CN108964086B - Power grid frequency modulation control method and device based on virtual synchronous machine - Google Patents
Power grid frequency modulation control method and device based on virtual synchronous machine Download PDFInfo
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Abstract
The invention provides a virtual synchronous machine-based power grid frequency modulation control method and a virtual synchronous machine-based power grid frequency modulation control device, which are used for reducing the torque of a fan when the frequency of a power grid is normal, increasing the rotating speed of a motor, storing generated redundant energy, restoring the given torque to the given value of the optimal power curve of the fan when the frequency of the power grid changes, and releasing energy.
Description
Technical Field
The invention belongs to the technical field of power systems, and particularly relates to a virtual synchronous machine-based power grid frequency modulation control method and device.
Background
With the increasing exhaustion of traditional energy sources and the increasing environmental crisis brought by the traditional energy sources, new energy power generation becomes a development trend of the future world. Distributed renewable energy sources such as photovoltaic, wind energy and fuel cells become a powerful guarantee for governments and researchers of various countries to deal with the problem. The power electronic converter is a core device of a microgrid as an interface of a distributed power supply and an alternating current power grid, but the power electronic converter does not have a rotating component, has high response speed and lacks inertia, so that the frequency and the voltage of the microgrid change rapidly under large disturbance. The occupation ratio of wind power connected to a power grid is increased year by year, and the influence of the fluctuation of the output power of wind power generation on the stability of the power grid is gradually prominent, which is deviated from the large direction of the national power grid for building a strong power grid. The research and development of the virtual synchronous machine technology of the fan are carried forward in order that the fan provides high-quality electric energy and can provide active power support for inhibiting power grid frequency fluctuation under the condition that the power grid frequency fluctuates.
The virtual synchronous machine technology of the fan is that a power electronic device is utilized, and the fan controller algorithm is coordinated, so that the wind driven generator and the synchronous machine have similar external characteristics under the condition of power grid frequency fluctuation and participate in power grid frequency modulation. In addition, the micro-grid system has a remarkable meaning on the micro-grid of the wind turbine generator set of the power generation equipment, can have a decisive effect on the improvement of the inertia characteristic of the micro-grid, and ensures the stable operation of the micro-grid system. For example, the publication number "CN 107732978A", entitled "inverter system based on virtual synchronous generator with improved power distribution strategy", is a chinese patent, which only considers the use of primary frequency modulation control mode when using the virtual synchronous generator to control a renewable energy system connected to a power grid, so that the quality of electric energy output by a fan is not high, and after the electric energy with low quality is input into the power grid, the electric energy is unfavorable to the power grid, resulting in unstable power grid frequency and weak anti-interference capability.
Disclosure of Invention
The invention aims to provide a virtual synchronous machine-based power grid frequency modulation control method and device, which are used for solving the problem of unstable power grid frequency in the prior art.
In order to achieve the above object, the present invention provides a virtual synchronous machine-based power grid frequency modulation control method, which comprises the following steps:
when the frequency of the power grid is normal, reducing the torque corresponding to the optimal power curve of the fan, and storing the energy required during frequency modulation; and when the frequency of the power grid changes, the control torque is restored to the optimal torque corresponding to the optimal power curve of the fan, and the stored energy is released.
Further, the method also comprises a process of determining energy required for frequency modulation by controlling the pitch angle of the wind turbine target, wherein the calculation process of the pitch angle of the wind turbine target is as follows: setting energy required during frequency modulation, calculating power of the fan in optimal operation according to the optimal rate of wind energy, calculating current actual generated power of the fan according to the set energy required during frequency modulation and the power of the fan in optimal operation, and calculating the target pitch angle of the fan according to the current actual generated power.
And as a further limitation on the pitch angle, after the target pitch angle of the fan is obtained through calculation, PI control is carried out on the target pitch angle of the fan, and fan pitch control is carried out according to the PI control output quantity.
Further, the calculation formula of the wind energy utilization rate is as follows:
wherein, PdFor reserve energy required for frequency modulation, P1Active power of the current wind turbine, Cp1The wind energy utilization rate is obtained.
