CN114629144B - Energy storage power station black start method and system based on virtual synchronous machine - Google Patents
Energy storage power station black start method and system based on virtual synchronous machine Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- H—ELECTRICITY
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- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
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Abstract
The invention relates to a virtual synchronous machine-based energy storage power station black start method and system, aiming at overcoming the problems that the capacity of a traditional black start micro source is limited and is distributed unevenly, the maximum value of the magnetic flux of an iron core of a distribution transformer is obtained by setting the voltage of the primary side of the distribution transformer and calculating under the condition of neglecting the attenuation of the transient component of the magnetic flux, and the time of zero-voltage soft start of an energy storage power station is obtained under the condition of ensuring the quick black start of the energy storage power station and the unsaturated state of the iron core of the transformer in the whole start process; determining a control strategy of a single energy storage unit and a pre-synchronization control strategy among a plurality of energy storage units based on the virtual synchronous machine; and determining a cooperative control strategy of the plurality of energy storage units according to the charge states of different energy storage units in the energy storage power station. The method abandons the traditional direct use of water, electricity, thermal power and the like as black start power sources, gives full play to the advantages of the energy storage battery as a black start micro-source, and provides a new scheme for the rapid recovery of the power grid after the blackout.
Description
Technical Field
The invention belongs to the technical field of black start of energy storage power stations, and particularly relates to a black start method and system of an energy storage power station based on a virtual synchronous machine.
Background
The electric energy plays an important role in human life, and when the power grid is totally paralyzed due to the influence of external factors or thought of misoperation, a major power failure accident can generate great negative influence on national production and life. In order to reduce loss, when the power grid does not have temporary power provided by an external grid, the power grid can only rely on a micro source with self-starting capability in the system to quickly respond, and all levels of loads in the power grid are sequentially, stably and orderly recovered, so that the comprehensive quick recovery of the power grid is realized. The black start means that after the power grid is stopped to enter a full black state due to external or internal faults, other micro sources without black start capability in the power grid are driven by only the black start micro source in the power grid without depending on the help of the power grid, the recovery range of the system is gradually expanded, and the whole power grid is restarted finally.
Black start is the first and key stage of electric wire netting recovery, and water and electricity is as a traditional black start power, has advantages such as the station service power consumption is few, can start fast, and the black start research based on pumping energy storage has been fairly mature. However, in an area lacking a hydroelectric generating set and weak in a local power grid, it is often difficult to use the hydroelectric generating set to participate in black start of the power grid, and the energy storage power station has rapid response speed, flexible and controllable output power and unlimited installation position.
Disclosure of Invention
The invention aims to provide a virtual synchronous machine-based energy storage power station black start method and system, which are used for solving the problems of limited capacity and uneven distribution of traditional black start micro sources.
In order to achieve the purpose, the invention adopts the technical scheme that:
a black start method of an energy storage power station based on a virtual synchronous machine comprises the following steps:
s1, establishing a zero-voltage soft start control strategy of an energy storage unit in the energy storage power station:
s1.1, setting the voltage of a primary side of a distribution transformer in the zero-voltage soft start process of an energy storage power station;
s1.2, based on the voltage of the primary side of the distribution transformer set in the step S1.1, calculating to obtain the maximum value of the total magnetic flux of the distribution transformer under the condition of neglecting the attenuation of the transient component of the magnetic flux according to a voltage equation of a primary loop of the transformer;
s1.3, based on the maximum value of the total magnetic flux of the distribution transformer obtained in the step S1.2, obtaining the zero-voltage soft start time of the energy storage power station under the condition that the quick black start of the energy storage power station and the iron core magnetic flux of the distribution transformer are always unsaturated in the whole zero-voltage soft start process;
s2, determining a control strategy of a single energy storage unit and a pre-synchronization control strategy among a plurality of energy storage units based on the virtual synchronous machine;
and S3, determining a cooperative control strategy of the energy storage units according to the charge states of different energy storage units in the energy storage power station.
The traditional black start micro source generally selects a hydroelectric generating set, a gas generating set and other power generating equipment, is limited by regional resources, is few in hydropower stations in northwest regions, and is unlikely to select the hydroelectric generating set as the black start micro source, so that the energy storage power station is used as the black start micro source to provide another idea for rapid recovery after a power grid fault.
Further, step S1.1, setting the voltage at the primary side of the distribution transformer during the zero-voltage soft start of the energy storage power stationu（t) Which satisfies the following conditions:
wherein,U m is the primary side voltage amplitude;T E outputting the time for increasing the power station from zero to the no-load potential for the energy storage power station;ωin order to be the angular velocity of the object,tin the form of a time, the time,αis the initial phase angle of the voltage.
