CN108521142B - Primary frequency modulation coordination control method for wind turbine generator - Google Patents

Primary frequency modulation coordination control method for wind turbine generator Download PDF

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CN108521142B
CN108521142B CN201810321926.9A CN201810321926A CN108521142B CN 108521142 B CN108521142 B CN 108521142B CN 201810321926 A CN201810321926 A CN 201810321926A CN 108521142 B CN108521142 B CN 108521142B
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wind turbine
turbine generator
power
wind
frequency modulation
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CN108521142A (en
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万天虎
孙晓强
李华
段乃欣
郭安祥
刘鑫
程松
李成家
唐浩
李立
王辰曦
李勋城
刘鹏涛
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Northwest Branch Of State Grid Power Grid Co
Xi'an Wuchang Electric Power Technology Co ltd
State Grid Corp of China SGCC
Electric Power Research Institute of State Grid Shaanxi Electric Power Co Ltd
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Northwest Branch Of State Grid Power Grid Co
Xi'an Wuchang Electric Power Technology Co ltd
State Grid Corp of China SGCC
Electric Power Research Institute of State Grid Shaanxi Electric Power Co Ltd
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    • H02J3/386—
    • 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
    • H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
    • 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
    • H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
    • H02J3/48—Controlling the sharing of the in-phase component
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/76—Power conversion electric or electronic aspects

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Wind Motors (AREA)
  • Control Of Eletrric Generators (AREA)

Abstract

The invention discloses a primary frequency modulation coordination control method for a wind turbine generator, which comprises the following steps: 1. measuring the frequency and the frequency change rate of a grid-connected point system in real time; 2. the load shedding control is carried out on the wind turbine generator set through the variable pitch, so that the wind turbine generator set has stable active frequency modulation capacity under different wind conditions; 3. an additional torque compensation link is introduced through rotor kinetic energy control, so that the wind turbine generator has a quick active response characteristic; 4. the method is suitable for various wind speeds, and can have the same standby capacity under different wind speeds, so that the primary frequency modulation capability of the fan is not limited by the wind speed.

Description

Primary frequency modulation coordination control method for wind turbine generator
Technical Field
The invention belongs to the technical field of wind turbine generator grid connection, and particularly relates to a primary frequency modulation coordination control method for a wind turbine generator.
Background
Wind energy is a new energy source for sustainable development, and is increasingly paid more attention by countries in the world due to pollution-free and renewable properties. In recent years, the wind power generation industry in China is rapidly developed, the installed capacity of wind power is continuously improved, and the mutual influence between wind power and a power grid is more and more complicated along with the fact that more and more wind power plants with large capacity are directly merged into the power grid.
In the wind power generation technology, a variable-speed constant-frequency wind generating set is used as a main machine type in commercial operation at present, and the variable-speed constant-frequency wind generating set is connected with a power grid through a converter, so that a wind wheel rotor is decoupled from system frequency, and inertia support cannot be automatically provided when the system frequency changes. In addition, the wind turbine generator generally adopts the maximum wind energy to capture and control the wind turbine generator to operate near the maximum power point, and the wind turbine generator cannot provide frequency modulation standby capacity when the active power is adjusted upwards, so that the frequency modulation pressure of the system is increased.
Nowadays, frequency control of wind power plants is paid attention to by more and more electric power companies and provides related technical requirements, and the wind power plants have frequency modulation capability and participate in frequency adjustment of power grids, so that the wind power plants are one of important characteristics of power grid-friendly wind power plants.
At present, methods for the variable-speed constant-frequency wind turbine generator to participate in primary frequency modulation mainly comprise rotor kinetic energy control and power standby control. 1) The rotor kinetic energy control converts part of kinetic energy of the rotor into electromagnetic power to participate in system frequency control by adding a certain frequency control link, but the adopted control method does not consider the frequency modulation capability of the wind turbine generator set under different operating conditions, and the natural recovery of the rotor needs a long process and is not beneficial to supporting the system frequency at the next stage. 2) And power standby control, namely reducing a part of active output by controlling a pitch angle or adjusting a power-rotating speed optimal curve under a normal condition and reserving the active output as standby power. When the system frequency is reduced, the active output is increased to participate in frequency adjustment by adjusting the pitch angle or the active power reference value of the unit. However, the long-time power backup reduces the income of the wind power plant and has no economy and practicability.
