Pre-synchronization control method and device of virtual synchronous generator and electronic equipment

Abstract

The embodiment of the invention provides a pre-synchronization control method and device of a virtual synchronous generator and electronic equipment. The method comprises the following steps: acquiring voltage deviation, frequency deviation and phase angle deviation between a virtual synchronous generator and a target power grid, calculating to obtain a comprehensive synchronous deviation value according to the voltage deviation, the frequency deviation and the phase angle deviation, obtaining a dynamic adjustment parameter through a nonlinear mapping function based on the comprehensive synchronous deviation value, and adjusting the target power grid according to the dynamic adjustment parameter. And pre-synchronization controller parameters of the virtual synchronous generator are adjusted. The method is used for achieving the effect of improving the synchronization precision in the pre-synchronization process of the virtual synchronous generator.

Description

Technical Field

[0001] This application relates to the field of electrical engineering technology, and in particular to a pre-synchronization control method, device and electronic equipment for a virtual synchronous generator. Background Technology

[0002] In new power systems, microgrids and clustered power plants have become important forms of power systems, and virtual synchronous generators are the core control technology for the stable operation of microgrids and clustered power plants. In practical engineering, it is usually necessary to operate multiple virtual synchronous generators in parallel, and to achieve consistency in voltage amplitude, frequency, and phase parameters between the newly added unit and the point of common coupling through pre-synchronization control, so as to meet the requirements of capacity expansion and reliability.

[0003] Currently, pre-synchronization control of multiple virtual synchronous generators generally adopts a fixed-parameter control strategy, which adjusts the output parameters of the virtual synchronous generator based on fixed parameters to achieve synchronization.

[0004] However, existing control strategies suffer from low pre-synchronization accuracy when faced with sudden changes in grid voltage and frequency caused by large-capacity loads (such as switching). Summary of the Invention

[0005] This application provides a pre-synchronization control method, device, and electronic equipment for a virtual synchronous generator, which can improve the synchronization accuracy during the pre-synchronization process of the virtual synchronous generator.

[0006] In a first aspect, embodiments of this application provide a pre-synchronization control method for a virtual synchronous generator, comprising:

[0007] Obtain the voltage deviation, frequency deviation, and phase angle deviation between the virtual synchronous generator and the target power grid.

[0008] The overall synchronization deviation is calculated based on the voltage deviation, frequency deviation, and phase angle deviation.

[0009] Based on the comprehensive synchronization deviation, dynamic adjustment parameters are obtained through a nonlinear mapping function.

[0010] Adjust the pre-synchronization controller parameters of the virtual synchronous generator based on the dynamic adjustment parameters.

[0011] Secondly, embodiments of this application provide a pre-synchronization control device for a virtual synchronous generator, comprising:

[0012] The acquisition module is used to acquire the voltage deviation, frequency deviation, and phase angle deviation between the virtual synchronous generator and the target power grid.

[0013] The calculation module is used to calculate the overall synchronization deviation based on voltage deviation, frequency deviation, and phase angle deviation.

[0014] The mapping module is used to obtain dynamic adjustment parameters based on the comprehensive synchronization deviation through a nonlinear mapping function.

[0015] The adjustment module is used to adjust the pre-synchronization controller parameters of the virtual synchronous generator based on the dynamic adjustment parameters.

[0016] Thirdly, embodiments of this application provide an electronic device, including: a processor, and a memory communicatively connected to the processor.

[0017] The memory stores the instructions that the computer executes.

[0018] The processor executes computer execution instructions stored in memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0019] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0020] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0021] This application provides a pre-synchronization control method, device, and electronic device for a virtual synchronous generator. By acquiring the voltage deviation, frequency deviation, and phase angle deviation between the virtual synchronous generator and the target power grid, a comprehensive synchronization deviation is calculated based on the voltage deviation, frequency deviation, and phase angle deviation. Based on the comprehensive synchronization deviation, dynamic adjustment parameters are obtained through a nonlinear mapping function. The pre-synchronization controller parameters of the virtual synchronous generator are adjusted according to the dynamic adjustment parameters.

[0022] This application provides a pre-synchronization control method, device, and electronic equipment for a virtual synchronous generator. By improving the pre-synchronization performance of the virtual synchronous generator system, it ensures the efficiency and stability of parameter matching during grid connection, thereby improving the synchronization accuracy during the pre-synchronization process of the virtual synchronous generator. Attached Figure Description

[0023] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0024] Figure 1 A schematic diagram of a scenario for a pre-synchronization control method for a virtual synchronous generator provided in this application;

[0025] Figure 2 A flowchart illustrating a pre-synchronization control method for a virtual synchronous generator provided in this application. Figure 1 ;

[0026] Figure 3 A flowchart illustrating a pre-synchronization control method for a virtual synchronous generator provided in this application. Figure 2 ;

[0027] Figure 4 The control block diagram for the nonlinear function mapping strategy provided in this application;

[0028] Figure 5 A specific example diagram of a pre-synchronization control method for a virtual synchronous generator provided in this application;

[0029] Figure 6 A schematic diagram of the pre-synchronization control device for a virtual synchronous generator provided in this application;

[0030] Figure 7 A schematic diagram of the structure of the electronic device provided in this application.

