CN113765124B - Selective response control system and method for full wind speed range voltage source type wind turbine generator - Google Patents
Selective response control system and method for full wind speed range voltage source type wind turbine generator Download PDFInfo
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- CN113765124B CN113765124B CN202111119054.6A CN202111119054A CN113765124B CN 113765124 B CN113765124 B CN 113765124B CN 202111119054 A CN202111119054 A CN 202111119054A CN 113765124 B CN113765124 B CN 113765124B
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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
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
- H02J3/48—Controlling the sharing of the in-phase component
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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
- 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
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- 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
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- 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
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Abstract
The invention provides a selective response control system and method for a full wind speed range voltage source type wind turbine generator, which comprises the following steps: the double-fed wind turbine generator system voltage source control module: the voltage source control of the double-fed wind turbine generator is realized, and a three-phase modulation wave phase angle of a rotor-side converter is output; the voltage source selective control judgment module: judging whether the wind turbine generator is in a constant rotating speed operation stage or not, and judging whether a load input action or a load removal action occurs in a power system or not; the outer ring of the wind turbine generator rotating speed control: controlling the rotation speed of the wind turbine generator to be constant under the conditions that the wind turbine generator is in a high constant rotation speed stage, a variable pitch stage and a low constant rotation speed stage; the dynamic correction control module for the outer ring time constant of the rotating speed control comprises: and judging whether the rotating speed control outer ring of the wind turbine generator carries out dynamic correction of the integral time constant or not, and aiming at reducing overshoot of the rotating speed response later stage. By adopting the invention, the selective control effect of the voltage source wind turbine generator within the full wind speed range can be realized.
Description
Technical Field
The invention relates to the technical field of wind turbine generator control, in particular to a full wind speed range voltage source type wind turbine generator selective response control system and method.
Background
With the recent rapid development of clean energy represented by wind power generation and photovoltaic power generation, an electric power system is undergoing a transition from centralized power generation to a distributed power generation system, and meanwhile, with the continuous growth of national economy and the continuous improvement of the living standard of people in China, the domestic energy demand is rapidly increased, the demand for energy is rapidly increased, and the traditional energy cannot meet the increasing energy demand, so that the rapid development of new energy including wind power generation is an important development direction in the next step.
The traditional double-fed wind turbine generator adopts a vector control-based converter control mode, essentially belongs to a current source control mode, generally adopts a double-closed-loop control strategy to realize decoupling control of active power and reactive power, and can obtain an ideal control effect under the condition of low wind power permeability. However, with the increase of wind power permeability in China, a large number of wind generation sets are operated in a grid-connected mode, and because the rotating speed of the wind generation sets and the frequency of a power grid are in a decoupling state under the control of a current source, the wind generation sets do not contribute inertia to the power grid, so that with the increase of the wind power permeability, the inertia of the whole power system inevitably presents a descending trend, the frequency stability of the power system is seriously affected, and therefore a traditional current source control mode needs to be changed, and the wind generation sets can provide inertia and power support for the power grid.
A voltage source control mode is a novel control mode of a wind turbine generator which is developed rapidly in recent years, synchronization with a power grid is achieved without relying on a phase-locked loop, synchronization is achieved by simulating a rotor motion equation of a synchronous generator, inertia response of the synchronous generator can be simulated, necessary inertia support and active response are provided when the frequency of the power grid changes, and the frequency stability of a power system is effectively improved.
However, the voltage source control method proposed at present focuses on the control of the maximum power tracking stage of the wind turbine, and often neglects the control effect of the wind turbine within the full wind speed range. In the low constant rotating speed stage, the high constant rotating speed stage and the variable pitch stage in the full wind speed range, because of protection control, the rotating speed of the generator cannot be lower than or exceed a set amplitude, so the currently proposed voltage source control mode cannot meet the control requirement of constant rotating speed of the wind turbine while reflecting inertia response, and therefore a novel control mode is necessary to be proposed to realize the selective control of the voltage source wind turbine within the full wind speed range: the wind turbine generator set only has the capacity of absorbing active power and increasing the rotating speed at the stage of low constant rotating speed, and only has the capacity of releasing the active power and reducing the rotating speed at the stage of high constant rotating speed and variable pitch.
The invention discloses a large-scale wind turbine inertia response optimization control method, which is found by retrieval, has the application (patent) number of CN201810021480.8 and comprises the following steps: 1) Detecting to obtain the frequency, the wind speed and the pitch angle of the generator and the power grid; 2) Judging whether the wind turbine generator operates in a speed change stage or not and whether the wind turbine generator enters an inertia response control mode or not; 3) If yes, storing the initial wind speed and the initial generator rotating speed at the moment of entering the operation mode; 4) Carrying out low-pass filtering on the wind speed; 5) Calculating to obtain the optimal target control rotating speed of the generator; 6) Calculating to obtain the expected generator torque output by the variable speed control loop; 7) Calculating to obtain the actual output expected torque of the generator; 8) The expected torque of the generator is output to a converter of the wind turbine generator to control the electromagnetic torque of the generator; 9) And judging whether the inertia response control mode exits or not according to the frequency of the power grid, and if the inertia response control mode exits, restoring and tracking the optimal torque of the generator by the expected torque of the generator with a set slope. The invention effectively solves the problems of coordinated control and stable switching between the inertia response control loop and the variable speed control loop. However, the control method focuses on the control mode that the wind turbine is in the maximum power tracking stage, and is only suitable for control under the condition of medium wind speed, and when the wind turbine is in the conditions of high wind speed and low wind speed, the wind turbine is in the constant rotating speed stage of response, and the method is not suitable and will seriously affect the stable operation of the wind turbine.
