Device and method for controlling an inverter

Abstract

Device (1) for controlling an inverter (10), comprising: an entrance (2), an adjusting device (3), and an output (4), wherein the input (2) is designed to receive an actual value of an output active power (P) of the inverter (10) and an actual value of an output reactive power (Q) of the inverter (10), wherein the setting device (3) is designed in such a way that, starting from the actual value of the output active power (P), the actual value of the output reactive power (Q) and to determine a control signal (S) from an actual value of a temporal change in the output reactive power (Q), wherein the output (4) is designed to output the control signal (S) for controlling the inverter (10), and where the control signal (S) is based on a voltage amplitude (U st ) as the first manipulated variable and at a frequency (f st) as the second control variable, characterized by that the setting device (3) is designed to determine the second manipulated variable using the actual value of the temporal change of the output reactive power (Q).

Description

[0001] The invention relates to a device for controlling an inverter. Furthermore, the invention relates to a corresponding method for controlling an inverter.

[0002] An inverter (also called an inverter) is generally an electrical device that converts direct current into alternating current, and thus direct current into alternating current. Inverters are often installed between direct current sources (e.g., photovoltaic systems, batteries, etc.) and electrical loads (or the power grid in general), since many loads require alternating current.

[0003] Inverters are often used in parallel operation to form a voltage grid. In such a power grid, the individual AC voltage sources in the form of inverters often supply the grid with a sinusoidal voltage with an effective voltage of, for example, 230 V at a frequency of, for example, 50 Hz. In doing so, the inverters feed both power and reactive power into the grid.

[0004] In the Fig. Figure 1 shows a model of two voltage sources 10, 12 operating in parallel. One voltage source (shown here on the left and referred to as the "inverter") is represented by an inverter 10 connected to a voltage grid 12 (on the right and referred to as the "microgrid"). The voltage sources 10, 12 are connected to each other via a coupling impedance 11 with the complex resistance Z.

[0005] The coupling impedance Z results from an ohmic component with resistance value R and an imaginary component X with inductance L as a function of the frequency f or the angular frequency ω = 2 * π * f via Z = j * ω * L + R = j * X + R.

[0006] The coupling impedance Z results, for example, from the electrical lines between the voltage sources 10, 12.

[0007] In the Fig. 1 U 1 the inverter voltage or output voltage of the inverter 10 and is U 2 the mains voltage, which results, for example, from the combination of several network formers.

[0008] Between the two voltages U 1 , U 2 There is an angle difference with the angle δ, which is shown here on the right side of the Fig. 1 is indicated.

[0009] As is common practice in conventional power plant control technology, grid-forming power plants (this term is synonymous with inverters for clarity) are equipped with so-called droops (f(P) and U(Q) characteristics) that operate efficiently with inductive coupling between the various grid-forming power plants and allow for control of the inverters. This is especially true for large power plants, as they are connected to high-voltage grids, and in such grids, the inductive component (j * ω * L) of the line impedance (Z) is primarily important, thus ensuring proper functioning in this respect.

[0010] The droops connect the grid frequency f and the output power P, or the grid voltage U and the output reactive power Q. This means that the output power P supplied by the respective inverter affects the grid frequency f, and the output reactive power Q affects the grid voltage U.

[0011] As a rule, linear relationships are specified which refer to the nominal values ​​of the frequency f and the voltage U: f N and U N . For example, these are 50 Hz or 230 V. Furthermore, the characteristic values ​​st 1 and st 2 based on the respective standard values ​​as a measure of the dependencies - the frequency as a function of the power or the voltage as a function of the reactive power.

[0012] Therefore, the state of the art generally uses statics that are also used in Fig. 2 are shown graphically: f=fN−st1*P with st1=fN / PN and U=UN−st2*Q with st2=ΔUN / QN.

[0013] In the same way, modern network builders are based on the use of conventional power statics.

[0014] The difficulty, however, lies in its application to the low-voltage grid, where the resistive component (R) of the coupling impedance (Z) predominates, so that the relationships between f(P) and U(Q) are reversed. This means that significant cross-influences of frequency changes on reactive power and voltage changes on active power occur.

[0015] Since the new types of grid formers will primarily be found in the lower voltage levels in the future, further solutions for improved functionality are required.

[0016] One current approach is to artificially increase the inductive component of the line impedance. This can be done either physically by attaching an additional coil to the output of the grid former or virtually by changing the voltage setpoint depending on the change in the output current (see Matas, J. et al., "Virtual Impedance Loop for Droop-Controlled Single-Phase Parallel Inverters Using a Second-Order General-Integrator Scheme," IEEE Transactions on Power Electronics, pp. 2993-3002, 2010). The latter is equivalent to the effect of a coil at the output, since an additional voltage drop is imposed in proportion to the change in current.

[0017] A disadvantage of this method is that an adjustment of the voltage setpoint must first pass through the voltage regulator and the controlled system to achieve the desired effect. Since the regulator cannot operate at arbitrary speed, the desired effect is achieved precisely in the steady-state case. In the dynamic case, however, it depends on the control or system behavior, which can compromise stability. Therefore, a combination of a real and a virtual inductor is preferred. The real coil at the output of the inverter can, for example, be part of the LCL filter.

