CN109449954A - A kind of frequency support and control method that double-fed fan motor unit is optimized based on two stages power tracking - Google Patents
A kind of frequency support and control method that double-fed fan motor unit is optimized based on two stages power tracking Download PDFInfo
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Abstract
The present invention relates to a kind of frequency support and control methods that double-fed fan motor unit is optimized based on two stages power tracking, the present invention supports dynamic characteristic from optimization Wind turbines frequency, proposes frequency support and control method of the Wind turbines based on two stages control with changed scale coefficient optimization power tracking.On this basis, the control with changed scale coefficient control strategy in inertial response stage has been derived based on virtual inertia time constant and equation of rotor motion, it is simultaneously the maximal power tracing method of operation of the fast quick-recovery Wind turbines after inertial supports, avoids generating Secondary Disturbance to system frequency modulation in recovery process, using the control with changed scale coefficient control strategy of design of fuzzy control maximal power tracing method of operation Restoration stage.The present invention has control robustness, and control structure is simple, is easy to Project Realization, it can be achieved that double-fed fan motor unit is to the fast quick-recovery of the maximal power tracing method of operation after the inertial response and inertial supports of mains frequency.
Description
Technical field
The present invention relates to a kind of frequency support and control methods of Wind turbines, are based on turning more particularly, to a kind of Wind turbines
Sub- kinetic energy, which is adjusted, provides the fast quick-recovery initial maximum power tracking after providing frequency support of frequency inertial response and Wind turbines
The control method of the method for operation.
Background technique
When Wind turbines are incorporated into the power networks using power electronic equipment, maximal power tracing (MPPT) method of operation will make it
Rotor kinetic energy and mains frequency decouple, and can not provide rotary inertia support when power grid occurrence frequency disturbs for frequency variation.Cause
This, with the increase of wind-electricity integration ratio, the friendly inertia control for studying Wind turbines rings the frequency for improving wind power system
Characteristic, damping characteristic and dynamic stability is answered all to be of great significance.In this context, Wind turbines participate in the controlling party of frequency modulation
Method receives the concern of researcher.Comprehensive current Wind turbines participate in the control method of frequency support and control, are primarily present three
Kind mode: the frequency modulation control strategy based on Wind turbines hypervelocity off-load and the variable pitch off-load method of operation, based on wind power plant configuration storage
The control strategy of frequency support can be provided, the frequency inertial response control strategy adjusted based on Wind turbines rotor kinetic energy.Although
Off-load operation can make Wind turbines be provided simultaneously with the responding ability of inertia and frequency modulation, and be not less than output power during frequency modulation
Initial value before response, but this method makes Wind turbines abandon the maximal power tracing method of operation, Bu Nengchong when frequency is normal
Divide and utilizes wind power resources.In addition, realizing that the frequency support and control of wind power plant needs specific wind-storage Run-time scenario branch using energy storage
It holds, therefore the practical application of the control method is limited, and the economy run also merits attention.Pass through additional frequency
Differential and frequency droop control are realized and are adjusted based on Wind turbines rotor kinetic energy to frequency support and control idea, are from excavation wind-powered electricity generation
Unit itself fm capacity sets out, and realizes that Wind turbines disturb supporting role to system frequency.Although tune cannot be provided for system
Frequency supports, but has preferable performance driving economy.
It is worth noting that during realizing frequency support using Wind turbines rotor kinetic energy, due to blower capture
Wind power can decline with the optimized rotating speed of offspeed maximal power tracing, therefore Wind turbines are restoring the revolving speed stage, need
Electromagnetic power is absorbed from power grid, this not only can bring adverse effect to the recovery of mains frequency, but also it is extensive to may cause frequency
Multiple Secondary Disturbance.The present invention, which bases oneself upon, as a result, makes maximal power tracing operation Wind turbines disturb offer frequency to mains frequency
Support from optimization blower inertial response and improves mains frequency dynamic characteristic, the control with changed scale coefficient based on two stages switching
Speed control strategy proposes the frequency support and control scheme of Wind turbines.On this basis, it is based on virtual inertia time constant
Wind turbines are proposed in the control with changed scale coefficient control strategy in inertial response stage with rotor operation equation, while being fast quick-recovery
The maximal power tracing method of operation of the Wind turbines after inertial supports, while avoiding in revolving speed recovery process to system frequency modulation
Secondary Disturbance, using design of fuzzy control Wind turbines maximal power tracing method of operation Restoration stage control with changed scale coefficient
Control strategy.The validity of studied frequency support and control method is demonstrated finally by emulation.
