An active loop control method and device of a virtual synchronous generator and an electronic device

Abstract

The present disclosure provides an active loop control method and device of a virtual synchronous generator and an electronic device. The output active power and the output angular frequency of the virtual synchronous generator are obtained. According to a rotor motion equation of the virtual synchronous generator, an angular frequency characteristic equation corresponding to the virtual synchronous generator is determined. According to the angular frequency characteristic equation, a power frequency control equation corresponding to the virtual synchronous generator is determined based on an uncertainty and a disturbance estimation control algorithm. According to the power frequency control equation, an active loop control model corresponding to the virtual synchronous generator is constructed. A difference between the output active power and a preset target input active power is taken as an input of the active loop control model, and an output voltage phase angle corresponding to the virtual synchronous generator is output by the active loop control model. The power frequency oscillation phenomenon of the virtual synchronous generator system can be effectively suppressed, and the robustness is high.

Description

Technical Field

[0001] This disclosure relates to the field of power system technology, and more specifically, to an active power loop control method, apparatus, and electronic equipment for a virtual synchronous generator. Background Technology

[0002] Currently, with the increasing proportion of new energy power generation, traditional distributed power grid-connected inverters, while characterized by fast response speed, are prone to decreased system frequency stability due to a lack of inertia and damping under high penetration rates. Therefore, a grid-connected inverter control strategy based on the concept of a Virtual Synchronous Generator (VSG) has been proposed. VSG technology introduces the swing equation of a Synchronous Generator (SG) on top of traditional droop control, enabling the grid-connected inverter to simulate the transient characteristics of SG and participate in system frequency and voltage regulation, providing inertial support. When system power imbalance occurs, the VSG can utilize virtual inertia and damping to reduce its own frequency fluctuations, further improving the system's stable operation capability.

[0003] However, using VSG technology to provide inertial support to the system inevitably introduces the problem of power frequency oscillation. Among them, the effects of rotational inertia and damping coefficient on the active power loop are particularly prominent. When the synchronous generator is subjected to a step disturbance of the input active power command, due to the inertia, the active power under the step disturbance will not immediately stabilize at the target active power, but will swing within a certain power range. Eventually, under the action of damping, it will finally stabilize at the initial value. The frequency will also swing like the power, and the system will experience power frequency oscillation, which will lead to a decrease in the stability of the power system. Summary of the Invention

[0004] This disclosure provides at least one active power loop control method, device, and electronic device for a virtual synchronous generator, which can effectively suppress the power frequency oscillation phenomenon of the virtual synchronous generator system and has high robustness.

[0005] This disclosure provides an active power loop control method for a virtual synchronous generator, the method comprising:

[0006] Based on the rotor motion equation of the virtual synchronous generator, determine the angular frequency characteristic equation corresponding to the virtual synchronous generator;

[0007] Based on the angular frequency characteristic equation, the power frequency control equation corresponding to the virtual synchronous generator is determined using an uncertainty and disturbance estimation control algorithm.

[0008] Construct the active power loop control model corresponding to the virtual synchronous generator based on the power frequency control equation;

[0009] Obtain the output active power of the virtual synchronous generator;

[0010] The difference between the output active power and the preset target input active power is used as the input of the active power loop control model, and the active power loop control model outputs the output voltage phase angle corresponding to the virtual synchronous generator.

[0011] In one optional implementation, determining the power frequency control equation corresponding to the virtual synchronous generator based on the angular frequency characteristic equation and an uncertainty and disturbance estimation control algorithm specifically includes:

[0012] Obtain the preset target output angular frequency of the virtual synchronous generator;

[0013] Based on the preset state coefficient matrix and error feedback gain, the angular frequency tracking error equation corresponding to the virtual synchronous generator is determined, wherein the angular frequency tracking error equation is used to enable the output angular frequency corresponding to the virtual synchronous generator to accurately track the change of the target output angular frequency.

[0014] Based on the angular frequency tracking error equation, the angular frequency characteristic equation, the target output angular frequency, and the preset control coefficient matrix, the power frequency characteristic equation corresponding to the virtual synchronous generator is determined, wherein the power frequency characteristic equation includes a lumped disturbance term.

[0015] Based on the unit impulse response corresponding to the preset filter, the lumped disturbance equation corresponding to the virtual synchronous generator is determined;

[0016] The power frequency control equation is determined by replacing the lumped disturbance term with the lumped disturbance equation.

[0017] In one optional implementation, the step of constructing the active power loop control model corresponding to the virtual synchronous generator based on the power frequency control equation specifically includes:

[0018] An uncertainty and disturbance estimation control unit is constructed based on the power frequency control equation;

[0019] An integral control unit and a proportional control unit are sequentially set after the uncertainty and disturbance estimation control unit. The proportional control unit is determined based on the effective value of the inverter output voltage, the effective value of the grid voltage, and the effective value of the equivalent impedance corresponding to the virtual synchronous generator.

[0020] The uncertainty and disturbance estimation control unit, the integral control unit, and the proportional control unit are defined as the active power loop control model.

[0021] In one optional implementation, determining the angular frequency characteristic equation corresponding to the virtual synchronous generator based on the rotor motion equation of the virtual synchronous generator specifically includes:

[0022] Determine the moment of inertia, damping coefficient, and rated angular frequency of the power grid corresponding to the virtual synchronous generator;

[0023] Based on the moment of inertia, the damping coefficient, and the rated angular frequency of the power grid, the angular frequency characteristic equation is determined, wherein the angular frequency characteristic equation is used to reflect the relationship between the angular frequency corresponding to the virtual synchronous generator, the difference between the mechanical power and the output active power of the virtual synchronous generator.

[0024] In one optional implementation, determining the lumped disturbance equation corresponding to the virtual synchronous generator based on the unit impulse response corresponding to the preset filter specifically includes:

[0025] The unit impulse response is convolved with the lumped perturbation term to obtain the lumped perturbation equation.

[0026] In one optional implementation, the angular frequency tracking error value corresponding to the angular frequency tracking error equation gradually converges to zero;

[0027] The filter is a first-order low-pass filter.