The retrieval also finds that the application (patent) number is 201711217269.5, and the name of the method and the system for wind power grid-connected frequency modulation based on the doubly-fed asynchronous wind driven generator comprises the following steps: judging whether the rotor of the wind driven generator reaches the rated rotating speed or not; if not, adopting an inertia response frequency modulation method; if so, adopting a primary frequency modulation method; the active power output of the wind driven generator is changed, and the rotating speed of the wind driven generator is changed, so that the frequency modulation of a power grid is realized. However, the problem of the overshoot at the later stage of the rotating speed response cannot be solved, and the normal operation of the wind turbine generator is seriously influenced by the rotating speed overshoot under the operating condition of constant rotating speed.
Disclosure of Invention
In view of the defects in the prior art, the invention aims to provide a selective response control system of a full wind speed range voltage source type wind generating set.
According to an aspect of the present invention, there is provided a selective response control system for a full wind speed range voltage source type wind power generation set, comprising:
the voltage source selective control judgment module: the module judges whether the wind turbine generator is in a constant rotating speed operation stage, judges whether the action of load input or load removal occurs in the power system, and outputs a judgment result to the voltage source control module of the double-fed wind turbine generator;
outer ring for controlling rotating speed of wind turbine generator: the method comprises the following steps of realizing flexible switching among different control modes of the wind turbine generator, controlling the rotation speed of the wind turbine generator to be constant under the conditions that the wind turbine generator is in a high constant rotation speed stage, a variable pitch stage and a low constant rotation speed stage, and outputting a control result to a voltage source control module of the double-fed wind turbine generator;
the double-fed wind turbine generator system voltage source control module: the module realizes the voltage source control of the double-fed wind turbine generator and outputs a three-phase modulation wave phase angle of a rotor-side converter according to the results of the outer ring of the rotating speed control of the wind turbine generator and the voltage source selective control judgment module;
the dynamic correction control module for the outer ring time constant of the rotating speed control comprises: and the outer ring is connected with the rotating speed control outer ring of the wind turbine generator, whether the rotating speed control outer ring of the wind turbine generator dynamically corrects the integral time constant or not is judged, and the result is input into the rotating speed control outer ring of the wind turbine generator, so that the overshoot of the later rotating speed response stage is reduced.
The modules of the invention work cooperatively and are matched with each other. In the low and high constant rotating speed operation stages and the constant power variable pitch operation stage, the output of the rotating speed control outer ring of the wind turbine generator is used as the input of a voltage source control module of the double-fed wind turbine generator; and in the MPPT operation stage, the input of the voltage source control module of the doubly-fed wind turbine generator set is the calculated optimal electromagnetic torque set value. When the system meets the condition of one-way inertia response, the wind turbine generator is controlled to only participate in speed-up inertia response or speed-down inertia response, and the control module is dynamically corrected according to the time constant of the outer ring of the rotating speed control, so that reverse overshoot of the rotating speed is avoided in the later stage of the rotating speed response.
Optionally, the voltage source control module of the doubly-fed wind turbine generator includes the following modules:
voltage source control torque closed loop control module: active power control in voltage source control of the wind turbine generator is realized, electromagnetic torque given and feedback signals thereof are input into the module, and a torque closed-loop output signal is formed through a synchronous control loop of a simulation synchronous generator;
the voltage source control frequency signal interface module: introducing a power grid frequency signal into a voltage source for control, and controlling whether the unit participates in inertia response or not through the module;
a slip angle generation module: and calculating to generate a slip angle according to a torque closed-loop output signal of the voltage source control torque closed-loop control module and an output result of the voltage source control frequency signal interface module, wherein the output result of the voltage source control frequency signal interface module already contains a control result of whether to participate in inertia response.
Optionally, the voltage source selective control determining module includes the following modules:
the generator rotating speed judging module: judging whether the rotating speed of the unit reaches a high constant rotating speed stage, a variable pitch stage and a low constant rotating speed stage, and outputting 0 by the module when the rotating speed of the unit reaches the set highest rotating speed or the set lowest rotating speed and outputting 1 under the other conditions;
the power grid frequency detection module: detecting the frequency change of the power system, outputting 1 when the frequency drops, outputting 0 under other conditions, and arranging a hysteresis controller to prevent false touch;
an OR gate output module: and performing OR operation on output results of the generator rotating speed judging module and the power grid frequency detecting module to realize that 0 is output in a high constant rotating speed stage, a low constant rotating speed stage and a constant power variable pitch operation stage, and 1 is output under other conditions, wherein the output result is directly accessed into a voltage source control module of the double-fed wind turbine generator to control whether the generator participates in power grid inertia response or not.