Summary of the invention
Above-mentioned technical problem of the invention is mainly to be addressed by following technical proposals:
A kind of frequency support and control method that double-fed fan motor unit is optimized based on two stages power tracking, which is characterized in that
Using the speed regulation of two stages control with changed scale coefficient and its method for handover control, specially
The control with changed scale coefficient set-up procedure in inertial response stage: it is used that double-fed fan motor unit offer frequency is carried out using formula (one)
Property response phase control with changed scale coefficient control, i.e. k=kvir,t；
In formula one, HvirIndicate the time constant of double-fed fan motor unit simulation synchronous generator rotor kinetic energy inertial response；Hw
Indicate the inertial response time of double-fed fan motor unit rotor axial system；ωeIndicate the electrical angular speed of synchronized；△fs,tIndicate electricity
Deviation of the net frequency in moment t；Indicate Wind turbines rotor in moment t0Revolving speed；kvir,tIndicate frequency inertial response rank
The control with changed scale coefficient value of section moment t；
The control with changed scale coefficient set-up procedure of maximal power tracing Restoration stage: when double-fed fan motor unit is from frequency inertial response
When stage switches to maximal power tracing method of operation Restoration stage, using formula two carry out double-fed fan motor unit maximum power with
The control with changed scale coefficient of track method of operation Restoration stage controls, i.e. k=kMPPT,t；
In formula two, t2Indicate that double-fed fan motor unit switches to the maximal power tracing method of operation from the frequency inertial response stage
At the time of Restoration stage；△fs,tIndicate mains frequency in the deviation of maximal power tracing method of operation Restoration stage moment t；
Sign (x) indicates sign function；kfIndicate control with changed scale coefficient in the fuzzy control of maximal power tracing method of operation Restoration stage
Output；The control with changed scale system at maximal power tracing method of operation Restoration stage moment is switched to from the frequency inertial response stage
Number；kMPPT,tIndicate the control with changed scale coefficient of maximal power tracing method of operation Restoration stage moment t；
Control method specifically includes the following steps:
Step 1 detects mains frequency disturbance, carries out the frequency disturbance inspection of double-fed fan motor unit interconnected electric power system
It surveys；
Step 2, when power grid occurrence frequency disturb, based on two stages power tracking optimization frequency support and control will be by adopting
The Wind turbines output power P at sample current times0Formula three is established, for the frequency inertial response control stage and restores maximum power
The two stages transfer criterion in method of operation control stage is tracked, and 1, i.e. cy=1, starting are equal to by setting control active flag
One frequency support and control period two stages of Wind turbines；
Ps,t-Ps0≤ε3Formula three
In formula three, Ps,tIndicate the Wind turbines output power of moment t；Ps0Indicate the starting of two stages frequency support and control just
The Wind turbines output power at moment beginning；ε3Compare threshold value for the power deviation for switching two-stage control；Consider practical fortune
The output power of row Wind turbines can have the fluctuation of small size range, to avoid the fluctuation when frequency inertial response controls and starts pair
Ps0The influence of sampling, at the same for improve Wind turbines provide inertial supports response after switching timeliness, using per unit value into
When row control calculates, settable Ps,t-Ps0≤ε3=0.01 more stagnant annulus；
Step 3, within frequency support and control period two stages of beginning, utilize k shown in formula onevir,tControl with changed scale coefficient control
System strategy realizes whether completely Wind turbines detect the switching condition of two-stage control to the inertial response of frequency, and according to formula three
Foot；When switching condition is unsatisfactory for, i.e. holding switching control mark is equal to zero, i.e. qh=0；Until by adjusting kvir,tEqual to 1, make
Wind turbines restore to track the method for operation to initial maximum power after providing inertial response；When switching condition satisfaction, pass through order
Qh=1 makes proportionality coefficient control the k as shown in formula onevir,tIt is switched to k shown in formula twoMPPT,t, then by adjusting kMPPT,tIt is equal to
1, make Wind turbines gradually restore to track the method for operation to initial maximum power；Work as kvir,t=1 or kMPPT,t=1, and step 1
The Rule of judgment of middle frequency Disturbance Detection is all unsatisfactory for, and terminates the current two stages frequency support and control period；And in initialization cy
After=qh=1, k=1, it is transferred to the two stages frequency support and control period next time.
It is described in the frequency support and control method that a kind of above-mentioned double-fed fan motor unit is optimized based on two stages power tracking
In step 1, mains frequency disturbance is detected according to inequality shown in formula four or formula five；
|fs,t-fe|≥ε2Formula five
Formula three and four kinds of formula, fs,tIndicate the mains frequency of moment t；feIndicate power grid rated frequency；ε1And ε2For for opening
The mains frequency deviation of dynamic frequency inertial response stage control and the comparison threshold value of frequency departure change rate.
It is described in the frequency support and control method that a kind of above-mentioned double-fed fan motor unit is optimized based on two stages power tracking
The fuzzy control of maximal power tracing method of operation Restoration stage control with changed scale coefficient is based on following controller: defeated including two controls
Enter, i.e. control input 1,Control input 2,One control output, i.e. kf；Wherein, | Δ fs| it is
The inclined absolute value of the difference of mains frequency；For the amendment weight of frequency departure absolute value, it is used to seep in wind-powered electricity generation
When rate is low thoroughly, increase the value of fuzzy control input 1, the climbing capacity for making Wind turbines make full use of other synchronous generators is accelerated
Restore the maximal power tracing method of operation, when wind-powered electricity generation permeability is high, reduces the value of fuzzy control input 1, reduce Wind turbines
Carry out additional active demand burden to other synchronous generator frequency modulation band to restore the maximal power tracing method of operation, to keep away
Exempt from the Secondary Disturbance of mains frequency recovery process.
