CN114665471A - Wind power storage combined system-based black start method and coordination recovery strategy for receiving-end power grid - Google Patents
Wind power storage combined system-based black start method and coordination recovery strategy for receiving-end power grid Download PDFInfo
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Abstract
The invention relates to the technical field of black start of a receiving-end power grid, and particularly discloses a black start method and a coordination recovery strategy of the receiving-end power grid based on a wind-storage combined system.A battery energy storage system is started firstly, the energy storage system adopts V/f control, and the energy storage system maintains the voltage and the frequency of a power grid bus; after the energy storage system is automatically started, the energy storage system is used for carrying out no-load charging on a power collection line and a wind generator group box type transformer in the wind power plant; after the internal units and loads of the wind power plant are all started, the control mode of the energy storage system is switched from V/f control to P/Q control, and the wind power generation unit maintains stable power grid bus voltage and frequency; after the energy storage system switches the control mode, the wind turbine generator maintains the stability of the voltage and the frequency of the power grid, and then the thermal power generator unit of the receiving-end power grid is started; after the thermal power generating unit is started, the thermal power generating unit operates independently or operates in parallel with the wind storage combined system. The invention can realize the complete black start process of the wind storage combined system when the receiving end has a heavy power failure, and the proposed receiving end coordination recovery strategy can effectively ensure the stability of the system in the recovery stage.
Description
Technical Field
The invention relates to the technical field of black start of a receiving-end power grid, in particular to a black start method and a coordination recovery strategy of the receiving-end power grid based on a wind power storage combined system.
Background
The scale of the electric power system in China is large, the structure of the power grid is complex, and the characteristics of alternating current-direct current hybrid connection and continuous rising of the proportion of new energy are presented. Under the background, the influence of various unconventional events such as extreme weather, artificial damage and the like on the current power grid is more serious, the safety operation risk of the power grid is increased rapidly, and the probability of the power grid in a black start scene after a large-scale power failure accident is also improved continuously.
In recent years, blackout accidents occur continuously around the world, and cause huge economic loss and social influence on relevant countries. Therefore, the power department must face the complex external environment in the new situation except that the power department needs to ensure safe and stable operation under the conventional condition, and consider the new power grid recovery technology after the existing black start scheme is failed, so as to control the accident loss within the minimum range.
The black start means that after the whole system is powered off due to faults, the generator set without self-starting capability is driven to start through the generator set with self-starting capability in the system without other network help, the recovery range of the system is gradually expanded, and finally the recovery of the whole system is realized.
At present, in the main black start scheme in China, a hydraulic power plant or a thermal power plant is usually selected as a black start power supply. The diesel generator is a mainstream research direction at present as a black start power supply to drive systems such as wind power, photovoltaic and energy storage. However, limited by regional resource conditions, water resources in some regions of China are short, a hydroelectric power plant serving as a black start power supply is lacked inside the region, if the region depends on other hydroelectric power plants in the power grid, the recovery time may be long, and serious economic loss is caused.
In areas rich in wind energy, wind power plants have become a local significant power source. According to the statistics of the global wind energy council, the wind power permeability of China is predicted to reach about 15% in 2035. Due to the volatility and randomness of wind power, the inertia of a power grid is reduced and the stability is poor due to large-scale wind power centralized access, so that the current phenomenon of abandoning wind is serious. In consideration of the rapid development of the fields of power electronics, batteries and the like and the wide application of battery energy storage in China, in order to improve the use friendliness of wind power and increase the consumption proportion, a wind power storage combined system with strong controllability and flexible operation mode is established by configuring an energy storage system for a wind power plant, and becomes an important development direction in the field of new energy.
In recent years, with the continuous development of China in the fields of power electronics and battery energy storage, the role of an energy storage system in the black start process is more and more important. Wind power is used as an important plate in new energy, and related research on participation of the wind storage combined system in black start is in a basic stage, so that a black start recovery strategy after participation of the wind storage combined system in a receiving-end power grid in heavy power failure needs to be deeply researched.
