Power oscillation suppression method and device of virtual synchronous generator and electronic equipment

Abstract

The invention discloses a power oscillation suppression method and device of a virtual synchronous generator and electronic equipment, and relates to the technical field of voltage control. The method comprises the following steps: discretizing rotor motion equations of a plurality of virtual synchronous generators to obtain a discretized rotor motion equation of each virtual synchronous generator; solving the discretized rotor motion equation of each virtual synchronous generator according to a model prediction algorithm to obtain the power increment of each virtual synchronous generator; interacting the power increment of each virtual synchronous generator according to a consistency algorithm to obtain an interaction damping item of each virtual synchronous generator; and the interaction damping term of each virtual synchronous generator is added to the rotor motion equation of each virtual synchronous generator, so that power oscillation suppression of the multiple virtual synchronous generators is realized. The technical problem that in the prior art, the power output stability of multiple virtual synchronous generators is poor is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of voltage control, and in particular to a method, a device and an electronic device for suppressing power oscillation of a virtual synchronous generator. Background Art

[0002] In island mode, multiple virtual synchronous generators (VSGs) lack the support of external power grids and need to rely on internal energy balance to maintain stability. In this case, even a small phase angle difference between VSGs can cause significant frequency and power oscillations when the load is disturbed, affecting the stability of the system and the efficient use of renewable energy. Although the damping coefficient of the VSG can be adjusted to promote the rapid convergence of the oscillation and improve the damping characteristics of the system, the damping coefficient in the VSG swing equation is equivalent to the droop coefficient of the active-frequency droop control. Improving the damping will also change the droop characteristics and power distribution. Therefore, the adjustment of the damping coefficient is constrained by the expected droop characteristics. Adjusting the damping coefficient alone cannot effectively suppress the frequency and power oscillations of the multi-VSG system.

[0003] At present, in order to deal with power oscillation, existing technologies usually adopt various solutions such as improved VSG topology, centralized and distributed control strategies. However, these methods have limitations: topology optimization may increase the difficulty of system debugging; centralized control lacks expansion flexibility; distributed control may face problems of insufficient coordination and communication delay, resulting in poor power output stability of multiple virtual synchronous generators.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present invention provide a method, device and electronic device for suppressing power oscillation of a virtual synchronous generator, so as to at least solve the technical problem that the power oscillation suppression strategy of multiple virtual synchronous generators in the prior art has limitations, resulting in poor power output stability of the multiple virtual synchronous generators.

[0006] According to one aspect of an embodiment of the present invention, a method for suppressing power oscillations of a virtual synchronous generator is provided, comprising: discretizing the rotor motion equations of multiple virtual synchronous generators to obtain the discretized rotor motion equations of each virtual synchronous generator; solving the discretized rotor motion equations of each virtual synchronous generator according to a model prediction algorithm to obtain the power increment of each virtual synchronous generator, wherein the weight coefficient in the model prediction algorithm is determined according to an adaptive function of the weight coefficient; interacting the power increment of each virtual synchronous generator according to a consistency algorithm to obtain an interactive damping term of each virtual synchronous generator, wherein the mutual damping coefficient in the interactive damping term is determined according to an adaptive function of the mutual damping coefficient; and adding the interactive damping term of each virtual synchronous generator to the rotor motion equation of each virtual synchronous generator to achieve power oscillation suppression of multiple virtual synchronous generators.

[0007] Furthermore, the discretized rotor motion equation of each virtual synchronous generator is solved according to the model prediction algorithm to obtain the power increment of each virtual synchronous generator, including: determining the prediction range of the model prediction algorithm, and determining the prediction output vector corresponding to the prediction range; determining the weight coefficient according to the weight coefficient adaptive function, and determining the objective function of each virtual synchronous generator according to the weight coefficient, the angular frequency and power of the discretized rotor motion equation of each virtual synchronous generator; solving the discretized rotor motion equation of each virtual synchronous generator according to the prediction output vector and the objective function of each virtual synchronous generator to obtain the power increment of each virtual synchronous generator.

[0008] Furthermore, the weight coefficient includes a first weight coefficient and a second weight coefficient, the first weight coefficient is used to adjust the degree of influence of the angular frequency, and the second weight coefficient is used to adjust the degree of influence of the power, wherein the weight coefficient is determined according to the weight coefficient adaptive function, including: calculating the first weight coefficient according to the angular frequency, the given value of the angular frequency, the input variable, the output power and the first function in the weight coefficient adaptive function; calculating the second weight coefficient according to the active power change rate and the second function in the weight coefficient adaptive function.

[0009] Furthermore, the objective function of each virtual synchronous generator is determined based on the weight coefficient, the angular frequency and power of the discretized rotor motion equation of each virtual synchronous generator, including: respectively calculating the angular frequency error within the prediction range and the active power error within the prediction range; constructing the objective function of each virtual synchronous generator based on the angular frequency error, the active power error, the first weight coefficient and the second weight coefficient.