[0031] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0032] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0033] The application background of the embodiments of this application will be explained below:

[0034] In new power systems, microgrids and clustered power plants have become important forms of power systems, and virtual synchronous generator (VSR) technology is a core control technology for the stable operation of microgrids and clustered power plants. In practical engineering, multiple VSRs are often connected in parallel, and pre-synchronization control is used to ensure that the voltage amplitude, frequency, and phase parameters of the new unit are consistent with those of the point of common coupling (PCC) to meet the requirements of capacity expansion and reliability. Currently, pre-synchronization control of multiple VSRs generally adopts a fixed-parameter control strategy, adjusting the output parameters of the VSRs based on fixed parameters to achieve synchronization. However, existing control strategies suffer from low pre-synchronization accuracy when facing instantaneous disturbances in grid voltage and frequency caused by sudden changes in large-capacity loads (such as switching).

[0035] To address the aforementioned issues, the inventors investigated whether a nonlinear function mapping mechanism could be introduced to dynamically convert real-time synchronization deviations into controller gain adjustment signals, thereby achieving adaptive adjustment of pre-synchronization parameters.

[0036] The inventors propose a pre-synchronization control method for a virtual synchronous generator. This method involves acquiring the voltage, frequency, and phase angle deviations between the virtual synchronous generator and the target power grid. Based on these deviations, a comprehensive synchronization deviation is calculated. Dynamic adjustment parameters are then obtained through a nonlinear mapping function, and these parameters are used to adjust the pre-synchronization controller parameters of the virtual synchronous generator. Ultimately, this approach improves the pre-synchronization performance of the virtual synchronous generator system, ensuring parameter matching efficiency and stability during grid connection, and ultimately enhancing the synchronization accuracy during the pre-synchronization process.

[0037] Taking the pre-synchronization control scenario of a multi-virtual synchronous generator parallel system as an example, combined with Figure 1 This illustrates the specific application scenario of the pre-synchronization control method for a virtual synchronous generator provided in this application. For example... Figure 1 As shown, the specific application scenario of this application includes a power grid 101 and multiple virtual synchronous generators 102. The virtual synchronous generators 102 collect the voltage, frequency, and phase angle values ​​of the power grid 101 and the virtual synchronous generators 102 in real time. The built-in pre-synchronization controller performs calculations on the voltage, frequency, and phase angle to obtain the parameters for adjusting the pre-synchronization controller based on the calculation results. Finally, the pre-synchronization adjustment signal is output to adjust the output voltage and output frequency of the virtual synchronous generators 102.

[0038] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0039] Figure 2 A flowchart illustrating a pre-synchronization control method for a virtual synchronous generator provided in this application. Figure 1 ,like Figure 2 As shown, the method includes:

[0040] S201. Obtain the voltage deviation, frequency deviation, and phase angle deviation between the virtual synchronous generator and the target power grid.

[0041] Among them, the virtual synchronous generator is a power electronic device that simulates the characteristics of a synchronous generator and provides inertial support and damping regulation for the power grid through control algorithms.

[0042] In this step, the first voltage, first frequency, and first phase angle of the virtual synchronous generator are obtained, as well as the second voltage, second frequency, and second phase angle of the target power grid. Then, based on the first and second voltages, the voltage deviation between the virtual synchronous generator and the target power grid is obtained. Simultaneously, based on the first and second frequencies, the frequency deviation between the virtual synchronous generator and the target power grid is obtained. Finally, based on the first and second phase angles, the phase angle deviation between the virtual synchronous generator and the target power grid is obtained.

[0043] S202. The comprehensive synchronization deviation is calculated based on the voltage deviation, frequency deviation, and phase angle deviation.

[0044] Among them, the comprehensive synchronization deviation is a single index obtained by combining the voltage deviation, frequency deviation and phase angle deviation using a weighted calculation method, and is used to quantify the overall difference in the synchronization state of the virtual synchronous generator.

[0045] In this step, the voltage deviation, frequency deviation, and phase angle deviation are normalized to obtain normalized voltage deviation, normalized frequency deviation, and normalized phase angle deviation. Based on the normalized voltage deviation and its corresponding first weight, the normalized frequency deviation and its corresponding second weight, and the normalized phase angle deviation and its corresponding third weight, the weighted least squares method is used to calculate the comprehensive synchronization deviation.

[0046] Specifically, the voltage deviation is divided by the rated voltage to obtain the per-unit voltage deviation. The frequency deviation is divided by the rated frequency to obtain the per-unit frequency deviation. The phase angle deviation is divided by the pre-synchronization allowable phase angle deviation threshold to obtain the per-unit phase angle deviation.

[0047] S203. Based on the comprehensive synchronization deviation, the dynamic adjustment parameters are obtained through a nonlinear mapping function.

[0048] The nonlinear mapping function is a continuous, monotonically increasing mathematical function used to dynamically convert the comprehensive synchronization deviation into the gain adjustment signal of the pre-synchronization controller, i.e., the dynamic adjustment parameter.

[0049] The dynamically adjustable parameters include the proportional gain adjustment value and the integral gain adjustment value.

[0050] In this step, based on the comprehensive synchronization deviation, the proportional gain adjustment value is obtained through the hyperbolic tangent function, and the integral gain adjustment value is obtained through the exponential decay function. The hyperbolic tangent function and the exponential decay function mentioned above are nonlinear mapping functions.

[0051] S204. Adjust the pre-synchronization controller parameters of the virtual synchronous generator according to the dynamic adjustment parameters.