[0018] Overall, this can improve system performance. Nevertheless, a significant resistive component causes differing voltage drops on different lines to the grid-forming inverters. This, in turn, leads to undefined reactive power distributions or reactive power levels between the grid-forming inverters. A negative virtual resistance to compensate for the real resistive line impedance is conceivable.

[0019] Another approach involves adapting the droops depending on the respective grid situation. For this purpose, the droop control is provided with a rotation matrix that incorporates the ratio between the imaginary (X) and real (R) components of the coupling impedance (i.e., the X / R ratio). This adapts the droop characteristics to the respective grid situation according to the ratio of f, U to P, Q.

[0020] The Fig. 3 illustrates the relationship mentioned with a coordinate system for the frequency and the voltage and one for the relationship between the real and imaginary components.

[0021] In the Fig. 3 a) In an inductively coupled network, the output coordinate system (P, Q) lies exactly above the coordinate system of the manipulated variables (f, U). R / X = 0 (shown in the small coordinate system).

[0022] The Fig. 3 b) shows the case where R / X = 1 and Fig. Figure 3 c) shows the case where X / R = 0. This results in the initial coordinate system shifting further away from the grid angle as the grid angle increases, so that, for example, frequency changes cause an additional reactive power flow. The same applies to voltage changes and active power flow. Accordingly, the auxiliary variables P' and Q' are constructed from the grid angle as input variables for the droop characteristics, so that only the portion that is also caused by the respective manipulated variables is included in the droop control.

[0023] The modified performance curves are then as follows: f=fN−st1⋅P'=fN−st1⋅XZ⋅P+st1⋅RZ⋅Q U=UN−st2⋅Q'=UN−st2⋅XZ⋅Q+st2⋅RZ⋅P

[0024] Essentially, this is a projection of the coordinate system rotated by the grid angle onto the manipulated variables U and f. This generally adjusts the relationships between U and f to the power flows P and Q as they are present in the controlled system. This means that only the portion that can be influenced by the system should affect the manipulated variables. This prevents excessive overshoot and compensates for the cross-influences of frequency and voltage (see, for example, De Brabandere, K. et al., "A Voltage and Frequency Droop Control Method for Parallel Inverters", IEEE Transactions on Power Electronics, pp. 1107-1115, 2007). Knowledge of the line angle is assumed.

[0025] Markus Jostock, "Stability of Inverter-Controlled Island Grids: Control Engineering Modeling and Dynamic Analysis of Parallel Static Operation," 2013, describes the investigation of the influence of the rotation matrix on grid-forming inverters. The result was that this achieves a stabilizing effect, particularly for the low-voltage grid. Therefore, while stability is improved on the one hand, the precise power distribution suffers on the other. This is because only the auxiliary variable P' is precisely controlled in a steady-state manner due to the integral behavior in the frequency control loop. The actual power distribution is arbitrarily adjusted depending on the power characteristics and the selected control parameters.

[0026] Another approach in the state of the art relates to a compensation of the supply line influences, which represent the inductive coupling.

[0027] The topic is reactive power distribution in low-voltage grids (J. Quesada et al., "Control of inverters in a low voltage microgrid with distributed battery energy storage. Part I: Primary control", Electric Power Systems Research, pp. 126-135, 2013). Conventional droop control is supplemented by a factor resulting from the division of the ohmic component (R) of the coupling impedance (Z) and the output voltage (U 1 ) of the inverter and is intended to compensate for the influence of the active power (P) on the voltage amplitude. In addition to the reactive power droop characteristic, an additive term is added, consisting of the output voltage (U 1) of the inverter and the inductive component of the coupling impedance (Z). The additive term serves to compensate for the inductive coupling impedance of the respective network formers. Overall, this allows the influence of the supply line impedance on the reactive power distribution to be compensated. Here, too, knowledge of the coupling impedance is assumed.

[0028] Further measures to improve the dynamics are proposed, for example, by Guerrero, JM et al., “A wireless controller to enhance dynamic performance of parallel inverters in distributed generation systems”, IEEE Transactions on Power Electronics, pp. 1205 - 1213, 2004, by modifying the power characteristics as follows: φ=−m∫−∞tPdτ−mpP−mddPdt U=U*−nQ−nddQdt

[0029] This involves inserting additional differential terms and establishing direct access to the effective power and the setting angle. The parameters are selected qualitatively using root locus curves.

[0030] The published patent application DE 10140783 A1 describes a phase pre-control based on the active power fed in. This improves the dynamics and has a stabilizing effect on the system.

[0031] Mohamed, YA-RI and EI-Saadany, EF, “Adaptive Decentralized Droop Controller to Preserve Power Sharing Stability of Paralleled Inverters in Distributed Generation Microgrids”, IEEE Transactions on Power Electronics, pp. 2806 - 2816, 2008, describes a structure similar to the above formulas: f=fN−mP−mddPdt U=UN−nQ−nddQdt

[0032] It differs from the previously mentioned form only in the direct intervention of the fed-in active power on the setting angle.

