CN114069718B - Synchronous control device and method for parallel converters - Google Patents
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
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Abstract
The invention relates to a synchronous control device and method for parallel converters, belongs to the technical field of converter control, and solves the problems that frequency adjustment conflicts are caused by independent frequency adjustment of all converters in the existing parallel converters, and load and power generation in a load change area are unbalanced in a multi-area system. The synchronous control device comprises a control device of each converter in a plurality of converters connected in parallel, and the control device of each converter comprises: a droop control module for controlling the frequency and amplitude of the output voltage of each converter; a static feedback loop is introduced between the input and the output of the droop control module to eliminate static errors; and an auxiliary control module introduced between the input and output of the droop control module to balance the load of the load variation region and generate power. The load in the load change region and the power generation are balanced while avoiding frequency adjustment conflicts caused by individual adjustment of the frequency by each converter.
Description
Technical Field
The invention relates to the technical field of converter control, in particular to a synchronous control device and method for parallel converters.
Background
The main control method for the parallel connection of the multiple converters comprises the following steps: centralized control, master-slave control, interconnect-less control. The centralized control algorithm controls by calculating the average current of each inverter, and the normal operation of the system in the algorithm completely depends on the centralized controller. In the master-slave control, one converter is selected as a master, and the other converters are slaves. The host adopts voltage control to maintain the voltage stability of the whole system, and the slave adopts current control to follow the output current of the host. If the host fails, the slave enters a competition mechanism and reselects the host. The method reduces the problem of excessively relying on the centralized controller in centralized control, but still has strong dependence on communication lines.
Droop control is one of methods without interconnection line control, and the control algorithm adjusts the frequency and amplitude of the output voltage of the converter through a droop control equation so as to achieve the purpose of controlling the output power of the converter. The conventional droop control equation is shown in the following formula, where K f 、K u The sagging curve gains of P/f and Q/U are respectively.
The multiple converters are connected in parallel, the system inertia is low, and a low-inertia power grid can cause obvious system frequency change under the condition of a generator or abrupt load change. To increase the rotational inertia of the overall system, a synchronous machine mechanical equation is introduced into a conventional droop control algorithm, and a virtual synchronous control block diagram of the converter voltage/frequency is shown in fig. 1. Wherein Dp and Dq are virtual damping constants in the P/f and Q/U control loops, and the range of values is 1% -2%; kf. Ku is the inertia constant of P-f and Q/U, and the value range is 1-20.
However, individual adjustment of the frequency by each transducer when multiple transducers are connected in parallel can cause frequency adjustment conflicts. Further, for two-zone or multi-zone systems, there are load and power generation imbalance problems in the load change zone.
Disclosure of Invention
In view of the above analysis, the embodiments of the present invention are directed to a synchronous control device and method for parallel converters, so as to solve the problem that when a plurality of converters are connected in parallel, each converter independently adjusts the frequency to cause a frequency adjustment conflict, and a multi-zone system has unbalanced load and power generation in a load change zone.
In one aspect, an embodiment of the present invention provides a synchronous control device for parallel converters, including a control device for each converter of a plurality of converters connected in parallel, where the control device for each converter includes: a droop control module for controlling the frequency and amplitude of the output voltage of each converter; a static feedback loop introduced between the input and output of the droop control module to eliminate static errors; and an auxiliary control module introduced between an input and an output of the droop control module to balance a load of a load variation region and generate power.
The beneficial effects of the technical scheme are as follows: reducing the frequency control difference by introducing a static feedback loop in the synchronous control device of the parallel converter; by introducing the auxiliary control module in the synchronous control device of the parallel converters, the load of the load change area is balanced and the power generation is performed.
Based on a further development of the above arrangement, each zone corresponds to a separate converter, said synchronization control means comprising: and the first control device and the second control device are used for respectively controlling the frequencies of the first converter in the first area and the second converter in the second area, wherein the control targets of the first control device and the second control device are any two converters in the multiple converters in parallel, and the tie line flow between the first area and the second area is zero.
Based on the further improvement of the device, the tie line tide is that Wherein E is 1 And E is 2 The output voltage amplitude of the first converter and the output voltage amplitude of the second converter, delta 10 、δ 20 X is the output voltage phase angle of the first converter and the output voltage phase angle of the second converter respectively T Is the tie line impedance.
