CN113572192A - Control method and device for double-fed wind turbine generator - Google Patents

Control method and device for double-fed wind turbine generator Download PDF

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CN113572192A
CN113572192A CN202110646586.9A CN202110646586A CN113572192A CN 113572192 A CN113572192 A CN 113572192A CN 202110646586 A CN202110646586 A CN 202110646586A CN 113572192 A CN113572192 A CN 113572192A
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wind turbine
fed wind
turbine generator
doubly
generator
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田新首
迟永宁
李琰
何国庆
刘宏志
雷雨
宋鹏
王耀函
张扬帆
王渝红
肖宇
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Sichuan University
State Grid Corp of China SGCC
China Electric Power Research Institute Co Ltd CEPRI
Electric Power Research Institute of State Grid Jibei Electric Power Co Ltd
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Sichuan University
State Grid Corp of China SGCC
China Electric Power Research Institute Co Ltd CEPRI
Electric Power Research Institute of State Grid Jibei Electric Power Co Ltd
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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
    • H02J3/381—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
    • 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
    • H02J3/50—Controlling the sharing of the out-of-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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/26—Rotor flux based control
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Eletrric Generators (AREA)

Abstract

The invention provides a control method and a control device of a double-fed wind turbine generator, which are used for detecting and judging the out-of-limit condition of the generator terminal voltage of the double-fed wind turbine generator and controlling the double-fed wind turbine generator to execute a corresponding control mode based on the out-of-limit condition of the generator terminal voltage of the double-fed wind turbine generator. The control method provided by the application can realize the control of the doubly-fed wind turbine generator under the condition that the generator terminal voltage of the doubly-fed wind turbine generator in the weak alternating current power grid is not out of limit and out of limit for the first time, can also realize the control of the doubly-fed wind turbine generator under the condition that the generator terminal voltage of the doubly-fed wind turbine generator in the weak alternating current power grid is out of limit for the first time, is high in applicability, improves the fault ride-through capability of the doubly-fed wind turbine generator, and ensures the safe and stable operation of the doubly-fed wind turbine generator in the grid connection process.

Description

Control method and device for double-fed wind turbine generator
Technical Field
The invention relates to the technical field of new energy, in particular to a control method and device of a double-fed wind turbine generator.
Background
With the increasing proportion of new energy (such as wind power) in a power grid, the transmission distance is increased continuously, and the short circuit ratio of the power grid to the new energy is relatively smaller, the new energy can be considered to be accessed into a weak alternating current power grid, interaction between new cluster energy and the power grid under the condition that the large-scale new energy is accessed into the weak alternating current power grid is strengthened, and operation and control under the condition that the large-scale new energy is accessed into the weak alternating current power grid face new technical challenges. Under the condition that the large-scale new energy is accessed into the weak alternating current power grid, the operation control between the cluster new energy power generation units and the power grid are mutually coupled and influenced through the voltage dynamic characteristics of the grid-connected point, and in addition, when the large-scale new energy is accessed into the weak alternating current power grid, the operation point of a grid-connected sending-out system is easier to be close to the stability limit; when the power grid has a short-circuit fault and the fault is recovered, the impedance of the access system is further changed, and the stability of the weak alternating-current power grid is easily influenced.
In the prior art, the voltage amplitude drop of the new energy power generation unit is often used as a judgment basis, so that the fault crossing control of the new energy power generation unit is realized. But the method cannot be applied to the situation that the voltage of the new energy power generation unit is out of limit for many times under the condition of a weak alternating current power grid.
Disclosure of Invention
In order to overcome the defect that the prior art cannot be applied to multiple times of out-of-limit voltage of a new energy power generation unit under the condition of a weak alternating current power grid, the invention provides a control method of a double-fed wind turbine generator, which comprises the following steps:
detecting and judging the out-of-limit condition of the generator terminal voltage of the double-fed wind turbine generator;
when the generator terminal voltage of the double-fed wind turbine generator is not out of limit, controlling the double-fed wind turbine generator to execute a steady-state operation control mode; when the generator terminal voltage of the double-fed wind turbine generator is out of limit and is out of limit for the first time, controlling the double-fed wind turbine generator to execute a first fault ride-through control mode; and when the generator terminal voltage of the double-fed wind turbine generator is out of limit and is not out of limit for the first time, the active disturbance rejection control module is considered to control the double-fed wind turbine generator to execute a non-fault ride-through control mode for the first time.
The detection and judgment of the out-of-limit condition of the generator terminal voltage of the doubly-fed wind turbine generator set comprises the following steps:
detecting the generator terminal voltage of the double-fed wind turbine generator;
when the machine end voltage of the double-fed wind turbine generator is larger than a preset machine end voltage threshold value, judging that the machine end voltage of the double-fed wind turbine generator is not out of limit;
when the generator terminal voltage of the doubly-fed wind turbine generator falls to be less than or equal to the preset generator terminal voltage threshold value, and the generator terminal voltage of the doubly-fed wind turbine generator is recovered to be above the preset generator terminal voltage threshold value and continues for a preset time range, judging that the generator terminal voltage of the doubly-fed wind turbine generator is out of limit and is out of limit for the first time;
when the generator terminal voltage of the double-fed wind turbine generator recovers to above the preset generator terminal voltage threshold value in the preset time range, the generator terminal voltage of the double-fed wind turbine generator falls to be less than or equal to the preset generator terminal voltage threshold value again, and the generator terminal voltage of the double-fed wind turbine generator recovers to above the preset generator terminal voltage threshold value and during the continuous preset time range, the generator terminal voltage of the double-fed wind turbine generator is judged to be out of limit and not out of limit for the first time.
Under the condition that the generator terminal voltage of the double-fed wind turbine generator is not out of limit, the double-fed wind turbine generator is controlled to execute a steady state operation control mode, and the method comprises the following steps:
determining a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator in a steady-state operation control mode based on the active power reference value and the reactive power reference value of the doubly-fed wind turbine generator;
and determining d-axis control voltage and q-axis control voltage of a rotor-side converter of the doubly-fed wind turbine generator based on the d-axis current reference value and the q-axis current reference value of the doubly-fed wind turbine generator in the steady-state operation control mode.
