CN112821471B - Auxiliary control method for wind turbine generator set participating in power grid frequency modulation considering fatigue load - Google Patents

Auxiliary control method for wind turbine generator set participating in power grid frequency modulation considering fatigue load Download PDF

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CN112821471B
CN112821471B CN202011623365.1A CN202011623365A CN112821471B CN 112821471 B CN112821471 B CN 112821471B CN 202011623365 A CN202011623365 A CN 202011623365A CN 112821471 B CN112821471 B CN 112821471B
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wind turbine
turbine generator
frequency modulation
generator
tower
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CN112821471A (en
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郭钰锋
王瑛玮
王茜
张冬蕊
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Harbin Institute of Technology
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    • 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
    • H02J3/466—Scheduling the operation of the generators, e.g. connecting or disconnecting generators to meet a given demand
    • 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
    • H02J3/002—Flicker reduction, e.g. compensation of flicker introduced by non-linear load
    • 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
    • H02J3/241—The oscillation concerning frequency
    • 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
    • H02J3/381—Dispersed generators
    • 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
    • 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
    • H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
    • H02J2203/10—Power transmission or distribution systems management focussing at grid-level, e.g. load flow analysis, node profile computation, meshed network optimisation, active network management or spinning reserve management
    • 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
    • H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
    • H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
    • 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
    • H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
    • H02J2300/20—The dispersed energy generation being of renewable origin
    • H02J2300/28—The renewable source being wind energy
    • 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

Abstract

The invention discloses an auxiliary control method for a wind turbine generator set taking fatigue load into consideration to participate in power grid frequency modulation. The wind turbine generator frequency modulation control is a very practical wind turbine generator auxiliary power grid frequency modulation control method, and the fatigue load of a main shaft and a tower of the wind turbine generator can be reduced on the basis of ensuring the improvement of the original frequency regulation performance without changing the original frequency modulation method or the control method of the wind turbine generator.

Description

Auxiliary control method for wind turbine generator set participating in power grid frequency modulation considering fatigue load
Technical Field
The invention relates to an auxiliary control method for a wind turbine generator set taking fatigue load into consideration to participate in power grid frequency modulation.
Background
Wind energy is one of the rapidly growing renewable energy sources, and wind power will continue to grow rapidly according to the current national energy development strategy. However, the active power of the existing mainstream double-fed wind turbine generator is decoupled from the power grid frequency, so that the frequency stability level of the power system is seriously reduced due to the rapid increase of the wind power grid-connected capacity. Wind power is involved in power grid frequency regulation, and the important means for solving the problem of frequency stability reduction is provided.
Because the frequency modulation method of the wind turbine generator mainly considers the frequency side of a power system and mainly realizes the function of improving the frequency stability of a power grid, but the wind turbine generator can frequently change the pitch angle and the generator torque after participating in the frequency modulation of the power grid so as to adapt to the frequency change of the power grid, the fatigue load borne by a main shaft and a tower of the wind turbine generator is obviously increased. For these reasons, in order to ensure that the fatigue load of the wind turbine is reduced while the stability of the power system is improved under the condition that the wind turbine participates in frequency modulation, an auxiliary frequency adjustment method considering the fatigue load of the wind turbine is urgently needed, so that the fatigue load of the wind turbine is reduced while the stability of the power system is improved.
Disclosure of Invention
The invention aims to provide an auxiliary control method for a wind turbine generator set to participate in power grid frequency modulation in consideration of fatigue load, which is used for solving the problem that the fatigue load is increased after the wind turbine generator set participates in frequency modulation and reducing the fatigue load of a main shaft and a tower of the wind turbine generator set on the premise of improving the frequency stability of a power grid.
