CN111064206B - Power system frequency emergency control method based on dynamic load shedding of doubly-fed wind turbine generator - Google Patents

Power system frequency emergency control method based on dynamic load shedding of doubly-fed wind turbine generator Download PDF

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CN111064206B
CN111064206B CN202010002955.6A CN202010002955A CN111064206B CN 111064206 B CN111064206 B CN 111064206B CN 202010002955 A CN202010002955 A CN 202010002955A CN 111064206 B CN111064206 B CN 111064206B
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CN111064206A (en
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欧阳金鑫
李梦阳
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Chongqing University
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    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract

The invention provides a frequency emergency control method of an electric power system based on dynamic load shedding of a double-fed wind turbine generator, which is used for the electric power system comprising a thermal power generating unit and a high-proportion double-fed wind power plant, solves the technical problem that the frequency modulation capacity and the frequency modulation speed of a synchronous generator set cannot meet the requirement of system frequency modulation due to severe fluctuation of wind speed or large-scale sudden change of load in the prior art, and has different participation degrees of the double-fed wind turbine generator in the frequency control of the electric power system according to the power interval of the initial active unbalance of a power grid; according to the predicted wind speed and the load shedding rate target value of the double-fed wind turbine generator, different load shedding control methods are adopted by the double-fed wind turbine generator in different wind speed intervals to stabilize the frequency fluctuation of a power grid, improve the economy of a power system and provide a theoretical basis for realizing multi-time scale frequency control of the wind turbine generator.

Description

Power system frequency emergency control method based on dynamic load shedding of doubly-fed wind turbine generator
Technical Field
The invention relates to the field of wind power control, in particular to a double-fed wind turbine generator dynamic load shedding-based power system frequency emergency control method.
Background
In recent years, wind power permeability is continuously improved, and randomness of the wind power permeability brings new challenges to power balance and frequency stabilization of a power system. The double-fed generator set has the capability of fast and flexible power regulation and control, and is the mainstream model of the current wind power generation. However, the rotor of the doubly-fed wind turbine generator is decoupled from the grid frequency, and cannot provide inertial response when the frequency fluctuates. The access of large-capacity wind power weakens the integral inertia of the power grid, so that the frequency control capability of the power grid under the disturbance of wind speed fluctuation, load sudden change and the like is weakened, and the problem of power grid frequency stability is more and more severe.
The energy storage can increase the reserve capacity of a power grid, and is the most direct method for solving the problem of frequency stability of a high-proportion wind power system. However, the energy storage installation cost is high, the investment return rate is low, and the conditions of large-capacity popularization and application are not met. The synchronous generator set is a main means of current power grid frequency modulation, and the frequency modulation capacity and the starting combination of the synchronous generator set determine the power grid frequency modulation capacity. The method for scheduling the output and the standby plan of the synchronous generator set by combining the wind power prediction power and the prediction load is a method for relieving the influence of wind power randomness at present. However, the deviation between the predicted value and the actual value of the wind power always exists, namely the wind power prediction error. The wind power prediction error and the load variation jointly form the initial active unbalance of the system, namely more random power fluctuation is introduced into the wind power prediction error. The higher the wind power proportion is, the larger the initial active unbalance of the system is, but the smaller the capacity of the synchronous generator set is, the shortage of the standby capacity of the synchronous generator set is easily caused, and the frequency is out of limit and even unstable. The initial active unbalance of the system puts higher requirements on the frequency modulation capacity of the power grid and the flexibility of frequency modulation control.
Wind power is considered to participate in power grid frequency modulation as an effective method for solving wind power randomness influence. The method for enabling the doubly-fed wind turbine generator to have inertia through rotor kinetic energy control is a main realization method at present. However, the doubly-fed wind turbine generator rotor kinetic energy has limited power supply and short duration, is only suitable for emergency support of grid frequency, and cannot meet the long-term power shortage generated by the initial active unbalance of the system. The doubly-fed wind turbine generator generally adopts maximum power tracking control to enable the doubly-fed wind turbine generator to operate at a maximum power point, and the active power of the doubly-fed wind turbine generator cannot be further improved, so that power support cannot be provided for a power grid. However, at a certain wind speed, the operating point of the doubly-fed wind turbine generator can be driven to move back to the maximum power point through rotor rotating speed control and pitch angle control, so that the output power of the doubly-fed wind turbine generator is reduced, and load shedding operation can be realized. The double-fed wind turbine generator set can have bidirectional frequency modulation capability through load shedding operation in advance, can be maintained for a long time, and is an effective technology for realizing wind power schedulability.
The ratio of the power reduction of the wind power compared to the maximum power point to the maximum power is called the load shedding ratio. At present, researches have proposed that a double-fed wind turbine generator participates in power grid frequency modulation at a fixed load shedding rate. However, the wind power prediction error has uncertainty, the fixed load shedding rate is difficult to effectively match the initial active unbalance of the system, and the insufficient frequency modulation capacity or unnecessary wind abandon is easily caused. According to the frequency modulation capacity and the wind power prediction error probability distribution of the synchronous generator sets with different time scales, the system safety and the economy can be considered by dynamically adjusting the load shedding rate, but a feasible method is not available at present. In addition, the rotor speed control response speed is high, but the method is only suitable for a certain wind speed interval; the variable pitch control can be applied to the whole wind speed interval, but the response speed is low, frequent variable pitch easily causes mechanical part abrasion, and the control cost is high, so that the load shedding operation of the double-fed wind turbine generator depends on the matching of the rotor rotating speed control and the variable pitch control. Although research has been carried out to determine the order of rotor speed control and pitch control according to the wind speed interval, the matching method is based on a fixed load shedding rate and is difficult to be used for realizing dynamic adjustment of the load shedding rate.
