Virtual synchronous generator adaptive control method, system, device and medium

Abstract

The invention discloses a virtual synchronous generator self-adaptive control method, system, equipment and medium, and relates to the technical field of electric power, the method comprises the following steps: introducing an inverse square root function to optimize virtual inertia, introducing a first-order lead-lag link to optimize transient damping, constructing a rotor mechanical equation, and combining active power and primary frequency regulation to realize self-adaptive control of a virtual synchronous generator; constructing an active power-frequency regulation equation, and determining a power angle; determining a voltage output amplitude according to a reactive power-voltage regulation equation; a virtual electromotive force is generated by combining a power angle and a voltage amplitude, an adjusting signal is obtained through voltage and current double-closed-loop control, a driving signal is generated through pulse width modulation, a grid-connected converter and a filter circuit are controlled to operate, and control over the virtual synchronous generator is achieved. The dynamic response performance and the transient stability are improved, the interference of instantaneous output power pulse on the system is suppressed, the influence of frequency oscillation on parameter setting is weakened, the controllability of the output power is enhanced, and the defect of considering transient characteristic optimization is effectively overcome.

Description

Technical Field

[0001] The present application relates to the field of electric power technology, and in particular to a method, system, device and medium for adaptive control of a virtual synchronous generator. Background Art

[0002] With the increase in energy consumption and environmental pollution, microgrids containing new energy sources such as photovoltaics and wind power have received widespread attention. The development of power electronics technology has provided favorable conditions for the access of new energy power generation equipment to the power grid, but it has also brought difficulties and challenges.

[0003] The large-scale access of distributed energy represented by photovoltaic and wind power to the power grid has gradually increased the penetration rate of power electronic equipment in the power system, resulting in the traditional power system showing the characteristics of low inertia, weak damping and weak frequency support, and the system stability and safety have gradually decreased. In order to improve the instability and frequency oscillation problems of the power grid caused by a high proportion of renewable energy, some scholars have drawn on the operating characteristics of synchronous generators (SG), simulated their power swing equations to introduce virtual inertia and damping links, and proposed virtual synchronous generator (VSG) control technology, which enables the grid-connected converter to have primary frequency regulation and primary voltage regulation capabilities, thereby improving the system's anti-interference ability.

[0004] The introduction of virtual inertia and damping links is an effective solution to improve the primary frequency regulation capability of the system and enhance the dynamic stability of the system frequency. However, conventional virtual inertia control technology changes the system characteristics of the VSG active-frequency loop from first-order characteristics to second-order oscillation characteristics, making the converter vulnerable to active regulation instructions and grid frequency disturbances during grid-connected operation, weakening the dynamic performance of the system active control loop. The introduction of the damping link is equivalent to increasing the primary frequency regulation parameters, but a larger damping parameter will cause the active-frequency loop to produce a larger steady-state deviation. In order to improve the stability of the system, more active compensation needs to be introduced, but the introduction will further damage the transient stability of the system. Summary of the invention

[0005] The purpose of this application is to provide a virtual synchronous generator adaptive control method, system, device and medium, which solves the problems of frequency oscillation caused by excessive inertia compensation in adaptive control and steady-state deviation caused by damping characteristics, and improves the system dynamic response performance and transient stability.

