电网调频型飞轮储能系统自适应鲁棒充电控制方法研究
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摘要
飞轮储能系统对电网频率调节控制的效果优异,能够有效地提高电网频率稳定性,保证电网运行的可靠性和安全性。为了提高电网波动下的系统充电过程中系统性能和转速跟踪精度,并减小系统的振动和冲击,针对采用永磁同步电机的此类系统,基于矢量控制策略提出了转子转速自适应鲁棒控制(ARC)方法和连续参考转速曲线。通过建立的仿真模型,对推导的方法进行了验证。接着应用转速PID控制方法和等加速度参考转速曲线。仿真结果表明:基于转速ARC控制方法和连续参考转速曲线,系统的转速稳态误差为0.03%,角加速度稳态误差为0.7%,电网波动下的转速最大误差为0.8%;基于转速PID控制方法和等加速度参考转速曲线时,系统的转速稳态误差为0.08%,角加速度稳态误差为1.6%,电网波动下的转速最大误差为6.0%。因此,采用转速ARC控制方法和连续参考转速曲线的系统性能和转速跟踪误差明显优于采用转速PID控制方法和等加速度参考转速曲线。
The performance of the Flywheel Energy Storage System(FESS) is excellent when it is applied on the adjustment of the grid frequency. FESS can improve the stability of the grid frequency and guarantee the reliability and stability of the grid. In order to enhance the system performance and rotation speed accuracy during the charge process of FESS with Permanent Magnet Synchronous Motor(PMSM) under grid vibration, this paper proposes the Adaptive Robust Control(ARC) method and the continuous reference curve of the rotor rotation speed to reduce the system vibration and impact based on the vector control strategy. The developed methods are verified through the built simulation model. Then it applies the PID control method and the uniform acceleration reference curve of the rotation speed on the FESS. The simulation results show that the steady state speed error is 0.03% and the steady state error of the angular acceleration is 0.7% for the system with ARC method and the continuous reference curve, while the maximum speed error is 0.8% under the grid vibration. For the system with PID method and the uniform acceleration reference curve, the steady state speed error is 0.08% and the steady state error of the angular acceleration is 1.6%, while the maximum speed error is 6.0% under the grid vibration. Therefore, the FESS with ARC method and continuous reference curve owns much better performance and rotation speed tracking accuracy than the system with PID method and the uniform acceleration reference curve during the charge process.
The performance of the Flywheel Energy Storage System(FESS) is excellent when it is applied on the adjustment of the grid frequency. FESS can improve the stability of the grid frequency and guarantee the reliability and stability of the grid. In order to enhance the system performance and rotation speed accuracy during the charge process of FESS with Permanent Magnet Synchronous Motor(PMSM) under grid vibration, this paper proposes the Adaptive Robust Control(ARC) method and the continuous reference curve of the rotor rotation speed to reduce the system vibration and impact based on the vector control strategy. The developed methods are verified through the built simulation model. Then it applies the PID control method and the uniform acceleration reference curve of the rotation speed on the FESS. The simulation results show that the steady state speed error is 0.03% and the steady state error of the angular acceleration is 0.7% for the system with ARC method and the continuous reference curve, while the maximum speed error is 0.8% under the grid vibration. For the system with PID method and the uniform acceleration reference curve, the steady state speed error is 0.08% and the steady state error of the angular acceleration is 1.6%, while the maximum speed error is 6.0% under the grid vibration. Therefore, the FESS with ARC method and continuous reference curve owns much better performance and rotation speed tracking accuracy than the system with PID method and the uniform acceleration reference curve during the charge process.
引文
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[13]刘文军,唐西胜,周龙,等.基于背靠背双PWM变流器的飞轮储能系统并网控制方法研究[J].电工技术学报,2015,30(16):120-128.LIU Wenjun,TANG Xisheng,ZHOU Long,et al.Research on grid-connected control method for FESS based on back-to-back converter[J].Transactions of China Electrotechnical Society,2015,30(16):120-128.