[0033] Both approaches use the power P, the reactive power Q and the temporal changes in the power and reactive power.

[0034] GUERRERO, JM et al.: A wireless controller to enhance dynamic performance of parallel inverters in distributed generation systems; IEEE Transactions on Power Electronics, Vol. 19, No. 5, pp. 1205-1213, Sept. 2004, doi: 10.1109 / TPEL.2004.833451, describe a controller that uses a manipulated variable E, i.e. the voltage amplitude of an inverter, and the angle ϕ of a voltage phasor, where the manipulated variable E is determined exclusively based on the output reactive power, and the manipulated variable ϕ is determined exclusively based on the output active power P.

[0035] Overall, the object of the invention is to propose a device and a method for controlling an inverter which allow the most effective control possible and which can also be used reliably in low-voltage networks.

[0036] The invention solves the problem by a device for controlling an inverter according to claim 1 and by a method for controlling an inverter according to claim 5.

[0037] The device has an input, an adjustment device, and an output. The input is configured to receive an actual value of an output active power of the inverter and an actual value of an output reactive power of the inverter. Furthermore, the adjustment device is configured to determine a control signal based on the actual value of the output active power, the actual value of the output reactive power, and an actual value of a temporal change in the output reactive power. Finally, the output is configured to output the determined control signal for controlling the inverter. The control signal is based on a voltage amplitude as the first control variable and on a frequency as the second control variable. The adjustment device is configured to determine the second control variable using the actual value of the temporal change in the output reactive power.

[0038] For control purposes, the device receives the actual values ​​of the two variables to be adjusted: output power (also known as output active power) and output reactive power of the inverter. It generates a signal from these two actual values ​​and from the actual value of the dynamic behavior of the output reactive power. This signal is used to regulate the inverter, i.e., to adjust the output power and output reactive power accordingly. The temporal behavior of the output reactive power is therefore also taken into account and utilized during control.

[0039] In one embodiment, only the three states of output power, output reactive power, and temporal change of the output reactive power are used for control. In this embodiment, the temporal change of the output power is therefore not used.

[0040] In one embodiment, the adjustment device is configured to use a coupling impedance value, via which the inverter is connected to a power grid, to determine the control signal. In one embodiment, the coupling impedance is essentially determined by the lines through which the inverter is connected to the remaining power grid.

[0041] In one embodiment, the setting device is configured to use a first droop for a relationship between a grid frequency and the output power of the inverter, a second droop for a relationship between a grid voltage and the output reactive power of the inverter, and nominal values ​​for the grid frequency and the grid voltage to determine the control signal. The first droop has a first droop factor for a linear relationship between the grid frequency and the output power. The second static contains a second droop factor for a linear relationship between the grid voltage and the output reactive power. To determine the control signal, the setting device uses a feedback matrix that contains both droops.The adjustment device is designed to apply the feedback matrix to a vector with entries for the actual value of the output power, the actual value of the output reactive power, and the actual value of the temporal change of the output reactive power. In one embodiment, the application of the matrix to the vector involves accessing a database or data storage device in which suitable values ​​are stored.

[0042] Furthermore, the feedback matrix has three columns and two rows and has the form: F=[f11f12f13f21f22f23],

[0043] In one embodiment, the application of the matrix to the vector is carried out at least partially by recourse to already calculated pairs of values.

[0044] In one embodiment, it is provided that the individual entries f 11 to f 23 the feedback matrix F has the following values: f11=RU1, f22=0, f21=st1, f23=−f21ω−R2πU12, f23=−f21ω−R2πU12, f13≥4L2U12−4Lf12ωU12,

[0045] In one embodiment, the factors f 23 and f 13 readjusted taking into account the measurement filters and the measurement delay.

[0046] The above values ​​refer to a vector with the following entries: output power, output reactive power, and the change in output reactive power over time. If the actual values ​​have different positions in the vector, the elements in the feedback matrix must also be swapped accordingly.

[0047] Here, R is the resistive component and L is the inductive component of the coupling impedance. U 1 is the output voltage of the inverter. Finally, ω is an angular frequency relative to the grid frequency, i.e., ω = 2 * π * f with the grid frequency f.

[0048] In a further development, the two statics are described in more detail. The first static has the following form: f = f N - st 1 * P and the second statics following form: U 1 = UN - st 2 * Q.

[0049] The following two designs refer to variants for determining the actual value of the temporal change of the output reactive power.

[0050] In one variant, the setting device is designed to determine the actual value of the temporal change of the output reactive power from the actual value of the output reactive power of the inverter via differentiation.

[0051] In another variant, the setting device is designed to determine the actual value of the temporal change of the output reactive power via a state observer.

[0052] The method comprises at least the following steps: An output power and an output reactive power of the inverter are controlled. For the control, an actual value of the output active power, an actual value of the output reactive power, and an actual value of a temporal change in the output reactive power are used as controlled variables to determine a control signal, wherein the control signal is based on a voltage amplitude as the first control variable and on a frequency as the second control variable. The second control variable is determined using the actual value of the temporal change in the output reactive power.

[0053] The procedure therefore involves setting the two variables output power and output reactive power, for which three states are used: output power, output reactive power and temporal change of the output reactive power.