Further, in step S1.2, the voltage equation of the primary loop of the transformer is:
wherein,N 1 the number of turns of the primary winding;R 1 、L 1 resistance and self-inductance of the primary winding respectively;
is the total magnetic flux through the primary winding, i.e. the total magnetic flux of the distribution transformer;
during zero pressure soft start, settingL 1 Substituting the formula (1) into the formula (2) for constant value and solving in sections to obtain the total magnetic flux of the distribution transformer
Comprises the following steps:
wherein,
；
；
the main magnetic flux of the iron core is formed by adding two parts, namely a steady-state component and a transient-state component, wherein the transient-state component is a decay exponential function, and the decay speed is determined by a time constantT（T=R 1 /L 1 ) Determining;
amplitude of flux at steady stateA value;A 1 、A 2 are each a group of [0 ],T E ) And 2T E , + ∞) time interval of the amplitude of the magnetic flux transient component, which is determined by the residual magnetism of the core at the moment of closing
And (6) determining.
In order to inhibit the magnetizing inrush current of the transformer, the initial phase angle of the voltage is setα=πUnder conditions where attenuation of the transient component of the magnetic flux is neglected, i.e.R 1 0, residual magnetism of iron core at closing time
=0, total magnetic flux of distribution transformer
The transformation is:
order tosinωtIs = -1, i.e.ωt=（4k-1）πAt time/2, the maximum value of the total magnetic flux of the distribution transformer is obtained
：
Wherein,k=1,2,3,…。
further, in step S1.3, int∈[0，T E ) In order to ensure that the magnetic flux of the transformer does not saturate during this time period, it is ensured that:
it can be deduced that:
in thatt∈[T E , + ∞) time period since the maximum flux of the core may be greater than
Considering that the saturation flux of the core is equal to about 1.2-1.4 times
It should be ensured that:
so that it is possible to deduce:
under the conditions of ensuring the quick black start of the energy storage power station and ensuring that the magnetic flux of the transformer cannot be saturated in the time period, the zero-pressure soft start time of the energy storage power stationT E The following requirements should be satisfied:
further, in step S2, the specific process is as follows:
s2.1, constructing an active power control link according to a mechanical equation of the virtual synchronous machine, obtaining phases of the rotor angular speed and a reference back electromotive force of the virtual synchronous machine, adding a rotor speed closed loop in the active power control link of the virtual synchronous machine, and setting a rotor speed reference value as a power grid voltage rated angular speed, so that the frequency supporting effect of the virtual synchronous machine on a power grid can be realized; constructing a reactive power control link according to the excitation regulation principle of the synchronous generator, obtaining excitation current, further obtaining the amplitude of reference back electromotive force, and adding closed-loop control of the voltage amplitude of the power grid in the reactive power control link of the virtual synchronous machine, thereby realizing the voltage supporting effect of the virtual synchronous machine on the power grid; and calculating the phase of the reference back emf obtained by the active power control link and the amplitude of the reference back emf obtained by the reactive power control link to obtain the reference back emf, and modulating by the SVPWM module to obtain a switching signal, so that the virtual synchronous machine control of the energy storage converter is realized, namely the control strategy of a single energy storage unit is determined.
The output characteristic of the energy storage converter is to have the characteristic of a synchronous generator, and the control is realized by adjusting the counter potential of the energy storage converter to be the electromotive force of the synchronous generator, namely the electromotive force of the virtual synchronous generator. Therefore, it is necessary to first explore the expression form of the virtual synchronous electromechanical electromotive force. The virtual synchronous machine flux linkage equation is expressed as follows:
in the formula,Lin order to realize the self-inductance of the stator winding,Mis the mutual inductance between the stator windings,M f is the mutual inductance between the excitation winding and the stator winding,
、
、 
respectively a phase a, a phase b and a phase c,i ga 、i gb 、i gc respectively a phase a, a phase b and a phase c,i f in order to be the exciting current,θ r the phase of the back electromotive force is referred to, namely, the included angle between the excitation flux linkage and the phase winding of the stator a.
The stator voltage equation for a synchronous generator can be written as follows:
in the formula,u ga ，u gb ，u gc the voltages of the stator phases a, b and c are respectively,R s the positive direction of current is from the side of a power grid to the side of a current transformer;
the compound represented by formula (11) is obtained by bringing formula (12):
in the formula,ω r is the rotor angular velocity.
In the virtual synchronous machine, the excitation current is considered as a controlled current source, so that the last term in the equation (13) can be ignored, and the electromotive force of the virtual synchronous machine can be expressed as follows:
in the formulae a 、e b 、e c Electromotive force of a phase, b phase and c phase of the virtual synchronous machine respectively; e is the amplitude of the reference back-emf;
in a virtual synchronous machine, rotor angular velocityω r Determined by its mechanical equation, the expression is as follows:
in the formula,Jin order to obtain the moment of inertia of the rotor,D p the droop coefficient is the discharge coefficient of the energy storage unit in the black starting process;T m is input mechanical torque;T e to output electromagnetic torque.