[0028] This disclosure also provides an active power loop control device for a virtual synchronous generator, the device comprising:

[0029] The first determining module is used to determine the angular frequency characteristic equation corresponding to the virtual synchronous generator based on the rotor motion equation of the virtual synchronous generator.

[0030] The second determining module is used to determine the power frequency control equation corresponding to the virtual synchronous generator based on the angular frequency characteristic equation and an uncertainty and disturbance estimation control algorithm.

[0031] The construction module is used to construct the active power loop control model corresponding to the virtual synchronous generator based on the power frequency control equation;

[0032] The acquisition module is used to acquire the output active power of the virtual synchronous generator;

[0033] The control module takes the difference between the output active power and the preset target input active power as the input of the active power loop control model, and the active power loop control model outputs the output voltage phase angle corresponding to the virtual synchronous generator.

[0034] In one optional implementation, the second determining module is specifically used for:

[0035] Obtain the preset target output angular frequency of the virtual synchronous generator;

[0036] Based on the preset state coefficient matrix and error feedback gain, the angular frequency tracking error equation corresponding to the virtual synchronous generator is determined, wherein the angular frequency tracking error equation is used to enable the output angular frequency corresponding to the virtual synchronous generator to accurately track the change of the target output angular frequency.

[0037] Based on the angular frequency tracking error equation, the angular frequency characteristic equation, the target output angular frequency, and the preset control coefficient matrix, the power frequency characteristic equation corresponding to the virtual synchronous generator is determined, wherein the power frequency characteristic equation includes a lumped disturbance term.

[0038] Based on the unit impulse response corresponding to the preset filter, the lumped disturbance equation corresponding to the virtual synchronous generator is determined;

[0039] The power frequency control equation is determined by replacing the lumped disturbance term with the lumped disturbance equation.

[0040] In one optional implementation, the building module is specifically used for:

[0041] An uncertainty and disturbance estimation control unit is constructed based on the power frequency control equation;

[0042] An integral control unit and a proportional control unit are sequentially set after the uncertainty and disturbance estimation control unit. The proportional control unit is determined based on the effective value of the inverter output voltage, the effective value of the grid voltage, and the effective value of the equivalent impedance corresponding to the virtual synchronous generator.

[0043] The uncertainty and disturbance estimation control unit, the integral control unit, and the proportional control unit are defined as the active power loop control model.

[0044] In one optional implementation, the first determining module is specifically used for:

[0045] Determine the moment of inertia, damping coefficient, and rated angular frequency of the power grid corresponding to the virtual synchronous generator;

[0046] Based on the moment of inertia, the damping coefficient, and the rated angular frequency of the power grid, the angular frequency characteristic equation is determined, wherein the angular frequency characteristic equation is used to reflect the relationship between the angular frequency corresponding to the virtual synchronous generator, the difference between the mechanical power and the output active power of the virtual synchronous generator.

[0047] In an optional implementation, the second determining module is further configured to:

[0048] The unit impulse response is convolved with the lumped perturbation term to obtain the lumped perturbation equation.

[0049] This disclosure also provides an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, they execute the steps of the above-described active power loop control method for a virtual synchronous generator, or any possible implementation of the above-described active power loop control method for a virtual synchronous generator.

[0050] This disclosure also provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs the active power loop control method of the virtual synchronous generator described above, or any possible implementation of the active power loop control method of the virtual synchronous generator described above.

[0051] This disclosure provides an active power loop control method, apparatus, and electronic device for a virtual synchronous generator. The method involves: acquiring the output active power of the virtual synchronous generator; determining the angular frequency characteristic equation of the virtual synchronous generator based on its rotor motion equation; determining the power frequency control equation of the virtual synchronous generator based on the angular frequency characteristic equation and an uncertainty and disturbance estimation control algorithm; constructing an active power loop control model for the virtual synchronous generator based on the power frequency control equation; using the difference between the output active power and the preset target input active power as the input to the active power loop control model; and outputting the output voltage phase angle of the virtual synchronous generator from the active power loop control model. This method effectively suppresses power frequency oscillations in the virtual synchronous generator system and exhibits high robustness.

[0052] To make the above-mentioned objects, features and advantages of this disclosure more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0053] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the embodiments will be briefly described below. These drawings are incorporated in and constitute a part of this specification. They illustrate embodiments conforming to this disclosure and, together with the specification, serve to explain the technical solutions of this disclosure. It should be understood that the following drawings only show some embodiments of this disclosure and should not be considered as limiting the scope. Those skilled in the art can obtain other related drawings based on these drawings without creative effort.

[0054] Figure 1A schematic diagram of a virtual synchronous generator main circuit topology and control structure provided in an embodiment of this disclosure is shown;

[0055] Figure 2 A schematic diagram of an angular frequency root locus provided in an embodiment of this disclosure is shown;

[0056] Figure 3 A schematic diagram of an active power closed-loop root locus provided in an embodiment of this disclosure is shown;

[0057] Figure 4 A schematic diagram of an angular frequency response characteristic curve provided by an embodiment of the present disclosure is shown;

[0058] Figure 5 A schematic diagram of an active power response characteristic curve provided in an embodiment of this disclosure is shown;

[0059] Figure 6 A flowchart of an active power loop control method for a virtual synchronous generator provided in an embodiment of this disclosure is shown;

[0060] Figure 7 This diagram illustrates the structure of an active power loop control model provided in an embodiment of the present disclosure.

[0061] Figure 8 The diagram shows a waveform representation of an angular frequency tracking error under active power command disturbance provided in an embodiment of this disclosure.

[0062] Figure 9 A waveform diagram of the angular frequency response under an active power command disturbance provided in an embodiment of this disclosure is shown.

[0063] Figure 10 A waveform diagram of the angular frequency response under a power grid frequency disturbance provided in an embodiment of this disclosure is shown;

[0064] Figure 11 A waveform diagram of the active power response under an active power command disturbance provided in an embodiment of this disclosure is shown.