Optionally, the outer ring for controlling the rotation speed of the wind turbine generator comprises the following modules:
the outer ring of the rotation speed control in the high constant rotation speed stage: under the condition of controlling high wind speed, the rotating speed of the generator is controlled at a given rotating speed, a PI controller is adopted, and the output result of the controller is the active power given in the voltage source control module of the double-fed wind turbine generator;
and (3) rotating speed control outer ring in low constant rotating speed stage: and under the condition of controlling low wind speed, the rotating speed of the generator is controlled at a given rotating speed, a PI controller is adopted, and the output result of the controller is the active power given in the voltage source control module of the double-fed wind turbine generator.
Flexible switching link: and controlling the wind turbine generator to realize flexible switching between constant rotating speed control and maximum power tracking control.
Optionally, the dynamic correction control module for the time constant of the outer loop of the rotational speed control includes the following modules:
S-R state latch module: performing logic calculation according to the rotating speed of the wind turbine generator and the change condition of the power grid frequency, wherein the calculation logic followed by the S-R latch is as follows: when the set end of the S-R state latch is 1, the latch outputs 1, and when the return-to-zero end of the S-R state latch is 1, the latch outputs 0.
And the S-R state latch setting judgment module: when the wind turbine generator is in a high constant rotating speed stage and the frequency of a power grid falls, or when the wind turbine generator is in a low constant rotating speed stage and the frequency of the power grid rises, under the two conditions, the set end of the S-R state latch is 1, and under the other conditions, the set end of the S-R state latch is 0;
and an S-R state latch zero-resetting judgment module: when the wind turbine generator does not meet the condition that the position end of the S-R state latch is 1, the return-to-zero end of the S-R state latch is 1, and the return-to-zero end of the S-R state latch is 0 under other conditions;
the time constant switching module of the rotating speed controller comprises: and dynamically correcting the integral time constant of the rotating speed control outer ring in the high and low constant rotating speed stages according to the output of the S-R state latch module.
According to another aspect of the invention, a selective response control method for a full wind speed range voltage source type wind turbine generator set is provided, which realizes flexible switching among four operation stages of a doubly-fed wind turbine generator set in a full wind speed range, namely: a low constant rotating speed operation stage, an MPPT maximum power tracking stage, a high constant rotating speed operation stage and a constant power variable pitch operation stage;
in a low constant-speed operation stage, the wind turbine generator is selectively controlled to only have the speed-up inertia response capability;
controlling the wind turbine generator to have the capacity of bidirectional inertia response of speed increasing and speed reducing at the MPPT maximum power tracking stage;
in a high constant rotating speed operation stage, the wind turbine generator is selectively controlled to only have the capability of speed reduction and inertia response;
and in the constant-power variable-pitch operation stage, the wind turbine generator is selectively controlled to only have the capability of reducing speed and responding to inertia.
Compared with the prior art, the embodiment of the invention has at least one of the following beneficial effects:
the selective response control system of the voltage source type wind turbine generator set in the full wind speed range can achieve the selective control effect of the voltage source type wind turbine generator set in the full wind speed range.
The selective response control system and the method for the voltage source type wind turbine generator in the full wind speed range adopt a selective control mode of the voltage source type wind turbine generator, realize selective inertia response at high and low constant rotating speed stages, play a role in protecting the wind turbine generator on the premise of embodying the inertia response, can be simultaneously suitable for the conditions of medium wind speed, high wind speed and low wind speed, ensure the stable operation of the wind turbine generator.
The selective response control system and the method for the full-wind-speed-range voltage source type wind turbine generator set, provided by the invention, realize the error-free control with the set rotating speed in a manner of dynamically correcting the outer ring time constant of the rotating speed, avoid generating overshoot to influence the safe operation of the wind turbine generator set, have obvious superiority in control, can effectively solve the overshoot problem in the later period of rotating speed response, and ensure the normal operation of the wind turbine generator set under the operating condition of constant rotating speed.
The selective response control system and method for the full wind speed range voltage source type wind turbine generator set provided by the invention have the advantages that the control mode of the original voltage source is kept at the maximum power tracking stage of the wind turbine generator set, and the wind turbine generator set has the capacity of absorbing active power and releasing the active power.
According to the selective response control system and method for the voltage source type wind turbine generator set in the full wind speed range, when the wind speed is low, the wind turbine generator set is in a low constant rotating speed operation stage, the control unit does not participate in inertia response when the load of an electric power system is increased, and the control unit participates in inertia response only when the load of the electric power system is reduced. Namely: the wind turbine generator set only has the capacity of absorbing active power and increasing the rotating speed.
According to the selective response control system and method for the full wind speed range voltage source type wind turbine generator, the rotating speed of the wind turbine generator is controlled to slowly fall after rising in the process that the wind turbine generator participates in inertia response at the stage of low and constant rotating speed, finally, no difference control between the rotating speed and the set rotating speed is achieved, and the phenomenon that overshooting is generated to influence safe operation of the wind turbine generator is avoided.
According to the selective response control system and method for the full wind speed range voltage source type wind turbine generator set, when the wind speed is high, the wind turbine generator set is in the high-constant-speed operation stage and the constant-power variable-pitch operation stage, when the load of the power system is reduced, the control unit does not participate in inertia response, and only when the load of the power system is increased, the control unit participates in inertia response. Namely: the wind turbine generator set only has the capacity of releasing active power and reducing the rotating speed.
