CN111396247B - Voltage source type wind turbine generator set control method and system considering load and rotating speed constraints - Google Patents

Voltage source type wind turbine generator set control method and system considering load and rotating speed constraints Download PDF

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CN111396247B
CN111396247B CN202010157813.7A CN202010157813A CN111396247B CN 111396247 B CN111396247 B CN 111396247B CN 202010157813 A CN202010157813 A CN 202010157813A CN 111396247 B CN111396247 B CN 111396247B
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generator
rotating speed
speed
voltage source
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CN111396247A (en
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应有
杨靖
洪敏�
孙勇
许国东
史晓鸣
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Zhejiang Windey Co Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
    • H02J3/48—Controlling the sharing of the in-phase component
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/10—Purpose of the control system
    • F05B2270/101—Purpose of the control system to control rotational speed (n)
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/10—Purpose of the control system
    • F05B2270/101—Purpose of the control system to control rotational speed (n)
    • F05B2270/1011—Purpose of the control system to control rotational speed (n) to prevent overspeed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/328—Blade pitch angle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/331—Mechanical loads
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/337—Electrical grid status parameters, e.g. voltage, frequency or power demand
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/76—Power conversion electric or electronic aspects

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  • Engineering & Computer Science (AREA)
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  • Sustainable Development (AREA)
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  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
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  • Wind Motors (AREA)

Abstract

The invention discloses a voltage source type wind turbine generator set control method and system considering load and rotating speed constraints, wherein the voltage source type wind turbine generator set control method and system considering load and rotating speed constraints comprise a voltage source type converter, a shafting load optimization control ring, a rotating speed optimization control ring and variable speed variable pitch control, the voltage source type converter outputs f to the shafting load optimization control ring and outputs delta Tf、PgAnd ωgFor a rotation speed optimization control ring, outputting T through variable speed and variable pitch controlgmdGiving the rotation speed optimization control loop and outputting TgrdTo the adder while outputting omegagA shafting load optimization control ring and a variable speed variable pitch control ring, wherein the shafting load optimization control ring outputs TBdTo the adder, the adder outputs TgdA power supply source type converter. The problem of active power matching between the voltage source type wind turbine main control system and the converter is solved, and the fault of overspeed or underspeed of the rotating speed is avoided; and the load impact of the voltage source wind turbine generator on the transmission chain shafting under the power grid frequency disturbance working condition is reduced.

Description

Voltage source type wind turbine generator set control method and system considering load and rotating speed constraints
Technical Field
The invention relates to the technical field of wind turbine generator main control system control, in particular to a voltage source type wind turbine generator control method and system considering load and rotating speed constraints.
Background
The development of wind power in China is rapid, the installation scale is continuous for 9 years and the first world is the third largest energy in China. With the rapid increase of the installed wind power capacity in China, the proportion of the installed wind power capacity in the total installed power capacity is higher and higher, and the installed wind power capacity of a local power grid exceeds more than 30% of the total capacity.
The existing wind power generation set has the current source type operation characteristic, is poor in overload capacity, does not actively participate in power grid regulation, and causes severe challenges to the safe and stable operation of a high-proportion wind power system.
The large-scale wind turbine generator set can be changed into a voltage source type operation characteristic, and operates in a virtual synchronous machine mode, so that the problem of power grid frequency/voltage stability is solved, and the safe and stable operation level of a high-proportion wind power system is improved. The wind turbine generator is changed into a voltage source type operation characteristic, the active control loop of the converter mainly aims at stabilizing frequency and is not completely controlled by an active instruction of a main control system, so that abnormal control of the rotating speed of a generator of the wind turbine generator can be caused, and large load impact can be caused to a transmission chain shafting.
In summary, the technical problem to be solved by technical staff in the field is how to solve the problem of active power matching between a main control system of a wind turbine and a converter by changing the wind turbine into a voltage source type operating characteristic so as to avoid abnormal control of the rotating speed of a generator, reduce the load impact of a shafting and ensure the safe and stable operation of the wind turbine.