[0065] Figure 12 A waveform diagram of the active power response under power grid frequency disturbance provided in an embodiment of this disclosure is shown.

[0066] Figure 13 A schematic diagram of an active power loop control device for a virtual synchronous generator provided in an embodiment of this disclosure is shown.

[0067] Figure 14 A schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure is shown. Detailed Implementation

[0068] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. The components of the embodiments of this disclosure described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this disclosure provided in the accompanying drawings is not intended to limit the scope of the claimed disclosure, but merely represents selected embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure.

[0069] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0070] In this document, the term "and / or" merely describes a relationship, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Furthermore, the term "at least one" in this document means any combination of at least two of any one or more elements. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0071] Research has revealed that the use of VSG technology to provide inertial support to the system inevitably introduces power frequency oscillations. The effects of rotational inertia and damping coefficient on the active power loop are particularly prominent. When a synchronous generator is subjected to a step disturbance of the input active power command, due to inertia, the active power under the step disturbance will not immediately stabilize at the target active power, but will fluctuate within a certain power range. Eventually, under the action of damping, it will stabilize at the initial value. The frequency will also fluctuate, just like the power, resulting in power frequency oscillations in the system, which in turn leads to a decrease in the stability of the power system.

[0072] Based on the above research, this disclosure provides an active power loop control method, device, and electronic equipment for a virtual synchronous generator. The method involves acquiring the output active power and output angular frequency of the virtual synchronous generator; determining the corresponding angular frequency characteristic equation of the virtual synchronous generator based on its rotor motion equation; determining the corresponding power frequency control equation of the virtual synchronous generator based on the angular frequency characteristic equation and an uncertainty and disturbance estimation control algorithm; constructing an active power loop control model for the virtual synchronous generator based on the power frequency control equation; using the difference between the output active power and the preset target input active power as the input to the active power loop control model; and outputting the corresponding output voltage phase angle of the virtual synchronous generator from the active power loop control model. This method effectively suppresses power frequency oscillations in the virtual synchronous generator system and exhibits high robustness.

[0073] To facilitate understanding of this embodiment, a detailed description of the main circuit topology and control structure of a virtual synchronous generator disclosed in this disclosure will be provided first. (See also...) Figure 1 The diagram shown is a schematic of the main circuit topology and control structure of a virtual synchronous generator provided in an embodiment of this disclosure.

[0074] like Figure 1 As shown, the DC-side voltage of the virtual synchronous generator can be directly supplied by the DC power supply U. dc to replace; e abc =[e a e b e c ] T , representing the midpoint voltage of the inverter bridge arm; u abc =[u a u b u c ] T , representing the inverter output voltage; u gabc =[u ga u gb u gc ] T , representing the mains voltage; L s C represents the filter inductor; C represents the filter capacitor; R represents the parasitic resistance; i Labc =[i La i Lb i Lc ] T , representing the filter inductor current; L g For line inductance; P e Q represents the output active power of the virtual synchronous generator; e P represents the output reactive power of the virtual synchronous generator. set The input active power command value representing the virtual synchronous generator; Q setThe reactive power command value represents the virtual synchronous generator; δ represents the phase of the output voltage setpoint; E m This represents the magnitude of the output voltage setpoint.

[0075] Here, the control principle of VSG technology is to introduce the SG swing equation on the basis of traditional droop control, so that the inverter can simulate the transient characteristics of SG to participate in the system frequency regulation and voltage regulation, and provide inertial support to the system, thereby improving the system's operational stability.

[0076] In the practical application of virtual synchronous generators, when the virtual synchronous generator is subjected to a step disturbance of the input active power command, the system will exhibit power frequency oscillation. For example, when the active power command jumps from P1 to P2, the system's active power will fluctuate. Due to inertia, the active power under the step disturbance will not immediately stabilize at P2, but will oscillate from the power region between P1 and P2 to a power region greater than P2. After reaching the maximum value P3, it will move from the power region between P2 and P3 back to the power region between P1 and P2, repeating this cycle until it finally stabilizes at P2 under damping. For the same reason, the frequency will also oscillate, eventually stabilizing at its initial value under damping.

[0077] Furthermore, based on Figure 1 The schematic diagram of the virtual synchronous generator main circuit topology and control structure shown can be used to derive the closed-loop transfer functions of the angular frequency response and active power response based on the active power command step, respectively:

[0078]

[0079]

[0080] Wherein, formula (1) is the closed-loop transfer function of the angular frequency response based on the active power command step, and formula (2) is the closed-loop transfer function of the active power response based on the active power command step, where Pm represents mechanical power; J represents moment of inertia; and D represents damping coefficient. In formula (2) E represents the effective value of the inverter output voltage; U represents the effective value of the grid voltage; Z represents the effective value of the equivalent impedance.

[0081] Furthermore, by plotting the root locus of the closed-loop transfer function of the system's output angular frequency and active power, as well as the simulated waveform of the step response to the corresponding input active power command, the influence of rotational inertia and damping coefficient on the power frequency oscillation characteristics can be analyzed. See also... Figure 2 , Figure 3 , Figure 2 A schematic diagram of an angular frequency root locus provided in an embodiment of this disclosure; Figure 3 This is a schematic diagram of an active power closed-loop root locus provided in an embodiment of this disclosure.

[0082] like Figure 2 and Figure 3 As shown, when the rated capacity is set to 20kVA, D∈[5,25], J∈[0.05,2]. As the moment of inertia J increases, the angular frequency and active power closed-loop poles gradually approach the imaginary axis, resulting in a smaller system stability margin and increased oscillations. Conversely, as the damping coefficient D increases, the closed-loop poles gradually move away from the imaginary axis, and the oscillations weaken.

[0083] Further, see Figure 4 , Figure 5 , Figure 4 A schematic diagram of an angular frequency response characteristic curve provided in an embodiment of this disclosure; Figure 5 This is a schematic diagram of an active power response characteristic curve provided in an embodiment of this disclosure.

