CN110336305B - Improved additional frequency control method suitable for doubly-fed wind turbine generator to participate in system frequency adjustment under short circuit fault - Google Patents
Improved additional frequency control method suitable for doubly-fed wind turbine generator to participate in system frequency adjustment under short circuit fault Download PDFInfo
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Abstract
The invention discloses an improved additional frequency control method suitable for a doubly-fed wind turbine generator to participate in system frequency adjustment under a short-circuit fault, which belongs to the technical field of new energy, and aims at the limitation that conventional additional frequency control of a DFIG unit is only suitable for frequency fluctuation caused by load mutation and is difficult to meet the frequency adjustment of a complete process from occurrence of the short-circuit fault to failure release.
Description
Technical Field
The invention belongs to the technical field of new energy power systems and micro-grids, and particularly relates to an improved additional frequency control method suitable for a doubly-fed wind turbine generator to participate in system frequency adjustment under a short-circuit fault.
Background
The wind power resources in northwest areas of China are rich, large-scale wind power plants are used for centralized grid-connected power generation, and the large-scale wind power plants are remotely conveyed to a load center through high-voltage transmission lines to become a current development trend, so that the wind power permeability is continuously improved, and new challenges are brought to safe and stable operation of the system. The doubly-fed induction generator (DFIG) has the excellent characteristics of high power generation efficiency, small capacity of a frequency converter, capability of realizing active and reactive decoupling control and the like, and becomes a main power model of a large wind power plant. However, in the DFIG unit adopting a frequency converter control mode, the rotating speed of the unit rotor is decoupled from the system frequency, so that the equivalent rotational inertia of the system is reduced, and when the permeability is increased to a certain degree, the dynamic response capability of the system frequency is greatly weakened. In practice, the running range of the rotating speed of the DFIG unit is 0.7 pu-1.2 pu, the rotating kinetic energy far greater than that of the synchronous machine is reserved in the rotor, and if the coupling of the rotating speed of the rotor of the DFIG unit and the power grid frequency can be realized through a control strategy, the power grid frequency adjusting capability can be greatly improved.
The wind turbine generator is controlled to participate in system frequency modulation, and the frequency modulation characteristic of a synchronous machine is usually simulated by the wind turbine generator, and the common method comprises virtual inertia control and sagging control. The virtual inertia control and the sagging control are added frequency control modules in a rotor side control system of the wind turbine generator, the frequency change rate and the change quantity of the system are respectively introduced into the control system, and the rotational speed change is regulated through rapid power control to release or absorb the kinetic energy of the rotor so as to compensate or absorb the active power abrupt change quantity of the system. However, inertial control comes at the expense of frequency overshoot and transition time; droop control coefficients are not easily determined and excessive coefficients can make it difficult for the system to reach steady state. Besides adopting additional frequency control, some methods deduce the relation between the virtual inertia of the DFIG unit and the rotation speed regulation and the frequency change of the power grid, and the wind power tracking curve is regulated by detecting the frequency change of the system. In addition, aiming at the problem that the DFIG unit connected with a weak power grid influences the stability of the system due to the dynamic behavior of the PLL, active power control is adopted to replace the PLL technology in some methods to realize the synchronous operation of the DFIG unit and the power grid and provide inertia support. The conventional detection of the PLL can also be changed by using the PLL as part of the control system to control the inertia of the DFIG unit by controlling the PLL parameters to adjust the internal voltage without adding any additional control loop. Fans are usually operated in a maximum power tracking (Maximum Power Point Tracking, MPPT) mode, lack of spare capacity, and increase of virtual inertia of the fans can only participate in system frequency modulation for a short time. In order to expand the time scale of the wind turbine participating in frequency modulation, the wind turbine can be made to run under normal conditions by combining an overspeed method or a variable pitch method on the basis of additional frequency control, and a certain spare capacity is obtained to participate in primary frequency modulation of the system. The pitch method has slower response speed and mechanical abrasion, so that engineering application is limited, and the overspeed method becomes the first choice under the condition of meeting the load shedding level. However, reserved spare capacity limits the active power output of the normal operation of the wind turbine, and influences the economy and practicality of the wind turbine.
