CN108964086A - A kind of power grid frequency modulation control method and device based on virtual synchronous machine - Google Patents
A kind of power grid frequency modulation control method and device based on virtual synchronous machine Download PDFInfo
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- CN108964086A CN108964086A CN201810806287.5A CN201810806287A CN108964086A CN 108964086 A CN108964086 A CN 108964086A CN 201810806287 A CN201810806287 A CN 201810806287A CN 108964086 A CN108964086 A CN 108964086A
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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
- H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
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Abstract
The present invention provides a kind of power grid frequency modulation control method and device based on virtual synchronous machine, reduce blower torque when mains frequency is normal, promote motor speed, the excess energy of generation is stored, when mains frequency variation, torque reference reverts to the given value of blower optimal power curve, and it releases energy, the present invention improves frequency modulation response speed, solving the problems, such as variable pitch speed slowly causes frequency modulation response speed slow, and it is capable of providing active coordination when wind field frequency fluctuation, realize electric power grid frequency stabilization, enhance the effect of power grid anti-interference ability, its control effect can make wind field show as the external characteristics of synchronous machine to the variation of mains frequency.
Description
Technical field
The invention belongs to technical field of power systems, in particular to a kind of power grid frequency modulation controlling party based on virtual synchronous machine
Method and device.
Background technique
With the increasingly depleted of traditional energy and thus bring environmental crisis is increasingly sharpened, and generation of electricity by new energy becomes future
The development trend in the world.Photovoltaic, wind energy, fuel cell distributed renewable energy becomes national governments and researcher answers
To the powerful guarantee of the problem.As the interface of distributed generation resource and AC network, converters are the core of micro-capacitance sensor
Heart device, but its do not have rotary part, fast response time and lack inertia, lead to micro-capacitance sensor frequency and voltage under large disturbances
Variation is very fast.Wind power integration power grid accounting increases year by year, the fluctuation of output power of wind power generation, the influence to grid stability
Outstanding day by day, this general orientation for building strong type power grid with national grid is away from each other.To make blower provide high-quality electric energy, and in electricity
In the case where net frequency fluctuation, it is capable of providing blower and inhibits the support of mains frequency fluctuation active power, blower virtual synchronous machine
The research and development of technology are come into being.
Blower virtual synchronous machine technology utilizes power electronic equipment, is coordinated by controller of fan algorithm, send out wind-force
Motor can have similar external characteristics with synchronous machine in the case where mains frequency fluctuation, participate in power grid frequency modulation, technique
It is significant that power grid meaning is accessed to blower close friend.In addition, there is the micro-capacitance sensor of Wind turbines to mean a great generating equipment, it can be to micro- electricity
The raising of the inertia characteristics of net has decisive role, guarantees micro-grid system even running.Such as Publication No.
" CN107732978A ", in entitled " a kind of inverter system for improving power distribution strategies based on virtual synchronous generator "
State's patent, the patent are only considered when being controlled using renewable energy system of the virtual synchronous generator to access power grid
Using primary frequency modulation control mode, the power quality of such blower output is not high, when these electric energy of low quality are input into power grid
After can be unfavorable to power grid, cause that mains frequency is unstable and anti-interference ability is weak.
Summary of the invention
The purpose of the present invention is to provide a kind of power grid frequency modulation control method and device based on virtual synchronous machine, for solving
The certainly unstable problem of mains frequency in the prior art.
To achieve the above object, the present invention provides a kind of power grid frequency modulation control methods based on virtual synchronous machine, including
Following steps:
When mains frequency is normal, reduce the corresponding torque of blower optimal power curve, the energy needed when storing frequency modulation；
When mains frequency variation, control torque reverts to the corresponding optimum torque of blower optimal power curve, discharges energy storage.
It further, further include the process of the energy needed when determining frequency modulation by controlling blower target pitch angle, wherein
The calculating process of the blower target pitch angle are as follows: the energy needed when setting frequency modulation calculates blower most according to wind energy most excellent rate
Power when excellent operation, the power calculation blower when energy and blower optimized operation that need when according to the frequency modulation of setting are currently real
Border generated output calculates the blower target pitch angle further according to the currently practical generated output.
As further limiting for propeller pitch angle, after blower target pitch angle is calculated, to the blower target pitch
Angle carries out PI control, controls output quantity according to PI and carries out blower variable-pitch control.