The d-axis current reference value and the q-axis current reference value of the doubly-fed wind turbine generator in the steady-state operation control mode are determined according to the following formula:
Figure BDA0003110019320000021
in the formula ird_STo representD-axis current reference value i of doubly-fed wind turbine generator in steady-state operation control moderq_SRepresenting the q-axis current reference value, K, of the doubly-fed wind turbine generator in the steady-state operation control modePRepresenting the power outer loop scaling factor, TPIs the power outer loop integration time constant, s represents the Laplace operator, PrefRepresenting the active power reference, Q, of a doubly-fed wind turbinerefRepresenting a reference value of reactive power, P, of a doubly-fed wind turbinegenRepresenting the active power measurement, Q, of a doubly-fed wind turbinegenAnd representing the reactive power measured value of the doubly-fed wind turbine generator.
Controlling the doubly-fed wind turbine generator to execute a first fault ride-through control mode, comprising:
determining a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode based on generator terminal voltage of the doubly-fed wind turbine generator;
and determining d-axis control voltage and q-axis control voltage of a rotor-side converter of the doubly-fed wind turbine generator based on a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode.
Controlling the doubly-fed wind turbine generator to execute a non-first fault ride-through control mode in consideration of an active disturbance rejection control mode, wherein the method comprises the following steps:
determining a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode based on generator terminal voltage of the doubly-fed wind turbine generator;
determining a current inner loop proportion coefficient of the doubly-fed wind turbine generator in an active disturbance rejection control mode based on the generator terminal voltage recovery time and the drop time of the doubly-fed wind turbine generator;
and determining d-axis control voltage and q-axis control voltage of a converter at the rotor side of the doubly-fed wind turbine generator set based on a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator set in a fault ride-through control mode and a current inner loop proportion coefficient of the doubly-fed wind turbine generator set in an active disturbance rejection control mode.
The d-axis current reference value and the q-axis current reference value of the doubly-fed wind turbine generator in the fault ride-through control mode are determined according to the following formula:
Figure BDA0003110019320000031
in the formula irq_LRepresenting a d-axis current reference value i of the doubly-fed wind turbine generator in a fault ride-through control moderd_LRepresenting a q-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode, k representing a dynamic reactive compensation coefficient, UcRepresenting the terminal voltage, U, of a doubly-fed wind turbinesetRepresenting a predetermined terminal voltage threshold value, ωsRepresenting the rated angular speed, L, of a doubly-fed wind turbinemRepresenting the mutual reactance of a stator and a rotor of the doubly-fed wind turbine,
Figure BDA0003110019320000032
the maximum over-current which the doubly-fed wind turbine can bear is shown.
The current inner ring proportion coefficient of the double-fed wind turbine generator in the active disturbance rejection control mode comprises a current inner ring proportion coefficient of the double-fed wind turbine generator in a fault ride-through period and a current inner ring proportion coefficient of the double-fed wind turbine generator in a preset time range after a fault is eliminated;
the current inner loop proportion coefficient of the doubly-fed wind turbine generator during fault ride-through is determined according to the following formula:
Figure BDA0003110019320000033
in the formula, Kd1Representing the current inner loop proportionality coefficient t of the doubly-fed wind turbine generator during the fault ride-throughsetRepresenting a predetermined time range, t1Representing the time t for the generator terminal voltage of the k times double-fed wind turbine generator to drop to a preset generator terminal voltage threshold value and below0Representing the time for restoring the generator terminal voltage of the double-fed wind turbine generator to be above the preset generator terminal voltage threshold value for k-1 times; kd0Representing the initial value of the current inner loop proportionality coefficient;
the current inner ring proportion coefficient of the doubly-fed wind turbine generator within a preset time range after the fault is cleared is determined according to the following formula:
Figure BDA0003110019320000034
in the formula, Kd2Representing the current inner ring proportionality coefficient t of the doubly-fed wind turbine generator set within the preset time range after the fault is cleared2And the time for restoring the generator terminal voltage of the k times of doubly-fed wind turbine generator to be above the preset generator terminal voltage threshold value is represented, and t represents natural time.
The d-axis control voltage and the q-axis control voltage of the doubly-fed wind turbine generator rotor side converter are determined according to the following formula:
Figure BDA0003110019320000041
in the formula urdRepresenting the d-axis control voltage of a converter at the rotor side of the doubly-fed wind turbine generator; u. ofrqRepresenting the q-axis control voltage of a converter at the rotor side of the doubly-fed wind turbine generator; kdRepresenting a current inner ring proportion coefficient, and taking the current inner ring proportion coefficient of the doubly-fed wind turbine generator in a steady state operation control mode, the current inner ring proportion coefficient of the doubly-fed wind turbine generator in a fault ride-through control mode or the current inner ring proportion coefficient of the doubly-fed wind turbine generator in an active disturbance rejection control mode; t isdRepresents the current inner loop integration time constant; s represents the laplacian operator; i.e. irdRepresenting d-axis current of a rotor of the doubly-fed wind turbine; i.e. irqRepresenting the q-axis current of the rotor of the doubly-fed wind turbine; omegasThe method comprises the steps of (1) representing rated angular speed of the doubly-fed wind turbine generator, wherein alpha represents interaction coefficient of a d axis and a q axis; i.e. ird_refRepresents a current reference value of a current inner ring control d shaft of a converter at the rotor side of the doubly-fed wind turbine generator, and ird_refTaking a d-axis current reference value of the doubly-fed wind turbine generator in a steady-state operation control mode or a d-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode; i.e. irq_refRepresents the current reference value of the current inner ring of the rotor-side converter of the doubly-fed wind turbine generator to control the q-axis current, and irq_refDouble-fed wind taking deviceAnd the q-axis current reference value of the generator set in the steady-state operation control mode or the q-axis current reference value of the doubly-fed wind generator set in the fault ride-through control mode.
On the other hand, this application still provides a double-fed wind turbine generator's controlling means, includes:
the judging module is used for detecting and judging the out-of-limit condition of the generator terminal voltage of the double-fed wind turbine generator;
the control module is used for controlling the doubly-fed wind turbine generator to execute a steady-state operation control mode when the generator terminal voltage of the doubly-fed wind turbine generator is not out of limit; when the generator terminal voltage of the double-fed wind turbine generator is out of limit and is out of limit for the first time, controlling the double-fed wind turbine generator to execute a first fault ride-through control mode; and when the generator terminal voltage of the double-fed wind turbine generator is out of limit and is not out of limit for the first time, controlling the double-fed wind turbine generator to execute a non-fault ride-through control mode for the first time by considering an active disturbance rejection control mode.