[0054] The above explanations and configurations regarding the device also apply accordingly to the method according to the invention. Conversely, method steps can also be implemented by configurations of the device, so that the explanations and explanations regarding the method also apply to the device. To explain the method according to the invention, the essential steps are explained again below.

[0055] In one embodiment, only the three designated states—output power, output reactive power, and temporal change of the output reactive power—are used for control. For example, knowledge of the value of a temporal change in the output power is not required.

[0056] In one embodiment, a coupling impedance value is determined in one step, via which the inverter is connected to a voltage grid, and the determined coupling impedance value is used for control. In this embodiment, the way the inverter to be controlled is connected or coupled to the rest of the voltage grid is taken into account.

[0057] In one embodiment, a first droop is specified for a relationship between a grid frequency and the output power, and a second droop is specified for a relationship between a grid voltage and the output reactive power. Furthermore, a nominal value for the grid frequency (e.g., 50 Hz) and a nominal value for the grid voltage (e.g., 230 V) are specified. The first droop, the second droop, and the nominal value for the grid frequency and the nominal value for the grid voltage are used for the control.

[0058] In one embodiment, a first droop factor for a linear relationship between the grid frequency and the output power is specified for the first droop. Furthermore, a second droop factor for a linear relationship between the grid voltage and the output reactive power is specified for the second droop. Furthermore, a feedback matrix is ​​used for the control, whereby the feedback matrix is ​​applied to a vector with entries for the actual value of the output power, for the actual value of the output reactive power, and for the actual value of the temporal change of the output reactive power. The feedback matrix F includes the droops so that they are not applied individually, but jointly by the feedback matrix. The feedback matrix has three columns and two rows and has the following form: F=[f11f12f13f21f22f23].

[0059] In a corresponding design, the elements of the feedback matrix have the following values: f11=RU1, f22=0, f21=st1, f12=st2−ωLU1, f23=−f21ω−R2πU12, f13≥4L2U12−4Lf12ωU12.

[0060] Here, R denotes the resistive component and L the inductive component of the coupling impedance. Furthermore, U 1 is the output voltage of the inverter and ω is an angular frequency relative to the grid frequency f.

[0061] Depending on the arrangement of the actual values ​​in the vector, the entries in the matrix may also need to be distributed differently.

[0062] In one embodiment, the first statics is given as follows: f = f N - st 1 * P and the second static is given with the following form: U 1 = U N - st 2 * Q.

[0063] Furthermore, the invention relates to a computer program with a program code for carrying out the above method.

[0064] In detail, there are numerous possibilities for designing and developing the device and method according to the invention. Reference is made, on the one hand, to the patent claims and, on the other hand, to the following description of exemplary embodiments in conjunction with the drawings. They show: Fig. 1 an exemplary model of grid formers in parallel operation and a representation of an angular difference between the two voltages of the grid formers, Fig. 2 Power statics for an inverter in the case of inductive coupling, Fig. 3 an illustration of the application of rotating droop controls as influence of active and reactive power on voltage and frequency at different power impedance ratios: a) R / X = 0, b) R / X = 1, c) X / R = 0, Fig. 4 a schematic representation of a control structure according to the invention, Fig. 5 an exemplary course of poles under a variation of the values ​​of f 13 and the cable length d, Fig. 6 a schematic representation of an application of a device according to the invention as a block diagram and Fig. 7 an exemplary flow chart for an implementation of the method according to the invention.

[0065] To explain the invention, which serves to improve the functionality of the low-voltage network, a description of the power control of network formers in the state space follows. The starting point for this is the description of the power flows as a function of the voltage and angle difference between two voltage sources that are connected via a coupling impedance (see also Fig. 1). Based on this, the linearized transfer behavior of U, f to the output variables P, Q can be set up as follows: (PQ)=(G11G12G21G22)(ΔUΔf)=(−(Ls+R)U1(Ls+R)2+(ωL)2−ωLU12(Ls+R) 2+(ωL)22πs−(ωLU1)(Ls+R)2+(ωL)2(Ls+R)U12(Ls+R)2+(ωL)22πs)(ΔUΔf)

[0066] Where ΔU and Δf are the deviations of the actual values ​​of the mains voltage U and the mains frequency f from the setpoint values, L is the inductance and R is the ohmic resistance of the coupling impedance and U 1the output voltage of the inverter. s is the Laplace variable or the Laplace factor of the Laplace transform.

[0067] This includes the so-called "dynamic phasor" representation of current and voltage to obtain an accurate simulation of the transient response. As can be seen, a multivariable system is present due to the cross-coupling.

[0068] Subsequently, the transfer matrix is ​​transferred into the state space by means of minimal realization, ie only the observable and controllable part is obtained as a system description by the Kalman decomposition.

[0069] Overall, this is realized by an inventive control structure, such as Fig. 4 shows.

[0070] For the control task, it is initially assumed that the setpoints are zero. These setpoints are then adjusted within the framework of secondary control.

[0071] The disturbances result from deviations of the mains frequency f and the mains voltage from the target or nominal values ​​(e.g. 50 Hz and 230 V): ΔU and Δf.

