CN114465269A - Wind turbine generator impedance remodeling method and device based on damping ratio sensitivity - Google Patents
Wind turbine generator impedance remodeling method and device based on damping ratio sensitivity Download PDFInfo
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Abstract
The invention provides a wind turbine generator impedance remodeling method and device based on damping ratio sensitivity, which comprises the following steps: selecting a plurality of groups of operating conditions and a plurality of groups of control parameters; based on each working condition, sequentially carrying out stability analysis on each group of control parameters in combination with the sensitivity of the parameters to the damping ratios in all oscillation modes, and determining an optimized parameter group under the working condition; the method and the device have the advantages that the optimization parameter set meeting the stability requirements of all working conditions is selected to remold the generation impedance of the wind turbine generator, the influence of different working conditions on the parameter optimization effect and the influence of each optimized parameter on the oscillation stability of different frequency bands are considered, and the cooperative optimization of multi-loop control parameters and the overall improvement of the broadband dynamic characteristic of the wind turbine generator under the weak power grid are realized. Meanwhile, the method is suitable for different types of wind turbine generator devices, has universality, and is favorable for solving the grid-connected oscillation problem of various types of actual new energy power generation.
Description
Technical Field
The invention relates to the technical field of new energy power generation, in particular to a wind turbine generator impedance remodeling method and device based on damping ratio sensitivity.
Background
Different from the traditional synchronous generator set, the new energy source units such as wind and light are mostly connected to the grid through a power electronic converter to generate power, so that the grid connection characteristic of the new energy source power generation mainly depends on the control mode and parameters of the converter. The control mode of the converter generally comprises PWM modulation, a current inner loop, a phase-locked loop, a direct-current voltage outer loop and the like, and the bandwidth of each control loop covers a wide band from several Hz to hundreds of Hz. The control characteristic of the broadband of the converter interacts with the characteristic of the power grid, so that the oscillation problem in the broadband range is easily caused. The problem of oscillation of a new energy grid-connected system, which frequently occurs in recent years, becomes one of important factors for restricting the sending and the consumption of new energy power generation.
Because the grid-connected characteristic of the new energy power generation mainly depends on the control characteristic of the grid-connected converter, the suppression of the new energy grid-connected oscillation problem is mainly realized by modifying the control parameter of the grid-connected converter. However, the existing method for optimizing the control parameters of the new energy grid-connected converter aiming at broadband oscillation has the following problems: firstly, only optimization of a single control loop is usually considered, and the superposition effect of oscillation modes of a plurality of control loops in different frequency bands is not considered; secondly, quantitative relation between control parameters and oscillation stability is not established, and the optimization of the parameters lacks the guidance of quantitative indexes. Therefore, the existing new energy grid-connected broadband oscillation suppression method is poor in adaptability.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a wind turbine generator impedance remodeling method based on damping ratio sensitivity, which comprises the following steps:
determining an impedance model based on the structure of the wind turbine generator;
selecting a plurality of groups of operating conditions and a plurality of groups of control parameters based on the impedance model;
on the basis of each working condition, sequentially carrying out stability analysis on each group of control parameters in each oscillation mode, and determining an optimization parameter group under the working condition;
selecting at least one optimized parameter group meeting the stability requirements of all working conditions to remold the generation impedance characteristics of the wind turbine;
wherein the impedance model comprises at least: a plurality of control parameters and a plurality of operating conditions; the stability analysis in each oscillation mode includes determining an optimized parameter set under each operating condition based on the sensitivity of each parameter to the damping ratio under all oscillation modes.
Preferably, the impedance model includes: y isp(s,K,O)，Yc(s,K,O)，Yr(s', K, O) and Yn(s′,K,O)；
Wherein, Yp(s, K, O) is positive sequence admittance of the wind turbine generator under disturbance frequency, Yc(s, K, O) is the coupling admittance from the disturbance frequency to the coupling frequency of the wind turbine generator, Yr(s', K, O) is the coupling admittance from the coupling frequency of the wind turbine to the disturbance frequency, Yn(s', K, O) is the negative sequence admittance of the wind turbine at the coupling frequency, O is the operating condition parameter set of the wind turbine, and O ═ P, Q, V, I }, where P is the wind turbine output active, Q is the wind turbine reactive power, V is the wind turbine port voltage, I is the fundamental phasor of the wind turbine output current, and K is the alternative control parameter.
Preferably, the performing stability analysis on each set of control parameters in each oscillation mode in sequence based on each working condition to determine the optimized parameter set under the working condition includes:
step 3, when the damping ratio under each oscillation mode corresponding to the control parameter group meets the stability requirement, the parameter group is the optimized parameter group corresponding to the working condition, and the step 1 is continuously executed until all the working conditions are calculated and then the operation is quitted; otherwise, executing step 4;
step 4, sequentially superposing and disturbing each parameter in each parameter group to continuously calculate the sensitivity of each parameter to the damping ratio under all the oscillation modes; calculating the sum of the sensitivities of the damping ratios of all the oscillation modes of the parameters;
and 5, optimizing and adjusting each parameter based on a weighting method based on the sum of the sensitivities, and executing the step 2.