In the frequency support and control method that a kind of above-mentioned double-fed fan motor unit is optimized based on two stages power tracking, two
Fuzzy control, the amplitude limit value range of input are [0 1], and corresponding domain range is also set as [0 1]；Control output kf's
Domain range is set as [- 0.125 0.875]；Wherein, fuzzy control inputs α | Δ fs| domain be designed as 0,0.125,0.25,
}, 0.375,0.5,0.625,0.75,0.875,1 corresponding fuzzy subset is { NL, NM, NS, NZ, Z, PZ, PS, PM, PL }；Mould
Paste control inputDomain be { 0,0.2,0.4,0.6,0.8,1 }, fuzzy subset be { NB, NM, NS, PS, PM, PL }；
Export kfDomain be { -0.125,0,0.125,0.25,0.375,0.5,0.625,075,0.875 }, corresponding fuzzy subset is
{NL,NM,NS,NZ,Z,PZ,PS, PM,PL}。
In the frequency support and control method that a kind of above-mentioned double-fed fan motor unit is optimized based on two stages power tracking, consider
Maximal power tracing method of operation Restoration stage occur over just mains frequency recovery ascent stage, while from improve Wind turbines
The dynamic characteristic of frequency support response is set out, and using the fuzzy subset of two fuzzy control inputs and 1 fuzzy control output, is built
Vertical fuzzy control rule: Gao Feng electricity permeability and mains frequency restores slow or low wind-powered electricity generation permeability and mains frequency restores slow is led to
Cross reduction kf, to restore k at a slow speedMPPT,t；When high wind-powered electricity generation permeability and fast frequency retrieval, k is increased by appropriatenessf, with appropriate quickening
Restore kMPPT,t；When low wind-powered electricity generation permeability and fast frequency retrieval, by increasing kf, to accelerate to restore kMPPT,t。
Therefore, the present invention has the advantage that Wind turbines frequency branch is realized in being adjusted the speed based on control with changed scale coefficient for being invented
The method of support has control robustness, and control structure is simple, is easy to Project Realization.This method can realize double-fed fan motor unit to electricity
The fast quick-recovery of the inertial response of net frequency and the maximal power tracing method of operation after inertial supports.Maximal power tracing restores
The fuzzy control of stage control with changed scale coefficient can effectively avoid Wind turbines from disturbing Restoration stage is secondary caused by mains frequency
It is dynamic, and make each Wind turbines after inertial supports, it can cooperate with each using the fast quick-recovery of frequency modulation resource of synchronized generator
From the maximal power tracing method of operation.Wind turbines are defeated when providing inertial supports using rotational speed regulation release rotor kinetic energy
Power can capture due to wind power reduces caused by revolving speed decline out makes output power drop below frequency disturbance initial time
Output power, invented two stages switching control can reduce power decline during inertial response and make to system frequency modulation dynamic
At adverse effect, improve the frequency response characteristic of wind-electricity integration system and the frequency modulation dynamic characteristic of synchronous generator.
Detailed description of the invention
Fig. 1 is revolving speed control principle drawing of the Wind turbines based on maximal power tracing.
Fig. 2 is the optimization power tracking control program that Wind turbines are adjusted the speed based on control with changed scale coefficient.
Fig. 3 is optimization power tracking control principle drawing of the Wind turbines based on two stages control with changed scale coefficient.
Fig. 4 is control with changed scale coefficient towards the fuzzy control strategy for restoring maximal power tracing operation.
Fig. 5 a is fuzzy control based on the input fuzzy membership function for improving frequency departure absolute value.
Fig. 5 b is input fuzzy membership function of the fuzzy control based on frequency departure absolute value change rate.
Fig. 5 c is the fuzzy membership function of fuzzy control output.
Fig. 6 is the reasoning from logic value of fuzzy control output.
Fig. 7 is improved IEEE-9 node wind power system topology diagram.
Fig. 8 is system frequency under different wind-powered electricity generation inertia controls to △ L3The response of=0.4p.u.
Fig. 9 is wind power output power under different wind-powered electricity generation inertia controls to △ L3The response of=0.4p.u.
Figure 10 a is the rotating speed response for inputting wind speed 11m/s equivalence Wind turbines under different inertia controls.
Figure 10 b is the rotating speed response for inputting wind speed 10m/s equivalence Wind turbines under different inertia controls.
Figure 10 c is the rotating speed response for inputting wind speed 9m/s equivalence Wind turbines under different inertia controls.
Figure 11 is the comparison of the speed regulation index variation process of Wind turbines under different inertia controls and wind speed.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment: theoretical basis and method of the present invention are introduced in turn below.
1, mains frequency disturbance is detected, carries out the frequency disturbance detection of double-fed fan motor unit interconnected electric power system.
Mains frequency disturbance is detected according to following shown inequality.
|fs,t-fe|≥ε2
fs,tIndicate the mains frequency of moment t；feIndicate power grid rated frequency；ε1And ε2For for initiation culture inertial response
The mains frequency increment of stage control and the comparison threshold value of frequency variation rate.When carrying out control calculating using per unit value, threshold value
ε1=ε2=0.01 respectively indicates when the rate of change of mains frequency is greater than 0.5Hz/s or mains frequency variable quantity is greater than 0.5Hz
When (default power grid rated frequency be 50Hz), Wind turbines control initiation culture inertial response.Consider that China exists to capacity
The system of 3000MW or more, frequency tolerance is ± 0.2Hz, in 3000MW or less system, frequency tolerance is ±
0.5Hz, in order to avoid frequency fluctuation false triggering inertia control, therefore usually settable ε2=0.01.Further, it is contemplated that system frequency modulation
The time scale of control is second grade.