To further establish the relationship between rotor angular velocity and power, it may be considered that the input mechanical torqueT m Rated angular speed of voltage of power gridω n The product of (a) is the reference active power of the virtual synchronous machineP ref Namely:
in the formula,P ref is the reference active power of the virtual synchronous machine,ω n rated angular velocity for the grid voltage;
the output active power and the reactive power of the virtual synchronous machine are defined as the power at the converter side, so that the output active power and the reactive power of the virtual synchronous machine are respectively calculated as follows:
in the formula,P e outputting active power for the virtual synchronous machine;Q e and outputting reactive power for the virtual synchronous machine.
In a virtual synchronous machine, the excitation currenti f The reactive power control link determines that the expression is as follows:
in the formula,Kis a reactive power regulation coefficient, and s is a Laplace operator;Q ref is the reference reactive power of the virtual synchronous machine,D q in order to control the coefficient of the voltage droop,U ref in order to be the reference value of the voltage,Uis a voltage feedback value.
S2.2, constructing a virtual inductor and a virtual resistor on the virtual synchronous machine, and calculating to obtain virtual current and virtual power according to the side counter potential of the energy storage converter, the grid voltage, the virtual inductor and the virtual resistor, so that the virtual synchronous machine enters a self-synchronous working mode, namely a power reference value is set to be zero, a power feedback value is selected as the virtual power, and self-synchronous grid connection of the virtual synchronous machine is realized; switching the virtual synchronous machine into a normal working mode, namely setting a power reference value as required and selecting a power feedback value as actual power;
wherein the virtual current is calculated as follows:
the virtual power is calculated as follows:
wherein,i vabc is a three-phase virtual current;L v as a virtual inductor, the inductance of the inductor,R v is a virtual resistance, s is a laplace operator;e abc the method comprises the following steps of (1) providing a back electromotive force on the side of an energy storage converter, namely an electromotive force of a virtual synchronous machine;u gabc is the grid voltage;P v is the virtual power.
And S2.3, after the previous energy storage unit completes the black start process to establish a stable end voltage, taking the end voltage as the power grid voltage in the step S2.2, and taking the voltage established when the next energy storage unit is started as the side back electromotive force of the energy storage converter in the step S2.2, so as to establish the pre-synchronization control of different energy storage units in the energy storage power station.
The traditional synchronous generator can realize self-synchronization grid connection due to the power angle synchronization characteristic of the traditional synchronous generator; therefore, the virtual synchronizer control strategy can also use the self-synchronization principle of the synchronizer for reference to realize self-synchronization grid-connected control. The main reason that the traditional virtual synchronous machine cannot realize self-synchronization is that the output current before synchronization is zero, so that self-synchronization cannot be realized through the power angle synchronization characteristic of the virtual synchronous machine; therefore, a group of virtual impedances is required to be constructed before grid connection to simulate the impedance on a line during grid connection, virtual current is obtained through calculation of grid voltage, back electromotive force of the side of the energy storage converter and the virtual impedances, virtual power is obtained through further calculation, and therefore self-synchronization grid connection of the virtual synchronous machine is achieved.
The virtual synchronous machine works in a self-synchronizing working mode before grid connection, a power reference value is set to be zero, and a power feedback value is selected as virtual power. Therefore, when the virtual power is adjusted to be zero along with the reference value, the value of the virtual current is also zero, which indicates that the back electromotive force of the energy storage converter side is accurately synchronized with the voltage of the power grid at the moment, and grid connection operation can be performed. And after the virtual synchronous machine is successfully connected to the grid, switching to a normal working mode, giving a power reference value according to the requirement, and selecting a power feedback value as actual power.
Further, in step S3, specifically:
the energy storage system SOC is divided into 3 intervals D m For the sag factor of the energy storage plant, a minimum value is set (Q SOC_min ) Is 0.1, lower value: (Q SOC_low ) Is 0.2; therefore, in order to prevent the problem caused by the SOC out-of-limit, the droop control coefficient of the discharge in the black start process is set according to the charge state of the energy storage unit by adopting a linear piecewise functionD p The method can realize smooth output, avoid the control problem caused by complex functions, and is more beneficial to the practical application of engineering, and the linear piecewise function is obtained as follows:
wherein, D p the larger the value of the droop coefficient of the energy storage unit in the black starting process is, the larger the discharge power of the energy storage unit is;D m for the sag factor of the energy storage power station,Q SOC the charging state of the energy storage unit is represented, the value range of the charging state is 0-1, and the state of the energy storage unit from no electricity to full electricity is represented.
State of charge feedback is a basic and very important control strategy that allows the energy storage system to compensate for power fluctuations while ensuring that its state of charge does not exceed a specified range. Because the capacity of an energy storage system configured in the new energy power station is limited, if the maximum coefficient is adopted for charging and discharging all the time, the SOC of the energy storage is easy to cross the line. In order to avoid the problem, the charging and discharging coefficient is dynamically adjusted when the SOC of the energy storage system is too high (charging) or too low (discharging), so that the output of the energy storage can be reduced. The problem of over-charging and discharging of stored energy can be effectively avoided, the service life is prolonged, and adverse effects on a power grid system caused by SOC (system on chip) overrun can be reduced.