Preferably, the sequentially calculating the damping ratio in each oscillation mode for each control parameter group based on each working condition includes:
substituting the working condition and the control parameter group into a power grid impedance calculation formula and an admittance calculation formula which are constructed in advance for calculation, and solving a nonzero root by utilizing a closed-loop function to obtain each oscillation mode of the system;
the damping ratio in each oscillation mode is determined based on the relation between the oscillation mode and the damping ratio.
Preferably, when the power grid is an inductive weak power grid, the power grid impedance calculation formula and the admittance calculation formula are as follows:
when the power grid is a series compensation power grid, the power grid impedance calculation formula and the admittance calculation formula are as follows:
in the formula, RgEquivalent resistance, L, to the network impedancegEquivalent inductance, C, to the network impedancegEquivalent capacitance, Z, to the network impedancegp(s) is the positive sequence impedance of the grid at the disturbance frequency, Ygp(s) is the grid admittance at disturbance frequency, Zgn(s') is the negative sequence impedance of the network at the coupling frequency, Ygn(s ') is the grid admittance at the coupling frequency, s is the complex frequency at the disturbance frequency, and s' is the complex frequency at the coupling frequency.
Preferably, the relationship between the oscillation mode and the damping ratio is as follows:
wherein ξiIs the damping ratio at the i-th oscillation.
Preferably, the calculation of the sensitivity of the control parameter to the damping ratio of the oscillation mode is as follows:
in the formula, ρijSensitivity of i-th oscillation, i-1, 2s，j＝1,2,...,Nk，ΔξiFor variation of damping ratio of oscillation mode,. DELTA.kjIs a superimposed disturbance, and Δ kjIs a per unit value based on an initial value.
Preferably, said Δ kjThe value ranges are as follows:
0.01≤Δkj≤0.05。
preferably, the optimization parameters are optimized and adjusted based on a weighting method based on the following expression:
in the formula, kjTo optimize the parameter, pTjIs the sum of the sensitivities of all oscillation mode damping ratios of the jth parameter, kj0Is the initial value of the parameter.
Based on the same inventive concept, the invention also provides a wind turbine generator impedance remodeling device based on damping ratio sensitivity, which comprises:
the model determining module is used for determining an impedance model based on the structure of the wind turbine generator;
the initialization module is used for selecting a plurality of groups of operating conditions and a plurality of groups of control parameters based on the impedance model;
the optimization parameter determination module is used for sequentially carrying out stability analysis on each group of control parameters under each oscillation mode based on each working condition and determining the optimization parameter group under the working condition;
the impedance remodeling module is used for selecting at least one optimized parameter group meeting the stability requirements of all working conditions to remodel the power generation impedance characteristics of the wind turbine generator;
wherein the impedance model comprises at least: a plurality of control parameters and a plurality of operating conditions; the stability analysis in each oscillation mode includes determining an optimized parameter set under each operating condition based on the sensitivity of each parameter to the damping ratio under all oscillation modes.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a wind turbine generator impedance remodeling method and device based on damping ratio sensitivity, which comprises the following steps: determining an impedance model based on the structure of the wind turbine generator; selecting a plurality of groups of operating conditions and a plurality of groups of control parameters based on the impedance model; on the basis of each working condition, sequentially carrying out stability analysis on each group of control parameters in each oscillation mode, and determining an optimization parameter group under the working condition; selecting at least one optimized parameter group meeting the stability requirements of all working conditions to remold the generation impedance characteristics of the wind turbine; wherein the impedance model comprises at least: a plurality of control parameters and a plurality of operating conditions; the stability analysis in each oscillation mode comprises the steps of determining an optimization parameter set under the working conditions by utilizing the sensitivity of each parameter to the damping ratio under all the oscillation modes based on each working condition, so that the influence of different working conditions on the parameter optimization effect and the influence of each optimizable parameter on the oscillation stability of different frequency bands are considered, and the cooperative optimization of multi-loop control parameters and the overall improvement of the broadband dynamic characteristics of the wind generating set under a weak power grid are realized;
the invention provides a wind turbine generator impedance remodeling method and device based on damping ratio sensitivity, which are based on multiple groups of operating conditions and control parameters selected on an impedance model determined by various wind turbine generator structures and optimized based on the selected control parameters.
Drawings
FIG. 1 is a schematic flow chart of a damping ratio sensitivity-based wind turbine generator impedance remodeling method provided by the invention;
FIG. 2 is a block diagram of a wind turbine generator impedance remodeling method based on damping ratio sensitivity in embodiment 1;
FIG. 3 shows the remodeling effect of the inverter impedance characteristic (full power operation) under the short circuit ratio of 1.3;
FIG. 4 is a Nyquist analysis (full power operation) of the inverter grid-connected system under the condition of a short-circuit ratio of 1.3;
FIG. 5 is a Nyquist analysis (full power operation) of the inverter grid-connected system under different short circuit ratio conditions;
FIG. 6 is a circuit and control block diagram of a typical grid-connected inverter;
FIG. 7 is a circuit and control structure of a doubly-fed wind turbine;
FIG. 8 is a schematic diagram of a wind turbine generator grid-connected system;
FIG. 9 is a front view of disturbance frequency in an equivalent circuit model of a wind turbine generator grid-connected system;
FIG. 10 is a negative sequence diagram of disturbance frequency in an equivalent circuit model of a wind turbine generator grid-connected system;
fig. 11 is a transfer function model of a wind turbine grid-connected system.