[0052] Among them, the pre-synchronization controller parameters are control parameters used to adjust the output parameters of the virtual synchronous generator (such as voltage amplitude and frequency), including proportional gain and integral gain.

[0053] In this step, the proportional gain in the pre-synchronization controller parameters is adjusted based on the proportional gain adjustment value in the dynamic adjustment parameters, and the integral gain in the pre-synchronization controller parameters is adjusted based on the integral gain adjustment value in the dynamic adjustment parameters. Finally, a pre-synchronization adjustment signal is generated based on the adjusted pre-synchronization controller parameters. The output voltage and output frequency of the virtual synchronous generator are then adjusted according to the pre-synchronization adjustment signal.

[0054] In one possible implementation, in a virtual synchronous generator system built on an inverter, the system achieves grid synchronization by adjusting voltage and frequency reference values.

[0055] This application provides a pre-synchronization control method for a virtual synchronous generator. By acquiring the voltage deviation, frequency deviation, and phase angle deviation between the virtual synchronous generator and the target power grid, a comprehensive synchronization deviation is calculated based on the voltage deviation, frequency deviation, and phase angle deviation. Based on the comprehensive synchronization deviation, dynamic adjustment parameters are obtained through a nonlinear mapping function. The pre-synchronization controller parameters of the virtual synchronous generator are adjusted according to the dynamic adjustment parameters.

[0056] This application embodiment improves the pre-synchronization performance of the virtual synchronous generator system through the above technical means, ensures the matching efficiency and stability of key parameters during grid connection, and thus achieves the effect of improving the synchronization accuracy during the pre-synchronization process of the virtual synchronous generator.

[0057] Figure 3 A flowchart illustrating a pre-synchronization control method for a virtual synchronous generator provided in this application. Figure 2 ,like Figure 3 As shown, in this embodiment... Figure 2 Based on the embodiments, a pre-synchronization control method for a virtual synchronous generator is described in detail, the method comprising:

[0058] S301. Obtain the first voltage, first frequency, and first phase angle of the virtual synchronous generator, and the second voltage, second frequency, and second phase angle of the target power grid.

[0059] In this step, a voltage transformer is deployed at the inverter output of the virtual synchronous generator to collect the output voltage (i.e., the first voltage). Simultaneously, the sampling module of the virtual synchronous generator's local controller, combined with a phase-locked loop algorithm, extracts the real-time frequency (i.e., the first frequency) and phase angle (i.e., the first phase angle) from the output voltage signal.

[0060] By deploying voltage transformers at the common connection point between the microgrid and the target grid to collect grid voltage (i.e., the second voltage), and by using a phase-locked loop module on the grid side to parse the real-time frequency (second frequency) and phase angle (second phase angle) from the grid voltage signal.

[0061] S302. Based on the first voltage and the second voltage, obtain the voltage deviation; based on the first frequency and the second frequency, obtain the frequency deviation; based on the first phase angle and the second phase angle, obtain the phase angle deviation.

[0062] In this step, the voltage deviation between the virtual synchronous generator and the target power grid is obtained based on the first voltage and the second voltage. The frequency deviation between the virtual synchronous generator and the target power grid is obtained based on the first frequency and the second frequency. The phase angle deviation between the virtual synchronous generator and the target power grid is obtained based on the first phase angle and the second phase angle.

[0063] Specifically, the voltage deviation is obtained by calculating the difference between the first voltage and the second voltage, the frequency deviation is obtained by calculating the difference between the first frequency and the second frequency, and the phase angle deviation is obtained by calculating the difference between the first phase angle and the second phase angle.

[0064] S303. The voltage deviation, frequency deviation and phase angle deviation are normalized respectively to obtain normalized voltage deviation, normalized frequency deviation and normalized phase angle deviation.

[0065] The standardization process is used to convert physical quantities into dimensionless values, which facilitates cross-parameter comparisons.

[0066] In this step, the voltage deviation is divided by the rated voltage to obtain the per-unit voltage deviation. The frequency deviation is divided by the rated frequency to obtain the per-unit frequency deviation. The phase angle deviation is divided by the pre-synchronization allowable phase angle deviation threshold to obtain the per-unit phase angle deviation. Here, the rated voltage is the standard voltage value of the power grid, the rated frequency is the standard frequency value of the power grid, typically 50Hz, and the pre-synchronization allowable phase angle deviation threshold is the core constraint of pre-synchronization control.

[0067] This step eliminates dimensional differences between parameters through per-unit processing, ensuring that voltage deviation, frequency deviation, and phase angle deviation are compared on a uniform scale.

[0068] In one possible implementation, the voltage deviation Frequency deviation and phase angle deviation The expression for standardization is as follows:

[0069]

[0070]

[0071]

[0072] in, This is the rated voltage, typically 380V; This is the rated frequency, typically 50Hz; The permissible phase angle deviation threshold for pre-synchronization is typically [value missing]. ; This is the per-unit voltage deviation; This is for the per-unit frequency deviation; This is the phase angle deviation for standardization.

[0073] S304. By performing fuzzy reasoning on the real-time operating status of the virtual synchronous generator and the target power grid, the weights corresponding to the per-unit voltage deviation, per-unit frequency deviation, and per-unit phase angle deviation are obtained.

[0074] Among them, the real-time operating status is a set of parameters that reflect the real-time operating conditions of the microgrid topology, load fluctuation intensity, etc.