In summary, how to realize the grid frequency control through the dynamic load shedding of the doubly-fed wind turbine generator is a problem which needs to be solved urgently by a person skilled in the art.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a frequency emergency control method of an electric power system based on dynamic load shedding of a double-fed wind turbine generator, which is used for the electric power system comprising a thermal power generating unit and a double-fed wind power plant, solves the technical problem that the frequency modulation capacity and the frequency modulation speed of a synchronous generator set cannot meet the requirement of system frequency modulation due to severe fluctuation of wind speed or large-scale sudden change of load in the prior art, and has different participation degrees of the double-fed wind turbine generator in the frequency control of the electric power system according to the power interval of the initial active unbalance of a power grid; according to the predicted wind speed and the load shedding rate target value of the double-fed wind turbine generator, different load shedding control methods are adopted by the double-fed wind turbine generator in different wind speed intervals to stabilize the frequency fluctuation of a power grid, improve the economy of a power system and provide a theoretical basis for realizing multi-time scale frequency control of the wind turbine generator.
In order to solve the problems in the prior art, the invention adopts the following technical scheme:
the method for emergency control of the frequency of the electric power system based on dynamic load shedding of the doubly-fed wind turbine generator comprises the following steps:
s101: calculating an initial active unbalance ARR of the power grid considering the wind power prediction error according to the prediction information of the next time period;
s102: determining the critical power ARR of the dead zone according to the system operation parameters and the system frequency modulation and operation requirementsDAuxiliary adjustment of critical power ARRAAnd critical power ARR of emergency regulation areaEDivision of [0, ARR ]D]、[ARRD,ARRA]、[ARRA,ARRE]And [ ARR ]E,∞]Four power intervals;
s103: when ARR is in [0, ARRD]When the power interval is within, the synchronous generator set and the double-fed wind turbine set do not participate in the frequency control of the power system;
when ARR>ARRDWhen the power system frequency emergency control is started, the synchronous generator set participates in the power system frequency control, the participation degree of the double-fed wind generator set to the power system frequency control is determined based on the power interval in which the ARR is located, and the participation degree of the double-fed wind generator set to the power system frequency control is positively correlated with the ARR;
s104: according to the load shedding rate target value d of the doubly-fed wind turbine generator in the next time period0% and predicted wind speed vwDividing the wind speed interval and determining a first critical wind speed VcrSecond critical wind speed Vw2And the third critical wind speed Vw1And a fourth critical wind speed VnDivision of [ V ]cr,Vw2]、[Vw2,Vw1]And [ V ]w1,Vn]Three wind speed intervals;
s105: based on predicted wind speed vwAnd determining a rotor rotating speed control reference value and a pitch angle control reference value of the doubly-fed wind turbine generator in the located interval.
Preferably, in step S101, the next period prediction information includes a next period system load variation and a next period system load variation wind power prediction error, and is calculated as:
ARR＝ΔPLoad0-ΔPw
in the formula,. DELTA.PLoad0The system load variation is the next time period; delta PwAnd predicting the wind power prediction error for the system load variation in the next period.
Preferably, in step S102, the dead zone critical power ARRDThe calculation method of (2) is as follows:
Figure GDA0002886151570000031
in the formula (f)limThe amount of frequency fluctuation allowed for the system; kLThe adjustment coefficient is the equivalent load of the system; kGThe adjustment coefficient of the system equivalent synchronous generator set is obtained; f. ofNThe rated frequency of the power grid.
Preferably, in step S103:
when the system is initially provided withThe amount of work imbalance ARR is located in [ ARRD,ARRA]In the power interval, the frequency of the power system is controlled only by the synchronous generator set;
when the initial active unbalance amount ARR of the system is located in [ ARRA,ARRE]Or [ ARR ]E,∞]In the power interval, the frequency of the power system is controlled by the synchronous generator set and the doubly-fed wind turbine generator set, and when the initial active unbalance ARR of the system is located at [ ARR ]E,∞]In a power interval, the frequency modulation capacity borne by the double-fed wind turbine generator is larger than that when the initial active unbalance ARR of the system is located [ ARRA,ARRE]And the frequency modulation capacity borne by the double-fed wind turbine generator in the power interval.
Preferably, in step S104, the first critical wind speed is calculated by:
Figure GDA0002886151570000032
wherein R is the wind turbine blade radius; grIncreasing the speed ratio of the gearbox; lambda [ alpha ]optAn optimal tip speed ratio; omegaminThe minimum rotating speed of the doubly-fed wind generator is set;
the calculation model of the second critical wind speed is as follows:
Figure GDA0002886151570000033
in the formula, PgThe active power output by the double-fed wind turbine generator is normal operation; pde.0Is at d0The active power output by the doubly-fed wind turbine generator set under% load shedding rate; ρ is the air density; cp(ωmaxR/Vw20) is at a wind speed of Vw2The rotor speed is omegamaxWhen the pitch angle is 0, the wind energy utilization coefficient of the double-fed wind turbine generator set is obtained; omegamaxThe maximum rotating speed of the doubly-fed wind generator is set;
the third critical wind speed is calculated in the following manner:
Figure GDA0002886151570000041
the fourth critical wind speed is a wind speed corresponding to the doubly-fed wind turbine generator set when rated active power is output, and the calculation mode is as follows:
Figure GDA0002886151570000042
in the formula, PgNThe rated active power of the doubly-fed wind turbine generator is set; cp.nThe wind speed is VnThe rotor speed is omegamaxAnd when the pitch angle is 0, the wind energy utilization coefficient of the double-fed wind turbine generator is obtained.