The invention also provides an energy storage power station black start control system based on the virtual synchronous machine, which comprises the following components:
the voltage setting module is used for setting the voltage of the primary side of the distribution transformer in the zero-voltage soft start process of the energy storage power station;
the magnetic flux calculation module is used for calculating the maximum value of the total magnetic flux of the distribution transformer under the condition of neglecting the attenuation of the transient component of the magnetic flux according to the voltage of the primary side of the distribution transformer set by the setting module;
the zero-voltage soft start time calculation module is used for calculating the zero-voltage soft start time under the condition that the quick black start of the energy storage power station and the iron core magnetic flux of the distribution transformer are always unsaturated in the whole zero-voltage soft start process according to the calculation result of the magnetic flux calculation module;
the energy storage unit control module is used for establishing single energy storage unit control based on the virtual synchronous machine and pre-synchronous control among a plurality of energy storage units;
and the optimization control module is used for determining a cooperative control strategy of the plurality of energy storage units according to the charge states of different energy storage units in the energy storage power station.
The invention has the technical effects that: the invention relates to a virtual synchronizer-based black start method and system for an energy storage power station, which abandon the situation that the traditional hydropower and thermal power are directly used as micro sources for black start of a power grid, fully exert the characteristics of flexible and controllable output power, unlimited installation position and the like of the energy storage power station, use the energy storage power station as the micro sources for the black start of the power grid, realize the quick black start of the energy storage power station by establishing a zero-pressure soft start control strategy of an energy storage unit in the energy storage power station, determine a pre-synchronization control strategy of the energy storage unit by using a virtual synchronizer, and determine an energy storage unit cooperative control strategy by considering the charge state difference of different energy storage units, thereby overcoming the problems of limited capacity and uneven distribution of the traditional black start micro sources and providing a new scheme for the quick recovery of the power grid after heavy power failure.
Drawings
Fig. 1 is a flowchart of an energy storage power station black start control method based on a virtual synchronous machine according to embodiment 1;
FIG. 2 is a block diagram of control of pre-synchronization between energy storage units according to embodiment 1;
FIG. 3 is a graph of the relationship between the unit regulated power and the SOC of the energy storage power station in embodiment 1;
FIG. 4 is a SOC variation diagram of the energy storage power station of embodiment 1;
FIG. 5 is a graph showing the simulation result of measuring point 6 in example 1.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "comprises" and "comprising," and any variations thereof, in the description and claims of the present invention and the above-described drawings, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an embodiment of the present invention, an embodiment of a virtual synchronous machine-based energy storage power station black-start control method is provided, it should be noted that the steps shown in the flowchart of the drawings may be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from the order shown.
Example 1
A black start method of an energy storage power station based on a virtual synchronous machine is disclosed, as shown in figure 1, and comprises the following steps:
s1, establishing a zero-voltage soft start control strategy of an energy storage unit in the energy storage power station:
s1.1, setting the voltage of the primary side of a distribution transformer in the zero-voltage soft start process of the energy storage power stationu（t) So that it satisfies:
wherein,U m is the primary side voltage amplitude;T E outputting the time for increasing the power station from zero to the no-load potential for the energy storage power station;αis the initial phase angle of the voltage;tis time;ωis the angular velocity.
S1.2, based on the voltage of the primary side of the distribution transformer set in the step S1.1, calculating to obtain the maximum value of the total magnetic flux of the distribution transformer under the condition of neglecting the attenuation of the transient component of the magnetic flux according to a voltage equation of a primary loop of the transformer;
the voltage equation of the primary loop of the transformer is as follows:
wherein,N 1 the number of turns of the primary winding;R 1 、L 1 resistance and self-inductance of the primary winding respectively;
is the total magnetic flux through the primary winding, i.e. the total magnetic flux of the distribution transformer;
during zero pressure soft start, settingL 1 Substituting the formula (1) into the formula (2) for constant value and solving in sections to obtain the total magnetic flux of the distribution transformer
Comprises the following steps:
wherein,
；
；
the main magnetic flux of iron core is formed by adding two parts, which are respectively a steady-state component and a transient-state component, the transient-state component is a decay exponential function, and the decay speed is determined by the time constantT（T=R 1 /L 1 ) Determining;
the magnetic flux amplitude at steady state;A 1 、A 2 are each a group of [0 ],T E ) And 2T E , + ∞) time interval of the amplitude of the magnetic flux transient component, which is determined by the residual magnetism of the core at the moment of closing
And (6) determining.
In order to restrain the magnetizing inrush current of the transformer, the initial phase angle of the voltage is setα=πUnder conditions where attenuation of the transient component of the magnetic flux is neglected, i.e. R 1 0, residual magnetism of iron core at closing time
=0, total magnetic flux of distribution transformer
The transformation is:
order tosinωt=1, i.e.ωt=（4k-1）πAt/2, obtaining the maximum value of the total magnetic flux of the distribution transformer
：
Where k =1,2,3, ….