Based on a further development of the above arrangement, the first control means controls the frequency of the first converter by the following formula: the second control means controls the frequency of the second inverter by the following formula:the control targets are as follows: Δω 1 ＝Δω 2 ，ΔP 12 Is 0; wherein R is 1 ，R 2 Difference adjustment coefficients K of the first region and the second region respectively 1 ，K 2 Integral coefficients of the first region and the second region, B 1 ，B 2 The adjustment coefficients, K, of the auxiliary control modules in the first and second regions, respectively f1 ，K f2 Inertia constants of the droop control modules in the first region and the second region, respectively, D p1 ，D p1 Virtual damping constants of the droop control modules in the first region and the second region, respectively.
Based on the further improvement of the device, the difference adjustment coefficient R of the first converter and the second converter 1 ，R 2 The range of the value of (2) is 30-50.
Based on a further improvement of the above device, the integral coefficient K of the first converter and the second converter 1 ，K 2 The range of the value of (2) is 1-1000.
On the other hand, the embodiment of the invention provides a synchronous control method of parallel converters, and the control method for controlling each converter in a plurality of parallel converters comprises the following steps: providing a droop control module to control the frequency and amplitude of the output voltage of each converter; adding a static feedback loop between the input and output of the droop control module to eliminate static errors; and adding an auxiliary control module between the input and output of the droop control module to balance the load of the load change region and generate power.
Based on the further improvement of the method, the synchronous control method of the parallel converters further comprises the following steps: the frequencies of a first converter in a first area and a second converter in a second area are respectively controlled by a first control device and a second control device, wherein each area corresponds to one single converter, the control targets of the first control device and the second control device are any two converters in which the tie line flow of the first area and the second area is zero, and the first converter and the second converter are parallel converters.
Based on the further improvement of the method, the tie-line tide is that Wherein E is 1 And E is 2 The output voltage amplitude of the first converter and the output voltage amplitude of the second converter, delta 10 、δ 20 Respectively the output voltage phase angle sum of the first converterThe output voltage phase angle, X, of the second converter T Is the tie line impedance.
Based on a further development of the above method, the frequency of the first converter is controlled by the first control device as follows: the frequency of the second inverter is controlled by the second control device as follows:the control targets are as follows: Δω 1 ＝Δω 2 ，ΔP 12 Is 0; wherein R is 1 ，R 2 Difference adjustment coefficients K of the first region and the second region respectively 1 ，K 2 Integral coefficients of the first region and the second region, B 1 ，B 2 The adjustment coefficients, K, of the auxiliary control modules in the first and second regions, respectively f1 ，K f2 Inertia constants of the droop control modules in the first region and the second region, respectively, D p1 ，D p1 Virtual damping constants of the droop control modules in the first region and the second region, respectively.
Compared with the prior art, the invention has at least one of the following beneficial effects:
1. reducing the frequency control difference by introducing a static feedback loop in the synchronous control device of the parallel converter;
2. the auxiliary control module is introduced into the synchronous control device of the parallel converter so as to balance the load of a load change area and generate power; and
3. the converters in each region are independent of each other by controlling the tie line flow between any two regions of the multi-region interconnection system to be 0, so that mutual influence among the converters is avoided.
In the invention, the technical schemes can be mutually combined to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, like reference numerals being used to refer to like parts throughout the several views.
FIG. 1 is a prior art droop control based converter voltage/frequency control block diagram;
fig. 2 is a block diagram of a synchronous control device of a parallel converter according to an embodiment of the present invention.
FIG. 3 is a block diagram of a modified droop control of a converter incorporating a static feedback loop;
FIG. 4 is a schematic diagram of a two-zone interconnect system; and
fig. 5 is a control diagram of a synchronous control device of a parallel converter according to an embodiment of the present invention.
Reference numerals:
202-a droop control module; 204-a static feedback loop; 206-auxiliary control module
Detailed Description
Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and together with the description serve to explain the principles of the invention, and are not intended to limit the scope of the invention.
