CN102545246A - Damping control method of permanent magnetic direct-driven wind generating set - Google Patents
Damping control method of permanent magnetic direct-driven wind generating set Download PDFInfo
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Abstract
The invention provides a damping control method of a permanent magnetic direct-driven wind generating set, and is used for improving transient-state stability of an electric network. The technical scheme is as follows: the damping control method comprises active damping control and reactive damping control, wherein the active damping control is realized by quickly adjusting the active output of the wind generating set and injecting damping power into the electric network according to the variation of the electric network frequency on the basis of maximum power tracking control policy, thereby further increasing the system damping; and the reactive damping control is realized by rapidly providing reactive power for the electric network by utilizing the net side convertor of the permanent magnetic direct-driven wind generating set according to the variation of the electric network frequency, thereby inhibiting system power oscillation. According to the invention, the characteristic of independent adjusting of active power and reactive power of the permanent magnetic direct-driven wind generating set is utilized, and the system damping is increased by active and reactive adjusting, thus the problem that the regional electric network with higher wind electricity permeability is lack of system damping is well solved, the transient-state stability of the electric network is improved and the safe and stable operation of the electric system is guaranteed.
Description
Technical Field
The invention relates to a control method of a permanent magnet direct-drive wind generating set, which can inhibit system oscillation and improve the transient stability of the system by participating in active and reactive power regulation of a power grid when the power of the power grid oscillates, and belongs to the technical field of control.
Background
The low-frequency oscillation of the power grid power has an important influence on the safe and stable operation of the power system, and the problem becomes more prominent for regional power grids with higher wind installation ratio. Although the power electronic converter isolates the influence of system power oscillation on the variable-speed constant-frequency wind generating set, after the power grid is disturbed by faults, the fluctuation of wind power, the splitting of the wind generating set without low voltage ride through capability and the like all aggravate the oscillation power born by the synchronous generator in the regional power grid, and the continuous oscillation of the system is more easily caused. However, at present, no ideal method for inhibiting low-frequency oscillation exists for a regional power grid with a high wind power installation ratio, and the safe and stable operation of a power system cannot be guaranteed. Therefore, the control strategy of the existing variable-speed constant-frequency wind turbine generator is improved, the suppression capability of the variable-speed constant-frequency wind turbine generator on system power oscillation is increased, the damping characteristic of the system is improved, and the variable-speed constant-frequency wind turbine generator has important significance on the safe operation of a regional power grid with high wind power permeability.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a damping control method of a permanent magnet direct-drive wind generating set so as to reduce the adverse effect caused by the lack of damping of the system due to the improvement of the wind power permeability.
The problem of the invention is realized by the following technical scheme:
a damping control method of a permanent magnet direct-drive wind generating set comprises active damping control and reactive damping control, wherein the active damping control is to measure the variable quantity of the power grid frequency in real time on the basis of a maximum power tracking control strategy, quickly adjust the active output of the wind generating set according to the variable quantity of the power grid frequency, inject damping power into the power grid and further improve the system damping; the reactive damping control is to utilize a grid-side converter of the permanent-magnet direct-drive wind turbine generator to rapidly provide reactive power for a power grid according to the variable quantity of the frequency of the power grid, so that the power oscillation of the system is restrained.
The damping control method of the permanent magnet direct-drive wind generating set comprises the following specific control methods of active damping and reactive damping:
a. active damping control:
the method comprises the following steps of performing active control on a permanent magnet direct-drive wind generating set by adopting a maximum power tracking control strategy:
active reference instruction of generator
Comprises the following steps:
in the formula, Pmax is an output active power amplitude limit value of the permanent magnet direct-drive wind turbine generator; omega 0 is the cut-in electrical angular velocity of the permanent magnet direct-drive wind turbine generator; omega 1 is the electrical angular speed of the permanent magnet direct-drive wind turbine generator when entering a constant rotating speed zone; omega max is an angular speed amplitude limit value of the permanent magnet direct-drive wind turbine generator; omega r is the electrical angular velocity of the permanent magnet direct-drive wind turbine generator; kopt is a proportionality coefficient of a maximum power tracking curve;
when the system power oscillates, the permanent magnet direct-drive wind turbine generator set adjusts the rotating speed according to the following formula:
in the formula,
respectively increasing the angular speed of the permanent magnet direct-drive wind motor set;
a system synchronous angular velocity increment is obtained; kp is an active damping control coefficient, so that an active reference instruction of the permanent magnet synchronous wind turbine generator set can be adjusted
The wind turbine generator is controlled to dynamically inject active power into the system, power oscillation of a power grid is restrained, and damping characteristics of the system are improved;
b. reactive damping control:
the method comprises the following steps of adopting a control strategy of constant power factor operation or constant grid voltage amplitude to carry out reactive power control on the permanent magnet direct-drive wind turbine generator, and when the system power oscillates, adjusting the reactive power injected into the system by the permanent magnet direct-drive wind turbine generator according to the following formula:
in the formula,
the method comprises the following steps of (1) performing reactive increment of a permanent magnet direct-drive wind turbine generator; kQ is a reactive damping control coefficient, so that power oscillation of a power grid is inhibited, and the damping characteristic of the system is improved.
