CN110994668A - Stability analysis method based on output impedance model of doubly-fed wind power plant grid-connected system - Google Patents

Stability analysis method based on output impedance model of doubly-fed wind power plant grid-connected system Download PDF

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CN110994668A
CN110994668A CN201911035761.XA CN201911035761A CN110994668A CN 110994668 A CN110994668 A CN 110994668A CN 201911035761 A CN201911035761 A CN 201911035761A CN 110994668 A CN110994668 A CN 110994668A
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doubly
grid
impedance model
fed wind
fed
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刘福潮
何欣
拜润卿
常鸿
史玉杰
陈仕彬
刘文飞
张旭军
张刚
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State Grid Corp of China SGCC
Xian University of Technology
State Grid Gansu Electric Power Co Ltd
Electric Power Research Institute of State Grid Gansu Electric Power Co Ltd
Lanzhou University of Technology
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State Grid Corp of China SGCC
Xian University of Technology
State Grid Gansu Electric Power Co Ltd
Electric Power Research Institute of State Grid Gansu Electric Power Co Ltd
Lanzhou University of Technology
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Abstract

The invention relates to the technical field of new energy power generation grid-connected stability control, in particular to a stability analysis method based on a double-fed wind power plant grid-connected system output impedance model, which comprises the following steps of establishing a double-fed fan small-signal output impedance model considering three parts of a phase-locked loop, a current loop and a power loop under a synchronous rotating coordinate system, obtaining the double-fed wind power plant grid-connected small-signal impedance model of the synchronous rotating coordinate system through the double-fed fan output impedance model, establishing a power grid small-signal impedance model under the synchronous rotating coordinate system, calculating the ratio of the double-fed wind power plant output impedance to the power grid impedance, and judging the stability of the wind power plant grid-connected system according to a generalized Nyquist: the method can be used for analyzing the stability of the grid-connected system of the doubly-fed wind power plant and provides a powerful theoretical basis for analyzing the subsynchronous/supersynchronous oscillation caused by the fact that the large-scale wind power plant is merged into a power grid.

Description

Stability analysis method based on output impedance model of doubly-fed wind power plant grid-connected system
Technical Field
The invention relates to the technical field of new energy power generation grid-connected stability control, in particular to a stability analysis method based on a double-fed wind power plant grid-connected system output impedance model.
Background
The problem of grid-connected stable operation of a large wind power plant is a hot point of research at home and abroad at present. Due to the increase of wind power permeability and the fact that new energy power plants in China are mostly located in remote areas, the transmission line is long, equivalent electrical impedance is increased, the power grid is in a weak power grid trend, and the serious stability problem is caused by interaction of a double-fed wind power grid-connected system and the power grid.
At present, the main analysis methods include an impedance analysis method and a modal analysis method due to subsynchronous/supersynchronous oscillation caused by new energy grid connection. The impedance analysis method has clear physical concept and strong intuition, and simplifies the complexity of stability analysis compared with a modal analysis method. The principle is that small signal output impedance models of a new energy grid-connected system and an alternating current power grid are respectively established, the system is converted into a multi-input multi-output system under a synchronous rotating coordinate system, and then stability analysis is carried out on the system according to the generalized Nyquist criterion.
The existing impedance analysis method for the double-fed wind turbine generator is mainly used for analyzing by using a single machine, and the impedance analysis method for a multi-machine system does not analyze various coefficients and operation conditions in a wind power plant. Therefore, the method for analyzing the stability of the doubly-fed wind power plant under different operating conditions based on the output impedance model of the doubly-fed wind power plant grid-connected system has important significance.
Disclosure of Invention
The invention aims to overcome the technical defects and provides a stability analysis method based on an output impedance model of a grid-connected system of a double-fed wind power plant. The method can be used for analyzing the stability of the grid-connected system of the doubly-fed wind power plant, and provides a theoretical basis for analyzing the subsynchronous/supersynchronous oscillation caused by the parallel connection of the large-scale wind power plant into the grid.
