CN113346524A - Vibration reduction control method of double-freedom-degree wind power generation system with double-fed fan - Google Patents

Vibration reduction control method of double-freedom-degree wind power generation system with double-fed fan Download PDF

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CN113346524A
CN113346524A CN202110810983.5A CN202110810983A CN113346524A CN 113346524 A CN113346524 A CN 113346524A CN 202110810983 A CN202110810983 A CN 202110810983A CN 113346524 A CN113346524 A CN 113346524A
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power
wind turbine
doubly
fed wind
freedom
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CN113346524B (en
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张祥宇
刘华志
付媛
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North China Electric Power University
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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
    • H02J3/24—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
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
    • H02P9/007—Control circuits for doubly fed generators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
    • H02P9/10—Control effected upon generator excitation circuit to reduce harmful effects of overloads or transients, e.g. sudden application of load, sudden removal of load, sudden change of load
    • H02P9/105—Control effected upon generator excitation circuit to reduce harmful effects of overloads or transients, e.g. sudden application of load, sudden removal of load, sudden change of load for increasing the stability
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2101/00—Special adaptation of control arrangements for generators
    • H02P2101/15—Special adaptation of control arrangements for generators for wind-driven turbines
    • 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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  • Power Engineering (AREA)
  • Control Of Eletrric Generators (AREA)
  • Wind Motors (AREA)

Abstract

The invention discloses a vibration reduction control method of a two-degree-of-freedom wind power generation system with a double-fed fan, which mainly comprises the following steps: constructing a two-degree-of-freedom new energy power generation system containing a double-fed fan and a synchronous machine, establishing a flexible virtual coupling controller and designing parameters of the flexible virtual coupling controller; judging whether the grid frequency at the grid-connected point of a rotor converter in the system exceeds an allowable fluctuation range, if so, converting a system frequency signal into a power angle signal of a synchronous generator set, and forming a power variation with the power angle signal output by the flexible virtual coupling controller through a coupling relation; forming a new power signal based on the power variation signal, and updating the power angle of the doubly-fed wind turbine generator through a damping inertia link; the new power angle generates a current reference value of the rotor converter through vector transformation, and the power of the fan is controlled, so that the energy capable of stabilizing system oscillation is output. The invention utilizes the anti-resonance to enhance the response capability of the fan to the system power oscillation, inhibit the system oscillation and improve the stability of the power system.

Description

Vibration reduction control method of double-freedom-degree wind power generation system with double-fed fan
Technical Field
The invention relates to the technical field of power generation system control, in particular to a vibration reduction control method of a two-degree-of-freedom wind power generation system with a double-fed fan.
Background
With the low-carbon development of energy structures, the permeability of renewable energy power grids represented by wind power rises year by year. Random power disturbance introduced by high penetration of new energy and electrical decoupling between power supplies caused by access of large-scale power electronic equipment all aggravate the risk that the power grid suffers power oscillation. In recent years, in order to improve the new energy grid-connected friendliness, wind power and photovoltaic frequency and damping control technologies are concerned. Because the variable-speed wind turbine generator has a wider rotating speed adjusting range, the high control potential is suitable for participating in system frequency adjustment and damping power oscillation. A large number of research results show that the wind turbine generator adopting the virtual synchronous operation mode can share the regulation pressure of the synchronous generator set. Although the coupling relationship between the new energy and the system can be established through virtual synchronization, the synchronous power frequency response also limits the potential to simulate the dynamic characteristics of a synchronous generator, and the power control capability given to the new energy by the power electronic equipment is severely limited by the traditional power supply. At present, the dynamic regulation characteristic equivalent to that of a synchronous generator is only provided, the controllability of wind power is still not sufficiently exerted, and a more effective control mode needs to be further discussed.
Disclosure of Invention
The invention aims to provide a vibration damping control method of a two-degree-of-freedom wind power generation system with a double-fed fan, which is characterized in that a two-degree-of-freedom new energy power generation system is constructed with a synchronous generator set by utilizing the rapid adjustability of the output power of a rotor converter and through independent fan power angle control, the flexible virtual coupling of the double-fed wind power generator set and the synchronous generator set is realized, and the inhibition capacity of the fan on system oscillation is enhanced by utilizing the anti-resonance characteristic.
In order to achieve the purpose, the invention provides the following scheme:
a vibration reduction control method for a double-freedom-degree wind power generation system with a double-fed fan comprises the following steps:
s1, establishing a two-degree-of-freedom new energy power generation system comprising a double-fed wind turbine generator set and a synchronous generator set;
s2, according to the principle of independent control of the power angle and power conservation of the double-fed wind turbine generator in the system, constructing a dynamic model of power angle coupling with the synchronous generator set, and performing linear processing to obtain a two-degree-of-freedom flexible virtual coupling controller model of the double-fed wind turbine generator and the synchronous generator set;
s3, detecting a system power oscillation section, and designing parameters of the two-degree-of-freedom flexible virtual coupling controller by optimal tuning and a fixed point theory;
s4, judging whether the grid frequency of the grid-connected point of the rotor converter at the double-fed wind turbine side in the system exceeds the allowable fluctuation range, if so, turning to the step S5, and if not, turning to the step S4;
s5, converting the system frequency signal into a power angle signal of the synchronous generator set, and forming a power variation delta P with the power angle signal output by the two-degree-of-freedom flexible virtual coupling controller through the designed coupling relation of the two-degree-of-freedom flexible virtual coupling controllere；
S6, power variation signal delta PeAnd a maximum power tracking reference power signal PrefAnd the initial signal P of the actual output power of the fane0Forming a new power signal P ═ Pref-ΔPe-Pe0；
S7, inputting a power signal P, updating the power angle of the doubly-fed wind turbine generator through a damping inertia link, and inputting the power angle to the step S5 and the step S8;
s8, generating a current reference value of the rotor converter at the side of the doubly-fed wind turbine generator by the new power angle through vector transformation, controlling the power of the fan, outputting energy capable of stabilizing system oscillation, and turning to the step 9;
and S9, detecting whether the system oscillation is finished, if the system is still in the oscillation state, turning to the step S5, and if the system oscillation is finished, locking the two-degree-of-freedom flexible virtual coupling controller.