According to the selective response control system and method for the full wind speed range voltage source type wind turbine generator, the rotating speed of the wind turbine generator is controlled to slowly rise after falling in the process that the wind turbine generator participates in inertia response at the stage of high and constant rotating speed, finally, no difference control between the rotating speed and the set rotating speed is achieved, and the phenomenon that overshooting is generated to influence safe operation of the wind turbine generator is avoided.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a block diagram of a selective response control system for a full wind speed range voltage source type wind turbine generator system in accordance with an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a voltage source control module of a doubly-fed wind turbine generator according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a voltage source selective control determining module according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an outer ring module for controlling the rotational speed of a wind turbine generator according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a dynamic correction control module for an outer loop time constant of a rotational speed control according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
Fig. 1 is a block diagram of a selective response control system of a full wind speed range voltage source type wind turbine generator set according to an embodiment of the present invention.
Referring to fig. 1, the selective response control system of the full wind speed range voltage source type wind turbine generator set in the present embodiment includes:
the double-fed wind turbine generator system voltage source control module: the voltage source control of the double-fed wind turbine generator is realized, and a three-phase modulation wave phase angle of a rotor-side converter is output;
the voltage source selective control judgment module: judging whether the wind turbine generator is in a constant rotating speed operation stage or not, and judging whether the action of load input or load removal occurs in the power system or not;
the outer ring of the wind turbine generator rotating speed control: the method has the advantages that flexible switching among different control modes of the wind turbine generator is realized, and the rotating speed of the wind turbine generator is controlled to be constant under the conditions that the wind turbine generator is in a high constant rotating speed stage, a variable pitch stage and a low constant rotating speed stage;
the dynamic correction control module for the outer ring time constant of the rotating speed control comprises: and judging whether the rotating speed control outer ring of the wind turbine generator carries out dynamic correction on the integral time constant or not, and aiming at reducing the overshoot of the rotating speed response later stage.
The outer ring of the wind turbine generator speed control is used for realizing flexible switching among different control modes of the wind turbine generator, and controlling the wind turbine generator to operate in a low constant speed operation mode under the condition of low wind speed; with the increase of wind speed, in the middle wind speed stage, MPPT maximum power tracking control is integrally embodied; along with the further increase of the wind speed, the whole body is embodied as high and constant rotating speed control in a high wind speed stage; with further increase of the wind speed, when the output mechanical power of the wind turbine is greater than the rated power, the pitch control is acted, and the output power of the wind turbine is stabilized to be the rated power by increasing the pitch angle of the wind turbine generator.
The existing voltage source control wind turbine generator set only comprises control strategies in an MPPT maximum power tracking operation stage and a constant power variable pitch operation stage, and does not relate to control strategies in low and high constant rotating speed stages and switching among different control modes.
Fig. 2 is a schematic structural diagram of a voltage source control module of a doubly-fed wind turbine generator according to an embodiment of the present invention.
Referring to fig. 2, in the preferred embodiment, the voltage source control module of the doubly-fed wind turbine includes the following modules:
the voltage source control torque closed loop control module: active power control in voltage source control of the wind turbine generator is realized, electromagnetic torque given and feedback signals thereof are input into the module, and a torque closed-loop output signal is formed through a synchronous control loop of a simulation synchronous generator;
the voltage source control frequency signal interface module: introducing a power grid frequency signal into a voltage source for control, and controlling whether the unit participates in inertia response or not through the module;
a slip angle generation module: and calculating to generate a slip angle according to the torque closed-loop output signal of the voltage source control torque closed-loop control module and the output result of the voltage source control frequency signal interface module.
The voltage source control module of the double-fed wind turbine generator can achieve the voltage source control effect of the double-fed wind turbine generator, can actively respond to the change of the power grid frequency and provides inertia support. The method has the innovation point that an active power control loop simulating the synchronous generator is redesigned, the influence of the power grid frequency on a control result is independently expressed and independently controlled, and then the wind driven generator can be artificially controlled to participate in or not participate in inertia response, so that the method is a new function which is not possessed by the existing control strategy.
FIG. 3 is a schematic diagram of a voltage source selective control determining module according to an embodiment of the present invention;
referring to fig. 3, in the preferred embodiment, the voltage source selective control determining module includes the following modules:
the generator rotating speed judging module: judging whether the rotating speed of the unit reaches a high constant rotating speed stage, a variable pitch stage and a low constant rotating speed stage, and outputting 0 by the module when the rotating speed of the unit reaches the set highest rotating speed or the set lowest rotating speed and outputting 1 under the other conditions;
the power grid frequency detection module: the frequency change of the power system is detected, when the frequency drops, 1 is output, 0 is output under other conditions, and a hysteresis controller is arranged to prevent false touch.
An OR gate output module: and performing OR operation on output results of the generator rotating speed judging module and the power grid frequency detecting module, so that 0 can be output in a high constant rotating speed stage, a low constant rotating speed stage and a constant power variable pitch operation stage, 1 can be output under other conditions, the output result can be directly connected into a voltage source control module of the double-fed wind turbine generator, and whether the double-fed wind turbine generator participates in power grid inertia response or not is controlled.
