CN109728590A - Self-adaptive control method for wind turbine generator to participate in primary frequency modulation - Google Patents
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Abstract
The invention discloses a self-adaptive control method for a wind turbine generator to participate in primary frequency modulation, which is characterized in that firstly, a self-adaptive virtual inertia parameter K of a fan is deduced by combining the self characteristic of the fan and the current rotation kinetic energy of a fan rotor1,tThe dynamic expression of (2); and further determining the self-adaptive unit regulation power K of the fan by combining the current output level and the current load shedding level of the fan2,t(ii) a Finally combining the self-adaptive virtual inertia parameter K of the fan1,tWith fan fromAdapted to unit regulation power K2,tThe structure of the primary frequency modulation control module of the fan is provided, and the functions of self-adaptive virtual inertia control and self-adaptive droop control are realized at the same time. The invention not only can reasonably and effectively utilize the primary frequency modulation capability of the fan, but also can improve the adaptability of the fan to a large-disturbance scene and avoid the occurrence of possible fault conditions.
Description
Technical Field
The invention relates to a self-adaptive control method for a wind turbine generator to participate in primary frequency modulation, and belongs to the technical field of primary frequency modulation of a fan at variable wind speed.
Background
At present, most of fans are not provided with speed regulators, and the rotating speed of the fans is decoupled from the system frequency, so that when the system frequency changes, the fans cannot change the output of a prime motor to participate in system frequency adjustment like a conventional unit, and cannot momentarily inhibit the system frequency change by changing the rotating kinetic energy of the fans, which undoubtedly influences the system frequency safety.
This situation is more severe with increasing wind permeability. Wind energy is increasingly gaining attention as a clean energy source. And the fan has similar frequency modulation capability to the conventional unit, which becomes a hot research problem. With the infiltration of wind power, the power grid is correspondingly changed in frequency modulation:
(1) the frequency modulation capacity needs to be increased. In order to compensate for the uncertainty, which increases the frequency modulation redundancy required to maintain the system in steady operation even in the event of fluctuations, the wind uncertainty will cause the fan output to no longer be steady, which also increases the overall system uncertainty. The needed frequency modulation reserve can be provided by the wind power plant according to the corresponding proportion of the generating capacity, and the needed frequency modulation total amount is determined by combining with the conventional unit.
(2) The system inertia decreases. Because most of the fans adopted at present are decoupled from the system frequency in terms of rotating speed, when the system frequency changes, the fans cannot temporarily support the change of the frequency by increasing or reducing the rotating kinetic energy of the fans, so that the change of the frequency is quicker, and the inertia is reduced. Therefore, an inertia control module can be added into the controller to simulate an inertia control process similar to that of a conventional unit.
(3) The droop curve slope will no longer be constant. Due to the change of the wind speed, the frequency modulation capacity of the fan is changed correspondingly. If a fixed adjustment factor is used, it is possible that the frequency modulation capacity to be provided by the fan will exceed its maximum value and take it off-line. The dynamic droop curve is adopted to enable the fan with large wind power to output more force and the fan with small wind power to output less force, so that the stability of the system is guaranteed.
Disclosure of Invention
The purpose is as follows: in order to overcome the defects in the prior art, the invention provides a self-adaptive control method for a wind turbine generator to participate in primary frequency modulation.
The technical scheme is as follows: in order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a self-adaptive control method for a wind turbine generator to participate in primary frequency modulation comprises the following steps:
step S1: in order to coordinate the fan and the original conventional unit of the system to perform primary frequency modulation of the system, a virtual inertia control module and a droop control module are added into a fan control module to form a fan primary frequency modulation control module;
step S2: according to the self characteristics of the fan and the current rotation kinetic energy of the fan rotor, a self-adaptive virtual inertia parameter K is deduced1,tThe dynamic expression of (2);
step S3: further determining the self-adaptive unit adjusting power K by combining the current output level and the current load shedding level of the fan2,t；
Step S4: adaptive virtual inertia parameter K combined with fan1,tSelf-adaptive unit regulation power K of harmonic fan2,tThe structure of the primary frequency modulation control module of the fan is provided, and the functions of self-adaptive virtual inertia control and self-adaptive droop control are realized at the same time.
