CN113595140B - Method for establishing MPC weight cost function of energy storage converter - Google Patents
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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
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/381—Dispersed generators
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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
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Abstract
The invention discloses a method for establishing an MPC weight cost function of an energy storage converter device, which comprises the following steps: establishing a mathematical model of the energy storage converter under a two-phase static alpha beta coordinate system; establishing a network side voltage equation; establishing an instantaneous active and reactive power expression under a two-phase static alpha beta coordinate system; establishing an instantaneous active power and reactive power change rate expression; establishing a network side voltage equation to obtain an active and reactive power change rate equation of the energy storage converter under the non-discretized two-phase static alpha beta coordinate system; obtaining an active and reactive MPC mathematical model of the energy storage converter at the moment k+1; establishing an active and reactive same weight cost function; obtaining a mathematical model of the power MPC of the energy storage converter at the moment k+2; establishing a power weight cost function under two-step model prediction; obtaining a bias derivative of a power weight cost function under the prediction of the obtained two-step model; and obtaining the optimal value of the output voltage of the energy storage converter under the two-phase static alpha beta coordinate system. The invention can obtain the advanced control effect so as to offset the delay effect.
Description
Technical Field
The invention relates to a method for establishing an MPC (MPC weight cost function) of an energy storage converter device, in particular to a method for establishing a two-step power weight cost function to obtain an optimal value of output voltage.
Background
As an energy storage technology which is one of key technologies for energy transformation in China, the energy storage technology can provide various auxiliary services such as peak shaving, frequency modulation, emergency response and the like for a power grid, and has received wide attention in the industry in recent years. In order to realize friendly grid connection of the energy storage system and provide stable voltage and frequency support for a power grid, the control strategy research of the energy storage converter needs to be carried out.
At present, in the field of energy storage converter control, double closed-loop control and dead beat control are mostly adopted to realize energy storage voltage and frequency dynamic response. However, the conventional control strategy cannot maintain the stability of the energy storage converter control system under the condition of high permeability of the distributed power supply. When the energy storage converter faces the working condition of frequent voltage and frequency adjustment, the switching frequency is higher, and control delay is caused by sampling, calculation, zero-order holding and pulse width modulation (Pulse Width Modulation, PWM). If the control system cannot inhibit the delay in time, the system bandwidth can be greatly reduced, and the whole control system is unstable. The MPC is a state variable prediction algorithm, reduces the delay influence through a control algorithm, does not influence the control bandwidth of the system because the number of switch states is not needed to be considered, further reduces the operation requirement, and is widely applied to the energy storage converter control system.
Disclosure of Invention
The invention aims to provide an energy storage converter device MPC weight cost function establishment method, which is used for further solving the optimal value of the output voltage of an energy storage converter in order to realize the accurate control of the power MPC of the energy storage converter by using the two-step power weight cost function establishment method, so that the errors of the expected values and the predicted values of the active and reactive power are minimized.