[0010] Furthermore, the power increment of each virtual synchronous generator is interacted according to the consistency algorithm to obtain the interactive damping term of each virtual synchronous generator, including: determining the mutual damping coefficient according to the mutual damping coefficient adaptive function; taking the power increment between multiple virtual synchronous generators as the consistency variable, exchanging data between multiple virtual synchronous generators to obtain the exchange data of each virtual synchronous generator; constructing the interactive damping term of each virtual synchronous generator according to the mutual damping coefficient and the exchange data of each virtual synchronous generator.

[0011] Furthermore, the mutual damping coefficient is determined according to the mutual damping coefficient adaptive function, including: using an inverse trigonometric function to calculate the differential value of the nonlinear processing coefficient and the angular frequency to obtain a first value; and calculating the mutual damping coefficient according to the first value, a preset adaptive coefficient and the mutual damping coefficient adaptive function.

[0012] Furthermore, after adding the interactive damping term of each virtual synchronous generator to the rotor motion equation of each virtual synchronous generator, the method also includes: determining the control parameters of each virtual synchronous generator based on the rotor motion equation of each virtual synchronous generator including the interactive damping term; and controlling each virtual synchronous generator based on the control parameters of each virtual synchronous generator to achieve power oscillation suppression of multiple virtual synchronous generators.

[0013] According to another aspect of an embodiment of the present invention, a power oscillation suppression device for a virtual synchronous generator is also provided, including: a first processing module, used to discretize the rotor motion equations of multiple virtual synchronous generators to obtain the discretized rotor motion equations of each virtual synchronous generator; a second processing module, used to solve the discretized rotor motion equations of each virtual synchronous generator according to a model prediction algorithm to obtain the power increment of each virtual synchronous generator, wherein the weight coefficient in the model prediction algorithm is determined according to the weight coefficient adaptive function; a third processing module, used to interact the power increment of each virtual synchronous generator according to a consistency algorithm to obtain the interactive damping term of each virtual synchronous generator, wherein the mutual damping coefficient in the interactive damping term is determined according to the mutual damping coefficient adaptive function; a fourth processing module, used to add the interactive damping term of each virtual synchronous generator to the rotor motion equation of each virtual synchronous generator to achieve power oscillation suppression of multiple virtual synchronous generators.

[0014] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned method for suppressing power oscillation of a virtual synchronous generator when running.

[0015] According to another aspect of an embodiment of the present invention, an electronic device is also provided, which includes one or more processors; a memory for storing one or more programs, which, when the one or more programs are executed by the one or more processors, enables the one or more processors to run the programs, wherein the programs are configured to execute the above-mentioned power oscillation suppression method of the virtual synchronous generator when running.

[0016] In an embodiment of the present invention, the rotor motion equations of multiple virtual synchronous generators are first discretized to obtain the discretized rotor motion equation of each virtual synchronous generator, and then the discretized rotor motion equation of each virtual synchronous generator is solved according to a model prediction algorithm to obtain the power increment of each virtual synchronous generator, wherein the weight coefficient in the model prediction algorithm is determined according to an adaptive function of the weight coefficient, and then the power increment of each virtual synchronous generator is interacted according to a consistency algorithm to obtain the interactive damping term of each virtual synchronous generator, wherein the mutual damping coefficient in the interactive damping term is determined according to an adaptive function of the mutual damping coefficient, and then the interactive damping term of each virtual synchronous generator is added to the rotor motion equation of each virtual synchronous generator to achieve power oscillation suppression of multiple virtual synchronous generators.

[0017] In the above process, the discretized virtual synchronous generator rotor motion equations are solved by the model prediction algorithm, which can calculate the power increment more accurately and efficiently, improve the accuracy and response speed of power prediction, and thus optimize the control performance of the system; by introducing the adaptive dynamic weight method, the weight can be adjusted according to the real-time operating status of the system, which significantly improves the control accuracy in the model prediction algorithm; the interactive damping term is constructed by the consistency algorithm, and the interactive damping support of multiple virtual synchronous generators is realized. An adaptive mutual damping function is proposed, which effectively suppresses the power oscillations between multiple virtual synchronous generators, significantly enhances the system's response to load disturbances, and improves the dynamic stability and robustness of multiple virtual synchronous generators by quickly and stably adjusting the power output.

[0018] It can be seen that through the technical solution of the present invention, the purpose of enhancing the dynamic stability of the multiple virtual synchronous generators is achieved, thereby achieving the technical effect of improving the power output stability of the multiple virtual synchronous generators, and further solving the technical problem that the power oscillation suppression strategy of the multiple virtual synchronous generators in the prior art has limitations, resulting in poor power output stability of the multiple virtual synchronous generators. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0020] Figure 1 is a flow chart of an optional method for suppressing power oscillation of a virtual synchronous generator according to an embodiment of the present invention;

[0021] Figure 2 is a flow chart of an optional power oscillation suppression between multiple virtual synchronous generators according to an embodiment of the present invention;

[0022] Figure 3 is a structural schematic diagram of an optional load disturbance test model according to an embodiment of the present invention;

[0023] Figure 4 is a schematic diagram of active power output using conventional control under an optional load disturbance test according to an embodiment of the present invention;