As a preferred scheme, the specific expression of the fan primary frequency modulation control module is as follows:
in the formula, Pm_ref: the active power reference value (MW) of the fan is acted by a primary frequency modulation control module of the fan; pdel,t: active power (MW) after the load of the fan is reduced at the moment t; delta P1: active power increment (MW) after virtual inertia control; delta P2: active gain (MW) after droop control; k1,t: self-adaptive virtual inertia parameters of the fan; k2,t: the fan self-adapts to unit regulation power; f: system actual frequency (Hz); Δ f: the system actual frequency deviation (Hz).
Preferably, the step S2 specifically includes the following steps:
s2-1: rotational kinetic energy E of the fan rotor1The calculation expression is as formula (2), and the rotation kinetic energy E of the rotor of the synchronous generator at the rated rotation speed2Calculating the expression as formula (3), and adding E1When the equivalence reaches the rated rotating speed of the synchronous generator, the rotating kinetic energy of the rotor before and after the equivalence is kept unchanged as shown in formula (4), and finally J can be obtained1And J2The relational expression of (a), as shown in formula (5);
E1＝E2(4)
then the process of the first step is carried out,
in the actual system operation process, the fluctuation range of the rotating speed of the synchronous generator is small, so w is approximately equal to wnNamely, the formula (5) is always established;
in the formula, J1: actual rotor moment of inertia (kg m) of fan2)；J2: equivalent rear synchronous generator rotor moment of inertia (kg.m)2)；wcurrent: the current actual rotor speed (rad/s) of the fan; w: actual rotor speed (rad/s) of the synchronous generator after system disturbance; w is an: rated rotor speed (rad/s) of the synchronous generator;
s2-2: when frequency disturbance exists in the system, the power released by the rotor kinetic energy of the equivalent synchronous generator set is as follows:
wherein,
in the formula,the rotation kinetic energy (J) of the rotor is obtained by the synchronous generator at the actual rotating speed; hw: a fan inertia time constant(s); w is arate: rated rotor speed of the fan (rad/s); pWN: rated power (MW) of the fan;
s2-3: and (3) synthesizing the analysis to obtain a dynamic expression of the virtual inertia control of the fan, wherein the dynamic expression is shown as a formula (8), and obtaining a self-adaptive virtual inertia parameter K of the fan according to the formula1,tIs given by the formula (9):
in the formula (f)n: amount of systemConstant frequency (Hz).
Preferably, the adaptive unit adjusting power K2,tThe specific expression is as follows:
in the formula, K2,t: the fan self-adapts to unit regulation power; dt: the current load shedding level (%) of the fan at the time t; pt: the current maximum output (MW) of the fan at the moment t; Δ fmax: system frequency maximum allowed deviation (Hz).
Preferably, the step S4 specifically includes the following steps:
s4-1: the expression of the active total increment delta P of the fan after the action of the primary frequency modulation control module of the fan is as the following formula (11), and the active total increment delta P is converted into a transfer function expression form as the following formula (12):
ΔP(s)＝ΔP1(s)+ΔP2(s)＝-K1,ts·f(s)-K2,tΔf(s) (12)
wherein, Δ P: the total active power increment (MW), delta P(s), delta P (P) of the fan after the action of the primary frequency modulation control module of the fan1(s)、ΔP2(s), f(s), Δ f(s) are transfer function expression forms of the corresponding quantities;
s4-2: the current actual rotor rotating speed w of the fancurrentFeeding back the data to a virtual inertia control part in a primary frequency modulation control module of the fan to continuously adjust the self-adaptive virtual inertia parameter K of the fan1,tSo that the fan can rotate according to the current rotation kinetic energy E of the rotor1And rate of change of system frequencyTo determine the active increment Δ P1；
S4-3: current load reduction level d of fan at t momenttActive power P of the fan after load shedding at the moment tdel,tAs input of droop control part in primary frequency modulation control module, for adjusting self-adaptive unit regulation power K of fan2,tThereby enabling the fan to reduce the load capacity d according to the current loadtPtDetermining an active increment delta P from the system actual frequency deviation delta f2。
Preferably, the method further comprises step S5: when the rotating speed of the fan rotor is reduced, K1,tThe speed is reduced, so that the release of the rotational kinetic energy of the rotor is reduced, and the accidental shutdown caused by the over-small rotating speed of the fan is effectively avoided; on the contrary, when the rotating speed of the fan rotor is increased, K1,tThe fan will provide greater inertial support for the system.