2, the feasibility analysis of Wind turbines frequency support is realized based on rotational speed regulation
Double-fed fan motor unit utilizes the back-to-back voltage converter of double fed induction generators (DFIG) rotor-side, will capture
Wind energy input power grid.In order to make full use of wind energy resources, maximal power tracing (MPPT) method of operation is generallyd use.Its
The speed setting controller model of MPPT operation is as shown in Fig. 1.
In attached drawing 1, ρ is atmospheric density；PwmAnd TmThe respectively mechanical output and machine torque of blower output；PsAnd TePoint
Be not generator output is active and electromagnetic torque；D and HwRespectively blower shafting damped coefficient and inertia time constant；Cp(λ,
It β) is power coefficient, by rotation speed of fan ωr, wind speed v, the parameters such as blade pitch angle beta and impeller radius R determine；ωminWith
ωmaxThe minimum speed and maximum (top) speed being incorporated into the power networks for Wind turbines；ωref、TrefAnd PrefRespectively indicate turning for Wind turbines
Speed, the instruction references value of electromagnetic torque and stator power；Wherein, ωref=aPs 2+bPs+ c, parameter a, b and c are usually available
Maximum P under different wind speedsAnd its corresponding ωrIt is determined through fitting.
By the revolving speed control principle of MPPT it is found that MPPT is exactly to utilize P in the case where propeller pitch angle is constantsTo PrefWith
Track makes ωrTend to allow Cp(λ, β) reaches revolving speed corresponding to maximum.Due to rotation speed of fan ωrWith the electrical angular speed of synchronized
ωeIt is decoupled by blower grid-connected converter, therefore in the case where ignoring synchronous generator rotor damping action, system loading disturbance
Caused frequency variation may be expressed as:
In formula, △ ωeFor ωeVariable quantity；△fsFor the variable quantity of mains frequency；△ p indicates active point of load disturbance
Amount；n1、n2Respectively indicate the grid-connected quantity of synchronous generator and Wind turbines in system；HG,iIndicate the inertia of synchronous generator i
Time constant；△ps,jIndicate that Wind turbines j participates in the active output of frequency modulation.When the damping action for ignoring blower shafting, in △ t
Period integrates attached Wind turbines torque equation shown in FIG. 1, can obtain:
In formula, t0And t1The respectively starting and ending moment of revolving speed control；△ωrIndicate the rotational speed regulation of Wind turbines
Amount.
Known to convolution (1) and formula (2): as △ p > 0, by rotation speed of fan by the MPPT revolving speed (ω of initial timer,t0
=ωref) reduce △ ωrIfThen Wind turbines will will increase Ps, thus
Synchronous generator damping mains frequency decline can be cooperateed with；When p < 0 △, due to being made by increasing rotation speed of fanWind turbines will reduce Ps, so as to cooperate in synchronous generator damping system frequency
It rises.It is hereinafter described for simplification, it is not specifically stated, narration is all based on the increased frequency disturbance development of load and discusses hereinafter.
Based on above-mentioned analysis, it is proposed that revolving speed control program of the attached Wind turbines shown in Fig. 2 based on control with changed scale coefficient k.
Using the program can when high proportion wind-electricity integration system occurrence frequency disturbs, through the rotational speed command value of regulating wind power unit,
Realize the damping action changed using fan rotor kinetic energy to frequency.
3, two stages control with changed scale coefficient control strategy
The two stages switching control of 3.1 control with changed scale coefficient
Due to power coefficient Cp(λ, β) can reduce with blower offspeed MPPT optimized rotating speed, therefore, work as system
Load disturbance occurs, using k=1+kp△fs(kpFor constant) design 2 control with changed scale coefficient of attached drawing, the output power of Wind turbines and
The characteristics of response that rotor kinetic energy can change mains frequency will show 3 stages.During 1st stage was inertial response
Output power increase, rotor kinetic energy decline stage.In this stage, Wind turbines will decline release rotor kinetic energy with mains frequency,
Although the wind energy that revolving speed decline causes Wind turbines to capture reduces, when the rotor kinetic energy of release is greater than the capture wind energy of decline
When, the output power of Wind turbines will increase, to provide inertial supports for mains frequency variation.2nd stage was inertial response
The stage that the output power decline of period, rotor kinetic energy decline.In this stage, since the wind energy of Wind turbines capture is with power grid
The continuous decrease of frequency and reduce, therefore when input wind energy fall be greater than rotor release kinetic energy when, Wind turbines are defeated
Power will reduce out.3rd stage was that the output power for restoring MPPT operation and rotor kinetic energy increase the stage.In this stage, wind-powered electricity generation
Unit will restore to gradually increase the revolving speed of rotor and the wind energy of capture with mains frequency, when mains frequency recovery, Wind turbines
It will restore the MPPT method of operation before disturbing.Analysis of response based on 3 stages is it is found that since mains frequency is in the 2nd rank
Section does not have started recovery, and the reduction of wind power will force synchronous generator in system to further increase active output, to give
Power grid frequency modulation brings adverse effect.Therefore, the MPPT operation from fast quick-recovery Wind turbines after inertial response, the present invention
Devise the two stages switching control strategy of attached control with changed scale coefficient k shown in Fig. 3.In attached drawing 3, Ps,tIndicate t moment wind-powered electricity generation function
Rate；Ps0Indicate the Wind turbines output power of inertial response initial time；ε1And ε2It is inclined for the frequency for starting inertia control
The comparison threshold value of difference and frequency differential；ε3To compare threshold value for switching two stage power deviation；Cy indicates that starting/stopping is used
Property control mark, cy=1 indicate starting, cy=0 indicate stop；Qh indicates that starting/stopping inertia control is extensive to MPPT revolving speed
The switching mark controlled again, qh=1 indicate starting, and qh=0 indicates to stop；kvir,tAnd kMPPT,tRespectively inertial response and recovery
The control with changed scale coefficient of MPPT operation phase.
