In the future power-electronics-dominated power systems,grid-forming(GFM)converters have been regarded as important devices to actively establish frequency and voltage,so as to provide essential grid support.However,d...In the future power-electronics-dominated power systems,grid-forming(GFM)converters have been regarded as important devices to actively establish frequency and voltage,so as to provide essential grid support.However,due to their voltage source behavior and emulated swing dynamics,GFM converters may encounter low-frequency oscillations(LFOs)when connected to strong grids,which belongs to the self-stability problem of GFM converters.Moreover,GFM converters will also interact with grid-following(GFL)converters and thus impact the mid-frequency oscillations(MFOs)induced by phase-locked loops(PLLs).It has been preliminarily shown in the literature that GFM converters can help stabilize the PLL-induced MFOs,but currently,there is a lack of systematic design methods to coordinate the self-stability and stabilizing ability of GFM converters.This paper addresses this gap by revisiting the impedance model of a typical GFM converter and briefly analyze the oscillations caused by converters.Based on our analysis,we propose a frequency-partitioned synthesis design framework to enable dynamic virtual impedance(DVI)in GFM converters,aiming to enhance their self-stability and stabilizing ability simultaneously.Particularly,a self-stabilizing module is designed to ensure robust device-level damping,with control parameters auto-tuned using H∞methods.In parallel,a stabilizing module is introduced to stabilize GFL converters and enhance the system-level stability,which utilizes a perceive-and-optimize tuning strategy.Simulation results validate the effectiveness of the proposed synthesis DVI framework.展开更多
As the penetration rate of distributed energy increases,the transient power angle stability problem of the virtual synchronous generator(VSG)has gradually become prominent.In view of the situation that the grid impeda...As the penetration rate of distributed energy increases,the transient power angle stability problem of the virtual synchronous generator(VSG)has gradually become prominent.In view of the situation that the grid impedance ratio(R/X)is high and affects the transient power angle stability of VSG,this paper proposes a VSG transient power angle stability control strategy based on the combination of frequency difference feedback and virtual impedance.To improve the transient power angle stability of the VSG,a virtual impedance is adopted in the voltage loop to adjust the impedance ratio R/X;and the PI control feedback of the VSG frequency difference is introduced in the reactive powervoltage link of theVSGto enhance the damping effect.Thesecond-orderVSGdynamic nonlinearmodel considering the reactive power-voltage loop is established and the influence of different proportional integral(PI)control parameters on the system balance stability is analyzed.Moreover,the impact of the impedance ratio R/X on the transient power angle stability is presented using the equal area criterion.In the simulations,during the voltage dips with the reduction of R/X from 1.6 to 0.8,Δδ_(1)is reduced from 0.194 rad to 0.072 rad,Δf_(1)is reduced from 0.170 to 0.093 Hz,which shows better transient power angle stability.Simulation results verify that compared with traditional VSG,the proposedmethod can effectively improve the transient power angle stability of the system.展开更多
In the islanded operation of distribution networks,due to the mismatch of line impedance at the inverter output,conventional droop control leads to inaccurate power sharing according to capacity,resulting in voltage a...In the islanded operation of distribution networks,due to the mismatch of line impedance at the inverter output,conventional droop control leads to inaccurate power sharing according to capacity,resulting in voltage and frequency fluctuations under minor external disturbances.To address this issue,this paper introduces an enhanced scheme for power sharing and voltage-frequency control.First,to solve the power distribution problem,we propose an adaptive virtual impedance control based on multi-agent consensus,which allows for precise active and reactive power allocation without requiring feeder impedance knowledge.Moreover,a novel consensus-based voltage and frequency control is proposed to correct the voltage deviation inherent in droop control and virtual impedance methods.This strategy maintains voltage and frequency stability even during communication disruptions and enhances system robustness.Additionally,a small-signal model is established for system stability analysis,and the control parameters are optimized.Simulation results validate the effectiveness of the proposed control scheme.展开更多