The invention is realized by adopting the following technical scheme:
an energy storage converter device MPC weight cost function establishment method comprises the following steps:
1) Establishing a mathematical model of the energy storage converter under a two-phase static alpha beta coordinate system;
2) According to the step 1), the mathematical model of the energy storage converter under the two-phase static alpha beta coordinate system is obtained, and a network side voltage equation is established;
3) Establishing a network side voltage equation according to the energy storage converter mathematical model under the two-phase static alpha beta coordinate system obtained in the step 2), and establishing an instantaneous active power expression under the two-phase static alpha beta coordinate system;
4) Establishing an instantaneous active and reactive power change rate expression according to the instantaneous active and reactive power expression under the two-phase static alpha beta coordinate system in the step 3);
5) Establishing a network side voltage equation by using the mathematical model of the energy storage converter under the two-phase static alpha beta coordinate system obtained in the step 2), and taking the instantaneous active and reactive power expression under the two-phase static alpha beta coordinate system obtained in the step 3) into the instantaneous active and reactive power change rate expression of the step 4), thereby obtaining an active and reactive power change rate equation of the energy storage converter under the two-phase static alpha beta coordinate system without discretization;
6) Performing discretization processing according to the active and reactive power change rate equation of the energy storage converter under the non-discretized two-phase static alpha beta coordinate system obtained in the step 5) to obtain an active and reactive MPC mathematical model of the energy storage converter at the moment k+1;
7) In order to realize the active and reactive quick response of the energy storage converter and improve the transient characteristics of a control system, according to the active and reactive MPC mathematical model of the energy storage converter at the moment k+1 in the step 6), establishing the same weight cost functions of the active and reactive power;
8) Predicting system variables by adopting a two-step model prediction method, namely a two-period delay compensation strategy, so as to obtain an advanced control effect, thereby counteracting the delay influence, and obtaining a k+2 moment energy storage converter power MPC mathematical model according to the step 6);
9) According to the same weight cost function of the active power and the reactive power obtained in the step 7), a power weight cost function under two-step model prediction is established;
10 In order to realize the accurate control of the power MPC of the energy storage converter, the error between the expected value and the predicted value of the active and reactive power is minimized, the power weight cost function under the prediction of the two-step model obtained in the step 9) is subjected to the bias guide, and the bias guide is taken as 0 position;
11 Substituting the function of which the bias guide of the power weight cost function under the two-step model prediction obtained in the step 10) is 0 into the power weight cost function under the two-step model prediction in the step 9) to obtain the optimal value of the output voltage of the energy storage converter under the two-phase static alpha beta coordinate system.
The invention is further improved in that step 1) a mathematical model of the energy storage converter under a two-phase static alpha beta coordinate system is established:wherein: i.e α 、i β 、U α 、U β 、e α 、e β Outputting current and voltage and network side voltage for the energy storage converter under the two-phase static alpha beta coordinate system; r is R f 、L f 、C f An LC filter circuit is constructed.
The invention is further improved in that the specific implementation method of the step 2) is as follows: according to the step 1), the mathematical model of the energy storage converter under the two-phase static alpha beta coordinate system is obtained, and a network side voltage equation is established:wherein: e is the network side voltageAmplitude value; omega is the angular frequency of the power grid, and the voltage change rate of the grid side under the two-phase static alpha beta coordinate system is as follows: />
The invention is further improved in that the specific implementation method of the step 3) is as follows: establishing a network side voltage equation according to the energy storage converter mathematical model under the two-phase static alpha beta coordinate system obtained in the step 2), and establishing an instantaneous active power expression and an instantaneous reactive power expression under the two-phase static alpha beta coordinate system:
the invention is further improved in that the specific implementation method of the step 4) is as follows: establishing an instantaneous active and reactive power change rate expression according to the instantaneous active and reactive power expression under the two-phase static alpha beta coordinate system in the step 3):
the invention is further improved in that the specific implementation method of the step 5) is as follows: establishing a network side voltage equation by using the mathematical model of the energy storage converter under the two-phase static alpha beta coordinate system obtained in the step 2), and introducing the instantaneous active and reactive power expression under the two-phase static alpha beta coordinate system obtained in the step 3) into the instantaneous active and reactive power change rate expression of the step 4), thereby obtaining an active and reactive power change rate equation of the energy storage converter under the non-discretized two-phase static alpha beta coordinate system:
the invention is further improved in that the specific implementation method of the step 6) is as follows: performing discretization processing according to the active and reactive power change rate equation of the energy storage converter under the non-discretized two-phase static alpha beta coordinate system obtained in the step 5) to obtain an active and reactive MPC mathematical model of the energy storage converter at the moment k+1:wherein the method comprises the steps of：T s Is the sampling control period.
The invention is further improved in that the specific implementation method of the step 7) is as follows: in order to realize the active and reactive quick response of the energy storage converter and improve the transient characteristics of a control system, according to an active and reactive MPC mathematical model of the energy storage converter at the moment k+1 in the step 6), the same weight cost functions of the active and reactive are established:wherein: p (P) * (k+1)、Q * And (k+1) is the active and reactive power reference value at the time of k+1.