Disclosure of Invention
The invention aims to overcome the technical problem of active power matching between a voltage source type wind turbine main control system and a converter in the prior art, provides a voltage source type wind turbine control method and a voltage source type wind turbine control system considering load and rotating speed constraints, solves the problem of active power matching between the voltage source type wind turbine main control system and the converter, and avoids the fault of rotating speed overspeed or underspeed; and the load impact of the voltage source wind turbine generator on a transmission chain shafting under the power grid frequency disturbance condition is reduced.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for controlling a voltage source wind turbine in consideration of load and speed constraints, said method comprising the steps of:
s1, detecting the voltage source type wind turbine generator set, and acquiring related data: the related data comprises the grid frequency f (n) and the generator rotating speed omega of the nth control periodg(n) Generator Power Pg(n) virtual synchronous operation required Generator Torque Δ Tf(n) and a generator torque instruction T in a mode of outputting maximum energy tracking by a variable speed variable pitch control loopgmd(n)；
S2, setting a rotating speed control mode switching flag bit according to whether the voltage source type wind turbine generator set is in a program initialization state or not;
s3, formulating a torque control threshold value according to the relation between the generator torque required by the virtual synchronous operation and the generator rated torque, and formulating a rotating speed control threshold value at the same time;
s4, respectively formulating wind turbine generator optimization control strategies under various conditions according to the rotating speed control mode switching flag bit, the torque control threshold and the rotating speed control threshold;
s5, calculating to obtain a shafting load optimization control loop output generator torque instruction T of the nth control period according to wind turbine generator optimization control strategies under different conditionsBd(n) outputting a generator torque command T to the shafting load optimization control loop of the nth control periodBd(n) performing amplitude limiting control, and outputting a generator torque command T by optimally controlling the rotating speed of the nth control periodgrd(n) outputting a generator torque command T with a shafting load optimization control loopBd(n) adding to obtain a generator speed output command TgdAnd (n) sending the control command to the voltage source type converter to execute the control command.
In order to overcome the problem of active power matching between a voltage source type wind turbine main control system and a converter, load and rotating speed constraints are considered, so that the problem of active power matching between the wind turbine main control system and the converter is solved, and abnormal rotating speed control of a generator is avoided.
Preferably, in step S2, the rotation speed control mode switching flag a is set to 0 at the time of program initialization.
Preferably, the torque control threshold comprises a first revolutionMoment control value-0.02 tnSecond torque control value 0.02tnAnd a third torque control value of 0.01 tnWherein T isnRepresenting the rated torque of the generator; the threshold value comprises a minimum speed control value omegaminFirst rotational speed control value 0.96 ωmin。
Preferably, the various cases in step S4 include when the rotation speed control mode switching flag a is initially set to 0, when the rotation speed control mode switching flag a is initially set to 1, when the rotation speed control mode switching flag a is reset to 0, when the rotation speed control mode switching flag a is reset to-1, and when the rotation speed control mode switching flag a is reset to 1.