[0024] Figure 5 is a schematic diagram of active power output with interactive damping applied under an optional load disturbance test according to an embodiment of the present invention;

[0025] Figure 6 is a schematic diagram of a frequency output using conventional control under an optional load disturbance test according to an embodiment of the present invention;

[0026] Figure 7 is a schematic diagram of frequency output of applying interactive damping under an optional load disturbance test according to an embodiment of the present invention;

[0027] Figure 8 is a schematic diagram of an optional power oscillation suppression device of a virtual synchronous generator according to an embodiment of the present invention;

[0028] Fig. 9 is a schematic diagram of an optional electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] It should be noted that the relevant information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for display, data for analysis, etc.) involved in the present invention are all information and data authorized by the user or fully authorized by all parties. For example, an interface is set between the system and the relevant user or organization. Before obtaining relevant information, it is necessary to send an acquisition request to the aforementioned user or organization through the interface, and obtain relevant information after receiving the consent information fed back by the aforementioned user or organization.

[0032] Example 1

[0033] According to an embodiment of the present invention, an embodiment of a method for suppressing power oscillations of a virtual synchronous generator is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0034] Figure 1 is a flow chart of an optional method for suppressing power oscillation of a virtual synchronous generator according to an embodiment of the present invention, such as Figure 1 As shown, the method comprises the following steps:

[0035] Step S101 : discretizing the rotor motion equations of multiple virtual synchronous generators to obtain the discretized rotor motion equation of each virtual synchronous generator.

[0036] In the above steps, the rotor motion equations of multiple virtual synchronous generators can be discretized by application systems, processors, electronic devices and other devices. Optionally, the rotor motion equations of multiple virtual synchronous generators can be discretized by a power oscillation suppression system of the virtual synchronous generator to obtain a discretized rotor motion equation of each virtual synchronous generator.

[0037] The discretized rotor motion equation is expressed as follows:

[0038]

[0039] Where Δω is the angular frequency deviation, ΔP m is the control input variable deviation, ΔP e is the output power deviation, which can be regarded as a disturbance value, k is the discrete time, A z , B u , B d and C c is the coefficient matrix in the state equation corresponding to the rotor motion equation, y c Output variables for multiple parallel virtual synchronous generator systems.

[0040] Step S102, solving the discretized rotor motion equation of each virtual synchronous generator according to the model prediction algorithm to obtain the power increment of each virtual synchronous generator, wherein the weight coefficient in the model prediction algorithm is determined according to the weight coefficient adaptive function.

[0041] Optionally, the power increment of each virtual synchronous generator can be obtained by solving the discretized rotor motion equation of each virtual synchronous generator according to the model prediction algorithm. For example, by applying the model prediction algorithm, using three-step prediction as the prediction range, and constructing an objective function including angular frequency deviation and power change, the power increment can be effectively obtained by solving the discretized rotor motion equation.

[0042] In an optional embodiment, the discretized rotor motion equation of each virtual synchronous generator is solved according to a model prediction algorithm to obtain a power increment of each virtual synchronous generator, including: determining a prediction range of the model prediction algorithm, and determining a prediction output vector corresponding to the prediction range; determining a weight coefficient according to a weight coefficient adaptive function, and determining an objective function of each virtual synchronous generator according to the weight coefficient, the angular frequency and power of the discretized rotor motion equation of each virtual synchronous generator; solving the discretized rotor motion equation of each virtual synchronous generator according to the prediction output vector and the objective function of each virtual synchronous generator to obtain a power increment of each virtual synchronous generator.

[0043] Optionally, in the process of solving the discretized rotor motion equation of each virtual synchronous generator according to the model prediction algorithm to obtain the power increment of each virtual synchronous generator, the prediction range of the model prediction algorithm is first determined, and the prediction output vector corresponding to the prediction range is determined, and then the weight coefficient is determined according to the weight coefficient adaptive function, and the objective function of each virtual synchronous generator is determined based on the weight coefficient, the angular frequency and power of the discretized rotor motion equation of each virtual synchronous generator, and then the discretized rotor motion equation of each virtual synchronous generator is solved based on the predicted output vector and the objective function of each virtual synchronous generator to obtain the power increment of each virtual synchronous generator.

[0044] For example, if a three-step forecast is selected as the forecast range, the corresponding forecast output vector is expressed as follows:

[0045]

[0046] Among them, y c (k+i|k) is the output value predicted at time k for the k+ith time.

[0047] With the goal of minimizing the angular frequency change and power change, the objective function F established by angular frequency and power is p It is expressed as follows:

[0048]

[0049] Among them, η and k are weight coefficients, Δω(k+i|k) and ΔP m (k+i|k) are the angular frequency error and active power error at time k respectively.

[0050] Calculate the power increment value of the virtual synchronous generator, expressed as follows:

[0051] ΔP m (k) = K mpc E p (k+1|k)

[0052] Among them, according to the basic principle of model predictive control, only the first element of the optimal control sequence acts on the system, ΔP m (k) is the power increment value of the first element, K mpc is the coefficient matrix, E p (k+1|k) is the correlation matrix predicted at time k for the k+1th time, where k is the discrete time.