[0072] The differences between the voltage sources (i.e., between the inverter to be controlled and the existing voltage grid) are regulated: ΔU and Δf. The output power P and output reactive power Q of the inverter to be controlled result from these differences and the controlled system.

[0073] For the control, only three state variables are used: power, reactive power, and the temporal change of reactive power. The temporal change of power is therefore not used or ignored. The three parameters are combined as a vector and fed into a six-parameter feedback matrix F for use in the control.

[0074] The controller adjusts the voltage deviations and frequency deviations and thus controls the power and reactive power of the inverter.

[0075] In addition to the two output variables P and Q, the additional state variable Q̇ is used for the control.

[0076] The state of the temporal change of the reactive power is determined in one embodiment by differentiation of the reactive power.

[0077] Alternatively, a state observer is used to determine the actual value of the temporal change in reactive power. In control engineering, a state observer is a system that reconstructs – particularly non-measurable – variables (states) from known input variables (e.g., manipulated variables or measurable disturbance variables) and output variables (measured variables) of an observed reference system. To do this, the observer models the observed system, with a controller adjusting the unmeasured state variables.

[0078] The desired control quality can be adjusted through targeted state feedback of the three states (P, Q and Q̇). The six parameters (f 11 to f 23 ) of the feedback matrix F to place the eigenvalues ​​of the controlled system in such a way that the optimal behavior is achieved.

[0079] The feedback matrix F is applied to a vector with the three output variables: output power P, output reactive power Q and temporal change of the output reactive power Q in the above-mentioned order in order to calculate the manipulated variables U st and f st as the first and second components of a vector, respectively. Two manipulated variables are thus determined from the three output variables.

[0080] The quality criteria for the control system should be, on the one hand, stability and good dynamics and, on the other hand, the elimination of cross influences and compliance with the power distribution depending on the static characteristic in the stationary case.

[0081] Based on these requirements, certain rules can be derived for the respective parameters in order to achieve the desired control behavior: f11=RU1, f22=0, f21=st1, f12=st2−ωLU1, f23=−f21ω−R2πU12, f13≥4L2U12−4Lf12ωU12.

[0082] The four parameters f 11 , f 22 , f 21 and f 12 (which are offset against the output power P and the output reactive power Q) determine the steady-state behavior and can be obtained from the steady state of the closed control loop according to the conditions. The output power P is determined via the parameter f 11 on the voltage to be set and via the parameter f 21 to the frequency to be set. Accordingly, the voltage U is determined via the parameter f 12 connected to the output reactive power Q. The parameter f 22 finally describes the effect of the output reactive power Q on the manipulated variable of the frequency f.

[0083] The parameters f 23 and f 13(which are offset against the current value of the temporal change of the output reactive power Q̇) result from the requirement that the imaginary part of the poles of the closed control loop should be zero. The temporal change of the output reactive power Q̇ affects the output via the parameter f 13 to the voltage amplitude U to be set or in the figure U st Accordingly, the temporal change of the output reactive power Q̇ affects the parameter f 23 to the frequency f or f st out of.

[0084] In deriving the above relationships, the measurement delays and measurement filters were neglected. Therefore, a readjustment to the given conditions is required.

[0085] Here, the quantities R and L represent the ohmic and inductive components of the coupling impedance to the common connection point (PCC or in the Fig. 1 U 2 ). Where U 1 is the output voltage of the inverter and ω = 2 * π * f is an angular frequency to the grid frequency f.

[0086] It should be noted that the delay in the acquisition of the output variables P, Q in the modeling, as described in the Fig. 4 is neglected.

[0087] In reality, the filtering results in an effective delay of slightly more than 20 ms, which can be approximated, for example, with a PT1 element. While this has no impact on the cross-influences, as these are to be eliminated for the steady-state case, it also means that for dynamics and stability, the values ​​for f 13 and f 23 The above specification does not necessarily imply optimal behavior. Therefore, readjustment of these parameters may be necessary under specific circumstances.

[0088] Introducing the delay into the control structure of Fig. 4 the order of the system to six, so that an analytical adjustment of the parameters f 13 and f 23 Given the delays, this is only feasible under very favorable circumstances. Therefore, in this case, the parameters can only be adjusted qualitatively based on the root locus curves. A mathematical rule for the optimal design of the parameters, taking the measurement delay into account, cannot be derived.

[0089] In the Fig. 5 is the course of the poles under variation of f 13 and the cable length d (measured in km) of the cables between the inverter to be controlled and the voltage grid are shown as an example according to the following relationship: f13=−k∗0.072LωU1 R=0.642Ωkm∗d L=0.000264Hkm∗d+0.0016H

[0090] It becomes clear that with increasing f 13 can be stabilized because the poles migrate into the left half-plane.

[0091] On the other hand, it must be taken into account that the value of f 13 should not be chosen arbitrarily large, because this parameter uses the derivative of the reactive power - i.e. the change in the reactive power over time - and the noise is additionally amplified by the differentiation.

[0092] Furthermore, it can be seen that too small a decoupling impedance between the voltage sources has a negative effect on stability.