The judging module comprises:
the detection unit is used for detecting the generator terminal voltage of the double-fed wind turbine generator;
the judging unit is used for judging the out-of-limit condition of the generator terminal voltage of the double-fed wind turbine generator based on the generator terminal voltage of the double-fed wind turbine generator detected by the detecting unit; the method is specifically divided into the following three cases:
when the machine end voltage of the double-fed wind turbine generator is larger than a preset machine end voltage threshold value, judging that the machine end voltage of the double-fed wind turbine generator is not out of limit;
when the generator terminal voltage of the doubly-fed wind turbine generator falls to be less than or equal to the preset generator terminal voltage threshold value, and the generator terminal voltage of the doubly-fed wind turbine generator is recovered to be above the preset generator terminal voltage threshold value and continues for a preset time range, judging that the generator terminal voltage of the doubly-fed wind turbine generator is out of limit and is out of limit for the first time;
when the generator terminal voltage of the double-fed wind turbine generator recovers to above the preset generator terminal voltage threshold value in the preset time range, the generator terminal voltage of the double-fed wind turbine generator falls to be less than or equal to the preset generator terminal voltage threshold value again, and the generator terminal voltage of the double-fed wind turbine generator recovers to above the preset generator terminal voltage threshold value and continuously during the preset time range, the generator terminal voltage of the double-fed wind turbine generator is judged to be out of limit and not out of limit for the first time.
The control module is specifically configured to:
determining a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator in a steady-state operation control mode based on the active power reference value and the reactive power reference value of the doubly-fed wind turbine generator;
and determining d-axis control voltage and q-axis control voltage of a rotor-side converter of the doubly-fed wind turbine generator based on the d-axis current reference value and the q-axis current reference value of the doubly-fed wind turbine generator in the steady-state operation control mode.
The control module determines a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator in a steady-state operation control mode according to the following formula:
Figure BDA0003110019320000051
in the formula ird_SRepresenting d-axis current reference value i of the doubly-fed wind turbine generator in a steady-state operation control moderq_SRepresenting the q-axis current reference value, K, of the doubly-fed wind turbine generator in the steady-state operation control modePRepresenting the power outer loop scaling factor, TPIs the power outer loop integration time constant, s represents the Laplace operator, PrefRepresenting the active power reference, Q, of a doubly-fed wind turbinerefRepresenting a reference value of reactive power, P, of a doubly-fed wind turbinegenRepresenting the active power measurement, Q, of a doubly-fed wind turbinegenAnd representing the reactive power measured value of the doubly-fed wind turbine generator.
The control module is specifically configured to:
determining a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode based on generator terminal voltage of the doubly-fed wind turbine generator;
and determining d-axis control voltage and q-axis control voltage of a rotor-side converter of the doubly-fed wind turbine generator based on a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode.
The control module is specifically configured to:
determining a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode based on generator terminal voltage of the doubly-fed wind turbine generator;
determining a current inner loop proportion coefficient of the doubly-fed wind turbine generator in an active disturbance rejection control mode based on the generator terminal voltage recovery time and the drop time of the doubly-fed wind turbine generator;
and determining d-axis control voltage and q-axis control voltage of a converter at the rotor side of the doubly-fed wind turbine generator set based on a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator set in a fault ride-through control mode and a current inner loop proportion coefficient of the doubly-fed wind turbine generator set in an active disturbance rejection control mode.
The control module determines a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode according to the following formula:
Figure BDA0003110019320000061
in the formula irq_LRepresenting a d-axis current reference value i of the doubly-fed wind turbine generator in a fault ride-through control moderd_LRepresenting a q-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode, k representing a dynamic reactive compensation coefficient, UcRepresenting the terminal voltage, U, of a doubly-fed wind turbinesetRepresenting a predetermined terminal voltage threshold value, ωsRepresenting the rated angular speed, L, of a doubly-fed wind turbinemRepresenting the mutual reactance of a stator and a rotor of the doubly-fed wind turbine,
Figure BDA0003110019320000064
the maximum over-current which the doubly-fed wind turbine can bear is shown.
The current inner ring proportion coefficient of the double-fed wind turbine generator in the active disturbance rejection control mode comprises a current inner ring proportion coefficient of the double-fed wind turbine generator in a fault ride-through period and a current inner ring proportion coefficient of the double-fed wind turbine generator in a preset time range after a fault is eliminated;
the control module determines a current inner loop proportion coefficient of the doubly-fed wind turbine generator during fault ride-through according to the following formula:
Figure BDA0003110019320000062
in the formula, Kd1Representing the current inner loop proportionality coefficient t of the doubly-fed wind turbine generator during the fault ride-throughsetRepresenting a predetermined time range, t1Representing the time t for the generator terminal voltage of the k times double-fed wind turbine generator to drop to a preset generator terminal voltage threshold value and below0Representing the time for restoring the generator terminal voltage of the double-fed wind turbine generator to be above the preset generator terminal voltage threshold value for k-1 times; kd0Representing the initial value of the current inner loop proportionality coefficient;
the control module determines a current inner ring proportion coefficient of the doubly-fed wind turbine generator within a preset time range after the fault is cleared according to the following formula:
Figure BDA0003110019320000063
in the formula, Kd2Representing the current inner ring proportionality coefficient t of the doubly-fed wind turbine generator set within the preset time range after the fault is cleared2And the time for restoring the generator terminal voltage of the k times of doubly-fed wind turbine generator to be above the preset generator terminal voltage threshold value is represented, and t represents natural time.
The control module determines d-axis control voltage and q-axis control voltage of a doubly-fed wind turbine rotor side converter according to the following formula:
Figure BDA0003110019320000071
in the formula urdRepresenting the d-axis control voltage of a converter at the rotor side of the doubly-fed wind turbine generator; u. ofrqRepresenting the q-axis control voltage of a converter at the rotor side of the doubly-fed wind turbine generator; kdRepresenting a current inner ring proportion coefficient, and taking the current inner ring proportion coefficient of the doubly-fed wind turbine generator in a steady state operation control mode, the current inner ring proportion coefficient of the doubly-fed wind turbine generator in a fault ride-through control mode or the current inner ring proportion coefficient of the doubly-fed wind turbine generator in an active disturbance rejection control mode; t isdRepresents the current inner loop integration time constant; s represents the laplacian operator; i.e. irdRepresenting d-axis current of a rotor of the doubly-fed wind turbine; i.e. irqRepresenting the q-axis current of the rotor of the doubly-fed wind turbine; omegasThe method comprises the steps of (1) representing rated angular speed of the doubly-fed wind turbine generator, wherein alpha represents interaction coefficient of a d axis and a q axis; i.e. ird_refRepresents a current reference value of a current inner ring control d shaft of a converter at the rotor side of the doubly-fed wind turbine generator, and ird_refTaking a d-axis current reference value of the doubly-fed wind turbine generator in a steady-state operation control mode or a d-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode; i.e. irq_refRepresents the current reference value of the current inner ring of the rotor-side converter of the doubly-fed wind turbine generator to control the q-axis current, and irq_refAnd taking a q-axis current reference value of the doubly-fed wind turbine generator in a steady-state operation control mode or a q-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode.