Preferably, when the initial rotation speed control mode switching flag bit a is 0, the wind turbine generator optimization control strategy includes:
if A is 0, -0.02Tn≤ΔTf(n)≤0.02TnThen the rotating speed of the nth control period is optimally controlled to output a generator torque instruction Tgrd(n) is: t isgrd(n)＝Tgmd；
If A is 0, Δ Tf(n)＞0.02TnResetting A to 1, and recording the initial value P of the power of the generator when the switching flag bit A of the rotation speed control mode is changed from 0 to 1 when the switching flag bit A of the rotation speed control mode is reset to 1g0The speed of the nth control period is optimally controlled to output a generator torque command Tgrd(n) is:
Figure GDA0003123892480000031
if A is 0, Δ Tf(n)＜-0.02TnResetting A to-1, and recording the initial value P of the power of the generator when the switching flag bit A of the rotation speed control mode is changed from 0 to-1 when the switching flag bit A of the rotation speed control mode is reset to-1g1The speed of the nth control period is optimally controlled to output a generator torque command Tgrd(n) is:
Figure GDA0003123892480000032
preferably, when the rotation speed control mode switching flag bit a is 1, the wind turbine generator optimization control strategy includes:
if A is 1, Delta Tf(n)＞0.01Tn，ωg(n)≥0.96ωminAnd the rotating speed of the nth control period is optimally controlled to output a generator torque command Tgrd(n) is:
Figure GDA0003123892480000033
wherein, ω isminMinimum steady-state rotational speed, T, for grid-connected operation of a wind turbinegrd(n-1) a torque instruction of the generator is output by the rotation speed optimization control in the (n-1) th control period, b is a limit value of the change slope of the output torque of the generator, and T is the control period;
if A is 1, Delta Tf(n)＞0.01Tn，ωg(n)＜0.96ωminAnd the rotating speed of the nth control period is optimally controlled to output a generator torque command Tgrd(n) is:
Figure GDA0003123892480000034
wherein c is the generator torque reduction rate;
if A is 1, Delta Tf(n)≤0.01TnBut does not satisfy | Tgmd(n)-TgrdIf (n) is less than or equal to epsilon, the rotating speed of the nth control period optimally controls and outputs a generator torque instruction Tgrd(n) is:
Figure GDA0003123892480000035
wherein d is the generator torque recovery rate;
if A is 1, Delta Tf(n)≤0.01TnAnd | Tgmd(n)-Tgrd(n) | is less than or equal to epsilon, then resetting A to 0;
where ε is the smaller torque bias value.
Preferably, when the rotation speed control mode switching flag bit a is reset to-1, the wind turbine generator optimization control strategy includes:
if A is-1, Delta Tf(n)＜-0.01TnAnd the rotating speed of the nth control period is optimally controlled to output a generator torque command Tgrd(n) is:
Figure GDA0003123892480000041
if A is-1, Delta Tf(n)≥-0.01TnBut does not satisfy | Tgmd(n)-TgrdIf (n) is less than or equal to epsilon, the rotating speed of the nth control period is optimally controlled to output a generator torque instruction Tgrd(n) is:
Figure GDA0003123892480000042
if A is-1, Delta Tf(n)≥-0.01TnAnd | Tgmd(n)-TgrdAnd (n) | ≦ ε, resetting A to 0.
Preferably, in step S5, the generator torque command T is outputBd(n) is:
Figure GDA0003123892480000043
wherein B represents the virtual damping coefficient of the shafting,
Figure GDA0003123892480000044
is a band-pass filter expression in which ω is2、ω3Is the frequency, xi, of the band-pass filter2，ξ3Is the damping ratio of the band-pass filter; the shafting load optimization control loop output generator for the nth control periodTorque command TBd(n) performing clipping control as shown in the following expression:
Figure GDA0003123892480000051
the voltage source type wind power generator set control system considering load and rotating speed constraints comprises a voltage source type converter, a shafting load optimization control ring, a rotating speed optimization control ring and a variable speed variable pitch control ring, wherein the voltage source type converter outputs the power grid frequency f (n) of the nth control period to the shafting load optimization control ring and outputs the generator torque delta T required by virtual synchronous operationf(n) Generator Power Pg(n) and generator speed ωg(n) giving a rotating speed optimization control ring, and outputting a generator torque instruction T in a maximum energy tracking mode by the variable speed variable pitch control ringgmd(n) giving a rotating speed optimization control loop, and outputting a rotating speed optimization control output generator torque instruction T of the nth control period by the rotating speed optimization control loopgrd(n) to the adder, and simultaneously outputs the rotating speed omega of the generatorgA shafting load optimization control ring and a variable speed variable pitch control ring are provided, the shafting load optimization control ring outputs the shafting load optimization control ring of the nth control period to output a generator torque instruction TBd(n) to an adder that outputs a generator speed output command TgdAnd (n) the voltage source type converter.