[0053] In an optional embodiment, the weight coefficient includes a first weight coefficient and a second weight coefficient, the first weight coefficient is used to adjust the degree of influence of the angular frequency, and the second weight coefficient is used to adjust the degree of influence of the power, wherein the weight coefficient is determined according to the weight coefficient adaptive function, including: calculating the first weight coefficient according to the angular frequency, the given value of the angular frequency, the input variable, the output power and the first function in the weight coefficient adaptive function; calculating the second weight coefficient according to the active power change rate and the second function in the weight coefficient adaptive function.

[0054] Optionally, the first weight coefficient is the aforementioned η, and the second weight coefficient is the aforementioned k. In order to improve the control accuracy of the model prediction algorithm, a dynamic weight parameter is proposed, and the corresponding adaptive function (ie, weight coefficient adaptive function) is expressed as follows:

[0055]

[0056] Where e is the base of natural logarithm, ω ref is the given value of angular frequency, P m is the input variable of the control, P e is the output power, dP e / dt is the rate of change of active power.

[0057] Optionally, the first weight coefficient η can be calculated according to the angular frequency, the given value of the angular frequency, the input variable, the output power and the first function in the weight coefficient adaptive function, wherein the first function is:

[0058]

[0059] Optionally, the second weight coefficient κ may be calculated based on the active power change rate and a second function in the weight coefficient adaptive function, where the second function is:

[0060]

[0061] It should be noted that by dynamically adjusting the weight parameters, the system's model predictive control accuracy and mutual damping effect can be improved, ensuring that the system can maintain stable and efficient operation under different operating conditions.

[0062] In an optional embodiment, the objective function of each virtual synchronous generator is determined based on the weight coefficient, the angular frequency and power of the discretized rotor motion equation of each virtual synchronous generator, including: respectively calculating the angular frequency error within the prediction range and the active power error within the prediction range; constructing the objective function of each virtual synchronous generator based on the angular frequency error, the active power error, the first weight coefficient and the second weight coefficient.

[0063] Optionally, the angular frequency error within the prediction range is calculated to obtain Δω(k+i|k), and the active power error within the prediction range is calculated to obtain ΔP m (k+i|k), and then according to the angular frequency error Δω(k+i|k), active power error ΔP m (k+i|k), the first weight coefficient η and the second weight coefficient κ, construct the objective function of each virtual synchronous generator, that is:

[0064]

[0065] Step S103, interacting the power increment of each virtual synchronous generator according to the consistency algorithm to obtain the mutual damping term of each virtual synchronous generator, wherein the mutual damping coefficient in the mutual damping term is determined according to the mutual damping coefficient adaptive function.

[0066] Optionally, the calculated power increments are interacted according to a consistency algorithm to construct interactive damping terms to ensure that power oscillations between multiple virtual synchronous generators are effectively suppressed and provide dynamic support.

[0067] In an optional embodiment, the power increment of each virtual synchronous generator is interacted according to a consistency algorithm to obtain an interactive damping term of each virtual synchronous generator, including: determining the mutual damping coefficient according to an adaptive function of the mutual damping coefficient; using the power increment between multiple virtual synchronous generators as a consistency variable, exchanging data between multiple virtual synchronous generators to obtain exchange data of each virtual synchronous generator; and constructing the interactive damping term of each virtual synchronous generator according to the mutual damping coefficient and the exchange data of each virtual synchronous generator.

[0068] Optionally, the mutual damping coefficient is first determined based on the mutual damping coefficient adaptive function, and then the power increment between the multiple virtual synchronous generators is used as the consistency variable, and data is exchanged between the multiple virtual synchronous generators to obtain the exchange data of each virtual synchronous generator, and then the mutual damping term of each virtual synchronous generator is constructed based on the mutual damping coefficient and the exchange data of each virtual synchronous generator.

[0069] For example, for power increments interacting according to the consensus protocol, the mutual damping λ of the i-th virtual synchronous generator at time k+1 is i The formula for (k+1) is as follows:

[0070]

[0071] Among them, D mi is the mutual damping coefficient. In order to improve the mutual damping effect of the system, the corresponding adaptive function (i.e., the mutual damping coefficient adaptive function) is expressed as follows:

[0072]

[0073] Among them, k adp is the adaptive coefficient, arctan(·) is the inverse trigonometric function, l non is the nonlinear processing coefficient, is the differential value of the angular frequency. ij is the weight, and the calculation formula is:

[0074]

[0075] Among them, if there is a communication link between the i-th virtual synchronous generator and the j-th virtual synchronous generator, then a ij =1, otherwise a ij =0,N i is the number of virtual synchronous generators with communication links.

[0076] In an optional embodiment, the mutual damping coefficient is determined based on the mutual damping coefficient adaptive function, including: using an inverse trigonometric function to calculate the differential value of the nonlinear processing coefficient and the angular frequency to obtain a first value; and calculating the mutual damping coefficient based on the first value, a preset adaptive coefficient and the mutual damping coefficient adaptive function.