Detailed Description
For a better understanding of the present invention, reference is made to the following description taken in conjunction with the accompanying drawings and examples.
Example 1:
the invention provides a wind turbine generator impedance remodeling method based on damping ratio sensitivity, which is characterized in that the internal relation between a wind turbine generator multi-loop control parameter and broadband dynamic characteristics is established based on a frequency domain impedance method, a damping ratio sensitivity index of the multi-loop control parameter to a new energy grid-connected oscillation mode is defined, and a new energy power generation impedance remodeling method based on multi-loop parameter collaborative optimization is provided based on the damping ratio sensitivity index to realize the suppression of broadband oscillation. The new energy power generation device is a wind turbine generator system.
The impedance characteristic of the new energy power generation device is influenced by circuit parameters, control parameters and operation conditions, and considering that the circuit parameters are determined during device design, an impedance model can be reconstructed only in an optimization mode of the control parameters, so that the new energy power generation device is applicable to a larger working condition range.
The invention discloses a wind turbine generator impedance remodeling method based on damping ratio sensitivity, which comprises the following steps of:
s1, determining an impedance model based on the structure of the wind turbine generator;
s2, selecting multiple groups of operation conditions and multiple groups of control parameters based on the impedance model;
s3, based on each working condition, sequentially carrying out stability analysis on each group of control parameters in each oscillation mode, and determining an optimization parameter group under the working condition;
s4, selecting at least one optimized parameter group meeting the stability requirements of all working conditions to remold the power generation impedance characteristics of the wind turbine;
wherein the impedance model comprises at least: a plurality of control parameters and a plurality of operating conditions; the stability analysis in each oscillation mode includes determining an optimized parameter set under each operating condition based on the sensitivity of each parameter to the damping ratio under all oscillation modes.
Before executing step S1 of the present invention, the relationship between the control parameter and the sensitivity of the damping ratio in each oscillation mode is determined:
setting the number of the control parameters which can be optimized by the new energy power generation device as NkTaking different values for each parameter, composing a parameter set K,
K＝{kj}，j＝1,2,...,Nk (1-1)
the sensitivity of the control parameter to the damping ratio of the oscillation mode is defined as,
if ρijIf > 0, it indicates that the control parameter k is increasedjDamping ratio xi of oscillation mode iiIncreasing, the oscillation mode tends to be stable, i.e. the control parameter kjStabilization with oscillation mode iQualitative positive correlation; otherwise, the control parameter k is statedjInversely related to the stability of the oscillation mode i. At the same time, ρijThe larger the absolute value is, the control parameter k is indicatedjThe greater the stability effect on the oscillation mode i. The optimization direction of the control parameter for improving the stability of the system broadband oscillation to the maximum can be obtained by the weighted summation of the control parameter on the sensitivity of the damping ratios of the multiple oscillation modes.
The wind turbine generator impedance remodeling method based on the damping ratio sensitivity proposed by the present invention is described in detail below, as shown in fig. 2.
Step S1, determining an impedance model based on the structure of the wind turbine generator, specifically comprising:
1, determining the impedance (or admittance) of a power grid, giving parameters such as a short-circuit ratio, a resistance-inductance ratio of equivalent power grid impedance and the like for an inductive weak power grid, giving parameters such as resistance, reactance, series capacitance and the like of the equivalent power grid impedance for a series compensation power grid, writing the form of the power grid impedance as follows,
wherein R isgEquivalent resistance, L, to the network impedancegEquivalent inductance, C, to the network impedancegEquivalent capacitance, Z, to the network impedancegp(s) and Ygp(s) is the grid positive sequence impedance and admittance at the disturbance frequency, Zgn(s') and Ygn(s') is the negative sequence impedance and admittance of the grid at the coupling frequency.
It should be noted that for a series-compensated power grid, the equivalent impedance expression may be related to the position of the series-compensated capacitance access, and only a standard form is given here to illustrate the method.
2, determining a circuit and a control structure of the wind turbine generator to obtain an impedance model of the wind turbine generator, rewriting the impedance model into a model for describing the influence of control parameters and operation conditions on impedance characteristics,
Yp(s,K,O)，Yc(s,K,O)，Yr(s', K, O) and Yn(s', K, O) (1-5) wherein,
o is { P, Q, V, I } is the operation condition parameter group of the wind turbine generator, and indicates the fundamental wave phasor of the active power, the reactive power, the port voltage and the output current output by the generator; y isp(s, K, O) is positive sequence admittance of the wind turbine generator under disturbance frequency, Yc(s, K, O) is the coupling admittance from the disturbance frequency to the coupling frequency of the wind turbine generator, Yr(s', K, O) is the coupling admittance from the coupling frequency of the wind turbine to the disturbance frequency, YnAnd (s', K, O) is the negative sequence admittance of the wind turbine generator under the coupling frequency.
Step S2, selecting multiple groups of operation conditions and multiple groups of control parameters based on the impedance model, and specifically comprising the following steps:
1, selecting NoGroup operating conditions, Om，m＝1,2,...,No，NoGenerally 10 to 20, NoAnd respectively carrying out multi-loop parameter optimization on the group operation working conditions.