[0006] To achieve the above objectives, this application provides the following solutions: In the first aspect, the present application provides a virtual synchronous generator adaptive control method, which is applied to the main circuit topology of the virtual synchronous generator, and the main circuit topology of the virtual synchronous generator includes: a grid-connected converter, a filter circuit and a main power grid connected in sequence; the virtual synchronous generator adaptive control method includes: obtaining the voltage value and the current value output by the filter circuit; calculating the active power and the reactive power according to the voltage value and the current value; optimizing the virtual inertia by using a nonlinear activation function to obtain the optimized virtual inertia; optimizing the transient damping by using a first-order lead-lag link to obtain the optimized transient damping; according to the optimized virtual The invention relates to a method for controlling the inertia of a power supply and the transient damping after optimization, and constructing a rotor mechanical equation; based on the active power and primary frequency regulation, and in combination with the rotor mechanical equation, constructing an active-frequency regulation equation; based on the reactive power and virtual excitation regulation, constructing a reactive-voltage regulation equation; determining the power angle according to the active-frequency regulation equation, and determining the voltage output amplitude according to the reactive-voltage regulation equation; performing voltage and current dual closed-loop control according to the power angle and the voltage output amplitude to obtain a regulation signal; generating a drive signal through pulse width modulation according to the regulation signal, and controlling the operation of the grid-connected converter and the filter circuit based on the drive signal to realize the control of the virtual synchronous generator.

[0007] In a second aspect, the present application provides a virtual synchronous generator adaptive control system, which is used to implement the virtual synchronous generator adaptive control method; the virtual synchronous generator adaptive control system includes: a signal acquisition module, used to obtain the voltage value and current value output by the filter circuit; a power calculation module, used to calculate the active power and reactive power according to the voltage value and the current value; a virtual inertia optimization module, used to optimize the virtual inertia by using a nonlinear activation function to obtain the optimized virtual inertia; a transient damping optimization module, used to optimize the transient damping by using a first-order lead-lag link to obtain the optimized transient damping; a rotor mechanical equation construction module, used to construct the rotor mechanical equation according to the optimized virtual inertia and the optimized transient damping; active - A frequency regulation equation construction module, used to construct an active-frequency regulation equation based on the active power and the primary frequency regulation, combined with the rotor mechanical equation; a reactive-voltage regulation equation construction module, used to construct a reactive-voltage regulation equation based on the reactive power and virtual excitation regulation; a power angle and voltage output amplitude module, used to determine the power angle according to the active-frequency regulation equation, and determine the voltage output amplitude according to the reactive-voltage regulation formula; a voltage-current dual closed-loop control module, used to perform voltage-current dual closed-loop control according to the power angle and the voltage output amplitude to obtain a regulation signal; a drive module, used to generate a drive signal through pulse width modulation according to the regulation signal, and control the operation of the grid-connected converter and the filter circuit based on the drive signal to achieve control of the virtual synchronous generator.

[0008] In a third aspect, the present application provides a computer device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the virtual synchronous generator adaptive control method.

[0009] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the virtual synchronous generator adaptive control method when executed by a processor.

[0010] According to the specific embodiments provided in this application, this application has the following technical effects.

[0011] The present application provides a virtual synchronous generator adaptive control method, which solves the frequency oscillation problem caused by excessive inertia compensation in adaptive control by introducing a nonlinear activation function to optimize virtual inertia, and improves the dynamic response performance of the system; by introducing a first-order lead-lag link to improve transient damping, the steady-state deviation problem caused by the damping characteristics of the system is eliminated, and the transient stability of the system is improved. In addition, the present application also suppresses the interference of instantaneous output power pulses on the system, weakens the influence of frequency oscillation on parameter setting, enhances the controllability of the system output power, and effectively makes up for the shortcomings of VSG adaptive control technology in taking into account the optimization of transient characteristics. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0013] Figure 1 The traditional VSG main circuit topology and its simplified structure diagram provided in the embodiments of the present application.

[0014] Figure 2 This is a schematic diagram of the traditional VSG adaptive control principle provided in an embodiment of the present application.

[0015] Figure 3 Different virtual inertias provided in the embodiments of the present application J 0 Closed-loop zero-pole distribution trend diagram when ; where (a) is the virtual inertia J 0 Closed-loop zero-pole distribution trend diagram when is 2; (b) is the virtual inertia J 0 (c) is the closed-loop zero-pole distribution trend diagram when the value is 4; (c) is the virtual inertia J 0 Closed-loop zero-pole distribution trend diagram when θ is 6; (d) is the virtual inertia J 0 Closed-loop zero-pole distribution trend diagram when the value is 10.