S1.3, based on the maximum value of the total magnetic flux of the distribution transformer obtained in the step S1.2, under the condition that the energy storage power station can be rapidly started in a zero-voltage soft mode and the iron core magnetic flux of the distribution transformer is not saturated all the time in the whole zero-voltage soft start process, the time of the zero-voltage soft start of the energy storage power station is obtained:
in thatt∈[0，T E ) In order to ensure that the magnetic flux of the transformer does not saturate during this time period, it is ensured that:
so that it is possible to deduce:
in thatt∈[T E Time period of + ∞) since the maximum flux of the core may be greater than
Considering that the saturation flux of the core is equal to about 1.2-1.4 times
It should be ensured that:
so that it is possible to deduce:
under the conditions of ensuring the quick black start of the energy storage power station and ensuring that the magnetic flux of the transformer cannot be saturated in the time period, the zero-voltage soft start time of the energy storage power stationT E It should satisfy:
s2, determining a control strategy of a single energy storage unit and a pre-synchronization control strategy among a plurality of energy storage units based on the virtual synchronous machine;
s2.1, constructing an active power control link according to a mechanical equation of the virtual synchronous machine to obtain the rotor angular speed of the virtual synchronous machineω r Phase with reference back-emfθ r In the active power control link of the virtual synchronous machine, a rotor rotating speed closed loop is added, and a rotor rotating speed reference value is set as the rated angular speed of the power grid voltageω n Therefore, the frequency supporting effect of the virtual synchronous machine on the power grid can be realized; the reactive power control link is constructed according to the excitation regulation principle of the synchronous generator, so that the exciting current can be obtainedi f The amplitude of the reference counter potential can be further obtained, and closed-loop control of the grid voltage amplitude is added in the reactive power control link of the virtual synchronous machine, so that the virtual synchronous machine pair can be realizedVoltage supporting function of the power grid; and calculating the phase of the reference back electromotive force obtained by the active power control link and the amplitude of the reference back electromotive force obtained by the reactive power control link to obtain the reference back electromotive force, and modulating by the SVPWM module to obtain a switching signal, so that the virtual synchronous machine control of the energy storage converter is realized, namely the control strategy of a single energy storage unit is determined.
The output characteristic of the energy storage converter is to have the characteristic of a synchronous generator, and the control is realized by adjusting the counter potential of the energy storage converter to be the electromotive force of the synchronous generator, namely the electromotive force of the virtual synchronous generator. Therefore, it is necessary to first explore the expression form of the virtual synchronous electromechanical electromotive force. The virtual synchronous machine flux linkage equation is expressed as follows:
in the formula,Lin order to realize the self-inductance of the stator winding,Mis the mutual inductance between the stator windings,M f is the mutual inductance between the excitation winding and the stator winding,
、
、 
respectively a phase a, a phase b and a phase c,i ga 、i gb 、i gc respectively a phase a, a phase b and a phase c,i f in order to be the exciting current,θ r the phase of the back electromotive force is referred to, namely, the included angle between the excitation flux linkage and the phase winding of the stator a.
The stator voltage equation for a synchronous generator can be written in the form,
in the formula,u ga ，u gb ，u gc the voltages of the stator phases a, b and c respectively,R s the positive direction of the current is from the side of a power grid to the side of a converter;
the compound represented by formula (11) is obtained by bringing formula (12):
in the formula,ω r is the rotor angular velocity.
In the virtual synchronous machine, the excitation current is considered as a controlled current source, so that the last term in the equation (13) can be ignored, and the electromotive force of the virtual synchronous machine can be expressed as follows:
in the formulae a 、e b 、e c Electromotive force of a phase, b phase and c phase of the virtual synchronous machine respectively; e is the amplitude of the reference back-emf;
in synchronous generators, rotor angular velocityω r Determined by its mechanical equation, the expression is as follows:
in the formula,Jin order to obtain the moment of inertia of the rotor,D p the droop coefficient is the discharge coefficient of the energy storage unit in the black starting process;T m is the input mechanical torque;T e to output electromagnetic torque.
The product of the mutual inductance and the exciting current can be determined by the requirement of reactive power, when the system needs inductive reactive power, the exciting current is increased, and when the system needs capacitive reactive power, the exciting current is reduced.
To further establish the relationship between rotor angular velocity and power, it may be considered that the input mechanical torqueT m Rated angular speed with grid voltageω n The product of (a) is the reference active power of the virtual synchronous machineP ref Namely:
in the formula,P ref is the reference active power of the virtual synchronous machine,ω n the rated angular speed is the grid voltage.