Further, the calculation formula of the target pitch angle of the fan is as follows:
wherein, λ is the tip speed ratio, β is the pitch angle, ω is the wind wheel angular velocity, R is the wind wheel radius, V is the upwind speed, and i is the intermediate variable.
In order to obtain high-quality fan energy, primary frequency modulation control and/or inertia frequency modulation control are/is further carried out according to the power grid frequency, and when active support needs to be added to the primary frequency modulation control or the inertia frequency modulation control, energy storage is released.
The invention also provides a virtual synchronous machine-based power grid frequency modulation control device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the following steps:
when the frequency of the power grid is normal, reducing the torque corresponding to the optimal power curve of the fan, and storing the energy required during frequency modulation; and when the frequency of the power grid changes, the control torque is restored to the optimal torque corresponding to the optimal power curve of the fan, and the stored energy is released.
Further, the method also comprises the step of determining the energy required during frequency modulation by controlling the pitch angle of the fan target, wherein the calculation process of the pitch angle of the fan target is as follows: setting energy required during frequency modulation, calculating power of the fan in optimal operation according to the optimal rate of wind energy, calculating current actual generated power of the fan according to the set energy required during frequency modulation and the power of the fan in optimal operation, and calculating the target pitch angle of the fan according to the current actual generated power.
And as a further limitation on the pitch angle, after the target pitch angle of the fan is obtained through calculation, PI control is carried out on the target pitch angle of the fan, and fan pitch control is carried out according to the PI control output quantity.
Further, the calculation formula of the wind energy utilization rate is as follows:
wherein, PdFor reserve energy required for frequency modulation, P1Active power of the current wind turbine, Cp1The wind energy utilization rate is obtained.
Further, the calculation formula of the target pitch angle of the fan is as follows:
wherein, λ is the tip speed ratio, β is the pitch angle, ω is the wind wheel angular velocity, R is the wind wheel radius, V is the upwind speed, and i is the intermediate variable.
In order to obtain higher-quality fan energy, primary frequency modulation control and/or inertia frequency modulation control are/is further carried out according to the power grid frequency, and when active support needs to be added to the primary frequency modulation control or the inertia frequency modulation control, stored energy is released.
The invention has the beneficial effects that:
when the frequency of the power grid is normal, the torque of the fan is reduced, the rotating speed of the motor is increased, the generated redundant energy is stored, when the frequency of the power grid changes, the given torque is restored to the given value of the optimal power curve of the fan, and the energy is released.
Drawings
FIG. 1 is a schematic diagram of the power out-of-frequency characteristic of primary frequency modulation;
FIG. 2 is a schematic diagram of the power out-of-frequency characteristic of inertial frequency modulation;
FIG. 3 is a schematic diagram illustrating the efficiency of a wind turbine to absorb wind energy as a function of the tip speed ratio and the pitch angle;
fig. 4 is a schematic control logic diagram of the frequency modulation control method based on the virtual synchronous machine according to the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings:
the invention provides a frequency modulation control method based on a virtual synchronous machine, which comprises the following steps:
when the frequency of the power grid is normal, reducing the torque corresponding to the optimal power curve of the fan, and storing the energy required during frequency modulation; and when the frequency of the power grid changes, the control torque is restored to the optimal torque corresponding to the optimal power curve of the fan, and the stored energy is released.
The present embodiment further includes a process of determining the reserve energy required for frequency modulation by controlling a pitch angle of the wind turbine target, wherein the pitch angle of the wind turbine target is calculated by: the method comprises the steps of setting reserve energy required during frequency modulation, collecting active power of a current fan, calculating the wind energy utilization rate according to the reserve energy required during the set frequency modulation and the active power of the current fan, and calculating the target pitch angle of the fan according to the wind energy utilization rate. And after calculating to obtain the target pitch angle of the fan, carrying out PI control on the target pitch angle of the fan, and carrying out fan pitch control according to the PI control output quantity. Specifically, the method comprises the following steps:
1) setting the reserve energy required during frequency modulation as 200kw, and calculating the wind energy utilization rate by the following formula:
wherein, PdFor reserve energy required for frequency modulation, P1Active power of the current wind turbine, Cp1The wind energy utilization rate is obtained.