Step S3, based on each working condition, sequentially performing stability analysis on each set of control parameters in each oscillation mode, and determining an optimized parameter set under the working condition, specifically including:
step 3, when the damping ratio under each oscillation mode corresponding to the control parameter group meets the stability requirement, the parameter group is the optimized parameter group corresponding to the working condition, and the step 1 is continuously executed until all the working conditions are calculated and then the operation is quitted; otherwise, executing step 4;
step 4, sequentially superposing and disturbing each parameter in each parameter group to continuously calculate the sensitivity of each parameter to the damping ratio under all the oscillation modes; calculating the sum of the sensitivities of the damping ratios of all the oscillation modes of the parameters;
and 5, optimizing and adjusting each parameter based on a weighting method based on the sum of the sensitivities, and executing the step 2.
The process specifically comprises the following steps:
substituting the parameter set K (initial optimization into initial parameter K)o) And operating mode OmSubstituting, according to the formula as follows,
obtaining a system closed loop transfer function Y according to the formula (1-4)1wt(s,K,Om) Calculating non-zero root to obtain N of systemsAn oscillation mode, si＝-σi+jωiAnd damping ratio ξi，i＝1,2,...,Ns，
Y1wt(s,K,Om)＝0 (1-7)
For arbitrary oscillation mode siAll have damping ratio xii≥ξε，ξεIf the parameter set K is more than 0, the stability of the working condition can be ensured, and the working condition is defined as obtaining the working condition OmOptimization parameter set K undermReturning to the third step, and continuing to carry out parameter optimization on the next group of operation conditions; otherwise, all damping ratios xi are obtainedi＜ξεIs set to exist in NsrA risk oscillation mode, si＝-σi+jωi，i＝1,2,...,Nsr。
For all optimizable parameters k in turnjSuperimposed disturbances Δ kj，j＝1,2,...,Nk，ΔkjIs a per unit value based on the initial value,
0.01≤Δkjless than or equal to 0.05 (1-8) and calculating each parameter k by the formula (1-4)jSensitivity to damping ratio of individual oscillation modes, pij，i＝1,2,...,Nsr，j＝1,2,...,NkThen, each parameter k is calculatedjThe sum of the sensitivities to all oscillation mode damping ratios,
notably, the control parameter kjThe action directions of the damping ratio changes of different oscillation modes are possibly opposite, namely the positive and negative of the sensitivity are different, the overall action of the parameter on all oscillation modes can be comprehensively obtained through the damping ratio sensitivity summation, and the optimization direction for improving the overall broadband characteristic is determined. Meanwhile, for an unstable oscillation mode which is prominent in the actual oscillation problem, the efficiency of improving the stability of the oscillation mode and optimizing parameters can be accelerated by adopting a weighting mode.
For optimizable parameter kj，j＝1,2,...,NkThe optimization and adjustment are carried out to carry out,
and returning to the fourth step to perform the next round of iterative optimization.
Finally obtaining NoOptimization parameter set K under group operation conditionm，m＝1,2,...,No。
According to the method, the influence and the quantitative index of different control loop parameters on the oscillation stability of different frequency bands of the wind turbine generator grid-connected system are comprehensively considered. In practical application, control parameters can be dynamically adjusted according to operation conditions so as to meet stability requirements under different conditions; and selecting an optimized parameter set under the worst operation condition, verifying the stability under different conditions, and selecting one or more groups of parameters capable of meeting the stability under all operation conditions.
Example 2:
in order to realize the wind turbine generator impedance remodeling method based on the damping ratio sensitivity, the invention also provides a wind turbine generator impedance remodeling device based on the damping ratio sensitivity, which comprises the following steps:
the model determining module is used for determining an impedance model based on the structure of the wind turbine generator;
the initialization module is used for selecting a plurality of groups of operating conditions and a plurality of groups of control parameters based on the impedance model;
the optimization parameter determination module is used for sequentially carrying out stability analysis on each group of control parameters under each oscillation mode based on each working condition and determining the optimization parameter group under the working condition;
the impedance remodeling module is used for selecting at least one optimized parameter group meeting the stability requirements of all working conditions to remodel the power generation impedance of the wind turbine;
wherein the impedance model comprises at least: a plurality of control parameters and a plurality of operating conditions; the stability analysis in each oscillation mode includes determining an optimized parameter set under each operating condition based on the sensitivity of each parameter to the damping ratio under all oscillation modes.
Because the device is used for realizing the wind turbine generator impedance remodeling method based on the damping ratio sensitivity, the specific functions realized by all the functional modules of the device can refer to embodiment 1, and are not described again.
Example 3:
taking a direct-drive wind turbine generator grid-connected inverter as an example, the parameter optimization effect under the conditions of different power grid short-circuit ratios is analyzed. Damping ratio index xi for stabilityε0.05, all oscillation modes are required to be lifted to the damping level of more than 5%.
(1) Parameter optimization result under short circuit ratio 1.3 condition
Table 1 shows the parameter optimization results satisfying different power level stabilities from 0.1pu to 1.0pu under the short circuit ratio of 1.3. It can be seen that the initial parameters can meet the system stability requirement when the active power is 0.6pu and below, and the optimization algorithm optimizes the multi-loop control parameters when the active power reaches 0.7pu and above, so that the improvement on the parameters of the phase-locked loop and the direct current voltage loop which have large influence on the secondary and super synchronous oscillation modes is large, and the improvement on the control parameters of the current loop which have small influence on the secondary and super synchronous oscillation modes is small. The system has a middle-frequency oscillation mode of about 160Hz, but in the parameter optimization process of the mode, the damping ratio always meets the index requirement, so that the parameter optimization result is not influenced.