The output active power and the reactive power of the virtual synchronous machine are defined as the power at the converter side, so that the output active power and the reactive power of the virtual synchronous machine are respectively calculated as follows:
in the formula,P e outputting active power for the virtual synchronous machine;Q e outputting reactive power for the virtual synchronous machine;
in a virtual synchronous machine, the excitation currenti f The reactive power control link determines that the expression is as follows:
in the formula,Kis a reactive power regulation coefficient, and s is a Laplace operator;Q ref is the reference reactive power of the virtual synchronous machine,D q in order to control the coefficient of the voltage droop,U ref in order to be the reference value of the voltage,Uis a voltage feedback value;
from the above analysis, a control block diagram of the virtual synchronous machine can be obtained as shown in fig. 2.
S2.2, constructing a virtual inductor and a virtual resistor on the virtual synchronous machine, and calculating to obtain virtual current and virtual power according to the side counter potential of the energy storage converter, the grid voltage and the virtual inductor and the virtual resistor, so that the virtual synchronous machine enters a self-synchronous working mode to realize self-synchronous grid connection of the virtual synchronous machine;
wherein the virtual current is calculated as follows:
the virtual power is calculated as follows:
wherein,i vabc is a three-phase virtual current;L v as a virtual inductor, the inductance of the inductor,R v is a virtual resistance, s is a laplace operator;e abc the method comprises the following steps of (1) providing a back electromotive force on the side of an energy storage converter, namely an electromotive force of a virtual synchronous machine;u gabc is the grid voltage;P v is the virtual power.
The traditional synchronous generator can realize self-synchronizing grid connection due to the self power-angle synchronization characteristic; therefore, the virtual synchronizer control strategy can also use the self-synchronization principle of the synchronizer for reference to realize self-synchronization grid-connected control. The main reason that the traditional virtual synchronous machine cannot realize self-synchronization is that the output current before synchronization is zero, so that self-synchronization cannot be realized through the power angle synchronization characteristic of the virtual synchronous machine; therefore, a group of virtual impedances is required to be constructed before grid connection to simulate the impedance on a line during grid connection, virtual current is obtained through calculation of grid voltage, back electromotive force of the side of the energy storage converter and the virtual impedances, virtual power is obtained through further calculation, and therefore self-synchronization grid connection of the virtual synchronous machine is achieved.
The virtual synchronous machine works in a self-synchronous working mode before grid connection, the power reference value is set to be zero, and the power feedback value is selected as virtual power. Therefore, when the virtual power is adjusted to be zero along with the reference value, the value of the virtual current is also zero, which indicates that the back electromotive force of the side of the energy storage converter is accurately synchronous with the voltage of the power grid at the moment, and grid connection operation can be performed. And after the virtual synchronous machine is successfully connected to the grid, switching to a normal working mode, giving a power reference value according to the requirement, and selecting a power feedback value as actual power.
And S2.3, after the previous energy storage unit completes the black start process to establish a stable end voltage, taking the end voltage as the power grid voltage in the step S2.2, and taking the voltage established when the next energy storage unit is started as the side back electromotive force of the energy storage converter in the step S2.2, so as to establish the pre-synchronization control of different energy storage units in the energy storage power station. Each energy storage unit in the energy storage power station adopts virtual synchronous control, when the first energy storage unit completes the black start process and establishes a stable terminal voltage, the power grid voltage in S2.2 can be simulated, and the voltage established when the subsequent energy storage units start can simulate the side back electromotive force of the energy storage converter in S2.2, so that the method can be used for completing the pre-synchronous control among different energy storage units in the energy storage power station.
S3, determining an energy storage unit cooperative control strategy according to the state of charge of an energy storage unit in the energy storage power station, specifically:
the energy storage system SOC is divided into 3 intervals D m For the sag factor of the energy storage plant, a minimum value is set (Q SOC_min ) Is 0.1, lower value: (Q SOC_low ) Is 0.2; therefore, in order to prevent the problem caused by the SOC out-of-limit, the droop control coefficient in the black start process is set according to the charge state of the energy storage unit by adopting a linear piecewise functionD p The smooth output can be realized, the control problem caused by a complex function can be avoided, the practical application of the engineering is facilitated, and the linear piecewise function is obtained as follows, as shown in fig. 3:
wherein,D p the larger the droop coefficient of the discharge in the black start process of the energy storage unit, the larger the value of the droop coefficient indicates the energy storage unitThe greater the discharge power;D m the droop coefficient of the energy storage power station;Q SOC the charging state of the energy storage unit is represented, the value range of the charging state is 0-1, and the state of the energy storage unit from no electricity to full electricity is represented.
When the energy storage power station is used for black start of a power grid, because the initial charge states of the energy storage units are different, if the output of each energy storage unit in the black start process is consistent, the overall service life of the energy storage power station can be shortened. Therefore, it is necessary to introduce a state-of-charge feedback control strategy to optimize the control strategy of the energy storage power station, such that the energy storage units with higher initial states of charge maintain higher output during the black start process, and the energy storage units with lower initial states of charge maintain a lower output.