The prior art scheme and the existing problems are as follows:
measure 1: the hydro-power generating unit and the diesel engine unit participate in black start, and the following references can be made:
document [1] duchetang, wu-nationality, bin loyalty, et al large-scale power station black start studies based on diesel generators [ J ] hydroelectric power station electro-mechanical techniques, 2021,44(03):57-58+94.DOI:10.13599/j.cnki.11-5130.2021.03.019.
The key technical research on black start of hydropower plant [ J ] Yunnan electric power technology 2021, 49(05):54-57 is described in document [2] Wanxiong Biao, Chen Jing, Wu Shuihu et.
Document [3] li new army, populus, gu heing, wu aach, zhang dan, liu xu fii diesel generator assisted wind farm black start process and frequency control [ J ]. grid technology, 2018,42(06):1853-1860.DOI:10.13335/j.1000-3673.pst.2018.0034.
The conventional unit is long in starting time and slow in power increasing rate, so that a system power supply is less at the initial stage of black start, the load recovery of a power grid is influenced, and the conventional unit is easily limited by the selection of the black start power supply and the restriction of a recovery path. The hydroelectric generating set is limited by regions, and water resources are lacked in partial regions of China, so that hydroelectric power plants are difficult to build.
And 2, measure 2: the wind-storage combined system participates in stabilizing wind power fluctuation by utilizing stored energy, and the following references can be made:
literature [4] Wan sea flood, river Union ] energy storage system control and configuration for damping wind power fluctuations are reviewed [ J ] electric power system automation 2014,38(19): 126-.
Document [5] Jianping, Xionghuachuan and hybrid energy storage system stabilizing wind power generation output power fluctuation control method design [ J ] power system automation, 2013,37(01): 122-.
Document [6] Li Xiangjun, Hui Dong, Wu Li and Lai Xiaokang, "Control strategy of basic state of charge for wind/basic hybrid power system,"2010 IEEE International Symposium on Industrial Electronics,2010, pp.2723-2726, doi: 10.1109/ISIE.2010.567016.
The measure has the problem that the energy storage system effectively inhibits the frequency fluctuation of the wind turbine generator, but the wind storage combined system is not applied to the black start of the receiving-end power grid.
And (4) measure 3: a direct-current power supply is internally connected with a back-to-back converter of a wind turbine generator and is connected to a grid wind turbine generator, and the following references can be made:
document [7] julingyan, panheiping, eastern China. double-fed wind farm black start scheme [ J ] solar energy bulletin, 2021,42(04):162-167.DOI:10.19912/j.0254-0096.tynxb.2018-0458, adopting improved virtual synchronous control.
Document [8] M.Aktarujjaman, M.A.Kashem, M.Negnevisky and G.Ledwich, "Black start with dfit based distributed generation after machine major generators," 2006 International Conference on Power electronics, Drives and Energy Systems,2006, pp.1-6, doi:10.1109/PEDES.2006.344263.
The problem that this measure exists lies in, what adopted is to connect energy storage system on the direct current circuit of fan rotor side transverter, when the system is totally dark and wind-powered electricity generation field is in the no wind state, the task that receiving end electric wire netting was black to start can't be accomplished to this scheme.
And 4, measure 4: the external energy storage system grid-connected wind turbine generator can be provided with the following references:
the feasibility of an energy storage type wind power plant as a black start power supply of a local area power grid is studied [ J ]. power system automation, 2016,40(21):210-216.