Preferably, in step S104, according to the predicted wind speed and the load shedding rate target value of the doubly-fed wind turbine, different load shedding control methods are adopted by the doubly-fed wind turbine in different wind speed intervals, which specifically includes:
target value d of load shedding rate of doubly-fed wind turbine generator in next time period0% when predicted wind speed vwIs located at [ V ]cr,Vw2]In the wind speed interval, the doubly-fed wind turbine generator realizes d through rotor acceleration control0% load shedding rate target value, and rotor speed control reference value is omegarp1The pitch angle control reference value is betarp1；
Target value d of load shedding rate of doubly-fed wind turbine generator in next time period0% when predicted wind speed vwIs located at [ V ]w2,Vw1]In the wind speed interval, the doubly-fed wind turbine generator set jointly realizes d through rotor acceleration control and pitch angle control0% load shedding rate target value, and rotor speed control reference value is omegarp2The pitch angle control reference value is betarp2；
Target value d of load shedding rate of doubly-fed wind turbine generator in next time period0% when predicted wind speed vwIs located at [ V ]w1,Vn]In the wind speed interval, the doubly-fed wind turbine generator set realizes d through pitch angle control0% load shedding rate target value, and rotor speed control reference value is omegarp3The pitch angle control reference value is betarp3。
Preferably, the pitch angle control reference value β rp10, rotor speed control reference value ωrp1The calculation method comprises the following steps:
Figure GDA0002886151570000043
in the formula, Cp(ωrp1R/vw,βrp1) Is the rotor speed of omegarp1When the pitch angle is 0, the wind energy utilization coefficient of the double-fed wind turbine generator set is obtained;
rotor speed control reference value omegarp2＝ωmaxPitch angle control reference value betarp2The calculation formula of (a) is as follows:
Figure GDA0002886151570000051
in the formula, Cp(ωrp2R/vw,βrp2) The rotor speed reaches the maximum speed omegamaxPitch angle of betarp2The wind energy utilization coefficient of the double-fed wind turbine generator is obtained;
rotor speed control reference value omegarp3＝ωmaxPitch angle control reference value betarp3The calculation formula of (a) is as follows:
Figure GDA0002886151570000052
in the formula, Cp(ωrp3R/vw,βrp3) The rotor speed is the highest speed omegamaxPitch angle of betarp3And meanwhile, the wind energy utilization coefficient of the double-fed wind turbine generator is obtained.
Compared with the prior art, the invention has the following beneficial effects:
1. different from the prior art that wind power participates in power grid frequency control at a fixed load shedding rate, the participation degree of the double-fed wind turbine generator set in the power system frequency control is different according to the power interval of the initial active unbalance of the power grid, namely the participation degree of the double-fed wind turbine generator set in the power system frequency modulation in each time period is obtained through optimization, and the load shedding rate of the double-fed wind turbine generator set is dynamically changed.
2. Compared with the prior art that the load shedding operation of the double-fed wind turbine generator only considers the difference of the rotor rotating speed control, the double-fed wind turbine generator adopts different load shedding control methods in different wind speed intervals, namely the load shedding operation of the double-fed wind turbine generator is realized through the coordination of the rotor rotating speed control and the pitch angle control, so that the advantage of high response speed of the rotor rotating speed control can be exerted, and the advantage of the pitch angle control that the pitch angle control can be applied to the whole wind speed interval can be exerted.
Drawings
For purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made in detail to the present invention as illustrated in the accompanying drawings, in which:
FIG. 1 is a flow chart of a method for emergency control of frequency of an electric power system based on dynamic load shedding of a doubly-fed wind turbine;
FIG. 2 is a doubly-fed wind turbine generator load shedding operation strategy based on dynamic load shedding rate.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the method for emergency control of the frequency of the power system based on dynamic load shedding of the doubly-fed wind turbine generator includes:
s101: calculating an initial active unbalance ARR of the power grid considering the wind power prediction error according to the prediction information of the next time period;
s102: determining the critical power ARR of the dead zone according to the system operation parameters and the system frequency modulation and operation requirementsDAuxiliary adjustment of critical power ARRAAnd critical power ARR of emergency regulation areaEDivision of [0, ARR ]D]、[ARRD,ARRA]、[ARRA,ARRE]And [ ARR ]E,∞]Four power intervals;
s103: when ARR is in [0, ARRD]In the power interval, the initial active unbalance of the power grid does not cause the power grid frequency to exceed the limit, and the synchronous generator setThe double-fed wind turbine generator set does not participate in the frequency control of the power system;
when ARR is in [0, ARRD]In the power interval, the initial active unbalance of the power grid cannot cause the frequency of the power grid to exceed the limit, and the synchronous generator set and the double-fed wind turbine set do not bear the frequency modulation task.
When ARR>ARRDWhen the power system frequency emergency control is started, the synchronous generator set participates in the power system frequency control, the participation degree of the double-fed wind generator set to the power system frequency control is determined based on the power interval in which the ARR is located, and the participation degree of the double-fed wind generator set to the power system frequency control is positively correlated with the ARR;
and the participation degree of the double-fed wind generator set in the frequency control of the power system is different in different power intervals.
S104: according to the load shedding rate target value d of the doubly-fed wind turbine generator in the next time period0% and predicted wind speed vwDividing the wind speed interval and determining a first critical wind speed VcrSecond critical wind speed Vw2And the third critical wind speed Vw1And a fourth critical wind speed VnDivision of [ V ]cr,Vw2]、[Vw2,Vw1]And [ V ]w1,Vn]Three wind speed intervals;
s105: based on predicted wind speed vwAnd determining a rotor rotating speed control reference value and a pitch angle control reference value of the doubly-fed wind turbine generator in the located interval.