Has the advantages that: the invention provides a self-adaptive control method for a wind turbine generator to participate in primary frequency modulation, which is used for automatically and dynamically adjusting a primary frequency modulation control parameter K according to randomness and fluctuation of wind power and by combining self characteristics of a fan and the actual running state of the current fan1,t、K2,tThe method and the device have the advantages that the parameter setting of the controller is matched with the randomly changed running conditions of the system, the primary frequency modulation capability of the fan actually is reasonably and effectively utilized, meanwhile, the adaptability of the fan to a large-disturbance scene can be improved, and the possible fault situation is avoided. The advantages are that:
1. the method provided by the invention does not need to set the optimal primary frequency modulation control parameter of the wind turbine generator, thereby avoiding a fussy optimization process, and meanwhile, the control parameter can realize the automatic adjustment of the fan without manual intervention;
2. the method provided by the invention can enable the wind turbine generator to adaptively adjust the parameter K according to the change of the wind speed1,t、K2,tThe parameter setting of the controller is matched with the randomly changed running condition of the system, and the primary frequency modulation capability of the fan is reasonably and effectively utilized;
3. the method provided by the invention can improve the adaptability of the wind turbine generator set to a large-disturbance scene, avoid the occurrence of possible fault conditions, and especially can improve the stability of the wind turbine generator set in a low-speed running state.
Drawings
Fig. 1 is a schematic diagram of the present invention.
The reference numbers in the figures illustrate: k1,t: self-adaptive virtual inertia parameters of the fan; k2,t: the fan self-adapts to unit regulation power; pdel,t: active power of the fan after load shedding at time t; pm_ref: the reference value of the active power of the fan is acted by a primary frequency modulation control module of the fan; w is acurrent: the current actual rotor speed of the fan; f. ofsys: the system actually measures the frequency; f. ofn: a system rated frequency; dt: the load shedding level of the fan at the moment t; kH: a high pass filter proportionality constant; t isH: a high pass filter time constant; kL: a low pass filter proportionality constant; t isL: a low pass filter time constant.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, in order to enable a wind turbine and an original conventional wind turbine to jointly realize primary frequency modulation of a system, inertia control and droop control are added to a wind turbine control module so that the wind turbine has inertia support and frequency modulation performance similar to that of the conventional wind turbine. The parameters of the primary frequency modulation control module of the fan mainly comprise a virtual inertia constant K1And the unit regulated power K2Usually, the value is set to be a constant, and the reasonable setting of the value is difficult.
For randomness and fluctuation of wind speedFirstly, the self-characteristics of the fan and the current rotation kinetic energy of the fan rotor are combined to deduce a fan self-adaptive virtual inertia parameter K1,tThe dynamic expression of (2); and further determining the self-adaptive unit regulation power K of the fan by combining the current output level and the current load shedding level of the fan2,t(ii) a Finally combining the self-adaptive virtual inertia parameter K of the fan1,tSelf-adaptive unit regulation power K of harmonic fan2,tThe structure of the primary frequency modulation control module of the fan is provided, and the functions of self-adaptive virtual inertia control and self-adaptive droop control are realized at the same time. The method comprises the following specific steps:
step S1: in order to coordinate a fan and an original conventional unit of a system to perform primary frequency modulation of the system, virtual inertia control and droop control are added into a fan control module to form a fan primary frequency modulation control module, so that the fan has inertia support and frequency modulation performance similar to that of the conventional unit, and a specific expression of the fan primary frequency modulation control module is as follows:
in the formula, Pm_ref: the active power reference value (MW) of the fan is acted by a primary frequency modulation control module of the fan; pdel,t: active power (MW) after the load of the fan is reduced at the moment t; delta P1: active power increment (MW) after virtual inertia control; delta P2: active gain (MW) after droop control; k1,t: self-adaptive virtual inertia parameters of the fan; k2,t: the fan self-adapts to unit regulation power; f: system actual frequency (Hz); Δ f: the system actual frequency deviation (Hz).
