CN110739721A - voltage source type wind turbine generator set control method and system - Google Patents

voltage source type wind turbine generator set control method and system Download PDF

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CN110739721A
CN110739721A CN201910929486.XA CN201910929486A CN110739721A CN 110739721 A CN110739721 A CN 110739721A CN 201910929486 A CN201910929486 A CN 201910929486A CN 110739721 A CN110739721 A CN 110739721A
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synchronous generator
virtual synchronous
power
current
voltage
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秦世耀
代林旺
王瑞明
李少林
陈晨
张利
孙勇
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State Grid Corp of China SGCC
China Electric Power Research Institute Co Ltd CEPRI
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State Grid Corp of China SGCC
China Electric Power Research Institute Co Ltd CEPRI
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Abstract

The invention provides voltage source type wind power generator set control methods and systems, which comprise a grid-side converter, a virtual synchronous generator electromotive force amplitude value is obtained through calculation according to a generator-end voltage reference value and an actual measurement value of a wind power virtual synchronous generator, the rotational inertia of the virtual synchronous generator is adjusted according to the change condition of the angular speed of the virtual synchronous generator and the change of wind power, the electric angle of the virtual synchronous generator is obtained, the electromotive force amplitude value and the electric angle of the virtual synchronous generator are combined into a power grid through double closed-loop control and pulse width modulation, an outer-loop direct-current bus voltage deviation control and an inner-loop current follow-up control are adopted for the generator-side converter, the voltage source type wind power generator set control strategy provided by the invention is suitable for a weak power grid environment, the effect of supporting the power grid is achieved, the frequency fluctuation degree is effectively stabilized by combining wind power trend, the frequency change condition and dynamic adjustment of the rotational inertia, the influence on wind power is.

Description

voltage source type wind turbine generator set control method and system
Technical Field
The invention belongs to the field of new energy access and control
Background
With the large scale access of wind power to a power grid, the rotational speed-frequency decoupling characteristic of a wind turbine generator unit causes the wind turbine generator unit to lose quick response to system frequency, and in addition, the proportion of a traditional synchronous generator set is reduced, the equivalent inertia of a power system is further reduced by steps, the development trend of energy transformation is expected, renewable energy represented by wind power becomes of a main power supply of the system, and a scene of 100% wind power penetration rate is more desirable.
Disclosure of Invention
The invention provides voltage source type wind turbine generator control methods and systems, realizes rotor inertia adaptive adjustment control and machine side current following control by combining the angular speed, the electrical angle and the electromotive force of a grid side synchronous generator, solves the problem of great instability due to wind power when the generator is incorporated into a power grid, improves wind power active inertia supporting capacity by adding wind power factor correction in wind power inertia support, ensures the stability of the wind turbine generator, improves wind power grid-related characteristics, can adapt to weak power grid environment, dynamically adjusts the rotational inertia by combining predicted power trend and frequency change condition, and effectively stabilizes frequency fluctuation degree.
The adopted solution for realizing the purpose is as follows:
A voltage source type wind generating set control method, the improvement is that the method comprises:
a grid-side converter: calculating to obtain an electromotive force amplitude of the virtual synchronous generator according to a generator end voltage reference value and an actual measurement value of the wind power virtual synchronous generator; adjusting the rotational inertia of the virtual synchronous generator according to the change condition of the angular speed of the virtual synchronous generator and the change of the wind power, and further obtaining the electrical angle of the virtual synchronous generator; based on the electromotive force amplitude and the electrical angle of the virtual synchronous generator, the electromotive force amplitude and the electrical angle are subjected to double closed-loop control and pulse width modulation and then are merged into a power grid;
the opposite side converter: and adopting outer ring direct current bus voltage deviation control and inner ring current following control.