According to the power interval of the initial active unbalance of the power grid, the participation degree of the double-fed wind turbine generator set in the frequency control of the power system is different; according to the predicted wind speed and the load shedding rate target value of the double-fed wind turbine generator, different load shedding control methods are adopted by the double-fed wind turbine generator in different wind speed intervals to stabilize the frequency fluctuation of a power grid and improve the economical efficiency of a power system.
In specific implementation, in step S101, the next period prediction information includes a next period system load variation and a next period system load variation wind power prediction error, and is calculated as:
ARR＝ΔPLoad0-ΔPw
in the formula,. DELTA.PLoad0The system load variation is the next time period; delta PwAnd predicting the wind power prediction error for the system load variation in the next period.
In specific implementation, in step S102, the critical dead-band power ARRDThe calculation method of (2) is as follows:
Figure GDA0002886151570000061
in the formula (f)limThe amount of frequency fluctuation allowed for the system; kLThe adjustment coefficient is the equivalent load of the system; kGThe adjustment coefficient of the system equivalent synchronous generator set is obtained; f. ofNThe rated frequency of the power grid.
The auxiliary regulation critical power ARRAThe method is determined according to system frequency modulation and operation requirements, and can be divided into 3% of predicted power of a load of the power system in a period of time;
critical power ARR of the emergency regulation areaEIs determined according to system frequency modulation and operation requirements, can be removed by 5 percent of the predicted power of the load of the power system in a period of time
In specific implementation, in step S103:
when the initial active unbalance amount ARR of the system is located in [ ARRD,ARRA]In the power interval, the frequency of the power system is controlled only by the synchronous generator set;
when the initial active unbalance amount ARR of the system is located in [ ARRA,ARRE]Or [ ARR ]E,∞]In the power interval, the frequency of the power system is controlled by the synchronous generator set and the doubly-fed wind turbine generator set, and when the initial active unbalance ARR of the system is located at [ ARR ]E,∞]In a power interval, the frequency modulation capacity borne by the double-fed wind turbine generator is larger than that when the initial active unbalance ARR of the system is located [ ARRA,ARRE]And the frequency modulation capacity borne by the double-fed wind turbine generator in the power interval.
In specific implementation, in step S104, the first critical wind speed is calculated by:
Figure GDA0002886151570000071
wherein R is the wind turbine blade radius; grIncreasing the speed ratio of the gearbox; lambda [ alpha ]optAn optimal tip speed ratio; omegaminThe minimum rotating speed of the doubly-fed wind generator is set;
the calculation model of the second critical wind speed is as follows:
Figure GDA0002886151570000072
in the formula, PgThe active power output by the double-fed wind turbine generator is normal operation; pde.0Is at d0The active power output by the doubly-fed wind turbine generator set under% load shedding rate; ρ is the air density; cp(ωmaxR/Vw20) is at a wind speed of Vw2The rotor speed is omegamaxWhen the pitch angle is 0, the wind energy utilization coefficient of the double-fed wind turbine generator set is obtained; omegamaxThe maximum rotating speed of the doubly-fed wind generator is set;
the third critical wind speed is calculated in the following manner:
Figure GDA0002886151570000073
the fourth critical wind speed is a wind speed corresponding to the doubly-fed wind turbine generator set when rated active power is output, and the calculation mode is as follows:
Figure GDA0002886151570000074
in the formula, PgNThe rated active power of the doubly-fed wind turbine generator is set; cp.nThe wind speed is VnThe rotor speed is omegamaxAnd when the pitch angle is 0, the wind energy utilization coefficient of the double-fed wind turbine generator is obtained.
In step S104, according to the predicted wind speed and the load shedding rate target value of the doubly-fed wind turbine, different load shedding control methods are adopted by the doubly-fed wind turbine in different wind speed intervals, which specifically includes:
target value d of load shedding rate of doubly-fed wind turbine generator in next time period0% when predicted wind speed vwIs located at [ V ]cr,Vw2]In the wind speed interval, the doubly-fed wind turbine generator realizes d through rotor acceleration control0% load shedding rate target value, and rotor speed control reference value is omegarp1The pitch angle control reference value is betarp1；
Target value d of load shedding rate of doubly-fed wind turbine generator in next time period0% when predicted wind speed vwIs located at [ V ]w2,Vw1]In the wind speed interval, the doubly-fed wind turbine generator set jointly realizes d through rotor acceleration control and pitch angle control0% load shedding rate target value, and rotor speed control reference value is omegarp2The pitch angle control reference value is betarp2；
Target value d of load shedding rate of doubly-fed wind turbine generator in next time period0% when predicted wind speed vwIs located at [ V ]w1,Vn]In the wind speed interval, the doubly-fed wind turbine generator set realizes d through pitch angle control0% load shedding rate target value, and rotor speed control reference value is omegarp3The pitch angle control reference value is betarp3。
In particular implementation, the pitch angle control reference value beta rp10, rotor speed control reference value ωrp1The calculation method comprises the following steps:
Figure GDA0002886151570000081
in the formula, Cp(ωrp1R/vw,βrp1) Is the rotor speed of omegarp1When the pitch angle is 0, the wind energy utilization coefficient of the double-fed wind turbine generator set is obtained;
rotor speed control reference value omegarp2＝ωmaxPitch angle control reference value betarp2The calculation formula of (a) is as follows:
Figure GDA0002886151570000082
in the formula, Cp(ωrp2R/vw,βrp2) The rotor speed reaches the maximum speed omegamaxPitch angle of betarp2The wind energy utilization coefficient of the double-fed wind turbine generator is obtained;
rotor speed control reference value omegarp3＝ωmaxPitch angle control reference value betarp3The calculation formula of (a) is as follows:
Figure GDA0002886151570000083
in the formula, Cp(ωrp3R/vw,βrp3) The rotor speed is the highest speed omegamaxPitch angle of betarp3And meanwhile, the wind energy utilization coefficient of the double-fed wind turbine generator is obtained.