The invention is further improved in that the specific implementation method of the step 8) is as follows: further, a two-step model prediction method, namely a two-period delay compensation strategy is adopted to predict system variables so as to obtain an advanced control effect, thereby counteracting delay influence, and a k+2 moment energy storage converter power MPC mathematical model is obtained according to the step 6):
the invention is further improved in that the specific implementation method of the step 9) is as follows: referring to the same weight cost function of the active power and the reactive power obtained in the step 7), establishing a power weight cost function under two-step model prediction:
the specific implementation method of the step 10) is as follows: in order to realize accurate control of the power MPC of the energy storage converter, the error between the expected value and the predicted value of the active and reactive power is minimized, the power weight cost function under the prediction of the two-step model obtained in the step 9) is subjected to partial derivative, and the partial derivative is taken as 0:
the specific implementation method of the step 11) is as follows: substituting the function with the bias guide of 0 of the power weight cost function under the two-step model prediction obtained in the step 10) into the power weight cost function under the two-step model prediction in the step 9) to obtain two partsThe optimal value of the output voltage of the energy storage converter under the phase static alpha beta coordinate system is as follows:wherein: epsilon P (k+1)、ε Q The weight of the active and reactive control errors in the MPC cost function at the time of (k+1) being k+1 is expressed as:
compared with the prior art, the invention has at least the following beneficial technical effects:
1. the invention provides a two-step power weight cost function establishment method, which predicts system variables through a two-period delay compensation strategy to obtain an advanced control effect so as to offset delay influence.
2. In order to realize the accurate control of the power MPC of the energy storage converter, the invention solves the optimal value of the output voltage of the energy storage converter, and minimizes the errors of the expected values and the predicted values of the active and reactive power.
Drawings
Fig. 1 is a circuit topology of an energy storage converter.
Detailed Description
The technical scheme of the invention is further described in detail through the attached drawings.
As shown in fig. 1, U dc The voltage of the bus at the direct current side of the energy storage; u (U) abc 、i abc Outputting alternating current three-phase voltage and current for the energy storage converter; e, e abc Is the three-phase voltage of the network side; r is R f 、L f 、C f Forming an LC filter circuit; l (L) g 、R g Is an equivalent load. Considering that the net side electromotive force is three-phase balance sine characteristic, the mathematical model of the energy storage converter under the two-phase static alpha beta coordinate system is as follows:
in the formula (1): i.e α 、i β 、U α 、U β 、e α 、e β And outputting current and voltage and network side voltage for the energy storage converter under the two-phase static alpha beta coordinate system. The network side voltage can be expressed as:
in the formula (2): e is the network side voltage amplitude; ω is the grid angular frequency. The voltage change rate of the lower net side of the two-phase static alpha beta coordinate system is as follows:
according to the instantaneous power theory, the instantaneous active and reactive power expression under the two-phase static alpha beta coordinate system can be obtained as follows:
the instantaneous active and reactive power change rate expression is:
substituting the formula (2) and the formula (3) into the formula (5) can obtain:
in order to obtain an energy storage converter power MPC mathematical model, discretizing the formula (6) to obtain active and reactive MPC mathematical models of the energy storage converter at the moment k+1, wherein the active and reactive MPC mathematical models are as follows:
in order to realize the active and reactive quick response of the energy storage converter and improve the transient characteristic of the control system, the invention adopts the same weight cost function of the active and reactive, so that the power exchanged between the converter and the network side follows the reference value in real time, and the power weight cost function can be expressed as:
in formula (8): p (P) * (k+1)、Q * And (k+1) is the active and reactive power reference value at the time of k+1.