, the improvement of the invention comprises:
a grid-side converter: calculating to obtain an electromotive force amplitude of the virtual synchronous generator according to a generator end voltage reference value and an actual measurement value of the wind power virtual synchronous generator; adjusting the rotational inertia of the virtual synchronous generator according to the change condition of the angular speed of the virtual synchronous generator and the change of the wind power, and further obtaining the electrical angle of the virtual synchronous generator; based on the electromotive force amplitude and the electrical angle of the virtual synchronous generator, the electromotive force amplitude and the electrical angle are subjected to double closed-loop control and pulse width modulation and then are merged into a power grid;
the opposite side converter: and adopting outer ring direct current bus voltage deviation control and inner ring current following control.
In a second preferred embodiment, the improvement is that the calculation formula of the electromotive force amplitude of the virtual synchronous generator is as follows:
Figure BDA0002217722990000021
in which E is kup、kuiProportional and integral coefficients of the PI regulator, s is Laplace operator, UrefThe reference value is the terminal voltage reference value of the virtual synchronous generator, and U is the measured value of the terminal voltage;
wherein the virtual synchronous generator terminal voltage reference value UrefThe calculation formula of (a) is as follows:
Uref＝U0+kq(Qref-Q)
in the formula of U0For virtual synchronous generator terminal voltage rating, kqIs a proportionality coefficient, Q is an actual value of reactive power, QrefIs a reactive power instruction value;
wherein, virtual synchronous generator output reactive power actual value, the formula of calculating is as follows:
in the formula ua、ub、ucAnd ia、ib、icThe three-phase voltage and the current are respectively obtained by actually measuring a voltage transformer and a current transformer in the virtual synchronous generator.
The improvement of the third preferred technical scheme provided by the invention is that
Adjusting the rotational inertia of the virtual synchronous generator according to the change condition of the angular speed of the virtual synchronous generator and the change of the wind power, and further obtaining the electrical angle of the virtual synchronous generator comprises the following steps:
calculating to obtain a power ratio coefficient according to the predicted wind power at the next moment and the current available maximum wind power;
according to the power ratio coefficient, the angular speed of the virtual synchronous generator and the angular speed of the power grid are combined, and the rotational inertia of the current virtual synchronous generator is adjusted;
and obtaining the electrical angle of the virtual synchronous generator by combining the angular speed of the virtual synchronous generator and the angular speed of the power grid according to the rotational inertia of the current virtual synchronous generator.
In a fourth preferred aspect of the present invention, the improvement is that the calculation formula of the power ratio coefficient is as follows:
Figure BDA0002217722990000031
in which k is C1、C2Respectively the minimum value and the maximum value of the power ratio coefficient, Pmax1For predicted power at time next , Pmax0Is the current maximum available power.
The calculation formula of the rotational inertia of the virtual synchronous generator is as follows:
Figure BDA0002217722990000032
wherein J is, J0The initial moment of inertia is determined by an inertia time constant set by the unit; m is a frequency change rate coefficient used for correcting the amplitude of the frequency change rate; omegaDIs an angular frequency dead zone; omega is the angular velocity of the virtual synchronous generator; omega0Is the synchronous electric angular velocity of the power grid, k is the power ratio coefficient, and the predicted power P at the next momentmax1With the current maximum available power Pmax0And (4) determining the ratio.
The calculation formula of the electrical angle of the virtual synchronous generator is as follows:
Figure BDA0002217722990000041
wherein J is moment of inertia; omega0Synchronizing electrical angular velocity for the grid; t ism、TeMechanical torque and electromagnetic torque respectively; d is a damping coefficient; omega and theta are the angular speed and the electrical angle of the virtual synchronous generator respectively;
wherein the electromagnetic torque of the virtual synchronous generator and the mechanical torque of the virtual synchronous generator are as follows:
Figure BDA0002217722990000042
wherein P is that the active power of the virtual synchronous generator is approximately equal to the electromagnetic power Pe, and P isrefIs an active power reference command; the active power and the active power reference instruction of the virtual synchronous generator are calculated according to the following formula:
Figure BDA0002217722990000043
in the formula, ua, ub, uc, ia, ib and ic are three-phase voltage and current obtained by actual measurement of a voltage transformer and a current transformer in the virtual synchronous generator respectively, and k ispThe active-frequency droop coefficient is shown, and P0 is an initial value of active power;
the calculation formula of the initial value of the active power is as follows:
Figure BDA0002217722990000044
in the formula, koptFor optimal control coefficient, omega, of wind turbinew0Is the angular velocity of the blade rotation, d% is the active utilization, Pmax0Corresponding power, P, to the optimal power curve of the wind turbinenThe rated power of the wind turbine generator is obtained.