By attached drawing 3 it is found that when frequency disturbance occurs, switching control establishes two stages transfer criterion P using samplings,t-Ps0
≤ε3Parameter Ps0, and pass through an inertia control period of setting cy=1 starting Wind turbines.Within this period, first with
kvir,tRealize the inertial supports to frequency.When switching condition is unsatisfactory for, i.e. qh=0, by adjusting kvir,tTo 1, make Wind turbines
Restore MPPT operation after inertial supports are provided；When switching condition satisfaction, by enabling qh=1, make proportionality coefficient by kvir,tSwitching
For kMPPT,t, then by adjusting kMPPT,tWind turbines are made to restore MPPT operation to 1.In kvir,t=1 or kMPPT,t=1, and frequency
After two Rule of judgment of deviation and differential are all unsatisfactory for, terminate current control period, and be transferred to down by initializing cy, qh and k
One time inertial response controls the period.
The control with changed scale coefficient adjustable strategies in 3.2 inertial response stages
Assuming that the inertia time constant of Wind turbines simulation synchronous generator inertial response is Hvir, wind can be obtained according to formula (2)
The response that motor group rotor kinetic energy changes system frequency are as follows:
Consider △ ωrWith △ ωeIt is far smaller than respectivelyWith 2 ωe, therefore, can be obtained by formula (3)[14-15]:
Meanwhile by tip speed ratioBring P intowm, it is collated to obtain:
The speed adjustment strategy as shown in attached drawing 2 and formula (5) can obtain:
In formula, t1Belong to inertial response stage, t1>t0.Ignore PwmBecause changing caused by revolving speed decline, i.e.,It willSubstitution formula (6), obtains:
It substitutes intoK can then be obtainedvir,tAdjustable strategies:
The control with changed scale coefficient adjustable strategies of 3.3MPPT Restoration stage
When switching condition meets, analysis attached drawing 1 is it is found that work as control with changed scale coefficient kMPPTBe arranged in switching control it is unreasonable,
Lead to kMPPTωref-ωrControl deviation △ ωrIt is excessive, △ P will not be only resulted insReduce it is excessive, and when synchronous generator because
Climing constant can not the equality constraint of formula (9) set up, will be forced to discharge its rotor kinetic energy to meet the equation constraint, to produce
The Secondary Disturbance of raw system frequency.
In formula, t2For the switching moment of MPPT Restoration stage；△PGThe active increment of frequency modulation is participated in for synchronous generator.
By formula (9) it is found that by making full use of the climbing capacity of synchronous generator to adjust kMPPT, frequency two can avoided
While secondary disturbance, the MPPT of fast quick-recovery Wind turbines is run.Consideration formula (9) equal sign both sides be difficult to according to system mode into
The estimation of row accurate quantification, therefore the variable quantity of wind power output power can not be determined using equality constraint, and then determine that revolving speed restores
Regulated quantity.Because fuzzy control does not depend on controlled device accurate mathematical model, it is not easy to grasp suitable for dynamic characteristic non-thread
Property time-varying system, so herein use fuzzy control, selection can reflect the frequency departure whether formula (9) equality constraint meets and its
Change rate is inputted as fuzzy control, devises attached k shown in Fig. 4MPPT,tFuzzy control strategy.
In attached drawing 4, | Δ fs| it is system frequency deviation absolute value；The clipping range of limiter 1 and 2 is [0 1]；The amendment weight of frequency departure absolute value increases fuzzy control using it when wind-powered electricity generation permeability is lower
Input, make Wind turbines make full use of synchronous generator climbing capacity accelerate restore the MPPT method of operation, wind-powered electricity generation permeability compared with
Gao Shi reduces fuzzy control input by α, and reduction Wind turbines run for recovery MPPT and give synchronous generator frequency modulation bring volume
Outer burden, to avoid the Secondary Disturbance of frequency；kfFor fuzzy controller output；For the change of MPPT Restoration stage switching moment
Proportionality coefficient and frequency departure, △ fs,tFor the mains frequency deviation of moment t after switching.Sign (x) indicates sign function.