According to the damping control method of the permanent magnet direct-drive wind generating set, within the allowable range of the voltage fluctuation of the power grid, reactive damping control is performed immediately after power oscillation occurs in the power grid, and active damping control is performed after fault ride-through.
The invention utilizes the characteristic of independent adjustment of active power and reactive power of the permanent-magnet direct-drive wind generating set, increases system damping by adjusting the active power and the reactive power, well solves the problem of lack of system damping in a regional power grid with higher wind power permeability, improves the transient stability of the power grid, and ensures the safe and stable operation of a power system. The effectiveness of the damping control strategy proposed by the present invention can be seen from the five simulation graphs given in fig. 5-a-5 e.
As shown in FIG. 1, the simulation system assumes that the wind speed is 9m/s, the permanent magnet direct-drive wind turbine generator runs in the maximum power tracking running state, and the three-phase short-circuit fault with the duration of 0.1s occurs at the moment of 3.0s through the bus B1. 5-a and 5-b are respectively the comparison of the voltage response of the direct current side of the full-power converter and the active response of the power plant G1 when the permanent-magnet direct-drive wind turbine generator has no additional power control and when the active damping control is adopted. 5-c and 5-d respectively compare the voltage of the bus B1 and the active power of the power plant G1 when the permanent magnet direct drive wind turbine generator is not controlled by additional power and when reactive damping control is adopted. 5-e compare the active response of the G1 power plant under the control of active damping and reactive damping without additional power control of the permanent magnet direct-drive wind turbine generator.
As shown in fig. 5-a and 5-b, after power oscillation occurs in the system, the permanent magnet direct-drive wind turbine generator sets enable the power oscillation attenuation time of G1 to be less than 5s through active damping control, so that the system oscillation attenuation is accelerated, which shows that the system damping characteristic is effectively improved, but voltage fluctuation on the direct current side of the full-power converter can be caused at the same time. Therefore, when the permanent magnet direct-drive wind turbine generator utilizes the active power to adjust the power oscillation of the damping system, a control measure for effectively inhibiting the direct current voltage fluctuation is adopted in a matched mode, and the permanent magnet direct-drive wind turbine generator is guaranteed to complete fault ride-through.
As shown in fig. 5-c and 5-d, after the system fails, the permanent magnet direct-drive wind turbine generator immediately starts reactive damping control, so that the power oscillation attenuation time of G1 is less than 5s, but the system damping characteristic is improved, and the system voltage fluctuates to a certain extent.
Under the condition that active power and reactive power participate in adjustment together, the reserve capacity of the permanent magnet direct-drive wind turbine generator can be fully utilized, the system damping can be further increased within the allowable range of meeting the direct-current side voltage and power grid voltage fluctuation of the wind turbine generator, as shown in the graph of 5-e, the power oscillation can be obviously inhibited after lasting about 3s, and the damping effect on the power grid oscillation is better.
Drawings
The invention will be further explained with reference to the drawings.
Fig. 1 is a maximum power tracking curve;
FIG. 2 is an active damping control schematic of the present invention;
FIG. 3 is a schematic diagram of reactive damping control of the present invention;
FIG. 4 is a reactive damping controller structure of a permanent magnet direct-drive wind turbine generator;
fig. 5-a to 5-e are simulation graphs after the damping control strategy is adopted, respectively.