[0077] Optionally, the nonlinear processing coefficient l is first processed using an inverse trigonometric function. non The differential value of the angular frequency Calculate and get the first value, namely:

[0078] Then, according to the first value, the preset adaptive coefficient k adp And the mutual damping coefficient adaptive function, calculate the mutual damping coefficient D mi .

[0079] Step S104: adding the interaction damping term of each virtual synchronous generator to the rotor motion equation of each virtual synchronous generator to achieve power oscillation suppression of multiple virtual synchronous generators.

[0080] Optionally, after constructing the interaction damping term, the power oscillation suppression of multiple virtual synchronous generators is achieved by adding the interaction damping term of each virtual synchronous generator to the rotor motion equation of each virtual synchronous generator.

[0081] The formula for the additional interactive damping term in the rotor motion equation of the virtual synchronous generator is as follows:

[0082]

[0083] Among them, J is the virtual inertia coefficient, D is the damping coefficient, ω0 is the standard value of the angular frequency, is the differential value of the angular frequency, λ(k) is the mutual damping value calculated at the kth moment, P m is the virtual mechanical power generated by the speed regulator, P e Indicates the inverter output active power.

[0084] In an optional embodiment, after the interactive damping term of each virtual synchronous generator is added to the rotor motion equation of each virtual synchronous generator, the control parameters of each virtual synchronous generator are determined according to the rotor motion equation of each virtual synchronous generator including the interactive damping term; and each virtual synchronous generator is controlled based on the control parameters of each virtual synchronous generator to achieve power oscillation suppression of multiple virtual synchronous generators.

[0085] Optionally, the control parameters of each virtual synchronous generator can be determined based on the rotor motion equation of each virtual synchronous generator including the interactive damping term. For example, the control parameter can be the power of the virtual synchronous generator. Then, each virtual synchronous generator is controlled based on the control parameter of each virtual synchronous generator, so as to achieve power oscillation suppression of multiple virtual synchronous generators.

[0086] It should be noted that by constructing the interactive damping term and applying it to the power reference value control of the virtual synchronous generator, the interactive damping supplement of the system is realized, which effectively suppresses the power oscillation, not only ensuring the system stability, but also significantly improving the response speed and dynamic performance of the system.

[0087] Based on the scheme defined by the above steps S101 to S104, it can be known that in an embodiment of the present invention, the rotor motion equations of multiple virtual synchronous generators are first discretized to obtain the discretized rotor motion equations of each virtual synchronous generator, and then the discretized rotor motion equations of each virtual synchronous generator are solved according to the model prediction algorithm to obtain the power increment of each virtual synchronous generator, wherein the weight coefficient in the model prediction algorithm is determined according to the weight coefficient adaptive function, and then the power increment of each virtual synchronous generator is interacted according to the consistency algorithm to obtain the interactive damping term of each virtual synchronous generator, wherein the mutual damping coefficient in the interactive damping term is determined according to the mutual damping coefficient adaptive function, and then the interactive damping term of each virtual synchronous generator is added to the rotor motion equation of each virtual synchronous generator to achieve power oscillation suppression of multiple virtual synchronous generators.

[0088] It is easy to notice that in the above process, the discretized virtual synchronous generator rotor motion equation is solved by the model prediction algorithm, which can calculate the power increment more accurately and efficiently, improve the accuracy and response speed of power prediction, and thus optimize the control performance of the system; by introducing the adaptive dynamic weight method, the weight can be adjusted according to the real-time operating status of the system, which significantly improves the control accuracy in the model prediction algorithm; the interactive damping term is constructed by the consistency algorithm, and the interactive damping support of multiple virtual synchronous generators is realized, and an adaptive mutual damping function is proposed, which effectively suppresses the power oscillation between multiple virtual synchronous generators, significantly enhances the system's response to load disturbances, and improves the dynamic stability and robustness of multiple virtual synchronous generators by quickly and stably adjusting the power output.

[0089] It can be seen that through the technical solution of the present invention, the purpose of enhancing the dynamic stability of the multiple virtual synchronous generators is achieved, thereby achieving the technical effect of improving the power output stability of the multiple virtual synchronous generators, and further solving the technical problem that the power oscillation suppression strategy of the multiple virtual synchronous generators in the prior art has limitations, resulting in poor power output stability of the multiple virtual synchronous generators.

[0090] In an optional embodiment, it is possible to use Figure 2 The flowchart shown realizes power oscillation suppression between multiple virtual synchronous generators. Figure 2 is a flow chart of an optional power oscillation suppression between multiple virtual synchronous generators according to an embodiment of the present invention. Figure 2 As shown, the rotor motion equations of the virtual synchronous generator are first discretized. By discretizing the rotor motion equations of multiple virtual synchronous generators, the necessary input required by the model prediction algorithm is provided. Then, the model prediction algorithm is used to solve these discretized equations to calculate the power increment. In order to improve the accuracy of the algorithm, a dynamic weight function is proposed. Then, the consistency protocol is used to interact the power increment, thereby constructing an interactive damping term. In order to further enhance the mutual damping effect, the method of adaptive mutual damping coefficient is adopted. The interactive damping term is applied to the power reference value control of the virtual synchronous generator, thereby realizing the power oscillation suppression between multiple virtual synchronous generators.