In order to achieve the object, the present invention adopts the following embodiments:
a stability analysis method based on a doubly-fed wind power plant grid-connected system output impedance model comprises the following steps:
1) establishing a small signal impedance model of a main circuit of the doubly-fed wind turbine generator under a synchronous rotating coordinate system;
2) establishing a small signal impedance model considering a current loop, a phase-locked loop and a power loop under a synchronous coordinate system on the basis of a small signal impedance model of a main circuit of the double-fed wind turbine generator;
3) obtaining a small signal impedance model of the double-fed wind power plant under a synchronous coordinate system through equivalent aggregation;
4) establishing a power grid impedance model under a synchronous coordinate system;
5) the doubly-fed wind power plant grid-connected system is equivalent to a multi-input multi-output system, a return rate matrix of the system is obtained, namely a power grid impedance matrix is multiplied by a doubly-fed wind power plant impedance matrix, and the stability of the system can be judged according to the generalized Nyquist criterion.
Further, the small signal impedance model of the doubly-fed motor in the step 1) is as follows:
Zdfig＝(Giss+GirsGsr+GdeGirrGissK1+GdeGirrGsrK2)-1·(GdeGirrK3+E)
K1＝Gci-Gd1
Figure BDA0002251443620000021
Figure BDA0002251443620000022
further, in order to obtain a small-signal impedance model of the doubly-fed motor in the step 1), when viewed from a grid-connected point to the doubly-fed motor side, a relationship between a stator current and a stator voltage needs to be obtained, so that small-signal disturbance needs to be added to the grid-connected point voltage, which is defined as follows:
Figure BDA0002251443620000031
wherein U issdAnd UsqAnd respectively are steady-state working points of the stator voltage under a synchronous rotating coordinate system.
Further, the disturbance voltage small-signal impedance model of the current loop of the doubly-fed motor in the step 2) is as follows:
Figure BDA0002251443620000032
wherein:
Figure BDA0002251443620000033
Figure BDA0002251443620000034
Figure BDA0002251443620000035
further, the phase-locked loop of the doubly-fed motor in the step 2) is mainly used for carrying out phase detection on three-phase voltage of the power grid to obtain a coordinate transformation angle delta theta of a dq axis coordinate systemPLLProviding a reference for coordinate transformation for the system; the main performance of the method is that when the grid-connected point voltage is disturbed, the disturbance quantity of the grid-connected point voltage is introduced into each variable of a system through a phase-locked loop; the relationship between the phase-locked loop dq coordinate system and the system dq coordinate system variables is as follows:
Figure BDA0002251443620000036
and (3) carrying out small signal processing on the formula (7) to obtain:
Figure BDA0002251443620000037
the delta thetaPLLThe expression of (a) is:
Figure BDA0002251443620000041
wherein:
Figure BDA0002251443620000042
wherein
Figure BDA0002251443620000043
Is the d-axis component of the static working point of the stator current under the dq coordinate system,
Figure BDA0002251443620000044
and
Figure BDA0002251443620000045
respectively, the proportionality coefficient and the integral coefficient of the phase-locked loop.
Further, the small signal impedance model of the power loop of the doubly-fed motor in the step 2) is as follows:
Figure BDA0002251443620000046
wherein:
Figure BDA0002251443620000047
further, in the step 3), an impedance model of the doubly-fed wind farm with n doubly-fed wind turbines with the same type number is obtained through equivalent aggregation:
Figure BDA0002251443620000048
further, the doubly-fed wind farm output impedance model can be expressed in the form of a second-order matrix:
Figure BDA0002251443620000049
wherein: zdd，Zdq，Zqd，ZqqAre each ZDFIGDd, dq, qd, qq axis components of (a).
Further, the power grid impedance model in the step 4) is expressed in a second-order matrix form:
Figure BDA00022514436200000410
the invention has the beneficial effects that: the method can be used for analyzing the stability of the grid-connected system of the doubly-fed wind power plant, providing a basis for improving the system stability under different power grid strengths, different fan numbers and in the design of a controller of the doubly-fed wind generating set, and providing a powerful theoretical basis for subsynchronous/supersynchronous oscillation caused by a large-scale wind power grid-connected system.