In the practical application of the energy storage converter, the transient characteristic of the energy storage system is poor due to the fact that the period delay exists in the sampling and calculating links, namely, the sampling value of the alternating-current side end voltage at the moment k cannot be applied to the current sampling period, but is applied to the sampling period at the moment k+1, and the error accumulation causes larger deviation of the control system. In order to inhibit control deviation caused by period delay, the invention predicts system variables by adopting a two-step model prediction method, namely a two-period delay compensation strategy, so as to obtain an advanced control effect, thereby counteracting delay influence, and obtaining a k+2 moment energy storage converter power MPC mathematical model according to a formula (7) as follows:
the power weight cost function under the two-step model prediction can be obtained according to the formula (9):
in order to realize accurate control of the power MPC of the energy storage converter and minimize the errors of the expected values and the predicted values of the active and reactive values, the value of the power weight cost function needs to be minimized, J k+2 To U α 、U β The bias guide is 0, namely:
substituting the formula (11) into the formula (10) to obtain the optimal value of the output voltage of the energy storage converter under the two-phase static alpha beta coordinate system, wherein the optimal value is as follows:
in the formula (12): epsilon P (k+1)、ε Q The weight of the active and reactive control errors in the MPC cost function at the time of (k+1) being k+1 can be expressed as:
while the invention has been described in detail in the foregoing general description and with reference to specific embodiments thereof, it will be apparent to one skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (10)
1. The method for establishing the MPC weight cost function of the energy storage converter device is characterized by comprising the following steps of:
1) Establishing a mathematical model of the energy storage converter under a two-phase static alpha beta coordinate system;
2) According to the step 1), the mathematical model of the energy storage converter under the two-phase static alpha beta coordinate system is obtained, and a network side voltage equation is established;
3) Establishing a network side voltage equation according to the energy storage converter mathematical model under the two-phase static alpha beta coordinate system obtained in the step 2), and establishing an instantaneous active power expression under the two-phase static alpha beta coordinate system;
4) Establishing an instantaneous active and reactive power change rate expression according to the instantaneous active and reactive power expression under the two-phase static alpha beta coordinate system in the step 3);
5) Establishing a network side voltage equation by using the mathematical model of the energy storage converter under the two-phase static alpha beta coordinate system obtained in the step 2), and taking the instantaneous active and reactive power expression under the two-phase static alpha beta coordinate system obtained in the step 3) into the instantaneous active and reactive power change rate expression of the step 4), thereby obtaining an active and reactive power change rate equation of the energy storage converter under the two-phase static alpha beta coordinate system without discretization;
6) Performing discretization processing according to the active and reactive power change rate equation of the energy storage converter under the non-discretized two-phase static alpha beta coordinate system obtained in the step 5) to obtain an active and reactive MPC mathematical model of the energy storage converter at the moment k+1;
7) In order to realize the active and reactive quick response of the energy storage converter and improve the transient characteristics of a control system, according to the active and reactive MPC mathematical model of the energy storage converter at the moment k+1 in the step 6), establishing the same weight cost functions of the active and reactive power;
8) Predicting system variables by adopting a two-step model prediction method, namely a two-period delay compensation strategy, so as to obtain an advanced control effect, thereby counteracting the delay influence, and obtaining a k+2 moment energy storage converter power MPC mathematical model according to the step 6);
9) According to the same weight cost function of the active power and the reactive power obtained in the step 7), a power weight cost function under two-step model prediction is established;
10 In order to realize the accurate control of the power MPC of the energy storage converter, the error between the expected value and the predicted value of the active and reactive power is minimized, the power weight cost function under the prediction of the two-step model obtained in the step 9) is subjected to the bias guide, and the bias guide is taken as 0 position;
11 Substituting the function of which the bias guide of the power weight cost function under the two-step model prediction obtained in the step 10) is 0 into the power weight cost function under the two-step model prediction in the step 9) to obtain the optimal value of the output voltage of the energy storage converter under the two-phase static alpha beta coordinate system.
2. The method for establishing an MPC weight cost function of an energy storage converter according to claim 1, wherein step 1) establishes a mathematical model of the energy storage converter in a two-phase stationary alpha beta coordinate system:wherein: i.e α 、i β 、U α 、U β 、e α 、e β Outputting current and voltage and network side voltage for the energy storage converter under the two-phase static alpha beta coordinate system; r is R f 、L f 、C f An LC filter circuit is constructed.