[14]XU L,YAO B.Adaptive robust precision motion control of linear motors with negligible electrical dynamics:theory and experiments[J].IEEE/ASME Trans Mechatron,2000,6(4):444-452.
[15]YAO J Y,JIAO Z X,MA D,et al.High-accuracy tracking control of hydraulic rotary actuators with modeling uncertainties[J].IEEE/ASME Trans Mechatron,2014,19(2):633-641.
[16]杜仁慧,吴益飞,陈威,等.永磁同步电机伺服系统高精度自适应鲁棒控制[J].信息与控制,2013,42(1):132-137.DU Renhui,WU Yifei,CHEN Wei,et al.High accuracy adaptive robust control for permanent magnet synchronous motor systems[J].Information and Control,2013,42(1):132-137.
[17]向玲.电网冲击下汽轮发电机组轴系弯扭振动模拟试验研究[D].保定:华北电力大学,2009.
[18]何成兵,顾煜炯,董玉亮.非同期并列时汽轮发电机组轴系弯扭耦合振动分析[J].中国电机工程学报,2007,27(9):92-98.HE Chengbing,GU Yujiong,DONG Yuliang.Coupled flexural and torsional vibrations analysis of turbine generator shaft systems caused by asynchronous juxtaposition[J].Proceedings of the CSEE,2007,27(9):92-98.
[19]盛万兴,马静,张瑜,等.基于故障等值网络的双馈风电机组三相短路电流计算方法研究[J].电力系统保护与控制,2017,45(1):7-14.SHENG Wanxing,MA Jing,ZHANG Yu,et al.Research on calculation method of three-phase short circuit current for doubly-fed wind power generator based on the fault equivalent network[J].Power System Protection and Control,2017,45(1):7-14.
[20]郑丽平,匡洪海,张曙云,等.TCSC-STATCOM控制对风电并网系统电压稳定性的改善[J].电力系统保护与控制,2017,45(22):90-95.ZHENG Liping,KUANG Honghai,ZHANG Shuyun,et al.Voltage stability improvement of wind power integrated system using TCSC-STATCOM control[J].Power System Protection and Control,2017,45(22):90-95.
[21]ROOSTAEE S,THOMAS M S,MEHFUZ S.Experimental studies on impedance based fault location for long transmission lines[J].Protection and Control of Modern Power Systems,2017,2(2):169-177.DOI:10.1186/s41601-017-0048-y.
[22]MAGDY G,MOHAMED E A,SHABIB G,et al.Microgrid dynamic security considering high penetration of renewable energy[J].Protection and Control of Modern Power Systems,2018,3(3):236-246.DOI:10.1186/s41601-018-0093-1.
[23]吴云亮,肖峥,闫秉科,等.微电网协调频率和电压控制策略研究[J].智慧电力,2017,45(2):15-20.WU Yunliang,XIAO Zheng,YAN Bingke,et al.Coordinated frequency and voltage control strategy for microgrid[J].Smart Power,2017,45(2):15-20.
[24]钱则玉,臧海祥,成乐祥,等.基于FDM的混合储能系统容量配置研究[J].广东电力,2018,31(6):46-53.QIAN Zeyu,ZANG Haixiang,CHENG Lexiang,et al.Reserch on allocation for hybrid energy storage system capacity based on FDM[J].Guangdong Electric Power,2018,31(6):46-53.
[25]赵琦,管霖,吕耀棠,等.储能电站在含光伏电源配电网中的优化配置[J].广东电力,2018,31(7):8-14.ZHAO Qi,GUAN Lin,Lü Yaotang,et al.Optimized configuration of energy storage power station in distribution network with photovoltaic power[J].Guangdong Electric Power,2018,31(7):8-14.
[26]李想,张建成,王宁.超级电容器-飞轮-蓄电池混合储能系统容量配置方法研究[J].中国电力,2018,51(11):117-124.LI Xiang,ZHANG Jiancheng,WANG Ning.Capacity configuration strategy for super capacitor-flywheelbattery hybrid energy storage system[J].Electric Power,2018,51(11):117-124.