[0075] In this step, the real-time operating status of the virtual synchronous generator and the target power grid is acquired, and the real-time operating status is converted into corresponding fuzzy linguistic variables. These fuzzy linguistic variables are input into a preset fuzzy rule base to obtain a fuzzified weight set. The fuzzified weight set is then defuzzified to obtain the per-unit voltage deviation and its corresponding first weight, the per-unit frequency deviation and its corresponding second weight, and the per-unit phase angle deviation and its corresponding third weight.

[0076] This step achieves multi-parameter coupling optimization through dynamic weight allocation, improving control accuracy under complex operating conditions. For example, in scenarios with sudden load changes, the frequency weight is increased to prioritize the elimination of frequency deviations and avoid synchronization failures caused by excessive voltage or phase angle deviations.

[0077] In one possible implementation, the load fluctuation intensity and the degree of microgrid topology change are used as inputs to the aforementioned fuzzy rule base, and the weight priority of three standardized deviations is used as the output of the fuzzy rule base. Based on historical operating data, the adaptation law of deviation optimization and weights under different operating conditions is analyzed to determine the optimal weights, which are then transformed into fuzzy control rules to construct the fuzzy rule base.

[0078] In one possible implementation, when a decrease in line impedance is detected, fuzzy inference is performed based on a preset fuzzy rule base to obtain a larger third weight, thereby automatically increasing the third weight corresponding to the per-unit phase angle deviation under low impedance conditions, achieving the effect of suppressing circulating current risk.

[0079] In one possible implementation, the weights can be configured to preset values ​​according to the operational requirements of the power grid and the multi-virtual synchronous generator system. The weight configuration rules include:

[0080] First, to avoid the occurrence of instantaneous circulating current in the system due to small phase angle deviations, the phase angle deviation is given the highest weight, that is, the third weight is greater than the second weight and the first weight.

[0081] Secondly, the weights for voltage deviation and frequency deviation can be set to values ​​smaller than the weight for phase deviation, and to ensure frequency consistency, the weight for frequency deviation should be slightly greater than the weight for voltage deviation. That is, the first and second weights should be set to values ​​smaller than the third weight, while the first weight should be slightly greater than the second weight.

[0082] In one possible implementation, the rated voltage is set to 380V, the rated frequency to 50Hz, and the switching frequency of the multi-virtual synchronous generator system is 3kHz. During normal system operation, the allowable voltage fluctuation is ±10%, the allowable frequency fluctuation range is ±2.5Hz, and the deviation percentage is ±5%. To avoid system circulating current, strict phase synchronization is required, allowing a phase angle deviation of at most one sampling period. Taking a sampling period of 20ms as an example, the corresponding phase angle deviation is ±1.67%.

[0083] The proportional relationship of each per-unit value is as follows:

[0084]

[0085] Based on the proportional relationship of per-unit values, the weights are configured as follows:

[0086]

[0087] in, It is the first weight; As the second weight; This is the third weight. The remaining parameters are the same as those mentioned above, and will not be repeated here.

[0088] S305. Based on the per-unit voltage deviation, per-unit frequency deviation, per-unit phase angle deviation, and the weights corresponding to each deviation, the weighted least squares method is used to calculate the comprehensive synchronization deviation.

[0089] Among them, the weighted least squares method is used to allocate the sensitivity of different parameters through weight coefficients to generate a comprehensive synchronization deviation.

[0090] In this step, the weighted least squares method is used to calculate the comprehensive synchronization deviation based on the per-unit voltage deviation and its corresponding first weight, the per-unit frequency deviation and its corresponding second weight, and the per-unit phase angle deviation and its corresponding third weight.

[0091] Specifically, based on the per-unit voltage deviation and its corresponding first weight, the per-unit frequency deviation and its corresponding second weight, and the per-unit phase angle deviation and its corresponding third weight, the weighted least squares method is used to calculate the preliminary synchronization deviation. The preliminary synchronization deviation is then smoothed to obtain a stable, comprehensive synchronization deviation for subsequent function mapping.

[0092] In one possible implementation, the initial synchronization deviation is calculated. The expression is:

[0093]

[0094] The parameters above are the same as those mentioned above, and will not be repeated here.

[0095] Then through the transfer function of the first-order inertial element The initial synchronization deviation is smoothed to smooth out high-frequency noise, resulting in a comprehensive synchronization deviation.

[0096] By combining the technical means shown in S303~S305, multi-parameter deviations are quantified collaboratively through per-unit processing and weighted least squares method, improving the accuracy of synchronization deviation calculation. Furthermore, by combining weighted least squares method with a dynamic weight adjustment mechanism, the system can flexibly respond to key deviation parameters according to actual needs, enhancing the flexibility and robustness of pre-synchronization control.

[0097] S306. Based on the comprehensive synchronization deviation, the proportional gain adjustment value is obtained through the hyperbolic tangent function, and the integral gain adjustment value is obtained through the exponential decay function.

[0098] The hyperbolic tangent function is monotonically increasing and bounded.

[0099] The exponential decay function reflects the characteristic that the integral gain decreases as the deviation increases.

[0100] In this step, the proportional gain and integral gain are mapped by choosing either the hyperbolic tangent function or the exponentially decaying function, respectively. The monotonically increasing characteristic of the hyperbolic tangent function ensures that the gain is maximized with large deviations and minimized with small deviations; the exponentially decaying function allows the integral gain to intervene when the deviation is small, avoiding integral saturation.