In one embodiment of the invention, a synchronous control device for parallel converters is disclosed. Referring to fig. 2, the synchronous control device includes a control device of each of a plurality of inverters connected in parallel, the control device of each inverter including: a droop control module 202 for controlling the frequency and amplitude of the output voltage of each converter; a static feedback loop 204, which is introduced between the input and output of the droop control module to eliminate static errors; and an auxiliary control module 206, which is introduced between the input and output of the droop control module to balance the load of the load variation region and generate power.
Compared with the prior art, the frequency control difference is reduced by introducing a static feedback loop into the synchronous control device of the parallel converter of the embodiment of the invention; the auxiliary control module is introduced into the synchronous control device of the parallel converter, so that the load of a load change area is balanced and power generation is performed.
Hereinafter, a synchronous control device of the parallel converter will be described in detail with reference to fig. 2 to 5.
Referring to fig. 2, the synchronous control device includes a control device of each of a plurality of inverters connected in parallel, the control device of each inverter including: a droop control module 202, a static feedback loop 204, and an auxiliary control module 206.
Referring to fig. 3, a droop control module 202 is used to control the frequency of the output voltage of each converter. The feedback control loop P in equation 1 below f At 0 (i.e., feedback power), the remainder is the droop control module. The power deviation is specifically expressed by the following formula 1:
P e ＝P 0 -P-P f ＝Δω(K f s+D F ) Equation 1
Wherein K is f Constant for droop control, D F Virtual damping constant, P, for droop control 0 For initial power, P is the current power and s is the complex variable.
The deviation of the angular frequency is:
Δω＝ω 0 - ω, equation 2
Wherein angular frequency ω=2pi f, ω 0 For the initial angular frequency (known), ω is the current frequency.
Referring to fig. 3, a static feedback loop 204 is introduced between the input and output of the droop control module to eliminate static errors. The feedback power of the power feedback loop is as follows:
wherein R is a difference adjustment coefficient, the value range is 30 to 50, K is an integral coefficient, and the value range is 0 to 1000. Referring to fig. 3, the power offset is:
P e ＝P 0 -P-P f equation 4
Bringing equations 1 through 3 into equation 4 above:
an auxiliary control module 206 (refer to a dotted line portion in fig. 5) is introduced between the input and output of the droop control module to balance the load of the load change region and generate power.
Referring to fig. 4 and 5, each of the plurality of regions corresponds to a single converter, and the first converter and the second converter proposed below are any two converters of the multiple converters connected in parallel. The synchronous control device comprises a first control device and a second control device.
Referring to fig. 5, the first control means is for controlling the frequency of the first transducer in the first region. The first control device includes a droop control module 202, a static feedback loop 204, and an auxiliary control module 206.
P 1e ＝P 01 -P 1 -P 1f1 -P 1f2 -ΔP 12 ＝Δω(K f1 S+D p1 ) Equation 6
As can be seen from FIG. 5, in equation 6 above, when P 1f1 、P 1f2 And DeltaP 12 And when the control modules are zero, the rest is a sagging control module. First feedback power P of first feedback loop 1f1 And a second feedback power P of a second feedback loop 1f2 The sum of these two parts is a static feedback loop 204. An auxiliary control module 206 is added in the second feedback loop.
The first control means controls the frequency of the first transducer, i.e. brings the above equations 7 and 8 into equation 6,
referring to fig. 5, the second control means is for controlling the frequency of the second transducer in the second region. The second control device includes a droop control module 202, a static feedback loop 204, and an auxiliary control module 206.
P 2e ＝P 02 -P 2 -P 2f1 -P 2f2 -ΔP 12 ＝Δω(K f2 S+D p2 ) Equation 10
As can be seen from FIG. 5, in equation 10 above, when P 2f1 、P 2f2 And DeltaP 12 All zero, the remainder is droop control module 202. First feedback power P of first feedback loop 2f1 And a second feedback power P of a second feedback loop 2f2 The sum of these two parts is a static feedback loop 204. An auxiliary control module 206 is added in the second feedback loop.
Referring again to fig. 5, the second control means controls the frequency of the second inverter by the following formula, similar to formula 9:
control is performed using equations 9 and 13 with the control targets: Δω 1 ＝Δω 2 Δp 12 0, wherein the angular frequency ω=2pi f, ω 0 Is the initial angular frequency (known). Since the initial frequency of the first transducer is the same as the initial frequency of the second transducer, when the frequency deviation of the first transducer is the same as the frequency deviation of the second transducer, the frequency of the first transducer is the same as the frequency of the second transducer.