3. The method for establishing an MPC weight cost function of an energy storage and conversion device according to claim 2, wherein the specific implementation method of step 2) is as follows: according to the step 1), the mathematical model of the energy storage converter under the two-phase static alpha beta coordinate system is obtained, and a network side voltage equation is established:wherein: e is the network side voltage amplitude; omega is the angular frequency of the power grid, and the voltage change rate of the grid side under the two-phase static alpha beta coordinate system is as follows:
4. the method for establishing an MPC weight cost function of an energy storage and conversion device according to claim 1, wherein the specific implementation method of the step 3) is as follows: establishing a network side voltage equation according to the energy storage converter mathematical model under the two-phase static alpha beta coordinate system obtained in the step 2), and establishing an instantaneous active power expression and an instantaneous reactive power expression under the two-phase static alpha beta coordinate system:
5. the method for establishing an MPC weight cost function of an energy storage and conversion device according to claim 1, wherein the specific implementation method of the step 4) is as follows: establishing an instantaneous active and reactive power change rate expression according to the instantaneous active and reactive power expression under the two-phase static alpha beta coordinate system in the step 3):
6. the method for establishing an MPC weight cost function of an energy storage and conversion device according to claim 1, wherein the specific implementation method of the step 5) is as follows: establishing a network side voltage equation by using the mathematical model of the energy storage converter under the two-phase static alpha beta coordinate system obtained in the step 2), and introducing the instantaneous active and reactive power expression under the two-phase static alpha beta coordinate system obtained in the step 3) into the instantaneous active and reactive power change rate expression of the step 4), thereby obtaining an active and reactive power change rate equation of the energy storage converter under the non-discretized two-phase static alpha beta coordinate system:
7. the method for establishing an MPC weight cost function of an energy storage and conversion device according to claim 1, wherein the specific implementation method of the step 6) is as follows: performing discretization processing according to the active and reactive power change rate equation of the energy storage converter under the non-discretized two-phase static alpha beta coordinate system obtained in the step 5) to obtain an active and reactive MPC mathematical model of the energy storage converter at the moment k+1:wherein: t (T) s Is the sampling control period.
8. The method for establishing an MPC weight cost function of an energy storage and conversion device according to claim 1, wherein the specific implementation method of the step 7) is as follows: in order to realize the active and reactive quick response of the energy storage converter and improve the transient characteristics of a control system, according to an active and reactive MPC mathematical model of the energy storage converter at the moment k+1 in the step 6), the same weight cost functions of the active and reactive are established:wherein: p (P) * (k+1)、Q * And (k+1) is the active and reactive power reference value at the time of k+1.
9. The method for establishing an MPC weight cost function of an energy storage and conversion device according to claim 1, wherein the specific implementation method of the step 8) is as follows: further, a two-step model prediction method, namely a two-period delay compensation strategy is adopted to predict system variables so as to obtain an advanced control effect, thereby counteracting delay influence, and a k+2 moment energy storage converter power MPC mathematical model is obtained according to the step 6):
10. the method for establishing an MPC weight cost function of an energy storage and conversion device according to claim 1, wherein the specific implementation method of the step 9) is as follows: referring to the same weight cost function of the active power and the reactive power obtained in the step 7), establishing a power weight cost function under two-step model prediction:
the specific implementation method of the step 10) is as follows: in order to realize accurate control of the power MPC of the energy storage converter, the error between the expected value and the predicted value of the active and reactive power is minimized, the power weight cost function under the prediction of the two-step model obtained in the step 9) is subjected to partial derivative, and the partial derivative is taken as 0:
the specific implementation method of the step 11) is as follows: substituting the function of which the bias guide of the power weight cost function under the two-step model prediction obtained in the step 10) is 0 into the power weight cost function under the two-step model prediction in the step 9) to obtain the optimal value of the output voltage of the energy storage converter under the two-phase static alpha beta coordinate system:wherein: epsilon P (k+1)、ε Q The weight of the active and reactive control errors in the MPC cost function at the time of (k+1) being k+1 is expressed as:
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