The domain range of fuzzy controller two inputs is [0 1], control output kfDomain range be [- 0.125
0.875].Wherein, frequency departure input domain be designed as 0,0.125,0.25,0.375,0.5,0.625,0.75,
0.875,1 }, corresponding fuzzy subset is { NL, NM, NS, NZ, Z, PZ, PS, PM, PL }；The domain of frequency departure differential be 0,
}, 0.2,0.4,0.6,0.8,1 fuzzy subset is { NB, NM, NS, PS, PM, PL }；Export kfDomain be -0.125,0,
}, 0.125,0.25,0.375,0.5,0.625,075,0.875 corresponding fuzzy subset be NL, NM, NS, NZ, Z, PZ, PS, PM,
PL}.Consider that MPPT Restoration stage occurs over just system frequency and restores ascent stage, while dynamically from raising wind-powered electricity generation inertial response
It sets out, using the fuzzy subset of 2 inputs and 1 output, establishes fuzzy control rule shown in table 1.The rule embodies down
State control feature, Gao Feng electricity permeability and frequency retrieval is slower or low wind-powered electricity generation permeability and frequency retrieval it is slower, pass through reduction
kf, to restore k at a slow speedMPPT,t；High wind-powered electricity generation
1 k of tablefFuzzy logic inference table
When permeability and very fast frequency retrieval, k is increased by appropriatenessf, accelerate to restore k with appropriatenessMPPT,t；Low wind-powered electricity generation infiltration
When rate and very fast frequency retrieval, by increasing kf, to accelerate to restore kMPPT,t。
Based on control logic shown in table 1, the fuzzy of control input and output is described using triangle subordinating degree function shown in attached drawing 5
Linguistic variable is based on Mamdani reasoning algorithm, with season andMethod=impMethod=min, orMethod=
AggMethod=max carries out fuzzy control program design using Matlab/Fuzzy control tool box, while using gravity model appoach
Control is exported and carries out de-fuzzy.The accurate solution of gained fuzzy control output is as shown in Fig. 6.
4, the simulating, verifying based on IEEE-9 node wind power system
Attached improved IEEE-9 node wind-electricity integration simulation model shown in Fig. 7 is established using Matlab/Simulink.System
Altogether 65 double-fed fan motor units of setting are grid-connected through node 3, and node 5,6 and 8 is respectively connected to 0.5+j0.15p.u., 0.3+
J0.1p.u. with load L1, L2 and L3 (reference capacity 100MVA) of 0.4+j0.2p.u., route and generator relevant parameter
Refer to annex 1.To simplify emulation, if the parameter that is incorporated into the power networks of every Wind turbines is identical in system, only Wind turbines #
The input wind speed of 1-#20 is 11m/s, and the wind speed of #21-#45 is 10m/s, and the wind speed of #46-#65 is 9m/s.In order to reduce emulation
The wind-powered electricity generation scale of model of model improves simulation velocity, the Wind turbines of the identical wind speed of node 3 are carried out using single machine characterization method etc.
It is worth Wind turbines modeling.
Based on the simulation model established, the burden with power using node 8 in the △ L3=0.4p.u. at 3s moment is disturbed,
Comparative study Wind turbines do not use inertia control, using based on kvir,tPower tracking optimal control, using kMPPT=1 is straight
Connect the two stages control with changed scale coefficient speed regulation of recovery, using the system dynamic response of mentioned two stages control with changed scale coefficient speed regulation.Emulation
In, enable each Wind turbines H of formula (3)virEqual to Hw.To avoid frequency fluctuation error starting inertia control, ε in attached drawing 3 is set1=
ε2=0.01, it indicates to be greater than 0.01f when frequency change ratee/ s or variable quantity are greater than 0.01feWhen (feFor power grid rated frequency), wind
Motor group will start inertia control.Simultaneously to avoid influence of the Wind turbines output-power fluctuation to switching control timeliness, if
Set ε3=0.01, indicate to work as | Ps,t-Ps0| it is less than 1%PsnWhen (PsnFor the rated output power of Wind turbines), carry out two stages
Control switching.
Simulation result is controlled by the Wind turbines noninertia of attached drawing 8 and attached drawing 9 it is found that wind power changes system frequency
Without response.And after using 3 kinds of inertia controls, (each group adjusts the speed coefficient to the speed regulation coefficient under each inertia control as shown in attached drawing 11
Be corresponding in turn to 11m/s, 10m/s, 9m/s wind speed from big to small) it is found that rotation speed of fan frequency disturbance initial stage with speed regulation coefficient
kvir,tReduce and decline, and by gradually reducing attached revolving speed shown in Fig. 10, increases active output to discharge rotor kinetic energy, in turn
Rotary inertia support is provided for system frequency.The simulation result of attached drawing 9 shows that Wind turbines provide inertia branch using rotor kinetic energy
After support, wind power can fall below initial value with revolving speed, this will restore to bring the active need of additional frequency modulation to mains frequency
It asks.Meanwhile it comparing attached drawing 11 and directly restoring the speed regulation coefficient of speed regulation and the speed regulation of two sections of control with changed scale as it can be seen that since switching condition meets
(6s or so) afterwards, the speed regulation coefficient k that the former controlsMPPT,tDirectly it is arranged to 1, is far longer than the latter's controlTherefore reference value ω is controlled in the revolving speed that switching moment determines using directly recovery speed regulationref-ωrIt also will be big
In the latter.Fan speed regulation control principle shown in 1 is it is found that Wind turbines are to make ω with reference to the accompanying drawingsrApproach ωref, will be such as attached drawing 9
It is shown to reduce rapidly output power, it is intended to by reducing ωrefWith restore rotor kinetic energy, to eliminate ωref-ωrDeviation.When subtracting
When the equality constraint of small wind power formula (9) is invalid, directly restoring speed regulation will lead to that attached frequency shown in Fig. 8 is secondary to fall
It falls.The speed regulation of two sections of control with changed scale is compared it is found that due to the speed adjustment strategy while considering size and speed that frequency changes, it can be
While taking into account formula (9) equality constraint, by reducing wind power as possible to promote revolving speed to restore, and avoid switching control to frequency
The Secondary Disturbance of rate.Although optimizing determining speed regulation coefficient than two sections control with changed scale tune after handover based on power tracking in attached drawing 11
The coefficient that speed determines is smaller, can more effectively avoid disturbance of the switching control to frequency, but since fuzzy control can be in formula of taking into account (9)
Under equality constraint, the fm capacity of G1, G2 are sufficiently excavated, keeps Wind turbines defeated by minimizing in MPPT initial stages of restoration
Power and fast quick-recovery revolving speed out.Attached rotation speed of fan simulation result shown in Fig. 10 is compared it is found that by using institute's promoting or transferring speed plan
Summary can be such that rotation speed of fan and power coefficient rises faster at switching initial stage, and it is fast that the increase of Wind energy extraction will be helpful to blower
Quick-recovery revolving speed and output power also make G1, G2 frequency modulation excavated are functional faster to help recovery system frequency.