The shafting load optimization control ring realizes reduction of transmission chain shafting load impact of the voltage source wind turbine generator under the power grid frequency disturbance working condition, and the rotating speed optimization control ring realizes solving of the active power matching problem between the wind turbine generator main control system and the converter so as to avoid abnormal rotating speed control of the generator.
The invention has the beneficial effects that: 1. the problem of active power matching between a master control system of a voltage source type wind turbine generator and a converter is solved, and the fault of overspeed or underspeed of the rotating speed is avoided; 2. and the load impact of the voltage source wind turbine generator on a transmission chain shafting under the power grid frequency disturbance condition is reduced.
Drawings
Fig. 1 is a block diagram of an optimized control structure of a voltage source type wind turbine generator system according to the present invention.
Fig. 2 is a flow chart of an optimized control of the voltage source type wind turbine generator set of the invention.
In the figure: 1. the system comprises a shafting load optimization control ring, a rotating speed optimization control ring, a voltage source type converter and a variable speed and variable pitch control ring.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Example 1: the voltage source type wind turbine generator control system considering load and rotation speed constraints of the embodiment includes, as shown in fig. 1, a voltage source type converter 3, a shafting load optimization control ring 1, a rotation speed optimization control ring 2 and a variable speed and variable pitch control ring 4, where the voltage source type converter 3 outputs a grid frequency f (n) of an nth control period to the shafting load optimization control ring 1, and outputs a generator torque Δ T required by virtual synchronous operationf(n) Generator Power Pg(n) and generator speed ωg(n) the rotating speed optimization control ring 2 and the variable speed variable pitch control ring 4 output a generator torque instruction T in the maximum energy tracking modegmd(n) the rotating speed optimization control loop 2 outputs a rotating speed optimization control output generator torque instruction T of the nth control period to the rotating speed optimization control loop 2grd(n) to the adder, and simultaneously outputs the rotating speed omega of the generatorg(n) the shafting load optimization control ring 1 and the variable speed and variable pitch control ring 4 are provided, the shafting load optimization control ring 1 outputs the shafting load optimization control ring of the nth control period to output a generator torque instruction TBd(n) the adder outputs a generator speed output instruction Tgd(n) to the voltage source converter 3.
The shafting load optimization control ring realizes reduction of transmission chain shafting load impact of the voltage source wind turbine generator under the power grid frequency disturbance working condition, and the rotating speed optimization control ring realizes solving of the active power matching problem between the wind turbine generator main control system and the converter so as to avoid abnormal rotating speed control of the generator.
As shown in fig. 2, the voltage source type wind turbine control method considering load and rotation speed constraints according to the embodiment includes the following steps:
s1, detecting the voltage source type wind turbine generator set, and acquiring related data: detecting the power grid frequency f (n) and the generator rotation speed omega of the nth control periodg(n) Generator Power Pg(n) virtual synchronous operation required Generator Torque Δ Tf(n) and a generator torque command T in a maximum power tracking Mode (MPPT) output by a variable speed variable pitch control loopgmd(n)。
S2, setting a rotating speed control mode switching flag bit A according to whether the voltage source type wind generating set is in a program initialization state,
when the wind turbine generator is in program initialization, A is set to be 0 for the first time, otherwise, A is set to be 1 for the first time.