The problem with this approach is that connecting the energy storage system outside the wind farm facilitates direct participation of the black start process with the energy storage system during the windless phase, but this strategy does not involve a coordinated control method of the energy storage and wind farm.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a black start method and a coordination recovery strategy for a receiving-end power grid based on a wind power storage combined system, which can implement a complete black start process during a large power outage at the receiving end of the wind power storage combined system, and the proposed receiving-end coordination recovery strategy can effectively ensure the stability of the system in the recovery stage. The technical scheme is as follows:
a black start method and a coordination recovery strategy for a receiving-end power grid based on a wind power storage combined system comprise the following steps:
step 1: the double-fed wind power asynchronous generator is used as a black start power supply, a battery energy storage system is started, the energy storage system is externally connected to a power grid bus, the energy storage system is controlled by V/f, and the power grid bus voltage and frequency are maintained by the energy storage system;
step 2: after the energy storage system is automatically started, the energy storage system is used for carrying out no-load charging on a power collection line and a wind generator set box type transformer in the wind power plant, and supplying power and excitation voltage to internal equipment of the wind power plant; the wind turbine generator system utilizes a network side converter to establish direct current bus voltage and utilizes a rotor side converter to establish stable stator voltage and frequency; when the stator voltage, the amplitude and the phase meet grid-connected conditions, a fan is connected into a power grid, and the wind power plant is started; the energy storage system continues to adopt V/f control;
and step 3: establishing voltages and frequencies of 0.69KV and 50Hz in the wind power plant by using the started wind turbine generator, and starting other units and loads in the wind power plant;
and 4, step 4: after the internal units and loads of the wind power plant are all started, the control mode of the energy storage system is switched from V/f control to P/Q control, and the wind power generation unit maintains stable power grid bus voltage and frequency;
and 5: after the energy storage system switches the control mode, the wind turbine generator maintains the stability of the voltage and the frequency of the power grid, and then the thermal power generator unit of the receiving-end power grid is started; after the thermal power generating unit is started, the thermal power generating unit operates independently or operates in parallel with the wind storage combined system to be used for subsequent power grid recovery.
Further, the double-fed asynchronous wind driven generator comprises a wind wheel, a transmission gear system, a double-fed generator and a back-to-back double PWM converter; the power absorbed by the rotor from the wind energy is expressed as:
wherein: pmRepresenting the power absorbed by the rotor from the wind energy; pnomRepresenting the rated power of the wind turbine; ρ represents air tightness; r iswtRepresenting the radius of the wind wheel; vwRepresenting wind speed; omegawtRepresenting the rotational speed of the wind rotor; t iswtRepresenting the mechanical torque of the wind turbine input drive train; cPRepresenting a wind energy utilization coefficient; λ, β represent the tip speed ratio and pitch angle of the rotor, respectively.
Furthermore, the fan adopts virtual synchronous control, including voltage control and excitation control;
(1) excitation control:
virtual rotation equation of the fan:
damping equation of DFIG (Double-Fed Induction Generator) Double-Fed asynchronous wind Generator:
PD1＝D1(ω0-ω1) (3)
θr＝∫ωslipdt (4)
ωslip＝ω0-ωr (5)
wherein, ω isNRepresents a nominal frequency; omega1Representing the actual angular frequency; omega0Representing the internal potential angular frequency; m represents a droop coefficient representing the droop effect of the frequency regulator f/P; prefA reference value representing active power; pmA measurement value representing active power; pD＝PD1；PD1Representing damping power, D1Is a damping coefficient; j. the design is a squareΔRepresenting a virtual inertia constant; omegaslipRepresenting the angular frequency of rotation difference; thetarRepresents the rotor rotation angle; omegarRepresenting the rotor angular frequency;
(2) voltage control:
wherein, UsAnd UrRepresenting the stator voltage and the rotor voltage, respectively; i issRepresenting a stator current; l iss、LrAnd LmRespectively representing the self-inductance of a stator, the self-inductance of a rotor and the mutual inductance of the rotor; u shapeΔrRepresenting the rotor voltage magnitude compensation term.