This paper proposes virtual impedance adaptation of the lower-limb exoskeleton for human performance augmentation(LEHPA) based on deep reinforcement learning(VIADRL) to mitigate reliance on model accuracy and address ...This paper proposes virtual impedance adaptation of the lower-limb exoskeleton for human performance augmentation(LEHPA) based on deep reinforcement learning(VIADRL) to mitigate reliance on model accuracy and address the ever-changing human-exoskeleton interaction(HEI) dynamics. The classical sensitivity amplification control strategy is expanded to the virtual impedance control strategy with more learnable virtual impedance parameters. The adjustment of these virtual impedance parameters is formalized as finding the optimal policy for a Markov Decision Process and can then be effectively resolved using deep reinforcement learning algorithms. To ensure safe and efficient policy training, a multibody simulation environment is established to facilitate the training process, supplemented by the innovative hybrid inverse-forward dynamics simulation approach for executing the simulation. For comparison purposes, the SADRL strategy is introduced as a benchmark. A novel control performance evaluation method based on the HEI forces at the back, thighs, and shanks is proposed to quantitatively evaluate the performance of our proposed VIADRL strategy. The VIADRL controller is systematically compared with the SADRL controller at five selected walking speeds. The lumped ratio of HEI forces under the SADRL strategy relative to those under the SADRL strategy is as low as 0.81 in simulation and approximately 0.89 on the LEHPA prototype. The overall reduction of HEI forces demonstrates the superiority of the VIADRL strategy in comparison to the SADRL strategy.展开更多
With the rapid increase of wind farms,the grid code needs to be improved to meet the requirement of wind farms and enhance grid stability.Doubly-fed induction generators are largely used in wind turbines,but they are ...With the rapid increase of wind farms,the grid code needs to be improved to meet the requirement of wind farms and enhance grid stability.Doubly-fed induction generators are largely used in wind turbines,but they are very sensitive to grid disturbances.The voltage swell can be caused by switching on capacitor banks or switching off large loads,which may result in the reversal of the power flow in the grid convertor;the current may flow from the grid into the DC link,which may step up DC voltage,and result in large faults of rotor currents and instantaneous power oscillation.The grid reactive compensation devices can not have the automatic swithing function after the low voltage fault,which will result in local reactive power surplus,so some wind power generators will retreat from the grid under high voltage protection.展开更多
Lock-in amplifiers are used to detect and measure very small alternating current(AC)signals down to the range of nVs.Accurate measurements can be made even when the small signals are buried by noise thousands of times...Lock-in amplifiers are used to detect and measure very small alternating current(AC)signals down to the range of nVs.Accurate measurements can be made even when the small signals are buried by noise thousands of times larger.With the digital signal processing(DSP)technology involved in modern instrumentation,a lock-in amplifier is more versatile in sensing and recovering small signals.Combining the virtual instrumentation technology,we reorganize the functional blocks of a programmable lock-in amplifier and build it as a virtual spectrum analyzer,virtual impedance meter,virtual network analyzer,virtual semiconductor parameter analyzer,signal generator,etc.A 4 layer model is used to implement these virtual instruments.The same virtual instrument can also be implemented on a general purpose FPGA developing board.展开更多
The virtual-ray method for treating HF electromagnetic scattering problems is derived from the plane wave of free space, and using this the plane wave scattering by an impedance wedge is studied. In the solution proce...The virtual-ray method for treating HF electromagnetic scattering problems is derived from the plane wave of free space, and using this the plane wave scattering by an impedance wedge is studied. In the solution process a novel concept of generalized circle is introduced so that the complete amplitude function is obtained. And a reasonable physical interpretation for the term W2, which was neglected previously, is given. The calculated results agree well with those of the analytical solution obtained by G.D. Maliuzhinets(1958).展开更多
基金supported by National Natural Science Foundation of China(U24B6008,U22B6008)State Grid Zhejiang Electric Power Co.,Ltd.Science,and Technology Project(B311DS240015).