The fifth preferred technical scheme provided by the invention has the improvement that the machine side converter adopts outer ring direct current bus voltage deviation control and inner ring current following control, and the concrete steps are as follows:
collecting an actual value of the voltage of the direct current bus;
the deviation between the actual value and the reference value of the direct current bus voltage is adjusted by a PI controller to realize system decoupling control, and then an active current reference value of the machine side converter is obtained;
acquiring the actual active current value of the inner ring, and giving signals with different sizes from to the inner ring when the actual active current value of the inner ring deviates from the active current reference value of the machine side converter;
after the inner loop obtains the signal, the current is controlled, and the current following control is realized.
When the actual active current value of the inner ring is collected and has deviation with the active current reference value of the machine side converter, signals with different sizes from are given by the outer ring, and the signals comprise:
after the difference between the active current reference value of the machine side converter and the actual active current of the inner ring passes through the PI controller, a voltage compensation value is added to obtain a stator voltage q-axis component usq;
after the deviation of the reactive current reference value and the actual value is subjected to PI, voltage compensation is added to obtain a stator voltage d-axis component usd;
and the stator voltage q-axis component usq and the stator voltage d-axis component usd are input into a power grid after being subjected to space vector pulse width modulation.
The stator voltage dq axis component is derived from the following governing equation:
Figure BDA0002217722990000051
in the formula isd、isqAre dq-axis stator current components, respectively; l issq、LsqDq-axis inductance components, respectively; rsIs a generator stator resistor; omegasIs the electrical angular velocity of the generator rotor; ΨfIs a rotor permanent magnet flux linkage.
Based on the same inventive concept, the invention also provides a voltage source type wind generating set control system, which is improved by comprising a grid side converter control module and a machine side converter control module;
the grid-side converter control module is used for controlling the wind power virtual synchronous generator;
and the machine side converter control module is used for controlling the machine side converter by adopting outer ring direct current bus voltage deviation and inner ring current following.
Compared with the closest prior art, the invention has the following beneficial effects:
1. the invention provides a voltage source type wind turbine generator control method and a system, wherein a network side converter calculates to obtain a virtual synchronous generator electromotive force amplitude according to a generator terminal voltage reference value and a measured value of a wind virtual synchronous generator, adjusts the rotational inertia of the virtual synchronous generator according to the change condition of the angular speed and the change of the wind power of the virtual synchronous generator to further obtain the electric angle of the virtual synchronous generator, and is combined into a power grid after double closed-loop control and pulse width modulation based on the virtual synchronous generator electromotive force amplitude and the electric angle;
2. according to the voltage source type wind turbine generator control method and system, wind power factor correction is added in wind power inertia support, wind power active inertia support capacity is improved, stability of the wind turbine generator is guaranteed, wind power grid-related characteristics are improved, and the wind turbine generator control method and system can adapt to weak power grid environment;
3. the voltage source type wind generating set control method and system are combined with the predicted power trend and frequency change situation to dynamically adjust the rotational inertia, and the frequency fluctuation degree is effectively stabilized.