In this embodiment, the generator rotation speed determining module determines that the wind turbine generator has entered a high constant rotation speed operation stage when the generator rotation speed increases to a set maximum rotation speed; when the output mechanical power of the wind turbine is larger than a rated value along with further increase of the wind speed, the wind turbine starts to change the pitch to operate at the moment, and the wind turbine is judged to enter a constant-power pitch operation stage; and when the rotating speed of the wind turbine generator is reduced to the set lowest rotating speed along with the reduction of the wind speed, judging that the wind turbine generator enters a low constant rotating speed operation stage. When the wind turbine generator operates in a low constant rotating speed operation stage, a high constant rotating speed operation stage and a constant power variable pitch operation stage, the generator rotating speed judgment module outputs 0 and outputs 1 under other conditions.
In this embodiment, the or gate output module: carrying out OR operation on output results of the generator rotating speed judging module and the power grid frequency detecting module, wherein the corresponding meanings of the operation results are as follows: when the wind turbine generator operates at a low constant rotating speed stage, if and only if the grid frequency is increased and load shedding occurs, controlling the wind turbine generator to participate in inertia response if the OR operation result is 1, and controlling the wind turbine generator not to participate in inertia response if the OR operation result is 0 under other conditions; when the wind turbine generator operates at the MPPT maximum power operation stage, controlling the wind turbine generator to participate in inertia response, wherein the result of OR operation is always 1; when the wind turbine generator operates in a high constant rotating speed stage and a constant power variable pitch operation stage, if and only when the frequency of a power grid is reduced and load input occurs, the result of OR operation is 1, the wind turbine generator is controlled to participate in inertia response, and under the other conditions, the result of OR operation is 0, and the wind turbine generator is controlled not to participate in inertia response. In the embodiment, at the maximum power tracking stage of the wind turbine generator, the control mode of the original voltage source is maintained, and the wind turbine generator has the capacity of absorbing active power and releasing the active power.
In this embodiment, the voltage source selective control determining module can determine whether the wind turbine needs to participate in the inertia response in the power system through a designed logical operation link, and then realize the selective inertia response through the voltage source control module introduced in fig. 2, and only when the change of the power grid meets a certain requirement, the wind turbine participates in the inertia response of the power grid, so that the wind turbine is prevented from being outside a safe rotation speed operation interval for a long time, and the operation stability of the wind turbine is improved. The innovation point is that the existing voltage source control mode has no control effect of selective inertia response, and the wind turbine generator is forcibly required to participate in inertia response under any condition, so that the potential stability risk is realized. According to the embodiment, the judgment is carried out through the voltage source selective control judgment module, and the wind turbine generator participates in the inertia response only when the wind turbine generator can participate in the inertia response, so that the operation stability of the wind turbine generator is effectively improved, and the wind turbine generator is a new function which is not provided by the existing control strategy.
Fig. 4 is a schematic structural diagram of an outer ring module for controlling the rotational speed of the wind turbine generator according to an embodiment of the present invention.
Referring to fig. 4, in the preferred embodiment, the outer ring for controlling the rotational speed of the wind turbine generator includes the following modules:
the outer ring of the rotation speed control in the high constant rotation speed stage: under the condition of controlling high wind speed, the rotating speed of the generator is controlled at a given rotating speed, a PI controller is adopted, and the output result of the controller is the active power given in a voltage source control module of the double-fed wind turbine generator;
and (3) rotating speed control outer ring in low constant rotating speed stage: and under the condition of controlling low wind speed, the rotating speed of the generator is controlled at a given rotating speed, a PI controller is adopted, and the output result of the controller is the active power given in the voltage source control module of the double-fed wind turbine generator.
Flexible switching link: and controlling the wind turbine generator to realize flexible switching between constant rotating speed control and maximum power tracking control.
In this embodiment, the outer ring of the wind turbine generator speed control is used to realize the flexible switching between different control modes of the wind turbine generator, specifically, in the flexible switching link: when the wind speed is low, the electromagnetic torque given output by the low-rotation-speed PI controller is smaller than the electromagnetic torque given output by the MPPT control module, and the whole control is realized by low-constant rotation speed control; in the middle and middle speed stages, the electromagnetic torque given output by the MPPT control module is greater than the electromagnetic torque given output by the low-speed PI controller, and the MPPT maximum power tracking control is integrally embodied; in the high wind speed stage, the electromagnetic torque given output by the high-rotation-speed PI controller is greater than the electromagnetic torque given output by the MPPT control module, and the whole control mode is high-constant rotation speed control; with the further increase of the wind speed, when the output mechanical power of the wind turbine is greater than the rated power, the variable pitch control is acted, and the output power of the wind turbine is stabilized to be the rated power by increasing the pitch angle of the wind turbine generator.
In this embodiment, the outer loop module for controlling the rotating speed of the wind turbine generator realizes flexible switching between four different operation stages of the wind turbine generator through two rotating speed PI control links, and the innovation point is as follows: the existing voltage source control wind turbine generator set only comprises control strategies in an MPPT maximum power tracking operation stage and a constant power variable pitch operation stage, and does not relate to control strategies in low and high constant rotating speed stages and switching among different control modes.
Fig. 5 is a schematic structural diagram of a dynamic correction control module for an outer loop time constant of a rotational speed control according to an embodiment of the present invention.
Referring to fig. 5, in the preferred embodiment, the dynamic correction control module for the outer-loop time constant of the rotational speed control includes the following modules:
S-R state latch module: performing logic calculation according to the rotating speed of the wind turbine generator and the change condition of the power grid frequency, wherein the calculation logic followed by the S-R latch is as follows: when the set end of the S-R state latch is 1, the latch outputs 1, and when the return-to-zero end of the S-R state latch is 1, the latch outputs 0.