The technical scheme provided by the invention has the following beneficial effects:
according to the control method of the double-fed wind turbine generator, the out-of-limit condition of the generator terminal voltage of the double-fed wind turbine generator is detected and judged, and when the generator terminal voltage of the double-fed wind turbine generator is not out-of-limit, the double-fed wind turbine generator is controlled to execute a steady-state operation control mode; when the generator terminal voltage of the double-fed wind turbine generator is out of limit and is out of limit for the first time, controlling the double-fed wind turbine generator to execute a first fault ride-through control mode; and when the generator terminal voltage of the double-fed wind turbine generator is out of limit and is not out of limit for the first time, controlling the double-fed wind turbine generator to execute a fault ride-through control mode by considering an active disturbance rejection control mode. The control method provided by the application not only can realize the control of the doubly-fed wind turbine generator under the condition that the generator terminal voltage of the doubly-fed wind turbine generator in the weak alternating current power grid is not out of limit and is out of limit for the first time, but also can realize the control of the doubly-fed wind turbine generator under the condition that the generator terminal voltage of the doubly-fed wind turbine generator in the weak alternating current power grid is out of limit and is not out of limit for the first time, and the applicability is strong.
The technical scheme provided by the application realizes the steady-state operation control, the fault ride-through control and the active disturbance rejection control of the double-fed wind turbine generator, improves the fault ride-through capability of the double-fed wind turbine generator, and ensures the safe and stable operation of the double-fed wind turbine generator in the grid connection process.
Drawings
FIG. 1 is a flow chart of a control method of a doubly-fed wind turbine generator according to an embodiment of the present invention;
FIG. 2 is a flow chart of another control method of the doubly-fed wind turbine generator set in the embodiment of the invention;
FIG. 3 is a schematic diagram of a control mode of the doubly-fed wind turbine generator according to the embodiment of the invention;
fig. 4 is a structural diagram of a control device of the doubly-fed wind turbine generator in the embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Example 1
The embodiment 1 of the invention provides a control method of a doubly-fed wind turbine generator, and the specific flow chart is shown in fig. 1 and fig. 2, and the specific process is as follows:
s101: detecting and judging the out-of-limit condition of the generator terminal voltage of the double-fed wind turbine generator;
s102: and controlling the doubly-fed wind turbine generator to execute a corresponding control mode based on the out-of-limit condition of the generator terminal voltage of the doubly-fed wind turbine generator.
Further, when the generator terminal voltage of the double-fed wind turbine generator is not out of limit, the double-fed wind turbine generator is controlled to execute a steady-state operation control mode; when the generator terminal voltage of the double-fed wind turbine generator is out of limit and is out of limit for the first time, controlling the double-fed wind turbine generator to execute a first fault ride-through control mode; and when the generator terminal voltage of the double-fed wind turbine generator is out of limit and is not out of limit for the first time, the active disturbance rejection control mode is considered to control the double-fed wind turbine generator to execute a non-fault ride-through control mode for the first time.
The S101 specifically includes:
detecting the generator terminal voltage of the doubly-fed wind turbine generator;
when the generator terminal voltage of the doubly-fed wind turbine generator is greater than a preset generator terminal voltage threshold value (the preset generator terminal voltage threshold value can be 0.9p.u., for example, the generator terminal voltage of the doubly-fed wind turbine generator is greater than 0.9p.u.), it is judged that the generator terminal voltage of the doubly-fed wind turbine generator is not out of limit.
When the terminal voltage of the doubly-fed wind turbine generator falls to be less than or equal to a preset terminal voltage threshold value, and the terminal voltage of the doubly-fed wind turbine generator recovers to be above the preset terminal voltage threshold value and lasts for a preset time range (10 s) (for example, the terminal voltage of the doubly-fed wind turbine generator falls to be less than or equal to 0.9p.u., and the terminal voltage of the doubly-fed wind turbine generator recovers to be above 0.9p.u. and lasts for 10s), it is judged that the terminal voltage of the doubly-fed wind turbine generator is out of limit and is out of limit for the first time.
When the generator terminal voltage of the doubly-fed wind turbine generator recovers to be within a preset time range above a preset generator terminal voltage threshold value, the generator terminal voltage of the doubly-fed wind turbine generator falls to be less than or equal to the preset generator terminal voltage threshold value again, the generator terminal voltage of the doubly-fed wind turbine generator recovers to be above the preset generator terminal voltage threshold value and continues within the preset time range (for example, the generator terminal voltage of the doubly-fed wind turbine generator recovers to be above 0.9p.u. within 10s, the generator terminal voltage of the doubly-fed wind turbine generator falls to be less than or equal to 0.9p.u. again, and the generator terminal voltage of the doubly-fed wind turbine generator recovers to be above 0.9p.u. and continues for 10s), it is judged that the generator terminal voltage of the doubly-fed wind turbine generator is out of limit and is not out of limit for the first time.
When the generator terminal voltage of the double-fed wind turbine generator is not out of limit, the double-fed wind turbine generator is controlled to execute a steady state operation control mode, which comprises the following steps:
determining a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator in a steady-state operation control mode based on the active power reference value and the reactive power reference value of the doubly-fed wind turbine generator;
and determining d-axis control voltage and q-axis control voltage of a rotor-side converter of the doubly-fed wind turbine generator based on the d-axis current reference value and the q-axis current reference value of the doubly-fed wind turbine generator in the steady-state operation control mode.