文摘In the future power-electronics-dominated power systems,grid-forming(GFM)converters have been regarded as important devices to actively establish frequency and voltage,so as to provide essential grid support.However,due to their voltage source behavior and emulated swing dynamics,GFM converters may encounter low-frequency oscillations(LFOs)when connected to strong grids,which belongs to the self-stability problem of GFM converters.Moreover,GFM converters will also interact with grid-following(GFL)converters and thus impact the mid-frequency oscillations(MFOs)induced by phase-locked loops(PLLs).It has been preliminarily shown in the literature that GFM converters can help stabilize the PLL-induced MFOs,but currently,there is a lack of systematic design methods to coordinate the self-stability and stabilizing ability of GFM converters.This paper addresses this gap by revisiting the impedance model of a typical GFM converter and briefly analyze the oscillations caused by converters.Based on our analysis,we propose a frequency-partitioned synthesis design framework to enable dynamic virtual impedance(DVI)in GFM converters,aiming to enhance their self-stability and stabilizing ability simultaneously.Particularly,a self-stabilizing module is designed to ensure robust device-level damping,with control parameters auto-tuned using H∞methods.In parallel,a stabilizing module is introduced to stabilize GFL converters and enhance the system-level stability,which utilizes a perceive-and-optimize tuning strategy.Simulation results validate the effectiveness of the proposed synthesis DVI framework.
基金supported by theMajor Science and Technology Projects of China Southern Power Grid(Grant number CGYKJXM20210328).
文摘As the penetration rate of distributed energy increases,the transient power angle stability problem of the virtual synchronous generator(VSG)has gradually become prominent.In view of the situation that the grid impedance ratio(R/X)is high and affects the transient power angle stability of VSG,this paper proposes a VSG transient power angle stability control strategy based on the combination of frequency difference feedback and virtual impedance.To improve the transient power angle stability of the VSG,a virtual impedance is adopted in the voltage loop to adjust the impedance ratio R/X;and the PI control feedback of the VSG frequency difference is introduced in the reactive powervoltage link of theVSGto enhance the damping effect.Thesecond-orderVSGdynamic nonlinearmodel considering the reactive power-voltage loop is established and the influence of different proportional integral(PI)control parameters on the system balance stability is analyzed.Moreover,the impact of the impedance ratio R/X on the transient power angle stability is presented using the equal area criterion.In the simulations,during the voltage dips with the reduction of R/X from 1.6 to 0.8,Δδ_(1)is reduced from 0.194 rad to 0.072 rad,Δf_(1)is reduced from 0.170 to 0.093 Hz,which shows better transient power angle stability.Simulation results verify that compared with traditional VSG,the proposedmethod can effectively improve the transient power angle stability of the system.
基金supported by the National Natural Science Foundation of China(52007009)Natural Science Foundation of Excellent Youth Project of Hunan Province of China(2023JJ20039)Science and Technology Projects of State Grid Hunan Provincial Electric Power Co.,Ltd.(5216A522001K,SGHNDK00PWJS2310173).
文摘In the islanded operation of distribution networks,due to the mismatch of line impedance at the inverter output,conventional droop control leads to inaccurate power sharing according to capacity,resulting in voltage and frequency fluctuations under minor external disturbances.To address this issue,this paper introduces an enhanced scheme for power sharing and voltage-frequency control.First,to solve the power distribution problem,we propose an adaptive virtual impedance control based on multi-agent consensus,which allows for precise active and reactive power allocation without requiring feeder impedance knowledge.Moreover,a novel consensus-based voltage and frequency control is proposed to correct the voltage deviation inherent in droop control and virtual impedance methods.This strategy maintains voltage and frequency stability even during communication disruptions and enhances system robustness.Additionally,a small-signal model is established for system stability analysis,and the control parameters are optimized.Simulation results validate the effectiveness of the proposed control scheme.