[0016] Figure 4 A control block diagram of the main circuit topology provided in an embodiment of the present application.

[0017] Figure 5 A schematic flow chart of a virtual synchronous generator adaptive control method provided in an embodiment of the present application.

[0018] Figure 6 This is a trend diagram of the ISRU function and its derivative provided in the embodiments of the present application.

[0019] Figure 7 Bode diagrams of steady-state and optimized transient damping characteristics provided in the embodiments of the present application.

[0020] Figure 8 A schematic diagram of the structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0022] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0023] At present, in terms of improving the dynamic oscillation of the system, related technologies have proposed VSG control strategies based on intermittent changes in virtual inertia, control strategies that introduce fuzzy controllers into the power swing equation, improved adaptive VSG control technology, and VSG control strategies with coordinated adaptive virtual inertia parameters and damping parameters. Figure 1 As shown, the above control strategies and control methods are applied to the VSG main circuit topology. The VSG main circuit topology includes: a grid-connected converter, a filter circuit, a common connection point (PCC) and a main grid connected in sequence. The distributed power supply in the grid-connected converter has a DC voltage of U dc , through nodes A, B and C, the three-phase current i La , i Lb and i Lc Pass through the filter circuit, through the filter inductor L f and inductor parasitic resistance R f After filtering, point-of-use inversion is realized, and then the power interaction with the main grid is realized through PCC; L g is the main grid line inductance, U g is the main grid phase voltage, through the virtual power angle ∠ δ With virtual voltage amplitude EGenerate a virtual electromotive force, and then obtain the regulation signal through the voltage and current double closed-loop control strategy to realize the control of the grid-connected converter in the VSG main circuit topology. However, most of the current related research is based on the stable operation of the power grid, focusing on improving the small disturbance stability of the system, without alleviating the steady-state deviation problem caused by the coupling of damping parameters and frequency modulation parameters, and does not involve the optimization of transient stability of the system under large disturbances. In terms of improving transient stability, methods such as selecting flexible parameters, introducing first-order differential compensation links and first-order lead-lag links are proposed, but the fault duration, the impact of high-frequency interference signals on the system, and the lack of analysis of specific parameters are ignored.

[0024] In addition, based on the dynamic output characteristics of the active power of the traditional VSG, the active closed-loop small signal transfer function of the traditional VSG can be deduced as follows.

[0025] (1).

[0026] in, is the VSG active closed-loop small signal transfer function; J 0 is the virtual inertia; D 0 is the steady-state damping coefficient; ω 0 is the rated angular frequency; K q is the reactive power regulation coefficient; K ω is the primary frequency modulation coefficient; ΔP out1 is the output power change; Δ P ref1 is the change in active power regulation command, s is the differential operator.

[0027] Based on formula (1), the traditional VSG active closed-loop small signal transfer function can be derived to derive the traditional VSG adaptive control principle diagram, as shown in Figure 2 As shown in the figure, the specific working process is as follows: the active power-frequency loop of VSG is adjusted by the primary frequency regulation equation (the primary frequency regulation equation includes the primary frequency regulation power P m , Active power regulation command P ref , primary frequency modulation coefficient K ω , Rated angular frequency and virtual angular frequency ω ) and the rotor mechanical equation to obtain the virtual power angle δ 1 ; Voltage output amplitude of reactive-voltage loop E Including virtual synchronous generator no-load potentialE 0 , reactive power regulation deviation ΔE Q and the voltage regulation deviation of the virtual synchronous generator output ΔE U , specifically in combination with the virtual excitation regulation equation (the virtual excitation regulation equation includes the voltage regulation coefficient K u , Virtual synchronous generator output voltage regulation instruction U ref And the instantaneous voltage value of the virtual synchronous generator output U ) and reactive power regulation equation (the reactive power regulation equation includes the reactive power regulation coefficient K q , reactive power regulation command Q ref and the reactive output power of the virtual synchronous generator Q out ) and no-load potential E 0 Get the virtual voltage amplitude E 1 , combined with the virtual power angle δ 1 With virtual voltage amplitude E 1 Generate virtual electromotive force, and obtain pulse width modulation (PWM) regulation signal through voltage and current double closed-loop control strategy to realize the control of grid-connected converter in VSG main circuit topology.