TABLE 1 optimization of inverter multi-loop control parameters under short-circuit ratio 1.3
Fig. 3 shows the inverter impedance characteristics using the initial parameters compared to the optimized parameters at full power operating conditions. It can be seen that through multi-loop control parameter optimization, the intersection point of the inverter subsynchronous/supersynchronous frequency band impedance amplitude and the grid impedance amplitude is translated, the corresponding phase angle difference is reduced from about 180 degrees to about 160 degrees, and the system stability margin is improved to 20 degrees.
Fig. 4 shows a Nyquist curve of the ratio of the inverter impedance to the grid impedance under the above conditions, and it can be seen that, under the initial parameters, the Nyquist curve bypasses the (-1,0j) point, the system is unstable, and through parameter optimization, the Nyquist curve does not bypass the (-1,0j) point any more, and the system is stable.
(2) Parameter optimization results under different short circuit ratio conditions
Table 2 shows the parameter optimization results for system stability at full power level of 1.0pu under different short circuit ratio conditions. It can be seen that at a short circuit ratio of 2.5 or above, the initial parameters can meet the system stability requirement, i.e., the damping ratio of all oscillation modes reaches xiεNot less than 0.05. When the short circuit ratio is less than 2.5, the optimization algorithm optimizes the multi-loop control parameters, the parameters of the phase-locked loop and the direct current voltage loop which have large influence on the secondary and super-synchronous oscillation modes are improved greatly, and the control parameters of the current loop which have small influence on the secondary and super-synchronous oscillation modes are improved slightly. Although the system has a middle-frequency oscillation mode of about 160Hz, the damping ratio of the mode always meets the index requirement in the parameter optimization process, and therefore, the damping ratio has no influence on the parameter optimization result.
TABLE 2 optimization results of inverter multi-loop control parameters under different short-circuit ratio conditions
Fig. 5 shows the Nyquist curves of the system in which the optimized parameters under the short-circuit ratio of 1.3 in table 2 are applied to the conditions of the short-circuit ratio of 1.3 and 1.5, respectively, and it can be seen that the control parameters meeting the requirement of the short-circuit ratio of 1.3 can provide a larger stability margin under the condition of the short-circuit ratio of 1.5. Therefore, it is generally proposed to optimize the control parameters based on the worse conditions and working conditions to adapt to the complex and variable grid and operating conditions of the actual system.
The frequency domain impedance method is an effective method applied to modeling and analyzing the above-mentioned oscillation problem.
The theoretical basis of the invention comprises the construction of an impedance model of a new energy power generation grid-connected inverter, the dynamic modeling and the stability analysis of the new energy grid-connected system broadband, and the following concrete introduction is carried out:
(1) impedance model of new energy power generation grid-connected inverter
A circuit and a control structure of a typical new energy grid-connected inverter are shown in fig. 6, and mainly include circuit links such as a direct-current bus capacitor, a three-phase H-bridge switching circuit, an alternating-current filter inductor, and control links such as a phase-locked loop, a current loop, a direct-current bus voltage loop, and PMW modulation.
Current source I equivalent to constant on new energy power generation sidedThe function of the DC bus voltage control is to control the DC bus voltage to be kept at a rated value VdcAnd giving a reference value i of d-axis current controldref. The function of phase-locked control is to track the network voltage and obtain the phase angle thetaPLLAnd the method is used for transforming the three-phase stationary coordinate system and the dq rotating coordinate system. The current control function is to control the current tracking command value i output by the grid-connected inverterdrefAnd iqref。
The frequency coupling effect of the inverter can be caused by nonlinear factors of circuits and controls such as direct current bus capacitance dynamic and phase-locked loop control, and the specific expression under a three-phase static coordinate system is as follows: at a frequency fpPositive sequence ofUnder the small signal voltage disturbance, the inverter can generate a positive sequence current response with corresponding frequency and also generate a frequency fp-2f1The negative sequence current of (c) responds, and vice versa. For three-phase AC systems, when fp＜2f1Time, negative frequency fp-2f1The negative sequence component of the lower sequence is mathematically related to the positive frequency 2f1-fpIs equivalent to the conjugate of the positive sequence component of (a). The inverter has frequency coupling effect, and in order to describe the disturbance and response characteristics of the inverter, the sequence impedance model of the grid-connected inverter is popularized to be a 2 x 2 matrix model with positive and negative sequences coupled at different frequencies, as follows,
wherein,
and
frequency f in positive and negative sequence, respectivelypAnd frequency fp-2f1The small signal voltage of the voltage,
and
respectively corresponding current responses, Yp(s) is inverter at frequency fpLower positive order admittance, Yn(s-j2ω1) For inverters at frequency fp-2f1Negative sequence admittance of the lower, Yc(s) and Yr(s-j2ω1) For inverters at frequency fpLower positive sequence and frequency fp-2f1The coupling admittance between the lower negative sequences.