文摘This paper proposes virtual impedance adaptation of the lower-limb exoskeleton for human performance augmentation(LEHPA) based on deep reinforcement learning(VIADRL) to mitigate reliance on model accuracy and address the ever-changing human-exoskeleton interaction(HEI) dynamics. The classical sensitivity amplification control strategy is expanded to the virtual impedance control strategy with more learnable virtual impedance parameters. The adjustment of these virtual impedance parameters is formalized as finding the optimal policy for a Markov Decision Process and can then be effectively resolved using deep reinforcement learning algorithms. To ensure safe and efficient policy training, a multibody simulation environment is established to facilitate the training process, supplemented by the innovative hybrid inverse-forward dynamics simulation approach for executing the simulation. For comparison purposes, the SADRL strategy is introduced as a benchmark. A novel control performance evaluation method based on the HEI forces at the back, thighs, and shanks is proposed to quantitatively evaluate the performance of our proposed VIADRL strategy. The VIADRL controller is systematically compared with the SADRL controller at five selected walking speeds. The lumped ratio of HEI forces under the SADRL strategy relative to those under the SADRL strategy is as low as 0.81 in simulation and approximately 0.89 on the LEHPA prototype. The overall reduction of HEI forces demonstrates the superiority of the VIADRL strategy in comparison to the SADRL strategy.
文摘With the rapid increase of wind farms,the grid code needs to be improved to meet the requirement of wind farms and enhance grid stability.Doubly-fed induction generators are largely used in wind turbines,but they are very sensitive to grid disturbances.The voltage swell can be caused by switching on capacitor banks or switching off large loads,which may result in the reversal of the power flow in the grid convertor;the current may flow from the grid into the DC link,which may step up DC voltage,and result in large faults of rotor currents and instantaneous power oscillation.The grid reactive compensation devices can not have the automatic swithing function after the low voltage fault,which will result in local reactive power surplus,so some wind power generators will retreat from the grid under high voltage protection.
文摘Lock-in amplifiers are used to detect and measure very small alternating current(AC)signals down to the range of nVs.Accurate measurements can be made even when the small signals are buried by noise thousands of times larger.With the digital signal processing(DSP)technology involved in modern instrumentation,a lock-in amplifier is more versatile in sensing and recovering small signals.Combining the virtual instrumentation technology,we reorganize the functional blocks of a programmable lock-in amplifier and build it as a virtual spectrum analyzer,virtual impedance meter,virtual network analyzer,virtual semiconductor parameter analyzer,signal generator,etc.A 4 layer model is used to implement these virtual instruments.The same virtual instrument can also be implemented on a general purpose FPGA developing board.
基金Supported by the National Natural Science Foundation of China
文摘The virtual-ray method for treating HF electromagnetic scattering problems is derived from the plane wave of free space, and using this the plane wave scattering by an impedance wedge is studied. In the solution process a novel concept of generalized circle is introduced so that the complete amplitude function is obtained. And a reasonable physical interpretation for the term W2, which was neglected previously, is given. The calculated results agree well with those of the analytical solution obtained by G.D. Maliuzhinets(1958).
文摘虚拟同步机(virtual synchronous generator,VSG)控制缓解了新型电力系统低惯量弱阻尼特性,但也引入了功角振荡,导致功角稳定性问题。已有研究从控制参数自适应以及控制环重构角度改进VSG控制,但存在设计困难、物理意义不明确等问题。因此,该文首先基于等面积定则(equal area criterion,EAC),利用虚拟阻抗,提出“功角能量”快速衰减的改进控制思路,从图形解法解释了底层物理意义,并设计算法求解控制各阶段虚拟阻抗大小。在此基础上,分析改进控制思路可能存在的问题。其次,从补偿“阻尼功”缺失和提高控制适用性角度,构建基于虚拟阻抗频率自适应的控制策略,以实现不同工况下功角振荡的优化抑制。最后,通过电磁暂态仿真验证前述分析的正确性,并展示所提控制策略对功角振荡抑制以及功角稳定性提高的有效性。