Drawings
Fig. 1 is a grid-connected system of a double-fed wind power plant of the invention.
FIG. 2 is a vector control small signal model of the doubly-fed wind turbine generator system.
Fig. 3 is a small signal block diagram of the doubly-fed motor of the present invention.
Fig. 4 is an equivalent MIMO system of the present invention.
FIG. 5 is a graph of impedance frequency sweep bode according to the present invention.
FIG. 6 is a plot of the root trace of the characteristic of the slew rate matrix for different short circuit ratios according to the present invention.
FIG. 7 shows the terminal voltage current of the present invention.
FIG. 8 is a characteristic root matrix of the recurrence rate matrix under different RSC proportional integrals according to the present invention.
FIG. 9 is a graph of the effect of RSC side proportional integration on stator side current in accordance with the present invention.
FIG. 10 is a characteristic root matrix of the rate matrix without proportional integral of the phase-locked loop according to the present invention.
Detailed Description
The structure and the beneficial effects of the invention are further explained in the following by combining the attached drawings.
The stability analysis method based on the output impedance model of the grid-connected system of the doubly-fed wind farm includes the steps of establishing a small signal output impedance model of a wind turbine generator considering a current loop, a phase-locked loop and a power loop through a small signal model of vector control of the doubly-fed wind turbine generator by using a small signal disturbance analysis method, aggregating the equivalent values of the small signal output impedance model to obtain a small signal output impedance model of the doubly-fed wind farm, and then establishing the small signal impedance model of a power grid. Fig. 1 shows a grid-connected system of a double-fed wind farm.
The vector control model of the doubly-fed wind turbine is shown in FIG. 2, and the specific modeling and analyzing process of the doubly-fed wind power plant grid-connected system is as follows;
1) firstly, establishing a small signal impedance model of a main circuit of the doubly-fed wind turbine generator under a synchronous rotating coordinate system;
2) establishing a small signal impedance model considering a current loop, a phase-locked loop and a power loop under a synchronous coordinate system on the basis of a small signal impedance model of a main circuit of the double-fed wind turbine generator;
3) obtaining a small signal impedance model of the double-fed wind power plant under a synchronous coordinate system through equivalent aggregation;
4) establishing a power grid impedance model under a synchronous coordinate system;
5) the doubly-fed wind power plant grid-connected system is equivalent to a multi-input multi-output system, and a return rate matrix of the system is obtained, namely a power grid impedance matrix is multiplied by a doubly-fed wind power plant impedance matrix. The stability of the system can be judged according to the generalized Nyquist criterion.
In order to obtain a small-signal impedance model of the doubly-fed motor, the relation between the stator current and the stator voltage needs to be obtained when a grid-connected point is viewed towards the doubly-fed motor side. Therefore, small signal disturbance needs to be added to the grid-connected point voltage, which is defined as follows:
Figure BDA0002251443620000061
wherein U issdAnd UsqRespectively, obtaining expressions of the stator current disturbance quantity, the rotor current disturbance quantity and the rotor voltage disturbance quantity by the stable working points of the stator voltage under the synchronous rotating coordinate system: expressions of the rotor current disturbance amount and the stator voltage disturbance amount:
Figure BDA0002251443620000062
Figure BDA0002251443620000063
a＝Rr+s[Lrr-kLm 2(Lssωs 2+LLsss2+Rss)]+Lm 2Rskω2ωs
b＝ω2[Lrr-kLm 2(Lssωs 2+Lsss2+Rss)]-Lm 2Rskωss
c＝Lmk[Lss(s2+ω2ωs)+sRs]
d＝Lmk[Lssωss-ω2(Rs+Lsss)](18)
wherein k is 1/Lss 2ωs 2+Lss 2s2+2LssRss+Rs 2，GirsAnd GirrRespectively, small signal disturbance transfer functions of stator and rotor voltages to rotor currents.