And in order to verify the correctness of the provided control strategy, a simulation model is built in the PSCAD simulation platform. The energy storage power station in the model comprises six energy storage units, wherein each energy storage unit is replaced by a 2MW energy storage converter, a 7.5MW load is additionally connected, and the energy storage power station is connected to the load side after passing through the voltage levels of 360V, 10kV, 110kV, 220kV and 10 kV.
FIG. 4 is a diagram of the change of the SOC of the energy storage power station. The initial SOC of the energy storage plant under the continuous discharge condition is set to 20%, and as can be seen from fig. 4, when the black start control without considering the SOC state is performed for 60s, the SOC reaches the lower limit value of 10%. And the maintenance effect of the SOC of the energy storage power station under the improved control method considering different state of charge differences is better, and compared with the SOC controlled by the control method, the SOC is improved by 3.2 percent.
TABLE 1
Table 1 shows values of voltage, active power, and reactive power at 6 measurement points in lines with different voltage classes between the energy storage power station and the load side during the black start of the energy storage power station. It can be known from table 1 that the proposed black-start control strategy for the energy storage power station can effectively recover the power grid after the fault, and the voltage at each point on the line is relatively stable in the black-start process, so that no obvious overvoltage phenomenon occurs, and the safe and stable operation of the power grid is facilitated. FIG. 5 shows the simulation results of measurement point 6 in Table 1. From fig. 5, the voltage and the power value at the measuring point 6 can be known, so that the proposed control strategy can better complete the black start process of the energy storage power station, and no overvoltage phenomenon occurs on the line.
Example 2
This embodiment provides an energy storage power station black start control system based on virtual synchro-machine, it includes:
the voltage setting module is used for setting the voltage of the primary side of the distribution transformer in the zero-voltage soft start process of the energy storage power station;
the magnetic flux calculation module is used for calculating the maximum value of the total magnetic flux of the distribution transformer under the condition of neglecting the attenuation of the transient component of the magnetic flux according to the voltage of the primary side of the distribution transformer set by the setting module;
the zero-voltage soft start time calculation module is used for calculating the zero-voltage soft start time under the condition of ensuring the quick black start of the energy storage power station and the iron core magnetic flux of the distribution transformer to be unsaturated all the time in the whole zero-voltage soft start process according to the calculation result of the magnetic flux calculation module;
the energy storage unit control module is used for establishing single energy storage unit control based on the virtual synchronous machine and pre-synchronous control among a plurality of energy storage units;
and the optimization control module is used for determining a cooperative control strategy of the plurality of energy storage units according to the charge states of different energy storage units in the energy storage power station.
In the embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments. In the embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other manners. The above-described method embodiments are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment. In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. The integrated unit, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a computer readable storage medium.
Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The embodiments described above are presented to enable a person having ordinary skill in the art to make and use the invention. It will be readily apparent to those skilled in the art that various modifications to the above-described embodiments may be made, and the generic principles defined herein may be applied to other embodiments without the use of inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications to the present invention based on the disclosure of the present invention within the protection scope of the present invention.
Claims (6)
1. A virtual synchronous machine-based energy storage power station black start method is characterized by comprising the following steps:
s1, establishing a zero-pressure soft start control strategy of an energy storage unit in the energy storage power station:
s1.1, setting the voltage of a primary side of a distribution transformer in the zero-voltage soft start process of an energy storage power station;
s1.2, based on the voltage of the primary side of the distribution transformer set in the step S1.1, calculating to obtain the maximum value of the total magnetic flux of the distribution transformer under the condition of neglecting the attenuation of the transient component of the magnetic flux according to a voltage equation of a primary loop of the transformer;
s1.3, based on the maximum value of the total magnetic flux of the distribution transformer obtained in the step S1.2, obtaining the zero-voltage soft start time of the energy storage power station under the condition that the quick black start of the energy storage power station and the iron core magnetic flux of the distribution transformer are always unsaturated in the whole zero-voltage soft start process;
s2, determining a control strategy of a single energy storage unit and a pre-synchronization control strategy among a plurality of energy storage units based on the virtual synchronous machine;
s3, determining a cooperative control strategy of a plurality of energy storage units according to the charge states of different energy storage units in the energy storage power station;
in step S2, the specific process is as follows:
s2.1, constructing an active power control link according to a mechanical equation of the virtual synchronous machine, and obtaining the phase of the rotor angular speed and the reference back emf of the virtual synchronous machine; constructing a reactive power control link according to the excitation regulation principle of the synchronous generator, so that excitation current can be obtained, and the amplitude of the reference counter potential can be further obtained; calculating the phase of the reference back emf obtained by the active power control link and the amplitude of the reference back emf obtained by the reactive power control link to obtain the reference back emf, and modulating by the SVPWM module to obtain a switching signal, so that virtual synchronous machine control of the energy storage converter is realized, namely a control strategy of a single energy storage unit is determined;
s2.2, constructing a virtual inductor and a virtual resistor on the virtual synchronous machine, and calculating to obtain virtual current and virtual power according to the side counter-electromotive force of the energy storage converter, the grid voltage and the virtual inductor and the virtual resistor, so that the virtual synchronous machine enters a self-synchronizing working mode, namely a power reference value is set to be zero, and a power feedback value is selected as the virtual power, thereby realizing self-synchronizing grid connection of the virtual synchronous machine; switching the virtual synchronous machine into a normal working mode, namely setting a power reference value as required and selecting a power feedback value as actual power;
wherein the virtual current is calculated as follows:
wherein, the virtual power is calculated as follows:
wherein,i vabc is a three-phase virtual current;L v as a virtual inductor, the inductance of the inductor,R v is a virtual resistance, s is a laplace operator;e abc the method comprises the following steps of (1) providing a back electromotive force on the side of an energy storage converter, namely an electromotive force of a virtual synchronous machine;u gabc is the grid voltage;P v is a virtual power;
and S2.3, after the previous energy storage unit completes the black start process to establish a stable end voltage, taking the end voltage as the power grid voltage in the step S2.2, and taking the voltage established when the next energy storage unit is started as the side back electromotive force of the energy storage converter in the step S2.2, so as to establish the pre-synchronization control of different energy storage units in the energy storage power station.