[0084] like Figure 4 and Figure 5 As shown, with the increase of the moment of inertia J, the angular frequency and active power overshoot increase, the settling time becomes longer, and the oscillation intensifies. Conversely, with the increase of damping, the overshoot decreases, the settling time shortens, and the oscillation weakens. Therefore, it can be concluded that the factors that have a significant impact on the power frequency oscillation of the system mainly include the moment of inertia J and the damping coefficient D.

[0085] Secondly, a detailed description of the active power loop control method for a virtual synchronous generator disclosed in this disclosure is provided. The execution entity of the active power loop control method for a virtual synchronous generator provided in this disclosure is generally a computer device with certain computing capabilities. This computer device may include, for example, a terminal device, a server, or other processing devices. The terminal device may be a user equipment (UE), mobile device, user terminal, terminal, cellular phone, cordless phone, personal digital assistant (PDA), handheld device, computing device, vehicle-mounted device, wearable device, etc. In some possible implementations, the active power loop control method for the virtual synchronous generator can be implemented by a processor calling computer-readable instructions stored in memory.

[0086] See Figure 6 The diagram shows a flowchart of an active power loop control method for a virtual synchronous generator according to an embodiment of this disclosure. The method includes steps S601 to S605, wherein:

[0087] S601. Based on the rotor motion equation of the virtual synchronous generator, determine the angular frequency characteristic equation corresponding to the virtual synchronous generator.

[0088] In this step, based on the rotor motion equation (swing equation) of the virtual synchronous generator, the angular frequency characteristic equation reflecting the relationship between the angular frequency and power of the virtual synchronous generator is determined.

[0089] In the specific implementation process, the angular frequency characteristic equation is determined based on the following method: determining the moment of inertia, damping coefficient, and rated angular frequency of the power grid corresponding to the virtual synchronous generator; determining the angular frequency characteristic equation based on the moment of inertia, the damping coefficient, and the rated angular frequency of the power grid, wherein the angular frequency characteristic equation is used to reflect the relationship between the angular frequency corresponding to the virtual synchronous generator, the difference between the mechanical power and the output active power of the virtual synchronous generator.

[0090] Here, the rotor motion equation (swing equation) of the virtual synchronous generator is:

[0091]

[0092] Among them, T m Representing mechanical torque, Tm = P m / ω,P m Represents mechanical power; T e T represents electromagnetic torque. e =P e / ω,P e δ represents electromagnetic power; ω represents voltage phase angle. n J represents the rated angular frequency of the power grid; D represents the moment of inertia; and D represents the damping coefficient. The VSG controls the output of active power through the active power loop, participates in the primary frequency regulation of the system, and provides inertial support and damping for system oscillations.

[0093] Furthermore, based on formula (3), the characteristic equation of the angular frequency corresponding to the virtual synchronous generator can be derived as follows:

[0094]

[0095] Here, let P s =P m -P e As the system control input, and with angular frequency ω as the control variable, the above formula (4) can be further simplified to:

[0096]

[0097] in, Since the moment of inertia J in the denominator of the polynomial is not zero, Δω can be considered bounded.

[0098] S602. Based on the angular frequency characteristic equation, determine the power frequency control equation corresponding to the virtual synchronous generator using an uncertainty and disturbance estimation control algorithm.

[0099] In this step, the Uncertainty and Disturbance Estimator (UDE) algorithm has significant advantages in solving system oscillation problems caused by parameter uncertainties and external disturbances, and has strong system robustness. Therefore, the UDE algorithm is used to determine the power frequency control equation corresponding to the virtual synchronous generator.

[0100] Here, we will first take a first-order linear time-invariant system as an example to briefly introduce the principle of UDE control theory. The corresponding first-order dynamic system can be:

[0101]

[0102] Where x = (x1, ..., x) n ,) T Represents the control state variable; u(t) = [u1(t), ..., u n (t)] T A represents the system control input; F represents the known state coefficient matrix; B represents the unknown and uncertain state coefficient matrix; and d(t) represents the control coefficient matrix, which satisfies full column rank.

[0103] In order to select an appropriate control input u(t) so that the system state variable x asymptotically tracks the reference model state variable x m This allows the state error to gradually converge to 0. Therefore, the expression for the reference model can be set as follows:

[0104]

[0105] Where, x m C(t) represents the state variables of the reference model; C(t) represents the given variables of the reference model; A m B represents the state coefficient matrix of the reference model; m The control coefficient matrix represents the reference model.

[0106] Furthermore, the formula for the state error e can be expressed as:

[0107] e = x m -x (8)

[0108] Furthermore, select an appropriate control input u(t) such that the following formula (9) holds:

[0109]

[0110] Among them, A m <0, K<0; K represents the error feedback gain.

[0111] Furthermore, by simultaneously solving equations (6) to (9), we can obtain:

[0112] A m x+B m C(t)-Ax-Fx-Bu(t)-d(t)=Ke (10)

[0113] According to formula (10), the control input u(t) can be expressed as:

[0114] u(t)=B + [A m x+B m C(t)-Ax-Fx-d(t)-Ke] (11)

[0115] Where B+ represents the pseudo-inverse matrix of the control coefficient matrix B, B + = (B T B) -1 B T .

[0116] Here, in order to satisfy the condition that the state error gradually converges to 0, according to the above formula (11), the following formula (12) must be satisfied:

[0117] [I-BB + [A] m x+B m C(t)-Ax-Fx-d(t)-Ke]=0 (12)

[0118] If B is invertible, then the above formula (12) holds. If B is not invertible, it can be achieved by selecting a suitable reference model and error feedback gain.