In the invention, after the calculation formulas of the pitch angle control reference value and the rotor rotating speed control reference value are obtained, the pitch angle control reference value and the rotor rotating speed control reference value can be optimized according to the long-time scale optimization model and the short-time scale optimization model. Wherein:
the objective function of the long-time scale optimization model is F1The calculation formula is as follows:
Figure GDA0002886151570000091
in the formula (I), the compound is shown in the specification,
Figure GDA0002886151570000092
Figure GDA0002886151570000093
the number of time segments for a long time scale; 1,2, NG，NGThe number of synchronous generator sets in the system; j ═ 1, 2.., NG2，NG2The number of frequency modulation synchronous generator sets in the system; 1,2, NW，NWFor systemic windThe number of electric fields; b isi.t＝max(Ui.t-Ui.t-10) is a variable 0-1 representing the on-off state of the ith synchronous generator set at the time t, Ui.t、Ui.t-1Respectively representing the starting state of the ith synchronous generator set at t and t-1 moments by 0-1 variables; siThe starting cost of the ith synchronous generator set is calculated;
Figure GDA0002886151570000094
the active power of the ith synchronous generator set at the t moment under the long time scale; a isi、bi、ciThe energy consumption coefficient of the ith synchronous generator set is obtained; u shapej.tIs a 0-1 variable which represents the starting state of the jth frequency modulation synchronous generator set at the moment t;
Figure GDA0002886151570000095
positive and negative frequency modulation capacities are respectively provided for the jth frequency modulation synchronous generator set to the power grid at the time t under the long time scale;
Figure GDA0002886151570000096
positive and negative frequency modulation capacities are respectively provided for the power grid by the kth wind power plant at the time t under the long time scale;
Figure GDA0002886151570000097
the frequency modulation costs of the jth frequency modulation synchronous generator set and the kth wind power plant at the moment t under the long time scale are respectively calculated according to the following formula:
Figure GDA0002886151570000098
in the formula (I), the compound is shown in the specification,
Figure GDA0002886151570000099
respectively the positive and negative frequency modulation unit price of the jth frequency modulation synchronous generator set;
Figure GDA00028861515700000910
positive and negative frequency modulation unit prices of the kth wind power plant respectively;
constraints of the long-time scale optimization model include:
and (3) system active power balance constraint:
Figure GDA00028861515700000911
in the formula (I), the compound is shown in the specification,
Figure GDA00028861515700000912
the active power after the load shedding of the kth wind power plant at the moment t under the long time scale is obtained;
Figure GDA00028861515700000913
predicting active power of a kth wind power plant at a time t under a long time scale;
Figure GDA00028861515700000914
the total active load predicted for the system at the time t under the long time scale;
active power constraint of a synchronous generator set:
Figure GDA00028861515700000915
in the formula, PG.i.min、PG.i.maxThe upper limit and the lower limit of active output of the ith synchronous generator set are respectively set;
and (3) restraining the climbing speed of the synchronous generator set:
Figure GDA0002886151570000101
in the formula (I), the compound is shown in the specification,
Figure GDA0002886151570000102
the active power output of the ith synchronous generator set at the t-1 moment under the long time scale; ru.i、Rd.iThe climbing speed and the sliding speed of the ith synchronous generator set respectively, D4hA time interval that is a long time scale;
and (3) the minimum on-off time constraint of the synchronous generator set:
Figure GDA0002886151570000103
in the formula (I), the compound is shown in the specification,
Figure GDA0002886151570000104
the time is the continuous starting and stopping time of the ith synchronous generator set at the time t-1;
Figure GDA0002886151570000105
respectively the minimum continuous start-up and stop time of the ith synchronous generator set;
wind power plant active power constraint:
Figure GDA0002886151570000106
in the formula (I), the compound is shown in the specification,
Figure GDA0002886151570000107
active power of the kth wind power plant under the maximum load shedding rate under the predicted wind speed at the long time scale t moment;
and (3) restricting the frequency modulation capacity of the frequency modulation synchronous generator set:
Figure GDA0002886151570000108
in the formula (I), the compound is shown in the specification,
Figure GDA0002886151570000109
the active power output of the jth frequency modulation synchronous generator set at the t-1 moment under the long time scale; ru.j、Rd.jThe climbing speed and the sliding speed of the jth frequency modulation synchronous generator set are respectively set; pG.j.max、PG.j.minRespectively setting the upper limit and the lower limit of active power of the jth frequency modulation synchronous generator set;
wind power plant frequency modulation capacity constraint:
Figure GDA00028861515700001010
wherein m is 1,2W.k，nW.kThe number of the double-fed wind generation sets in the kth wind power plant is shown;
Figure GDA00028861515700001011
the maximum positive and negative frequency modulation capacities of a double-fed wind turbine generator in the kth wind power plant at the time t under the long-time scale are respectively set;
and (3) power grid frequency constraint:
Figure GDA0002886151570000111
in the formula (I), the compound is shown in the specification,
Figure GDA0002886151570000112
the primary frequency modulation capacity of the ith synchronous generator set at the t moment under the long time scale;
Figure GDA0002886151570000113
the initial active unbalance amount of the power grid at the time t under the long time scale is obtained; kGThe adjustment coefficient of the equivalent synchronous generator set of the power grid is obtained; kLThe load adjustment factor is;
Figure GDA0002886151570000114
respectively, the upper limit and the lower limit of the frequency fluctuation allowed by the power grid.