Further, the method comprises the step of identifying a system reduced-order model based on the total least square-rotation invariance with high operation efficiency and interference rejection capability during the black start process: forming an autocorrelation matrix and a cross-correlation matrix through sampling data to calculate a rotation factor of a signal, solving the frequency and the attenuation factor of the signal through the rotation factor, and finally solving the amplitude and the phase of the signal by combining with the total least square; designing an additional robust controller by a linear matrix inequality robust control method to inhibit low-frequency oscillation occurring in the black start process; the controlled system G(s) has the state equation as follows:
wherein,
and x (t) is the derivative of the state variable, respectively; w (t) is the unknown disturbance signal, y (t) is the system output signal, u (t) is the control input signal, z∞(t)、z2(t) is a reference output signal that measures system performance; A. b is1、B2、C1、C2、C3、D11、D12、D22、D31、D32The state matrix, the input matrix, the robust state matrix, the control cost state matrix, the output state matrix, the robust disturbance matrix, the robust output matrix, the disturbance state matrix and the output matrix are respectively. (ii) a
According to the state equation of the output feedback controller K(s), the closed loop system formed by the original system and the controller K(s) is as follows:
wherein,
and
are respectively asDerivative of the state variable function, state variable function matrix;
the state matrix function, the input matrix function, the robust state matrix function, the control cost matrix function, the robust disturbance matrix function and the disturbance output matrix function are respectively adopted. (ii) a
The method also comprises the steps that a filter is added into the controller to provide damping for different oscillation modes and inhibit mutual influence among the modes, so that a control target is realized; the input of the controller is the angular speed deviation of the rotor of the receiving-end generator set and is arranged at the active power control part of the battery energy storage system.
The invention has the beneficial effects that:
1) the invention can realize the complete black start process of the wind storage combined system when the receiving end has a heavy power failure, and the proposed receiving end coordination recovery strategy can effectively ensure the stability of the system in the recovery stage.
2) The invention adopts the method of externally connecting the energy storage system on the power grid bus, has the advantages of high response speed, flexible power and energy configuration and capability of independently completing the black start task by utilizing the energy storage system on the power grid bus under the condition of no wind.
3) Compared with the conventional control, the virtual synchronous control adopted by the invention has the advantages that the rotor can store or release kinetic energy when the active power of the system fluctuates, such as large-scale load input or load shedding, by simulating the rotor movement process of the synchronous generator, the imbalance of the active power is reduced, the frequency is better supported, and the stability of the system is improved.
4) According to the invention, the additional robust controller is added in the black start process, so that the stability of the black start process can be improved, and the problem that the system is in danger of secondary power failure due to the fact that the system is subjected to low-frequency oscillation caused by insufficient damping between the rotors of the generator and the system is unstable finally solved.
Drawings
Fig. 1 is a schematic structural diagram of a wind storage combined system.
FIG. 2 is a topological structure diagram of a double-fed asynchronous wind generating set.
Fig. 3 is a topology structure diagram of the energy storage system.
FIG. 4 is a waveform diagram of grid connection of a wind turbine; (a) changing the grid-connected frequency of the fan; (b) and the grid-connected effective value of the fan is changed.
FIG. 5 is a block diagram of virtual synchronization control for a DFIG.
FIG. 6 is a grid connection process of internal loads of a wind power plant; (a) load grid connection frequency changes; (b) the load grid-connected voltage effective value changes.
FIG. 7 is a grid connection process of a plant generator; (a) the grid connection frequency of the generator changes; (b) the effective value of the grid-connected voltage of the generator changes.
FIG. 8 is a schematic diagram of a V/f control strategy.
FIG. 9 is a schematic diagram of a P/Q control strategy.
FIG. 10 is a waveform diagram illustrating the switching control of the energy storage system; (a) switching control process frequency changes; (b) the switching control process voltage varies.
FIG. 11 is a grid-connected waveform diagram of a receiver generator set; (a) grid connection frequency change of the receiving-end generator set; (b) and the receiving-end generator set is connected to the grid.