Further, as shown in fig. 3, in the steady-state operation control mode, the d-axis current reference value and the q-axis current reference value of the doubly-fed wind turbine generator are obtained through power outer loop control. The d-axis current reference value and the q-axis current reference value of the doubly-fed wind turbine generator in the steady-state operation control mode are determined according to the following formula:
Figure BDA0003110019320000091
in the formula ird_SRepresenting d-axis current reference value i of the doubly-fed wind turbine generator in a steady-state operation control moderq_SRepresenting the q-axis current reference value, K, of the doubly-fed wind turbine generator in the steady-state operation control modePRepresenting the power outer loop scaling factor, TPIs the power outer loop integration time constant, s represents the Laplace operator, PrefRepresenting the active power reference, Q, of a doubly-fed wind turbinerefRepresenting a reference value of reactive power, P, of a doubly-fed wind turbinegenRepresenting the active power measurement, Q, of a doubly-fed wind turbinegenAnd representing the reactive power measured value of the doubly-fed wind turbine generator.
When the generator terminal voltage of the double-fed wind turbine generator is out of limit and is out of limit for the first time, the double-fed wind turbine generator is controlled to execute a first fault ride-through control mode, and the method comprises the following steps:
determining a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode based on generator terminal voltage of the doubly-fed wind turbine generator;
and determining d-axis control voltage and q-axis control voltage of a rotor-side converter of the doubly-fed wind turbine generator based on the d-axis current reference value and the q-axis current reference value of the doubly-fed wind turbine generator in the fault ride-through control mode.
Further, the d-axis current reference value and the q-axis current reference value of the doubly-fed wind turbine generator in the fault ride-through control mode (including the fault ride-through active control mode and the fault ride-through reactive control mode) are determined according to the following formula:
Figure BDA0003110019320000101
in the formula irq_LRepresenting a d-axis current reference value i of the doubly-fed wind turbine generator in a fault ride-through control moderd_LRepresenting a q-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode, k representing a dynamic reactive compensation coefficient, UcRepresenting the terminal voltage, U, of a doubly-fed wind turbinesetRepresenting a predetermined terminal voltage threshold value, ωsRepresenting the rated angular speed, L, of a doubly-fed wind turbinemRepresenting the mutual reactance of a stator and a rotor of the doubly-fed wind turbine,
Figure BDA0003110019320000103
the maximum over-current which the doubly-fed wind turbine can bear is shown.
When the generator terminal voltage of the double-fed wind turbine generator is out of limit and is not out of limit for the first time, the double-fed wind turbine generator is controlled to execute a non-fault ride-through control mode for the first time by considering an active disturbance rejection control mode, and the method comprises the following steps:
determining a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode based on generator terminal voltage of the doubly-fed wind turbine generator;
determining a current inner ring proportion coefficient of the doubly-fed wind turbine generator in an active disturbance rejection control mode based on the generator terminal voltage recovery time and the drop time of the doubly-fed wind turbine generator;
and determining d-axis control voltage and q-axis control voltage of a converter at the rotor side of the doubly-fed wind turbine generator set based on a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator set in a fault ride-through control mode and a current inner ring proportion coefficient of the doubly-fed wind turbine generator set in an active disturbance rejection control mode.
Under the condition that the generator terminal voltage of the double-fed wind turbine generator is not out of limit, the generator terminal voltage of the double-fed wind turbine generator is out of limit and is out of limit for the first time, or the generator terminal voltage of the double-fed wind turbine generator is out of limit and is not out of limit for the first time, referring to fig. 3, the d-axis control voltage and the q-axis control voltage of the rotor-side converter of the double-fed wind turbine generator are determined according to the following formulas:
Figure BDA0003110019320000102
in the formula urdRepresenting the d-axis control voltage of a converter at the rotor side of the doubly-fed wind turbine generator; u. ofrqRepresenting the q-axis control voltage of a converter at the rotor side of the doubly-fed wind turbine generator; t isdRepresents the current inner loop integration time constant; s represents the laplacian operator; i.e. irdRepresenting d-axis current of a rotor of the doubly-fed wind turbine; i.e. irqRepresenting the q-axis current of the rotor of the doubly-fed wind turbine; omegasThe method comprises the steps of (1) representing rated angular speed of the doubly-fed wind turbine generator, wherein alpha represents interaction coefficient of a d axis and a q axis; i.e. ird_refRepresents a current reference value of a current inner ring control d shaft of a converter at the rotor side of the doubly-fed wind turbine generator, and ird_refTaking a d-axis current reference value of the doubly-fed wind turbine generator in a steady-state operation control mode or a d-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode; i.e. irq_refRepresents the current reference value of the current inner ring of the rotor-side converter of the doubly-fed wind turbine generator to control the q-axis current, and irq_refAnd taking a q-axis current reference value of the doubly-fed wind turbine generator in a steady-state operation control mode or a q-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode.
In addition, K isdAnd representing the current inner ring proportion coefficient, and taking the current inner ring proportion coefficient of the doubly-fed wind turbine generator in a steady state operation control mode, the current inner ring proportion coefficient of the doubly-fed wind turbine generator in a fault ride-through control mode or the current inner ring proportion coefficient of the doubly-fed wind turbine generator in an active disturbance rejection control mode. That is to say, under the condition that the generator terminal voltage of the doubly-fed wind turbine generator is not out of limit, KdAnd (4) taking a current inner ring proportion coefficient (an empirical value or a typical value can be selected) of the doubly-fed wind turbine generator in a steady-state operation control mode. Under the condition that the generator terminal voltage of the double-fed wind turbine generator is out of limit and is out of limit for the first time, KdAnd (4) taking a current inner ring proportion coefficient (an empirical value or a typical value can be selected) of the doubly-fed wind turbine generator in a fault ride-through control mode. Under the condition that the generator terminal voltage of the doubly-fed wind turbine generator is out of limit and is not out of limit for the first time, KdAnd taking the current inner ring proportion coefficient of the doubly-fed wind turbine generator in the active disturbance rejection control mode.
Further, the current inner ring proportion coefficient of the doubly-fed wind turbine generator in the active disturbance rejection control mode comprises the current inner ring proportion coefficient of the doubly-fed wind turbine generator in a fault ride-through period and the current inner ring proportion coefficient of the doubly-fed wind turbine generator in a preset time range after the fault is cleared.
The current inner loop proportion coefficient of the doubly-fed wind turbine generator during fault ride-through is determined according to the following formula:
Figure BDA0003110019320000111
in the formula, Kd1Representing the current inner loop proportionality coefficient t of the doubly-fed wind turbine generator during the fault ride-throughsetRepresenting a predetermined time range, t1Representing the time t for the generator terminal voltage of the k times double-fed wind turbine generator to drop to a preset generator terminal voltage threshold value and below0Representing the time for restoring the generator terminal voltage of the double-fed wind turbine generator to be above a preset generator terminal voltage threshold value k-1 times; kd0Representing the initial value of the current inner loop proportionality coefficient;
the current inner ring proportion coefficient of the doubly-fed wind turbine generator within a preset time range after the fault is cleared is determined according to the following formula:
Figure BDA0003110019320000112
in the formula, Kd2Representing the current inner ring proportionality coefficient t of the doubly-fed wind turbine generator set within the preset time range after the fault is cleared2And the time for restoring the generator terminal voltage of the k times of double-fed wind turbine generator to be above the preset generator terminal voltage threshold value is represented, and t represents natural time.