Further, in step S1, the two-degree-of-freedom new energy power generation system specifically includes: the system comprises a synchronous generator G1, a reference synchronous generator G2, a doubly-fed wind turbine generator G3, a rotor converter, a transformer T1, a transformer T2, a transformer T and a load L, wherein the synchronous generator G1 is in a first degree of freedom, and the doubly-fed wind turbine generator G3 and the rotor converter are in a second degree of freedom; the synchronous generator G1 is connected to a first bus through a transformer T1 and then connected to a fourth bus through an admittance B1, the reference synchronous generator G2 is connected to a second bus through a transformer T2 and then connected to the fourth bus through an admittance B2, the doubly-fed wind turbine G3 is connected to a third bus through the rotor converter in sequence and then connected to the fourth bus through a transformer T and an admittance B3, the load L is directly connected to the fourth bus, and the doubly-fed wind turbine G3 utilizes the rapid regulation capability of the output power of the rotor converter to restrain system power oscillation.
Further, in the step S3, according to the principle of power angle independent control and power conservation of the doubly-fed wind turbine generator in the system, a dynamic model of power angle coupling is constructed with the synchronous generator set, and a two-degree-of-freedom flexible virtual coupling controller model of the doubly-fed wind turbine generator and the synchronous generator set is obtained through linearization processing, which specifically includes:
according to the principle of independent control of the power angle of the double-fed wind turbine generator and the theory of motion and power conservation of the rotor of the electric power system, the two-degree-of-freedom coupling relation of the double-fed wind turbine generator and the synchronous generator is obtained as follows:
Figure BDA0003168135690000031
wherein, K1＝E1E2B12 cosδ10,K2＝E1V3B13 cos(δ10-δw0),K3＝V3E2B23 cosδw0；K2Denoted as doubly-fed wind generator G3And synchronous generator G1Virtual coupling stiffness between, K1And K3Respectively denoted as synchronous generators G1And double-fed wind turbine generatorG3A coupling relationship with the system; Δ P represents the continuous perturbation of the system;
in the formula, M1Denoted as synchronous generator G1Time constant of inertia, M2Denoted as doubly-fed wind generator G3Virtual inertia time constant of D1Denoted as synchronous generator G1Damping of D2Denoted as doubly-fed wind generator G3Virtual damping, E1Denoted as synchronous generator G1Inner node voltage, E2With reference to the node voltage, V, of the synchronous generator G23Denoted as doubly-fed wind generator G3End node voltage, B12Expressed as the equivalent admittance of the first busbar and the second busbar, B13Expressed as the equivalent admittance of the first busbar and the third busbar, B23Expressed as the equivalent admittance, δ, of the second busbar and the third busbarwExpressed as the voltage phase angle, delta, of the doubly-fed wind turbine1Denoted as synchronous generator G1Angle of work of delta2Denoted as reference synchronous generator G2Angle of work, delta1Is delta1Angle delta with initial state10Difference of (delta) deltawIs deltawPhase angle delta with initial state voltagew0The difference of (a).
Further, in step S3, detecting a system power oscillation section, and designing parameters of the two-degree-of-freedom flexible virtual coupling controller according to the optimal tuning and the fixed point theory specifically include:
obtaining system oscillation frequency omega and system natural frequency omega through data measurement or calculationnFrom g to ω/ωnObtaining the oscillation frequency band of the system according to the optimal tuning formula
Figure BDA0003168135690000032
Setting virtual coupling stiffness K of controller2And time constant of inertia M2；
Under the condition of ensuring the minimum amplitude of the power angle oscillation of the system, the damping of the flexible virtual coupling controller is obtained as follows:
Figure BDA0003168135690000033
further, in the step S5, the power variation Δ PeThe calculation formula of (a) is as follows:
ΔPe＝K1Δδ1+(K2+K3)Δδw (3)
wherein, Delta delta1Is delta1Angle delta with initial state10Difference of (delta) deltawIs deltawPhase angle delta with initial state voltagew0The difference of (a).
Further, in step S7, inputting the power signal P, and updating the power angle of the doubly-fed wind turbine generator through the damping inertia link, specifically including:
updating the power angle of the doubly-fed wind turbine generator according to the flexible virtual coupling relation between the doubly-fed wind turbine generator and the synchronous generator set:
Figure BDA0003168135690000041
in the formula, s represents the differential of Lass transform, PeIndicating synchronous generator G1Active power of the output, D2Denoted as doubly-fed wind generator G3Virtual damping.