The objective function of the short-time scale optimization model is F2The calculation formula is as follows:
Figure GDA0002886151570000115
in the formula (I), the compound is shown in the specification,
Figure GDA0002886151570000116
the active power of the ith synchronous generator set at the t moment under a short time scale;
Figure GDA0002886151570000117
respectively the frequency modulation cost of the jth frequency modulation synchronous generator set and the kth wind power plant at the moment t under a short time scale;
Figure GDA0002886151570000118
respectively setting the positive and negative frequency modulation capacities of the jth frequency modulation synchronous generator set at the t moment under a short time scale;
Figure GDA0002886151570000119
respectively positive and negative frequency modulation capacities of a kth wind power plant at the moment t under a short time scale;
the constraints of the short-time scale optimization model include:
and (3) system active power balance constraint:
Figure GDA00028861515700001110
in the formula (I), the compound is shown in the specification,
Figure GDA00028861515700001111
the active power after the load shedding of the kth wind power plant at the moment t under a short time scale is obtained;
Figure GDA00028861515700001112
predicting active power of a kth wind power plant at the t moment under a short time scale;
Figure GDA00028861515700001113
the total active load predicted for the system at the time t under the short time scale;
active power constraint of a synchronous generator set:
Figure GDA00028861515700001114
and (3) restraining the climbing speed of the synchronous generator set:
Figure GDA00028861515700001115
in the formula (I), the compound is shown in the specification,
Figure GDA00028861515700001116
the active power output of the ith synchronous generator set at the t-1 moment under a short time scale; d5mA time interval that is a short timescale;
wind power plant active power constraint:
Figure GDA0002886151570000121
in the formula (I), the compound is shown in the specification,
Figure GDA0002886151570000122
active power of the kth wind power plant under the maximum load shedding rate under the predicted wind speed at the moment of short time scale t;
and (3) restricting the frequency modulation capacity of the frequency modulation synchronous generator set:
Figure GDA0002886151570000123
in the formula (I), the compound is shown in the specification,
Figure GDA0002886151570000124
the active power output of the jth frequency modulation synchronous generator set at the t-1 moment under the short time scale;
wind power plant frequency modulation capacity constraint:
Figure GDA0002886151570000125
in the formula (I), the compound is shown in the specification,
Figure GDA0002886151570000126
respectively at time t on a short time scaleThe maximum positive and negative frequency modulation capacity of one double-fed wind turbine generator in the k wind power plants;
and (3) power grid frequency constraint:
Figure GDA0002886151570000127
in the formula (I), the compound is shown in the specification,
Figure GDA0002886151570000128
the primary frequency modulation capacity of the ith synchronous generator set at the t moment under a short time scale;
Figure GDA0002886151570000129
the initial active unbalance amount of the power grid at the time t under the short time scale is shown.
As shown in FIG. 2, the wind speed is Vw2During the process, under the control action of the rotor rotating speed, the operating point of the doubly-fed wind turbine generator can move to B ' along a curve BB ', and when the operating point reaches B ', the load can not be further reduced by utilizing the control of the rotor rotating speed. However, under pitch angle control, as the pitch angle increases, the operating point may move along line B' F to point F. Point F is the rotation speed omegamaxPitch angle vβtrefThe operating point of time. Therefore, at the predicted wind speed of Vw2Active power output by the doubly-fed wind turbine generator under the maximum load shedding rate
Figure GDA00028861515700001210
The calculation formula of (a) is as follows:
Figure GDA00028861515700001211
wherein ρ is an air density; r is the wind turbine blade radius; cp(ωmaxR/Vw2,vβtref) At a wind speed of Vw2The rotor speed is omegamaxPitch angle vβtrefThe wind energy utilization coefficient of the double-fed wind turbine generator is obtained; omegamaxThe maximum rotating speed of the doubly-fed wind generator is set; v. ofβThe variable pitch speed of the doubly-fed wind turbine generator set is obtained; t is trefThe frequency modulation action time of the double-fed wind turbine generator is shown.
As shown in FIG. 2, t0The wind speed at the moment is VxIf according to the load shedding ratio target value d0And percent, moving the operating point of the doubly-fed wind turbine generator to E through rotor rotation speed control and pitch angle control0The pitch angle at this time is betaE0. When the wind speed is t1Time instant is reduced to Vw2In the process, the operating point of the doubly-fed wind turbine generator moves to B along with the change of the wind speed0And (4) point. At the moment, through load shedding in advance, the expression of the maximum positive and negative frequency modulation capacity obtained by the double-fed wind turbine generator set is as follows:
Figure GDA0002886151570000131
in the formula (I), the compound is shown in the specification,
Figure GDA0002886151570000132
the maximum positive frequency modulation capacity of the double-fed wind turbine generator is obtained;
Figure GDA0002886151570000133
the maximum negative frequency modulation capacity of the double-fed wind turbine generator is obtained; pgThe active power is the active power output by the double-fed wind turbine generator under the normal operation condition; pdeloadIs a doubly-fed wind turbine generator set in B0The active power output by the point has the following calculation formula:
Figure GDA0002886151570000134
in the formula, Cp(ωmaxR/Vw2,βE0) The wind speed is Vw2The rotor speed is omegamaxPitch angle of betaE0And meanwhile, the wind energy utilization coefficient of the double-fed wind turbine generator is obtained.