[0028] According to the VSG active closed-loop small signal transfer function, the closed-loop zero-pole distribution trend of the system under different virtual inertia values ​​is plotted as follows: Figure 3 As shown, Figure 3 (a) in the figure represents the virtual inertia J 0 When it is 2, the closed-loop zero-pole distribution trend; Figure 3 (b) in the figure represents the virtual inertia J 0 When it is 4, the closed-loop zero-pole distribution trend; Figure 3 (c) in the figure represents the virtual inertia J 0 When it is 6, the closed-loop zero-pole distribution trend; Figure 3 (d) in the equation represents the virtual inertia J 0 When is 10, the closed-loop zero-pole distribution trend; the arrow direction is D 0 The distribution trend of the closed-loop poles of the system when it gradually increases from 0 to 2 K. Figure 3It can be seen that there is a pair of conjugate poles in the active closed-loop system, and the steady-state damping coefficient D 0 When in the same trend, the virtual inertia J 0 The value gradually increases, the conjugate pole s 1 and s 2 The closer the starting position of the virtual axis is to the virtual axis, the smaller the damping ratio of the system is, which weakens the stability and adjustment rate of the VSG. J 0 When unchanged, as D 0 The conjugate poles s 1 and s 2 According to the changing trend shown by the arrow, it gradually transitions to two real poles, and the active small signal system characteristics gradually transition from under-damping characteristics to over-damping characteristics, which reduces the response rate and steady-state control accuracy of the system.

[0029] According to the above analysis, when the traditional VSG control is connected to the grid, its steady-state characteristics of active power are: D 0 Decide, with J 0 Independent of the active power dynamic characteristics D 0 , J 0 In order to meet the system's requirements for dynamic damping and low overshoot, a larger D 0 , which can easily lead to a large steady-state deviation and reduce the system response rate; in order to increase the system's regulation rate requirements, a larger J 0 , which can easily lead to a decrease in the system damping ratio, increase the overshoot in the dynamic response process, and reduce the stability of the system. D 0 and J 0 The selection of parameters causes the dynamic and steady-state characteristics of the system to influence each other, resulting in contradictions and requiring compromise selection.

[0030] In an exemplary embodiment, the present application provides a virtual synchronous generator adaptive control method, the virtual synchronous generator adaptive control method is applied to Figure 4 The VSG main circuit topology shown in Figure 2 is a virtual synchronous generator adaptive control method. Figure 5 As shown, the following steps 100 to 109 are included.

[0031] Step 100, obtaining the voltage value and current value output by the filter circuit.

[0032] Step 101, calculating active power and reactive power according to voltage value and current value.

[0033] Step 102: optimize the virtual inertia using a nonlinear activation function to obtain an optimized virtual inertia.

[0034] Step 103, optimizing the transient damping by using a first-order lead-lag link to obtain optimized transient damping.

[0035] Step 104: construct the rotor mechanical equation according to the optimized virtual inertia and the optimized transient damping.

[0036] Step 105, based on the active power and primary frequency regulation, combined with the rotor mechanical equation, construct an active power-frequency regulation equation.

[0037] Step 106: construct a reactive power-voltage regulation equation based on reactive power and virtual excitation regulation.

[0038] Step 107, determining the power angle according to the active power-frequency regulation equation, and determining the voltage output amplitude according to the reactive power-voltage regulation equation.

[0039] Step 108, performing voltage and current dual closed-loop control according to the power angle and the voltage output amplitude to obtain a regulation signal.