Further, in the step S8, the power angle δwGenerating current reference value I of rotor converter of doubly-fed wind turbine through vector transformationd_ref、Iq_refThe control of fan power is realized to output can stabilize the energy of system oscillation, specifically include:
generating a new current reference value after inputting a virtual power angle of the fan according to abc-dq vector transformation
Figure BDA0003168135690000042
In the formula, EsetExpressed as reference voltage of doubly-fed wind turbine generator, Id_ref、Iq_refAre respectively represented asAnd d-axis and q-axis reference current values of the doubly-fed fan power control.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: according to the vibration reduction control method of the double-freedom-degree wind power generation system with the double-fed fan, a two-freedom-degree flexible virtual coupling controller model is built according to the principle that the power angle of a double-fed wind power generation unit in the system is independently controlled and is in power coupling with a synchronous generator set, the flexible virtual coupling of the double-fed fan and a system synchronous generator is realized based on the power angle coupling relation, and the inhibition capacity of the fan on system oscillation is enhanced by utilizing the anti-resonance characteristic; the power of the doubly-fed wind turbine generator is fully utilized for fast adjustment, the fan is additionally arranged on the main system of the synchronous generator, the vibration state of the main system is changed by changing the operation parameters of the fan and the flexible coupling relation of the fan and the main system, the vibration response of the synchronous generator system is reduced on an expected frequency band, the distribution and the transfer characteristics of the system vibration energy are changed, the suppression of the doubly-fed fan on the system vibration is effectively realized, and the stability of the power system is improved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a flow chart of a vibration damping control method of a two-degree-of-freedom wind power generation system including a doubly-fed wind turbine in an embodiment of the present invention;
FIG. 2 is an oscillation schematic diagram of a two-degree-of-freedom power generation system composed of a doubly-fed wind turbine generator and a synchronous generator according to an embodiment of the invention;
FIG. 3 is an anti-resonance schematic diagram of the damping of the two-degree-of-freedom flexible virtual coupling controller according to the embodiment of the present invention;
FIG. 4 is a structural diagram of a two-degree-of-freedom new energy power generation system including a doubly-fed wind turbine generator and a synchronous generator set according to an embodiment of the invention;
FIG. 5 is a graph showing a relationship between a power angle oscillation amplitude and a disturbance frequency of a synchronous generator according to an embodiment of the present invention;
FIG. 6 is a structural diagram of a flexible virtual coupling controller of the doubly-fed wind generating set according to the embodiment of the invention;
FIG. 7 is a structural diagram of power control of a rotor converter of a doubly-fed wind turbine generator according to an embodiment of the invention;
FIG. 8a is a schematic diagram of the influence of a disturbance frequency of 0.08Hz on system power oscillation in the doubly-fed wind turbine control scheme 1 according to the embodiment of the present invention;
FIG. 8b is a schematic diagram of the influence of the disturbance frequency of 1.1Hz on the system power oscillation in the doubly-fed wind turbine control scheme 1 according to the embodiment of the present invention;
fig. 9 is a schematic diagram of the influence of the doubly-fed wind turbine control scheme 2 on system power oscillation according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a vibration damping control method of a two-degree-of-freedom wind power generation system with a double-fed fan, which is characterized in that a two-degree-of-freedom new energy power generation system is constructed with a synchronous generator set by utilizing the rapid adjustability of the output power of a rotor converter and through independent fan power angle control, the flexible virtual coupling of the double-fed wind power generator set and the synchronous generator set is realized, and the inhibition capacity of the fan on system oscillation is enhanced by utilizing the anti-resonance characteristic.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, the vibration damping control method of the double-fed-fan-containing two-degree-of-freedom wind power generation system according to the present invention includes the following steps:
s1, establishing a two-degree-of-freedom new energy power generation system comprising a double-fed wind turbine generator set and a synchronous generator set; the two-degree-of-freedom new energy power generation system is shown in fig. 4 and specifically comprises: the system comprises a synchronous generator G1, a reference synchronous generator G2, a doubly-fed wind turbine generator G3, a rotor converter, a transformer T1, a transformer T2, a transformer T and a load L, wherein the synchronous generator G1 is in a first degree of freedom, and the doubly-fed wind turbine generator G3 and the rotor converter are in a second degree of freedom; the synchronous generator G1 is connected to a bus 1 through a transformer T1 and then connected to a bus 4 through an admittance B1, the reference synchronous generator G2 is connected to a bus 2 through a transformer T2 and then connected to the bus 4 through an admittance B2, the doubly-fed wind turbine G3 is connected to a bus 3 through the rotor converter in sequence and then connected to the bus 4 through a transformer T and an admittance B3, the load L is directly connected to a fourth bus 4, and the doubly-fed wind turbine G3 utilizes the rapid regulation capability of the output power of the rotor converter to restrain system power oscillation;
s2, according to the principle of independent control of the power angle and power conservation of the double-fed wind turbine generator in the system, constructing a dynamic model of power angle coupling with the synchronous generator set, and performing linear processing to obtain a two-degree-of-freedom flexible virtual coupling controller model of the double-fed wind turbine generator and the synchronous generator set; obtaining the two-freedom-degree coupling relation of the double-fed wind turbine generator and the synchronous generator set as follows:
Figure BDA0003168135690000061
wherein, K1＝E1E2B12 cosδ10,K2＝E1V3B13 cos(δ10-δw0),K3＝V3E2B23 cosδw0；K2Denoted as doubly-fed wind generator G3And synchronous generator G1Virtual coupling stiffness between, K1And K3Respectively denoted as synchronous generators G1And double-fed wind turbine generator G3A coupling relationship with the system; Δ P represents the continuous perturbation of the system;
in the formula (I), the compound is shown in the specification,M1denoted as synchronous generator G1Time constant of inertia, M2Denoted as doubly-fed wind generator G3Virtual inertia time constant of D1Denoted as synchronous generator G1Damping of D2Denoted as doubly-fed wind generator G3Virtual damping, E1Denoted as synchronous generator G1Inner node voltage, E2With reference to the node voltage, V, of the synchronous generator G23Denoted as doubly-fed wind generator G3End node voltage, B12Expressed as the equivalent admittance of the first busbar and the second busbar, B13Expressed as the equivalent admittance of the first busbar and the third busbar, B23Expressed as the equivalent admittance, δ, of the second busbar and the third busbarwExpressed as the voltage phase angle, delta, of the doubly-fed wind turbine1Denoted as synchronous generator G1Angle of work of delta2Denoted as reference synchronous generator G2Angle of work, delta1Is delta1Angle delta with initial state10Difference of (delta) deltawIs deltawPhase angle delta with initial state voltagew0A difference of (d);
s3, detecting a system power oscillation section, and designing parameters of the two-degree-of-freedom flexible virtual coupling controller by optimal tuning and a fixed point theory; the method specifically comprises the following steps:
obtaining system oscillation frequency omega and system natural frequency omega through data measurement or calculationnFrom g to ω/ωnObtaining the oscillation frequency band of the system according to the optimal tuning formula
Figure BDA0003168135690000071
Setting virtual coupling stiffness K of controller2And time constant of inertia M2；
Under the condition of ensuring the minimum amplitude of the power angle oscillation of the system, the damping of the flexible virtual coupling controller is obtained as follows:
Figure BDA0003168135690000072
s4, judging whether the grid frequency of the grid-connected point of the rotor converter at the double-fed wind turbine side in the system exceeds the allowable fluctuation range, if so, turning to the step S5, and if not, turning to the step S4;
s5, converting the system frequency signal into a power angle signal of the synchronous generator set, and forming a power variation delta P with the power angle signal output by the two-degree-of-freedom flexible virtual coupling controller through the designed coupling relation of the two-degree-of-freedom flexible virtual coupling controllere(ii) a Power variation Δ PeThe calculation formula of (a) is as follows:
ΔPe＝K1Δδ1+(K2+K3)Δδw (3)
wherein, Delta delta1Is delta1Angle delta with initial state10Difference of (delta) deltawIs deltawPhase angle delta with initial state voltagew0A difference of (d);
s6, power variation signal delta PeAnd a maximum power tracking reference power signal PrefAnd the initial signal P of the actual output power of the fane0Forming a new power signal P ═ Pref-ΔPe-Pe0；
S7, inputting a power signal P, updating the power angle of the doubly-fed wind turbine generator through a damping inertia link, and inputting the power angle to the step S5 and the step S8; new power angle of the doubly-fed wind turbine generator:
Figure BDA0003168135690000073
in the formula, s represents the differential of Lass transform, PeIndicating synchronous generator G1Active power of the output, D2Denoted as doubly-fed wind generator G3Virtual damping.
S8, generating a current reference value of the rotor converter at the side of the doubly-fed wind turbine generator by the new power angle through vector transformation, controlling the power of the fan, outputting energy capable of stabilizing system oscillation, and turning to the step 9;
in the step S8, the power angle δwGenerating current reference value of rotor converter of doubly-fed wind turbine through vector transformationId_ref、Iq_refThe control of fan power is realized to output can stabilize the energy of system oscillation, specifically include:
generating a new current reference value after inputting a virtual power angle of the fan according to abc-dq vector transformation
Figure BDA0003168135690000081
In the formula, EsetExpressed as reference voltage of doubly-fed wind turbine generator, Id_ref、Iq_refRespectively representing the d-axis reference current value and the q-axis reference current value of the doubly-fed fan power control;
and S9, detecting whether the system oscillation is finished, if the system is still in the oscillation state, turning to the step S5, and if the system oscillation is finished, locking the two-degree-of-freedom flexible virtual coupling controller.
Fig. 2 is an oscillation schematic diagram of a two-degree-of-freedom power generation system composed of a doubly-fed wind turbine generator and a synchronous generator according to an embodiment of the present invention. The fast and efficient energy transfer inevitably requires the wind turbine generator to break the synchronous operation mode. The power electronic power generation unit has power independent control capability, the wind turbine generator set and the synchronous generator set can establish a flexible shafting coupling relation, and a two-degree-of-freedom system vibration model is established through an independent mechanical power system. In FIG. 2, M1、M2Are respectively synchronous generators G1DFIG (doubly-fed induction generator) with double-fed wind turbine generator1The moment of inertia of (a); k1、D1Are each G1The rigidity and the damping of a coupling between the damping device and a power system; k3、D2Is DFIG1The rigidity and the damping of a coupling between the damping device and a power system; t ise、TewAre each G1And DFIG1The torque of (1).
As shown in FIG. 2, DFIG1And G1Connected by a flexible coupling rod with a coupling stiffness of K2Amplitude of oscillation at power angle of delta2. Through the shafting coupling of two generator sets, the fan power angle no longer with synchronous generator co-frequency oscillation, independent power angle regulation can provide more nimble mode for transient state energy transfer.