Disclosure of Invention
In order to solve the problems, the invention provides a primary frequency modulation coordination control method for a wind turbine generator, which improves the active response speed of the wind turbine generator and simultaneously reduces the problems of more reserved power and poor economical efficiency of the traditional power standby control mode.
In order to achieve the purpose, the primary frequency modulation coordination control method of the wind turbine generator comprises the following steps:
step 1, acquiring the frequency f and the frequency change rate df/dt of a wind turbine grid-connected point in real time;
step 2, performing power standby control on the wind turbine generator through variable pitch, and storing standby power to enable the wind turbine generator to have stable and reliable frequency modulation capacity;
and 3, introducing an additional torque compensation link through rotor kinetic energy control, wherein the additional torque compensation link comprises two links of virtual inertia control and droop control, the wind turbine generator set has the capability of quick active response through rotor kinetic energy release, and the virtual inertia control is as follows: active power increase Δ P to be proportional to the rate of change of system frequency df/dt1Adding an active power referenceThe value is in;
and 4, after the rotor kinetic energy control is finished, releasing the standby power stored in the step 2 through variable pitch control, and providing continuous active support for the power grid, wherein the additional active increment is related to the frequency f of the wind turbine generator grid-connected point.
Further, in step 2, the wind turbine generator is controlled to carry out load shedding operation to store standby power, and the maximum power generation capacity of the wind turbine generator is P at a certain wind speedavaThe power of the wind turbine generator at d% of the load shedding level is Pres，PresThe calculation formula is as follows: pres＝Pava-d％×PNWherein P isNThe rated power of the wind turbine generator is set, and the value range of d% is 0-20%.
Further, in step 2, the target rotating speed value of the wind turbine generator is determined by the active frequency modulation target value, and the target rotating speed ω of the wind turbine generator is determined by the active frequency modulation target valuedemThe calculation formula of (a) is as follows:
Figure GDA0002341684080000021
wherein, PdemFor active frequency modulation target value, η for electrical efficiency, KoptFor the optimal torque coefficient, the calculation formula is as follows:
Figure GDA0002341684080000022
wherein, Cp-maxTo the maximum wind energy utilization factor, λoptFor optimum tip speed ratio, G is the transmission ratio, R is the wind wheel radius, P1And P2Respectively is the power upper limit value and the lower limit value of the MPPT area when the wind turbine generator runs.
Further, in step 3, the active power increment Δ P of the virtual inertia control1The calculation formula of (2) is as follows:
Figure GDA0002341684080000031
in the formula: kIIs an inertia control coefficient, KIH is the time constant of inertia of the wind turbine generator, fNAnd the grid frequency reference value is obtained.
Further, in the step 3, the droop control process and the virtual inertia control act simultaneously, the virtual inertia controller stops acting after the frequency drops to the lowest point, and the droop control adjusts the electromagnetic power and the mechanical power of the wind turbine generator until the speed reduction operation balance point is reached.