[0119] Furthermore, by transforming the above formula (11) to the S-domain using the Laplace transform, we can obtain the following formula (13):

[0120] U(s)=B + [A m X(s)+B m C(s)-AX(s)-KE(s)]+B + [-FX(s)-D(s)] (13)

[0121] From formula (13), we can see that:

[0122] U d (s)=B + [-FX(s)-D(s)] (14)

[0123] Furthermore, since the core idea of ​​UDE is to equate uncertainties and disturbances in a system to lumped disturbances, and to estimate these lumped disturbances using a filter with appropriate bandwidth, therefore, if a filter G with unity gain exists... f If (s) has suitable bandwidth, then UDE can be represented as:

[0124] UDE=B + [-FX(s)-DX(s)]G f (s) (15)

[0125] Therefore, based on formulas (6) to (15), the control law based on UDE can be expressed as:

[0126] U(s)=B + [A m X(s)+B m C(s)-AX(s)-KE(s)]+UDE (16)

[0127] Combining equation (16) and equation (15), we get:

[0128] U(s)=(IB + BG f (s)) -1 B + [A m x+B m C-KE-AX(1-G f (s))-sG f (s)X] (17)

[0129] Thus, as described above, the control law of the UDE control strategy can be expressed in the form of formula (17).

[0130] Furthermore, the UDE control algorithm described by formulas (6) to (15) is applied to determine the power frequency control equation corresponding to the virtual synchronous generator. The specific process can be as follows: obtain the preset target output angular frequency of the virtual synchronous generator; determine the angular frequency tracking error equation corresponding to the virtual synchronous generator according to the preset state coefficient matrix and error feedback gain, wherein the angular frequency tracking error equation is used to make the output angular frequency accurately track the change of the target output angular frequency; determine the power frequency characteristic equation corresponding to the virtual synchronous generator according to the angular frequency tracking error equation, the angular frequency characteristic equation, the target output angular frequency and the preset control coefficient matrix, wherein the power frequency characteristic equation includes a lumped disturbance term; determine the lumped disturbance equation corresponding to the virtual synchronous generator according to the preset unit impulse response of the filter; replace the lumped disturbance term with the lumped disturbance equation to determine the power frequency control equation.

[0131] Specifically, as can be seen from step S601, the angular frequency characteristic equation corresponding to the virtual synchronous generator can be simplified to the form of formula (6). Therefore, based on the UDE control algorithm, it is necessary to select a suitable control input P. s This enables the output angular frequency ω of the virtual synchronous generator to accurately track the input command ω. ref This refers to the change in the preset target output angular frequency. Therefore, according to formula (9), the tracking error e can be calculated. ω =ω ref The angular frequency tracking error equation corresponding to -ω is expressed as:

[0132]

[0133] Among them, A m Kω represents the preset control coefficient matrix; Kω represents the error feedback gain, and e represents the angular frequency tracking error value. ω Eventually, it can gradually converge to 0, so the angular frequency tracking error equation represented by formula (18) is asymptotically stable.

[0134] Furthermore, by combining equation (5) and equation (18), we can obtain:

[0135]

[0136] Further simplification of formula (19) yields the power frequency characteristic equation corresponding to the virtual synchronous generator, i.e., the control input P s Must meet:

[0137]

[0138] Where C is the angular frequency setting value. Δω, as a lumped disturbance term, consists of two parts: the uncertainty of the system's internal parameters and the unknown external disturbances of the system.

[0139] Furthermore, by selecting an appropriate bandwidth filter to estimate the lumped disturbance, the lumped disturbance equation based on UDE can be expressed by the following formula (21):

[0140]

[0141] Here, the unit impulse response is convolved with the lumped perturbation term to obtain the lumped perturbation equation.

[0142] Where * represents the convolution symbol, g f Let Gf(s) be the unit impulse response of the filter. Gf(s) needs to be strictly true stable and have a suitable bandwidth.

[0143] Furthermore, by replacing the lumped disturbance term Δω in formula (20) with formula (21), and after simplification, we can obtain:

[0144]

[0145] Here, uncertainties and external disturbances affecting power frequency oscillations, including rotational inertia, damping coefficient, input active power command, and grid frequency, are replaced by lumped disturbances, and the lumped disturbances are estimated by selecting an appropriate filter. Since the uncertainties and external disturbances affecting power frequency oscillations are mostly in the low-frequency range, a first-order low-pass filter Gf(s) is selected in this embodiment.

[0146] For a first-order low-pass filter Gf(s), its corresponding unit impulse response g is... f The Laplace transform of Gf(s) can be expressed as:

[0147]

[0148] Where T = 1 / ω f T represents the response time constant; ω f This represents the upper limit of the lumped disturbance frequency band in the system. When ω < ω f When ω > ω, the filter maintains unity gain. f At that time, the gain decays to 0.

[0149] Furthermore, by combining equations (22) and (23), we can obtain the power frequency control equation corresponding to the virtual synchronous generator:

[0150]

[0151] Thus, formula (24) no longer contains uncertainties and unknown disturbance terms.

[0152] S603. Construct the active power loop control model corresponding to the virtual synchronous generator based on the power frequency control equation.

[0153] In this step, the active power loop control structure of the virtual synchronous generator is established according to formula (24). When the lumped disturbance Δω is bounded, the filter Gf(s) is strictly true stable and maintains unit output gain within the frequency band of Δω while the gain decays to 0 in other ranges, then the active power loop control structure of the virtual synchronous generator is bounded and stable.

[0154] As one possible implementation method, see Figure 7 , Figure 7 This is a schematic diagram of the active power loop control model provided in an embodiment of this disclosure.

[0155] Specifically, an uncertainty and disturbance estimation control unit is constructed based on the power frequency control equation; an integral control unit and a proportional control unit are sequentially set after the uncertainty and disturbance estimation control unit, wherein the proportional control unit is determined based on the effective value of the inverter output voltage, the effective value of the grid voltage, and the effective value of the equivalent impedance corresponding to the virtual synchronous generator; the uncertainty and disturbance estimation control unit, the integral control unit, and the proportional control unit are determined as the active power loop control model.

[0156] like Figure 7 As shown, the integral control unit is 1 / S; the proportional control unit is S. E The proportional control unit is S. E It can be determined according to the above formula (2).