FIG. 3 is an anti-resonance schematic diagram of damping of a two-degree-of-freedom flexible virtual coupling controller, and low-frequency oscillation disturbance is generated by load fluctuation simulation when a fan and a synchronous generator are connected in parallel as shown in FIG. 3. After receiving the disturbance signal, the synchronous generator generates acceleration or deceleration response under the action of droop control and inertia to change the power angle deltagThereby affecting the output power. Because the natural frequency of the synchronous generator exists, the synchronous generator sometimes cannot synchronously respond to low-frequency disturbance, and the oscillation of the synchronous generator in fig. 2 leads the disturbance response, and becomes a disturbance source to intensify the fluctuation of the system and even cause forced oscillation. If the fan is connected to the grid by maximum power tracking or virtual synchronous control at the moment, the power of the fan is fixed or the fan responds to simulate the operation of a synchronous generator, and when the fan is connected with the synchronous generator in parallel, the power angles of the two fans are synchronously converted, so that the suppression of low-frequency oscillation cannot be realized.
As can be seen from FIG. 3 in conjunction with FIG. 4, the synchronous generator G1The bus 1 is connected to the grid, the bus 4 is connected through the equivalent admittance B1, and the synchronous generator G2The grid connection is carried out on the bus 2, the bus 4 and the doubly-fed fan G are connected through the equivalent admittance B23And the bus 3 is connected to the grid, and the bus 4 is connected through an equivalent admittance B3. In the embodiment of the invention, the doubly-fed wind turbine generator G3And synchronous generator G1Is a two degree of freedom system, both having independent power angle control, and G3Electromagnetic power and synchronous generator G1Similarly, G2Reference is made to synchronous generators. In FIG. 3, G1And G3Can be expressed as
Figure BDA0003168135690000091
Both the fan and the synchronous generator adopt a classical second-order model, the rotor motion equation can be expressed as,
Figure BDA0003168135690000092
the linearization can be expressed as,
Figure BDA0003168135690000093
Pewexpressed as active power, P, output by the doubly-fed wind turbineeDenoted as synchronous generator G1Active power of output, omega1Is represented by G1Angular frequency of rotor, omegabExpressed as synchronous angular frequency, PmExpressed as synchronous generator mechanical power, PmwReference power, Δ P, expressed as maximum power tracking of the wind turbineewExpressed as the amount of change in the electromagnetic power of the fan.
Neglecting prime mover power variations and introducing system power disturbances in the synchronous generator, assuming a reference value δ2Is 0, and Δ δ1，Δδ2Very small combined formula (1) linearization can be expressed as
Figure BDA0003168135690000094
Substituting equation (4) into (3) can be expressed as (Δ P represents a continuous perturbation of the system): the double-fed wind turbine generator and the synchronous generator set have two-degree-of-freedom coupling relation (1):
Figure BDA0003168135690000101
wherein, K1＝E1E2B12 cosδ10,K2＝E1V3B13cos(δ10-δw0),K3＝V3E2B23 cosδw0；K2Denoted as doubly-fed wind generator G3And synchronous generator G1Virtual coupling stiffness between, K1And K3Respectively denoted as synchronous generators G1And double-fed wind turbine generator G3A coupling relationship with the system;
at this time, in the embodiment of the present invention, the power angle variation of the fan is not only independent of the system but also coupled with the power angle of the system, and it can be seen thatInto an associated two degree of freedom system. Suppose the perturbation is from t0Starting to continue until t, the energy function between the wind turbine and the synchronous generator combined by equation (8) can be expressed as
Figure BDA0003168135690000102
As can be seen from the equation (10), an energy coupling relationship exists between the synchronous generator and the fan, and when disturbance power Δ P occurs, disturbance energy can be mutually transferred between the fan and the synchronous generator. In the disturbance time t, the disturbance energy is certain, and the energy of the fan can be changed by changing the change of the power angle of the fan, so that the energy is transferred from the synchronous generator to the fan, and the energy change of the synchronous generator is reduced.
The Lass change for the flexible coupling controller model equation (1) can be expressed as,
Figure BDA0003168135690000103
according to the formula, the power change of the flexible virtual coupling fan increases a lead-lag link, and a proper K is selected2，M2The power can be changed in a leading or lagging way, so that anti-resonance is formed with the vibration of the synchronous generator, the space of the adjustable rotating speed of the fan is fully utilized, and the vibration of the synchronous generator is reduced.
When the system damping is neglected, the motion equation of the two-degree-of-freedom power system is expressed as follows:
Figure BDA0003168135690000104
Figure BDA0003168135690000105
in the formula, the power disturbance u ═ Δ P ═ PejωtIs a sinusoidal variation. The formula (12) is solved by (wherein i ═ 1 and 2 each correspond to Δ δ1，Δδw)，
xi(t)＝Xiejωt,i＝1,2 (14)
The compound represented by the formula (12) can be simplified,
X＝R-1(ω)u＝(K-ω2M)u (15)
Figure BDA0003168135690000111
in the formula, R (omega) is expressed as a dynamic stiffness matrix of the system; h (omega) is a frequency response function (dynamic compliance matrix) of the two-degree-of-freedom system, and the frequency response function H (omega) reflects output response caused by input unit excitation.
The elements of the frequency response function derived from the above equation are:
Figure BDA0003168135690000112
where adj is expressed as an algebraic remainder and det is expressed as a determinant value. When the oscillation point is at the synchronous generator G1When the temperature of the water is higher than the set temperature,
Figure BDA0003168135690000113
in the formula, Δ (ω)2)＝det|R|，H11(ω)、H21(ω) represents a synchronous generator G, respectively1At the time of excitation, G1And G3Work angle delta1、ΔδwIn response to (2).