S3, formulating torque control threshold values according to the relation between the generator torque required by virtual synchronous operation and the generator rated torque, and formulating rotating speed control threshold values at the same time, wherein the torque control threshold values comprise a first torque control value-0.02TnSecond torque control value 0.02tnAnd a third torque control value of 0.01 tnWherein T isnRepresenting the rated torque of the generator; the threshold value for rotational speed control comprises a minimum rotational speed control value omegaminFirst rotational speed control value 0.96 ωmin。
S4, respectively making optimal control strategies of the wind turbine generator under various conditions according to the rotating speed control mode switching flag bit, the torque control threshold and the rotating speed control threshold, wherein the optimal control strategies of the wind turbine generator under various conditions are as follows:
a) when the initial rotating speed control mode switching flag bit A is 0, the wind turbine generator optimization control strategy comprises the following steps:
if A is 0, -0.02Tn≤ΔTf(n)≤0.02TnThen the rotating speed of the nth control period is optimally controlled to output a generator torque instruction Tgrd(n) is: t isgrd(n)＝Tgmd；
If A is 0, Δ Tf(n)＞0.02TnResetting A to 1, and recording the switching flag bit A of the rotation speed control mode when the switching flag bit A of the rotation speed control mode is reset to 1Initial value P of power of generator at moment when 0 is changed into 1g0The speed of the nth control period is optimally controlled to output a generator torque command Tgrd(n) is:
Figure GDA0003123892480000071
if A is 0, Δ Tf(n)＜-0.02TnResetting A to-1, and recording the initial value P of the power of the generator when the switching flag bit A of the rotation speed control mode is changed from 0 to-1 when the switching flag bit A of the rotation speed control mode is reset to-1g1The speed of the nth control period is optimally controlled to output a generator torque command Tgrd(n) is:
Figure GDA0003123892480000072
b) when the switching flag bit A of the rotating speed control mode is 1, the optimization control strategy of the wind turbine generator comprises the following steps:
if A is 1, Delta Tf(n)＞0.01Tn，ωg(n)≥0.96ωminAnd the rotating speed of the nth control period is optimally controlled to output a generator torque command Tgrd(n) is:
Figure GDA0003123892480000073
wherein, ω isminMinimum steady-state rotational speed, T, for grid-connected operation of a wind turbinegrd(n-1) a torque instruction of the generator is output by the rotation speed optimization control in the (n-1) th control period, b is a limit value of the change slope of the output torque of the generator, and T is the control period;
if A is 1, Delta Tf(n)＞0.01Tn，ωg(n)＜0.96ωminAnd the rotating speed of the nth control period is optimally controlled to output a generator torque command Tgrd(n) is:
Figure GDA0003123892480000081
wherein c is the generator torque reduction rate;
if A is 1, Delta Tf(n)≤0.01TnBut does not satisfy | Tgmd(n)-TgrdIf (n) is less than or equal to epsilon, the rotating speed of the nth control period optimally controls and outputs a generator torque instruction Tgrd(n) is:
Figure GDA0003123892480000082
wherein d is the generator torque recovery rate;
if A is 1, Delta Tf(n)≤0.01TnAnd | Tgmd(n)-Tgrd(n) | is less than or equal to epsilon, then resetting A to 0;
where ε is a small torque offset value.
c) When the switching flag bit A of the rotating speed control mode is reset to be-1, the optimization control strategy of the wind turbine generator set comprises the following steps:
if A is-1, Delta Tf(n)＜-0.01TnAnd the rotating speed of the nth control period is optimally controlled to output a generator torque command Tgrd(n) is:
Figure GDA0003123892480000083
if A is-1, Delta Tf(n)≥-0.01TnBut does not satisfy | Tgmd(n)-TgrdIf (n) is less than or equal to epsilon, the rotating speed of the nth control period is optimally controlled to output a generator torque instruction Tgrd(n) is:
Figure GDA0003123892480000084
if A is-1, Delta Tf(n)≥-0.01TnAnd | Tgmd(n)-TgrdAnd (n) | ≦ ε, resetting A to 0.
S5, calculating to obtain a shafting load optimization control loop output generator torque instruction T of the nth control period according to wind turbine generator optimization control strategies under different conditionsBd(n) is:
Figure GDA0003123892480000091
wherein B represents the virtual damping coefficient of the shafting,
Figure GDA0003123892480000092
is a band-pass filter expression in which ω is2、ω3Is the frequency, xi, of the band-pass filter2，ξ3Is the band pass filter damping ratio.
Outputting a generator torque instruction T to the shafting load optimization control loop of the nth control periodBd(n) performing clipping control:
Figure GDA0003123892480000093
outputting a generator torque command T by optimally controlling the rotating speed of the nth control periodgrd(n) outputting a generator torque command T with a shafting load optimization control loopBd(n) adding to obtain a generator speed output command TgdAnd (n) sending the control command to the voltage source type converter to execute the control command.