Example 2
Based on the same inventive concept, embodiment 2 of the present invention further provides a control apparatus for a doubly-fed wind turbine, as shown in fig. 4, including:
the judging module is used for detecting and judging the out-of-limit condition of the generator terminal voltage of the double-fed wind turbine generator;
the control module is used for controlling the doubly-fed wind turbine generator to execute a corresponding control mode based on the out-of-limit condition of the generator terminal voltage of the doubly-fed wind turbine generator: when the generator terminal voltage of the double-fed wind turbine generator is not out of limit, controlling the double-fed wind turbine generator to execute a steady-state operation control mode; when the generator terminal voltage of the double-fed wind turbine generator is out of limit and is out of limit for the first time, controlling the double-fed wind turbine generator to execute a first fault ride-through control mode; and when the generator terminal voltage of the double-fed wind turbine generator is out of limit and is not out of limit for the first time, the active disturbance rejection control mode is considered to control the double-fed wind turbine generator to execute a non-fault ride-through control mode for the first time.
The judging module specifically comprises:
the detection unit is used for detecting the generator terminal voltage of the double-fed wind turbine generator;
the judging unit is used for judging the out-of-limit condition of the generator terminal voltage of the double-fed wind turbine generator based on the generator terminal voltage of the double-fed wind turbine generator detected by the detecting unit; the method is specifically divided into the following three cases:
when the machine end voltage of the double-fed wind turbine generator is larger than a preset machine end voltage threshold value, judging that the machine end voltage of the double-fed wind turbine generator is not out of limit;
when the terminal voltage of the doubly-fed wind turbine generator falls to be less than or equal to a preset terminal voltage threshold value, and the terminal voltage of the doubly-fed wind turbine generator is recovered to be above the preset terminal voltage threshold value and continues for a preset time range, judging that the terminal voltage of the doubly-fed wind turbine generator is out of limit and is out of limit for the first time;
when the generator terminal voltage of the double-fed wind turbine generator unit recovers to be within a preset time range above a preset generator terminal voltage threshold value, the generator terminal voltage of the double-fed wind turbine generator unit falls to be less than or equal to the preset generator terminal voltage threshold value again, and the generator terminal voltage of the double-fed wind turbine generator unit recovers to be above the preset generator terminal voltage threshold value and continues for the preset time range, the generator terminal voltage of the double-fed wind turbine generator unit is judged to be out of limit and is not out of limit for the first time.
The control module is specifically configured to:
determining a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator in a steady-state operation control mode based on the active power reference value and the reactive power reference value of the doubly-fed wind turbine generator;
and determining d-axis control voltage and q-axis control voltage of a rotor-side converter of the doubly-fed wind turbine generator based on the d-axis current reference value and the q-axis current reference value of the doubly-fed wind turbine generator in the steady-state operation control mode.
The control module determines a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator in a steady-state operation control mode according to the following formula:
Figure BDA0003110019320000121
in the formula ird_SRepresenting d-axis current reference value i of the doubly-fed wind turbine generator in a steady-state operation control moderq_SRepresenting the q-axis current reference value, K, of the doubly-fed wind turbine generator in the steady-state operation control modePRepresenting the power outer loop scaling factor, TPIs the power outer loop integration time constant, s represents the Laplace operator, PrefRepresenting the active power reference, Q, of a doubly-fed wind turbinerefRepresenting a reference value of reactive power, P, of a doubly-fed wind turbinegenRepresenting the active power measurement, Q, of a doubly-fed wind turbinegenAnd representing the reactive power measured value of the doubly-fed wind turbine generator.
The control module is specifically configured to:
determining a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode based on generator terminal voltage of the doubly-fed wind turbine generator;
and determining d-axis control voltage and q-axis control voltage of a rotor-side converter of the doubly-fed wind turbine generator based on the d-axis current reference value and the q-axis current reference value of the doubly-fed wind turbine generator in the fault ride-through control mode.
The control module is specifically configured to:
determining a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode based on generator terminal voltage of the doubly-fed wind turbine generator;
determining a current inner ring proportion coefficient of the doubly-fed wind turbine generator in an active disturbance rejection control mode based on the generator terminal voltage recovery time and the drop time of the doubly-fed wind turbine generator;
and determining d-axis control voltage and q-axis control voltage of a converter at the rotor side of the doubly-fed wind turbine generator set based on a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator set in a fault ride-through control mode and a current inner ring proportion coefficient of the doubly-fed wind turbine generator set in an active disturbance rejection control mode.
The control module determines a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode according to the following formula:
Figure BDA0003110019320000131
in the formula irq_LRepresenting a d-axis current reference value i of the doubly-fed wind turbine generator in a fault ride-through control moderd_LRepresenting a q-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode, k representing a dynamic reactive compensation coefficient, UcRepresenting the terminal voltage, U, of a doubly-fed wind turbinesetRepresenting a predetermined terminal voltage threshold value, ωsRepresenting the rated angular speed, L, of a doubly-fed wind turbinemRepresenting the mutual reactance of a stator and a rotor of the doubly-fed wind turbine,
Figure BDA0003110019320000132
the maximum over-current which the doubly-fed wind turbine can bear is shown.
The current inner ring proportion coefficient of the double-fed wind turbine generator in the active disturbance rejection control mode comprises a current inner ring proportion coefficient of the double-fed wind turbine generator in a fault ride-through period and a current inner ring proportion coefficient of the double-fed wind turbine generator in a preset time range after a fault is eliminated;
the control module determines the current inner loop proportion coefficient of the doubly-fed wind turbine generator during the fault ride-through according to the following formula:
Figure BDA0003110019320000141
in the formula, Kd1Representing the current inner loop proportionality coefficient t of the doubly-fed wind turbine generator during the fault ride-throughsetRepresenting a predetermined time range, t1Representing the time t for the generator terminal voltage of the k times double-fed wind turbine generator to drop to a preset generator terminal voltage threshold value and below0Representing the time for restoring the generator terminal voltage of the double-fed wind turbine generator to be above a preset generator terminal voltage threshold value k-1 times; kd0Representing the initial value of the current inner loop proportionality coefficient;
the control module determines a current inner ring proportion coefficient of the doubly-fed wind turbine generator within a preset time range after the fault is cleared according to the following formula:
Figure BDA0003110019320000142
in the formula, Kd2Representing the current inner ring proportionality coefficient t of the doubly-fed wind turbine generator set within the preset time range after the fault is cleared2And the time for restoring the generator terminal voltage of the k times of double-fed wind turbine generator to be above the preset generator terminal voltage threshold value is represented, and t represents natural time.