[0091] Optionally, build a four-unit parallel VSG model in Matlab / Simulink environment. Figure 3 is a schematic diagram of the structure of an optional load disturbance test model according to an embodiment of the present invention, such as Figure 3 As shown, a load disturbance test is performed. At the beginning, constant power loads of 50kW (represented by load 1 on bus6) and 40kW (represented by load 3 on bus5) are added. After t=2.0s, a power load of 30kW is added to bus6. Figure 4is a schematic diagram of active power output using conventional control under an optional load disturbance test according to an embodiment of the present invention, Figure 5 is a schematic diagram of active power output with interactive damping applied under an optional load disturbance test according to an embodiment of the present invention, Figure 6 is a schematic diagram of a frequency output using conventional control under an optional load disturbance test according to an embodiment of the present invention, Figure 7 FIG. 1 is a schematic diagram of frequency output of applying mutual damping under an optional load disturbance test according to an embodiment of the present invention. When the consistent mutual damping is not added, the output of the system is as follows: Figure 4 and Figure 6 As shown in the figure, when the inverter adopts conventional VSG control, the active power and frequency oscillation of the VSG output are obvious. When the frequency dynamic performance is poor (such as large frequency deviation), the system will face the risk of unexpected load shedding or large-scale power outage. When the inverter adopts the power oscillation suppression strategy proposed in this invention, Figure 5 and Figure 7 As shown, it can be clearly observed that the power oscillation is significantly suppressed, while the frequency oscillation is also reduced.

[0092] It can be seen that through the technical solution of the present invention, the purpose of enhancing the dynamic stability of the multiple virtual synchronous generators is achieved, thereby achieving the technical effect of improving the power output stability of the multiple virtual synchronous generators, and further solving the technical problem that the power oscillation suppression strategy of the multiple virtual synchronous generators in the prior art has limitations, resulting in poor power output stability of the multiple virtual synchronous generators.

[0093] Example 2

[0094] According to an embodiment of the present invention, an embodiment of a power oscillation suppression device for a virtual synchronous generator is provided, wherein: Figure 8 is a schematic diagram of an optional power oscillation suppression device for a virtual synchronous generator according to an embodiment of the present invention, such as Figure 8As shown, the device includes: a first processing module 801, which is used to discretize the rotor motion equations of multiple virtual synchronous generators to obtain the discretized rotor motion equations of each virtual synchronous generator; a second processing module 802, which is used to solve the discretized rotor motion equations of each virtual synchronous generator according to a model prediction algorithm to obtain the power increment of each virtual synchronous generator, wherein the weight coefficient in the model prediction algorithm is determined according to the weight coefficient adaptive function; a third processing module 803, which is used to interact the power increment of each virtual synchronous generator according to a consistency algorithm to obtain the interactive damping term of each virtual synchronous generator, wherein the mutual damping coefficient in the interactive damping term is determined according to the mutual damping coefficient adaptive function; a fourth processing module 804, which is used to add the interactive damping term of each virtual synchronous generator to the rotor motion equation of each virtual synchronous generator to achieve power oscillation suppression of multiple virtual synchronous generators.

[0095] It should be noted that the above-mentioned first processing module 801, second processing module 802, third processing module 803 and fourth processing module 804 correspond to steps S101 to S104 in the above-mentioned embodiment, and the examples and application scenarios implemented by the four modules and the corresponding steps are the same, but are not limited to the contents disclosed in the above-mentioned embodiment 1.

[0096] Optionally, the second processing module includes: a first determination module, used to determine the prediction range of the model prediction algorithm, and determine the prediction output vector corresponding to the prediction range; a second determination module, used to determine the weight coefficient based on the weight coefficient adaptive function, and determine the objective function of each virtual synchronous generator based on the weight coefficient, the angular frequency and power of the discretized rotor motion equation of each virtual synchronous generator; a third determination module, used to solve the discretized rotor motion equation of each virtual synchronous generator based on the prediction output vector and the objective function of each virtual synchronous generator to obtain the power increment of each virtual synchronous generator.

[0097] Optionally, the weight coefficient includes a first weight coefficient and a second weight coefficient, the first weight coefficient is used to adjust the degree of influence of the angular frequency, and the second weight coefficient is used to adjust the degree of influence of the power, wherein the second determination module includes: a first calculation module, used to calculate the first weight coefficient based on the angular frequency, the given value of the angular frequency, the input variable, the output power and the first function in the weight coefficient adaptive function; a second calculation module, used to calculate the second weight coefficient based on the active power change rate and the second function in the weight coefficient adaptive function.

[0098] Optionally, the second determination module also includes: a third calculation module, used to respectively calculate the angular frequency error within the prediction range and the active power error within the prediction range; a first construction module, used to construct the objective function of each virtual synchronous generator based on the angular frequency error, the active power error, the first weight coefficient and the second weight coefficient.