The invention provides a voltage source type wind turbine generator optimal control method and system considering load and rotating speed constraints, solves the problem of active power matching between a main control system and a converter of a voltage source type wind turbine generator, and avoids the fault of over-speed or under-speed of the rotating speed; the load impact of the voltage source wind turbine generator on the transmission chain shafting under the power grid frequency disturbance working condition is reduced, the safe and stable operation of the wind turbine generator is ensured, and the practical value is achieved.

Claims (3)

1. A method for controlling a wind power plant of the voltage source type taking into account load and rotation speed constraints, characterized in that it comprises the following steps:
s1, detecting the voltage source type wind turbine generator set, and acquiring related data: the related data comprises the grid frequency f (n) and the generator rotating speed omega of the nth control periodg(n) Generator Power Pg(n) virtual synchronous operation required Generator Torque Δ Tf(n) and a generator torque instruction T in a mode of outputting maximum energy tracking by a variable speed variable pitch control loopgmd(n)；
S2, setting a rotating speed control mode switching flag bit according to whether the voltage source type wind turbine generator set is in a program initialization state or not;
s3, formulating torque control threshold values according to the relation between the generator torque required by virtual synchronous operation and the generator rated torque, and formulating rotating speed control threshold values at the same time, wherein the torque control threshold values comprise a first torque control value-0.02TnSecond torque control value 0.02tnAnd a third torque control value of 0.01 tnWherein T isnRepresenting the rated torque of the generator; the threshold value comprises a minimum speed control value omegaminFirst rotational speed control value 0.96 ωmin；
S4, respectively defining optimal control strategies for the wind turbine generator under different conditions according to the rotation speed control mode switching flag, the torque control threshold and the rotation speed control threshold, where in step S4, the different conditions include when the rotation speed control mode switching flag a is initially set to 0, when the rotation speed control mode switching flag a is initially set to 1, when the rotation speed control mode switching flag a is reset to 0, when the rotation speed control mode switching flag a is reset to-1, and when the rotation speed control mode switching flag a is reset to 1;
when the initial rotating speed control mode switching flag bit A is 0, the wind turbine generator optimization control strategy comprises the following steps:
if A is 0, -0.02Tn≤ΔTf(n)≤0.02TnThen the rotating speed of the nth control period is optimally controlled to output a generator torque instruction Tgrd(n) is: t isgrd(n)＝Tgmd；
If A is 0, Δ Tf(n)＞0.02TnResetting A to 1, and recording the initial value P of the power of the generator when the switching flag bit A of the rotation speed control mode is changed from 0 to 1 when the switching flag bit A of the rotation speed control mode is reset to 1g0The speed of the nth control period is optimally controlled to output a generator torque command Tgrd(n) is:
Figure FDA0003123892470000011
if A is 0, Δ Tf(n)＜-0.02TnResetting A to-1, and recording the initial value P of the power of the generator when the switching flag bit A of the rotation speed control mode is changed from 0 to-1 when the switching flag bit A of the rotation speed control mode is reset to-1g1The speed of the nth control period is optimally controlled to output a generator torque command Tgrd(n) is:
Figure FDA0003123892470000021
when the switching flag bit A of the rotating speed control mode is 1, the wind turbine generator optimization control strategy comprises the following steps:
if A is 1, Delta Tf(n)＞0.01Tn，ωg(n)≥0.96ωminAnd the rotating speed of the nth control period is optimally controlled to output a generator torque command Tgrd(n) is:
Figure FDA0003123892470000022
wherein, ω isminMinimum steady-state rotational speed, T, for grid-connected operation of a wind turbinegrd(n-1) a torque instruction of the generator is output by the rotation speed optimization control in the (n-1) th control period, b is a limit value of the change slope of the output torque of the generator, and T is the control period;