Drawings
FIG. 1 is a flow chart of a control method and a control system for voltage source type wind turbines provided by the invention;
FIG. 2 is a plot of the rotor oscillation angular frequency of a synchronous generator;
FIG. 3 is a control diagram of a grid-side converter of a wind turbine generator provided by the present invention;
FIG. 4 is a control diagram of a machine-side converter of a wind turbine generator provided by the present invention;
FIG. 5 is a general system diagram provided by the present invention;
FIG. 6 is a schematic diagram of the basic structure provided by the present invention;
fig. 7 is a detailed structural diagram provided by the present invention.
Detailed Description
The following provides a more detailed description of an embodiment of the invention, taken in conjunction with the accompanying drawings.
In the voltage source type wind turbine generator control method and system provided by the embodiment, a direct-drive permanent magnet wind turbine generator is taken as an example, a voltage source type virtual synchronous rotor inertia self-adaptive control mode is adopted, a grid-side converter controls active power and reactive power of the wind turbine generator, and a machine-side converter controls bus voltage.
Example 1:
the flow chart of the voltage source type wind turbine generator set control method provided by the invention is shown in fig. 1, and the general system diagram is shown in fig. 5, and the method comprises the following steps:
the specific control method is divided into two parts: grid side converter control and machine side converter control.
(1) Grid side converter control
① virtual synchronization control
Referring to a two-order model of a conventional synchronous generator, a rotor motion equation is shown as formula (1).
Figure BDA0002217722990000061
Wherein J is moment of inertia; omega0Synchronizing electrical angular velocity for the grid; t ism、TeMechanical torque and electromagnetic torque respectively; d is a damping coefficient; and omega and theta are the angular speed and the electrical angle of the virtual synchronous generator respectively.
Virtual synchronous generator outputs active power P and electromagnetic power P thereofeApproximately equal, mechanical torque TmElectromagnetic torque TeOutputs active power P and active power reference instruction P with virtual synchronous generatorrefIntervalveCan be represented by the formula (2).
In order to simulate the speed regulation and the voltage regulation processes of the synchronous generator, an equivalent mathematical model of the speed regulator and the excitation controller is established: active initial value P0The superposition angular frequency deviation value is used as an active reference value Pref(ii) a Reactive deviation value superposition generator terminal voltage rated value U0As a reference value U of the terminal voltage of the virtual synchronous generatorrefSpecifically, the formula is (3).
Figure BDA0002217722990000072
In the formula, kpIs the active-frequency droop coefficient, P0Is an initial value of active power, kqIs a proportionality coefficient, Q is an actual value of reactive power, QrefIs a reactive power command value, U0For virtual synchronous generator terminal voltage rating, UrefIs a virtual synchronous generator terminal voltage reference value.
UrefThe difference value of the measured value U of the generator terminal voltage is obtained through a PI regulator to obtain the electromotive force amplitude E of the virtual synchronous generator, as shown in formula (4), wherein kup、kuiProportional and integral coefficients of the PI regulator are respectively, and s is a Laplace operator.
Figure BDA0002217722990000073
The virtual synchronous generator outputs active power P and reactive power Q which can be obtained by calculating in the step (5):
in the formula ua、ub、ucAnd ia、ib、icAnd respectively outputting three-phase voltage and current for the virtual synchronous generator.
In the wind power system, because wind power input mechanical power is uncontrollable, in order to ensure that the wind turbine generator has the power rising capacity of maintaining times, namely responding to the times of frequency modulation process of the system, d% of wind power reserved rated power is used as a standby power and can be expressed as follows:
Figure BDA0002217722990000075
in the formula, koptFor optimal control coefficient, omega, of wind turbinew0Is the angular velocity of the blade rotation, d% is the active utilization, Pmax0Corresponding power, P, to the optimal power curve of the wind turbinenThe rated power of the wind turbine generator is obtained.
② rotor inertia adaptive selection
When the active power of the system is reduced to a certain value, the oscillation curve of the angular frequency of the rotor of the synchronous generator is shown in fig. 2.