[0099] Optionally, the third processing module includes: a fourth determination module, used to determine the mutual damping coefficient based on the mutual damping coefficient adaptive function; a fifth determination module, used to exchange data between multiple virtual synchronous generators with the power increment between multiple virtual synchronous generators as the consistency variable, and obtain the exchange data of each virtual synchronous generator; a second construction module, used to construct the mutual damping term of each virtual synchronous generator based on the mutual damping coefficient and the exchange data of each virtual synchronous generator.

[0100] Optionally, the fourth determination module includes: a fourth calculation module, used to calculate the differential value of the nonlinear processing coefficient and the angular frequency using an inverse trigonometric function to obtain a first numerical value; a fifth calculation module, used to calculate the mutual damping coefficient based on the first numerical value, a preset adaptive coefficient and a mutual damping coefficient adaptive function.

[0101] Optionally, the power oscillation suppression device of the virtual synchronous generator also includes: a sixth determination module, used to determine the control parameters of each virtual synchronous generator according to the rotor motion equation of each virtual synchronous generator containing the interactive damping term after the interactive damping term of each virtual synchronous generator is added to the rotor motion equation of each virtual synchronous generator; and a control module, used to control each virtual synchronous generator based on the control parameters of each virtual synchronous generator to achieve power oscillation suppression of multiple virtual synchronous generators.

[0102] Example 3

[0103] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the computer program implements the above-mentioned method for suppressing power oscillations of a virtual synchronous generator.

[0104] Example 4

[0105] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned method for suppressing power oscillations of a virtual synchronous generator when running.

[0106] Example 5

[0107] According to another aspect of an embodiment of the present invention, there is also provided an electronic device, wherein: Fig. 9is a schematic diagram of an optional electronic device according to an embodiment of the present invention, such as Fig. 9 As shown, the electronic device includes one or more processors; a memory for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors are used to run the programs, wherein the programs are set to execute the above-mentioned method for suppressing power oscillation of virtual synchronous generators when running. When the processor executes the program, the following steps are implemented: discretizing the rotor motion equations of multiple virtual synchronous generators to obtain the discretized rotor motion equations of each virtual synchronous generator; solving the discretized rotor motion equations of each virtual synchronous generator according to the model prediction algorithm to obtain the power increment of each virtual synchronous generator, wherein the weight coefficient in the model prediction algorithm is determined according to the weight coefficient adaptive function; interacting the power increment of each virtual synchronous generator according to the consistency algorithm to obtain the interactive damping term of each virtual synchronous generator, wherein the mutual damping coefficient in the interactive damping term is determined according to the mutual damping coefficient adaptive function; adding the interactive damping term of each virtual synchronous generator to the rotor motion equation of each virtual synchronous generator to realize the power oscillation suppression of multiple virtual synchronous generators.

[0108] Optionally, when the processor executes the program, the following steps are also implemented: determining the prediction range of the model prediction algorithm, and determining the prediction output vector corresponding to the prediction range; determining the weight coefficient based on the weight coefficient adaptive function, and determining the objective function of each virtual synchronous generator based on the weight coefficient, the angular frequency and power of the discretized rotor motion equation of each virtual synchronous generator; solving the discretized rotor motion equation of each virtual synchronous generator based on the prediction output vector and the objective function of each virtual synchronous generator to obtain the power increment of each virtual synchronous generator.

[0109] Optionally, when the processor executes the program, the following steps are also implemented: a first weight coefficient is calculated based on the angular frequency, the given angular frequency value, the input variable, the output power and the first function in the weight coefficient adaptive function; and a second weight coefficient is calculated based on the active power change rate and the second function in the weight coefficient adaptive function.

[0110] Optionally, when the processor executes the program, the following steps are also implemented: respectively calculating the angular frequency error within the predicted range and the active power error within the predicted range; constructing the objective function of each virtual synchronous generator based on the angular frequency error, the active power error, the first weight coefficient and the second weight coefficient.

[0111] Optionally, when the processor executes the program, the following steps are also implemented: determining the mutual damping coefficient based on the mutual damping coefficient adaptive function; using the power increment between multiple virtual synchronous generators as a consistency variable, exchanging data between multiple virtual synchronous generators to obtain exchange data of each virtual synchronous generator; and constructing the interactive damping term of each virtual synchronous generator based on the mutual damping coefficient and the exchange data of each virtual synchronous generator.

[0112] Optionally, when the processor executes the program, the following steps are also implemented: using an inverse trigonometric function to calculate the differential value of the nonlinear processing coefficient and the angular frequency to obtain a first value; and calculating the mutual damping coefficient based on the first value, a preset adaptive coefficient, and a mutual damping coefficient adaptive function.

[0113] Optionally, the processor also implements the following steps when executing the program: after adding the interactive damping term of each virtual synchronous generator to the rotor motion equation of each virtual synchronous generator, determining the control parameters of each virtual synchronous generator according to the rotor motion equation of each virtual synchronous generator including the interactive damping term; and controlling each virtual synchronous generator based on the control parameters of each virtual synchronous generator to achieve power oscillation suppression of multiple virtual synchronous generators.