if A is 1, Delta Tf(n)＞0.01Tn，ωg(n)＜0.96ωminThe nth control cycleOutput of generator torque command T by phase of speed optimization controlgrd(n) is:
Figure FDA0003123892470000023
wherein c is the generator torque reduction rate;
if A is 1, Delta Tf(n)≤0.01TnBut does not satisfy | Tgmd(n)-TgrdIf (n) is less than or equal to epsilon, the rotating speed of the nth control period optimally controls and outputs a generator torque instruction Tgrd(n) is:
Figure FDA0003123892470000024
wherein d is the generator torque recovery rate;
if A is 1, Delta Tf(n)≤0.01TnAnd | Tgmd(n)-Tgrd(n) | is less than or equal to epsilon, then resetting A to 0;
wherein epsilon is a smaller torque deviation value;
when the switching flag bit A of the rotating speed control mode is reset to be-1, the wind turbine generator optimization control strategy comprises the following steps:
if A is-1, Delta Tf(n)＜-0.01TnAnd the rotating speed of the nth control period is optimally controlled to output a generator torque command Tgrd(n) is:
Figure FDA0003123892470000031
if A is-1, Delta Tf(n)≥-0.01TnBut does not satisfy | Tgmd(n)-TgrdIf (n) is less than or equal to epsilon, the rotating speed of the nth control period is optimally controlled to output a generator torque instruction Tgrd(n) is:
Figure FDA0003123892470000032
if A is-1, Delta Tf(n)≥-0.01TnAnd | Tgmd(n)-Tgrd(n) if ≦ ε, resetting A to 0;
s5, calculating to obtain a shafting load optimization control loop output generator torque instruction T of the nth control period according to wind turbine generator optimization control strategies under different conditionsBd(n) outputting a generator torque command T to the shafting load optimization control loop of the nth control periodBd(n) performing amplitude limiting control, and outputting a generator torque command T by optimally controlling the rotating speed of the nth control periodgrd(n) outputting a generator torque command T with a shafting load optimization control loopBd(n) adding to obtain a generator speed output command Tgd(n), sending the control command to the voltage source type converter to execute the control command;
in step S5, a generator torque command T is outputBd(n) is:
Figure FDA0003123892470000033
wherein B represents the virtual damping coefficient of the shafting,
Figure FDA0003123892470000034
is a band-pass filter expression in which ω is2、ω3Is the frequency, xi, of the band-pass filter2，ξ3Is the damping ratio of the band-pass filter; outputting a generator torque instruction T by the shafting load optimization control loop of the nth control periodBd(n) performing clipping control as shown in the following expression:
Figure FDA0003123892470000035
2. a voltage source wind park control method according to claim 1, wherein the speed control mode switch flag a in step S2 is set to 0 at program initialization.
3. The system of the voltage source type wind generating set control method considering load and rotating speed constraints according to claims 1-2, characterized by comprising a voltage source type converter (3), a shafting load optimization control loop (1), a rotating speed optimization control loop (2) and a variable speed and variable pitch control loop (4), wherein the voltage source type converter (3) outputs the grid frequency f (n) of the nth control period to the shafting load optimization control loop (1), and outputs the generator torque delta T required by virtual synchronous operationf(n) Generator Power Pg(n) and generator speed ωg(n) the rotating speed optimization control ring (2) is provided, and the variable speed variable pitch control ring (4) outputs a generator torque instruction T in the maximum energy tracking modegmd(n) giving a rotating speed optimization control ring (2), wherein the rotating speed optimization control ring (2) outputs a rotating speed optimization control output generator torque instruction T of the nth control periodgrd(n) to the adder, and simultaneously outputs the rotating speed omega of the generatorg(n) a shafting load optimization control ring (1) and a variable speed and variable pitch control ring (4) are provided, wherein the shafting load optimization control ring (1) outputs a shafting load optimization control ring output generator torque instruction T of the nth control periodBd(n) to an adder that outputs a generator speed output command Tgd(n) to the voltage source converter (3).
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