Then, the target pitch angle of the fan is calculated by using the wind energy utilization rate obtained by the calculation, as can be seen from fig. 3, the efficiency of the fan for absorbing wind energy changes with the change of the tip speed ratio and the pitch angle, the maximum value of the absorption efficiency does not exceed 0.593, and the minimum absorption efficiency can reach 0, that is, the blade can temporarily not absorb the wind energy through the pitch angle adjustment. Through a large amount of data fitting, the wind energy utilization rate has the following relationship with the pitch angle and the blade tip speed ratio:
wherein:
wherein, λ is the tip speed ratio, β is the pitch angle, ω is the wind wheel angular velocity, R is the wind wheel radius, V is the upwind speed, and i is the intermediate variable.
According to the formula (2), after three variables of the rotating speed of the wind wheel, the current pitch angle and the current active power are collected, the current effective wind speed and the energy stored at the current optimal position away from the optimal position due to the pitch angle can be obtained.
Due to CpIt can also be expressed by the ratio of the current actual power generated to the wind speed energy through the wind wheel section, namely:
wherein: ρ is the air density, P1The current active power of the fan.
The maximum utilization rate of wind energy is 0.593 (Betz theoretical wind energy absorption limit), and the actual optimal utilization coefficient of the fan cannot reach 0.593, generally about 0.48. By using the formula (3) and the wind utilization rate is the optimal value of 0.48, the output P in the optimal operation can be calculated2Then the reserve power is Pb＝P1-P2The controller needs to guarantee PbIn the vicinity of 200kw of target reservation, the best control result is Pd＝Pb200kw, if PbIf the power is smaller than the target reserved power, the controller needs to control to increase the pitch angle, otherwise, if the reserved power is too large, the pitch angle is reduced, and therefore the power generation amount is increased.
2) The wind turbine reserve energy participates in the control of the grid frequency modulation:
when the frequency of the power grid is normal, the reserved energy is accurately calculated according to the fluctuation of the energy absorbed by the wind wheel and is reserved, and the amount of the reserved energy is controlled to release the energy to be used for frequency modulation.
A. When the inertia frequency modulation needs to be added with active support, the stored energy is released to make up for the phenomenon of active power falling after the frequency modulation is recovered when more energy is added in the frequency modulation period. The release characteristic makes up the kinetic energy loss of the wind wheel by quick release, and then the kinetic energy is quickly stored to ensure the stable power.
B. When the primary frequency modulation needs to increase active support, the stored energy is released, so that the wind wheel absorption efficiency is improved, and the active output is increased. And the release characteristic is that the reserved speed of the pitch angle is relatively slow compared with that of the inertial frequency modulation release, and energy is reserved until the primary frequency modulation is finished so as to meet the requirement of secondary frequency modulation.
C. The primary frequency modulation needs to reduce power output, but the wind speed reduction amplitude is large in the frequency modulation process, and compared with reference point power during modulation, when the current power drops below the power needing to be reduced, stored energy is released to supplement excessive drop of active power.
The energy storage release method is realized by accurately calculating the position of the currently required pitch angle according to the formula (1) and the formula (2), because the power has a hysteresis effect relative to the pitch angle in the pitch angle release process, the pitch angle release process is required to be properly overshot, and the power is adjusted back after reaching a target value, and the whole control process is completed by PID control. The power target value is guaranteed by matching with torque control to realize limited power.
3) The power controller accurately limits the power value during primary frequency modulation, and completes primary frequency modulation control by matching with energy storage release:
the power controller combines the power and the frequency variation amplitude of the frequency modulation point, calculates an accurate power demand value and strictly limits the power setting at the torque control end, thereby completing primary frequency modulation by matching with power release.