[0040] Step 109, generating a driving signal through pulse width modulation according to the adjustment signal, and controlling the operation of the grid-connected converter and the filter circuit based on the driving signal to realize the control of the virtual synchronous generator.

[0041] By implementing the above steps, the present application optimizes the virtual inertia by introducing a nonlinear activation function, optimizes the transient damping by introducing a first-order lead-lag link, constructs a rotor mechanical equation, and combines active power and primary frequency regulation to construct an active-frequency regulation equation, and then determines the power angle; performs voltage and current dual closed-loop control according to the voltage output amplitude determined by the power angle and the reactive-voltage regulation equation to obtain a regulation signal, and then generates a drive signal through pulse width modulation to control the operation of the grid-connected converter and the filter circuit, thereby realizing the control of the virtual synchronous generator.

[0042] In an exemplary embodiment, the present application provides active power P out and reactive power Q out The expression is as follows.

[0043] (2).

[0044] in,P out is the active output power of VSG; Q out is the reactive output power of VSG; X is the line equivalent impedance; E 1 It is the voltage amplitude instruction output by VSG; U g is the main grid phase voltage; δ 1 is the phase angle difference between VSG and main grid voltage.

[0045] In an exemplary embodiment of the present application, the nonlinear activation function is an inverse square root function (ISDN Remote Subscriber Unit, IRSU function), and the expression of the optimized virtual inertia is as follows.

[0046] (3).

[0047] in, J ω is the optimized virtual inertia; J 0 is the steady-state value of virtual inertia; K j is the adaptive compensation coefficient; ω is the virtual angular frequency; t Indicates time; ω ref is a given angular frequency; T j is the adaptive virtual inertia determination threshold; is the virtual inertia compensation based on the inverse square root function.

[0048] The general expression for the inverse square root function is as follows.

[0049] (4).

[0050] in, is the inverse square root function, a is the adjustment coefficient of the inverse square root function; x is the independent variable of the inverse square root function.

[0051] Compared with the traditional virtual synchronous generator adaptive control method, the virtual synchronous generator adaptive control method proposed in this application improves the VSG inertia characteristics by introducing the ISRU function to optimize the virtual inertia, and further optimizes the transient stability of the VSG adaptive control. Figure 6 It can be seen that in the linear function ( y = x), ISRU function ( y =ISRU( x )and y =ISRU(2 x )), and the ISRU differential function ( y = d (ISRU( x )) / dt ), when the ISRU function adjustment coefficient is equal to 2, that is, y =ISRU(2 x ), the virtual inertia compensation value with ISRU function characteristics can suppress the angular frequency deviation in a shorter time and accelerate the angular frequency recovery rate. By optimizing the virtual inertia with ISRU function, the frequency oscillation problem caused by excessive inertia compensation in VSG adaptive control is solved, and the dynamic response performance is improved.

[0052] In an exemplary embodiment of the present application, an expression of optimized transient damping is provided as follows.

[0053] (5).

[0054] in, D ω is the optimized transient damping; G D ( s ) is a first-order lead-lag link; D 0 is the steady-state damping coefficient; is the rated angular frequency; T d is the transient damping decay time constant; s is the differential operator.

[0055] And, the compensation power of the optimized transient damping is as follows.

[0056] (6).

[0057] in, P D is the compensation power of the optimized transient damping; ω is the virtual angular frequency.

[0058] Compared with the traditional virtual synchronous generator adaptive control method, the virtual synchronous generator adaptive control method proposed in this application introduces a first-order lead-lag link in improving the VSG damping characteristics. G D ( s ), which improves the transient stability and interference suppression performance of the system while weakening the steady-state error of the system. Figure 7The Bode diagram of the first-order lead-lag link shown in Figure 2 shows that the optimized transient damping D ω The phase gain in the low frequency band is attenuated, that is, the system is in stable operation. , to resolve the steady-state damping D 0 Impact on system control performance. Optimized transient damping in high frequency band D ω The amplitude of approaches 0 dB, which can effectively suppress the high-frequency interference signal of the system and improve the transient stability of the system. This application optimizes the transient damping by adopting a first-order lead-lag link, eliminates the steady-state deviation problem caused by the damping characteristics in the VSG adaptive control, and improves the transient stability.