The purpose of the invention is realized by the following technical scheme:
an auxiliary control method for a wind turbine generator set considering fatigue load to participate in power grid frequency modulation comprises the following steps:
step one, establishing a dynamic model of a wind turbine generator:
aerodynamic torque T r Expressed as:
Figure BDA0002878767320000021
where ρ is the air density (kg/m) 3 ) (ii) a v is wind speed (m/s); r is the length of the blade (m); c p Is the power coefficient; omega r Is the wind wheel rotational speed (rad/s);
tower thrust F t Expressed as:
F t ＝0.5πR 2 ρv 2 C t ；
wherein, C t Is the thrust coefficient;
the dual mass block transmission system is represented as:
Figure BDA0002878767320000022
Figure BDA0002878767320000023
Figure BDA0002878767320000024
wherein, T s Is main shaft torque (Nm); omega g Is the generator speed (rad/s); b Ts Is the coefficient of viscous friction of the principal axis (Nm · s/rad); k Ts Is the spindle spring coefficient (Nm/rad); j. the design is a square r Is the moment of inertia (kg. m) of the rotor 2 )；J g Is the generator moment of inertia (kg. m) 2 )；T g Is the generator torque (Nm); eta g Is the gearbox speed ratio;
the generator model is expressed as:
Figure BDA0002878767320000031
Figure BDA0002878767320000032
Figure BDA0002878767320000033
wherein, ω is f Is the filtered generator speed (rad/s); tau is f Is the time constant(s) of the filter; t is g-ref Is the generator torque reference (Nm); p g Is the output power (W); p ref Is the active power reference value of the wind turbine generator; s is the laplace operator;
tower frame bending moment M t Expressed as:
M t ＝H tower ·F t ；
wherein H tower Is the tower height (m);
the pitch angle θ is expressed as:
Figure BDA0002878767320000034
wherein:
k a ＝k a1 +k a2 θ ref ；
wherein k is p And k i Proportional gain and integral gain of the PI controller; omega g-rated Is the rated rotational speed (rad/s) of the generator; k is a radical of a1 And k a2 Is a gain factor associated with pitch control;
step two, establishing a state space equation model of the wind turbine generator according to the dynamics model established in the step one:
Figure BDA0002878767320000035
wherein:
x＝[Δω r ,Δω g ,Δω f ,Δβ,ΔT s ] T ；
Figure BDA0002878767320000041
Figure BDA0002878767320000042
Figure BDA0002878767320000043
wherein: omega r0 ，ω g0 ，ω f0 And theta 0 Measured ω at time t0 when v is v0 r ，ω g ，ω f And θ;
step three, calculating the change of the aerodynamic torque and the change of the generator torque according to the aerodynamic torque and the generator torque in the step one:
Figure BDA0002878767320000044
Figure BDA0002878767320000045
wherein:
Figure BDA0002878767320000046
Figure BDA0002878767320000047
Figure BDA0002878767320000051
Figure BDA0002878767320000052
Figure BDA0002878767320000053
Figure BDA0002878767320000054
step four, formula in step two
Figure BDA0002878767320000055
The model after discretization is:
x(t+1)＝Ox(t)+PΔP ref +Q；
wherein:
Figure BDA0002878767320000056
step five, calculating the change of the main shaft torque and the change of the tower bending moment according to the discretization result of the step four:
ΔT s (t+1)＝P(5,1)ΔP ref +O(5,:)x+Q(5,1)；
Figure BDA0002878767320000057
wherein:
Figure BDA0002878767320000058
ΔP ref ＝P W -P ref0 ；
step six, obtaining a power change value delta P of the wind turbine generator participating in power grid frequency modulation according to the frequency modulation controller of the wind turbine generator dem Inputting the data into an auxiliary frequency modulation controller for optimization calculation, and establishing the following objective function:
minC＝(1-α)ΔT s 2 (k+1)+αΔM t 2 (k+1)；
wherein alpha is the fatigue load coefficient of the main shaft and the tower frame;
step seven, establishing the following constraint conditions:
if the frequency is in the up phase:
Figure BDA0002878767320000061
if the frequency is in the down phase:
Figure BDA0002878767320000062
wherein, P dem Is the power requirement of the wind turbine without the addition of an auxiliary frequency modulation control method, beta lb To impose a lower bound parameter, beta ub The output upper bound parameter;
step eight, calculating by adopting a quadratic programming algorithmCalculating the power reference value delta P of the wind turbine generator which needs to be changed actually ref Wherein: the quadratic programming algorithm needs to represent the function to be optimized as a standard quadratic form:
Figure BDA0002878767320000063
Figure BDA0002878767320000064
in the present invention, H and f are:
Figure BDA0002878767320000065
f＝2a Ts (1-α)(b Ts -a Ts P ref0 )+2αa Ft (b Ft -a Ft P ref0 )；
wherein: a is Ts ＝P(5,1)，b Ts ＝O(5,:)x+Q(5,1)，a Ft ＝D Ft P，
Figure BDA0002878767320000066
Compared with the prior art, the invention has the following advantages:
1. the invention provides an auxiliary control method for a wind turbine generator set to participate in power grid frequency modulation in consideration of fatigue load, which aims to reduce the influence of the wind turbine generator set to participate in the power grid frequency modulation on the fatigue load of a main shaft and a tower of the wind turbine generator set. Firstly, an active power demand value obtained by an original frequency regulation controller of the wind turbine generator is used as input, then the active power demand value is input into an auxiliary control method for the wind turbine generator considering fatigue load to participate in power grid frequency modulation, and finally, the frequency regulation power of the wind turbine generator participating in the power grid is obtained through optimization calculation. The wind turbine generator frequency modulation control method is a very practical wind turbine generator auxiliary power grid frequency modulation control method, and can reduce fatigue loads of a main shaft and a tower of the wind turbine generator on the basis of ensuring improvement of the original frequency regulation performance without changing the original frequency modulation method and the control method of the wind turbine generator.