Further, in step 3, the specific operation mode of the droop control link is as follows: when the active power output of the wind turbine generator is more than 20% PNAnd then, the wind turbine generator participates in the primary frequency modulation of the system according to the frequency f of the wind turbine generator in the following three ways:
the method comprises the following steps that in the mode 1, when the frequency f is within the range of fd-fd + of a control dead zone, a wind turbine generator does not participate in primary frequency modulation, normally operates, and reserves the reserve capacity of d% of rated power at the current wind speed;
mode 2, when the frequency f is reduced to be lower than fd-, the wind turbine generator increases the active power output △ P2Frequency modulation droop coefficient of K1The upper limit of the active power increase frequency increase value is a reserved capacity or a primary frequency modulation power instruction calculation value;
Figure GDA0002341684080000032
mode 3, when the frequency f rises to be higher than fd +, the active power output of the wind turbine generator is reduced △ P2Frequency modulation droop coefficient K2When the system frequency continues to rise to above 51.5Hz, stopping supplying power to the power grid;
Figure GDA0002341684080000033
△P2is divided into two parts, one part outputs delta P through a high-pass filter2' superposing the active increment of the virtual inertia control to perform additional torque control; the other part outputs delta P through a low-pass filter2", and is superimposed to the target power value P of the wind turbinesetIn step 4, the formula for calculating the output additional torque △ T of the additional torque compensation element in step 3 is:
Figure GDA0002341684080000034
wherein, ω isrAdding additional torque △ T to the reference value of conventional torque control to obtain a new torque reference instruction T for the actual rotating speed of the wind turbine generatordem。
Furthermore, in step 3, the value range of fd is 0.05 Hz-0.2 Hz.
Further, in step 3, the droop coefficient is K1And K2The value range of (A) is 5-20.
Further, in step 4, the continuous and stable response of the wind turbine generator to the system frequency is realized through variable pitch control, and in the primary frequency modulation mode, the target power value P of the wind turbine generator issetIs calculated by the formula Pest＝Pava-d％*PN+ΔP2", wind turbine target power value PsetAnd after the determination, acquiring a new target rotating speed from the rotating speed target curve, and then maintaining the rotating speed to be close to the target rotating speed through variable pitch control, wherein the torque control is given according to the maximum wind energy capture torque.
Further, in step 4, PavaFrom the current wind speed V of the fanwindDetermining the wind speed power curve of the wind power generation set, and determining the current wind speed VwindThe maximum power P which can be generated by the wind turbine generator is calculated after low-pass filtering processingava。
Compared with the prior art, the invention has at least the following beneficial technical effects that the rotor kinetic energy control and the power standby control are combined, and the defect that the stability and the economy of single control are difficult to be considered is overcome. Firstly, virtual inertia response and droop characteristics are provided by utilizing torque control, and the wind turbine generator has the capability of quick active response through rotor kinetic energy release; the reserve power reserved in advance is then released by pitch control, providing continuous active support to the grid. According to the scheme, hardware cost is not required to be increased, algorithm upgrading is only required to be performed on conventional wind turbine generator control software, upgrading cost can be reduced to the maximum extent, primary frequency modulation capacity of the wind turbine generator is exerted, and power grid frequency recovery speed is increased.
Further, PavaCurrent wind from fanSpeed VwindDetermining the wind speed power curve of the wind power generation set, and determining the current wind speed VwindThe maximum power P which can be generated by the wind turbine generator is calculated after low-pass filtering processingavaAnd the influence of wind speed fluctuation on the maximum power generation is reduced.
Drawings
FIG. 1 is a variable speed constant frequency wind turbine operating curve;
FIG. 2 is a frequency modulation mode speed target curve;
FIG. 3 is a primary frequency modulation droop characteristic curve of the wind turbine;
FIG. 4 is a primary frequency modulation coordination control block diagram of the wind turbine generator.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
Referring to fig. 4, a primary frequency modulation coordination control method for a wind turbine generator includes the following steps:
step 1, acquiring the frequency f and the frequency change rate df/dt of a wind turbine grid-connected point in real time, wherein the frequency measurement precision is required to be not lower than 0.01Hz and the frequency measurement period is less than or equal to 20ms in order to ensure the control effect;
step 2, performing power standby control on the wind turbine generator through variable pitch to enable the wind turbine generator to have stable and reliable frequency modulation capacity;
step 3, introducing an additional torque compensation link through rotor kinetic energy control, wherein the additional torque compensation link comprises a virtual inertia control link and a droop control link, and the wind turbine generator has the capability of quick active response through rotor kinetic energy release;
step 4, after the rotor kinetic energy control is finished, the standby power stored in the step 2 is released through variable pitch control to provide continuous active support for the power grid, the additional active increment is determined by a primary frequency modulation droop characteristic curve of the wind turbine generator, the release of the stored standby power is realized by reducing the pitch angle β, for example, the rated wind speed of a certain 1.5MW wind turbine generator is 12m/s, if the standby wind turbine generator is not reserved, the corresponding pitch angle is 0 degree, and 10% P is reservedNIn the case of standby power, the pitch angle is operated at 5 degrees and the actual power delivered by the fan is only 1.35 MW.