[0157] Here, by adjusting the reference model and the error feedback gain K... ω and filter G f (s) parameters are used to ensure asymptotically stable tracking, thereby achieving sufficiently high steady-state adjustment accuracy. Since the filter bandwidth must be greater than the lumped disturbance bandwidth while also considering the system's target tracking capability, a first-order low-pass filter cutoff frequency ω can be selected in practical applications. f =20π, K ω The bandwidth, which represents the desired error step response, should be less than ω. f Set the reference model parameters C = 100π, |A m |=|B m |

[0158] As one possible implementation, the parameter settings for the active power loop control model can be as shown in Table 1 below:

[0159] Table 1. Parameters of the Active Power Loop Control Model Based on UDE

[0160] parameter numerical values parameter numerical values <![CDATA[ω f / rad·s -1 ]]> 20π Am -0.02 <![CDATA[K ω ]]> -0.08 Bm 0.02

[0161] S604. Obtain the output active power and output angular frequency of the virtual synchronous generator.

[0162] In this step, the output active power P of the virtual synchronous generator is obtained. e And the output angular frequency ω.

[0163] S605. The difference between the output active power and the preset target input active power is used as the input of the active power loop control model, and the active power loop control model outputs the output voltage phase angle corresponding to the virtual synchronous generator.

[0164] In this step, the output active power P eCompared with the preset target input active power P set The difference is used as the input of the active power loop control model, and the active power loop control model outputs the output voltage phase angle δ corresponding to the virtual synchronous generator.

[0165] Specifically, the active power loop control model can be located in, for example, Figure 1 The virtual synchronization and control module in the virtual synchronous generator control structure shown is input to the output voltage phase angle δ from the active power loop control model. Figure 1 The voltage and current dual-loop control loop in the virtual synchronous generator control structure shown in the figure consists of the output angular frequency ω output by the uncertainty and disturbance estimation control unit and the output active power P output by the proportional element from the output voltage phase angle δ. e The negative feedback loop returns to the input of the active power loop control model and continuously compensates for the tracking error e. ω This makes the angular frequency tracking error e ω It gradually converges to 0.

[0166] As one possible implementation, this application embodiment built a grid-connected simulation model of a single 20kW virtual synchronous machine based on the Matlab / Simulink software platform. The specific parameters are shown in Table 2 below:

[0167] Table 2 Simulation parameters of virtual synchronous generator

[0168]

[0169]

[0170] Here, in the comparative simulation test, J=0.05, D=25, and the simulation time is set to 1s. The input active power command step disturbance and the grid frequency disturbance are set respectively. The specific simulation operation is as follows: (1) After the inverter is normally connected to the grid, at 0.5s, the input active power command is set to step decrease to 15kW, and at 0.7s it recovers to 20kW. The input reactive power command value is set to 0. (2) After the inverter is normally connected to the grid, at 0.5s, the grid frequency is set to step increase to 50.2Hz, and at 0.7s it recovers to 50Hz. The input reactive power command value is set to 0.

[0171] See Figure 8 , Figure 8 This is a waveform diagram illustrating the angular frequency tracking error under active command disturbance, provided as an embodiment of this disclosure.

[0172] Here, as Figure 8 As shown, under an active command step disturbance, the angular frequency only has a difference of 0.72 rad / s at the moment of disturbance, while the difference remains at 0 at other times.

[0173] See Figure 9 , Figure 10 , Figure 9 A waveform diagram illustrating the angular frequency response under an active power command disturbance, provided as an embodiment of this disclosure; Figure 10 This is a waveform diagram illustrating the angular frequency response under power grid frequency disturbances, provided as an embodiment of this disclosure.

[0174] Here, as Figure 9 As shown, under the active power command step disturbance, the maximum amplitude of the first pendulum under conventional angular frequency control is 1.25 rad / s, while the maximum amplitude of the first pendulum using the method proposed in this paper is 0.72 rad / s, a difference of 0.53 rad / s. This means that the output angular frequency oscillation amplitude is significantly reduced and quickly maintained at the initial value. Simultaneously, under the action of the integral term, the transient adjustment process is significantly shortened, and the dynamic performance of the system is improved.

[0175] Furthermore, such as Figure 10 As shown, under conventional control with grid frequency disturbance, the maximum amplitude of the first swing is 0.51 rad / s, while using the method proposed in this paper, the maximum amplitude of the first swing is 0.19 rad / s, a difference of 0.32 rad / s. The output angular frequency oscillation amplitude is significantly reduced compared to conventional control, and the transient adjustment process is shortened.

[0176] See Figure 11 , Figure 12 , Figure 11 A waveform diagram illustrating the active power response under an active power command disturbance, provided as an embodiment of this disclosure; Figure 12 This is a waveform diagram illustrating the active power response under power grid frequency disturbances, provided as an embodiment of this disclosure.

[0177] Here, as Figure 11 As shown, under the active power command step disturbance, the maximum amplitude of the first swing in the conventional active power control is 2052W, while the maximum amplitude of the first swing using the method proposed in this paper is 774W, a difference of 1278W. The output active power oscillation amplitude is significantly reduced, and the transient adjustment process is shortened. With the output angular frequency remaining almost constant, the control input also remains constant, enabling the active power output Pe to quickly follow the command changes and remain consistent.

[0178] Furthermore, such as Figure 12 As shown, under grid frequency disturbances, the system continuously adjusts the control input to improve the stability of the output angular frequency. Although the output active power is no longer consistent with the active power command value, its maximum oscillation amplitude at the first swing is only 1.32kW, which is still smaller than that of traditional control, and the transient adjustment process is shorter.

[0179] This disclosure provides an active power loop control method for a virtual synchronous generator. The method involves acquiring the output active power and output angular frequency of the virtual synchronous generator; determining the corresponding angular frequency characteristic equation based on the rotor motion equation of the virtual synchronous generator; determining the corresponding power frequency control equation based on the angular frequency characteristic equation using an uncertainty and disturbance estimation control algorithm; constructing an active power loop control model for the virtual synchronous generator based on the power frequency control equation; using the difference between the output active power and the preset target input active power as the input to the active power loop control model; and outputting the corresponding output voltage phase angle of the virtual synchronous generator from the active power loop control model. This method effectively suppresses power frequency oscillations in the virtual synchronous generator system and exhibits high robustness.