[0093] If, however, the resistive component (R) becomes too large compared to the inductive component (L) of the coupling impedance, the poles also migrate to the right half-plane, and the system loses stability. The reason for this behavior is that conventional statics lose their validity with almost resistive coupling, and the relationships between the manipulated variables U, f and the output variables P, Q are reversed.

[0094] The invention thus also enables the optimization of the system consisting of inverter and voltage grid by increasing the stability based on the entries in the feedback matrix.

[0095] Since the values ​​(i.e., real and imaginary parts) of the coupling impedance are included in the values ​​for the feedback matrix F, their precise determination is necessary. This is especially true for the factors responsible for the defined reactive power distribution (f 11 , f 12), therefore, precise knowledge of the coupling impedance is directly related to optimal reactive power distribution. An error in the impedance determination therefore affects the reactive power distribution to the same extent. The robustness of the reactive power distribution can therefore be derived from the accuracy of the impedance values.

[0096] Inaccurate or incorrect impedance determination will also impair robustness in terms of dynamics and stability, although the impact in this regard is estimated to be minor. Therefore, the dynamic determination of the states plays a key role. Especially due to the differentiation of Q, all disturbances or oscillations in Q̇ are amplified.

[0097] In one embodiment, a filtering is therefore carried out which both filters out the interfering components and requires only a small delay.

[0098] The feedback parameters consist of the impedance values ​​and the inverter voltage U 1 as the output voltage of the inverter. Since the inverter voltage is adjusted by the control process, it is specified variably in one design and not fixed at the nominal value.

[0099] In one design, the impedance values ​​are also adaptively incorporated into the control parameters so that the values ​​are continuously adapted to the changed network situation.

[0100] In one embodiment, the differentiation of the output reactive power Q with appropriate filtering is used to determine Q̇.

[0101] The advantage of the method according to the invention lies in the holistic treatment of the control problem. Through a compact mathematical description, all relevant system effects are mapped in the state space, so that based on the parameters f 11 to f 23on the one hand, the treatment of cross-coupling influences as well as the treatment of transient processes is successful.

[0102] Since the delay in the acquisition of the state variables is neglected for the analytical derivation, the above rule for the parameters f 23 and f 13 not optimal.

[0103] Determining the coupling impedance remains important. Physically, this quantity is not clearly defined for certain network topologies (or there are differences between the transient and steady-state cases).

[0104] New in contrast to the compensation of the supply line influences, which represent the inductive coupling, according to the state of the art (see e.g. the above-mentioned document by J. Quesada et al.) are the additional parameters f 23 and f 13as feedback of the dynamic behavior of the output reactive power Q̇ with an effect on the control variables grid frequency f and grid voltage U for the treatment of the transient behavior.

[0105] In contrast to the approach in the above-mentioned article by Mohamed and EI-Saadany, only the time change of the output reactive power is used to determine the entire transient behavior. Additionally, the compensation of line influences is left out.

[0106] Overall, the state control method can be understood as a combination of the compensation of line influences with the complete transient treatment.

[0107] In the figures Fig. 6 and Fig. 7 the invention is explained once again.

[0108] The Fig. Figure 6 schematically shows an inverter 10 to be controlled, which is connected to a voltage grid 12 via a coupling impedance 11. The coupling impedance 11 results, for example, solely from the cables via which the inverter 10 is connected to the grid 12. For this purpose, the length d between the inverter 10 and the grid 12 is entered here as an example, so that it becomes clear that with increasing length of the cables, the ohmic resistance also increases (cf. Fig. 5 and the description above).

[0109] The voltage network 12 is, for example, a so-called microgrid, which is made up of additional inverters or associated voltage sources (not shown here).

[0110] The inverter 10 has an output voltage U 1 and the voltage network 12 the output voltage U 2 (cf. Fig. 1). The aim is, for example, that the mains voltage U is equal to a nominal voltage UN , which is, for example, 230 V, and that the mains frequency f is equal to a nominal frequency f N (e.g. 50 Hz). The general goal is stable operation.

[0111] To achieve this, the inverter 10 is controlled according to the invention. The control takes advantage of the fact that the power P that the inverter 10 delivers to the grid is related to the grid frequency, and that the reactive power Q and the grid voltage are functionally linked.

[0112] This functional connection is realized via the statics (cf. Fig. 2): f=fN−st1*P with st1=ΔfN / PN and U=UN−st2*Q with st2=ΔUN / QN.

[0113] For the control, the actual values ​​of the output power P and the output reactive power Q of the inverter 10 are therefore fed to the control device 1 according to the invention and received via its input 2.

[0114] What's special about this is that the adjustment device 3 uses not only the two adjustable variables P and Q for control, but also the temporal change in the output reactive power Q, i.e., Q̇, as a third state. A further state—such as the derivative of the output power—is not required and is not used by the device 1.

[0115] Based on the three states, which can be described as a vector, and the feedback matrix F defined above, as well as the value of the coupling impedance, the adjustment device 3 determines a control signal S in order to be able to influence the inverter 10. The control signal S is output via output 4.

[0116] The temporal change of the output reactive power Q̇ results in one variant by differentiating the output reactive power Q and is determined in the embodiment shown by a state observer 5. This is therefore an alternative for forming the derivative of the output reactive power Q.