2. The energy storage power station black start method based on the virtual synchronous machine as claimed in claim 1, wherein step S1.1, setting zero-voltage soft of the energy storage power stationVoltage at primary side of distribution transformer in starting processu（t) So that it satisfies:
（1）
wherein,U m is the primary side voltage amplitude;T E outputting the time for increasing the power station from zero to the no-load potential for the energy storage power station;ωin order to be the angular velocity of the object,tas a matter of time, the time is,αis the initial phase angle of the voltage.
3. The energy storage power station black start method based on the virtual synchronous machine as claimed in claim 2, wherein in step S1.2, the voltage equation of the primary loop of the transformer is:
wherein,N 1 the number of turns of the primary winding;R 1 、L 1 resistance and self-inductance of the primary winding respectively;
is the total magnetic flux through the primary winding, i.e. the total magnetic flux of the distribution transformer;
during zero pressure soft start, setL 1 Substituting the formula (1) into the formula (2) for constant value and solving in sections to obtain the total magnetic flux of the distribution transformer
Comprises the following steps:
wherein,
；
；
in order to restrain the magnetizing inrush current of the transformer, the initial phase angle of the voltage is setα=πUnder conditions where attenuation of the transient component of the magnetic flux is neglected, i.e.R 1 0, residual magnetism of iron core at closing time
=0, total magnetic flux of distribution transformer
The transformation is:
order tosinωt=1, i.e.ωt=（4k-1）πAt/2, obtaining the maximum value of the total magnetic flux of the distribution transformer
：
Wherein,k=1,2,3,…。
4. the virtual synchronous machine-based energy storage power station black-start method according to claim 3, characterized in that in step S1.3,
in thatt∈[0，T E ) In order to ensure that the magnetic flux of the transformer does not saturate during this time period, it is ensured that:
it can be deduced that:
in thatt∈[T E Time period, + ∞) should ensure that:
so that it is possible to deduce:
under the conditions of ensuring the quick black start of the energy storage power station and ensuring that the magnetic flux of the transformer cannot be saturated in the time period, the zero-pressure soft start time of the energy storage power stationT E It should satisfy:
5. the energy storage power station black-start method based on the virtual synchronous machine as claimed in claim 1, wherein step S3 is to divide the energy storage system SOC into 3 intervals, and then to set the droop coefficient of discharge in the black-start process of different energy storage units according to the energy storage unit SOCD p A linear piecewise function is obtained as follows:
wherein,D p is the droop coefficient of the discharge during the black start of the energy storage unit,D m is the droop coefficient of the energy storage power station,Q SOC the charging state of the energy storage unit is represented, the value range of the charging state is 0-1, and the state of the energy storage unit from no electricity to full electricity is represented.
6. The system for the black start method of the energy storage power station based on the virtual synchronous machine in any one of claims 1 to 5 comprises the following steps:
the voltage setting module is used for setting the voltage of the primary side of the distribution transformer in the zero-voltage soft start process of the energy storage power station;
the magnetic flux calculation module is used for calculating the maximum value of the total magnetic flux of the distribution transformer under the condition of neglecting the attenuation of the transient component of the magnetic flux according to the voltage of the primary side of the distribution transformer set by the setting module;
the zero-voltage soft start time calculation module is used for calculating the zero-voltage soft start time under the condition that the quick black start of the energy storage power station and the iron core magnetic flux of the distribution transformer are always unsaturated in the whole zero-voltage soft start process according to the calculation result of the magnetic flux calculation module;
the energy storage unit control module is used for controlling a single energy storage unit based on the virtual synchronous machine and performing presynchronization control among a plurality of energy storage units;
and the optimization control module is used for determining a cooperative control strategy of the plurality of energy storage units according to the charge states of different energy storage units in the energy storage power station.
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