4) Properly increasing the rotating speed of the motor, supplementing the control of corresponding speed of inertia:
the normal control of the fan power curve below the rated rotating speed is given according to the optimal power curve, but in the power grid frequency modulation process, the response speed of frequency modulation is too low by only depending on variable-pitch energy storage for control, the response requirement cannot be met, and in order to improve the frequency modulation response speed, when the power grid frequency is normal, the rotating speed of the motor is properly increased. As shown in fig. 4, the control torque is appropriately reduced relative to the torque given by the optimal power curve, so that the rotating speed of the motor is relatively increased, the torque given is recovered to the given value of the optimal power curve when the grid frequency changes, energy is released, and the motor current transformation is controlled through the power rationalization limit logic. The control method solves the problem of low frequency modulation response speed caused by low pitch variation speed. Meanwhile, the inertia energy storage of the motor is relatively increased due to the increase of the rotating speed of the motor, and the function of improving the inertia energy storage capacity of the wind wheel is achieved.
5) The fan inertia frequency modulation is the frequency modulation when the active power changes relative to the power grid frequency, and requires a high response speed, but the frequency modulation time is short, so the active power can be changed only by controlling the electromagnetic torque through the inertia frequency modulation of the power grid, and the change rate of the power grid frequency is supported. The energy of the inertial frequency modulation completely comes from the inertial energy storage of the wind wheel, but the pitch system can supplement the energy drop amplitude after the inertial energy storage is finished by releasing the stored energy. Therefore, the inertia frequency modulation is realized by controlling the electromagnetic torque to redistribute the inertia energy of the wind wheel on the time axis, and the step 4) of properly increasing the rotating speed of the motor can improve the dispatching capacity of the inertia frequency modulation inertia energy redistribution; the variable pitch energy release in the step 2) can effectively adjust the excessive drop amplitude of the active power after the inertial energy is redistributed.
6) The inertial frequency modulation and the primary frequency modulation occur simultaneously in most cases during the change of the grid frequency, as shown in fig. 1 and 2, because the change of the grid frequency means that the grid frequency has a change rate. Therefore, the inertial frequency modulation support and the primary frequency modulation support of active power can appear at the same time, the inertial frequency modulation generally plays a leading role in the early stage of frequency change and the frequency recovery period, and the power response amplitude is large and the response speed is required to be high; and primary frequency modulation plays a leading role in the middle of frequency modulation, and is expressed as long support time. When the wind wheel and the wind wheel act simultaneously, the respective support power demand calculation is carried out, the inertial response directly utilizes the torque control to adjust the active power, meanwhile, the pitch-variable energy release data calculated by the pitch-variable system is utilized to supplement the loss caused by the inertia of the wind wheel, and meanwhile, the power limiting function is utilized to enable the active power of the fan not to exceed the power required by the inertial frequency modulation and the primary frequency modulation. Therefore, the control decoupling of two frequency modulations is realized, the overall response coupling response is realized, and the overall demand is met.
7) The inertia response of the full wind speed section is different, and the inertia response is characterized by weak inertia of a constant rotating speed section and the characteristic that the full power stage cannot provide too much active support due to the limitation of the generator capacity of the fan. In a weak inertia area of a constant rotating speed section, switching inertia frequency control into a forced constant power control step; and in the full-power stage, the control strategy is switched to a control step of responding to the half-amplitude response of the active drop only due to the limitation of the physical characteristics of the unit.
The specific embodiments are given above, but the present invention is not limited to the above-described embodiments. The basic idea of the present invention lies in the above basic scheme, and it is obvious to those skilled in the art that no creative effort is needed to design various modified models, formulas and parameters according to the teaching of the present invention. Variations, modifications, substitutions and alterations may be made to the embodiments without departing from the principles and spirit of the invention, and still fall within the scope of the invention.