And the S-R state latch setting judgment module: when the wind turbine generator is in a high constant rotating speed stage and the frequency of a power grid falls, or when the wind turbine generator is in a low constant rotating speed stage and the frequency of the power grid rises, under the two conditions, the set end of the S-R state latch is 1, and under the other conditions, the set end of the S-R state latch is 0;
the S-R state latch return-to-zero judgment module: when the wind turbine generator does not meet the condition that the position end of the S-R state latch is 1, the return-to-zero end of the S-R state latch is 1, and the return-to-zero end of the S-R state latch is 0 under other conditions;
the time constant switching module of the rotating speed controller comprises: and dynamically correcting the integral time constant of the rotating speed control outer ring in the high and low constant rotating speed stages according to the output of the S-R state latch module.
In this embodiment, the relationship between the related modules of the S-R state latch is as follows: the S-R state latch module has two input ports: set port S, return-to-zero port R, and one output port Q. The value of the setting port is determined by the output of the S-R state latch setting judgment module, and the value of the zeroing port is determined by the output of the S-R state latch zeroing judgment module. The value of the output port Q of the S-R state latch can determine the integral time constant of the outer ring of the rotating speed control in the high and low constant rotating speed stages.
According to the dynamic correction control module for the time constant of the rotating speed control outer ring, the integral time constant in the PI control of the rotating speed outer ring is dynamically modified, reverse overshoot of the rotating speed in a reverse recovery period is reduced, the wind turbine generator is prevented from being located outside a safe rotating speed operation interval for a long time, and therefore the operation stability of the wind turbine generator is effectively improved. The innovation point is that the existing voltage source control technology does not consider the problem of rotating speed recovery in the low and high constant rotating speed stages, and the rotating speed of the unit is beyond the safe operation interval for a long time, so that the unit is adversely affected. In the embodiment, the speed control outer ring time constant dynamic correction control module is used for dynamically modifying the integral time constant in the rotating speed outer ring PI control, so that the reverse overshoot of the rotating speed in the reverse recovery period is reduced, the operation stability of the unit can be effectively improved, and the method is a new function which is not provided by the existing control strategy.
In another embodiment, the present invention further provides a selective response control method for a full wind speed range voltage source type wind turbine generator system, which is used in the selective response control system for a full wind speed range voltage source type wind turbine generator system in the above embodiments, specifically, the control method includes the following sections S1 to S5:
s1, realizing flexible switching among four operation stages of the doubly-fed wind turbine generator in a full wind speed range, namely: the method comprises a low constant rotating speed operation stage, an MPPT maximum power tracking stage, a high constant rotating speed operation stage and a constant power variable pitch operation stage.
And S2, selectively controlling the wind turbine generator to only have the speed-up inertia response capability at the low constant rotating speed operation stage.
And S3, controlling the wind turbine generator to have the capacity of bidirectional inertia response of acceleration and deceleration at the MPPT maximum power tracking stage.
And S4, selectively controlling the wind turbine generator to only have the speed reduction inertia response capability in the high constant rotating speed operation stage.
And S5, selectively controlling the wind turbine generator to only have the capability of reducing speed and responding to inertia in the constant-power variable-pitch operation stage.
The above-mentioned S1 to S5 do not indicate steps, but merely indicate a single reference numeral, which indicates different control operations, and are not in execution order, and the following portions also have the same meaning.
According to the embodiment, a selective control mode of the voltage source wind turbine is adopted, selective inertia response is realized at high and low constant rotating speed stages, the function of protecting the wind turbine is played on the premise of embodying the inertia response, and when the wind turbine is suitable for the conditions of medium wind speed, high wind speed and low wind speed, the wind turbine is in the state of the responsive constant rotating speed stages, so that the stable operation of the wind turbine is ensured.
On the basis of the above embodiment, the specific S1 further includes:
and S101, when the wind speed is low, the electromagnetic torque given output by the low-rotation-speed PI controller is smaller than the electromagnetic torque given output by the MPPT control module, and the overall control is realized by low-constant-rotation-speed control.
And S102, in the middle and middle rotating speed stage, the electromagnetic torque given output by the MPPT control module is greater than the electromagnetic torque given output by the low rotating speed PI controller, and the MPPT maximum power tracking control is integrally embodied.
And S103, in a high wind speed stage, the electromagnetic torque given output by the high-rotation-speed PI controller is greater than the electromagnetic torque given output by the MPPT control module, and the overall control is realized by high-constant-rotation-speed control.
And S104, with further increase of the wind speed, when the output mechanical power of the wind turbine is greater than the rated power, the variable pitch control is performed, and the output power of the wind turbine is stabilized to be the rated power by increasing the pitch angle of the wind turbine generator.
In this embodiment, in specific implementation, for a given model of wind turbine, according to the determined model, the relevant wind speed ranges (low wind speed, medium wind speed, and high wind speed) can be obtained from parameters of the wind turbine.
Specifically, on the basis of the above embodiment, S2 further includes:
s201, in a low constant rotating speed operation stage, the wind turbine generator is controlled to only participate in frequency lifting caused by response to load cutting, and only has the capacity of speed-up inertia response.