2. The auxiliary control method for the wind turbine generator set to participate in the grid frequency modulation considering the fatigue load is not an inertia, primary frequency modulation and secondary frequency modulation control method in the traditional sense, nor a pitch, torque and yaw control method of the wind turbine generator set, but is an additional control method added between the wind turbine generator set frequency modulation method and the wind turbine generator set control method.
Drawings
FIG. 1 is a diagram of an overall control scheme;
FIG. 2 is an overall block diagram of an auxiliary frequency modulation method;
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings, but not limited thereto, and any modification or equivalent replacement of the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention shall be covered by the protection scope of the present invention.
The invention provides an auxiliary control method for a wind turbine generator set to participate in power grid frequency modulation in consideration of fatigue load, which is not a wind turbine generator set control method or a frequency modulation control method, but is a control method added in a frequency modulation control method and a wind turbine generator set control method for reducing the influence of participation in frequency modulation on the fatigue load of a main shaft and a tower of the wind turbine generator set. For the wind turbine generator participating in power grid frequency modulation, the power change value delta P of the wind turbine generator participating in power grid frequency modulation is obtained according to the wind turbine generator frequency modulation controller dem The power reference value delta P which is input into the auxiliary frequency modulation controller and needs to be changed actually is obtained through optimization calculation ref And input to the wind turbine controller to make the wind turbine atAnd the fatigue load of a main shaft and a tower of the wind turbine generator is reduced while the frequency modulation of the power grid is participated.
As shown in fig. 1 and 2, the method comprises the following specific steps:
step one, establishing a dynamic model of the wind turbine generator.
Aerodynamic torque T r Expressed as:
Figure BDA0002878767320000081
where ρ is the air density (kg/m) 3 ) (ii) a v is wind speed (m/s); r is the length of the blade (m); c p Is the power coefficient; omega r Is the rotor speed (rad/s).
Tower thrust F t Expressed as:
F t ＝0.5πR 2 ρv 2 C t ；
wherein, C t Is the thrust coefficient.
The dual mass block transmission system is represented as:
Figure BDA0002878767320000082
Figure BDA0002878767320000083
Figure BDA0002878767320000084
wherein, T s Is main shaft torque (Nm); omega g Is the generator speed (rad/s); b is Ts Is the viscous coefficient of friction (Nm · s/rad) of the spindle; k Ts Is the spindle spring coefficient (Nm/rad); j. the design is a square r Is the moment of inertia (kg. m) of the rotor 2 )；J g Is the generator moment of inertia (kg. m) 2 )；T g Is the generator torque (Nm); eta g Is the gearbox speed ratio.
The generator model is expressed as:
Figure BDA0002878767320000091
Figure BDA0002878767320000092
Figure BDA0002878767320000093
wherein, ω is f Is the filtered generator speed (rad/s); tau is f Is the time constant(s) of the filter; t is g-ref Is the generator torque reference (Nm); p g Is the output power (W); p ref Is the active power reference value of the wind turbine generator; s is the laplacian operator.
Tower frame bending moment M t Expressed as:
M t ＝H tower ·F t ；
wherein H tower Is the column height (m).