[0114] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0115] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0116] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0117] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0118] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0119] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0120] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0121] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for suppressing power oscillation of a virtual synchronous generator, characterized in that: include: Discretizing the rotor motion equations of the multiple virtual synchronous generators to obtain a discretized rotor motion equation of each virtual synchronous generator; Solving the discretized rotor motion equation of each virtual synchronous generator according to a model prediction algorithm to obtain a power increment of each virtual synchronous generator, wherein a weight coefficient in the model prediction algorithm is determined according to a weight coefficient adaptive function; The power increment of each virtual synchronous generator is interacted according to a consistency algorithm to obtain an interaction damping term of each virtual synchronous generator, wherein the mutual damping coefficient in the interaction damping term is determined according to a mutual damping coefficient adaptive function; The mutual damping term of each virtual synchronous generator is added to the rotor motion equation of each virtual synchronous generator to achieve power oscillation suppression of multiple virtual synchronous generators.

2. The method according to claim 1, characterized in that Solving the discretized rotor motion equation of each virtual synchronous generator according to the model prediction algorithm to obtain the power increment of each virtual synchronous generator includes: Determining a prediction range of the model prediction algorithm, and determining a prediction output vector corresponding to the prediction range; Determining the weight coefficient according to the weight coefficient adaptive function, and determining the objective function of each virtual synchronous generator according to the weight coefficient, the angular frequency and power of the discretized rotor motion equation of each virtual synchronous generator; The discretized rotor motion equation of each virtual synchronous generator is solved according to the predicted output vector and the objective function of each virtual synchronous generator to obtain the power increment of each virtual synchronous generator.

3. The method according to claim 2, characterized in that The weight coefficient includes a first weight coefficient and a second weight coefficient, the first weight coefficient is used to adjust the influence of the angular frequency, and the second weight coefficient is used to adjust the influence of the power, wherein the weight coefficient is determined according to the weight coefficient adaptive function, including: The first weight coefficient is calculated according to the angular frequency, the given angular frequency value, the input variable, the output power and the first function of the weight coefficient adaptive function; The second weight coefficient is calculated based on the active power change rate and the second function in the weight coefficient adaptive function.

4. The method according to claim 3, characterized in that Determining the objective function of each virtual synchronous generator according to the weight coefficient, the angular frequency and power of the discretized rotor motion equation of each virtual synchronous generator includes: respectively calculating an angular frequency error of the angular frequency within the prediction range and an active power error of the power within the prediction range; An objective function of each virtual synchronous generator is constructed according to the angular frequency error, the active power error, the first weight coefficient, and the second weight coefficient.

5. The method according to claim 1, characterized in that The power increment of each virtual synchronous generator is interacted according to the consistency algorithm to obtain the interactive damping term of each virtual synchronous generator, including: Determining the mutual damping coefficient according to the mutual damping coefficient adaptive function; Taking the power increments between the multiple virtual synchronous generators as consistency variables, data exchange is performed between the multiple virtual synchronous generators to obtain exchange data of each virtual synchronous generator; According to the mutual damping coefficient and the exchange data of each virtual synchronous generator, the mutual damping term of each virtual synchronous generator is constructed.

6. The method according to claim 5, characterized in that Determining the mutual damping coefficient according to the mutual damping coefficient adaptive function includes: Using an inverse trigonometric function to calculate the differential value of the nonlinear processing coefficient and the angular frequency, to obtain a first value; The mutual damping coefficient is calculated according to the first value, the preset adaptive coefficient and the mutual damping coefficient adaptive function.

7. The method according to claim 1, characterized in that After adding the interaction damping term of each virtual synchronous generator to the rotor motion equation of each virtual synchronous generator, the method further comprises: Determining a control parameter of each virtual synchronous generator according to a rotor motion equation of each virtual synchronous generator including the interactive damping term; Each virtual synchronous generator is controlled based on the control parameter of each virtual synchronous generator to achieve power oscillation suppression of multiple virtual synchronous generators.

8. A power oscillation suppression device for a virtual synchronous generator, characterized in that: include: A first processing module is used to discretize the rotor motion equations of the multiple virtual synchronous generators to obtain a discretized rotor motion equation of each virtual synchronous generator; A second processing module is used to solve the discretized rotor motion equation of each virtual synchronous generator according to a model prediction algorithm to obtain a power increment of each virtual synchronous generator, wherein the weight coefficient in the model prediction algorithm is determined according to a weight coefficient adaptive function; A third processing module is used for interacting the power increment of each virtual synchronous generator according to a consistency algorithm to obtain an interactive damping term of each virtual synchronous generator, wherein the mutual damping coefficient in the interactive damping term is determined according to a mutual damping coefficient adaptive function; The fourth processing module is used to add the interaction damping term of each virtual synchronous generator to the rotor motion equation of each virtual synchronous generator to achieve power oscillation suppression of multiple virtual synchronous generators.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program is configured to execute the power oscillation suppression method of a virtual synchronous generator as claimed in any one of claims 1 to 7 when running.

10. An electronic device, characterized in that: The electronic device includes one or more processors; A memory for storing one or more programs, which, when executed by the one or more processors, enables the one or more processors to run the programs, wherein the programs are configured to execute the power oscillation suppression method of the virtual synchronous generator described in any one of claims 1 to 7 when running.

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