Further, the calculation formula of the wind energy utilization are as follows:
Wherein, PdFor the energy reserve needed when frequency modulation, P1For the active power of current blower, Cp1For wind energy utilization.
Further, the calculation formula of blower target pitch angle are as follows:
Wherein, λ is tip speed ratio, and β is propeller pitch angle, and ω is wind wheel angular speed, and R is wind wheel radius, and V is leeward wind speed, i
For intermediate variable.
The blower energy of high quality in order to obtain carries out primary frequency modulation control and/or inertia also according to the mains frequency
Frequency modulation control discharges energy storage when primary frequency modulation controls or inertia frequency modulation control needs to increase active support.
The present invention also provides a kind of power grid frequency modulation control devices based on virtual synchronous machine, including memory, processor
And computer program when storing on a memory and can run on a processor, the processor execute real when described program
Existing following steps:
When mains frequency is normal, reduce the corresponding torque of blower optimal power curve, the energy needed when storing frequency modulation；
When mains frequency variation, control torque reverts to the corresponding optimum torque of blower optimal power curve, discharges energy storage.
It further, further include the energy needed when determining frequency modulation by controlling blower target pitch angle, the blower mesh
Mark the calculating process of propeller pitch angle are as follows: the energy needed when setting frequency modulation, when according to wind energy most excellent rate calculating blower optimized operation
Power, the currently practical power generation function of power calculation blower when the energy and blower optimized operation that are needed when according to the frequency modulation of setting
Rate calculates the blower target pitch angle further according to the currently practical generated output.
It is further limited as to propeller pitch angle, after blower target pitch angle is calculated, to the blower target pitch
Angle carries out PI control, controls output quantity according to PI and carries out blower variable-pitch control.
Further, the calculation formula of the wind energy utilization are as follows:
Wherein, PdFor the energy reserve needed when frequency modulation, P1For the active power of current blower, Cp1For wind energy utilization.
Further, the calculation formula of blower target pitch angle are as follows:
Wherein, λ is tip speed ratio, and β is propeller pitch angle, and ω is wind wheel angular speed, and R is wind wheel radius, and V is leeward wind speed, i
For intermediate variable.
Higher-quality blower energy in order to obtain carries out primary frequency modulation control also according to the mains frequency and/or is used to
Property frequency modulation control, when primary frequency modulation control or inertia frequency modulation control need to increase active support when, discharge energy storage.
The beneficial effects of the present invention are:
Reduce blower torque when mains frequency is normal, promotes motor speed, the excess energy of generation is stored, when
Torque reference reverts to the given value of blower optimal power curve when mains frequency changes, and releases energy, and the present invention improves
Frequency modulation response speed, solving the problems, such as variable pitch speed slowly causes frequency modulation response speed slow, and is capable of providing wind field frequency fluctuation
When active coordination, realize electric power grid frequency stabilization, enhance the effect of power grid anti-interference ability, control effect can make wind
Field shows as the external characteristics of synchronous machine to the variation of mains frequency.
Detailed description of the invention
Fig. 1 is the power-frequency external characteristics schematic diagram of primary frequency modulation；
Fig. 2 is the power-frequency external characteristics schematic diagram of inertia frequency modulation；
Fig. 3 is that blower absorbs the efficiency of wind energy with the situation of change schematic diagram of tip speed ratio and propeller pitch angle；
Fig. 4 is the control logic schematic diagram of the frequency modulation control method of the invention based on virtual synchronous machine.
Specific embodiment
A specific embodiment of the invention is further described with reference to the accompanying drawing:
The present invention provides a kind of frequency modulation control methods based on virtual synchronous machine, comprising the following steps:
When mains frequency is normal, reduce the corresponding torque of blower optimal power curve, the energy needed when storing frequency modulation；
When mains frequency variation, control torque reverts to the corresponding optimum torque of blower optimal power curve, discharges energy storage.
The present embodiment further includes the process of the energy reserve needed when determining frequency modulation by controlling blower target pitch angle,
In, the calculating process of the blower target pitch angle are as follows: the energy reserve needed when setting frequency modulation acquires the active of current blower
The active power of power, the energy reserve needed when according to the frequency modulation of setting and current blower calculates wind energy utilization, according to institute
It states wind energy utilization and calculates the blower target pitch angle.After blower target pitch angle is calculated, to the blower target paddle
Elongation carries out PI control, controls output quantity according to PI and carries out blower variable-pitch control.Specifically, the following steps are included:
1) energy reserve needed when by frequency modulation is set as 200kw, is calculated by the following formula wind energy utilization, wind energy benefit
With the calculation formula of rate are as follows:
Wherein, PdFor the energy reserve needed when frequency modulation, P1For the active power of current blower, Cp1For wind energy utilization.