The variable pitch control of the wind turbine generator adopts a variable gain PI control method, and the pitch angle theta can be expressed as follows:
Figure BDA0002878767320000094
wherein:
k a ＝k a1 +k a2 θ；
wherein k is p And k i Proportional gain and integral gain of the PI controller; omega g-rated Is the rated rotational speed (rad/s) of the generator; k is a radical of a1 And k a2 Is the gain factor associated with pitch control.
Step two, establishing a state space equation model of the following wind turbine generator according to the dynamic model which contains the double-mass block transmission system and can reflect the main dynamic of the main shaft and the tower of the double-fed wind turbine generator in the step one:
Figure BDA0002878767320000101
wherein:
x＝[Δω r ,Δω g ,Δω f ,Δβ,ΔT s ] T ；
Figure BDA0002878767320000102
Figure BDA0002878767320000103
Figure BDA0002878767320000104
wherein: omega r0 ，ω g0 ，ω f0 And theta 0 Is the measured omega at time t0 when v is v0 r ，ω g ，ω f And theta.
Step three, calculating the change of the aerodynamic torque and the change of the generator torque according to the aerodynamic torque and the generator torque in the step one by adopting the following modes:
Figure BDA0002878767320000105
Figure BDA0002878767320000106
wherein:
Figure BDA0002878767320000111
Figure BDA0002878767320000112
Figure BDA0002878767320000113
Figure BDA0002878767320000114
Figure BDA0002878767320000115
Figure BDA0002878767320000116
wherein:
Figure BDA0002878767320000117
step four, step two formula
Figure BDA0002878767320000118
The model after discretization is:
x(t+1)＝Ox(t)+PΔP ref +Q；
wherein:
Figure BDA0002878767320000119
wherein: t is t s Is the sampling period of the controller.
Step five, calculating the change of the main shaft torque and the change of the tower bending moment according to the step three and the step four, wherein the implementation mode is as follows:
ΔT s (t+1)＝P(5,1)ΔP ref +O(5,:)x+Q(5,1)；
Figure BDA00028787673200001110
wherein:
Figure BDA00028787673200001111
ΔP ref ＝P W -P ref0 。
step six, obtaining a power change value delta P of the wind turbine generator participating in power grid frequency modulation according to the frequency modulation controller of the wind turbine generator dem Inputting the data into an auxiliary frequency modulation controller for optimization calculation, and establishing the following objective function:
Figure BDA0002878767320000121
wherein alpha is the fatigue load coefficient of the main shaft and the tower.
The main reason for establishing the model by the objective function is that the fatigue load of the shaft and the tower of the wind turbine generator set can be reduced by reducing the change condition of the shaft torque and the tower bending moment.
Step seven, constraint conditions are as follows:
if the frequency is in the up phase:
Figure BDA0002878767320000122
if the frequency is in the down phase:
Figure BDA0002878767320000123
the constraint conditions are the main reasons of the above models:
when the system frequency is reduced, the active output of the wind turbine needs to be increased, and at the moment, the active output of the wind turbine is allowed to exceed the delta P obtained by the frequency modulation controller dem I.e. allowing the active power of the wind turbine to vary by [ Δ P dem ，β ub ΔP dem ]May be varied within the range of (1). When the system frequency is increased, the active output of the wind turbine generator needs to be reduced, and at the moment, the active output of the wind turbine generator is allowed to be smaller than delta P dem I.e. allowing the active power of the wind turbine to vary at [ beta ] 1b ΔP dem ，ΔP dem ]May be varied within the range of (1). The dynamic inequality constraint can reduce the fatigue load of the wind turbine generator and can also enable the wind turbine generator to provide additional active power support so as to reduce the frequency deviation of the system.
Wherein, Δ P dem Is the power requirement of the wind turbine without the addition of an auxiliary frequency modulation control method, beta lb As a lower bound parameter of the output, beta ub As an upper force parameter, beta lb And beta ub The parameter is not more than 0.1.
Step eight, calculating a power reference value delta P of the air-out motor set which actually needs to be changed by adopting a quadratic programming algorithm ref And the input is input into a wind generating set controller, so that the wind generating set can participate in grid frequency modulation and simultaneously reduce fatigue loads of a main shaft and a tower of the wind generating set.