[0059] In an exemplary embodiment of the present application, the rotor mechanical equation is provided as follows.

[0060] (7).

[0061] in, P out is the active output power of the virtual synchronous generator; P ref It is the active power regulation instruction; J ω is the optimized virtual inertia; is the rated angular frequency; ω is the virtual angular frequency; D ω is the optimized transient damping; t For time.

[0062] In an exemplary embodiment of the present application, an expression for primary frequency adjustment is provided as follows.

[0063] (8).

[0064] in, P m Regulate power for primary frequency; P ref It is the active power regulation instruction; K ω is the primary frequency modulation coefficient; is the rated angular frequency; ω is the virtual angular frequency.

[0065] The active power-frequency regulation equation is as follows.

[0066] (9).

[0067] in, Pout is the active output power of VSG; P ref It is the active power regulation instruction; K ω is the primary frequency modulation coefficient; is the rated angular frequency; ω is the virtual angular frequency; J ω is the virtual moment of inertia; D 0 is the steady-state damping coefficient, t For time.

[0068] In an exemplary embodiment of the present application, a reactive power-voltage regulation equation is provided as follows.

[0069] (10).

[0070] in, E is the voltage output amplitude; E 0 is the no-load potential of the virtual synchronous generator; ΔE Q is the reactive power regulation deviation; ΔE U is the voltage regulation deviation at the output of the virtual synchronous generator; K q is the reactive power regulation coefficient; Q ref It is reactive power regulation instruction; Q out is the reactive output power of the virtual synchronous generator; K u is the voltage regulation coefficient; U ref It is the voltage regulation instruction of the output terminal of the virtual synchronous generator; U is the instantaneous voltage value at the output of the virtual synchronous generator.

[0071] In an exemplary embodiment, the present application provides a virtual synchronous generator adaptive control method that introduces optimized virtual inertia and transient damping links when operating in grid-connected mode. G D ( s ) of the VSG active output power P out The closed-loop transfer function is as follows.

[0072] (11).

[0073] (12).

[0074] in, Jω is the virtual moment of inertia; ω 0 is the rated angular frequency; T d is the transient damping decay time constant; D 0 is the steady-state damping coefficient; K ω is the primary frequency modulation coefficient; K q is the reactive power regulation coefficient; P ref It is the active power regulation instruction; ω is the virtual angular frequency; G D ( s ) is a first-order lead-lag link; s is a differential operator; To improve the closed-loop transfer function of VSG control under active disturbance; To improve the closed-loop transfer function of VSG control under grid frequency sag; a, b , c , d , a 1 , b 1 , a 2 , b 2 and c 2 is the coefficient of the response and has no specific meaning.

[0075] From formula (11) and formula (12), the steady-state output active power P of the VSG with optimized transient damping characteristics during grid-connected operation can be derived: outs-G as follows.

[0076] (13).

[0077] According to formula (11) and formula (12), the optimized VSG adaptive control principle can be obtained as follows: Figure 4 As shown in the figure, the method optimizes the virtual inertia by introducing the ISRU function, optimizes the transient damping by introducing the first-order lead-lag link, constructs the optimized rotor mechanical equation, and combines the active power and primary frequency regulation to construct the optimized active-frequency regulation equation, and then determines the power angle; determines the voltage output amplitude according to the reactive-voltage regulation equation; generates the virtual electromotive force by combining the angle of attack and the voltage amplitude, obtains the regulation signal through the voltage and current double closed-loop control, and then generates the drive signal through pulse width modulation to control the operation of the grid-connected converter and the filter circuit, so as to realize the control of the virtual synchronous generator.