From a physical perspective, at t1-t2In the time period, the virtual rotor angular speed of the virtual synchronous generator is smaller than the grid angular speed (omega < omega)0) And the deviation gradually increases, the angular speed change rate d omega/dt is less than 0(d omega/dt < 0), and the increase of the angular speed and the d omega/dt needs to be limited by larger rotational inertia. At t2-t3In the time period, the virtual rotor angular speed of the virtual synchronous generator is still smaller than the grid angular speed (omega < omega)0) However, the deviation is gradually reduced, the angular speed change rate d omega/dt is larger than 0, and the virtual rotor speed is quickly restored to the rated value by using smaller rotational inertia. Similarly, t3-t4And t1-t2Same, t4-t5And t2-t3The same will not be described again.
However, for wind power systems, the effect of wind power variations must be considered due to the uncontrollable input mechanical power, power P when predicted at the next timemax1Less than the current maximum power available Pmax0(Pmax1＜Pmax0) When the wind turbine generator supporting capacity is reduced, the rotor inertia is properly reduced to avoid the actual large drop of the rotor speed of the wind turbine generator, and when the predicted work at the time of is lessRate Pmax1Greater than (or equal to) the current Pmax0(Pmax1≥Pmax0) In time, namely the supporting capacity of the wind turbine generator is enhanced, the inertia of the rotor is properly increased, and the inertia support of the system is improved.
According to the analysis, values of the inertia of the rotor under different conditions can be obtained, and the value is specifically shown as the formula (7).
Figure BDA0002217722990000081
In the formula, J0The initial moment of inertia is constants as a given reference value, is determined by an inertia time constant set by a unit, and is set according to the existing standard (Q/GDW 11826-2018 standard recommends Tj-4 s-12s), according to the formula:
Figure BDA0002217722990000082
calculating J0; m is a frequency change rate coefficient used for correcting the amplitude of the frequency change rate; omegaDIs angular frequency dead zone, k is power ratio coefficient, and the predicted power P at the next timemax1With the current maximum available power Pmax0And (4) determining the ratio.
J, angular velocity and d omega/dt influence each other, in a low-frequency event, when the change rate d omega/dt is large, J is increased to inhibit d omega/dt change, the angular velocity amplitude is reduced, meanwhile, the actual rotor rotating speed of the wind generation set is also greatly reduced (the process of releasing rotor kinetic energy), along with the reduction of d omega/dt, the wind generation set reduces J according to d omega/dt, the supporting force of the wind generation set is reduced, the situation that the rotating speed of the wind generation set is too low (the rotating speed is too low, the frequency is prone to secondary falling deeper) is avoided, automatic correction processes are achieved, and balances are finally achieved.
The d omega/dt is jointly influenced by series such as load, a power grid and a wind generating set J, the change J is set optimization, the J is automatically adjusted according to the frequency change condition and wind power, the safety of the wind generating set is guaranteed, meanwhile, effective support is provided for the power grid, the frequency response characteristic of the system is optimized, and contributions to the system are provided.
Considering the large range of predicted power changes that may be caused by wind gusts, k needs to be properly limited, as shown in equation (8).
Figure BDA0002217722990000091
In the formula, C1、C2The power ratio coefficient is respectively set to be the minimum value and the maximum value.
Overall, the active power k proportional to the angular frequency deviationp(ω-ω0) Adding an active power value P0 reserved with d% Pn as an active reference value Pref, and obtaining an electromotive force electrical angle theta through a rotor motion equation formed by time-varying moment of inertia J by making a difference between the Pref and an active actual value P; the difference between the reference reactive power Qref and the reactive actual value Q is obtained through a droop coefficient kq, an upper generator terminal voltage rated value U0 is superposed to be used as a voltage reference value Uref, and the difference between Uref and the actual voltage value U is obtained through a PI controller to obtain an electromotive force amplitude; the theta and the E are subjected to double closed-loop control and PWM modulation to obtain a grid-side converter switch control signal; the process is shown in a control block diagram of a wind turbine generator network side, as shown in the attached figure 3, wherein U is a measured value of the terminal voltage of the virtual synchronous generator, E is the electromotive force amplitude of the virtual synchronous generator, and sabcFor the switching signal of the grid-side converter, the PWM modulation is Pulse Width Modulation (PWM).
