进行补偿，补偿量与各储能电池组SOC之间的均衡程度有关；Calculation unit: used to calculate the command current of the DC/DC circuit according to the SOC of each energy storage battery pack and the DC bus voltage, combined with the I-U droop control curve, and control the DC/DC circuit to output according to the command current; The SOC of the energy storage battery pack compensates the command current of the DC/DC circuit, and the amount of compensation is related to the balance between the SOC of each energy storage battery pack;
建立单元：用于建立虚拟同步发电机的机械模型和电磁模型，控制DC/AC电路输出。Establishment unit: used to establish the mechanical model and electromagnetic model of the virtual synchronous generator, and control the output of the DC/AC circuit.
所述I-U下垂控制曲线为：The I-U droop control curve is:
其中，ijref为指令电流，Udc为采集的直流母线电压，I1j、I2j为DC/DC电路的指令电流标幺值。Among them, ijref is the command current, Udc is the collected DC bus voltage, and I1j and I2j are the per unit value of the command current of the DC/DC circuit.
所述DC/DC电路的指令电流标幺值I1j，I2j为：The command current per unit value I1j and I2j of the DC/DC circuit are:
其中，SOCj为第j个DC/DC电路对应储能电池的SOC，SOCmax为系统中各个储能电池的SOC的最大值，SOCmin为系统中各个储能电池的SOC的最小值，ΔSOC＝SOCmax-SOCmin。Among them, SOCj is the SOC of the energy storage battery corresponding to the jth DC/DC circuit, SOCmax is the maximum value of SOC of each energy storage battery in the system, SOCmin is the minimum value of SOC of each energy storage battery in the system, ΔSOC =SOCmax -SOCmin .
本发明还提供了一种大容量集中式虚拟同步机控制系统，包括n组储能电池组，n路DC/DC电路，n路DC/AC电路，每个储能电池组依次连接对应的DC/DC电路和DC/AC电路，DC/AC电路的直流侧并联连接直流母线，DC/AC电路的交流侧并联接入变压器。The present invention also provides a large-capacity centralized virtual synchronous machine control system, including n sets of energy storage battery packs, n-way DC/DC circuits, and n-way DC/AC circuits. Each energy storage battery set is connected to the corresponding DC /DC circuit and DC/AC circuit, the DC side of the DC/AC circuit is connected to the DC bus in parallel, and the AC side of the DC/AC circuit is connected to the transformer in parallel.
所述DC/AC电路的交流侧连接有n路滤波回路。The AC side of the DC/AC circuit is connected with n filter loops.
本发明的有益效果是：The beneficial effects of the present invention are:
本发明采用下垂控制来控制直流母线电压，下垂曲线又根据储能电池SOC状态动态调整，来实现各个储能电池单元的SOC均衡。The present invention adopts droop control to control the DC bus voltage, and the droop curve is dynamically adjusted according to the SOC state of the energy storage battery to realize the SOC balance of each energy storage battery unit.
本发明的方法能够实现较大的系统功率。The method of the invention can realize relatively large system power.
本发明采用两级拓扑结构来实现大容量储能电池的接入，前级采用多路DC/DC电路，可避免单个储能电池系统并联容量过大，后级采用多路DC/AC电路，可实现虚拟同步发电机功能，增强电力系统的稳定性。The present invention adopts a two-stage topological structure to realize the access of large-capacity energy storage batteries. The front stage adopts multi-channel DC/DC circuits, which can avoid excessive parallel capacity of a single energy storage battery system, and the latter stage adopts multi-channel DC/AC circuits. It can realize the function of virtual synchronous generator and enhance the stability of power system.
附图说明Description of drawings
图1为大容量集中式虚拟同步机的拓扑结构图；Fig. 1 is the topological structure diagram of large-capacity centralized virtual synchronous machine;
图2为大容量集中式虚拟同步机的SOC均衡下垂控制曲线图；Fig. 2 is a SOC balance droop control curve diagram of a large-capacity centralized virtual synchronous machine;
图3为下垂曲线中的各电压分布图；Fig. 3 is each voltage distribution figure in drooping curve;
图4为虚拟同步发电机模型及指令电流的生成方法图。Fig. 4 is a diagram of a virtual synchronous generator model and a generation method of command current.