Step S2: according to the self characteristics of the fan and the current rotation kinetic energy of the fan rotor, a self-adaptive virtual inertia parameter K is deduced1,tThe dynamic expression of (2).
The method specifically comprises the following steps:
s2-1: rotational kinetic energy E of the fan rotor1The calculation expression is as formula (2), and the rotation kinetic energy E of the rotor of the synchronous generator at the rated rotation speed2Calculating the expression as formula (3), and adding E1When the equivalence reaches the rated rotating speed of the synchronous generator, the rotating kinetic energy of the rotor before and after the equivalence is kept unchanged as shown in formula (4), and finally J can be obtained1And J2Is shown in formula (5).
E1＝E2(4)
Then the process of the first step is carried out,
in the actual system operation process, the fluctuation range of the rotating speed of the synchronous generator is small, so w is approximately equal to wnThat is, equation (5) is always true.
In the formula, J1: actual rotor moment of inertia (kg m) of fan2)；J2: equivalent rear synchronous generator rotor moment of inertia (kg.m)2)；wcurrent: the current actual rotor speed (rad/s) of the fan; w: actual rotor speed (rad/s) of the synchronous generator after system disturbance; w is an: the synchronous generator is rated for rotor speed (rad/s).
S2-2: when frequency disturbance exists in the system, the power released by the rotor kinetic energy of the equivalent synchronous generator set is as follows:
wherein,
in the formula,the rotation kinetic energy (J) of the rotor is obtained by the synchronous generator at the actual rotating speed; hw: a fan inertia time constant(s); w is arate: rated rotor speed of the fan (rad/s); pWN: fan rated power (MW).
S2-3: and (3) synthesizing the analysis to obtain a dynamic expression of the virtual inertia control of the fan, wherein the dynamic expression is shown as a formula (8), and obtaining a self-adaptive virtual inertia parameter K of the fan according to the formula1,tIs given by the formula (9):
in the formula (f)n: the system nominal frequency (Hz).
K1,tThe self-adaptive setting of (A) can enable the fan to automatically adjust the released rotational kinetic energy according to the self running state, and when the rotational speed of the rotor of the fan is reduced, K is set1,tThe speed is reduced, so that the release of the rotational kinetic energy of the rotor is reduced, and the accidental shutdown caused by the over-small rotating speed of the fan is effectively avoided; on the contrary, when the rotating speed of the fan rotor is increased, K1,tThe fan will provide greater inertial support for the system.
Step S3: further determining the self-adaptive unit adjusting power K by combining the current output level and the current load shedding level of the fan2,t。
The method comprises the following specific steps: when the fan adopts fixed droop control, the output change of the fan caused by the unit frequency change of the system is the same no matter the wind speed is high or low, and the flexible and efficient utilization of wind energy is not facilitated. In order to reasonably utilize the reserve capacity of a large-scale wind power plant and fully play the primary frequency modulation capability of the wind power plant, the unit regulation power of the wind turbine is adaptively determined by combining the current output level and the current load shedding level of the wind turbine:
in the formula, K2,t: the fan self-adapts to unit regulation power; dt: the current load shedding level (%) of the fan at the time t; pt: the current maximum output (MW) of the fan at the moment t; Δ fmax: system frequency maximum allowed deviation (Hz).