(2) Machine side converter control
According to the prior art, the voltage control equation of the machine-side converter of the permanent magnet synchronous generator is shown as the formula (9).
Figure BDA0002217722990000092
In the formula usd、usqDq-axis stator voltage components, respectively; i.e. isd、isqAre dq-axis stator current components, respectively; l issq、LsqDq-axis inductance components, respectively; rsIs a generator stator resistor; omegasIs the electrical angular velocity of the generator rotor; ΨfIs a rotor permanent magnet flux linkage.
The method includes that a wind turbine generator side converter adopts double closed loop control, an outer ring controls direct current bus voltage, deviation of a voltage reference value Udc and actual voltage Udc is adjusted through a PI controller to achieve system decoupling control, an active current reference value isq of the wind turbine generator side converter is obtained, deviation exists between the voltage reference value Udc and actual active current isq of an inner ring, current is controlled by the inner ring for signals with different sizes from , current following control is achieved, wherein voltage compensation values are added to the difference between the isq and the actual active current isq after the difference is achieved through the PI controller, voltage q axis components usq are obtained, similarly, deviation between a reactive current reference value isd and the actual values is achieved through PI, voltage compensation is added, voltage d axis components usd are obtained, the usq and usd are subjected to SVPWM to obtain a wind turbine generator side converter control signal, and SVPWM (space Vector Pulse Width modulation) is combined with analysis, and a wind turbine generator side converter control block diagram is obtained, and is shown in figure 4.
Example 2:
based on the same conception, the invention also provides a voltage source type wind turbine generator control system, and because the principle of solving the technical problems of the devices is similar to that of the voltage source type wind turbine generator control method, repeated parts are not repeated.
The basic structure diagram of the system is shown in fig. 6, and comprises: the system comprises a network side converter control module and a machine side converter control module;
the grid-side converter control module is used for controlling the wind power virtual synchronous generator;
and the machine side converter control module is used for controlling the machine side converter by adopting outer ring direct current bus voltage deviation and inner ring current following.
The grid-side converter control module comprises an electromotive force amplitude acquisition unit, an electrical angle acquisition unit and a power grid unit, wherein the power grid unit is merged with the electromotive force amplitude acquisition unit, and a detailed structural schematic diagram of voltage source type wind turbine generator control systems is shown in FIG. 7;
the electromotive force amplitude acquisition unit is used for calculating to obtain the electromotive force amplitude of the virtual synchronous generator according to the generator end voltage reference value and the measured value of the wind power virtual synchronous generator;
the electrical angle acquisition unit is used for adjusting the rotational inertia of the virtual synchronous generator according to the change condition of the angular speed of the virtual synchronous generator and the change of the wind power so as to obtain the electrical angle of the virtual synchronous generator;
and the merging power grid unit is used for merging the electromotive force amplitude and the electrical angle of the virtual synchronous generator into a power grid after double closed-loop control and pulse width modulation.
The machine side converter control module comprises: the device comprises a voltage actual value acquisition unit, a voltage deviation adjustment unit, an output signal unit, a current following control unit, a stator voltage acquisition unit and a power grid merging unit;
the voltage actual value acquisition unit is used for acquiring the actual value of the voltage of the direct current bus;
the voltage deviation adjusting unit is used for adjusting the deviation between the actual value and the reference value of the direct-current bus voltage through the PI controller to realize system decoupling control, and then obtaining an active current reference value of the machine side converter;
the output signal unit is used for acquiring the actual active current value of the inner ring, and when the actual active current value of the inner ring deviates from the active current reference value of the machine side converter, the outer ring gives signals with sizes not equal to to the inner ring;
the current following control unit is used for controlling the current after the inner loop obtains the signal and realizing the current following control;
the stator voltage obtaining unit is used for obtaining a stator voltage q-axis component usq by adding a voltage compensation value after a difference between an active current reference value of the machine side converter and an actual active current of the inner ring passes through the PI controller; similarly, after the deviation between the reactive current reference value and the actual value is subjected to PI, voltage compensation is added to obtain a stator voltage d-axis component usd;
and the merging power grid unit is used for inputting the two stator voltage components into a power grid after space vector pulse width modulation.