Then, blower target pitch angle is calculated using the above-mentioned wind energy utilization being calculated, by attached drawing 3 it is found that blower
The efficiency for absorbing wind energy changes with the variation of tip speed ratio and variable pitch angle, and absorption efficiency maximum value is no more than 0.593, minimum
Absorption efficiency can reach 0, i.e., blade can be made not absorb wind energy temporarily by propeller pitch angle adjustment.It is fitted through mass data, wind
Energy utilization rate and propeller pitch angle, tip speed ratio have following relationship:
Wherein:
Wherein, λ is tip speed ratio, and β is propeller pitch angle, and ω is wind wheel angular speed, and R is wind wheel radius, and V is leeward wind speed, i
For intermediate variable.
By formula (2) it is found that after three acquisition wind speed round, current pitch angle and current active power variables,
The currently active wind speed can be obtained and when preceding because variable pitch angle leaves the energy that optimum position is stored.
Because of CpIt can also be indicated with the wind speed by wind wheel section containing the ratio between energy by currently generating electricity actual power, it may be assumed that
Wherein: ρ is atmospheric density, P1For blower current active power.
The peak use rate of wind energy is 0.593 (Bates theory wind energy absorption limit), and practical blower optimum utilization coefficient is not
It is likely to be breached 0.593, generally 0.48 or so.Using formula (3), taking wind utilization rate is optimal value 0.48, then can calculate most
Power output P when excellent operation2, then reserve capacity is Pb=P1-P2, controller need to guarantee PbIt is reserved near 200kw in target, it is optimal
Control result is Pd=Pb=200kw, if PbReserving power less than target, then controller need to control increase variable pitch angle, on the contrary
Illustrate that reserved power is excessive, then reduces variable pitch angle, to increase generated energy.
2) blower energy reserve participates in the control of power grid frequency modulation:
The fluctuation that energy reserve absorbs energy according to wind wheel always when mains frequency is normal accurately calculates pre- allowance simultaneously
Reserved energy, releases energy in following its amount of control, to be used for frequency modulation.
A, when inertia frequency modulation needs to increase active support, energy storage is discharged, it is extensive in frequency modulation to have more energy during making up frequency modulation
Active after multiple falls hole phenomenon.Release feature, quick release make up wind wheel kinetic energy rejection, and then quickly deposit guarantees that power is steady
It is fixed.
B, when primary frequency modulation needs to increase active support, energy storage is discharged, to improve wind wheel absorption efficiency, is increased active defeated
Out.Release feature, the reserved speed of relative inertness frequency modulation release propeller pitch angle is slower, until primary frequency modulation terminates to carry out energy storage again
It is standby, in case second of frequency modulation demand.
C, primary frequency modulation needs to reduce power output but wind speed declines by a big margin in frequency-modulating process, relative to transfer in into
When reference point power, current power has fallen to when need to subtract the power of hair or less, energy storage is discharged, to supplement active power
Excessively drop.
Energy storage method for releasing is equally that current desired pitch Angle Position reality is accurately calculated according to formula (1) and formula (2)
Existing, power has hysteresis relative to propeller pitch angle during discharging because of propeller pitch angle, therefore it is appropriate super to need propeller pitch angle release process to have
It adjusts, and is adjusted back after power reaches target value, entire control process is completed by PID control.The guarantee of power target value needs to cooperate
Direct torque carries out limit power and realizes.
3) power controller definitely defines performance number when primary frequency modulation, and primary frequency modulation control is completed in cooperation energy storage release:
Power controller is combined into the power and frequency amplitude of variation of frequency modulation point, calculates an accurate power demand
It is worth and given in this power of direct torque end considered critical, so that power release be cooperated to complete primary frequency modulation.