[0101] This step enhances the adaptability to different operating conditions by using multiple sets of nonlinear function mapping models. Specifically, the hyperbolic tangent function is suitable for low-impedance conditions to suppress oscillations, the exponential decay function is suitable for high-impedance conditions to accelerate the response, and the piecewise linear function can flexibly match scenarios with inertial changes.

[0102] S307. Adjust the proportional gain in the pre-synchronization controller parameters according to the proportional gain adjustment value, and adjust the integral gain in the pre-synchronization controller parameters according to the integral gain adjustment value.

[0103] In one possible implementation, a hyperbolic tangent function is used. As a mapping function for proportional gain, its range is And exist The comprehensive synchronization deviation is mapped using the hyperbolic tangent function, and the proportional gain in the pre-synchronization controller parameters is adjusted based on the mapping result. The corresponding expression for this process is:

[0104]

[0105] in, The target for proportional gain adjustment is the adjusted proportional gain.

[0106] The initial value of the proportional gain is the base gain value used by the multi-virtual synchronous generator system when pre-synchronization is about to be completed and the deviation is extremely small. This value is tuned based on the conservative principle of system stability, ensuring that continuous small deviations can be smoothly eliminated without overshoot.

[0107] For the maximum percentage adjustment range, This reflects the system's maximum acceleration capability against large deviations in response and determines the initial value of the proportional gain. The maximum allowable deviation.

[0108] This is the proportional sensitivity coefficient. The hyperbolic tangent function used for adjustment reflects this. For the comprehensive synchronization deviation Sensitivity. Proportional sensitivity coefficient. The larger the value, the faster the function responds to the deviation, meaning the system quickly reduces the gain when the deviation decreases slightly.

[0109] hyperbolic tangent function The response method is as follows:

[0110] When the synchronization state is poor, i.e., the comprehensive synchronization deviation is... When it is large, the proportional gain adjustment value The adjusted proportional gain tends to 1. Tend to (Initial value of proportional gain) Plus the maximum adjustment range The pre-synchronization controller uses maximum gain to generate strong regulation force, driving the output of the virtual synchronous generator to quickly approach the target value, highlighting its speed.

[0111] During the synchronization process, the overall synchronization deviation is calculated. Gradually decrease the proportional gain adjustment value Smooth descent, adjusted proportional gain The adjustment is gradually reduced, thus effectively suppressing any potential overshoot.

[0112] When synchronization is about to be completed, the proportional gain adjustment value The adjusted proportional gain approaches 0. tending towards the initial value of the proportional gain The controller switches to low-gain mode, and the system fine-tunes to correct residual deviations, ensuring stability and smooth connection.

[0113] In one possible implementation, an exponential decay function is employed. As a mapping function for integral gain, this function in It reaches its maximum value of 1 at that time, as The overall synchronization deviation is attenuated as the speed increases. The integrated synchronization deviation is mapped using an exponential decay function, and the integral gain in the pre-synchronization controller parameters is adjusted based on the mapping result. The corresponding expression for this process is:

[0114]

[0115] in, The target for integral gain adjustment is the adjusted integral gain.

[0116] This is the initial value of the integral gain, used to ensure the smoothness of the adjustment process and the stability of the synchronization state under small deviation conditions during the pre-synchronization process of the virtual synchronous generator.

[0117] The maximum integral adjustment range is defined as the range of change in the integral gain being smaller than the range of change in the proportional gain. Less than the maximum adjustment range .

[0118] This is the integral sensitivity coefficient, which is determined based on the actual situation. The value can be compared with the proportionality sensitivity coefficient. The values ​​are equal, and they can also be adjusted individually.

[0119] Exponential decay function The response method is as follows:

[0120] When the synchronization state is poor, i.e., the comprehensive synchronization deviation is... When it is large, the integral gain adjustment value Keep it unchanged or slightly reduced, prioritizing the adjusted proportional gain. It plays a rapid adjustment role to avoid excessive accumulation of points.

[0121] During the synchronization process, the overall synchronization deviation is calculated. When the value is small, the integral gain adjustment value increases smoothly, resulting in an adjusted integral gain. Tend to (Integral gain initial value) Plus the maximum points adjustment range The integral gain begins to participate in regulation, and the system accelerates the elimination of steady-state error.

[0122] Adjusted integral gain when synchronization is about to be completed Initial value of regression integral gain In order to maintain system stability.

[0123] In one possible implementation, a prediction algorithm is used to predict the trend of each deviation at the next time step, and based on the trend of each deviation, the proportional gain and integral gain in the pre-synchronization controller parameters are adjusted in advance. The prediction algorithm can be a Kalman filter or a long short-term memory neural network. For example:

[0124] First, a prediction model based on a prediction algorithm is trained using historical data, enabling it to predict short-term trends in voltage deviation, frequency deviation, and phase angle deviation.

[0125] The prediction results from the first step are then used as feedforward inputs. Combined with the current values ​​of each deviation, a gain adjustment signal is generated to increase or decrease the gain in advance to cope with the deviation changes at the next moment.

[0126] The technical approach proposed in this embodiment proactively adjusts the gain by predicting the trend of deviation changes in advance, thus avoiding the lag in feedback control and reducing response delay. Simultaneously, it identifies periodic disturbances (such as load cycle fluctuations) through a predictive model and adjusts the gain in advance to suppress deviation oscillations, improving the smoothness of the synchronization process. Ultimately, this enhances the real-time performance, accuracy, and stability of the pre-synchronization process.