R 1 ，R 2 The difference adjustment coefficients of the first area and the second area are respectively 30-50; k (K) 1 ，K 2 The integral coefficients of the first area and the second area are respectively, and the value range is 0 to 1000; b (B) 1 ，B 2 The adjusting coefficients of the auxiliary control modules in the first area and the second area are respectively; k (K) f1 ，K f2 Inertia constants of the droop control modules in the first area and the second area respectively; d (D) p1 ，D p1 The virtual damping constants of the droop control modules in the first region and the second region, respectively.
Referring to fig. 4, the control targets of the first control device and the second control device are that the tie line flow between the first area and the second area is zero. The tie line tide is:
wherein E is 1 And E is 2 The output voltage amplitude of the first converter and the output voltage amplitude of the second converter, delta 10 、δ 20 The output voltage phase angle of the first converter and the output voltage phase angle of the second converter, X T Is the tie line impedance.
In one embodiment of the invention, a synchronous control method of parallel converters is disclosed. Hereinafter, a synchronous control method of the parallel converters will be described in detail.
The control method for controlling each of the plurality of converters connected in parallel includes: providing a droop control module to control the frequency and amplitude of the output voltage of each converter; adding a static feedback loop between the input and output of the droop control module to eliminate static errors; and adding an auxiliary control module between the input and the output of the droop control module to balance the load of the load change region and generate power.
The synchronous control method further comprises the following steps: the frequencies of the first converter in the first area and the second converter in the second area are respectively controlled by the first control device and the second control device, wherein each area corresponds to one single converter, the control targets of the first control device and the second control device are any two converters in the multi-converter in which the tie line flow of the first area and the second area is zero, and the first converter and the second converter are connected in parallel.
Specifically, the frequency of the first inverter is controlled by the first control device as follows:
the frequency of the second inverter is controlled by the second control means as follows:
the control target is delta omega 1 ＝Δω 2 Tie line power flow Δp 12 Is 0;
wherein R is 1 ，R 2 Difference adjustment coefficients K of the first area and the second area respectively 1 ，K 2 Integral coefficients of the first region and the second region, B 1 ，B 2 The adjustment coefficients, K, of the auxiliary control modules in the first and second regions, respectively f1 ，K f2 Inertia constants of droop control modules in the first and second regions, D p1 ，D p1 Respectively the firstVirtual damping constants of the droop control modules in the first region and the second region.
Tie line tide isWherein E is 1 And E is 2 The output voltage amplitude of the first converter and the output voltage amplitude of the second converter, delta 10 、δ 20 The output voltage phase angle of the first converter and the output voltage phase angle of the second converter, X T Is the tie line impedance.
Hereinafter, a synchronous control method will be described in detail by way of specific example with reference to fig. 3 and 4.
Referring to fig. 3, when multiple converters are connected in parallel, static feedback is added in the virtual synchronous control. Wherein R is a difference adjustment coefficient, and the value range is between 30 and 50; k is an integral coefficient, and the value range is between 0 and 1000.
Referring to fig. 4, in the multi-zone interconnection system, two systems are taken as an example. ΔP 12 The tie flow is for zone 1 and zone 2. The improved virtual synchronous control of a multi-zone multiple converter parallel with the introduction of auxiliary control is shown in fig. 4, wherein:E 1 ，E 2 the output voltage amplitude and delta of the two-region converter are respectively 10 、δ 20 The output voltage phase angles of the two-region converter are respectively X T Is the tie line impedance.
In the embodiment of the invention, a static feedback loop is introduced in the parallel virtual synchronous control of the multiple converters, so that the frequency control error is reduced; in the parallel virtual synchronous control of the multi-region multi-converter, an auxiliary control algorithm is introduced to solve the load and power generation balance problems in the load change region.