In the figures and in the text, the symbols are: pmax, outputting an active power amplitude limit value by the permanent magnet direct-drive wind turbine generator;
the electrical angular speed of the permanent magnet direct-drive wind turbine generator set; omega 0, the cut-in electrical angular velocity of the permanent magnet direct-drive wind turbine generator; omega 1, the electrical angular speed of the permanent magnet direct-drive wind turbine generator when the permanent magnet direct-drive wind turbine generator enters a constant rotating speed zone; omega max, an angular speed amplitude limit value of the permanent magnet direct-drive wind turbine generator;
power grid frequency;
power frequency 50 Hz;the active reference instruction of the generator;
the angular speed of the permanent magnet direct-drive wind turbine generator is increased;
system synchronous angular velocity increment; popt
A maximum power tracking control curve; kopt, the proportionality coefficient of the maximum power tracking curve;
and measuring the frequency variation of the power grid in real time.
Detailed Description
The invention can enable the permanent magnet direct-drive wind turbine generator to quickly adjust the active power output and the reactive power output of the wind turbine generator according to the frequency error signal of the power grid, and utilizes the independent and flexible power adjustment characteristic of the full-power converter to adopt active and reactive damping control to accelerate the system oscillation attenuation after the power grid has power oscillation, thereby increasing the system damping and restoring the running state of the permanent magnet direct-drive wind turbine generator before the system disturbance after the power grid oscillation is finished.
Active damping control principle analysis
Referring to fig. 1, a second-order classical model with constant E is adopted for a system G1 with a permanent magnet direct-drive wind power plant grid connection, and mechanical power Pm is considered to be constant, and a motion equation of the system can be expressed as follows:
in the formulaDelta, Hsys, Psys and Pm are respectively the power angle, inertia time constant, electromagnetic power and mechanical power of G1; pg is the electromagnetic power fed into the system by the permanent magnet direct-drive wind turbine generator; d is a damping coefficient;
is the electrical angular velocity of G1.
The active and reactive outputs of the synchronous generator G1 can be expressed as:
(2)，
in the formula,a no-load electromotive force of G1; VG is the terminal voltage of G1; xc is the synchronous reactance of G1; qsys is the reactive power output by G1.
When the small disturbance quantity is calculated by the formula (1), the motion equation of the small disturbance is as follows:
in the formula,
psys is the active variation of G1;
pg is the active variable quantity of the permanent magnet direct-drive wind turbine generator; p is a differentiation factor.
When the reactive power control loop of the grid-side converter of the permanent-magnet direct-drive wind turbine generator is controlled by constant alternating voltage, the voltage VG is considered to be constant, and the small disturbance quantity is solved by the formula (2) to obtain
In the formula, δ 0 is an initial value of δ.
If the active output change of the permanent magnet direct-drive wind turbine generator comprises the electrical angular velocity increment of G1
A proportional component, set as
(6)，
If equation (6) is substituted for equation (4), the small perturbation equation for G1 is:
(7)，
therefore, when KP is greater than 0, the system damping can be increased by the active power regulation of the permanent magnet direct-drive wind turbine generator participating in the system.
Referring to fig. 2, a maximum power tracking control curve Popt of a permanent magnet direct-drive wind turbine generatorThe method can be divided into the following steps: the start-up phase, the maximum power tracking region (CP constant region), the rotational speed constant region, and the power constant region may be represented by fig. 1 and equation (1). And the active reference instruction of the generator
Can be given by the angular velocity feedback ω r:
in the formula, kopt is a proportionality coefficient of a maximum power tracking curve.
In the maximum power tracking control process of the permanent magnet direct-drive wind turbine generator, active power output is adjusted only according to the change of the rotating speed of the wind turbine generator. When the power grid is in active disturbance, the wind turbine generator still follows the control instruction to transmit power to the power grid, cannot participate in active regulation of the system, and cannot provide damping for the system. Therefore, if the wind turbine generator not directly coupled to the grid frequency has the capability of suppressing the system oscillation, the grid frequency change needs to be introduced into the wind turbine generator control system.
The permanent magnet direct-drive wind turbine generator set can be driven according to the system power during oscillation
The rotating speed is regulated as follows:
(9)，
in the formula,
the angular speed increment of the permanent magnet direct-drive wind turbine generator set is obtained; kp is the active resistanceAnd (4) damping control coefficient.