Disclosure of Invention
The control strategy proposed in the above study is mostly aimed at the frequency change caused by the disturbance of the system load, besides, the common disturbance causing the large change of the system frequency is also a line short-circuit fault: when the high-voltage transmission line has short-circuit fault, short-time power surplus occurs at the transmitting end, and when the fault relief line returns to normal operation, the power demand of the system on the transmitting end is increased instantaneously, and the power unbalance during the period can cause short-time and large-scale fluctuation of the frequency of the system at the transmitting end. Aiming at the situation, the inertia damping characteristic of the DFIG unit adopting the conventional additional frequency control in the whole process of occurrence, development and fault release of the short-circuit fault of the power transmission line is deeply researched, so that the limitation of the conventional additional frequency control is analyzed, and an improved additional frequency control strategy for the DFIG unit and system frequency adjustment is provided on the basis. When the power transmission line fails, the strategy corrects parameters in conventional additional frequency control of the DFIG unit according to the change rule of the system frequency in the complete process from the failure occurrence to failure release, so that the output of the DFIG unit is quickly adjusted along with the change of the system frequency, and the transient stability of the system is improved.
The invention mainly comprises two parts, wherein the first part is the limitation analysis of the conventional additional frequency control under the short-circuit fault. Based on the characteristic that the inertia damping characteristic of the DFIG unit changes along with the frequency in the whole process of fault occurrence, development and fault release under the conventional additional frequency control mode, the limitation of the strategy for frequency adjustment under the whole process of fault is analyzed, the conventional additional frequency control is suitable for frequency fluctuation caused by load mutation, and the frequency adjustment from the occurrence of short-circuit faults to the complete process of fault release is difficult to meet.
The second part is to provide an improved additional frequency control method suitable for the doubly-fed wind turbine generator to participate in system frequency adjustment under the condition of short circuit fault. Aiming at the limitation of frequency regulation of the conventional additional frequency control in the whole process of line short-circuit fault, an improved additional frequency control strategy of the wind power plant participating in system frequency regulation is provided, and when the power grid operates normally, the wind power generator set adopts MPPT control; when load fluctuation occurs in the system, the wind turbine generator adopts conventional additional frequency control to respond to the system frequency change, so that the transient stability of the system frequency is improved; when the power transmission line has short circuit fault, an improved additional frequency control strategy is adopted, parameters in conventional additional frequency control of the DFIG unit are corrected according to the frequency change rule of the system from the line fault to the normal operation recovery, the effective inertia damping characteristic of the whole process of the DFIG unit is maintained, the output is rapidly adjusted along with the frequency change of the system, and the dynamic response characteristic of the system frequency is improved.
The beneficial effects of the invention are as follows:
first, send-end frequency variation analysis: under the condition that the DFIG unit does not have additional frequency control, the system adopts MPPT control, the frequency fluctuation amplitude is maximum, the frequency during the fault period is the highest, the frequency after the fault is removed is the lowest and the frequency is reduced a lot; in contrast, the maximum deviation of the frequency is restrained to a certain extent by adopting the conventional additional frequency control, the maximum amplitude of the frequency during the fault period is reduced, the maximum frequency deviation during the frequency rising period is reduced, the minimum amplitude of the frequency after the fault is removed is improved, the maximum frequency deviation during the frequency falling period is reduced, and the DFIG unit plays an obvious role in inertial support in the frequency dynamic change process; after adopting the control of improvement additional frequency, the DFIG unit adjusts the rotational speed in time to release the kinetic energy stored in the rotor after the normal operation of the fault removal circuit is restored, increases the active output, effectively weakens the frequency offset, greatly reduces the frequency offset compared with the conventional additional frequency control, and obviously weakens the frequency oscillation trend in the later period of frequency modulation compared with the former two methods, so that the system quickly tends to be stable.
Second, additional power variation analysis: when no additional frequency control exists, the additional power is 0; in the case of conventional additional frequency control, the frequency deviation starts to drop from a maximum positive value to 0 after the short-circuit fault is removed in the case of improved additional frequency control, during which the additional power Δp generated by droop control 1 The positive power is changed into the negative power, so that the total additional power is increased to the positive power from the negative power controlled by the conventional additional power at the moment of fault removal, the DFIG unit timely adjusts the rotating speed to release kinetic energy by increasing the active reference value, and the active output of the unit is increased。
Third, DFIG unit output active power variation analysis: in the frequency mutation process, the DFIG unit operates in an MPPT mode without additional frequency control, outputs small-range fluctuation of active power, and hardly responds to system frequency change. By adopting conventional additional frequency control, after a short circuit fault occurs, the DFIG unit rapidly changes the output power of the DFIG unit along with the reference value of the active power through an additional power signal, the output power is instantaneously reduced, the rotation speed is increased due to the reduction of the output power, the fan is enabled to deviate from the MPPT mode to perform overspeed operation, the kinetic energy reserve of a rotor is increased, and a certain reserve capacity is reserved; after the fault is removed, the output power is increased instantly by the additional power signal and still lower than the mechanical power, the active power requirement of the system which is increased instantly cannot be met, then the active power output is increased gradually until the electromagnetic power is larger than the captured mechanical power, and the rotating speed starts to be reduced to release the active power. When the improved additional frequency control is adopted, after faults are removed, the additional power signal enables the output power to rise instantly to be larger than the captured mechanical power, the rotating speed is instantly reduced to release kinetic energy, and the active power is timely supplemented for the system.