The quadratic programming algorithm requires that the function to be optimized is represented as a standard quadratic form:
Figure BDA0002878767320000131
Figure BDA0002878767320000132
in the present invention, H and f are:
Figure BDA0002878767320000133
f＝2a Ts (1-α)(b Ts -a Ts P ref0 )+2αa Ft (b Ft -a Ft P ref0 )；
wherein:
a Ts ＝P(5,1)；
b Ts ＝O(5,:)x+Q(5,1)；
a Ft ＝D Ft P；
Figure BDA0002878767320000134
example (b):
for a wind turbine with the parameters shown in table 1, the aerodynamic torque of the wind turbine is expressed as:
Figure BDA0002878767320000135
the tower thrust is expressed as:
F t ＝0.5πR 2 ρv 2 C t 。
the dual mass block transmission system is represented as:
Figure BDA0002878767320000136
Figure BDA0002878767320000141
Figure BDA0002878767320000142
the generator model is expressed as:
Figure BDA0002878767320000143
Figure BDA0002878767320000144
Figure BDA0002878767320000145
the tower bending moment is expressed as:
M t ＝H tower ·F t 。
TABLE 1 wind turbine parameters
Figure BDA0002878767320000146
The variable pitch control of the wind turbine generator adopts a variable gain PI control method, and the pitch angle can be expressed as follows:
Figure BDA0002878767320000151
wherein:
k a ＝k a1 +k a2 θ ref 。
according to a dynamic model which contains a double-mass block transmission system and can reflect the main dynamic states of a main shaft and a tower of the doubly-fed wind turbine generator, the following wind turbine generator state space equation model is established:
Figure BDA0002878767320000152
wherein:
x＝[Δω r ,Δω g ,Δω f ,Δβ,ΔT s ] T ；
Figure BDA0002878767320000153
Figure BDA0002878767320000154
Figure BDA0002878767320000155
the aerodynamic torque variation and the generator torque variation are calculated in the following manner:
Figure BDA0002878767320000156
Figure BDA0002878767320000157
wherein:
Figure BDA0002878767320000161
Figure BDA0002878767320000162
Figure BDA0002878767320000163
Figure BDA0002878767320000164
Figure BDA0002878767320000165
Figure BDA0002878767320000166
formula (II)
Figure BDA0002878767320000167
After discretization is expressed as:
x(t+1)＝Ox(t)+PΔP ref +Q；
wherein:
Figure BDA0002878767320000168
calculating the change of the main shaft torque and the change of the tower bending moment, and realizing the following steps:
ΔT s (t+1)＝P(5,1)ΔP ref +O(5,:)x+Q(5,1)；
Figure BDA0002878767320000169
wherein:
Figure BDA00028787673200001610
ΔP ref ＝P W -P ref0 。
to simplify the expression, define:
a Ts ＝P(5,1)；
a Ft ＝D Ft P；
b Ts ＝O(5,:)x+Q(5,1)；
Figure BDA0002878767320000171
obtaining a power change value delta P of the wind turbine generator participating in power grid frequency modulation according to a frequency modulation controller of the wind turbine generator dem Inputting the data into an auxiliary frequency modulation controller for optimization calculation, and establishing the following objective function:
Figure BDA0002878767320000172
wherein alpha is the fatigue load coefficient of the main shaft and the tower, and the value is 0.9877.
The constraints are as follows:
(1) if the frequency is in the rising phase, then
Figure BDA0002878767320000173
(2) If the frequency is in the descending phase, then
Figure BDA0002878767320000174
Wherein, P dem Is the power requirement of the wind turbine without the addition of an auxiliary frequency modulation control method, beta lb As a lower bound parameter of the output, beta ub As an upper force parameter, beta lb And beta ub The parameter value was 0.05.
When the frequency modulation control method of the wind turbine generator is droop control, the droop coefficient is 0.05, the input average wind speed is 15m/s, and the turbulence intensity is 0.1, calculating by adopting a quadratic programming algorithm to obtain a power reference value which is actually required to be changed by the wind turbine generator.
The equivalent damage load results of the wind turbine generator obtained by adding the auxiliary frequency modulation algorithm and not adding the auxiliary frequency modulation algorithm are shown in table 2.
TABLE 2 equivalent damage load of wind turbine shaft torque and tower bending moment when the average wind speed is 15m/s and the turbulence intensity is 0.1
Figure BDA0002878767320000175
The result shows that the fatigue load of the wind turbine generator can be reduced while the frequency stability is improved by the aid of the auxiliary control method for the wind turbine generator taking the fatigue load into consideration and participating in power grid frequency modulation.