4) motor speed is suitably promoted, the control of inertia corresponding speed is supplemented:
Normally control is given according to optimal power curve when power of fan curve is below rated speed, but
During power grid frequency modulation, relying only on variable pitch energy storage and control can make the response speed of frequency modulation too low, and response is not achieved and requires, is
Frequency modulation response speed is improved, when mains frequency is normal, suitably promotes motor speed.As shown in figure 4, i.e. relative to optimal power
Reduction control torque appropriate is wanted in the given torque of curve, makes motor speed is opposite to be promoted in this way, in mains frequency variation,
Torque reference restores the given value of optimal power curve, and releases energy, and rationalizes circumscription logic by power and controls motor change
Stream.This control method, which solves the problems, such as variable pitch speed slowly, causes frequency modulation response speed slow.Simultaneously because of the promotion of motor speed, make
Motor inertia energy storage relative increase, and have the function of improving wind wheel inertia energy storage ability.
5) blower inertia frequency modulation is frequency modulation when active power changes relative to mains frequency, it is desirable that fast response time, but
Frequency modulated time is shorter, and therefore, the inertia frequency modulation of power grid can only change active power by control electromagnetic torque, and then to power grid
The change rate of frequency is supported.The energy of inertia frequency modulation is entirely from the inertia energy storage of wind wheel, but pitch-controlled system but can be with
The energy drop range after inertia energy storage is supplied using release energy storage.The realization of inertia frequency modulation is control electromagnetic torque as a result,
Make the reallocation on wind wheel inertia energy time shaft, motor speed is properly increased described in step 4), and can to promote inertia frequency modulation used
The allotment ability of property energy redistribution；The release of variable pitch energy described in step 2), which can be deployed effectively after inertia energy is reallocated, to be had
The excessive drop range of function power.
6) inertia frequency modulation and the primary frequency modulation most cases in mains frequency change procedure occur simultaneously, such as Fig. 1 and
Shown in Fig. 2, the reason is that the variation of mains frequency is this means that mains frequency is provided with change rate.Therefore the inertia frequency modulation of active power
Support and primary frequency modulation support can occur simultaneously, inertia frequency modulation leading work generally from the early period and frequency retrieval phase of frequency variation
With showing as that power response amplitude is big, and response speed will seek quickness；And primary frequency modulation plays a leading role in frequency modulation mid-term, shows as
Supporting time is long.When the two acts on simultaneously, the support power demand distinguished is calculated, and inertial response directly utilizes torque control
System adjusts active power, while supplementing the loss because of wind wheel inertia using the calculated variable pitch energy release data of pitch-controlled system,
Blower active power is set to be no more than inertia frequency modulation and the required power of primary frequency modulation using limit power functions simultaneously.Both real in this way
Showed two kinds of frequency modulation control decoupling and, and realize global response coupling response, meet the effect of total demand.
7) full blast speed section inertial response is different, shows as the weak inertial characteristics of permanent speed stage, and by wind turbine power generation
The characteristics of capacity limit, the full power stage can not provide excessive active support.In the weak inertia area of permanent speed stage, inertial frequency control
System, which is switched to, forces power limitation control step；In the full power stage, because unit characteristic limits, controlling tactic switch is only to ring
The rate-determining steps for answering the half range of active drop to respond.
Specific embodiment is presented above, but the present invention is not limited to embodiment described above.The present invention
Basic ideas be above-mentioned basic scheme, for those of ordinary skill in the art, introduction according to the present invention is designed each
The model of kind deformation, formula, parameter do not need to spend creative work.The case where not departing from the principle and spirit of the invention
Under to embodiment carry out variation, modification, replacement and deformation still fall in protection scope of the present invention.
Claims (10)
1. a kind of power grid frequency modulation control method based on virtual synchronous machine, which comprises the steps of:
When mains frequency is normal, reduce the corresponding torque of blower optimal power curve, the energy reserve needed when obtaining frequency modulation；
When mains frequency variation, control torque reverts to the corresponding optimum torque of blower optimal power curve, discharges energy storage.
2. the power grid frequency modulation control method according to claim 1 based on virtual synchronous machine, which is characterized in that further include leading to
Cross the process that control blower target pitch angle determines the energy reserve needed when frequency modulation, wherein the blower target pitch angle
Calculating process are as follows: the energy reserve needed when setting frequency modulation acquires the active power of current blower, according to need when the frequency modulation of setting
The active power of the energy reserve and current blower wanted calculates wind energy utilization, calculates the blower according to the wind energy utilization
Target pitch angle.