[0117] The method according to the invention is explained using the exemplary flow chart in the Fig. 7 explained again.

[0118] In step 100, the first static for the dependence between the grid frequency f and the output power P is specified.

[0119] In step 101, the corresponding second static for the relationship between the grid voltage U and the output reactive power Q is specified.

[0120] In step 102, the value of the coupling impedance between the inverter to be controlled and the remaining voltage network is determined.

[0121] In step 103, the actual value of the output power P is determined.

[0122] In step 104, the actual value of the output reactive power Q is determined.

[0123] In step 105, the actual value—i.e., the current value—of the temporal change in the output reactive power is determined. This is done, for example, by differentiating the output reactive power.

[0124] Based on the values ​​determined in steps 103 to 105 and a feedback matrix F describing the relationships and dependencies, the necessary data are determined in step 106 in order to be able to act appropriately on the inverter. For this purpose, in one embodiment, all required values ​​are calculated, and in an alternative embodiment, a data memory with existing values ​​or value pairs is accessed.

[0125] In step 107, the inverter is influenced so that its power and reactive power are changed accordingly.

[0126] After step 107, the system returns to step 102.

[0127] In a further embodiment, the output voltage U 1 of the inverter and included in the control.

[0128] The invention can be summarized once again in other words: By considering the control problem holistically in the state space, six parameters are available within the state feedback framework for the complete treatment of system behavior. In addition to steady-state specifications such as defined reactive power distribution, transient processes can also be treated specifically.

[0129] The invention is therefore characterized by the fact that it combines, on the one hand, the compensation of the line influences and, on the other hand, the treatment of the transient process.

[0130] The individual parameters were initially designed in such a way that the relationships of the conventional statics (f 12 , f 21 ) are retained and the further degrees of freedom for implementing the desired inpatient service distribution (f 11 , f 22 ) and the transient processes (f 13 , f 23 ) can be used.

[0131] Alternatively, the rotated statics known from the state of the art can be integrated. This can further improve stability.

[0132] In one embodiment, an instantaneous reserve in the form of an energy storage device is provided.

[0133] One application of the invention relates to fixed or mobile battery converters as UPS (uninterruptible power supplies) or for electromobility. Another application relates to photovoltaic systems, preferably with a supplementary battery storage system. Further applications include wind turbines or combined heat and power plants.

[0134] Although some aspects have been described in connection with a device, it should be understood that these aspects also represent a description of the corresponding method, so that a block or component of a device can also be understood as a corresponding method step or as a feature of a method step. Analogously, aspects described in connection with or as a method step also represent a description of a corresponding block, detail, or feature of a corresponding device. Some or all of the method steps may be performed by (or using) a hardware apparatus, such as a microprocessor, a programmable computer, or an electronic circuit. In some embodiments, some or more of the key method steps may be performed by such an apparatus.

[0135] Depending on specific implementation requirements, embodiments of the invention may be implemented in hardware or in software, or at least partially in hardware or at least partially in software. The implementation may be carried out using a digital storage medium, for example a floppy disk, a DVD, a Blu-ray disc, a CD, a ROM, a PROM, an EPROM, an EEPROM, or a FLASH memory, a hard disk, or other magnetic or optical storage device on which electronically readable control signals are stored that can interact or interact with a programmable computer system such that the respective method is carried out. Therefore, the digital storage medium may be computer-readable.

[0136] Some embodiments according to the invention thus comprise a data carrier having electronically readable control signals capable of interacting with a programmable computer system such that one of the methods described herein is carried out.

[0137] In general, embodiments of the present invention may be implemented as a computer program product having program code, wherein the program code is operable to perform one of the methods when the computer program product is run on a computer.

[0138] The program code can, for example, also be stored on a machine-readable medium.

[0139] Other embodiments include the computer program for performing one of the methods described herein, wherein the computer program is stored on a machine-readable medium. In other words, one embodiment of the method according to the invention is thus a computer program that has program code for performing one of the methods described herein when the computer program is executed on a computer.

[0140] A further embodiment of the method according to the invention is thus a data carrier (or a digital storage medium or a computer-readable medium) on which the computer program for performing one of the methods described herein is recorded. The data carrier or the digital storage medium or the computer-readable medium is typically tangible and / or non-transitory.

[0141] A further embodiment of the method according to the invention is thus a data stream or a sequence of signals that represents the computer program for carrying out one of the methods described herein. The data stream or the sequence of signals can be configured, for example, to be transferred via a data communication connection, for example via the Internet.

[0142] A further embodiment comprises a processing device, for example a computer or a programmable logic device, which is configured or adapted to carry out one of the methods described herein.

[0143] A further embodiment comprises a computer on which the computer program for performing one of the methods described herein is installed.

[0144] A further embodiment according to the invention comprises a device or a system designed to transmit a computer program for performing at least one of the methods described herein to a recipient. The transmission can be electronic or optical, for example. The recipient can be, for example, a computer, a mobile device, a storage device, or a similar device. The device or system can, for example, comprise a file server for transmitting the computer program to the recipient.