Claims (6)
1. A power grid frequency modulation control method based on a virtual synchronous machine is characterized by comprising the following steps:
when the frequency of the power grid is normal, reducing the torque corresponding to the optimal power curve of the fan, and acquiring reserve energy required during frequency modulation; when the frequency of the power grid changes, the control torque is restored to the optimal torque corresponding to the optimal power curve of the fan, and stored energy is released;
the method further comprises a process of determining the reserve energy required during frequency modulation by controlling the target pitch angle of the fan, wherein the calculation process of the target pitch angle of the fan is as follows: setting reserve energy required during frequency modulation, collecting active power of a current fan, calculating a wind energy utilization rate according to the set reserve energy required during frequency modulation and the active power of the current fan, and calculating a target pitch angle of the fan according to the wind energy utilization rate;
the calculation formula of the wind energy utilization rate is as follows:
wherein, PdFor reserve energy required for frequency modulation, P1Active power of the current wind turbine, Cp1The wind energy utilization rate is obtained;
the calculation formula of the target pitch angle of the fan is as follows:
wherein, lambda is the speed ratio of the blade tip, beta is the target pitch angle, omega is the angular speed of the wind wheel, R is the radius of the wind wheel, V is the wind speed of the upwind direction, i is an intermediate variable,
2. the virtual synchronous machine-based power grid frequency modulation control method according to claim 1, wherein after a target pitch angle of a fan is obtained through calculation, PI control is performed on the target pitch angle of the fan, and fan pitch control is performed according to PI control output quantity.
3. The grid frequency modulation control method based on the virtual synchronous machine according to claim 1, characterized in that primary frequency modulation control and/or inertial frequency modulation control are/is further performed according to the grid frequency, and when active support needs to be added to the primary frequency modulation control or the inertial frequency modulation control, stored energy is released.
4. A virtual synchronous machine based grid frequency modulation control apparatus, comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor executes the program to implement the following steps:
when the frequency of the power grid is normal, reducing the torque corresponding to the optimal power curve of the fan, and storing the energy required during frequency modulation; when the frequency of the power grid changes, the control torque is restored to the optimal torque corresponding to the optimal power curve of the fan, and stored energy is released;
the method further comprises a process of determining the reserve energy required during frequency modulation by controlling the target pitch angle of the fan, wherein the calculation process of the target pitch angle of the fan is as follows: setting reserve energy required during frequency modulation, collecting active power of the current fan, calculating power of the fan during optimal operation according to the optimal wind energy rate, calculating the wind energy utilization rate according to the set reserve energy required during frequency modulation and the active power of the current fan, and calculating the target pitch angle of the fan according to the wind energy utilization rate;
the calculation formula of the wind energy utilization rate is as follows:
wherein, PdFor reserve energy required for frequency modulation, P1Active power of the current wind turbine, Cp1The wind energy utilization rate is obtained;
the calculation formula of the target pitch angle of the fan is as follows:
wherein, lambda is the speed ratio of the blade tip, beta is the target pitch angle, omega is the angular speed of the wind wheel, R is the radius of the wind wheel, V is the wind speed of the upwind direction, i is an intermediate variable,
5. the virtual synchronous machine-based power grid frequency modulation control device according to claim 4, wherein after a target pitch angle of the fan is obtained through calculation, PI control is performed on the target pitch angle of the fan, and fan pitch control is performed according to PI control output quantity.
6. The virtual synchronous machine-based grid frequency modulation control device according to claim 4, wherein primary frequency modulation control and/or inertial frequency modulation control are/is further performed according to the grid frequency, and when active support needs to be added to the primary frequency modulation control or the inertial frequency modulation control, stored energy is released.
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| CN111162526B (en) * | 2020-01-10 | 2020-12-01 | 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 |
| CN111396247B (en) * | 2020-03-09 | 2021-08-31 | 浙江运达风电股份有限公司 | Voltage source type wind turbine generator set control method and system considering load and rotating speed constraints |
| 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 |
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| CN106532746B (en) * | 2016-12-27 | 2019-03-05 | 北京四方继保自动化股份有限公司 | A kind of wind power plant participates in the control system and implementation method of primary frequency modulation |
| CN107171368B (en) * | 2017-07-19 | 2020-12-08 | 国家电网公司 | Wind power generation primary frequency modulation function implementation method based on wind power plant power control |
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