3. the power grid frequency modulation control method according to claim 2 based on virtual synchronous machine, which is characterized in that be calculated
After blower target pitch angle, PI control is carried out to the blower target pitch angle, output quantity is controlled according to PI and carries out blower variable-pitch
Control.
4. the power grid frequency modulation control method according to claim 2 based on virtual synchronous machine, which is characterized in that the wind energy
The calculation formula of utilization rate are as follows:
Wherein, PdFor the energy reserve needed when frequency modulation, P1For the active power of current blower, Cp1For wind energy utilization.
5. the power grid frequency modulation control method according to claim 4 based on virtual synchronous machine, which is characterized in that blower target
The calculation formula of propeller pitch angle are as follows:
Wherein, λ is tip speed ratio, and β is target pitch angle, and ω is wind wheel angular speed, and R is wind wheel radius, and V is leeward wind speed, i
For intermediate variable.
6. the power grid frequency modulation control method according to claim 1 based on virtual synchronous machine, which is characterized in that also according to institute
It states mains frequency and carries out primary frequency modulation control and/or inertia frequency modulation control, when primary frequency modulation control or inertia frequency modulation control need
When increasing active support, energy storage is discharged.
7. a kind of power grid frequency modulation control device based on virtual synchronous machine, including memory, processor and it is stored in memory
Computer program upper and when can run on a processor, which is characterized in that when the processor executes described program realization with
Lower step:
When mains frequency is normal, reduce the corresponding torque of blower optimal power curve, the energy needed when storing frequency modulation；Work as electricity
When net frequency changes, control torque reverts to the corresponding optimum torque of blower optimal power curve, discharges energy storage.
8. the power grid frequency modulation control device according to claim 7 based on virtual synchronous machine, which is characterized in that further include leading to
Cross the process that control blower target pitch angle determines the energy needed when frequency modulation, wherein the calculating of the blower target pitch angle
Process are as follows: the energy needed when setting frequency modulation calculates power when blower optimized operation according to wind energy most excellent rate, according to setting
The currently practical generated output of power calculation blower when the energy and blower optimized operation that are needed when frequency modulation, further according to described current
Actual generation power calculates the blower target pitch angle.
9. the power grid frequency modulation control device according to claim 8 based on virtual synchronous machine, which is characterized in that be calculated
After blower target pitch angle, PI control is carried out to the blower target pitch angle, output quantity is controlled according to PI and carries out blower variable-pitch
Control.
10. the power grid frequency modulation control device according to claim 8 based on virtual synchronous machine, which is characterized in that the wind
The calculation formula of energy utilization rate are as follows:
Wherein, PdFor the energy reserve needed when frequency modulation, P1For the active power of current blower, Cp1For wind energy utilization.
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| CN109494805A (en) * | 2018-12-28 | 2019-03-19 | 广东工业大学 | A kind of the virtual synchronous machine control method and relevant apparatus of wind power plant |
| CN111162526A (en) * | 2020-01-10 | 2020-05-15 | 荣信汇科电气技术有限责任公司 | Power supply network frequency control method of power electronic energy storage system suitable for full-control device |
| CN111396247A (en) * | 2020-03-09 | 2020-07-10 | 浙江运达风电股份有限公司 | Voltage source type wind turbine generator set optimization control method and system |
| CN114355776A (en) * | 2022-01-04 | 2022-04-15 | 神华神东电力有限责任公司 | Control method and control system for generator set |
| CN115839305A (en) * | 2021-09-22 | 2023-03-24 | 北京金风科创风电设备有限公司 | Wind-storage combined frequency modulation method and wind-storage combined frequency modulation device |
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| CN115839305A (en) * | 2021-09-22 | 2023-03-24 | 北京金风科创风电设备有限公司 | Wind-storage combined frequency modulation method and wind-storage combined frequency modulation device |
| CN115839305B (en) * | 2021-09-22 | 2023-11-28 | 北京金风科创风电设备有限公司 | Wind-storage combined frequency modulation method and wind-storage combined frequency modulation device |
| CN114355776A (en) * | 2022-01-04 | 2022-04-15 | 神华神东电力有限责任公司 | Control method and control system for generator set |
| CN114355776B (en) * | 2022-01-04 | 2024-05-10 | 神华神东电力有限责任公司 | Control method and control system for generator set |
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