Attached drawing 5a to Fig. 5 c gives the fuzzy controller output of proposed inertia control.As shown, due to Wind turbines
There is switching successively because of wind speed difference, therefore each fuzzy controller will adjust k according to the mains frequency of switching momentfOutput,
And because the input of fuzzy control is only related to system frequency, the k of each controllerfOutput reaches unanimity after handover.
By simulation result as it can be seen that in order to alleviate influence of the switching control to frequency, designed fuzzy inference rule will make fuzzy controller
Reduce kfOutput, and pass through kfPositive and negative values adjustment avoid the Secondary Disturbance of frequency.In addition, in conjunction with the imitative of attached drawing 8 and attached drawing 11
True result as it can be seen that because rotation speed of fan increases after handover, accelerate to restore under the fm role of synchronous generator by frequency, obscures
Controller is also by increase kfTo be run using the MPPT of the fast quick-recovery Wind turbines of synchronous generator fm capacity.With wind-powered electricity generation
Unit restores MPPT operation, and system frequency will also reduce k close to rated value, fuzzy controllerf, until frequency retrieval.
Attached drawing 10a to Figure 10 c compared under different inertia controls, G1 and G2 output power and generator rotor angle dynamic response.
The result shows that although the inertia control of Wind turbines can effectively reduce generator power in the amplitude of accommodation at frequency disturbance initial stage,
But the wind power decline during inertial supports also increases the active output of G1 and G2 frequency modulation.Since control with changed scale is adjusted the speed compared with power
Tracking optimization can restore more rapidly the MPPT operation of Wind turbines, therefore as the power coefficient of blower rises, G1 and G2
The additional frequency modulation of output is active during gradually reducing, it helps accelerates the dynamic mistake that generator power and generator rotor angle become steady
Journey.
It is described herein that specific embodiments are merely illustrative of the spirit of the present invention.Technology belonging to the present invention
The technical staff in field can make various modifications or additions to the described embodiments or by a similar method
Substitution, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (5)
1. a kind of frequency support and control method that double-fed fan motor unit is optimized based on two stages power tracking, which is characterized in that adopt
With two stages control with changed scale coefficient speed regulation and its method for handover control, specially
The control with changed scale coefficient set-up procedure in inertial response stage: double-fed fan motor unit is carried out using formula (one), frequency inertia sound is provided
The control with changed scale coefficient in stage is answered to control, i.e. k=kvir,t；
In formula one, HvirIndicate the time constant of double-fed fan motor unit simulation synchronous generator rotor kinetic energy inertial response；HwIt indicates
The inertial response time of double-fed fan motor unit rotor axial system；ωeIndicate the electrical angular speed of synchronized；△fs,tIndicate power grid frequency
Deviation of the rate in moment t；Indicate Wind turbines rotor in moment t0Revolving speed；kvir,tWhen indicating the frequency inertial response stage
Carve the control with changed scale coefficient value of t；
The control with changed scale coefficient set-up procedure of maximal power tracing Restoration stage: when double-fed fan motor unit is from the frequency inertial response stage
When switching to maximal power tracing method of operation Restoration stage, double-fed fan motor unit is carried out using formula two and is transported in maximal power tracing
The control with changed scale coefficient of line mode Restoration stage controls, i.e. k=kMPPT,t；
In formula two, t2Indicate that double-fed fan motor unit switches to the maximal power tracing method of operation from the frequency inertial response stage and restores
At the time of stage；△fs,tIndicate mains frequency in the deviation of maximal power tracing method of operation Restoration stage moment t；sign(x)
Indicate sign function；kfIndicate that control with changed scale coefficient is exported in the fuzzy control of maximal power tracing method of operation Restoration stage；The control with changed scale coefficient at maximal power tracing method of operation Restoration stage moment is switched to from the frequency inertial response stage；
kMPPT,tIndicate the control with changed scale coefficient of maximal power tracing method of operation Restoration stage moment t；
Control method specifically includes the following steps:
Step 1 detects mains frequency disturbance, carries out the frequency disturbance detection of double-fed fan motor unit interconnected electric power system；
Step 2, when power grid occurrence frequency disturb, based on two stages power tracking optimization frequency support and control will by sampling work as
The Wind turbines output power P at preceding moments0Formula three is established, for the frequency inertial response control stage and restores maximal power tracing
The method of operation controls the two stages transfer criterion in stage, and is equal to 1, i.e. cy=1 by setting control active flag, starts wind-powered electricity generation
One frequency support and control period two stages of unit；
Ps,t-Ps0≤ε3Formula three
In formula three,