In the same way, expressions of the rotor current disturbance quantity and the stator voltage disturbance quantity can be obtained:
Figure BDA0002251443620000071
Figure BDA0002251443620000072
wherein k is1＝LmLssωs 2+LmLsss2+LmRss，GsrAnd GissSmall signal disturbance transfer functions for rotor current and stator voltage to stator current, respectively. Then the small signal block diagram of the main circuit of the doubly-fed machine can be obtained according to equation (17) and equation (20) as shown in fig. 3.
As can be seen from fig. 3, the main circuit output impedance of the doubly-fed machine is:
Zo＝(Giss+GsrGirs)-1(21)
the current loop of the double-fed motor mainly realizes decoupling control of exciting current and active current. The small signal model of the disturbance voltage passing through the RSC current loop is as follows:
Figure BDA0002251443620000073
wherein:
Figure BDA0002251443620000074
Figure BDA0002251443620000081
Figure BDA0002251443620000082
the phase-locked loop of the double-fed motor is mainly used for carrying out phase detection on three-phase voltage of a power grid to obtain a coordinate transformation angle delta theta of a dq-axis coordinate systemPLLAnd providing a reference for coordinate transformation for the system. The main performance of the method is that when the grid-connected point voltage is disturbed, the disturbance quantity of the grid-connected point voltage is introduced into various variables of a system through a phase-locked loop. The relationship between the phase-locked loop dq coordinate system and the system dq coordinate system variables is as follows:
Figure BDA0002251443620000083
the small signal processing is carried out on the formula (26) to obtain:
Figure BDA0002251443620000084
Δ θ is given belowPLLThe expression of (a) is:
Figure BDA0002251443620000085
wherein:
Figure BDA0002251443620000086
wherein
Figure BDA0002251443620000087
Is the d-axis component of the static working point of the stator current under the dq coordinate system,
Figure BDA0002251443620000088
and
Figure BDA0002251443620000089
respectively, the proportionality coefficient and the integral coefficient of the phase-locked loop.
And (28) is brought into (27) and x represents different physical quantities, and a transfer function matrix of grid-connected voltage to the stator and rotor currents and the stator and rotor voltages through a phase-locked loop is obtained:
Figure BDA00022514436200000810
Figure BDA0002251443620000091
the output active and reactive power small signal models of the doubly-fed motor are as follows:
Figure BDA0002251443620000092
wherein:
Figure BDA0002251443620000093
then, according to fig. 2, the output impedance model of the doubly-fed motor can be obtained as follows:
Zdfig＝(Giss+GirsGsr+GdeGirrGissK1+GdeGirrGsrK2)-1·(GdeGirrK3+E)
K1＝Gci-Gd1
Figure BDA0002251443620000094
Figure BDA0002251443620000095
obtaining an impedance model of the doubly-fed wind power plant with n doubly-fed wind turbines with the same type number through equivalent aggregation:
Figure BDA0002251443620000096
and finally, the output impedance model of the doubly-fed wind power plant can be expressed in a form of a second-order matrix:
Figure BDA0002251443620000097
wherein: zdd，Zdq，Zqd，ZqqAre each ZDFIGDd, dq, qd, qq axis components of (a). The impedance model of the power grid is also in a second-order matrix form:
Figure BDA0002251443620000101
the grid-connected system of the doubly-fed wind farm is equivalent to a multiple-input multiple-output (MIMO) system, and the equivalent MIMO system is shown in fig. 4. Wherein:
Zsys(s)＝ZDFIG(s) (37)
then, stability analysis is carried out through generalized Nyquist criterion, and the judgment rate matrix Z is judgedG(s)/Zsys(s) the Nyquist curve of the eigenvalues is summed up the number of times that the point (-1, j0) is rounded counterclockwise to judge the stability of the closed-loop system. The system influence of the running state, grid-connected condition and control system characteristic of the doubly-fed wind power plant on the system stability can be more vividly observed.