Fourth, the rotational speed change analysis of the DFIG unit: when the DFIG unit does not have additional frequency control, in order to keep the optimal tip speed ratio, the rotating speed is only adjusted along with the change of wind speed, and cannot respond to the change of system frequency, and the rotating speed is always kept at 1pu. Under the condition of adopting conventional additional frequency control, the fan can respond to the change of the system frequency to adjust the rotating speed, the rotating speed is adjusted upwards along with the rising of the system frequency during the fault period, and the short-time surplus active power of the sending end system is absorbed. However, after the fault removal circuit resumes normal operation, the frequency shows a decreasing trend, but still higher than the rated value, and the additional power generated by the dominant droop control is related to the frequency deviation, and in a short period of time after the fault removal, the value of the additional power is opposite to the frequency change rate, so that the rotating speed of the fan still has an increasing trend, which is unfavorable for the rapid stabilization of the system frequency. Aiming at the problems existing in the conventional additional frequency control, the improved additional frequency control can enable the rotating speed of the fan to be quickly adjusted according to the change trend of the system frequency, the improved additional frequency control can timely reduce the rotating speed of the rotor after the frequency begins to drop, and the kinetic energy is released to provide active support for the system.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the description of the embodiments or technical solutions will be briefly described below.
FIG. 1 is a block diagram of a conventional additional frequency control scheme of the present invention adapted for a doubly-fed wind turbine generator to participate in an improved additional frequency control method for system frequency adjustment during a short circuit fault.
FIG. 2 is an improved additional frequency control block diagram of an improved additional frequency control method for a doubly-fed wind turbine generator to participate in system frequency regulation in the event of a short circuit fault according to the present invention.
FIG. 3 is a flowchart of an improved droop control algorithm for an improved additional frequency control method for participating in system frequency regulation in a doubly-fed wind turbine generator under a short circuit fault.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
The conventional additional frequency control method of the doubly-fed wind turbine generator is the basis of the invention, and omega is shown in a conventional additional frequency control block diagram of FIG. 1 r The rotor speed; p (P) ref The active power reference value of the rotor-side converter in the maximum power tracking mode is obtained; Δf is the system frequency f and the nominal frequency f N Is a deviation of (2). Additional active power ofThe conversion into a form similar to the conventional synchronous generator rotor motion equation is +.>The frequency modulation auxiliary power comprises two parts: ΔP 1 Simulating the static characteristic of active power of the synchronous generator set, and when the system frequency deviates, the response frequency of the set changes, and the active power in proportional relation with the frequency deviation term is increased; ΔP 2 And simulating inertial response characteristics of the synchronous generator set, and when the system frequency changes, regulating the rotating speed of the set to change, and injecting or absorbing active power in proportion to the frequency differentiation term. Additional frequency control to enable DFIG unit to be displayedThe droop control characteristics are also similar to the inertia of the synchronous machine rotor. When differentiating the control coefficient K d At > 0, a rotational inertia similar to that of a synchronous machine is produced, and differential control is also referred to as inertial control; when the proportion control coefficient K p At > 0, the damping coefficient can be increased to improve the frequency dynamic response capability, and the proportional control is also called droop control. The inertial control and droop control adjustment processes are different due to the different feedback signals. The inertia control is a transient process, and the frequency change rate is used as a feedback signal and is mainly used for damping frequency rapid change, so that larger active support can be provided at the initial moment of disturbance occurrence, the frequency change rate is close to zero near a frequency extreme point, and the active support is weaker; in contrast, the droop control additional signal is related to the frequency deviation, and is mainly used for reducing the frequency deviation of the system in most cases, but during transient frequency change caused by each disturbance of the power grid, the droop control is more damping, provides stronger active support near the frequency maximum point, and has weaker support effect at the initial moment of the disturbance occurrence, so that the control speed is slower than that of inertia control. The inertia control rapidity and the droop control persistence are effectively combined, so that the system has good dynamic frequency characteristics in the whole disturbance process.