Ps,tIndicate the Wind turbines output power of moment t；Ps0Indicate the wind-powered electricity generation of two stages frequency support and control starting initial time
Unit output power；ε3Compare threshold value for the power deviation for switching two-stage control；Consider actual motion Wind turbines
Output power can have small size range fluctuation, to avoid the fluctuation when frequency inertial response controls and starts to Ps0The shadow of sampling
It rings, while to improve switching timeliness of the Wind turbines after providing inertial supports response, control calculating is carried out using per unit value
When, settable Ps,t-Ps0≤ε3=0.01 more stagnant annulus；
Step 3, within frequency support and control period two stages of beginning, utilize k shown in formula onevir,tControl with changed scale coefficient controls plan
Slightly realize whether Wind turbines meet to the inertial response of frequency, and according to the switching condition that formula three detects two-stage control；When
Switching condition is unsatisfactory for, i.e. holding switching control mark is equal to zero, i.e. qh=0；Until by adjusting kvir,tEqual to 1, make wind-powered electricity generation
Unit restores to track the method for operation to initial maximum power after providing inertial response；When switching condition meets, by enabling qh=
1, so that proportionality coefficient is controlled the k as shown in formula onevir,tIt is switched to k shown in formula twoMPPT,t, then by adjusting kMPPT,tEqual to 1, make
Wind turbines gradually restore to track the method for operation to initial maximum power；Work as kvir,t=1 or kMPPT,t=1, and step 1 intermediate frequency
The Rule of judgment of rate Disturbance Detection is all unsatisfactory for, and terminates the current two stages frequency support and control period；And in initialization cy=qh
=1, after k=1, it is transferred to the two stages frequency support and control period next time.
2. the frequency support and control that a kind of double-fed fan motor unit according to claim 1 is optimized based on two stages power tracking
Method, which is characterized in that in the step 1, mains frequency disturbance is detected according to inequality shown in formula four or formula five；
|fs,t-fe|≥ε2Formula five
Formula three and four kinds of formula, fs,tIndicate the mains frequency of moment t；feIndicate power grid rated frequency；ε1And ε2For for starting frequency
The mains frequency deviation of rate inertial response stage control and the comparison threshold value of frequency departure change rate.
3. the frequency support and control that a kind of double-fed fan motor unit according to claim 1 is optimized based on two stages power tracking
Method, which is characterized in that the fuzzy control of the maximal power tracing method of operation Restoration stage control with changed scale coefficient is based on following
Controller: inputting including two controls, i.e. control input 1,Control input 2,One control is defeated
Out, i.e. kf；Wherein, | Δ fs| it is the inclined absolute value of the difference of mains frequency；For repairing for frequency departure absolute value
Positive weights make Wind turbines make full use of other synchronizations for when wind-powered electricity generation permeability is low, increasing the value of fuzzy control input 1
The climbing capacity of generator is accelerated to restore the maximal power tracing method of operation, and when wind-powered electricity generation permeability is high, it is defeated to reduce fuzzy control
Enter 1 value, reducing Wind turbines is to restore the maximal power tracing method of operation to carry out volume to other synchronous generator frequency modulation band
Outer active demand burden, to avoid the Secondary Disturbance of mains frequency recovery process.
4. the frequency support and control that a kind of double-fed fan motor unit according to claim 3 is optimized based on two stages power tracking
Method, which is characterized in that two fuzzy controls, the amplitude limit value range of input are [0 1], and corresponding domain range is also all provided with
For [0 1]；Control output kfDomain range be set as [- 0.125 0.875]；Wherein, fuzzy control inputs α | Δ fs| domain
Be designed as { 0,0.125,0.25,0.375,0.5,0.625,0.75,0.875,1 }, corresponding fuzzy subset be NL, NM, NS,
NZ,Z,PZ,PS,PM,PL}；Fuzzy control inputDomain be { 0,0.2,0.4,0.6,0.8,1 }, fuzzy subset is
{NB,NM,NS,PS,PM,PL}；Export kfDomain be -0.125,0,0.125,0.25,0.375,0.5,0.625,075,
0.875 }, corresponding fuzzy subset is { NL, NM, NS, NZ, Z, PZ, PS, PM, PL }.
5. the frequency support and control that a kind of double-fed fan motor unit according to claim 3 is optimized based on two stages power tracking
Method, which is characterized in that consider that maximal power tracing method of operation Restoration stage occurs over just the raised bench of mains frequency recovery
Section, while from the dynamic characteristic for improving the support response of Wind turbines frequency, it is fuzzy using two fuzzy control inputs and 1
The fuzzy subset for controlling output, establishes fuzzy control rule: Gao Feng electricity permeability and mains frequency restore slow or low wind-powered electricity generation infiltration
Rate and mains frequency restore slow, by reducing kf, to restore k at a slow speedMPPT,t；When high wind-powered electricity generation permeability and fast frequency retrieval, pass through
Appropriateness increases kf, accelerate to restore k with appropriatenessMPPT,t；When low wind-powered electricity generation permeability and fast frequency retrieval, by increasing kf, extensive to accelerate
Multiple kMPPT,t。
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