[2]李欣然,黄际元,陈远扬,等.大规模储能电源参与电网调频研究综述[J].电力系统保护与控制,2016,44(7):145-153.LI Xinran,HUANG Jiyuan,CHEN Yuanyang,et al.Review on large-scale involvement of energy storage in power grid fast frequency regulation[J].Power System Protection and Control,2016,44(7):145-153.
[3]吴冠男,张明理,徐建源,等.考虑抗扰性能的风电混合储能系统协调控制策略研究[J].电力系统保护与控制,2017,45(22):164-169.WU Guannan,ZHANG Mingli,XU Jianyuan,et al.Study on coordination control of wind power hybrid energy storage system in consideration of anti-disturbance performance[J].Power System Protection and Control,2017,45(22):164-169.
[4]李飞,肖仕武,徐歌,等.储能系统在区域电网一次调频中的应用研究[J].现代电力,2017,34(2):67-73.LI Fei,XIAO Shiwu,XU Ge,et al.Research on the application of energy storage system to primary frequency regulation for regional power grid[J].Modern Electric Power,2017,34(2):67-73.
[5]孙晓静.飞轮电池控制策略研究及其应用[D].兰州:兰州理工大学,2013.
[6]刘文军,周龙,唐西胜,等.基于改进型滑模观测器的飞轮储能系统控制方法[J].中国电机工程学报,2014,34(1):71-78.LIU Wenjun,ZHOU Long,TANG Xisheng,et al.Research on FESS control based on the improved sliding-mode observer[J].Proceedings of the CSEE,2014,34(1):71-78.
[7]刘学,姜新建,张超平,等.大容量飞轮储能系统优化控制策略[J].电工技术学报,2014,29(3):75-82.LIU Xue,JIANG Xinjian,ZHANG Chaoping,et al.Optimization control strategies of large capacity flywheel energy storage system[J].Transactions of China Electrotechnical Society,2014,29(3):75-82.
[8]赵晗彤,张建成.基于滑模控制的飞轮储能稳定光伏微网离网运行母线电压策略的研究[J].电力系统保护与控制,2016,44(16):36-42.ZHAO Hantong,ZHANG Jiancheng.Research on bus voltage control strategy of off-grid PV microgrid with flywheel energy storage system based on sliding mode control[J].Power System Protection and Control,2016,44(16):36-42.
[9]冯奕,颜建虎.基于飞轮储能的风力发电系统仿真[J].电力系统保护与控制,2016,44(20):94-98.FENG Yi,YAN Jianhu.Simulation of wind energy generation system with flywheel storage system[J].Power System Protection and Control,2016,44(20):94-98.
[10]谈震,李永丽.基于双DSP的飞轮储能系统控制平台的研制[J].电力系统保护与控制,2012,40(11):127-132.TAN Zhen,LI Yongli.Development of flywheel energy storage system control platform base on dual-DSP[J].Power System Protection and Control,2012,40(11):127-132.
[11]姬联涛,张建成.基于飞轮储能技术技术的可再生能源发电系统广义动量补偿控制研究[J].中国电机工程学报,2010,30(24):101-106.JI Liantao,ZHANG Jiancheng.Research on generalized momentum compensation method of flywheel energy storage in renewable energy power system[J].Proceedings of the CSEE,2010,30(24):101-106.
[12]黄宇淇,姜新建,邱阿瑞.飞轮储能能量回馈控制方法[J].清华大学学报(自然科学版),2008,48(7):1085-1088.HUANG Yuqi,JIANG Xinjian,QIU Arui.Feedback control for flywheel energy storage system[J].Journal of Tsinghua University(Science&Technology),2008,48(7):1085-1088.
[13]刘文军,唐西胜,周龙,等.基于背靠背双PWM变流器的飞轮储能系统并网控制方法研究[J].电工技术学报,2015,30(16):120-128.LIU Wenjun,TANG Xisheng,ZHOU Long,et al.Research on grid-connected control method for FESS based on back-to-back converter[J].Transactions of China Electrotechnical Society,2015,30(16):120-128.