The primary frequency modulation capacity of the synchronous generator set can be calculated by the following formula:
Figure GDA0002886151570000135
in the formula (I), the compound is shown in the specification,
Figure GDA0002886151570000136
adjusting the power of primary frequency modulation of the ith synchronous generator set; ri *The per unit value of the difference adjustment coefficient of the ith synchronous generator set is obtained;
Figure GDA0002886151570000137
is the per unit value of the initial frequency of the power grid; pGiNThe initial active power of the ith synchronous generator set;
Figure GDA0002886151570000138
the calculation formula is the per unit value of the change of the power grid frequency after primary frequency modulation when the power grid frequency is more initial:
Figure GDA0002886151570000139
in the formula (I), the compound is shown in the specification,
Figure GDA00028861515700001310
the per unit value is the initial active unbalance amount of the power grid;
Figure GDA00028861515700001311
is the per unit value of the load regulation coefficient;
Figure GDA00028861515700001312
and the power grid equivalent synchronous generator set is the per unit value of the regulating coefficient.
According to the invention, the load, the wind speed and the wind power prediction error are predicted by the input system, and the starting unit combination of the synchronous generator set can be determined by utilizing the long-time scale frequency optimization control model. And then, on the premise that the frequency of the power grid is not out of limit, the minimum comprehensive operation cost of the system considering the frequency modulation cost of the double-fed wind turbine generator is taken as a target, and the rotor rotating speed control reference value and the pitch angle control reference value of the double-fed wind turbine generator can be optimized.
Because the predicted wind speed is known, if the rotor speed and the pitch angle control reference value are determined, the active power output by the wind turbine generator is determined, and the load shedding rate is also determined.
The long time scale is used for determining the on-off state of the synchronous generator set, because the continuous on-off time of the synchronous generator set is limited (for example, the on-off state of the synchronous generator set lasts at least 3 hours), and if the on-off state is not confirmed in the long time scale, frequent on-off may be caused in the short time scale for minimizing the cost.
In addition, uncertain factors of wind power prediction under a long time scale are more, and the influence of wind power prediction errors is difficult to accurately calculate. Thus, the short timescale can correct the long timescale results.
Besides the long-scale and short-scale models, the two-stage model can be adopted to optimize the load shedding rate target value (reference document: standby double-layer optimization model of the two-stage system considering wind power active control, Yangtze river), and then the rotating speed and pitch angle control reference value is obtained by combining with the predicted wind speed.
Aiming at the technical problem that the frequency modulation capacity and the frequency modulation speed of a synchronous generator set cannot meet the frequency modulation requirement of a system due to severe fluctuation of wind speed or large-scale sudden change of load in the prior art, the method fully considers the influences of wind power prediction errors, load change, the frequency modulation capacity of the synchronous generator set and system economy on the load shedding rate of a double-fed generator set, and the participation degree of the double-fed wind power generator set on the frequency control of a power system is different according to the power interval of the initial active unbalance of the power grid; according to the predicted wind speed and the load shedding rate target value of the double-fed wind turbine generator, different load shedding control methods are adopted by the double-fed wind turbine generator in different wind speed intervals to stabilize the frequency fluctuation of a power grid and improve the economical efficiency of a power system. The method for controlling the frequency emergency of the power system based on the dynamic load shedding of the doubly-fed wind turbine generator can effectively improve the contradiction between the influence of the wind speed prediction error on the power grid frequency and the insufficient frequency modulation capacity and speed of the synchronous generator set, can quickly and effectively stabilize the power grid frequency fluctuation by a small amount of abandoned wind, and has certain significance for the safe and stable operation of a high-proportion wind power system.
Finally, it is noted that the above-mentioned embodiments illustrate rather than limit the invention, and that, while the invention has been described with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (6)

1. The method for emergency control of the frequency of the electric power system based on dynamic load shedding of the doubly-fed wind turbine generator is characterized by comprising the following steps:
s101: calculating an initial active unbalance ARR of the power grid considering the wind power prediction error according to the prediction information of the next time period;
s102: determining the critical power ARR of the dead zone according to the system operation parameters and the system frequency modulation and operation requirementsDAuxiliary adjustment of critical power ARRAAnd critical power ARR of emergency regulation areaEDivision of [0, ARR ]D]、[ARRD,ARRA]、[ARRA,ARRE]And [ ARR ]E,∞]Four power intervals;
s103: when ARR is in [0, ARRD]When the power interval is within, the synchronous generator set and the double-fed wind turbine set do not participate in the frequency control of the power system;
when ARR>ARRDWhen the power system frequency emergency control is started, the synchronous generator set participates in the power system frequency control, the participation degree of the double-fed wind generator set to the power system frequency control is determined based on the power interval in which the ARR is located, and the participation degree of the double-fed wind generator set to the power system frequency control is positively correlated with the ARR;
when the initial active unbalance amount ARR of the system is located in [ ARRD,ARRA]In the power interval, the frequency of the power system is controlled only by the synchronous generator set;
when the initial active unbalance amount ARR of the system is located in [ ARRA,ARRE]Or [ ARR ]E,∞]Power regionIn time, the frequency of the power system is controlled by the synchronous generator set and the doubly-fed wind turbine generator set, and when the initial active unbalance ARR of the system is located at [ ARR ]E,∞]In a power interval, the frequency modulation capacity borne by the double-fed wind turbine generator is larger than that when the initial active unbalance ARR of the system is located [ ARRA,ARRE]The frequency modulation capacity borne by the double-fed wind turbine generator is in a power interval;
s104: according to the load shedding rate target value d of the doubly-fed wind turbine generator in the next time period0% and predicted wind speed vwDividing the wind speed interval and determining a first critical wind speed VcrSecond critical wind speed Vw2And the third critical wind speed Vw1And a fourth critical wind speed VnDivision of [ V ]cr,Vw2]、[Vw2,Vw1]And [ V ]w1,Vn]Three wind speed intervals;
s105: based on predicted wind speed vwAnd determining a rotor rotating speed control reference value and a pitch angle control reference value of the doubly-fed wind turbine generator in the located interval.