And 2, defining a frequency modulation mode based on a conventional control strategy, and performing standby control on the power of the wind turbine generator through variable pitch so that the wind turbine generator has reliable frequency modulation capacity under different wind conditions.
In order to ensure that the wind turbine generator has a certain spare frequency modulation capacity, the wind turbine generator needs to be subjected to load shedding operation control. The load shedding level is expressed by d percent, and the defined load shedding level of the invention means that the active frequency modulation reserve capacity accounts for the rated power P of the wind turbine generatorNThe ratio of (a) to (b).
Under a certain wind speed V, the maximum power generation capacity of the wind turbine generator is PavaThe power of the wind turbine generator at d% of the load shedding level is PresThe deloading level calculation formula is as follows:
Pres＝Pava-d％×PN(1)
in the formula: pavaThe current maximum available power, P, of the wind turbine generatorND% is set according to a power grid planning curve and is generally between 0% and 20% of rated power of the wind turbine generator.
Variable speed constant frequency wind powerThe operation interval of the unit is divided into a constant rotating speed I area, an MPPT area, a constant rotating speed II area and a constant power area. As shown in FIG. 1, in the constant rotation speed I region, the rotation speed of the generator is maintained at the minimum operation rotation speed omega by adjusting the electromagnetic torque1Nearby; in the MPPT area, the wind turbine generator runs on the maximum wind energy capture curve, and the upper and lower limit values of the power of the MPPT area are respectively P1And P2(ii) a In the constant rotating speed II area, the rotating speed reaches the rated rotating speed omega2Continuing to increase power by increasing electromagnetic torque; in a constant power region, the wind turbine generator is maintained to operate at omega through variable pitch control2Nearby.
Aiming at the control characteristics of different regions, the invention provides a wind turbine generator load shedding control strategy in a frequency modulation mode. In a normal mode, the target rotating speed value of the variable pitch control is a rated rotating speed; in the frequency modulation mode, the target rotating speed value of the wind turbine generator is determined by the target active frequency modulation value, the corresponding relation is shown in fig. 2, and the fig. 2 is obtained by exchanging the X-Y coordinates of fig. 1.
In the frequency modulation mode, a target rotating speed calculation formula of the wind turbine generator is shown as a formula (2):
Figure GDA0002341684080000061
wherein, ω isdemIs the target value of the rotational speed, P, of the wind turbinedemFor the active frequency modulation target value, η is the electrical efficiency (including generator and converter), KoptFor the optimum torque coefficient, the calculation formula is shown as follows:
Figure GDA0002341684080000071
in the formula (3), Cp-maxTo the maximum wind energy utilization factor, λoptFor optimal tip speed ratio, G is the transmission ratio, R is the wind wheel radius (m), P1And P2Respectively is the power upper limit value and the lower limit value of the MPPT area when the wind turbine generator runs.
Under a certain wind speed V, when the wind turbine generator normally operates, the wind turbine generator is balanced at the point A, and the generating power of the wind turbine generator is PoptHair waving deviceThe motor has a rotation speed of omegaopt. The power P corresponds to the d% load shedding level of the wind turbineresObtained by the formula (2), PresCorresponding target speed of rotation omegaresAnd adjusting the operating point of the wind turbine generator to a point B by increasing the pitch angle, wherein the larger the pitch angle is, the smaller the rotating speed of the wind wheel is under the same wind speed condition. As the target rotational speed decreases, the pitch angle is increased to bring the actual rotational speed to the target value.