Fig. 12 is a flow chart of a coordination recovery strategy of the wind power storage combined system participating in black start of the receiving-end power grid.
FIG. 13 shows the frequency fluctuation results at various stages during the black start of the DFIG rotor-side converter under different control strategies; (a) a fan grid connection process is carried out; (b) a plant load grid connection process; (c) controlling a switching process; (d) and (5) grid connection process of the receiving-end generator set.
FIG. 14 bus fault analysis of the AC system; (a) alternating current bus frequency; (b) an alternating current bus voltage; (c) and power is output at the outlet of the energy storage system.
FIG. 15 is a system model diagram that accounts for additive model errors.
Fig. 16 is a diagram showing the structure of the controller.
Fig. 17 is a graph showing the effect of suppressing the difference in the angular velocities of the rotors of the started plant generator and the receiver-side power plant.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments. The invention relates to a receiving end power grid black start method and a coordination recovery strategy based on a wind storage combined system, which comprise the following steps:
1) firstly, starting a battery energy storage system, wherein the energy storage system adopts V/f control, and the energy storage system maintains the voltage (35KV) and the frequency (50Hz) of a power grid bus.
2) After the energy storage system is automatically started, the energy storage system is used for carrying out no-load charging on a power collection circuit, a box type transformer of a wind turbine generator and the like in a wind power plant, supplying power and providing excitation voltage for internal equipment of the wind power plant, the wind turbine generator utilizes a grid side converter to establish direct current bus voltage, utilizes a rotor side converter to establish stable stator voltage and frequency, and when the stator voltage, the amplitude, the phase and the like meet grid merging conditions, a fan is merged into a power grid, so that the starting of the wind power plant is realized. The energy storage system adopts V/f control at the moment.
3) And establishing the voltage and frequency of 0.69KV and 50Hz in the wind power plant by using the started wind turbine generator, and starting the rest wind turbine generators and loads in the wind power plant. The energy storage system adopts V/f control at the moment.
4) After the internal units and loads of the wind power plant are all started, the control mode of the energy storage system is switched from V/f control to P/Q control, and at the moment, the wind power generation unit maintains stable grid bus voltage and frequency.
5) After the energy storage system switches the control mode, the wind turbine generator maintains the stability of the voltage and the frequency of the power grid, and then the thermal power generator unit of the receiving end power grid is started. The thermal power generating unit can independently operate after being started, and can also operate in parallel with the wind storage combined system for subsequent power grid recovery.
The wind-storage combined system of fig. 1 is taken as an example for verification. The invention takes the black start process of a receiving-end power grid as a research focus, the receiving-end power grid comprises a thermal power generating unit, a hydroelectric power generating unit and the like, all the units are simplified into equivalent voltage sources, and a transmitting end is taken as an active end to gradually start and recover a receiving-end passive network.
1) Wind turbine generator system starting grid connection
Wind energy has the defects of uncertainty, large volatility and the like, and in the past, a wind turbine generator is generally considered to belong to a non-self-starting power supply and has no capability of participating in black start. However, with the continuous development of power electronic technology and wind power technology in recent years, the controllability of wind energy is gradually improved, and the wind driven generator has the capability of frequency modulation and voltage regulation, and the double-fed wind driven asynchronous generator is considered to be used as a black start power supply. When a DFIG (Double-Fed Induction Generator) is used as a black start power supply, an external power supply is needed to establish a back-to-back Double PWM side direct current voltage for excitation. The method for externally connecting the energy storage system to the power grid bus is adopted because the method has the advantages of high response speed, flexible power and energy configuration and capability of independently completing a black start task by utilizing the energy storage system on the power grid bus under the windless condition.