Claims (1)

1. An auxiliary control method for a wind turbine generator set considering fatigue load to participate in power grid frequency modulation is characterized by comprising the following steps:
step one, establishing a dynamic model of a wind turbine generator:
aerodynamic torque T r Expressed as:
Figure FDA0003810076950000011
where ρ is the air density; v is the wind speed; r is the length of the blade; c p Is the power coefficient; omega r Is the wind wheel rotational speed;
tower thrust F t Expressed as:
F t ＝0.5πR 2 ρv 2 C t ；
wherein, C t Is the thrust coefficient;
the dual mass block transmission system is represented as:
Figure FDA0003810076950000012
Figure FDA0003810076950000013
Figure FDA0003810076950000014
wherein, T s Is the main shaft torque; omega g Is the generator speed; b is Ts Is the viscous friction coefficient of the spindle; k is Ts Is the spindle spring coefficient; j. the design is a square r Is the rotor moment of inertia; j. the design is a square g Is the generator moment of inertia; t is g Is the generator torque; eta g Is the gearbox speed ratio;
the generator model is expressed as:
Figure FDA0003810076950000015
Figure FDA0003810076950000021
Figure FDA0003810076950000022
wherein, ω is f Is the filtered generator speed; tau is f Is the time constant of the filter; t is g-ref Is the generator torque reference; p g Is the output power; p ref Is the active power reference value of the wind turbine generator; s is the laplace operator;
tower frame bending moment M t Expressed as:
M t ＝H tower ·F t ；
wherein H tower Is the tower height;
the pitch angle θ is expressed as:
Figure FDA0003810076950000023
wherein:
k a ＝k a1 +k a2 θ ref ；
wherein k is p And k i Proportional gain and integral gain of the PI controller; omega g-rated Is the rated speed of the generator; k is a radical of a1 And k a2 Is a gain factor associated with pitch control;
step two, establishing a state space equation model of the wind turbine generator according to the dynamics model established in the step one:
Figure FDA0003810076950000024
wherein:
x＝[Δω r ,Δω g ,Δω f ,Δβ,ΔT s ] T ；
Figure FDA0003810076950000031
Figure FDA0003810076950000032
Figure FDA0003810076950000033
wherein: omega r0 ，ω g0 ，ω f0 And theta 0 ω measured at time t0 when v is v0 r ，ω g ，ω f And theta, B Ms Is the viscous friction coefficient of the spindle, K Ms Is the main shaft spring coefficient;
step three, calculating the change of the aerodynamic torque and the change of the generator torque according to the aerodynamic torque and the generator torque in the step one:
Figure FDA0003810076950000034
Figure FDA0003810076950000035
wherein:
Figure FDA0003810076950000036
Figure FDA0003810076950000037
Figure FDA0003810076950000038
Figure FDA0003810076950000041
Figure FDA0003810076950000042
Figure FDA0003810076950000043
Figure FDA0003810076950000044
step four, formula in step two
Figure FDA0003810076950000045
The model after discretization is:
x(t+1)＝Ox(t)+PΔP ref +Q；
wherein:
Figure FDA0003810076950000046
t s is the sampling period of the controller;
step five, calculating the change of the main shaft torque and the change of the tower bending moment according to the discretization result of the step four:
ΔT s (t+1)＝P(5,1)ΔP ref +O(5,:)x+Q(5,1)；
Figure FDA0003810076950000047
wherein:
Figure FDA0003810076950000048
ΔP ref ＝P W -P ref0 ；
step six, obtaining a power change value delta P of the wind turbine generator participating in power grid frequency modulation according to the frequency modulation controller of the wind turbine generator dem Inputting the data into an auxiliary frequency modulation controller for optimization calculation, and establishing the following objective function:
Figure FDA0003810076950000049
wherein alpha is the fatigue load coefficient of the main shaft and the tower frame;
step seven, establishing the following constraint conditions:
if the frequency is in the up phase:
Figure FDA0003810076950000051
if the frequency is in the down phase:
Figure FDA0003810076950000052
wherein, P dem Is the power requirement of the wind turbine without the addition of an auxiliary frequency modulation control method, beta lb To impose a lower bound parameter, beta ub The output upper bound parameter;
step eight, calculating a power reference value delta P of the air-out motor set which needs to be changed actually by adopting a quadratic programming algorithm ref 。
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