Yp(s) is inverter at frequency fpThe ratio of the generated positive sequence current response to the positive sequence voltage disturbance, Y, under the positive sequence voltage disturbancec(s) is the frequency of generation fp-2f1The ratio of the negative sequence current response to the positive sequence voltage disturbance. Meanwhile, the conjugate relation between the negative sequence component of the negative frequency and the positive sequence component of the positive frequency can be obtained,
where ". x" denotes the complex conjugate, so that only Y can be calculatedp(s) and Yc(s) obtaining Y from the above relationshipn(s-j2ω1) And Yr(s-j2ω1)。
According to the existing research results, the impedance/admittance model of the grid-connected inverter considering the direct current bus capacitance dynamic and the voltage control can be obtained as follows,
wherein,
Y00(s)＝sCdc
ω1is the fundamental angular frequency. V1The phasor of the voltage at the inverter port,
I1in order to output a current phasor for the inverter,
PSactive power, Q, for inverter outputSFor reactive power, V, output by the inverter1、I1、PSAnd QSA steady state operating point of the inverter operation is indicated. L is the filter inductance of the inverter, CdcIs a DC bus capacitor of an inverter, VdcIs the rated voltage of the DC bus, and is the DC bus voltage at the steady-state operating point, KdDecoupling factor for current control, generally equal to ω1L。
As can be seen from the above equations (2-5) and (2-6), the impedance/admittance model is closely related to the circuit parameters, the control parameters, and the operating conditions of the inverter, so the impedance characteristic remodeling method involves control parameter optimization and the operating conditions. The control parameters can be optimized based on multiple groups of operating conditions, so that the impedance characteristic can be remodeled, and the oscillation problem of the new energy grid-connected system can be improved and suppressed.
The circuit and control structure of the doubly-fed wind turbine generator is shown in fig. 7, and comprises: the system comprises an induction asynchronous generator, back-to-back converters (a grid-side converter and a machine-side converter), and corresponding control loops such as a phase-locked loop and a current loop. In the figure, va、vb、vcIs the grid side (i.e., stator side) voltage; i.e. ica、icb、iccOutputting three-phase current for the grid-side converter; i.e. isa、isb、iscOutputting current for the stator side of the induction generator; i.e. ira、irb、ircOutputting current for the machine side converter; thetamIs the rotor position angle; l isfThe AC filter inductor is a grid-side converter; thetaPLLThe phase angle of the power grid voltage output by the phase-locked loop; hPLL(s) is a phase locked loop controller transfer function; i iscd、IcqA dq axis current instruction of the grid-side converter; i isrd、IrqA dq axis current instruction of the machine side converter; hsi(s)、Hri(s) current controller transfer functions for network side and machine side converters, respectively, Ksd、KrdRespectively controlling decoupling coefficients for current of a network side converter and a machine side converter; m issa、msb、mscModulating signals for the grid-side converter; m isra、mrb、mrcThe signal is modulated for the machine side converter.
It can be seen that the stator side converter and the grid side converter of the induction generator of the doubly-fed wind turbine generator are both connected into the grid, so that the impedance of the doubly-fed wind turbine generator is equivalent to the parallel connection of the machine side impedance (including the stator, the rotor and the machine side converter) and the grid side converter impedance. Since the circuit and control of the grid-side converter are the same as those of the typical grid-connected inverter described above, and the expression thereof is not described in detail herein, reference is made to the frequency-coupled series impedance model of the grid-connected inverter, which is defined as,
the machine side impedance of the doubly-fed wind turbine generator is related to circuit parameters, a control link and an operation working point of the induction generator. The basic control link is the same as the network side inverter, both phase-locked loops and current loops are considered, the main difference between the machine side impedance and the network side converter impedance is represented in the basic circuit structure, and the stator and rotor components in the induction motor are composed of stator and rotor resistance, stator and rotor leakage inductance and mutual inductance and are influenced by the rotating speed of the motor. The machine side impedance expression is therefore relatively complex, which is similarly defined in terms of,
wherein,
wherein s' ═ s-j2 ω1；Ir1The output current fundamental phasor of the rotor-side converter at a stable operation working point; mr1Modulating the phasor of a voltage modulation signal of the rotor-side converter at a stable operation working point; keThe number ratio of stator turns to rotor turns is adopted; rrAnd RsConverting the resistance of the stator and the rotor to the stator side; l isrAnd LsConverting the inductance of the stator and the rotor to the stator side; l ismConverting the equivalent mutual inductance between the stator and the rotor at the stator side; sigmap(s)＝(s-j2πfm) And/s is the slip coefficient.
Y can be obtained by the same method according to the conjugate relationship of the formulas (2-3) and (2-4)n,r(s') and Yr,r(s') is given. Finally, the impedance model of the doubly-fed wind turbine generator can be obtained as follows,
Ydfig(s)＝Ydfig,gsc(s)+Ydfig,r(s) (2-11)
as can be seen from the above equations (2-7) to (2-11), the impedance model is closely related to the circuit parameters, the control parameters, and the operating conditions of the inverter, so that similar conclusions can be drawn, that is, the impedance characteristic remodeling method involves control parameter optimization and operating conditions.
(2) Broadband dynamic modeling and stability analysis of new energy grid-connected system
Based on the established sequence impedance model of the new energy power generation device, the single-machine grid-connected system shown in fig. 8 can be modeled into an equivalent circuit model shown in fig. 9 and 10.