The starting and grid connection of the DFIG require an energy storage system to establish voltage and frequency at a DFIG port, the invention uses a double-fed asynchronous wind generating set, and the topological structure of the double-fed asynchronous wind generating set is shown in figure 2. The energy storage system is composed of a plurality of lithium iron phosphate batteries, and the topological structure of the lithium iron phosphate batteries is shown in figure 3. The double-fed asynchronous wind driven generator mainly comprises a wind wheel, a transmission gear system, a double-fed generator, a back-to-back double PWM current converter and the like. The wind power of the wind driven generator drives the wind wheel to rotate, and the power absorbed by the wind wheel from the wind power can be expressed as:
wherein: p ismRepresenting the power absorbed by the rotor from the wind energy; p isnomRepresenting the rated power of the wind turbine; ρ represents air tightness; rwtRepresenting the radius of the wind wheel; vwRepresenting wind speed; omegawtRepresenting the rotational speed of the wind rotor; t iswtRepresenting the mechanical torque of the wind turbine input drive train; cPRepresenting a wind energy utilization coefficient; λ, β represent the tip speed ratio and pitch angle of the rotor, respectively.
The waveform diagram of the wind turbine grid connection is shown in fig. 4. In the initial stage of black start, the energy storage system establishes alternating-current bus voltage and frequency and provides initial excitation for the wind turbine generator, fig. 4 shows that fan grid connection is carried out in 3.01s, at the moment, the energy storage system adopts constant V/f control, and the fan adopts virtual synchronous control. Fig. 4(a) shows frequency variation in the process of grid connection of the fan, and the frequency of the fan controlled by virtual synchronization is increased to 50.59Hz at maximum in the process of grid connection, and the frequency fluctuation is 1.18% and is not more than 2%. The frequency fluctuation of the fan adopting the virtual synchronous control is within an acceptable range in the grid connection process, and the follow-up black start process can be carried out. Fig. 4(b) shows the fluctuation of the effective value of the ac voltage during the grid connection of the fan, and the maximum fluctuation amplitude of the effective value is 0.037 pu. The fluctuation amplitude of the effective value is within an allowable range, which indicates that the wind turbine can effectively complete the grid-connected task under the cooperation of the energy storage system.
The invention applies virtual synchronous control to the rotor side converter of the wind turbine generator. Compared with the conventional control, the virtual synchronous control has the advantages that through simulating the rotor motion equation of the synchronous generator, the rotor can store or release kinetic energy when the active power of the system fluctuates, such as large-scale load input or load shedding, the imbalance of the active power is reduced, the frequency is better supported, and the stability of the system is improved.
The virtual synchronous control mainly comprises voltage control and excitation control:
(a) excitation control
PD1＝D1(ω0-ω1) (3)
θr＝∫ωslipdt (4)
ωslip＝ω0-ωr (5)
Wherein, ω isNRepresents a nominal frequency; omega1Representing the actual angular frequency; omega0Representing the internal potential angular frequency; m represents a droop coefficient representing the droop effect of the frequency regulator f/P; prefA reference value representing active power; pmA measurement value representing active power; pD1Indicating resistanceDamping power, D1Is a damping coefficient; j. the design is a squareΔRepresenting a virtual inertia constant; omegaslipRepresenting the angular frequency of rotation.
The formula (2) represents a virtual rotation equation of the fan, which simulates the inertia characteristic, droop characteristic and damping characteristic of the synchronous generator, so that the fan presents inertia similar to the synchronous generator through the virtual rotation equation. As can be seen from the virtual rotation equation, when the rated power output by the fan is different from the power required by the load, the DFIG enables the rotor to store or release kinetic energy by adjusting the rotation speed of the DFIG so as to increase or reduce the active power, so that the imbalance of the active power is reduced, and the supporting effect on the frequency is improved. Equation (3) represents the damping equation for a DFIG, which simulates the damping characteristics of a synchronous generator.