[0127] S308. Based on the adjusted pre-synchronization controller parameters, generate a pre-synchronization adjustment signal.

[0128] S309. Adjust the output voltage and output frequency of the virtual synchronous generator according to the pre-synchronization adjustment signal.

[0129] In this step, the output voltage and frequency of the virtual synchronous generator are adjusted according to the pre-synchronization adjustment signal, driving the output voltage and frequency of the virtual synchronous generator to synchronize with the grid, ultimately making the output of the virtual synchronous generator consistent with the grid parameters.

[0130] This step transforms the adjusted parameters into actual outputs, forming a closed-loop control circuit to ensure the accuracy of the pre-synchronization process.

[0131] In one possible implementation, the control block diagram of the nonlinear function mapping strategy is as follows: Figure 4 As shown, firstly, the voltage, frequency, and phase angle of the power grid ( ) and the voltage, frequency, and phase angle of the virtual synchronous generator ( Using as input, the comprehensive synchronization deviation is obtained through difference calculation. .

[0132] Subsequently, the synchronization deviation was considered. The nonlinear mapping process is divided into two paths: First, it integrates the synchronization deviation. coefficient Convert to variable Input hyperbolic tangent nonlinear function The calculation result is compared with the basic proportional gain. Multiply to obtain the dynamically updated proportional gain. Secondly, consider the overall synchronization deviation. coefficient Convert to variable Input exponential nonlinear function The calculation result is related to the basic integral gain. Multiplying them together yields the dynamically updated integral gain. .

[0133] Finally, the dynamically updated proportional gain With integral gain The input is a pre-synchronous proportional-integral (PI) controller. After PI calculation, the output adjustment signal is transmitted to the virtual synchronous generator (VSG) controller to adjust the operating state of the virtual synchronous generator and realize pre-synchronous control.

[0134] This application provides a pre-synchronization control method for a virtual synchronous generator, which obtains the first voltage, first frequency, and first phase angle of the virtual synchronous generator, as well as the second voltage, second frequency, and second phase angle of the target power grid. Then, based on the first and second voltages, the voltage deviation is obtained; based on the first and second frequencies, the frequency deviation is obtained; and based on the first and second phase angles, the phase angle deviation is obtained.

[0135] Voltage deviation, frequency deviation, and phase angle deviation are normalized to obtain normalized voltage deviation, normalized frequency deviation, and normalized phase angle deviation, respectively. Then, by performing fuzzy reasoning on the real-time operating states of the virtual synchronous generator and the target power grid, the weights corresponding to each normalized voltage deviation, normalized frequency deviation, and normalized phase angle deviation are obtained. Finally, based on the normalized voltage deviation, normalized frequency deviation, normalized phase angle deviation, and their respective weights, the weighted least squares method is used to calculate the comprehensive synchronization deviation.

[0136] Based on the comprehensive synchronization deviation, the proportional gain adjustment value is obtained through the hyperbolic tangent function, and the integral gain adjustment value is obtained through the exponential decay function. Then, based on the proportional gain adjustment value, the proportional gain in the pre-synchronization controller parameters is adjusted, and based on the integral gain adjustment value, the integral gain in the pre-synchronization controller parameters is adjusted. Finally, based on the adjusted pre-synchronization controller parameters, a pre-synchronization adjustment signal is generated, and based on the pre-synchronization adjustment signal, the output voltage and output frequency of the virtual synchronous generator are adjusted.

[0137] Based on the aforementioned embodiments, this application's embodiments achieve collaborative quantification of multi-parameter deviations through per-unit processing and weighted least squares method, improving the accuracy of synchronization deviation calculation. Furthermore, by combining weighted least squares method with a dynamic weight adjustment mechanism, the system can flexibly respond to key deviation parameters according to actual needs, enhancing the flexibility and robustness of pre-synchronization control. By converting the adjusted parameters into actual outputs, a closed-loop control loop is formed, ensuring the accuracy of the pre-synchronization process. Ultimately, while improving the synchronization accuracy during the pre-synchronization process of virtual synchronous generators, this application further enhances the robustness and applicability to complex operating conditions of the multi-virtual synchronous generator system.

[0138] Based on any of the above embodiments, the following, in conjunction with Figure 5 This paper provides a detailed explanation of a pre-synchronization control method for a virtual synchronous generator through specific examples.

[0139] S501, Obtain the voltage, frequency, and phase angle of the virtual synchronous generator terminal.

[0140] S502, Obtain the voltage, frequency, and phase angle of the power grid.

[0141] S503. Preprocess the acquired data and calculate the real-time voltage deviation, frequency deviation, and phase angle deviation.

[0142] S504. Input the voltage deviation, frequency deviation, and phase angle deviation into the parameter mapper to obtain the proportional gain adjustment value and the integral gain adjustment value.

[0143] In this step, voltage deviation, frequency deviation, and phase angle deviation are normalized. Based on the normalization results, the overall synchronization deviation is calculated using the weighted least squares method. The overall synchronization deviation is then filtered. A nonlinear mapping is applied to the filtered overall synchronization deviation to obtain the adjustment values ​​for the proportional gain and integral gain.

[0144] S505. Based on the proportional gain adjustment value and the integral gain adjustment value, obtain the target value of proportional gain and the target value of integral gain.