For the fan model controlled by the flexible virtual coupling, the method can be obtained by the formula (4),
k11＝K2+K3,k21＝-K2 (19)
from formula (18), if K2+K3＝ω2M2Then H is110, by adjusting the coupling stiffness K2Therefore, the synchronous generator can realize no oscillation response. Obviously, under this condition, the frequency response function H21≠0，The wind turbine generator and the synchronous generator can operate at different frequencies, namely, anti-resonance possibility exists.
Fig. 5 is a graph of the relationship between the power angle oscillation amplitude and the disturbance frequency of the synchronous generator according to the embodiment of the present invention, and for convenience of description, the following variable is introduced, where μ ═ M2/M1；δst＝P/K1；F＝P/M1＝peiωt；ωa 2＝K2/M2；ωn 2＝K1/M1；α＝K3/K2；f＝ωa/ωn；g＝ω/ωn；ξ＝D2/2M2ωa. In the embodiment of the invention, the power disturbance quantity delta P is sinusoidal change delta P-PeiωtThe form of the solution of formula (1) can be represented as formula (13). When the fan and the synchronous generator are in virtual coupling response, the damping of the synchronous generator is ignored, and the motion equation obtained by the formula (1) can be expressed as
Figure BDA0003168135690000121
The equation for the amplitude of the synchronous generator with equation (11) in equation (17) can be expressed as,
Figure BDA0003168135690000122
wherein, Δ ═ [ (1+ μ f)2-g2)(αf2+f2-g2)-μf4]2+(1+μf2-g2)2(2gfζ)2。
The verification of equation (21) is shown for the selection of system parameters, where M2/M1＝0.5，kt3/kt2＝0.2，kt2/kt10.45. As shown in FIG. 5, a two-degree-of-freedom virtual coupling controller is adopted to control the frequency of the disturbance signal and the natural frequency omega of the synchronous generatoraWhen the ratio is 1.18, complete suppression of power oscillation of the synchronous generator can be achieved, corresponding to the anti-resonance theory.
In a two degree of freedom system, G1The amplitude-frequency response curve of the filter passes through the points A and B all the time. When the frequency is between two points, the damping effect of the controller can be weakened by increasing the damping; when the frequency is beyond two points, the damping can be increased, and the damping efficiency of the controller can be improved. For a disturbance of a specific frequency, the controller can realize stable operation of the system through anti-resonance. The oscillation of the system is transferred from the synchronous generator to the fan, and the power amplification caused by resonance can be avoided by matching with the proper damping of the controller, so that the power oscillation of the system can be effectively inhibited.
The amplitude of the system always passes through two fixed points A and B, and the optimization of a fixed point theory is met. According to the method, the parameter design of the flexible virtual coupling fan is carried out according to the theory so as to realize the optimal vibration reduction effect. Substituting two critical cases of xi ═ 0 and xi ∞ into formula (21), making them equal, and making their two roots correspond to frequency ratio of two points A and B, gA＝ωA/ωnAnd gB＝ωB/ωn. G is prepared fromAAnd gBIt is obvious that the ordinate of the point a and the ordinate of the point B are obtained by substituting the formula (21), respectively, and when the ordinate of the point a and the ordinate of the point B are equal, the suppression effect on the vibration is the best. Thus, the method can obtain the product,
Figure BDA0003168135690000123
the formula (22) carries out tuning design on the fan flexible coupling controller, and an optimal tuning formula
Figure BDA0003168135690000124
The damping is selected to have an optimum value such that X1/δstAt peak point a, B should be as gentle as possible. The coupling controller corresponds to an optimal frequency modulation design, then derivation is carried out on the coupling controller, the slope is enabled to be zero at the positions A and B, and under the condition that the minimum system power angle oscillation amplitude is ensured, the damping of the flexible virtual coupling controller is obtained
Figure BDA0003168135690000131
Designing a double-fed wind power generator according to the model established by the formula (1)The flexible virtual coupling controller structure of the motor group is shown in figure 6. When inertia M of virtual coupling controller2After determination, from equation (22), the coupling stiffness K can be determined2And damping D2Setting; system frequency omega of virtual coupling controller collection fan grid-connected department1Converting the integral link into a power angle signal delta of the synchronous generator1(ii) a And generating a virtual coupling power angle of the wind turbine generator through the virtual coupling relation, introducing the virtual coupling power angle into the vector transformation of the rotor converter, and realizing the expected control target of transferring transient energy.
In this embodiment, a wind farm grid-connected simulation system is built based on DIGSILENT/PowerFactory simulation platform, and the simulation system includes a synchronous generator G with 700MVA capacity1And a reference synchronous generator G with a capacity of 900MVA2And a 30X 2MW doubly-fed wind turbine generator G3. Doubly-fed wind turbine generator G3And is incorporated into the grid by bus bar 3. And adding a disturbance load as a disturbance source at the grid-connected bus 4 to simulate low-frequency oscillation of the system, wherein the sine L is 10sin (2 pi Ft) MW, F is the frequency of the disturbance load L, t is the time change, and L is the load change. The power control structure of the double-fed fan flexible virtual coupling vibration absorber control rotor converter is shown in fig. 7, and in the simulation process, the initial wind speed is set to be 12 m/s.
The following two control schemes are arranged to verify the influence of the coupling relation between the fan and the system synchronous generator on the low-frequency oscillation of the system, which shows that the anti-resonance characteristic can be realized through flexible power regulation, and the power oscillation of the system can be effectively inhibited.