具体实施方式Detailed ways
一种大容量集中式虚拟同步机控制系统，包括n组储能电池组，n路DC/DC电路，n路DC/AC电路，每个储能电池组依次连接对应的DC/DC电路和DC/AC电路，DC/AC电路的直流侧并联连接直流母线，DC/AC电路的交流侧并联接入变压器，DC/AC电路的交流侧连接有n路滤波回路。A large-capacity centralized virtual synchronous machine control system, including n sets of energy storage battery packs, n-way DC/DC circuits, n-way DC/AC circuits, each energy storage battery pack is connected to the corresponding DC/DC circuit and DC /AC circuit, the DC side of the DC/AC circuit is connected in parallel to the DC bus, the AC side of the DC/AC circuit is connected in parallel to the transformer, and the AC side of the DC/AC circuit is connected with n filter circuits.
具体的，如图1所示，采用两级拓扑结构，系统容量为5MW，前级采用10路DC/DC的电路与匹配的电池连接，受电池容量所限，单个DC/DC功率为500kW，可避免单个储能电池系统并联容量过大，电路输出侧直接并联；后级采用4路1.25MW的DC/AC电路，交流侧直接并联后通过690:35000的变压器接入电网，可实现较大的容量。Specifically, as shown in Figure 1, a two-stage topology is adopted, and the system capacity is 5MW. The front stage uses 10 DC/DC circuits to connect with matching batteries. Limited by the battery capacity, the power of a single DC/DC is 500kW. It can avoid excessive parallel capacity of a single energy storage battery system, and the output side of the circuit is directly connected in parallel; the rear stage adopts 4-way 1.25MW DC/AC circuit, and the AC side is directly connected in parallel and then connected to the grid through a 690:35000 transformer, which can realize a larger capacity.
此拓扑结构的特点是包括多路DC/DC电路和多路DC/AC电路，即本发明适用于多路控制的情况，特别是多路DC/DC电路应用的比较多，如果其他类型的拓扑结构，只要包括多路DC/DC电路，都可以使用本发明的方法。The feature of this topology is to include multi-channel DC/DC circuits and multi-channel DC/AC circuits, that is, the present invention is applicable to the situation of multi-channel control, especially the application of multi-channel DC/DC circuits is more, if other types of topology structure, as long as it includes multiple DC/DC circuits, the method of the present invention can be used.
一种大容量储能的虚拟同步机控制方法，用于对如图1所示每个DC/DC电路和DC/AC电路进行控制，该控制方法的步骤包括：A virtual synchronous machine control method for large-capacity energy storage, used to control each DC/DC circuit and DC/AC circuit shown in Figure 1, the steps of the control method include:
对于任一个DC/DC电路，包括步骤1)：采集直流母线电压及各储能电池组的SOC；For any DC/DC circuit, including step 1): collecting the DC bus voltage and the SOC of each energy storage battery pack;
步骤2)：设定直流电流-直流母线电压的下垂控制曲线，即I-U下垂控制曲线；Step 2): setting the droop control curve of DC current-DC bus voltage, that is, the I-U droop control curve;
步骤3)：根据各储能电池组的SOC，以及直流母线电压，结合所述I-U下垂控制曲线，计算DC/DC电路的指令电流，控制DC/DC电路按该指令电流输出；其中通过各储能电池组的SOC对DC/DC电路的指令电流进行补偿，补偿量与各储能电池组SOC之间的均衡程度有关；Step 3): According to the SOC of each energy storage battery pack and the DC bus voltage, combined with the I-U droop control curve, calculate the command current of the DC/DC circuit, and control the DC/DC circuit to output according to the command current; The SOC of the energy storage battery pack compensates the command current of the DC/DC circuit, and the compensation amount is related to the balance degree between the SOC of each energy storage battery pack;
对于DC/AC电路，包括步骤4)：建立虚拟同步发电机的机械模型和电磁模型，控制DC/AC电路输出。For the DC/AC circuit, step 4) is included: establishing a mechanical model and an electromagnetic model of the virtual synchronous generator to control the output of the DC/AC circuit.