Step S4: adaptive virtual inertia parameter K combined with fan1,tSelf-adaptive unit regulation power K of harmonic fan2,tThe structure of the primary frequency modulation control module of the fan is provided, and the functions of self-adaptive virtual inertia control and self-adaptive droop control are realized at the same time.
The method comprises the following specific steps:
s4-1: the expression of the active total increment delta P of the fan after the action of the primary frequency modulation control module of the fan is as the following formula (11), and the active total increment delta P is converted into a transfer function expression form as the following formula (12):
ΔP(s)＝ΔP1(s)+ΔP2(s)＝-K1,ts·f(s)-K2,tΔf(s) (12)
and according to the corresponding transfer function expression, the basic structure of the primary frequency modulation control module of the fan can be further obtained.
Wherein, Δ P: the total active power increment (MW), delta P(s), delta P (P) of the fan after the action of the primary frequency modulation control module of the fan1(s)、ΔP2(s), f(s), Δ f(s) are transfer function expression forms of the corresponding quantities。
S4-2: the current actual rotor rotating speed w of the fancurrentFeeding back the data to a virtual inertia control part in a primary frequency modulation control module of the fan to continuously adjust the self-adaptive virtual inertia parameter K of the fan1,tSo that the fan can rotate according to the current rotation kinetic energy E of the rotor1And rate of change of system frequencyTo determine the active increment Δ P1；
S4-3: current load reduction level d of fan at t momenttActive power P of the fan after load shedding at the moment tdel,tAs input of droop control part in primary frequency modulation control module, for adjusting self-adaptive unit regulation power K of fan2,tThereby enabling the fan to reduce the load capacity d according to the current loadtPtDetermining an active increment delta P from the system actual frequency deviation delta f2。
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (6)
1. A self-adaptive control method for a wind turbine generator to participate in primary frequency modulation is characterized by comprising the following steps: the method comprises the following steps:
step S1: in order to coordinate the fan and the original conventional unit of the system to perform primary frequency modulation of the system, a virtual inertia control module and a droop control module are added into a fan control module to form a fan primary frequency modulation control module;
step S2: according to the self characteristics of the fan and the current rotation kinetic energy of the fan rotor, a self-adaptive virtual inertia parameter K is deduced1,tThe dynamic expression of (2);
step S3: further determining the self-adaptive unit adjusting power K by combining the current output level and the current load shedding level of the fan2,t；
Step S4: adaptive virtual inertia parameter K combined with fan1,tSelf-adaptive unit regulation power K of harmonic fan2,tThe structure of the primary frequency modulation control module of the fan is provided, and the functions of self-adaptive virtual inertia control and self-adaptive droop control are realized at the same time.
2. The adaptive control method for the wind turbine generator to participate in the primary frequency modulation according to claim 1, characterized in that: the specific expression of the primary frequency modulation control module of the fan is as follows:
in the formula, Pm_ref: the active power reference value (MW) of the fan is acted by a primary frequency modulation control module of the fan; pdel,t: active power (MW) after the load of the fan is reduced at the moment t; delta P1: active power increment (MW) after virtual inertia control; delta P2: active gain (MW) after droop control; k1,t: self-adaptive virtual inertia parameters of the fan; k2,t: the fan self-adapts to unit regulation power; f: system actual frequency (Hz); Δ f: the system actual frequency deviation (Hz).