[0180] Those skilled in the art will understand that, in the above-described method of the specific implementation, the order in which each step is written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0181] Based on the same inventive concept, this disclosure also provides an active power loop control device for a virtual synchronous generator corresponding to the active power loop control method for a virtual synchronous generator. Since the principle of the device in this disclosure for solving the problem is similar to the above-mentioned active power loop control method for a virtual synchronous generator in this disclosure, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0182] Please see Figure 13 , Figure 13 This is a schematic diagram of an active power loop control device for a virtual synchronous generator provided in an embodiment of this disclosure. Figure 13 As shown in the figure, the active power loop control device 1300 provided in this embodiment includes: a first determining module 1310; a second determining module 1320; a constructing module 1330; an acquiring module 1340; and a control module 1350.

[0183] The first determining module 1310 is used to determine the angular frequency characteristic equation corresponding to the virtual synchronous generator based on the rotor motion equation of the virtual synchronous generator.

[0184] The second determining module 1320 is used to determine the power frequency control equation corresponding to the virtual synchronous generator based on the angular frequency characteristic equation and an uncertainty and disturbance estimation control algorithm.

[0185] Module 1330 is used to construct the active power loop control model corresponding to the virtual synchronous generator based on the power frequency control equation;

[0186] The acquisition module 1340 is used to acquire the output active power and output angular frequency of the virtual synchronous generator;

[0187] The control module 1350 is used to take the difference between the output active power and the preset target input active power as the input of the active power loop control model, and the active power loop control model outputs the output voltage phase angle corresponding to the virtual synchronous generator.

[0188] Optionally, the second determining module 1320 is specifically used for:

[0189] Obtain the preset target output angular frequency of the virtual synchronous generator;

[0190] Based on the preset state coefficient matrix and error feedback gain, the angular frequency tracking error equation corresponding to the virtual synchronous generator is determined, wherein the angular frequency tracking error equation is used to enable the output angular frequency to accurately track the change of the target output angular frequency;

[0191] Based on the angular frequency tracking error equation, the angular frequency characteristic equation, the target output angular frequency, and the preset control coefficient matrix, the power frequency characteristic equation corresponding to the virtual synchronous generator is determined, wherein the power frequency characteristic equation includes a lumped disturbance term.

[0192] Based on the unit impulse response corresponding to the preset filter, the lumped disturbance equation corresponding to the virtual synchronous generator is determined;

[0193] The power frequency control equation is determined by replacing the lumped disturbance term with the lumped disturbance equation.

[0194] Optionally, the construction module 1330 is specifically used for:

[0195] An uncertainty and disturbance estimation control unit is constructed based on the power frequency control equation;

[0196] An integral control unit and a proportional control unit are sequentially set after the uncertainty and disturbance estimation control unit. The proportional control unit is determined based on the effective value of the inverter output voltage, the effective value of the grid voltage, and the effective value of the equivalent impedance corresponding to the virtual synchronous generator.

[0197] The uncertainty and disturbance estimation control unit, the integral control unit, and the proportional control unit are defined as the active power loop control model.

[0198] Optionally, the first determining module 1310 is specifically used for:

[0199] Determine the moment of inertia, damping coefficient, and rated angular frequency of the power grid corresponding to the virtual synchronous generator;

[0200] Based on the moment of inertia, the damping coefficient, and the rated angular frequency of the power grid, the angular frequency characteristic equation is determined, wherein the angular frequency characteristic equation is used to reflect the relationship between the angular frequency corresponding to the virtual synchronous generator, the difference between the mechanical power and the output active power of the virtual synchronous generator.

[0201] Optionally, the second determining module 1320 is further configured to:

[0202] The unit impulse response is convolved with the lumped perturbation term to obtain the lumped perturbation equation.

[0203] The processing flow of each module in the device and the interaction flow between each module can be referred to the relevant descriptions in the above method embodiments, and will not be detailed here.

[0204] This disclosure provides an active power loop control device for a virtual synchronous generator. It acquires the output active power and output angular frequency of the virtual synchronous generator; determines the corresponding angular frequency characteristic equation of the virtual synchronous generator based on the rotor motion equation; determines the corresponding power frequency control equation of the virtual synchronous generator based on the angular frequency characteristic equation and an uncertainty and disturbance estimation control algorithm; constructs an active power loop control model for the virtual synchronous generator based on the power frequency control equation; and uses the difference between the output active power and the preset target input active power as the input to the active power loop control model, which then outputs the corresponding output voltage phase angle of the virtual synchronous generator. This effectively suppresses power frequency oscillations in the virtual synchronous generator system and exhibits high robustness.

[0205] Corresponding to Figure 6 The active power loop control method for virtual synchronous generators in this disclosure also provides an electronic device 1400, such as... Figure 14 The diagram shown is a structural schematic of an electronic device 1400 provided in an embodiment of this disclosure, including:

[0206] The system includes a processor 141, a memory 142, and a bus 143. The memory 142 stores execution instructions and includes main memory 1421 and external memory 1422. The main memory 1421, also called internal memory, temporarily stores the computational data in the processor 141, as well as data exchanged with external memory such as a hard disk. The processor 141 exchanges data with the external memory 1422 through the main memory 1421. When the electronic device 1400 is running, the processor 141 communicates with the memory 142 through the bus 143, enabling the processor 141 to execute instructions. Figure 6 The steps of the localization detection method.

[0207] This disclosure also provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program performs the steps of the active power loop control method for a virtual synchronous generator described in the above-described method embodiments. The storage medium can be either volatile or non-volatile computer-readable storage.

[0208] The aforementioned computer program product can be implemented through hardware, software, or a combination thereof. In one optional embodiment, the computer program product is specifically embodied in a computer storage medium; in another optional embodiment, the computer program product is specifically embodied in a software product, such as a software development kit (SDK), etc.

[0209] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the device described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here. In the several embodiments provided in this disclosure, it should be understood that the disclosed device and method can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection may be through some communication interfaces; the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0210] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0211] In addition, the functional units in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0212] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0213] Finally, it should be noted that the above-described embodiments are merely specific implementations of this disclosure, used to illustrate the technical solutions of this disclosure, and not to limit it. The protection scope of this disclosure is not limited thereto. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this disclosure. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this disclosure, and should all be covered within the protection scope of this disclosure. Therefore, the protection scope of this disclosure should be determined by the protection scope of the claims.