[0145] In some embodiments, a programmable logic device (e.g., a field programmable gate array, an FPGA) can be used to perform some or all of the functions of the methods described herein. In some embodiments, a field programmable gate array can cooperate with a microprocessor to perform one of the methods described herein. Generally, the methods are performed by any hardware device in some embodiments. This can be a general-purpose hardware such as a computer processor (CPU) or hardware specific to the method, such as an ASIC.

Claims

[1] Device (1) for controlling an inverter (10), comprising: an entrance (2), an adjusting device (3), and an output (4), wherein the input (2) is designed to receive an actual value of an output active power (P) of the inverter (10) and an actual value of an output reactive power (Q) of the inverter (10), wherein the setting device (3) is designed in such a way that, starting from the actual value of the output active power (P), the actual value of the output reactive power (Q) and to determine a control signal (S) from an actual value of a temporal change in the output reactive power (Q), wherein the output (4) is designed to output the control signal (S) for controlling the inverter (10), and where the control signal (S) is based on a voltage amplitude (U st ) as the first manipulated variable and at a frequency (f st) as the second control variable, characterized by , that the setting device (3) is designed to determine the second manipulated variable using the actual value of the temporal change of the output reactive power (Q). [2] Device (1) according to claim 1, wherein the setting device (3) is designed to use a value (Z) of a coupling impedance (11), via which the inverter (10) is connected to a voltage network (12), for determining the control signal (S). [3] Device (1) according to claim 1 or 2, in which the adjusting device (3) is designed in such a way that nominal values ​​(f N , U N ) for the mains frequency (f) and the mains voltage (U) to determine the control signal (S), the setting device (3) is designed to apply a feedback matrix (F) to a vector with entries for the actual value of the output active power (P), the actual value of the output reactive power (Q) and the actual value of the temporal change of the output reactive power (Q) for determining the control signal (S), where the feedback matrix (F) has three columns and two rows and the following form: F=[f11f12f13f21f22f23], where the elements of the feedback matrix (F) have the following values: f11=RU1, f22=0, f21=st1, f23=−f21ω−R2πU12, f23=−f21ω−R2πU12, f13≥4L2U12−4Lf12ωU12, where R is the resistive component and L is the inductive component of the coupling impedance (11), where U 1 is the output voltage of the inverter (10), where st 1 a first static factor which is a linear relationship between the frequency (f st) and the output active power (P), where st 2 a second static factor which is a linear relationship between the voltage amplitude (U st ) and the output reactive power (Q), and where ω is the angular frequency to the mains frequency (f). [4] Device (1) according to one of claims 1 to 3, wherein the setting device (3) is designed to determine the actual value of the temporal change of the output reactive power (Q̇) - to be determined from the actual value of the output reactive power (Q) of the inverter (10) by differentiation, or - to be determined via a state observer (5). [5] Method for controlling an inverter (10), wherein an output active power (P) and an output reactive power (Q) of the inverter (10) are controlled, and wherein for the control, an actual value of the output active power (P), an actual value of the output reactive power (Q) and an actual value of a temporal change in the output reactive power (Q) are used as control variables in order to determine a control signal (S), wherein the control signal (S) is based on a voltage amplitude (U st ) as the first manipulated variable and at a frequency (f st ) as the second control variable, characterized by Determine the second manipulated variable using the actual value of the temporal change of the output reactive power (Q). [6] Method according to claim 5, in which only the three states of output active power (P), output reactive power (Q) and temporal change of the output reactive power (Q) are used for the control. [7] Method according to claim 5 or 6, in which a value (Z) of a coupling impedance (11) is determined via which the inverter (10) is connected to a voltage network (12), and the determined value (Z) of the coupling impedance (11) is used for the control. [8] Method according to one of claims 5 to 7, in which a first static for a dependence between the frequency (f st ) and the output active power (P) is specified, a second static for a dependence between the voltage amplitude (U st ) and the output reactive power (Q), a nominal value (f N ) is specified for the network frequency (f), a nominal value (U N ) is specified for the mains voltage (U), and for the control the first static, the second static and the nominal value (f N ) for the mains frequency (f) and the nominal value (U N ) for the mains voltage (U). [9] Method according to claim 8, in which a first static factor (st 1 ) for a linear relationship between the frequency (f st ) and the output active power (P) is specified, a second static factor (st 2 ) for a linear relationship between the voltage amplitude (U st ) and the output reactive power (Q), a feedback matrix (F) is used for the control, the feedback matrix (F) is applied to a vector with entries for the actual value of the output active power (P), the actual value of the output reactive power (Q) and the actual value of the time change of the output reactive power (Q), and the feedback matrix (F) has three columns and two rows and has the following form: F=[f11f12f13f21f22f23]. [10] Method according to claim 9, wherein the elements of the feedback matrix (F) have the following values: f11=RU1, f22=0, f21=st1, f12=st2−ωLU1, f23=−f21ω−R2πU12, f13≥4L2U12−4Lf12ωU12. where R is the resistive component and L is the inductive component of the coupling impedance (11), where U 1 is the output voltage of the inverter (10), and where ω is the angular frequency to the mains frequency (f).

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