3. The adaptive control method for the wind turbine generator to participate in the primary frequency modulation according to claim 1, characterized in that: the step S2 specifically includes the following steps:
s2-1: rotational kinetic energy E of the fan rotor1The calculation expression is as formula (2), and the rotation kinetic energy E of the rotor of the synchronous generator at the rated rotation speed2Calculating the expression as formula (3), and adding E1When the equivalence reaches the rated rotating speed of the synchronous generator, the rotating kinetic energy of the rotor before and after the equivalence is kept unchanged as shown in formula (4), and finally J can be obtained1And J2The relational expression of (a), as shown in formula (5);
E1＝E2(4)
then the process of the first step is carried out,
in the actual system operation process, the fluctuation range of the rotating speed of the synchronous generator is small, so w is approximately equal to wnNamely, the formula (5) is always established;
in the formula, J1: actual rotor moment of inertia (kg m) of fan2)；J2: equivalent rear synchronous generator rotor moment of inertia (kg.m)2)；wcurrent: the current actual rotor speed (rad/s) of the fan; w: actual rotor speed (rad/s) of the synchronous generator after system disturbance; w is an: rated rotor speed (rad/s) of the synchronous generator;
s2-2: when frequency disturbance exists in the system, the power released by the rotor kinetic energy of the equivalent synchronous generator set is as follows:
wherein,
in the formula,the rotation kinetic energy (J) of the rotor is obtained by the synchronous generator at the actual rotating speed; hw: a fan inertia time constant(s); w is arate: rated rotor speed of the fan (rad/s); pWN: rated power (MW) of the fan;
S2-3: and (3) synthesizing the analysis to obtain a dynamic expression of the virtual inertia control of the fan, wherein the dynamic expression is shown as a formula (8), and obtaining a self-adaptive virtual inertia parameter K of the fan according to the formula1,tIs given by the formula (9):
in the formula (f)n: the system nominal frequency (Hz).
4. The adaptive control method for the wind turbine generator to participate in the primary frequency modulation according to claim 1, characterized in that: the adaptive unit regulated power K2,tThe specific expression is as follows:
in the formula, K2,t: the fan self-adapts to unit regulation power; dt: the current load shedding level (%) of the fan at the time t; pt: the current maximum output (MW) of the fan at the moment t; Δ fmax: system frequency maximum allowed deviation (Hz).
5. The adaptive control method for the wind turbine generator to participate in the primary frequency modulation according to claim 1, characterized in that: the step S4 specifically includes the following steps:
s4-1: the expression of the active total increment delta P of the fan after the action of the primary frequency modulation control module of the fan is as the following formula (11), and the active total increment delta P is converted into a transfer function expression form as the following formula (12):
ΔP(s)＝ΔP1(s)+ΔP2(s)＝-K1,ts·f(s)-K2,tΔf(s) (12)
wherein, Δ P: the total active power increment (MW), delta P(s), delta P (P) of the fan after the action of the primary frequency modulation control module of the fan1(s)、ΔP2(s), f(s), Δ f(s) are transfer function expression forms of the corresponding quantities;
s4-2: the current actual rotor rotating speed w of the fancurrentFeeding back the data to a virtual inertia control part in a primary frequency modulation control module of the fan to continuously adjust the self-adaptive virtual inertia parameter K of the fan1,tSo that the fan can rotate according to the current rotation kinetic energy E of the rotor1And rate of change of system frequencyTo determine the active increment Δ P1；
S4-3: current load reduction level d of fan at t momenttActive power P of the fan after load shedding at the moment tdel,tAs input of droop control part in primary frequency modulation control module, for adjusting self-adaptive unit regulation power K of fan2,tThereby enabling the fan to reduce the load capacity d according to the current loadtPtDetermining an active increment delta P from the system actual frequency deviation delta f2。
6. The adaptive control method for the wind turbine generator to participate in the primary frequency modulation according to claim 1, characterized in that: further comprising step S5: when the rotating speed of the fan rotor is reduced, K1,tThe speed is reduced, so that the release of the rotational kinetic energy of the rotor is reduced, and the accidental shutdown caused by the over-small rotating speed of the fan is effectively avoided; on the contrary, when the rotating speed of the fan rotor is increased, K1,tThe fan will provide greater inertial support for the system.
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| CN111900743A (en) * | 2020-07-28 | 2020-11-06 | 南京东博智慧能源研究院有限公司 | Wind power frequency modulation potential prediction error distribution estimation method |
| CN112600225A (en) * | 2020-12-14 | 2021-04-02 | 华中科技大学 | Control method and system for primary frequency modulation of wind storage system |
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