Claims

1. A method of active loop control of a virtual synchronous generator, characterized in that, The method comprises: According to the rotor motion equation of the virtual synchronous generator, the angular frequency characteristic equation corresponding to the virtual synchronous generator is determined; According to the angular frequency characteristic equation, the power frequency control equation corresponding to the virtual synchronous generator is determined based on an uncertainty and disturbance estimation control algorithm; According to the power frequency control equation, the active ring control model corresponding to the virtual synchronous generator is constructed, and specifically, an uncertainty and disturbance estimation control unit is constructed according to the power frequency control equation; An integral control unit and a proportional control unit are sequentially arranged after the uncertainty and disturbance estimation control unit, wherein the proportional control unit is determined according to the effective value of the output voltage of the inverter corresponding to the virtual synchronous generator, the effective value of the grid voltage, and the effective value of the equivalent impedance; The uncertainty and disturbance estimation control unit, the integral control unit, and the proportional control unit are determined as the active ring control model; The output active power of the virtual synchronous generator is obtained; The difference between the output active power and the preset target input active power is taken as the input of the active ring control model, and the output voltage phase angle corresponding to the virtual synchronous generator is output by the active ring control model.

2. The method of claim 1, wherein, According to the angular frequency characteristic equation, the power frequency control equation corresponding to the virtual synchronous generator is determined based on an uncertainty and disturbance estimation control algorithm, and specifically comprises: The target output angular frequency of the virtual synchronous generator is obtained; According to the preset state quantity coefficient matrix and the error feedback gain, the angular frequency tracking error equation corresponding to the virtual synchronous generator is determined, wherein the angular frequency tracking error equation is used to make the output angular frequency corresponding to the virtual synchronous generator accurately track the change of the target output angular frequency; According to the angular frequency tracking error equation, the angular frequency characteristic equation, the target output angular frequency, and the preset control coefficient matrix, the power frequency characteristic equation corresponding to the virtual synchronous generator is determined, wherein the power frequency characteristic equation includes a lumped disturbance term; According to the unit impulse response corresponding to the preset filter, the lumped disturbance equation corresponding to the virtual synchronous generator is determined; The lumped disturbance term is replaced by the lumped disturbance equation to determine the power frequency control equation.

3. The method of claim 1, wherein, According to the rotor motion equation of the virtual synchronous generator, the angular frequency characteristic equation corresponding to the virtual synchronous generator is determined, and specifically comprises: The moment of inertia, the damping coefficient, and the rated angular frequency of the grid corresponding to the virtual synchronous generator are determined; According to the moment of inertia, the damping coefficient, and the rated angular frequency of the grid, the angular frequency characteristic equation is determined, wherein the angular frequency characteristic equation is used to reflect the relationship between the angular frequency corresponding to the virtual synchronous generator and the difference between the mechanical power and the output active power corresponding to the virtual synchronous generator.

4. The method of claim 2, wherein, According to the unit impulse response corresponding to the preset filter, the lumped disturbance equation corresponding to the virtual synchronous generator is determined, and specifically comprises: The unit impulse response is convoluted with the lumped disturbance term to obtain the lumped disturbance equation.

5. The method of claim 2, wherein: the angular frequency tracking error equation corresponds to an angular frequency tracking error value that converges to zero; the filter is a first order low pass filter.

6. An active ring control device of a virtual synchronous generator, characterized in that, comprising: a first determining module configured to determine an angular frequency characteristic equation corresponding to the virtual synchronous generator according to a rotor motion equation of the virtual synchronous generator; a second determining module configured to determine a power frequency control equation corresponding to the virtual synchronous generator based on an uncertainty and disturbance estimation control algorithm according to the angular frequency characteristic equation; a constructing module configured to construct an active power loop control model corresponding to the virtual synchronous generator according to the power frequency control equation, specifically, to construct an uncertainty and disturbance estimation control unit according to the power frequency control equation; an integral control unit and a proportional control unit are sequentially arranged after the uncertainty and disturbance estimation control unit, wherein the proportional control unit is determined according to an effective value of an inverter output voltage, an effective value of a grid voltage, and an effective value of an equivalent impedance corresponding to the virtual synchronous generator; the uncertainty and disturbance estimation control unit, the integral control unit, and the proportional control unit are determined as the active power loop control model; an obtaining module configured to obtain an output active power of the virtual synchronous generator; a control module configured to take a difference between the output active power and a preset target input active power as an input of the active power loop control model, and output an output voltage phase angle corresponding to the virtual synchronous generator by the active power loop control model.

7. The apparatus of claim 6, wherein, The second determining module is specifically configured to: obtain a preset target output angular frequency of the virtual synchronous generator; determine an angular frequency tracking error equation corresponding to the virtual synchronous generator according to a preset state quantity coefficient matrix and an error feedback gain, wherein the angular frequency tracking error equation is used to make an output angular frequency corresponding to the virtual synchronous generator accurately track a change of the target output angular frequency; determine a power frequency characteristic equation corresponding to the virtual synchronous generator according to the angular frequency tracking error equation, the angular frequency characteristic equation, the target output angular frequency, and a preset control coefficient matrix, wherein a lumped disturbance term is included in the power frequency characteristic equation; determine a lumped disturbance equation corresponding to the virtual synchronous generator according to a unit impulse response corresponding to a preset filter; replace the lumped disturbance term with the lumped disturbance equation to determine the power frequency control equation.

8. An electronic device, comprising: comprising: a processor, a memory, and a bus, the memory stores machine readable instructions executable by the processor, when the electronic device is running, the processor and the memory communicate through the bus, the machine readable instructions are executed by the processor to execute the steps of the active power loop control method in any one of claims 1 to 5.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, which is executed by the processor to execute the steps of the active power loop control method in any one of claims 1 to 5.

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