Scheme 1: when a fan is connected to the grid, a rotor converter RSC of the doubly-fed wind turbine generator is not in flexible virtual coupling with a system;
scheme 2: when the system low-frequency oscillation occurs, the designed flexible virtual coupling is used for controlling the fan to verify the suppression effect on the system low-frequency oscillation, the disturbance source is cut off after 25s, and whether the system recovers stably is verified.
And (3) setting disturbance load on the bus 4, wherein the disturbance load appears in a sinusoidal disturbance with frequency F of 0.8, 1.1Hz and amplitude of 10MW at the moment of 2.0s, and the oscillation time is 2-50 s.
Fig. 8 shows the influence of the doubly-fed wind turbine control scheme 1 on the system power oscillation, as shown in the figure, the left side PGThe power to which the synchronous generator responds, and the system frequency response on the right side f. When the system generates the same periodic disturbance with the amplitude of 10MW, the response of the system to the disturbance at different frequencies has a large difference. When the disturbance frequency is close to the natural frequency of the system, the disturbance and the system can generate resonance action, the disturbance generates amplification action, and further more serious influence is caused on the system.
Fig. 9 shows the influence of the doubly-fed wind turbine control scheme 2 on system power oscillation, and the wind turbine is incorporated into the power grid through flexible virtual coupling control, at this time, the system dynamic response is as shown in fig. 9. Because the flexible virtual coupling control of the fan is realized by relying on an anti-resonance principle, along with the coupling of the fan oscillation frequency and the system oscillation frequency, the oscillation of the system is effectively weakened under the action of the controller, and finally the oscillation frequency is less than 0.5 MW. The additional damping of the synchronous generator can inhibit power oscillation to a certain extent, but in the disturbance process, the damping effect of the flexible virtual coupling control is better. After the embodiment is adopted, the amplitude of the system power oscillation is reduced by setting the parameters of the two-degree-of-freedom flexible virtual coupling controller, the oscillation is well inhibited, and the stability of the system is effectively improved.
Compared with the traditional control method, the vibration damping control method of the double-fed fan-containing two-degree-of-freedom wind power generation system provided by the invention has the advantages that the power angle dynamic model of the two-degree-of-freedom new energy power generation system is constructed with the synchronous generator set through the independent fan power angle control, the double-fed fan and the system synchronous generator are flexibly and virtually coupled, the anti-resonance characteristic is utilized, and the inhibition capacity of the fan on system oscillation is enhanced. The method has the advantages that the power quick adjustment capability of the wind turbine generator is fully utilized, the fan is additionally arranged on the main system of the synchronous generator, the vibration state of the main system is changed by changing the operation parameters of the fan and the flexible coupling relation of the fan and the main system, the vibration response of the synchronous generator system is reduced on an expected frequency band, the distribution and transfer characteristics of the system vibration energy are changed, and the suppression of the double-fed fan on the system vibration is effectively realized.
The vibration reduction effect and the vibration reduction range of the flexible virtual coupling controller provided by the invention are related to system parameters, and because various types of power oscillation exist, the frequency distribution areas also have differences, aiming at different low-frequency oscillation conditions, a plurality of vibration reduction fans can be arranged, and the vibration absorbers are designed aiming at different frequency bands and are matched with each other, so that the double-fed fan can effectively inhibit the low-frequency oscillation, and the stability of the system is improved.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (7)

1. A vibration reduction control method of a double-freedom-degree wind power generation system with a double-fed fan is characterized by comprising the following steps:
s1, establishing a two-degree-of-freedom new energy power generation system comprising a double-fed wind turbine generator set and a synchronous generator set;
s2, according to the principle of independent control of the power angle and power conservation of the double-fed wind turbine generator in the system, constructing a dynamic model of power angle coupling with the synchronous generator set, and performing linear processing to obtain a two-degree-of-freedom flexible virtual coupling controller model of the double-fed wind turbine generator and the synchronous generator set;
s3, detecting a system power oscillation section, and designing parameters of the two-degree-of-freedom flexible virtual coupling controller by optimal tuning and a fixed point theory;
s4, judging whether the grid frequency of the grid-connected point of the rotor converter at the double-fed wind turbine side in the system exceeds the allowable fluctuation range, if so, turning to the step S5, and if not, turning to the step S4;
s5, converting the system frequency signal into a power angle signal of the synchronous generator set, and forming the power angle signal with the power angle signal output by the two-degree-of-freedom flexible virtual coupling controller through the coupling relation of the two-degree-of-freedom flexible virtual coupling controllerPower variation Δ Pe；
S6, power variation signal delta PeAnd a maximum power tracking reference power signal PrefAnd the initial signal P of the actual output power of the fane0Forming a new power signal P ═ Pref-ΔPe-Pe0；
S7, inputting a power signal P, updating the power angle of the doubly-fed wind turbine generator through a damping inertia link, and inputting the power angle to the step S5 and the step S8;
s8, generating a current reference value of the rotor converter at the side of the doubly-fed wind turbine generator by the new power angle through vector transformation, controlling the power of the fan, outputting energy capable of stabilizing system oscillation, and turning to the step 9;
and S9, detecting whether the system oscillation is finished, if the system is still in the oscillation state, turning to the step S5, and if the system oscillation is finished, locking the two-degree-of-freedom flexible virtual coupling controller.