该控制方法的具体步骤如下：The concrete steps of this control method are as follows:
步骤2)中，计算出的曲线如图2所示，I>0时，为储能电池向外放电；I<0时，为向储能电池充电。UL、UH分别为直流母线电压的欠压和过压保护值，U1～U2区间为储能电池充电区间；U3～U4区间为储能电池放电区间；U2～U3区间为储能电池充放电电死区，在此区间内既不充电也不放电。U1、U2、U3、U4、UL、UH的值根据实际系统要求确定。In step 2), the calculated curve is shown in Figure 2. When I>0, the energy storage battery is discharged; when I<0, the energy storage battery is charged. UL and UH are the under-voltage and over-voltage protection values of the DC bus voltage respectively, the interval U1 to U2 is the charging interval of the energy storage battery; the interval U3 to U4 is the discharging interval of the energy storage battery; U2 to U3 The interval is the charging and discharging dead zone of the energy storage battery, and it is neither charged nor discharged in this interval. The values of U1 , U2 , U3 , U4 , UL , and UH are determined according to actual system requirements.
步骤3)中，充放电电流指令ijref由下式确定：In step 3), the charge and discharge current command ijref is determined by the following formula:
其中Udc为采集的直流母线电压。Among them, Udc is the collected DC bus voltage.
所述指令电流I1j和I2j为(j＝1～n1，n1为前级DC/DC电路数)储能电池的电流指令的标幺值，I1j和I2j的值由下式确定：The command currents I1j and I2j are the per unit value of the current command of the energy storage battery (j=1～n1 , n1 is the number of DC/DC circuits in the previous stage), and the values of I1j and I2j are given by the following formula Sure:
其中，SOCj为第j个DC/DC电路对应储能电池的SOC，SOCmax为系统中各个储能电池的SOC的最大值，SOCmin为系统中各个储能电池的SOC的最小值，ΔSOC＝SOCmax-SOCmin，表达式中ΔSOC×10可以使储能电池充放电时最大电流和最小电流的差值控制在10％额定以内，以保证系统的输入输出功率。Among them, SOCj is the SOC of the energy storage battery corresponding to the jth DC/DC circuit, SOCmax is the maximum value of SOC of each energy storage battery in the system, SOCmin is the minimum value of SOC of each energy storage battery in the system, ΔSOC =SOCmax -SOCmin , ΔSOC×10 in the expression can control the difference between the maximum current and the minimum current during charging and discharging of the energy storage battery within 10% of the rated value, so as to ensure the input and output power of the system.
根据交流侧电网690V线电压，结合开关器件的电压等级，可将下垂曲线中的电压确定为如图3所示。According to the 690V line voltage of the AC side power grid, combined with the voltage level of the switching device, the voltage in the droop curve can be determined as shown in Figure 3.
上述控制方法的特点是在下垂控制的基础上增加SOC均衡，采用的手段是将SOC作为补偿量对下垂控制补偿。上面的实施例中，给出的是一种具体的、分段式的下垂控制曲线，作为其他实施方式，也可以采用其他类型的下垂控制曲线。具体的补偿公式为作为其他实施方式，也可以采用体现SOC均衡程度的不同的公式进行补偿电流指令标幺值I1j和I2j。The characteristic of the above control method is to add SOC equalization on the basis of droop control, and the method adopted is to use SOC as compensation amount to compensate the droop control. In the above embodiments, a specific, segmented droop control curve is presented, and other types of droop control curves may also be used as other implementation manners. The specific compensation formula is As other implementation manners, different formulas reflecting the degree of SOC balance may also be used to compensate the current command per unit values I1j and I2j .
步骤4)中，虚拟同步电机的机械模型表述为：In step 4), the mechanical model of the virtual synchronous motor is expressed as:
其中，J为虚拟同步发电机的转动惯量，ω0为电网同步角速度，Tm、Te、Td分别为虚拟同步机的机械、电磁和阻尼转矩，D为阻尼系数。Among them, J is the moment of inertia of the virtual synchronous generator, ω0 is the grid synchronous angular velocity, Tm , Te , Td are the mechanical, electromagnetic and damping torques of the virtual synchronous machine, respectively, and D is the damping coefficient.
电磁模型为：The electromagnetic model is:
其中，eabc为虚拟同步机三相电枢电势，uabc为定子端电压，iabc为电枢电流，R为同步电阻，L为同步电抗。Among them, eabc is the three-phase armature potential of the virtual synchronous machine, uabc is the stator terminal voltage, iabc is the armature current, R is the synchronous resistance, L is the synchronous reactance.