Calculating small disturbance quantity for formula (1), then
Can be expressed as:
(10)，
therefore, when the rotating speed variation of the permanent magnet direct-drive wind turbine generator is adjusted according to the formula (9), the power variation of the wind turbine generator generated in the maximum power tracking area and the rotating speed constant area
The requirement of formula (6) is satisfied, so that the system damping can be improved.
In the dynamic process of the system, the active power regulation of the wind turbine generator set may cause the voltage fluctuation of the direct current side of the full-power converter. Therefore, after the power grid is disturbed, the permanent magnet direct-drive wind turbine generator firstly stabilizes the direct current voltage, starts active damping control after the alternating current voltage is recovered and the direct current voltage is stabilized within an allowable range, quickly adjusts the active output of the wind turbine generator, and injects damping power into the power grid. As the system oscillations decay, the wind turbine will return to the maximum power tracking operating state again.
The active damping controller structure of the permanent magnet direct-drive wind turbine generator system is shown in fig. 3, wherein a blocking link can eliminate the influence of a power grid frequency error on the controller in steady-state operation, a phase compensation link is used for compensating the advance characteristic of the blocking link and the phase difference between the power grid frequency difference and a generator rotating speed signal, and a plurality of phase compensation links can be used in practical application to achieve an ideal phase compensation effect.
Reactive damping control principle analysis
For simplifying analysis, the reactive power of the permanent magnet direct-drive wind turbine generator dynamically injected into the power grid is consideredThe power only causes a change in the amplitude of the grid voltage VG by an increment of
Then, the small disturbance amount is obtained by calculating the small disturbance amount for the equations (3) and (4), and the variation amounts of the active and reactive outputs of G1 are respectively:
(12)，
in the formula, VG0 is an initial value of VG. Wherein,
depending on the angular swing of the delta,
depending on the fluctuations of the voltage VG. Therefore, the reactive power of the injection system of the permanent magnet direct-drive wind turbine generator is the reactive power
Setting the reactive increment as:
in the formula,
qg is the reactive increment of the permanent magnet direct-drive wind turbine generator; kQ is the reactive damping control coefficient. Then
VG can be expressed as:
if equations (14) and (11) are substituted for equation (4), the small perturbation equation of G1 is:
in the formula,
. It can be seen that when kQ>At 0, the system damping increases.
Because the reactive damping control has little influence on the fault recovery and stable operation of the wind turbine generator, after the power grid is disturbed, the permanent magnet direct-drive wind turbine generator can immediately start the reactive damping control to participate in the power regulation of the system and accelerate the oscillation attenuation.
The structure of the reactive damping controller of the permanent magnet direct-drive wind turbine generator is shown in figure 4. The blocking link can prevent the wind turbine generator from participating in regulation in the steady state of the power grid, and the phase compensation link enables the permanent magnet direct-drive wind turbine generator grid-side converter to drive the wind turbine generator grid-side converter according to the power grid frequency error signal
And reactive power is rapidly and dynamically injected into the power grid and meets the requirement of the formula (13), so that the system damping is increased.
Claims (3)
1. A damping control method of a permanent magnet direct-drive wind generating set is characterized by comprising active damping control and reactive damping control, wherein the active damping control is to measure the variation of the power grid frequency in real time on the basis of a maximum power tracking control strategy, quickly adjust the active output of the wind generating set according to the variation of the power grid frequency, inject damping power into the power grid and further improve the system damping; the reactive damping control is to utilize a grid-side converter of the permanent-magnet direct-drive wind turbine generator to rapidly provide reactive power for a power grid according to the variable quantity of the frequency of the power grid, so that the power oscillation of the system is restrained.