When the system frequency is changed greatly, the rotating speed of the synchronous generator set is tightly coupled with the system frequency, so that the system frequency change can be timely responded, the kinetic energy of the rotor can be released or absorbed, particularly in the initial disturbance stage, the generator inertia directly influences the system frequency change rate and even the system stability. The equation of motion of the rotor of the synchronous generator is:h is the inertia constant of the generator set; Δω=ω - ω 0 Omega is the actual electrical angular velocity, omega 0 Is rated electrical angular velocity; p (P) M Is mechanical power; p (P) E Is electromagnetic power; d is a damping coefficient. DFIG units typically operate in MPPT mode without frequency response capability, and when their permeability is high, virtual inertial control is typically added to the DFIG unit to improve system frequency dynamicsAnd the additional frequency control links are added, so that the inertia of the system is increased. The conventional specific implementation method of the additional frequency control is to add frequency modulation auxiliary power on the basis of MPPT control of the wind turbine generator, wherein the additional power is from kinetic energy released or absorbed by rotor rotational speed.
The DFIG unit is connected with the grid in a concentrated manner and is transmitted to a load center through a high-voltage transmission line, when a three-phase short circuit fault occurs in a loop line in the high-voltage transmission line, and normal operation is released after the fault lasts for a certain time, under the condition that conventional additional frequency control is adopted in the process, the voltage of a machine end of the transmission line drops in the period from the occurrence of the short circuit fault to the release of the fault, the frequency of a transmitting end system rises sharply in the fault period, drops rapidly after the release of the fault, and the frequency of the system drops singly or rises differently from the situation that the frequency of the system drops singly or rises due to single sudden increase and sudden decrease of the load, and the short circuit fault continuously undergoes two processes of frequency rising and dropping from the occurrence to the release.
During the frequency rise, the additional power Δp generated by droop control and inertia control 1 And DeltaP 2 All are negative values, so that the active reference value at the rotor side is reduced, the rotor is controlled to accelerate, excess active power is absorbed, and the output power of the fan is reduced to damp the frequency rise of the system. The inertia control plays a dominant role at the initial moment of failure and provides stronger power support, while the droop control has weaker support at the initial moment of failure and gradually increases as the frequency deviation increases. After the fault is removed, the frequency starts to decline after rising to the maximum, the active demand of the system on the power generating set at the transmitting end is increased instantaneously, the power generating set is required to timely supplement the lack active power, and the power delta P generated by inertia control is controlled during the period 2 The zero crossing becomes positive, helping to increase the rotor side power reference, but inertial support is weaker. At this time, the frequency deviation is large, and the droop control generates power DeltaP 1 The effect is stronger, but the value is negative, so the total additional power is negative, the rotor side power reference value is still lower, the fan transmission magnetic power is smaller than the captured mechanical power, the rotor keeps accelerating trend, the kinetic energy can not be released to meet the active requirement of instantaneous surge of the system, the additional power finally becomes positive along with the gradual reduction of the frequency, and the rotor is opened at the same timeAnd starting the deceleration operation.
An improved additional frequency control method suitable for a doubly-fed wind turbine generator to participate in system frequency adjustment under a short circuit fault is provided, after a fault removal line resumes normal operation, the system frequency is greatly dropped due to an active demand which is increased instantaneously, and at the moment, if the advantage of rapid response of the rotating speed adjustment of a DFIG unit can be brought into play, the rotating speed of the DFIG unit is adjusted downwards to release kinetic energy, the active power shortage of the system is supplemented, the frequency modulation pressure of a synchronous unit is relieved, and the system can be helped to resume stable operation rapidly. The rotating speed of the DFIG unit is adjusted downwards, and the active power reference value of the rotor side is increased firstly, so that the output electromagnetic power of the fan is larger than the captured mechanical power. After the fault removal frequency begins to drop, the frequency deviation begins to drop from a positive maximum value, at the moment, the droop control with the dominant effect in the additional power is still negative, so that the output electromagnetic power is lower than the captured mechanical power, the fan rotor still has an accelerating trend, the wind turbine generator set is prevented from rapidly releasing kinetic energy, and the rapid drop of the system frequency is further aggravated.