根据虚拟同步电机的机械模型和电磁模型，按照图3所示结构计算出DC/AC电路的指令电流，按照指令电流控制DC/AC电路输出，实现虚拟同步电机功能。According to the mechanical model and electromagnetic model of the virtual synchronous motor, the command current of the DC/AC circuit is calculated according to the structure shown in Figure 3, and the output of the DC/AC circuit is controlled according to the command current to realize the function of the virtual synchronous motor.
由于将虚拟同步机用于DC/AC控制属于现有技术，现有技术中也有很多不同的控制形式，因此本发明仅介绍同步控制的原理，如图4所示，不再具体给出控制框图和控制过程，本领域技术人员可以采用现有技术中的各种控制方式实现同步机控制。Since the use of virtual synchronous machine for DC/AC control belongs to the prior art, and there are many different control forms in the prior art, the present invention only introduces the principle of synchronous control, as shown in Figure 4, and does not give a specific control block diagram and control process, those skilled in the art can use various control methods in the prior art to realize synchronous machine control.
本发明还提供了一种大容量集中式虚拟同步机控制装置，该装置包括采集单元、设定单元、计算单元和建立单元，其中采集单元用于采集直流母线电压及各储能电池组的SOC；设定单元用于设定直流电流-直流母线电压的下垂控制曲线，即I-U下垂控制曲线；计算单元用于根据各储能电池组的SOC，以及直流母线电压，结合所述I-U下垂控制曲线，计算DC/DC电路的指令电流，控制DC/DC电路按该指令电流输出；其中通过各储能电池组的SOC对DC/DC电路的指令电流进行补偿，补偿量与各储能电池组SOC之间的均衡程度有关；建立单元用于建立虚拟同步发电机的机械模型和电磁模型，控制DC/AC电路输出。The present invention also provides a large-capacity centralized virtual synchronous machine control device, which includes an acquisition unit, a setting unit, a calculation unit and an establishment unit, wherein the acquisition unit is used to acquire the DC bus voltage and the SOC of each energy storage battery pack The setting unit is used to set the droop control curve of DC current-DC bus voltage, that is, the I-U droop control curve; the calculation unit is used to combine the I-U droop control curve according to the SOC of each energy storage battery pack and the DC bus voltage , calculate the command current of the DC/DC circuit, and control the DC/DC circuit to output according to the command current; the command current of the DC/DC circuit is compensated by the SOC of each energy storage battery pack, and the compensation amount is the same as the SOC of each energy storage battery pack It is related to the degree of balance between them; the establishment unit is used to establish the mechanical model and electromagnetic model of the virtual synchronous generator, and control the output of the DC/AC circuit.
上述控制装置，实际上是一种软件构架，其中的各单元是与上述控制方法的步骤1)-4)相对应的进程或程序。因此，不再对该控制装置进行详细说明。The above-mentioned control device is actually a software framework, and each unit in it is a process or program corresponding to steps 1)-4) of the above-mentioned control method. Therefore, the detailed description of the control device is omitted.
上述控制装置作为一种程序，在虚拟同步发电机中运行，并采用下垂控制来稳定直流母线电压，下垂曲线又根据储能电池的SOC状态动态调整，来实现各个储能电池单元的SOC均衡，而且能够实现系统较大的功率，采用两级拓扑结构来实现大容量储能电池的接入，前级采用多路DC/DC电路，可避免单个储能电池系统并联容量过大，后级采用多路DC/AC电路，可实现虚拟同步发电机功能。As a program, the above control device runs in a virtual synchronous generator, and uses droop control to stabilize the DC bus voltage, and the droop curve is dynamically adjusted according to the SOC state of the energy storage battery to achieve SOC balance of each energy storage battery unit. Moreover, it can achieve relatively large power of the system, and adopts a two-stage topology to realize the access of large-capacity energy storage batteries. Multiple DC/AC circuits can realize virtual synchronous generator function.
| Application Number | Priority Date | Filing Date | Title |
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| CN201610970232 | 2016-10-28 | ||
| CN2016109702329 | 2016-10-28 |
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| CN106849141A CN106849141A (en) | 2017-06-13 |
| CN106849141Btrue CN106849141B (en) | 2019-11-05 |
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| CN201610981453.6AActiveCN106849141B (en) | 2016-10-28 | 2016-11-08 | A kind of large capacity centralization virtual synchronous machine control method, apparatus and system |
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