Moreover, the present application may take the form of a computer program product embodied on or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
It is to be understood that each flow and/or block in the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions which can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flow diagram flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application and not for limiting the scope of protection thereof, and although the present application is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: numerous variations, modifications, and equivalents will occur to those skilled in the art upon reading the present application and are within the scope of the claims appended hereto.

Claims (10)

1, kinds of voltage source type wind generating set control method, characterized by comprising:
a grid-side converter:
calculating to obtain an electromotive force amplitude of the virtual synchronous generator according to a generator end voltage reference value and an actual measurement value of the wind power virtual synchronous generator;
adjusting the rotational inertia of the virtual synchronous generator according to the change condition of the angular speed of the virtual synchronous generator and the change of the wind power, and further obtaining the electrical angle of the virtual synchronous generator;
based on the electromotive force amplitude and the electrical angle of the virtual synchronous generator, the electromotive force amplitude and the electrical angle are subjected to double closed-loop control and pulse width modulation and then are merged into a power grid;
and the machine side converter adopts outer ring direct current bus voltage deviation control and inner ring current following control.
2. The method of claim 1, wherein the virtual synchronous generator electromotive force magnitude is calculated as follows:
Figure FDA0002217722980000011
in which E is kup、kuiProportional and integral coefficients of the PI regulator, s is Laplace operator, UrefThe reference value is the terminal voltage reference value of the virtual synchronous generator, and U is the measured value of the terminal voltage;
wherein the virtual synchronous generator terminal voltage reference value UrefThe calculation formula of (a) is as follows:
Uref＝U0+kq(Qref-Q)
in the formula of U0For virtual synchronous generator terminal voltage rating, kqIs a proportionality coefficient, Q is an actual value of reactive power, QrefIs a reactive power instruction value;
wherein, virtual synchronous generator output reactive power actual value, the formula of calculating is as follows:
Figure FDA0002217722980000012
in the formula ua、ub、ucAnd ia、ib、icThe three-phase voltage and the current are respectively obtained by actually measuring a voltage transformer and a current transformer in the virtual synchronous generator.
3. The method of claim 1, wherein the adjusting the moment of inertia of the virtual synchronous generator according to the change of the angular velocity of the virtual synchronous generator and the change of the wind power to obtain the electrical angle of the virtual synchronous generator comprises:
calculating to obtain a power ratio coefficient according to the predicted wind power at the next moment and the current available maximum wind power;
according to the power ratio coefficient, the angular speed of the virtual synchronous generator and the angular speed of the power grid are combined, and the rotational inertia of the current virtual synchronous generator is adjusted;
and obtaining the electrical angle of the virtual synchronous generator by combining the angular speed of the virtual synchronous generator and the angular speed of the power grid according to the rotational inertia of the current virtual synchronous generator.
4. The method of claim 3, wherein the power ratio coefficient is calculated as follows:
Figure FDA0002217722980000021
in which k is C1、C2Respectively the minimum value and the maximum value of the power ratio coefficient, Pmax1For predicted power at time next , Pmax0Is the current maximum available power.