The frequency scanning result of the doubly-fed wind farm output impedance model is shown in fig. 5. In fig. 5, the gray line is the output impedance calculation result, and the circle is the simulation test result. The correctness of the established doubly-fed wind power plant output impedance model is verified.
Fig. 6 shows the root trace diagram of the rate matrix under different short-circuit ratios, and it is seen from the diagram that the eigenvalue of the rate matrix gradually approaches the (-1, j0) point as the short-circuit ratio is gradually reduced, which illustrates that the system gradually destabilizes as the short-circuit ratio is reduced.
Fig. 7 shows the time domain simulation results, and it can be seen that the short circuit ratio is reduced to 1 by 3 at ten seconds. The machine terminal voltage current divergence oscillation is unstable, which shows that the system is in the unstable oscillation state at the moment, and the accuracy of fig. 6 is verified.
The number of different grid-connected fans in the wind power plant is known by the return rate matrix, the larger the number of the grid-connected fans is, the more the equivalent inductance of the power grid is actually increased, and therefore the short circuit ratio is reduced, namely the larger the number of the grid-connected fans is, the smaller the short circuit ratio is, and the more unstable oscillation of the system is.
Fig. 8 shows the root locus diagram of the rate matrix under different rotor-side proportional integral coefficients, and it can be seen that the root locus gradually moves away from the (-1, j0) point as the proportional integral is reduced, and the system tends to be stable. Fig. 9 shows a stator current waveform under time domain simulation, and it can be seen that after the rotor-side proportional integral is changed from 0.3 to 0.5 at ten seconds, the system is instable for a short time and then tends to converge. This can be seen in fig. 8 because at a proportional integral of 0.5, the eigenvalue trace of the rate matrix is seen to have just reached the (-1, j0) point, which is just at the boundary of the instability.
As can be seen from fig. 10, as the proportional integral of the phase-locked loop increases, the eigenvalue trace of the system rate matrix gradually bypasses the (-1, j0) point. The method can be obtained that the doubly-fed wind power plant grid-connected system gradually loses stability along with the increase of the proportional integral of the phase-locked loop, and finally generates oscillation.
Through the simulation example, the small-signal impedance model of the doubly-fed wind power plant grid-connected system provided by the invention can be used for analyzing the stability of the doubly-fed wind power plant grid-connected system, and provides a basis for improving the stability of the system under different power grid strengths, different fan quantities and in the design of a doubly-fed wind generator set controller, and provides a powerful theoretical basis for subsynchronous/supersynchronous oscillation caused by a large-scale wind power grid-connected system.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. A stability analysis method based on a doubly-fed wind power plant grid-connected system output impedance model is characterized by comprising the following steps:
1) establishing a small signal impedance model of a main circuit of the doubly-fed wind turbine generator under a synchronous rotating coordinate system;
2) establishing a small signal impedance model considering a current loop, a phase-locked loop and a power loop under a synchronous coordinate system on the basis of a small signal impedance model of a main circuit of the double-fed wind turbine generator;
3) obtaining a small signal impedance model of the double-fed wind power plant under a synchronous coordinate system through equivalent aggregation;
4) establishing a power grid impedance model under a synchronous coordinate system;
5) the doubly-fed wind power plant grid-connected system is equivalent to a multi-input multi-output system, a return rate matrix of the system is obtained, namely a power grid impedance matrix is multiplied by a doubly-fed wind power plant impedance matrix, and the stability of the system can be judged according to the generalized Nyquist criterion.