[0078] In an exemplary embodiment of the application, a virtual synchronous generator adaptive control system is provided, and the virtual synchronous generator adaptive control system is used to implement a virtual synchronous generator adaptive control method; the virtual synchronous generator adaptive control system includes the following structure.

[0079] The signal acquisition module is used to obtain the voltage and current values ​​output by the filter circuit.

[0080] The power calculation module is used to calculate the active power and reactive power according to the voltage value and the current value.

[0081] The virtual inertia optimization module is used to optimize the virtual inertia by using a nonlinear activation function to obtain the optimized virtual inertia.

[0082] The transient damping optimization module is used to optimize the transient damping by using a first-order lead-lag link to obtain the optimized transient damping.

[0083] The rotor mechanical equation construction module is used to construct the rotor mechanical equation based on the optimized virtual inertia and the optimized transient damping.

[0084] The active power-frequency regulation equation construction module is used to construct the active power-frequency regulation equation based on the active power and the primary frequency regulation in combination with the rotor mechanical equation.

[0085] The reactive power-voltage regulation equation building module is used to build the reactive power-voltage regulation equation based on reactive power and virtual excitation regulation.

[0086] The power angle and voltage output amplitude module is used to determine the power angle according to the active power-frequency regulation equation and determine the voltage output amplitude according to the reactive power-voltage regulation equation.

[0087] The voltage and current dual closed-loop control module is used to perform voltage and current dual closed-loop control according to the power angle and voltage output amplitude to obtain a regulating signal.

[0088] The driving module is used to generate a driving signal through pulse width modulation according to the adjustment signal, and control the operation of the grid-connected converter and the filter circuit based on the driving signal to realize the control of the virtual synchronous generator.

[0089] In an exemplary embodiment of the present application, a computer device is provided, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement a virtual synchronous generator adaptive control method.

[0090] In an exemplary embodiment of the present application, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Figure 8As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store virtual synchronous generator adaptive control data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a virtual synchronous generator adaptive control method is implemented.

[0091] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components. In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0092] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0093] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0094] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0095] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0096] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0097] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A virtual synchronous generator adaptive control method, characterized in that: The virtual synchronous generator adaptive control method is applied to the virtual synchronous generator main circuit topology, and the virtual synchronous generator main circuit topology includes: a grid-connected converter, a filter circuit and a main power grid connected in sequence; the virtual synchronous generator adaptive control method includes: Obtaining the voltage value and current value output by the filter circuit; Calculating active power and reactive power according to the voltage value and the current value; The virtual inertia is optimized by using a nonlinear activation function to obtain the optimized virtual inertia; The transient damping is optimized by using the first-order lead-lag link to obtain the optimized transient damping; Construct the rotor mechanical equation according to the optimized virtual inertia and the optimized transient damping; Based on the active power and primary frequency regulation, combined with the rotor mechanical equation, an active power-frequency regulation equation is constructed; Based on the reactive power and virtual excitation regulation, construct a reactive power-voltage regulation equation; Determine the power angle according to the active power-frequency regulation equation, and determine the voltage output amplitude according to the reactive power-voltage regulation equation; Perform voltage and current double closed-loop control according to the power angle and the voltage output amplitude to obtain a regulation signal; According to the adjustment signal, a driving signal is generated through pulse width modulation, and based on the driving signal, the operation of the grid-connected converter and the filter circuit is controlled to realize the control of the virtual synchronous generator.

2. The virtual synchronous generator adaptive control method according to claim 1, characterized in that: The nonlinear activation function is an inverse square root function; The expression of optimized virtual inertia is: ； in, J ω is the optimized virtual inertia; J 0 is the steady-state value of virtual inertia; K j is the adaptive compensation coefficient; ω is the virtual angular frequency; t Indicates time; ω ref is a given angular frequency; T j is the adaptive virtual inertia determination threshold; is the virtual inertia compensation based on the inverse square root function.