The control module determines d-axis control voltage and q-axis control voltage of a doubly-fed wind turbine rotor side converter according to the following formula:
Figure BDA0003110019320000143
in the formula urdRepresenting the d-axis control voltage of a converter at the rotor side of the doubly-fed wind turbine generator; u. ofrqRepresenting the q-axis control voltage of a converter at the rotor side of the doubly-fed wind turbine generator; kdRepresenting a current inner ring proportion coefficient, and taking the current inner ring proportion coefficient of the doubly-fed wind turbine generator in a steady state operation control mode, the current inner ring proportion coefficient of the doubly-fed wind turbine generator in a fault ride-through control mode or the current inner ring proportion coefficient of the doubly-fed wind turbine generator in an active disturbance rejection control mode; t isdRepresents the current inner loop integration time constant; s represents the laplacian operator; i.e. irdRepresenting d-axis current of a rotor of the doubly-fed wind turbine; i.e. irqRepresenting the q-axis current of the rotor of the doubly-fed wind turbine; omegasThe rated angular speed of the doubly-fed wind turbine generator is shown, and alpha represents the interaction between a d axis and a q axisUsing the coefficients; i.e. ird_refRepresents a current reference value of a current inner ring control d shaft of a converter at the rotor side of the doubly-fed wind turbine generator, and ird_refTaking a d-axis current reference value of the doubly-fed wind turbine generator in a steady-state operation control mode or a d-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode; i.e. irq_refRepresents the current reference value of the current inner ring of the rotor-side converter of the doubly-fed wind turbine generator to control the q-axis current, and irq_refAnd taking a q-axis current reference value of the doubly-fed wind turbine generator in a steady-state operation control mode or a q-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode.
For convenience of description, each part of the above apparatus is separately described as being functionally divided into various modules or units. Of course, the functionality of the various modules or units may be implemented in the same one or more pieces of software or hardware when implementing the present application.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only intended to illustrate the technical solution of the present invention and not to limit the same, and a person of ordinary skill in the art can make modifications or equivalent substitutions to the specific embodiments of the present invention with reference to the above embodiments, and any modifications or equivalent substitutions which do not depart from the spirit and scope of the present invention are within the protection scope of the present invention as claimed in the appended claims.

Claims (11)

1. A control method of a doubly-fed wind turbine generator is characterized by comprising the following steps:
detecting and judging the out-of-limit condition of the generator terminal voltage of the double-fed wind turbine generator;
when the generator terminal voltage of the double-fed wind turbine generator is not out of limit, controlling the double-fed wind turbine generator to execute a steady-state operation control mode;
when the generator terminal voltage of the double-fed wind turbine generator is out of limit and is out of limit for the first time, controlling the double-fed wind turbine generator to execute a first fault ride-through control mode;
and when the generator terminal voltage of the double-fed wind turbine generator is out of limit and is not out of limit for the first time, controlling the double-fed wind turbine generator to execute a non-fault ride-through control mode for the first time by considering an active disturbance rejection control mode.
2. The method for controlling the doubly-fed wind turbine generator according to claim 1, wherein the detecting and determining the out-of-limit condition of the generator terminal voltage of the doubly-fed wind turbine generator comprises:
detecting the generator terminal voltage of the double-fed wind turbine generator;
when the machine end voltage of the double-fed wind turbine generator is larger than a preset machine end voltage threshold value, judging that the machine end voltage of the double-fed wind turbine generator is not out of limit;
when the generator terminal voltage of the double-fed wind turbine generator falls to be less than or equal to the preset generator terminal voltage threshold value, and the generator terminal voltage of the double-fed wind turbine generator is recovered to be above the preset generator terminal voltage threshold value and continues for a preset time range, judging that the generator terminal voltage of the double-fed wind turbine generator is out of limit and is out of limit for the first time;
when the generator terminal voltage of the double-fed wind turbine generator recovers to above the preset generator terminal voltage threshold value in the preset time range, the generator terminal voltage of the double-fed wind turbine generator falls to be less than or equal to the preset generator terminal voltage threshold value again, and the generator terminal voltage of the double-fed wind turbine generator recovers to above the preset generator terminal voltage threshold value and when the preset time range is continued, the generator terminal voltage of the double-fed wind turbine generator is over-limited and is not over-limited for the first time.
3. The method for controlling the doubly-fed wind turbine generator set according to claim 1, wherein the controlling the doubly-fed wind turbine generator set to execute the steady-state operation control mode comprises:
determining a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator in a steady-state operation control mode based on the active power reference value and the reactive power reference value of the doubly-fed wind turbine generator;
and determining d-axis control voltage and q-axis control voltage of a rotor-side converter of the doubly-fed wind turbine generator based on the d-axis current reference value and the q-axis current reference value of the doubly-fed wind turbine generator in the steady-state operation control mode.
4. The method for controlling the doubly-fed wind turbine generator set according to claim 3, wherein the d-axis current reference value and the q-axis current reference value of the doubly-fed wind turbine generator set in the steady-state operation control mode are determined according to the following formula:
Figure FDA0003110019310000021
in the formula ird_SRepresenting d-axis current reference value i of the doubly-fed wind turbine generator in a steady-state operation control moderq_SRepresenting the q-axis current reference value, K, of the doubly-fed wind turbine generator in the steady-state operation control modePRepresenting the power outer loop scaling factor, TPIs the power outer loop integration time constant, s represents the Laplace operator, PrefRepresenting the active power reference, Q, of a doubly-fed wind turbinerefRepresenting a reference value of reactive power, P, of a doubly-fed wind turbinegenRepresenting the active power measurement, Q, of a doubly-fed wind turbinegenAnd representing the reactive power measured value of the doubly-fed wind turbine generator.