2. The stability analysis method based on the output impedance model of the doubly-fed wind farm grid-connected system according to claim 1 is characterized in that: the small signal impedance model of the doubly-fed motor in the step 1) is as follows:
Zdfig＝(Giss+GirsGsr+GdeGirrGissK1+GdeGirrGsrK2)-1·(GdeGirrK3+E)
K1＝Gci-Gd1
Figure FDA0002251443610000011
Figure FDA0002251443610000012
3. the stability analysis method based on the output impedance model of the doubly-fed wind farm grid-connected system according to claim 1 is characterized in that: in the step 1), in order to obtain a small-signal impedance model of the doubly-fed motor, when a grid-connected point is viewed from a doubly-fed motor side, a relationship between a stator current and a stator voltage needs to be obtained, so that small-signal disturbance needs to be added to the grid-connected point voltage, and the definition is as follows:
Figure FDA0002251443610000013
wherein U issdAnd UsqAnd respectively are steady-state working points of the stator voltage under a synchronous rotating coordinate system.
4. The stability analysis method based on the output impedance model of the doubly-fed wind farm grid-connected system according to claim 1 is characterized in that: the disturbance voltage small signal impedance model of the current loop of the doubly-fed motor in the step 2) is as follows:
Figure FDA0002251443610000021
wherein:
Figure FDA0002251443610000022
Figure FDA0002251443610000023
Figure FDA0002251443610000024
5. the stability analysis method based on the output impedance model of the doubly-fed wind farm grid-connected system according to claim 1 is characterized in that: the phase-locked loop of the double-fed motor in the step 2) is mainly used for carrying out phase detection on three-phase voltage of the power grid to obtain a coordinate transformation angle delta theta of a dq axis coordinate systemPLLProviding a reference for coordinate transformation for the system; the main performance of the method is that when the grid-connected point voltage is disturbed, the disturbance quantity of the grid-connected point voltage is introduced into each variable of a system through a phase-locked loop; the relationship between the phase-locked loop dq coordinate system and the system dq coordinate system variables is as follows:
Figure FDA0002251443610000025
and (3) carrying out small signal processing on the formula (7) to obtain:
Figure FDA0002251443610000026
the delta thetaPLLThe expression of (a) is:
Figure FDA0002251443610000027
wherein:
Figure FDA0002251443610000028
wherein
Figure FDA0002251443610000029
Is the d-axis component of the static working point of the stator current under the dq coordinate system,
Figure FDA0002251443610000031
and
Figure FDA0002251443610000032
respectively, the proportionality coefficient and the integral coefficient of the phase-locked loop.
6. The stability analysis method based on the output impedance model of the doubly-fed wind farm grid-connected system according to claim 1 is characterized in that: the small signal impedance model of the power loop of the doubly-fed motor in the step 2) is as follows:
Figure FDA0002251443610000033
wherein:
Figure FDA0002251443610000034
7. the stability analysis method based on the output impedance model of the doubly-fed wind farm grid-connected system according to claim 1 is characterized in that: in the step 3), the impedance model of the doubly-fed wind farm with n doubly-fed wind turbines with the same type number is obtained through equivalent aggregation:
Figure FDA0002251443610000035
8. the stability analysis method based on the output impedance model of the doubly-fed wind farm grid-connected system according to claim 1 is characterized in that: the doubly-fed wind power plant output impedance model can be expressed in the form of a second-order matrix:
Figure FDA0002251443610000036
wherein: zdd，Zdq，Zqd，ZqqAre each ZDFIGDd, dq, qd, qq axis components of (a).
9. The stability analysis method based on the output impedance model of the doubly-fed wind farm grid-connected system according to claim 1 is characterized in that: the power grid impedance model in the step 4) is expressed in a second-order matrix form:
Figure FDA0002251443610000041
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CN113139259A (en) * 2021-05-17 2021-07-20 国网甘肃省电力公司电力科学研究院 Wind power plant clustering modeling method for dynamic equivalence of power grid
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CN116544963B (en) * 2023-05-06 2023-10-24 燕山大学 Impedance remodeling control method for wind turbine generator
CN116632948A (en) * 2023-07-25 2023-08-22 昆明理工大学 New energy permeability boundary determination method based on generalized short-circuit ratio
CN116632948B (en) * 2023-07-25 2023-10-10 昆明理工大学 New energy permeability boundary determination method based on generalized short-circuit ratio
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