3. The virtual synchronous generator adaptive control method according to claim 1, characterized in that: The expression of optimized transient damping is: ； in, D ω is the optimized transient damping; G D ( s ) is a first-order lead-lag link; D 0 is the steady-state damping coefficient; is the rated angular frequency; T d is the transient damping decay time constant; s is the differential operator.

4. The virtual synchronous generator adaptive control method according to claim 1, characterized in that: The rotor mechanical equation is: ； in, P out is the active output power of the virtual synchronous generator; P ref It is the active power regulation instruction; J ω is the optimized virtual inertia; is the rated angular frequency; ω is the virtual angular frequency; D ω is the optimized transient damping; t For time.

5. The virtual synchronous generator adaptive control method according to claim 1, characterized in that: The expression of the primary frequency adjustment is: ； in, P m Regulate power for primary frequency; P ref It is the active power regulation instruction; K ω is the primary frequency modulation coefficient; is the rated angular frequency; ω is the virtual angular frequency.

6. The virtual synchronous generator adaptive control method according to claim 1, characterized in that: The active power-frequency regulation equation is: ； in, P out is the active output power of the virtual synchronous generator; P ref It is the active power regulation instruction; K ω is the primary frequency modulation coefficient; is the rated angular frequency; ω is the virtual angular frequency; J ω is the optimized virtual inertia; D ω is the optimized transient damping; t For time; s is the differential operator.

7. The virtual synchronous generator adaptive control method according to claim 1, characterized in that: The reactive power-voltage regulation equation is: ； in, E is the voltage output amplitude; E 0 is the no-load potential of the virtual synchronous generator; ΔE Q is the reactive power regulation deviation; Δ E U is the voltage regulation deviation at the output of the virtual synchronous generator; K q is the reactive power regulation coefficient; Q ref It is reactive power regulation instruction; Q out is the reactive output power of the virtual synchronous generator; K u is the voltage regulation coefficient; U ref It is the voltage regulation instruction of the output terminal of the virtual synchronous generator; U is the instantaneous voltage value at the output of the virtual synchronous generator.

8. A virtual synchronous generator adaptive control system, characterized in that: The virtual synchronous generator adaptive control system is used to implement the virtual synchronous generator adaptive control method according to any one of claims 1 to 7; The virtual synchronous generator adaptive control system comprises: A signal acquisition module, used to obtain the voltage value and current value output by the filter circuit; A power calculation module, used to calculate active power and reactive power according to the voltage value and the current value; A virtual inertia optimization module is used to optimize the virtual inertia by using a nonlinear activation function to obtain an optimized virtual inertia; The transient damping optimization module is used to optimize the transient damping by using the first-order lead-lag link to obtain the optimized transient damping; A rotor mechanical equation construction module, used to construct the rotor mechanical equation according to the optimized virtual inertia and the optimized transient damping; An active power-frequency regulation equation construction module, used to construct an active power-frequency regulation equation based on the active power and the primary frequency regulation in combination with the rotor mechanical equation; A reactive power-voltage regulation equation construction module, used to construct a reactive power-voltage regulation equation based on the reactive power and virtual excitation regulation; A power angle and voltage output amplitude module, used to determine the power angle according to the active power-frequency regulation equation, and determine the voltage output amplitude according to the reactive power-voltage regulation equation; A voltage-current dual closed-loop control module, used to perform voltage-current dual closed-loop control according to the power angle and the voltage output amplitude to obtain a regulation signal; The driving module is used to generate a driving signal through pulse width modulation according to the adjustment signal, and control the operation of the grid-connected converter and the filter circuit based on the driving signal to realize the control of the virtual synchronous generator.

9. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the virtual synchronous generator adaptive control method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the virtual synchronous generator adaptive control method according to any one of claims 1 to 7 is implemented.

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