2. The vibration damping control method for the double-fed-fan-containing two-degree-of-freedom wind power generation system according to claim 1, wherein in the step S1, the two-degree-of-freedom new energy power generation system specifically comprises: the system comprises a synchronous generator G1, a reference synchronous generator G2, a doubly-fed wind turbine generator G3, a rotor converter, a transformer T1, a transformer T2, a transformer T and a load L, wherein the synchronous generator G1 is in a first degree of freedom, and the doubly-fed wind turbine generator G3 and the rotor converter are in a second degree of freedom; the synchronous generator G1 is connected to a first bus through a transformer T1 and then connected to a fourth bus through an admittance B1, the reference synchronous generator G2 is connected to a second bus through a transformer T2 and then connected to the fourth bus through an admittance B2, the doubly-fed wind turbine G3 is connected to a third bus through the rotor converter in sequence and then connected to the fourth bus through a transformer T and an admittance B3, the load L is directly connected to the fourth bus, and the doubly-fed wind turbine G3 utilizes the rapid regulation capability of the output power of the rotor converter to restrain system power oscillation.
3. The vibration damping control method for the double-fed-fan-containing two-degree-of-freedom wind power generation system according to claim 2, wherein the step S3 is a two-degree-of-freedom flexible virtual coupling controller model of the double-fed wind turbine generator and the synchronous generator set, and specifically comprises the following steps:
according to the principle of independent control of the power angle of the double-fed wind turbine generator and the theory of motion and power conservation of the rotor of the electric power system, the two-degree-of-freedom coupling relation of the double-fed wind turbine generator and the synchronous generator is obtained as follows:
Figure FDA0003168135680000021
wherein, K1＝E1E2B12cosδ10,K2＝E1V3B13cos(δ10-δw0),K3＝V3E2B23cosδw0；K2Denoted as doubly-fed wind generator G3And synchronous generator G1Virtual coupling stiffness between, K1And K3Respectively denoted as synchronous generators G1And double-fed wind turbine generator G3A coupling relationship with the system; Δ P represents the continuous perturbation of the system;
in the formula, M1Denoted as synchronous generator G1Time constant of inertia, M2Denoted as doubly-fed wind generator G3Virtual inertia time constant of D1Denoted as synchronous generator G1Damping of D2Denoted as doubly-fed wind generator G3Virtual damping, E1Denoted as synchronous generator G1Inner node voltage, E2Representing the node voltage, V, of the synchronous generator G23Denoted as doubly-fed wind generator G3End node voltage, B12Expressed as the equivalent admittance of the first busbar and the second busbar, B13Expressed as the equivalent admittance of the first busbar and the third busbar, B23Expressed as the equivalent admittance, δ, of the second busbar and the third busbarwExpressed as the voltage phase angle, delta, of the doubly-fed wind turbine1Denoted as synchronous generator G1Angle of work of delta2Denoted as reference synchronizationGenerator G2Angle of work, delta1Is delta1Angle delta with initial state10Difference of (delta) deltawIs deltawPhase angle delta with initial state voltagew0The difference of (a).
4. The method for controlling vibration damping of a two-degree-of-freedom wind power generation system with a doubly-fed wind turbine as claimed in claim 3, wherein in the step S3, the step of detecting the power oscillation section of the system and the step of designing the parameters of the two-degree-of-freedom flexible virtual coupling controller by the optimal tuning and the fixed point theory specifically comprises the steps of:
obtaining system oscillation frequency omega and system natural frequency omega through data measurement or calculationnFrom g to ω/ωnObtaining the oscillation frequency band of the system according to the optimal tuning formula
Figure FDA0003168135680000022
Setting virtual coupling stiffness K of controller2And time constant of inertia M2；
Under the condition of ensuring the minimum amplitude of the power angle oscillation of the system, the damping of the flexible virtual coupling controller is obtained as follows:
Figure FDA0003168135680000031
5. the method for controlling vibration damping of a doubly-fed wind turbine generator system with two degrees of freedom of claim 4, wherein in the step S5, the power variation amount is Δ PeThe calculation formula of (a) is as follows:
ΔPe＝K1Δδ1+(K2+K3)Δδw (3)
wherein, Delta delta1Is delta1Angle delta with initial state10Difference of (delta) deltawIs deltawPhase angle delta with initial state voltagew0The difference of (a).
6. The vibration damping control method for the two-degree-of-freedom wind power generation system with the doubly-fed wind turbine generator according to claim 5, wherein in the step S7, the power signal P is input, and the power angle of the doubly-fed wind turbine generator is updated through a damping inertia link, and the method specifically comprises the following steps:
updating the power angle of the doubly-fed wind turbine generator according to the flexible virtual coupling relation between the doubly-fed wind turbine generator and the synchronous generator set:
Figure FDA0003168135680000032
in the formula, s represents the differential of Lass transform, PeIndicating synchronous generator G1Active power of the output, D2Denoted as doubly-fed wind generator G3Virtual damping.
7. The method for controlling vibration damping of a two-degree-of-freedom wind power generation system with a doubly-fed wind turbine as claimed in claim 6, wherein in the step S8, the power angle δwGenerating current reference value I of rotor converter of doubly-fed wind turbine through vector transformationd_ref、Iq_refThe control of fan power is realized to output can stabilize the energy of system oscillation, specifically include:
generating a new current reference value after inputting a virtual power angle of the fan according to abc-dq vector transformation
Figure FDA0003168135680000033
In the formula, EsetExpressed as reference voltage of doubly-fed wind turbine generator, Id_ref、Iq_refAnd respectively representing d-axis reference current values and q-axis reference current values of the doubly-fed fan power control.
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