(b) Voltage control
Wherein, Us、UrRespectively representing stator and rotor voltages; i iss、IrRespectively representing stator and rotor currents; rs、RrRespectively representing stator and rotor resistances; psis、ψrRespectively showing stator and rotor flux linkages. L iss、Lr、LmRespectively representing the self-inductance of the stator, the self-inductance of the rotor and the mutual inductance; i iss、IrRepresenting stator and rotor currents, respectively.
A virtual synchronization control block diagram of the DFIG is shown in fig. 5.
2) Wind turbine plant load and generator set grid connection
And establishing the voltage and frequency of 0.69KV and 50Hz in the wind power plant by using the started wind turbine generator, starting other units and loads in the wind power plant, and supplying power to a yaw system, a main controller, a pitch system and the like in the wind turbine generator. The energy storage system adopts V/f control at the moment.
The internal load of the fan and the grid-connected waveform of the generator set are shown in fig. 6 and 7. And then, the service load and the generator set in the wind power plant are respectively input at 4.05s and 5s, and other sets are assisted to realize actions such as yawing and pitch changing so as to ensure the safety of the fan. Fig. 6 and 7 show the grid-connection process of the internal load of the wind farm and the plant generator, respectively, fig. 6(a) and 6(b) show the fluctuation of the grid frequency and the voltage when the internal load of the wind farm is connected to the grid, respectively, the maximum fluctuation of the frequency amplitude is 0.12Hz, and the maximum fluctuation amplitude of the effective voltage value is 0.12pu, respectively, in the load grid-connection process. Fig. 7(a) and 7(b) respectively show the fluctuation of frequency and voltage in the grid-connected process of the plant generator set, the maximum fluctuation amplitude of the frequency is 0.037Hz, and the maximum fluctuation amplitude of the effective value of the voltage is 0.004 pu. In the process, the frequency and voltage fluctuation do not exceed the maximum fluctuation amplitude, and the frequency fluctuation requirement in the black start process is met.
3) Energy storage system switching control mode
The voltage and the system frequency of a power grid bus at the initial stage of black start are maintained by an energy storage system controlled by V/f, the energy storage system is used for carrying out no-load charging on a power transmission line and a box type transformer of a wind power plant, after a wind turbine generator is connected to the power grid, the control mode of the energy storage system is switched, and at the moment, the wind turbine generator maintains the voltage and the frequency of the power grid. In order to ensure that the wind storage combined system can be kept stable in the whole black start process and prevent the overcharge phenomenon of a battery energy storage system, the invention provides an isolated network control strategy of the wind storage combined system.
In the initial stage of black start, the V/f control strategy shown in FIG. 8 is adopted to control the battery energy storage system, and the voltage reference value U is used for controllingBrefAnd a frequency reference value fBrefThe setting is 1, so that the energy storage system can output rated voltage and frequency, stable voltage and frequency support is provided for the system, and active and reactive balance is maintained.
The converter on the rotor side of the wind turbine generator is controlled in a virtual synchronous mode, when the energy storage system is switched to a control mode, the energy storage system adopts a P/Q control strategy shown in the figure 9, and the wind turbine generator provides voltage and frequency support for the system. The virtual synchronous control simulates the characteristic of a synchronous generator to enable the wind turbine generator to show voltage source type output, and the wind turbine generator has the capability of participating in black start. The method is characterized in that a vector control technology based on grid voltage orientation is adopted to control a grid-side converter of the double-fed wind turbine generator so as to maintain the direct-current bus voltage of the back-to-back converter of the wind turbine generator as a control target.
The waveform diagram of the energy storage system switching control mode is shown in fig. 10: fig. 10(a) and 10(b) show changes of the frequency and the effective voltage value when the control system is switched, the control strategy of the energy storage system is switched at the 7 th time after the control mode of the energy storage system is switched, the energy storage system is switched from V/f control to P/Q control, and at this time, the voltage and the frequency of the alternating current system are stabilized by the wind turbine generator set adopting virtual synchronous control. The maximum fluctuation amplitude of the frequency in the switching process is 0.96Hz, and the frequency is recovered to be stable after oscillation of 0.2s, so that the frequency of an alternating current system can be effectively stabilized by adopting the virtual synchronous control DFIG, the wind power plant with the energy storage system can be used as a starting power supply in the subsequent black start process, and a foundation is laid for the subsequent black start process. Fig. 10(b) shows the voltage fluctuation of the energy storage system during the control switching process, where the maximum fluctuation amplitude is 0.06pu, and the voltage supporting effect of the DFIG on the ac system under the virtual synchronous control is embodied.