Compared with the prior art, the invention has at least one of the following beneficial effects:
1. reducing the frequency control difference by introducing a static feedback loop in the synchronous control device of the parallel converter;
2. the auxiliary control module is introduced into the synchronous control device of the parallel converter so as to balance the load of a load change area and generate power; and
3. the converters in each region are independent of each other by controlling the tie line flow between any two regions of the multi-region interconnection system to be 0, so that mutual influence among the converters is avoided. Those skilled in the art will appreciate that all or part of the flow of the methods of the embodiments described above may be accomplished by way of a computer program to instruct associated hardware, where the program may be stored on a computer readable storage medium. Wherein the computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory, etc.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.
Claims (6)
1. A synchronous control device for parallel converters, comprising a control device for each of a plurality of converters connected in parallel, the control device for each converter comprising:
a droop control module for controlling the frequency and amplitude of the output voltage of each converter;
a static feedback loop introduced between the input and output of the droop control module to eliminate static errors; and
an auxiliary control module, which is introduced between the input and the output of the droop control module to balance the load of the load change area and generate power;
wherein each zone corresponds to a separate inverter, said synchronization control means comprising: first and second control means for controlling frequencies of a first inverter in a first region and a second inverter in a second region, respectively, wherein control targets of the first and second control means are any two inverters of a plurality of inverters connected in parallel, and a tie-line power flow between the first region and the second region is zero;
wherein the tie-line tide is that
Wherein E is 1 And E is 2 The output voltage amplitude of the first converter and the output voltage amplitude of the second converter, delta 10 、δ 20 X is the output voltage phase angle of the first converter and the output voltage phase angle of the second converter respectively T Is the tie line impedance.
2. The synchronous control device for parallel converters according to claim 1, wherein,
the first control means controls the frequency of the first transducer by the following formula:
the second control means controls the frequency of the second inverter by the following formula:
the control targets are as follows: Δω 1 ＝Δω 2 Δp 12 Is 0;
wherein R is 1 ，R 2 Difference adjustment coefficients K of the first region and the second region respectively 1 ，K 2 Integral coefficients of the first region and the second region, B 1 ，B 2 Tuning of auxiliary control modules in the first and second regions, respectivelySection coefficient, K f1 ，K f2 Inertia constants of the droop control modules in the first region and the second region, respectively, D p1 ，D p2 Virtual damping constants of the droop control modules in the first region and the second region, respectively.
3. The synchronous control device for parallel converters according to claim 2, wherein a difference adjustment coefficient R between the first converter and the second converter 1 ，R 2 The range of the value of (2) is 30-50.
4. The synchronous control device of the parallel converter according to claim 2, wherein an integral coefficient K of the first converter and the second converter 1 ，K 2 The range of the value of (2) is 1-1000.
5. A synchronous control method of parallel converters, characterized in that the control method of controlling each of a plurality of converters connected in parallel includes:
providing a droop control module to control the frequency and amplitude of the output voltage of each converter;
adding a static feedback loop between the input and output of the droop control module to eliminate static errors; and
adding an auxiliary control module between the input and the output of the droop control module to balance the load of the load change area and generate power;
wherein the frequencies of a first inverter in a first region and a second inverter in a second region are controlled by a first control device and a second control device, respectively, wherein each region corresponds to a single inverter, the control targets of the first control device and the second control device are any two inverters in which the tie line flow of the first region and the second region is zero, and the first inverter and the second inverter are multiple inverters connected in parallel;
wherein the tie-line tide is that
Wherein E is 1 And E is 2 The output voltage amplitude of the first converter and the output voltage amplitude of the second converter, delta 10 、δ 20 X is the output voltage phase angle of the first converter and the output voltage phase angle of the second converter respectively T Is the tie line impedance.
6. The method for synchronous control of a parallel converter according to claim 5, wherein,
the frequency of the first converter is controlled by the first control device as follows:
the frequency of the second inverter is controlled by the second control device as follows:
the control targets are as follows: Δω 1 ＝Δω 2 Δp 12 Is 0;
wherein R is 1 ，R 2 Difference adjustment coefficients K of the first region and the second region respectively 1 ，K 2 Integral coefficients of the first region and the second region, B 1 ，B 2 The adjustment coefficients, K, of the auxiliary control modules in the first and second regions, respectively f1 ，K f2 Inertia constants of the droop control modules in the first region and the second region, respectively, D p1 ，D p2 Virtual damping constants of the droop control modules in the first region and the second region, respectively.
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