2. The doubly-fed wind turbine generator dynamic load shedding-based power system frequency emergency control method according to claim 1, wherein in step S101, the next period prediction information includes a next period system load variation and a next period system load variation wind power prediction error, and the calculation is as follows:
ARR＝ΔPLoad0-ΔPw
in the formula,. DELTA.PLoad0The system load variation is the next time period; delta PwAnd predicting the wind power prediction error for the system load variation in the next period.
3. The doubly-fed wind turbine generator dynamic load shedding-based power system frequency emergency control method according to claim 1, wherein in step S102, the dead zone critical power ARR isDThe calculation method of (2) is as follows:
Figure FDA0002886151560000021
in the formula (f)limThe amount of frequency fluctuation allowed for the system; kLThe adjustment coefficient is the equivalent load of the system; kGThe adjustment coefficient of the system equivalent synchronous generator set is obtained; f. ofNThe rated frequency of the power grid.
4. The doubly-fed wind turbine generator dynamic load shedding-based power system frequency emergency control method according to claim 1, wherein in step S104, the first critical wind speed is calculated in a manner that:
Figure FDA0002886151560000022
wherein R is the wind turbine blade radius; grIncreasing the speed ratio of the gearbox; lambda [ alpha ]optAn optimal tip speed ratio; omegaminThe minimum rotating speed of the doubly-fed wind generator is set;
the calculation model of the second critical wind speed is as follows:
Figure FDA0002886151560000023
in the formula, PgThe active power output by the double-fed wind turbine generator is normal operation; pde.0Is at d0The active power output by the doubly-fed wind turbine generator set under% load shedding rate; ρ is the air density; cp(ωmaxR/Vw20) is at a wind speed of Vw2The rotor speed is omegamaxWhen the pitch angle is 0, the wind energy utilization coefficient of the double-fed wind turbine generator set is obtained; omegamaxThe maximum rotating speed of the doubly-fed wind generator is set;
the third critical wind speed is calculated in the following manner:
Figure FDA0002886151560000024
the fourth critical wind speed is a wind speed corresponding to the doubly-fed wind turbine generator set when rated active power is output, and the calculation mode is as follows:
Figure FDA0002886151560000025
in the formula, PgNThe rated active power of the doubly-fed wind turbine generator is set; cp.nThe wind speed is VnThe rotor speed is omegamaxAnd when the pitch angle is 0, the wind energy utilization coefficient of the double-fed wind turbine generator is obtained.
5. The frequency emergency control method for the doubly-fed wind turbine generator dynamic load shedding based power system according to claim 1, wherein in step S104, according to the predicted wind speed and the target value of the load shedding rate of the doubly-fed wind turbine generator, different load shedding control methods are adopted by the doubly-fed wind turbine generator in different wind speed intervals, and specifically include:
target value d of load shedding rate of doubly-fed wind turbine generator in next time period0% when predicted wind speed vwIs located at [ V ]cr,Vw2]In the wind speed interval, the doubly-fed wind turbine generator realizes d through rotor acceleration control0% load shedding rate target value, and rotor speed control reference value is omegarp1The pitch angle control reference value is betarp1；
Target value d of load shedding rate of doubly-fed wind turbine generator in next time period0% when predicted wind speed vwIs located at [ V ]w2,Vw1]In the wind speed interval, the doubly-fed wind turbine generator set jointly realizes d through rotor acceleration control and pitch angle control0% load shedding rate target value, and rotor speed control reference value is omegarp2The pitch angle control reference value is betarp2；
Target value d of load shedding rate of doubly-fed wind turbine generator in next time period0% when predicted wind speed vwIs located at [ V ]w1,Vn]In the wind speed interval, the doubly-fed wind turbine generator set realizes d through pitch angle control0% load shedding rate target value, and rotor speed control reference value is omegarp3The pitch angle control reference value is betarp3。
6. The method for emergency control of frequency of electric power system based on dynamic load shedding of doubly-fed wind turbine generator set according to claim 5, wherein the pitch angle control reference value β isrp10, rotor speed control reference value ωrp1The calculation method comprises the following steps:
Figure FDA0002886151560000031
in the formula, Cp(ωrp1R/vw,βrp1) Is the rotor speed of omegarp1When the pitch angle is 0, the wind energy utilization coefficient of the double-fed wind turbine generator set is obtained; r is the wind turbine blade radius; pgThe active power output by the double-fed wind turbine generator set is the active power output by the double-fed wind turbine generator set in normal operation;
rotor speed control reference value omegarp2＝ωmaxPitch angle control reference value betarp2The calculation formula of (a) is as follows:
Figure FDA0002886151560000032
in the formula, Cp(ωrp2R/vw,βrp2) The rotor speed reaches the maximum speed omegamaxPitch angle of betarp2The wind energy utilization coefficient of the double-fed wind turbine generator is obtained;
rotor speed control reference value omegarp3＝ωmaxPitch angle control reference value betarp3The calculation formula of (a) is as follows:
Figure FDA0002886151560000033
in the formula, Cp(ωrp3R/vw,βrp3) The rotor speed is the highest speed omegamaxPitch angle of betarp3And meanwhile, the wind energy utilization coefficient of the double-fed wind turbine generator is obtained.
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