S202, obvious reverse overshoot of the rotating speed does not occur in the later stage of the speed-up one-way inertia response.
Specifically, on the basis of the above embodiment, S3 further includes:
s301, when the frequency drop condition caused by load input of the power system occurs, controlling the wind turbine generator to be reflected in speed reduction inertia response.
S302, when the frequency is raised due to load shedding of the power system, controlling the wind turbine generator to be in acceleration inertia response.
Specifically, on the basis of the foregoing embodiment, S4 further includes:
s401, in a high constant rotating speed operation stage, the wind turbine generator is controlled to only participate in frequency drop caused by responding to load input, and only the capability of speed reduction and inertia response is provided.
S402, obvious reverse overshoot of the rotating speed does not occur in the later stage of the speed reduction one-way inertia response.
Specifically, on the basis of the above embodiment, S5 further includes:
s501, in a constant-power variable-pitch operation stage, the wind turbine generator is controlled to only participate in frequency drop caused by responding to load input, and the wind turbine generator only has the capacity of reducing speed and responding to inertia.
And S502, obvious reverse overshoot of the rotating speed does not occur in the later stage of the speed reduction one-way inertia response.
In the embodiment of the invention, the bidirectional inertia response is only reflected in the MPPT maximum power tracking stage, and the unidirectional inertia response is only reflected in the high constant rotating speed, variable pitch constant power and low constant rotating speed stages, so that the wind turbine generator can be effectively protected from operating in a reasonable rotating speed range. In the stages of high constant rotating speed, variable pitch constant power and low constant rotating speed, no obvious reverse overshoot of the rotating speed is generated in the later stage of inertia response, and the wind turbine generator is further protected to operate in a reasonable range.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The above-described preferred features may be used in any combination without conflict with each other.
Claims (9)
1. A selective response control system for a full wind speed range voltage source type wind turbine generator system, comprising:
the voltage source selective control judgment module: the module judges whether the wind turbine generator is in a constant rotating speed operation stage, judges whether the action of load input or load removal occurs in the power system, and outputs a judgment result to the voltage source control module of the double-fed wind turbine generator;
the outer ring of the wind turbine generator rotating speed control: the method comprises the following steps of realizing flexible switching among different control modes of the wind turbine generator, controlling the rotation speed of the wind turbine generator to be constant under the conditions that the wind turbine generator is in a high constant rotation speed stage, a variable pitch stage and a low constant rotation speed stage, and outputting a control result to a voltage source control module of the double-fed wind turbine generator; the outer ring for controlling the rotating speed of the wind turbine generator is used for realizing flexible switching among different control modes of the wind turbine generator and comprises the following components:
in the low wind speed stage, the electromagnetic torque given output by the low-rotation-speed PI controller is smaller than the electromagnetic torque given output by the MPPT control module, and the overall control is realized by low-constant rotation speed control;
in the middle and middle speed stages, the electromagnetic torque given output by the MPPT control module is greater than the electromagnetic torque given output by the low-speed PI controller, and the MPPT maximum power tracking control is integrally embodied;
in the high wind speed stage, the electromagnetic torque given output by the high-rotation-speed PI controller is greater than the electromagnetic torque given output by the MPPT control module, and the whole control mode is high-constant rotation speed control;
in a higher wind speed stage, when the output mechanical power of the wind turbine is greater than the rated power, the variable pitch control is acted, and the output power of the wind turbine is stabilized to the rated power by increasing the pitch angle of the wind turbine;
the double-fed wind turbine generator system voltage source control module: the module realizes the voltage source control of the double-fed wind turbine generator and outputs a three-phase modulation wave phase angle of a rotor-side converter according to the results of the outer ring of the rotating speed control of the wind turbine generator and the voltage source selective control judgment module;
the dynamic correction control module for the outer ring time constant of the rotating speed control comprises: and the outer ring is connected with the rotating speed control outer ring of the wind turbine generator, judges whether the rotating speed control outer ring of the wind turbine generator dynamically corrects the integral time constant or not, and inputs the result into the rotating speed control outer ring of the wind turbine generator.
2. The full wind speed range voltage source type wind turbine generator system of claim 1, wherein said doubly fed wind turbine generator voltage source control module comprises the following modules:
the voltage source control torque closed loop control module: active power control in voltage source control of the wind turbine generator is realized, electromagnetic torque given and feedback signals thereof are input into the module, and a torque closed-loop output signal is formed through a synchronous control loop of a simulation synchronous generator;
the voltage source control frequency signal interface module: introducing a power grid frequency signal into a voltage source for control, and controlling whether the unit participates in inertia response or not through the module;
a slip angle generation module: and calculating and generating a slip angle according to the torque closed-loop output signal of the voltage source control torque closed-loop control module and the output result of the voltage source control frequency signal interface module.