The response speed of a variable pitch actuating mechanism of the wind turbine generator and the mechanical load of the wind turbine generator limit, and the time for the wind turbine generator to reach the new target power generally needs 3-10 s.
And 3, controlling the kinetic energy of the rotor by virtual inertia control and droop control, and respectively introducing the frequency change rate and the frequency measurement signal of the system into the torque control of the conventional wind turbine generator. The design of virtual inertia control of the wind turbine generator system is to simulate an inertia response process in a synchronous generator and increase the active power delta P in proportion to the frequency change rate df/dt of the system1Added to the electromagnetic power reference value.
Because the mechanical power is kept constant due to the time delay of the rotating speed of the wind turbine generator, the active power is suddenly increased to promote the rotating speed of the rotor to be reduced, the rotating kinetic energy is released, and the frequency reduction speed of the system is reduced. In which the active power is increased by delta P1The calculation formula is as follows:
Figure GDA0002341684080000072
in the formula: kIFor inertia control coefficient, it is generally considered that KIH is an inertia time constant of the wind turbine generator, and the value range of H is 2 s-6 s.
The virtual inertia control response time is very short, only short frequency support can be provided for the system, but certain response time can be provided for the pitch variation action of the wind turbine generator set, and the virtual inertia control response time is particularly important for reducing the frequency reduction rate of the system and reducing the frequency out-of-limit amplitude caused by unbalanced system power and improving the stable operation of a power system.
In step 3, droop control is a steady-state process, and is mainly used for reducing system frequency deviation. The control process and the virtual inertia control function simultaneously, but the virtual inertia controller stops functioning after the frequency drops to the lowest point, the droop control adjusts the electromagnetic power and the mechanical power of the wind turbine generator until the speed reduction operation balance point is reached, and the system enters a new stable operation state.
When the frequency change of the power grid exceeds a certain range, and the active power output of the wind turbine generator is more than 20 percent PN(PNRated power of the wind turbine), the wind turbine automatically increases or decreases the output of the wind turbine according to a preset droop characteristic curve, participates in primary frequency modulation of the system, and when the active output of the wind turbine is less than 20% PNWhen the droop control is activated, the droop control is not activated.
The droop characteristic curve of the wind turbine generator, which is made according to the control purpose, is shown in fig. 3.
1) When the frequency f is within the range of fd-fd + of the control dead zone, the wind turbine generator does not participate in primary frequency modulation, normally operates, and reserves the reserve capacity of d% of rated power at the current wind speed, and the value range of general fd is 0.05 Hz-0.2 Hz.
2) When the frequency f is reduced to be below fd-, the wind turbine generator increases the active power output △ P2Frequency modulation droop coefficient of K1The upper limit of the active power increase frequency increase value is the calculation value of the reserved capacity or the primary frequency modulation power instruction, and the active power output is △ P2The calculation formula of (a) is as follows:
Figure GDA0002341684080000081
△P2≤0.1PNin which K is1The value range is 5-20;
3) when the frequency f rises above fd +, the wind turbine reduces the active power output △ P2Frequency modulation droop coefficient K2When the system frequency continues to rise to above 51.5Hz, the power supply to the power grid is stopped, and the active power output △ P is obtained2The calculation formula of (a) is as follows:
Figure GDA0002341684080000082
wherein K2The value range of (A) is 5-20.
The frequencies f in the three conditions are the frequencies f of the wind turbine generator grid-connected points collected in the step 1
In the present invention, △ P2Is divided into two parts, one part outputs delta P through a high-pass filter2' superposing the active increment of the virtual inertia control to perform additional torque control; the other part outputs delta P through a low-pass filter2", and is superimposed to the target power value P of the wind turbinesetStep 4, pitch control, is performed, wherein the cut-off frequency of the high pass filter and the low pass filter should be the same, step 3 the output additional torque △ T of the additional torque link is as follows:
Figure GDA0002341684080000091
wherein, ω isrThe actual rotating speed of the wind turbine generator is obtained.