[0145] S506, Update parameters.

[0146] In this step, the proportional gain is updated to the target value of the proportional gain and the integral gain is updated to the target value of the integral gain in the pre-synchronization controller.

[0147] S507 generates control signals to adjust the frequency and voltage reference values ​​of the virtual synchronous generator.

[0148] Among them, the control signal is the pre-synchronization adjustment signal.

[0149] S508: Send control signals to the control loop, and adjust the frequency reference value and voltage reference value of the virtual synchronous generator through the control loop.

[0150] It should be noted that, in Figure 5 The processing steps S501-S508 shown in the embodiments do not constitute a specific limitation on the pre-synchronization control method for a virtual synchronous generator. In other embodiments of this application, a pre-synchronization control method for a virtual synchronous generator may include... Figure 5 Embodiments may include more or fewer steps; for example, a pre-synchronization control method for a virtual synchronous generator may include... Figure 5 Some steps in the embodiments, or, Figure 5 Some steps in the embodiments can be replaced by steps with the same function, or, Figure 5 Some steps in the embodiments can be broken down into multiple steps, etc.

[0151] Figure 6 A schematic diagram of the pre-synchronization control device for a virtual synchronous generator provided in this application is shown below. Figure 6 As shown, the pre-synchronization control device 60 for a virtual synchronous generator provided in this embodiment includes:

[0152] The acquisition module 601 is used to acquire the voltage deviation, frequency deviation, and phase angle deviation between the virtual synchronous generator and the target power grid.

[0153] The calculation module 602 is used to calculate the comprehensive synchronization deviation based on the voltage deviation, frequency deviation, and phase angle deviation.

[0154] The mapping module 603 is used to obtain dynamic adjustment parameters based on the comprehensive synchronization deviation through a nonlinear mapping function.

[0155] The adjustment module 604 is used to adjust the pre-synchronization controller parameters of the virtual synchronous generator according to the dynamic adjustment parameters.

[0156] In one possible implementation, the computing module 602 includes:

[0157] The per-unit unit is used to normalize the voltage deviation, frequency deviation, and phase angle deviation respectively, to obtain the per-unit voltage deviation, per-unit frequency deviation, and per-unit phase angle deviation.

[0158] The weighted calculation unit is used to calculate the comprehensive synchronization deviation based on the per-unit voltage deviation and its corresponding first weight, the per-unit frequency deviation and its corresponding second weight, and the per-unit phase angle deviation and its corresponding third weight, using the weighted least squares method.

[0159] In one possible implementation, the computing module 602 further includes:

[0160] The acquisition unit is used to acquire the real-time operating status of the virtual synchronous generator and the target power grid.

[0161] The determination unit is used to determine the first weight, the second weight, and the third weight based on the real-time operating status.

[0162] In one possible implementation, the determining unit of the calculation module 602 is specifically used for:

[0163] The real-time running status is converted into corresponding fuzzy language variables.

[0164] By inputting fuzzy linguistic variables into a preset fuzzy rule base, a fuzzified weight set is obtained.

[0165] The fuzzy weight set is defuzzified to obtain the first weight, the second weight, and the third weight.

[0166] In one possible implementation, the dynamically adjusted parameters include a proportional gain adjustment value and an integral gain adjustment value, and the mapping module 603 is specifically used for:

[0167] Based on the comprehensive synchronization deviation, the proportional gain adjustment value is obtained through the hyperbolic tangent function, and the integral gain adjustment value is obtained through the exponential decay function; the hyperbolic tangent function and the exponential decay function are nonlinear mapping functions.

[0168] Accordingly, adjustment module 604 is specifically used for:

[0169] Adjust the proportional gain in the pre-synchronization controller parameters according to the proportional gain adjustment value, and adjust the integral gain in the pre-synchronization controller parameters according to the integral gain adjustment value.

[0170] In one possible implementation, the acquisition module 601 is further configured to:

[0171] Obtain the first voltage, first frequency, and first phase angle of the virtual synchronous generator, and the second voltage, second frequency, and second phase angle of the target power grid. Based on the first and second voltages, calculate the voltage deviation between the virtual synchronous generator and the target power grid. Based on the first and second frequencies, calculate the frequency deviation between the virtual synchronous generator and the target power grid. Based on the first and second phase angles, calculate the phase angle deviation between the virtual synchronous generator and the target power grid.

[0172] In one possible implementation, the adjustment module 604 is further configured to:

[0173] Based on the adjusted pre-synchronization controller parameters, a pre-synchronization adjustment signal is generated. The output voltage and frequency of the virtual synchronous generator are then adjusted according to the pre-synchronization adjustment signal.

[0174] In one possible implementation, the per-unit of the calculation module 602 is specifically used for:

[0175] Divide the voltage deviation by the rated voltage to obtain the per-unit voltage deviation.

[0176] Divide the frequency deviation by the rated frequency to obtain the per-unit frequency deviation.

[0177] Divide the phase angle deviation by the pre-synchronization allowable phase angle deviation threshold to obtain the per-unit phase angle deviation.

[0178] This embodiment provides a pre-synchronization control device for a virtual synchronous generator, which can execute the method provided in the above-described method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0179] Figure 7 A schematic diagram of the structure of the electronic device provided in this application. Figure 7As shown, the electronic device 70 provided in this embodiment includes at least one processor 701 and a memory 702. Optionally, the device 70 further includes a communication component 703. The processor 701, memory 702, and communication component 703 are connected via a bus 704.