Setting grid voltage to inject positive sequence small disturbance signal
Wind turbine generator port voltage disturbance component
The negative-sequence current response generated at the coupled frequency is controlled by a controlled current source
Indicating that this current will generate a negative sequence voltage at the unit port through the grid and the wind-park impedance
This voltage will in turn produce a positive sequence current response at the original perturbation frequency
And
the expression is as follows,
the equivalent circuit model can be described as voltage disturbance in positive and negative sequence
Respond in positive and negative order as input
For an output two-input two-output system, an open-loop transfer function matrix is shown as a formula (2-14), the stability of the system is judged by adopting a generalized Nyquist criterion and analyzing the surrounding of the track pairs (-1,0j) of two characteristic roots of the formula (2-7).
Meanwhile, after finishing, the equivalent circuit model shown in fig. 8 and the two-input and two-output system can be converted into a single-input and single-output system as shown in fig. 11,
the closed loop transfer function of the single input single output system described in fig. 11 is:
wherein, Yq(s) the frequency coupling effect between the inverter and the grid is characterized, and the inverter can be regarded as being connected with an additional admittance/impedance in parallel,
thus, the stability analysis of the system may still be based on the impedance ratio (Y)p(s)+Yq(s))/Yg(s) analyzing by adopting a single-input single-output Nyquist stability criterion.
On the other hand, the stability of the system can be realized by analyzing the pole distribution of the closed-loop transfer function, and as can be known from the equation (2-15), solving the closed-loop pole of the system,
Y1wt(s)＝Yp(s)+Yq(s)+Ygp(s) (2-17)
n exists when wind turbine generator is connected to given power grid systemsThe oscillation mode, i.e. formula (2-17) has NsThe single zero is the closed-loop pole,
si＝-σi+jωi，i＝1,2,...,Ns
when all closed-loop poles are in the left half plane of the complex plane, i.e. for any siAll have σiAnd if the temperature is higher than 0, the system is stable. In fact, in an impedance-based system model, the closed-loop poles of the system are equivalent to the oscillation/resonance modes of the system. SigmaiAttenuation factor, ω, for the oscillation modeiIs the oscillation frequency, if σiIf the attenuation factor is greater than 0, the oscillation mode i is stable, otherwise, the oscillation mode i is unstable.
For each oscillation mode, a damping ratio can be calculated,
it is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention 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 invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. 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.
The present invention is not limited to the above embodiments, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are included in the scope of the claims of the present invention which are filed as the application.
Claims (10)
1. A wind turbine generator impedance remodeling method based on damping ratio sensitivity is characterized by comprising the following steps:
determining an impedance model based on the structure of the wind turbine generator;
selecting a plurality of groups of operating conditions and a plurality of groups of control parameters based on the impedance model;
on the basis of each working condition, sequentially carrying out stability analysis on each group of control parameters in each oscillation mode, and determining an optimization parameter group under the working condition;
selecting at least one optimized parameter group meeting the stability requirements of all working conditions to remold the generation impedance characteristics of the wind turbine;
wherein the impedance model comprises at least: a plurality of control parameters and a plurality of operating conditions; the stability analysis in each oscillation mode includes determining an optimized parameter set under each operating condition based on the sensitivity of each parameter to the damping ratio under all oscillation modes.
2. The method of claim 1, wherein the impedance model comprises: y isp(s,K,O)，Yc(s,K,O)，Yr(s', K, O) and Yn(s′,K,O)；
Wherein, Yp(s, K, O) is positive sequence admittance of the wind turbine generator under disturbance frequency, Yc(s, K, O) is the coupling admittance from the disturbance frequency to the coupling frequency of the wind turbine generator, Yr(s', K, O) is the coupling admittance from the coupling frequency of the wind turbine to the disturbance frequency, Yn(s', K, O) is the negative sequence admittance of the wind turbine at the coupling frequency, O is the operating condition parameter set of the wind turbine, and O ═ P, Q, V, I }, where P is the wind turbine output active, Q is the wind turbine reactive power, V is the wind turbine port voltage, I is the fundamental phasor of the wind turbine output current, and K is the alternative control parameter.
3. The method of claim 1, wherein the step of sequentially analyzing the stability of each set of control parameters in each oscillation mode based on each operating condition to determine the optimized parameter set under the operating condition comprises:
step 1, sequentially selecting working conditions from multiple groups of working conditions;
step 2, based on the selected working condition, sequentially calculating the damping ratio of each oscillation mode for each control parameter group;
step 3, when the damping ratio under each oscillation mode corresponding to the control parameter group meets the stability requirement, the parameter group is the optimized parameter group corresponding to the working condition, and the step 1 is continuously executed until all the working conditions are calculated and then the operation is quitted; otherwise, executing step 4;
step 4, sequentially superposing and disturbing each parameter in each parameter group to continuously calculate the sensitivity of each parameter to the damping ratio under all the oscillation modes; calculating the sum of the sensitivities of the damping ratios of all the oscillation modes of the parameters;
and 5, optimizing and adjusting each parameter based on a weighting method based on the sum of the sensitivities, and executing the step 2.
4. The method of claim 3, wherein calculating the damping ratio for each oscillation mode in turn for each set of control parameters based on each operating condition comprises:
substituting the working condition and the control parameter group into a power grid impedance calculation formula and an admittance calculation formula which are constructed in advance for calculation, and solving a nonzero root by utilizing a closed-loop function to obtain each oscillation mode of the system;
the damping ratio in each oscillation mode is determined based on the relation between the oscillation mode and the damping ratio.