5. The method of claim 3, wherein the virtual synchronous generator rotational inertia is calculated as follows:
Figure FDA0002217722980000022
wherein J is, J0The initial moment of inertia is determined by an inertia time constant set by the unit; m is a frequency change rate coefficient used for correcting the amplitude of the frequency change rate; omegaDIs an angular frequency dead zone; omega is the angular velocity of the virtual synchronous generator; omega0Is the synchronous electric angular velocity of the power grid, k is the power ratio coefficient, and the predicted power P at the next momentmax1With the current maximum available power Pmax0And (4) determining the ratio.
6. The method of claim 3, wherein the electrical angle of the virtual synchronous generator is calculated as follows:
Figure FDA0002217722980000023
wherein J is moment of inertia; omega0Synchronizing electrical angular velocity for the grid; t ism、TeMechanical torque and electromagnetic torque respectively; d is a damping coefficient; omega and theta are the angular speed and the electrical angle of the virtual synchronous generator respectively;
wherein the electromagnetic torque of the virtual synchronous generator and the mechanical torque of the virtual synchronous generator are as follows:
wherein P is that the active power of the virtual synchronous generator is approximately equal to the electromagnetic power Pe, and P isrefIs an active power reference command; the active power and the active power reference instruction of the virtual synchronous generator are calculated according to the following formula:
Figure FDA0002217722980000031
in the formula, ua, ub, uc, ia, ib and ic are three-phase voltage and current obtained by actual measurement of a voltage transformer and a current transformer in the virtual synchronous generator respectively, and k ispThe active-frequency droop coefficient is shown, and P0 is an initial value of active power;
the calculation formula of the initial value of the active power is as follows:
Figure FDA0002217722980000032
in the formula, koptFor optimal control coefficient, omega, of wind turbinew0Is the angular velocity of the blade rotation, d% is the active utilization, Pmax0Corresponding power, P, to the optimal power curve of the wind turbinenThe rated power of the wind turbine generator is obtained.
7. The method as claimed in claim 1, wherein the machine side converter adopts outer-loop direct-current bus voltage deviation control and inner-loop current following control, and the method comprises the following specific steps:
collecting an actual value of the voltage of the direct current bus;
the deviation between the actual value and the reference value of the direct current bus voltage is adjusted by a PI controller to realize system decoupling control, and then an active current reference value of the machine side converter is obtained;
acquiring the actual active current value of the inner ring, and giving signals with different sizes from to the inner ring when the actual active current value of the inner ring deviates from the active current reference value of the machine side converter;
after the inner loop obtains the signal, the current is controlled, and the current following control is realized.
8. The method as claimed in claim 7, wherein said collecting the actual active current value of the inner loop, when there is deviation from the active current reference value of the machine side converter, the outer loop gives signals with magnitude different from to the inner loop, which includes:
after the difference between the active current reference value of the machine side converter and the actual active current of the inner ring passes through the PI controller, a voltage compensation value is added to obtain a stator voltage q-axis component usq;
after the deviation of the reactive current reference value and the actual value is subjected to PI, voltage compensation is added to obtain a stator voltage d-axis component usd;
and the stator voltage q-axis component usq and the stator voltage d-axis component usd are input into a power grid after being subjected to space vector pulse width modulation.
9. The method of claim 8, wherein the stator voltage dq axis component is derived from the following governing equation:
Figure FDA0002217722980000033
in the formula isd、isqAre dq-axis stator current components, respectively; l issq、LsqDq-axis inductance components, respectively; rsIs a generator stator resistor; omegasIs the electrical angular velocity of the generator rotor; ΨfIs a rotor permanent magnet flux linkage.
10, voltage source type wind generating set control system, which is characterized in that the system comprises a network side converter control module and a machine side converter control module;
the grid-side converter control module is used for controlling the wind power virtual synchronous generator;
and the machine side converter control module is used for controlling the machine side converter by adopting outer ring direct current bus voltage deviation and inner ring current following.
CN201910929486.XA 2019-09-27 2019-09-27 voltage source type wind turbine generator set control method and system Pending CN110739721A (en)

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