If the additional power generated by the droop control becomes positive value from the time of the fault removal frequency falling to zero, the rotor side power reference value is increased instantaneously, so that the electromagnetic power is higher than the mechanical power captured by the fan, the speed reduction operation of the fan rotor is regulated, and the frequency of the kinetic energy damping system is released to fall. Aiming at the limitation of inertia damping characteristic analysis of a conventional additional frequency control strategy of the DFIG unit under the fault condition, the invention provides an improved additional frequency control strategy, which corrects a sagging control coefficient according to the change rule of system frequency in the complete process of short-circuit fault occurrence, development and fault release, so that the DFIG unit has effective inertia damping characteristic in the whole process, and the active output of the DFIG unit is timely adjusted along with the change of frequency. The implementation method for improving the additional frequency control strategy is shown in fig. 2, the specific implementation flow of the core algorithm improvement sagging control algorithm is shown in fig. 3,e, and when the system is normally operated or the system frequency change is caused by load disturbance, the value of e is 0, and the wind turbine generator adopts the conventional additional frequency control strategy; when the system is in short circuit fault to cause frequency change, the value of the trigger control signal e becomes 1, and the wind turbine adopts an improved additional frequency control strategy. The disturbance causing the great increase of the system frequency mainly comprises a load sudden decrease and a short-circuit fault, the load decrease causes the short-time increase of the voltage at the machine end, the short-circuit fault causes the great drop of the voltage at the machine end, and in order to distinguish the two disturbances, the voltage at the machine end and the change of the system frequency are simultaneously introduced as the basis for judging whether the short-circuit fault occurs, as shown in fig. 3, when the amplitude of the voltage at the machine end is lower than 0.9pu and the system frequency is higher than 50.1Hz, the system is judged to have the short-circuit fault, and the value of e is changed into 1. After the short circuit fault is removed, the value of e is kept to be 1, when the frequency starts to drop and is still higher than the rated value, the value of the additional power generated by the droop control is unchanged, the sign is changed, until the frequency is lower than the rated value, the value of e is changed to be 0, and the wind turbine generator resumes the conventional additional frequency control.
Claims (1)
1. An improved additional frequency control method suitable for a doubly-fed wind turbine generator to participate in system frequency adjustment under a short-circuit fault is characterized in that the wind turbine generator adopts MPPT control when a power grid normally operates; when load fluctuation occurs in the system, the wind turbine generator adopts conventional additional frequency control to respond to the system frequency change, so that the transient stability of the system frequency is improved; when the power transmission line breaks down, according to the change rule of the system frequency in the complete process from the fault occurrence to the fault release, the parameters in the conventional additional frequency control of the DFIG unit are corrected, so that the output of the DFIG unit is quickly adjusted along with the change of the system frequency, the transient stability of the system is improved, the effective inertia damping characteristic of the whole process of the DFIG unit is maintained, the output is quickly adjusted along with the change of the system frequency, and the dynamic response characteristic of the system frequency is improved;
according to the change rule of the system frequency in the complete process from the occurrence of the fault to the release of the fault, the specific mode for correcting the parameters in the conventional additional frequency control of the DFIG unit is as follows: after the normal operation of the fault removal circuit of the DFIG unit is recovered, the rotating speed of the DFIG unit is timely and downwards regulated to release kinetic energy stored in a rotor, active output is increased, so that the frequency offset is effectively weakened, the frequency oscillation trend is obviously weakened in the later period of frequency modulation, and the system is quickly and stably stabilized; after the short circuit fault occurs, the DFIG unit rapidly changes the output power along with the active power reference value through an additional power signal, the output power is instantaneously reduced, the rotation speed is increased due to the reduction of the output power, the fan is enabled to deviate from the MPPT mode to perform overspeed operation, the kinetic energy reserve of a rotor is increased, and a certain standby capacity is reserved; after the short circuit fault is removed, the frequency deviation starts to drop from the maximum positive value to 0, and the additional power generated by droop control is changed from positive to negative during the period, so that the total additional power is increased to positive from the negative number of the conventional additional control at the moment of fault removal, and the increase of the active reference value enables the DFIG unit to timely adjust the rotating speed to release kinetic energy, and the active output of the unit is increased; the rotating speed of the fan is quickly adjusted according to the change trend of the system frequency, the rotating speed is adjusted upwards along with the rising of the system frequency during the fault period, and the short-time surplus active power of the sending end system is absorbed; the rotating speed of the rotor can be timely reduced after the frequency begins to drop, and the kinetic energy is released to provide active support for the system.
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| CN110912158A (en) * | 2019-12-15 | 2020-03-24 | 兰州交通大学 | Multi-terminal flexible direct-current power transmission system frequency stability control method with wind power participating in frequency modulation |
| CN111092581B (en) * | 2019-12-24 | 2023-04-21 | 河北工业大学 | Model predictive control method with variable control period |
| CN112117768B (en) * | 2020-03-26 | 2022-09-23 | 广西大学 | Wind generating set subsection frequency modulation control method based on power tracking curve switching |
| CN111864814B (en) * | 2020-08-07 | 2022-02-11 | 华中科技大学 | Power grid frequency dynamic and power grid voltage dynamic optimization control method and device |
| CN113489028B (en) * | 2021-08-17 | 2024-06-04 | 中国华能集团清洁能源技术研究院有限公司 | Primary frequency modulation control method and control system for wind farm |
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