The additional torque △ T is added to the reference value of the conventional torque control to obtain a new torque reference command Tdem. The rotor kinetic energy control response time is very short (20 ms-10 s), only short frequency support can be provided for the system, but certain response time can be provided for the pitch variation action of the wind turbine generator system, and the method is particularly important for reducing the system frequency reduction rate and reducing the frequency out-of-limit amplitude caused by system power imbalance and improving the stable operation of a power system.
And 4, realizing continuous and stable response of the wind turbine generator to the system frequency through variable pitch control.
Under the primary frequency modulation mode, the target power value P of the wind turbine generatorsetMaximum power P generated by wind turbine generatoravaD% load shedding percentage and low-pass filtered additional power delta P output in step 32The three parts are determined, and the calculation formula is as follows: pset＝Pava-d％*PN+ΔP2", wherein PavaFrom the current wind speed V of the fanwindAnd determining a wind speed power curve of the wind power generation set. Wherein VwindBy real-time measurement of an anemometer mounted on the nacelle, in order to reduce the wind speed fluctuationThe influence of the maximum power that can be generated requires low-pass filtering of the input wind speed signal. The wind speed power curve can be obtained by inquiring a wind turbine generator design curve or historical operating data.
In step 4, after the target power of the wind turbine generator is determined, a new target rotating speed is obtained from a rotating speed target curve shown in fig. 2, the rotating speed is maintained near the target rotating speed through variable pitch control, and the torque control is given according to the maximum wind energy capturing torque.
After 3-10 s, the wind turbine generator can stably operate at a new working point, and the output power reaches Pset. At this time, the additional torque value output in the step 3 is also restored to 0, and the wind turbine generator set can provide continuous and reliable active frequency modulation power for the power grid when the primary frequency modulation process is finished.
In the invention, in all formulas: pNIs the rated power of the wind turbine generator, fNFor grid frequency reference value, fN＝50Hz。
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application and not for limiting the scope of protection thereof, and although the present application is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: numerous variations, modifications, and equivalents will occur to those skilled in the art upon reading the present application and are within the scope of the claims appended hereto.

Claims (9)

1. A primary frequency modulation coordination control method of a wind turbine generator is characterized by comprising the following steps:
step 1, acquiring the frequency f and the frequency change rate df/dt of a wind turbine grid-connected point in real time;
step 2, performing power standby control on the wind turbine generator through variable pitch, and storing standby power to enable the wind turbine generator to have stable and reliable frequency modulation capacity;
step 3, introducing an additional torque compensation link through rotor kinetic energy control, wherein the additional torque compensation link comprises two rings of virtual inertia control and droop controlThe section enables the wind turbine generator to have the capability of quick active response through the release of the kinetic energy of the rotor, wherein the virtual inertia control is as follows: active power increase Δ P to be proportional to the rate of change of system frequency df/dt1Adding the active power reference value;
step 4, after the rotor kinetic energy control is finished, releasing the standby power stored in the step 2 through variable pitch control, and providing continuous active support for a power grid, wherein the additional active increment is related to the frequency f of a wind turbine generator grid-connected point;
in step 3, the specific operation mode of the droop control link is as follows: when the active power output of the wind turbine generator is more than 20% PNIn time, the wind turbine generator participates in the primary frequency modulation of the system according to the frequency f of the wind turbine generator in the following three ways, namely PNRated power of the wind turbine generator:
the method comprises the following steps that in the mode 1, when the frequency f is within the range of fd-fd + of a control dead zone, a wind turbine generator does not participate in primary frequency modulation, normally operates, and reserves the reserve capacity of d% of rated power at the current wind speed;
mode 2, when the frequency f is reduced to be lower than fd-, the wind turbine generator increases the active power output △ P2Frequency modulation droop coefficient of K1The upper limit of the active power increase frequency increase value is a reserved capacity or a primary frequency modulation power instruction calculation value;
Figure FDA0002341684070000011
mode 3, when the frequency f rises to be higher than fd +, the active power output of the wind turbine generator is reduced △ P2Frequency modulation droop coefficient K2When the system frequency continues to rise to above 51.5Hz, stopping supplying power to the power grid;
Figure FDA0002341684070000012
△P2is divided into two parts, one part outputs delta P through a high-pass filter2' superposing the active increment of the virtual inertia control to perform additional torque control; the other part outputs delta P through a low-pass filter2”，Target power value P superposed to wind turbine generatorsetIn step 4, the formula for calculating the output additional torque △ T of the additional torque compensation element in step 3 is:
Figure FDA0002341684070000021
wherein, ω isrAdding additional torque △ T to the reference value of conventional torque control to obtain a new torque reference instruction T for the actual rotating speed of the wind turbine generatordem，fNAnd the grid frequency reference value is obtained.