[14]XU L,YAO B.Adaptive robust precision motion control of linear motors with negligible electrical dynamics:theory and experiments[J].IEEE/ASME Trans Mechatron,2000,6(4):444-452.
[15]YAO J Y,JIAO Z X,MA D,et al.High-accuracy tracking control of hydraulic rotary actuators with modeling uncertainties[J].IEEE/ASME Trans Mechatron,2014,19(2):633-641.
[16]杜仁慧,吴益飞,陈威,等.永磁同步电机伺服系统高精度自适应鲁棒控制[J].信息与控制,2013,42(1):132-137.DU Renhui,WU Yifei,CHEN Wei,et al.High accuracy adaptive robust control for permanent magnet synchronous motor systems[J].Information and Control,2013,42(1):132-137.
[17]向玲.电网冲击下汽轮发电机组轴系弯扭振动模拟试验研究[D].保定:华北电力大学,2009.
[18]何成兵,顾煜炯,董玉亮.非同期并列时汽轮发电机组轴系弯扭耦合振动分析[J].中国电机工程学报,2007,27(9):92-98.HE Chengbing,GU Yujiong,DONG Yuliang.Coupled flexural and torsional vibrations analysis of turbine generator shaft systems caused by asynchronous juxtaposition[J].Proceedings of the CSEE,2007,27(9):92-98.
[19]盛万兴,马静,张瑜,等.基于故障等值网络的双馈风电机组三相短路电流计算方法研究[J].电力系统保护与控制,2017,45(1):7-14.SHENG Wanxing,MA Jing,ZHANG Yu,et al.Research on calculation method of three-phase short circuit current for doubly-fed wind power generator based on the fault equivalent network[J].Power System Protection and Control,2017,45(1):7-14.
[20]郑丽平,匡洪海,张曙云,等.TCSC-STATCOM控制对风电并网系统电压稳定性的改善[J].电力系统保护与控制,2017,45(22):90-95.ZHENG Liping,KUANG Honghai,ZHANG Shuyun,et al.Voltage stability improvement of wind power integrated system using TCSC-STATCOM control[J].Power System Protection and Control,2017,45(22):90-95.
[21]ROOSTAEE S,THOMAS M S,MEHFUZ S.Experimental studies on impedance based fault location for long transmission lines[J].Protection and Control of Modern Power Systems,2017,2(2):169-177.DOI:10.1186/s41601-017-0048-y.
[22]MAGDY G,MOHAMED E A,SHABIB G,et al.Microgrid dynamic security considering high penetration of renewable energy[J].Protection and Control of Modern Power Systems,2018,3(3):236-246.DOI:10.1186/s41601-018-0093-1.
[23]吴云亮,肖峥,闫秉科,等.微电网协调频率和电压控制策略研究[J].智慧电力,2017,45(2):15-20.WU Yunliang,XIAO Zheng,YAN Bingke,et al.Coordinated frequency and voltage control strategy for microgrid[J].Smart Power,2017,45(2):15-20.
[24]钱则玉,臧海祥,成乐祥,等.基于FDM的混合储能系统容量配置研究[J].广东电力,2018,31(6):46-53.QIAN Zeyu,ZANG Haixiang,CHENG Lexiang,et al.Reserch on allocation for hybrid energy storage system capacity based on FDM[J].Guangdong Electric Power,2018,31(6):46-53.
[25]赵琦,管霖,吕耀棠,等.储能电站在含光伏电源配电网中的优化配置[J].广东电力,2018,31(7):8-14.ZHAO Qi,GUAN Lin,Lü Yaotang,et al.Optimized configuration of energy storage power station in distribution network with photovoltaic power[J].Guangdong Electric Power,2018,31(7):8-14.
[26]李想,张建成,王宁.超级电容器-飞轮-蓄电池混合储能系统容量配置方法研究[J].中国电力,2018,51(11):117-124.LI Xiang,ZHANG Jiancheng,WANG Ning.Capacity configuration strategy for super capacitor-flywheelbattery hybrid energy storage system[J].Electric Power,2018,51(11):117-124.