[0180] In a specific implementation, at least one processor 701 executes computer execution instructions stored in memory 702, causing at least one processor 701 to perform the above-described method.

[0181] The specific implementation process of processor 701 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0182] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0183] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0184] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0185] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0186] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0187] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0188] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0189] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0190] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0191] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0192] If a function is implemented as 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 this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0193] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0194] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A pre-synchronization control method for a virtual synchronous generator, characterized in that, include: Obtain the voltage deviation, frequency deviation, and phase angle deviation between the virtual synchronous generator and the target power grid; The overall synchronization deviation is calculated based on the voltage deviation, the frequency deviation, and the phase angle deviation. Based on the comprehensive synchronization deviation, dynamic adjustment parameters are obtained through a nonlinear mapping function; The pre-synchronization controller parameters of the virtual synchronous generator are adjusted according to the dynamic adjustment parameters.

2. The method according to claim 1, characterized in that, The calculation of the comprehensive synchronization deviation based on the voltage deviation, the frequency deviation, and the phase angle deviation includes: The voltage deviation, frequency deviation, and phase angle deviation are respectively normalized to obtain normalized voltage deviation, normalized frequency deviation, and normalized phase angle deviation; Based on the per-unit voltage deviation and its corresponding first weight, the per-unit frequency deviation and its corresponding second weight, and the per-unit phase angle deviation and its corresponding third weight, the weighted least squares method is used to calculate the comprehensive synchronization deviation.

3. The method according to claim 2, characterized in that, Before calculating the comprehensive synchronization deviation using the weighted least squares method based on the per-unit voltage deviation and its corresponding first weight, the per-unit frequency deviation and its corresponding second weight, and the per-unit phase angle deviation and its corresponding third weight, the method further includes: Obtain the real-time operating status of the virtual synchronous generator and the target power grid; Based on the real-time operating status, the first weight, the second weight, and the third weight are determined.

4. The method according to claim 3, characterized in that, Determining the first weight, the second weight, and the third weight based on the real-time operating status includes: The real-time running status is converted into corresponding fuzzy language variables; The fuzzy language variables are input into a preset fuzzy rule base to obtain a fuzzy weight set; The fuzzy weight set is defuzzified to obtain the first weight, the second weight, and the third weight.

5. The method according to claim 1, characterized in that, The dynamic adjustment parameters include proportional gain adjustment values ​​and integral gain adjustment values; the dynamic adjustment parameters, obtained based on the comprehensive synchronization deviation through a nonlinear mapping function, include: Based on the comprehensive synchronization deviation, the proportional gain adjustment value is obtained through the hyperbolic tangent function, and the integral gain adjustment value is obtained through the exponential decay function; the hyperbolic tangent function and the exponential decay function are the nonlinear mapping functions. Accordingly, adjusting the pre-synchronization controller parameters of the virtual synchronous generator according to the dynamic adjustment parameters includes: The proportional gain in the pre-synchronization controller parameters is adjusted according to the proportional gain adjustment value, and the integral gain in the pre-synchronization controller parameters is adjusted according to the integral gain adjustment value.

6. The method according to claim 1, characterized in that, Before obtaining the voltage deviation, frequency deviation, and phase angle deviation between the virtual synchronous generator and the target power grid, the method further includes: The first voltage, first frequency, and first phase angle of the virtual synchronous generator, and the second voltage, second frequency, and second phase angle of the target power grid are obtained. The voltage deviation between the virtual synchronous generator and the target power grid is obtained based on the first voltage and the second voltage. The frequency deviation between the virtual synchronous generator and the target power grid is obtained based on the first frequency and the second frequency; The phase angle deviation between the virtual synchronous generator and the target power grid is obtained based on the first phase angle and the second phase angle.

7. The method according to claim 5, characterized in that, After adjusting the pre-synchronization controller parameters of the virtual synchronous generator according to the dynamic adjustment parameters, the method further includes: Based on the adjusted pre-synchronization controller parameters, a pre-synchronization adjustment signal is generated; The output voltage and output frequency of the virtual synchronous generator are adjusted according to the pre-synchronization adjustment signal.

8. The method according to claim 2, characterized in that, The step of normalizing the voltage deviation, frequency deviation, and phase angle deviation to obtain normalized voltage deviation, normalized frequency deviation, and normalized phase angle deviation includes: Divide the voltage deviation by the rated voltage to obtain the per-unit voltage deviation; Divide the frequency deviation by the rated frequency to obtain the per-unit frequency deviation; The per-unit phase angle deviation is obtained by dividing the phase angle deviation by the pre-synchronization allowable phase angle deviation threshold.

9. A pre-synchronization control device for a virtual synchronous generator, characterized in that, include: The acquisition module is used to acquire the voltage deviation, frequency deviation, and phase angle deviation between the virtual synchronous generator and the target power grid; The calculation module is used to calculate the comprehensive synchronization deviation based on the voltage deviation, the frequency deviation, and the phase angle deviation. The mapping module is used to obtain dynamic adjustment parameters based on the comprehensive synchronization deviation through a nonlinear mapping function; The adjustment module is used to adjust the pre-synchronization controller parameters of the virtual synchronous generator according to the dynamic adjustment parameters.

10. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1 to 8.

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