2. The damping control method of the permanent magnet direct drive wind generating set according to claim 1, wherein the specific control method of active damping and reactive damping is as follows:
a. active damping control:
the method comprises the following steps of performing active control on a permanent magnet direct-drive wind generating set by adopting a maximum power tracking control strategy:
active reference instruction of generator
Comprises the following steps:
in the formula,P maxoutputs active power amplitude limit value for the permanent magnet direct drive wind turbine generator,ω 0the cut-in electrical angular velocity of the permanent magnet direct-drive wind turbine generator set is obtained;ω 1the electric angular speed is the electric angular speed when the permanent magnet direct-drive wind turbine generator enters a constant rotating speed zone;ω maxis an angular speed amplitude limit value of a permanent magnet direct-drive wind turbine generator,ω ris the electrical angular velocity of the permanent magnet direct-drive wind turbine generator,k optthe proportionality coefficient of the maximum power tracking curve;
when the system power oscillates, the permanent magnet direct-drive wind turbine generator set adjusts the rotating speed according to the following formula:
in the formula,
rrespectively increasing the angular speed of the permanent magnet direct-drive wind motor set;
sa system synchronous angular velocity increment is obtained;k pthe active damping control coefficient is used for adjusting the active reference instruction of the permanent magnet synchronous wind turbine generator
The wind turbine generator is controlled to dynamically inject active power into the system, power oscillation of a power grid is restrained, and damping characteristics of the system are improved;
b. reactive damping control:
the method comprises the following steps of adopting a control strategy of constant power factor operation or constant grid voltage amplitude to carry out reactive power control on the permanent magnet direct-drive wind turbine generator, and when the system power oscillates, adjusting the reactive power injected into the system by the permanent magnet direct-drive wind turbine generator according to the following formula:
in the formula,
Q gthe method comprises the following steps of (1) performing reactive increment of a permanent magnet direct-drive wind turbine generator;k Qthe reactive damping control coefficient is adopted, so that the power oscillation of the power grid is restrained, and the damping characteristic of the system is improved.
3. The damping control method of the permanent magnet direct drive wind generating set according to claim 1 or 2, characterized in that within the allowable range of the voltage fluctuation of the power grid, reactive damping control is performed immediately after power oscillation occurs in the power grid, and active damping control is performed after fault ride-through.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104779642A (en) * | 2015-04-17 | 2015-07-15 | 华北电力大学（保定） | Integrated frequency and damping control method for double-fed wind power generation unit |
| CN106611964A (en) * | 2016-12-14 | 2017-05-03 | 中国电力科学研究院 | Double-fed wind turbine generator fault-crossing and damping control coordinated control method and system |
| CN108471120A (en) * | 2018-03-06 | 2018-08-31 | 浙江运达风电股份有限公司 | A kind of high-voltage ride through of wind power generating set actively supports optimal control method |
| CN111725838A (en) * | 2020-06-28 | 2020-09-29 | 南通大学 | Stability control system of full-power wind turbine generator and parameter design method thereof |
| CN111864747A (en) * | 2020-08-13 | 2020-10-30 | 国网黑龙江省电力有限公司电力科学研究院 | Power grid oscillation splitting judgment method taking voltage as criterion |
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| JP2010187482A (en) * | 2009-02-13 | 2010-08-26 | Hitachi Ltd | Wind-power generation apparatus and control method thereof |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104779642A (en) * | 2015-04-17 | 2015-07-15 | 华北电力大学（保定） | Integrated frequency and damping control method for double-fed wind power generation unit |
| CN104779642B (en) * | 2015-04-17 | 2017-04-19 | 华北电力大学（保定） | Integrated frequency and damping control method for double-fed wind power generation unit |
| CN106611964A (en) * | 2016-12-14 | 2017-05-03 | 中国电力科学研究院 | Double-fed wind turbine generator fault-crossing and damping control coordinated control method and system |
| CN106611964B (en) * | 2016-12-14 | 2020-01-17 | 中国电力科学研究院 | Coordination control method and system for fault ride-through and damping control of doubly-fed wind turbine generator |
| CN108471120A (en) * | 2018-03-06 | 2018-08-31 | 浙江运达风电股份有限公司 | A kind of high-voltage ride through of wind power generating set actively supports optimal control method |
| CN111725838A (en) * | 2020-06-28 | 2020-09-29 | 南通大学 | Stability control system of full-power wind turbine generator and parameter design method thereof |
| CN111725838B (en) * | 2020-06-28 | 2021-11-30 | 南通大学 | Stability control system of full-power wind turbine generator and parameter design method thereof |
| CN111864747A (en) * | 2020-08-13 | 2020-10-30 | 国网黑龙江省电力有限公司电力科学研究院 | Power grid oscillation splitting judgment method taking voltage as criterion |
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Application publication date: 20120704 |