5. The method for controlling the doubly-fed wind turbine generator set according to claim 1, wherein the controlling the doubly-fed wind turbine generator set to execute a first fault ride-through control mode comprises:
determining a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode based on generator terminal voltage of the doubly-fed wind turbine generator;
and determining d-axis control voltage and q-axis control voltage of a rotor-side converter of the doubly-fed wind turbine generator based on a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode.
6. The method for controlling the doubly-fed wind turbine generator set according to claim 1, wherein the controlling the doubly-fed wind turbine generator set to execute the non-first-time fault-ride-through control mode in consideration of the active disturbance rejection control mode comprises:
determining a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode based on generator terminal voltage of the doubly-fed wind turbine generator;
determining a current inner loop proportion coefficient of the doubly-fed wind turbine generator in an active disturbance rejection control mode based on the generator terminal voltage recovery time and the drop time of the doubly-fed wind turbine generator;
and determining d-axis control voltage and q-axis control voltage of a converter at the rotor side of the doubly-fed wind turbine generator set based on a d-axis current reference value and a q-axis current reference value of the doubly-fed wind turbine generator set in a fault ride-through control mode and a current inner loop proportion coefficient of the doubly-fed wind turbine generator set in an active disturbance rejection control mode.
7. The method for controlling the doubly-fed wind turbine generator set according to claim 5 or 6, wherein the d-axis current reference value and the q-axis current reference value of the doubly-fed wind turbine generator set in the fault-ride-through control mode are determined according to the following formula:
Figure FDA0003110019310000022
in the formula irq_LRepresenting a d-axis current reference value i of the doubly-fed wind turbine generator in a fault ride-through control moderd_LRepresenting a q-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode, k representing a dynamic reactive compensation coefficient, UcRepresenting the terminal voltage, U, of a doubly-fed wind turbinesetRepresenting a predetermined terminal voltage threshold value, ωsRepresenting the rated angular speed, L, of a doubly-fed wind turbinemRepresenting the mutual reactance of a stator and a rotor of the doubly-fed wind turbine,
Figure FDA0003110019310000031
the maximum over-current which the doubly-fed wind turbine can bear is shown.
8. The method for controlling the doubly-fed wind turbine generator set according to claim 5, wherein the current inner loop proportion coefficient of the doubly-fed wind turbine generator set in the active disturbance rejection control mode comprises a current inner loop proportion coefficient of the doubly-fed wind turbine generator set during fault ride-through and a current inner loop proportion coefficient of the doubly-fed wind turbine generator set within a preset time range after fault clearing.
9. The method for controlling the doubly-fed wind turbine generator set of claim 8, wherein the current inner loop proportionality coefficient of the doubly-fed wind turbine generator set during fault ride-through is determined according to the following formula:
Figure FDA0003110019310000032
in the formula, Kd1Representing the current inner loop proportionality coefficient t of the doubly-fed wind turbine generator during the fault ride-throughsetRepresenting a predetermined time range, t1Representing the time t for the generator terminal voltage of the k times double-fed wind turbine generator to drop to a preset generator terminal voltage threshold value and below0Representing the time for restoring the generator terminal voltage of the double-fed wind turbine generator to be above the preset generator terminal voltage threshold value for k-1 times; kd0Representing the initial value of the current inner loop proportionality coefficient;
the current inner ring proportion coefficient of the doubly-fed wind turbine generator within a preset time range after the fault is cleared is determined according to the following formula:
Figure FDA0003110019310000033
in the formula, Kd2Representing the current inner ring proportionality coefficient t of the doubly-fed wind turbine generator set within the preset time range after the fault is cleared2And the time for restoring the generator terminal voltage of the k times of doubly-fed wind turbine generator to be above the preset generator terminal voltage threshold value is represented, and t represents natural time.
10. The method for controlling the doubly-fed wind turbine generator set according to claim 3, 5, 6 or 8, wherein the d-axis control voltage and the q-axis control voltage of the rotor-side converter of the doubly-fed wind turbine generator set are determined according to the following formula:
Figure FDA0003110019310000034
in the formula urdRepresenting the d-axis control voltage of a converter at the rotor side of the doubly-fed wind turbine generator; u. ofrqRepresenting the q-axis control voltage of a converter at the rotor side of the doubly-fed wind turbine generator; kdRepresenting a current inner ring proportion coefficient, and taking the current inner ring proportion coefficient of the doubly-fed wind turbine generator in a steady state operation control mode, the current inner ring proportion coefficient of the doubly-fed wind turbine generator in a fault ride-through control mode or the current inner ring proportion coefficient of the doubly-fed wind turbine generator in an active disturbance rejection control mode; t isdRepresents the current inner loop integration time constant; s represents the laplacian operator; i.e. irdRepresenting d-axis current of a rotor of the doubly-fed wind turbine; i.e. irqRepresenting the q-axis current of the rotor of the doubly-fed wind turbine; omegasThe method comprises the steps of (1) representing rated angular speed of the doubly-fed wind turbine generator, wherein alpha represents interaction coefficient of a d axis and a q axis; i.e. ird_refRepresents a current reference value of a current inner ring control d shaft of a converter at the rotor side of the doubly-fed wind turbine generator, and ird_refTaking a d-axis current reference value of the doubly-fed wind turbine generator in a steady-state operation control mode or a d-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode; i.e. irq_refRepresents the current reference value of the current inner ring of the rotor-side converter of the doubly-fed wind turbine generator to control the q-axis current, and irq_refAnd taking a q-axis current reference value of the doubly-fed wind turbine generator in a steady-state operation control mode or a q-axis current reference value of the doubly-fed wind turbine generator in a fault ride-through control mode.
11. A control device for a doubly-fed wind turbine generator, comprising:
the judging module is used for detecting and judging the out-of-limit condition of the generator terminal voltage of the double-fed wind turbine generator;
the control module is used for controlling the doubly-fed wind turbine generator to execute a steady-state operation control mode when the generator terminal voltage of the doubly-fed wind turbine generator is not out of limit; when the generator terminal voltage of the double-fed wind turbine generator is out of limit and is out of limit for the first time, controlling the double-fed wind turbine generator to execute a first fault ride-through control mode; and when the generator terminal voltage of the double-fed wind turbine generator is out of limit and is not out of limit for the first time, controlling the double-fed wind turbine generator to execute a non-fault ride-through control mode for the first time by considering an active disturbance rejection control mode.
CN202110646586.9A 2021-06-10 2021-06-10 Control method and device for double-fed wind turbine generator Pending CN113572192A (en)

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