3. The selective response control system of the full wind speed range voltage source type wind generating set according to claim 1, wherein the voltage source selective control judging module comprises the following modules:
the generator rotating speed judging module: judging whether the rotating speed of the unit reaches a high constant rotating speed stage, a variable pitch stage and a low constant rotating speed stage, outputting 0 by the module when the rotating speed of the unit reaches a set highest rotating speed or lowest rotating speed, and outputting 1 under the other conditions;
the power grid frequency detection module: detecting the frequency change of the power system, outputting 1 when the frequency drops, outputting 0 under other conditions, and arranging a hysteresis controller to prevent false touch;
an OR gate output module: and performing OR operation on output results of the generator rotating speed judging module and the power grid frequency detecting module to realize that 0 is output in a high constant rotating speed stage, a low constant rotating speed stage and a constant power variable pitch operation stage, and 1 is output under other conditions, wherein the output result is directly accessed into a voltage source control module of the double-fed wind turbine generator to control whether the generator participates in power grid inertia response or not.
4. The selective response control system of a full wind speed range voltage source type wind turbine according to claim 1, wherein the wind turbine speed control outer loop comprises the following modules:
the outer ring of the rotation speed control in the high constant rotation speed stage: under the condition of controlling high wind speed, the rotating speed of the generator is controlled at a given rotating speed, a PI controller is adopted, and the output result of the controller is the active power given in a voltage source control module of the double-fed wind turbine generator;
and (3) rotating speed control outer ring in low constant rotating speed stage: controlling the rotating speed of the generator at a given rotating speed under the condition of controlling low wind speed, and outputting a result, namely the active power given in the voltage source control module of the double-fed wind turbine generator, by adopting a PI (proportional integral) controller;
flexible switching link: and controlling the wind turbine generator to realize flexible switching between constant rotating speed control and maximum power tracking control.
5. The selective response control system of the full wind speed range voltage source type wind turbine generator system according to claim 1, wherein the rotation speed control outer loop time constant dynamic modification control module comprises the following modules:
S-R state latch module: performing logic calculation according to the rotating speed of the wind turbine generator and the change condition of the power grid frequency, namely outputting 1 when a set port S =1 of the latch module, and outputting 0 when a reset port R =1 of the latch module;
and the S-R state latch setting judgment module: when the wind turbine generator is in a high constant rotating speed stage and the frequency of a power grid falls, or when the wind turbine generator is in a low constant rotating speed stage and the frequency of the power grid rises, 1 is output under the two conditions, and 0 is output under the other conditions;
and an S-R state latch zero-resetting judgment module: when the wind turbine generator does not meet the condition of setting 1, the module outputs 1, and outputs 0 under other conditions;
the time constant switching module of the rotating speed controller comprises: and dynamically correcting the integral time constant of the rotating speed control outer ring in the high and low constant rotating speed stages according to the output of the S-R state latch module.
6. A selective response control method of a full wind speed range voltage source type wind turbine generator set adopting the control system of any one of claims 1 to 5 is characterized in that flexible switching between four operation stages of the doubly-fed wind turbine generator set is realized in the full wind speed range, namely: a low constant rotating speed operation stage, an MPPT maximum power tracking stage, a high constant rotating speed operation stage and a constant power variable pitch operation stage;
in the low constant-speed operation stage, the wind turbine generator is selectively controlled to only have the capacity of speed-up inertia response;
controlling the wind turbine generator to have the capacity of bidirectional inertia response of speed increasing and speed reducing at the MPPT maximum power tracking stage;
in the high and constant rotating speed operation stage, the wind turbine generator is selectively controlled to only have the capacity of reducing speed and inertia response;
and in the constant-power variable-pitch operation stage, the wind turbine generator is selectively controlled to only have the capacity of reducing speed and responding to inertia.
7. The selective response control method of the full wind speed range voltage source type wind turbine generator set according to claim 6, wherein the selective control of the wind turbine generator set with only the capability of speed-up one-way inertia response in the low constant rotation speed operation stage comprises:
in the low constant rotating speed operation stage, the wind turbine generator is controlled to only participate in frequency lifting caused by responding to load removal, and only has the capacity of speed-up inertia response;
and no obvious reverse overshoot of the rotating speed occurs in the later stage of the speed-increasing one-way inertia response.
8. The selective response control method of the full wind speed range voltage source type wind turbine generator system according to claim 6, wherein the capability of controlling the wind turbine generator system to have bidirectional inertia response of speed increasing and speed decreasing in the MPPT maximum power tracking stage comprises:
when the frequency drop condition caused by load input of the power system occurs, controlling the wind turbine generator to reflect speed reduction inertia response;
when the frequency rise condition caused by load cutting of the power system occurs, the wind turbine generator is controlled to be presented as speed-up inertia response.
9. The selective response control method of the full wind speed range voltage source type wind turbine generator system according to claim 6, wherein the selective control of the wind turbine generator system only having the capability of speed reduction one-way inertia response in the high constant rotating speed operation stage comprises:
in the high and constant rotating speed operation stage, the wind turbine generator is controlled to only participate in frequency drop caused by responding to load input, and only has the capacity of reducing speed and responding to inertia;
obvious reverse overshoot of the rotating speed does not occur in the later stage of the speed reduction one-way inertia response;
the selective control wind turbine generator set only has the capability of speed reduction one-way inertia response in the constant-power variable-pitch operation stage, and the method comprises the following steps:
in a constant-power variable-pitch operation stage, the wind turbine generator is controlled to only participate in frequency drop caused by responding to load input, and only has the capacity of reducing speed and responding to inertia;
and no obvious reverse overshoot of the rotating speed occurs in the later stage of the speed reduction one-way inertia response.
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