5. The method of claim 4,
when the power grid is an inductive weak power grid, the power grid impedance calculation formula and the admittance calculation formula are as follows:
when the power grid is a series compensation power grid, the power grid impedance calculation formula and the admittance calculation formula are as follows:
in the formula,Rgequivalent resistance, L, to the network impedancegEquivalent inductance, C, to the network impedancegEquivalent capacitance, Z, to the network impedancegp(s) is the positive sequence impedance of the grid at the disturbance frequency, Ygp(s) grid admittance at disturbance frequency, Zgn(s') is the negative sequence impedance of the network at the coupling frequency, Ygn(s ') is the grid admittance at the coupling frequency, s is the complex frequency at the disturbance frequency, and s' is the complex frequency at the coupling frequency.
6. The method of claim 3, wherein the oscillation mode is related to a damping ratio by the equation:
wherein ξiIs the damping ratio at the i-th oscillation.
7. A method according to claim 3, wherein the sensitivity of the control parameter to the damping ratio of the oscillation mode is calculated as follows:
in the formula, ρijSensitivity of i-th oscillation, i-1, 2s，j＝1,2,...,Nk，ΔξiFor variation of damping ratio of oscillation mode,. DELTA.kjIs a superimposed disturbance, and Δ kjIs a per unit value based on an initial value.
8. The method of claim 7, wherein Δ k isjThe value ranges are as follows:
0.01≤Δkj≤0.05。
9. the method of claim 3, wherein the optimization parameters are optimally adjusted based on a weighting method based on the following expression:
in the formula, kjTo optimize the parameter, pTjIs the sum of the sensitivities of all oscillation mode damping ratios of the jth parameter, kj0Is the initial value of the parameter.
10. The utility model provides a wind turbine generator impedance remolding device based on damping ratio sensitivity which characterized in that includes:
the model determining module is used for determining an impedance model based on the structure of the wind turbine generator;
the initialization module is used for selecting a plurality of groups of operating conditions and a plurality of groups of control parameters based on the impedance model;
the optimization parameter determination module is used for sequentially carrying out stability analysis on each group of control parameters under each oscillation mode based on each working condition and determining the optimization parameter group under the working condition;
the impedance remodeling module is used for selecting at least one optimized parameter group meeting the stability requirements of all working conditions to remodel the power generation impedance characteristics of the wind turbine generator;
wherein the impedance model comprises at least: a plurality of control parameters and a plurality of operating conditions; the stability analysis in each oscillation mode includes determining an optimized parameter set under each operating condition based on the sensitivity of each parameter to the damping ratio under all oscillation modes.
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| CN114924479A (en) * | 2022-05-27 | 2022-08-19 | 南方电网科学研究院有限责任公司 | Parameter optimization method and device for wind turbine generator |
| CN115015697A (en) * | 2022-08-09 | 2022-09-06 | 中国电力科学研究院有限公司 | New energy broadband oscillation disturbance source positioning method and system |
| CN115473277A (en) * | 2022-10-19 | 2022-12-13 | 华北电力科学研究院有限责任公司 | Impedance shaping method and device for near-power-frequency doubly-fed wind turbine generator |
| CN116454923A (en) * | 2023-06-15 | 2023-07-18 | 国网江西省电力有限公司电力科学研究院 | New energy multi-machine system stability improving method and system |
| CN116699248A (en) * | 2023-08-01 | 2023-09-05 | 中国电力科学研究院有限公司 | Broadband impedance measurement method and system for new energy power generation unit |
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| CN114924479A (en) * | 2022-05-27 | 2022-08-19 | 南方电网科学研究院有限责任公司 | Parameter optimization method and device for wind turbine generator |
| CN115015697A (en) * | 2022-08-09 | 2022-09-06 | 中国电力科学研究院有限公司 | New energy broadband oscillation disturbance source positioning method and system |
| CN115015697B (en) * | 2022-08-09 | 2022-10-11 | 中国电力科学研究院有限公司 | New energy broadband oscillation disturbance source positioning method and system |
| CN115473277A (en) * | 2022-10-19 | 2022-12-13 | 华北电力科学研究院有限责任公司 | Impedance shaping method and device for near-power-frequency doubly-fed wind turbine generator |
| CN115473277B (en) * | 2022-10-19 | 2024-03-22 | 华北电力科学研究院有限责任公司 | Impedance shaping method and device for near-power-frequency doubly-fed wind turbine generator |
| CN116454923A (en) * | 2023-06-15 | 2023-07-18 | 国网江西省电力有限公司电力科学研究院 | New energy multi-machine system stability improving method and system |
| CN116454923B (en) * | 2023-06-15 | 2023-12-26 | 国网江西省电力有限公司电力科学研究院 | New energy multi-machine system stability improving method and system |
| CN116699248A (en) * | 2023-08-01 | 2023-09-05 | 中国电力科学研究院有限公司 | Broadband impedance measurement method and system for new energy power generation unit |
| CN116699248B (en) * | 2023-08-01 | 2023-12-15 | 中国电力科学研究院有限公司 | Broadband impedance measurement method and system for new energy power generation unit |
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