2. The primary frequency modulation coordinated control method of the wind turbine generator as claimed in claim 1, wherein in step 2, the wind turbine generator is controlled to perform the standby power storage by performing the load shedding operation, and the maximum power generation capacity of the wind turbine generator is P at a certain wind speedavaThe power of the wind turbine generator at d% of the load shedding level is Pres，PresThe calculation formula is as follows: pres＝Pava-d％×PNWherein P isNThe rated power of the wind turbine generator is set, and the value range of d% is 0-20%.
3. The wind turbine generator primary frequency modulation coordinated control method according to claim 2, wherein in step 2, the target rotating speed value of the wind turbine generator is determined by the active frequency modulation target value, and the target rotating speed ω of the wind turbine generator is determined by the active frequency modulation target valuedemThe calculation formula of (a) is as follows:
Figure FDA0002341684070000022
wherein, PdemFor active frequency modulation target value, η for electrical efficiency, KoptFor the optimal torque coefficient, the calculation formula is as follows:
Figure FDA0002341684070000023
wherein, Cp-maxTo the maximum wind energy utilization factor, λoptFor optimum tip speed ratio, G is the transmission ratio, R is the wind wheel radius, P1And P2Respectively the upper limit value and the lower limit value omega of the power of the MPPT area when the wind turbine generator runs1For minimum operating speed, omega, of the generator2The rated rotating speed of the generator.
4. The wind turbine generator primary frequency modulation coordination control method according to claim 1, characterized in that in step 3, the active power increment delta P of virtual inertia control1The calculation formula of (2) is as follows:
Figure FDA0002341684070000024
in the formula: kIIs an inertia control coefficient, KIH is the time constant of inertia of the wind turbine generator, fNAnd the grid frequency reference value is obtained.
5. The primary frequency modulation coordination control method of the wind turbine generator according to claim 1, characterized in that in step 3, a droop control process and a virtual inertia control function simultaneously, the virtual inertia controller stops functioning after the frequency drops to the lowest point, and the droop control adjusts the electromagnetic power and the mechanical power of the wind turbine generator until a deceleration operation balance point is reached.
6. The primary frequency modulation coordination control method of the wind turbine generator set according to claim 1, characterized in that in step 3, the value range of fd is 0.05 Hz-0.2 Hz.
7. The primary frequency modulation coordination control method of wind turbine generator system according to claim 1, characterized in that in step 3, the droop coefficient is K1And K2The value range of (A) is 5-20.
8. The primary frequency modulation coordinated control method of the wind turbine generator as claimed in claim 1, wherein in step 4, the wind turbine generator continuously and stably responds to the system frequency through pitch control, and in the primary frequency modulation mode, the target power value P of the wind turbine generator is obtainedsetIs calculated by the formula Pset＝Pava-d％*PN+ΔP2", wind turbine target power value PsetAnd after the determination, acquiring a new target rotating speed from the rotating speed target curve, and then maintaining the rotating speed to be close to the target rotating speed through variable pitch control, wherein the torque control is given according to the maximum wind energy capture torque.
9. The wind turbine generator primary frequency modulation coordination control method according to claim 8, characterized in that in step 4, PavaFrom the current wind speed V of the fanwindDetermining the wind speed power curve of the wind power generation set, and determining the current wind speed VwindThe maximum power P which can be generated by the wind turbine generator is calculated after low-pass filtering processingava。
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