4) Grid connection process of receiving-end generator set
After the energy storage system switches the control mode, the wind turbine generator maintains the stability of the voltage and the frequency of the power grid, and then the thermal power generating unit of the receiving-end power grid is started. The thermal power generating unit can independently operate after being started, and can also operate in parallel with the wind storage combined system for subsequent power grid recovery.
The grid-connected waveform of the receiving-end generator set is shown in fig. 11: and a generator set to be started at a receiving end is merged into the 9s, so that the feasibility that the wind storage combined system participates in black start of a receiving end power grid is reflected. Fig. 11(a) and 11(b) respectively show the frequency and voltage changes in the grid-connected process of the receiving-end generator set, the maximum fluctuation amplitude of the grid frequency is 0.11Hz, and the fluctuation size is within an acceptable range. After 0.1s of oscillation, the frequency was stable. The process fully reflects the reliability of the wind power storage combined system in participating in the black start process of the receiving-end power grid, and the frequency fluctuation of each stage is within an allowable range. Fig. 11(b) shows voltage fluctuation during grid connection of the generator in the receiving-end power grid, where the maximum fluctuation amplitude is 0.0041pu, and the ac voltage is stable after 0.3s, which indicates that the receiving-end generator is successfully connected to the grid and completes the black start process. The alternating voltage fluctuation of each stage is within an allowable range.
Fig. 12 shows a flow chart of a coordination recovery strategy of the wind power storage combined system participating in black start of the receiving-end power grid.
Fig. 13 shows the frequency fluctuation results of each stage in the black start process of the DFIG rotor-side converter under different control strategies. Fig. 13(a) is a comparison of frequency changes of two control modes in the fan grid connection process, the maximum fluctuation amplitude of the frequency of the fan adopting the conventional control strategy in the grid connection process is 51.31Hz, the maximum fluctuation amplitude of the frequency adopting the virtual synchronous control strategy is 50.62Hz, and the latter increases the frequency oscillation of the fan grid connection process by 47.25%. Fig. 13(b) shows the comparison of the frequency variation during the load synchronization, and the maximum fluctuation amplitudes of the conventional control and the virtual synchronization control during the load synchronization are 50.176 and 50.125, respectively, and the latter improves the frequency oscillation during the load synchronization by 27.9%. Fig. 13(c) shows the frequency variation during switching of the control mode, and the maximum fluctuation amplitudes during switching of the control mode for the conventional control and the virtual synchronization control are 48.9Hz and 48.65Hz, respectively, which increases the frequency oscillation during switching of the control mode by 20.5%. According to the comparison of the above processes, the virtual synchronous control has better frequency supporting capability in the black start process compared with the conventional control.
To show the advantage of virtual synchronous control in weak ac systems, a fault is set at the ac system bus, where PG, QG in fig. 14(c) represent the active and reactive power at the outlet of the energy storage system, respectively, subscript 1 represents the virtual synchronous control, and subscript 2 represents the conventional control. And the supporting effect of virtual synchronous control and conventional control on system faults is compared under a weak alternating current system. Fig. 14 shows that the wind turbine generator adopting virtual synchronous control has a better supporting effect when the system fails.
5) Additional robust controller
In the black start process, the grid-connected multiple generators may cause low-frequency oscillation of a system due to insufficient damping between the rotors of the generators, and if the low-frequency oscillation cannot be inhibited, the system may be finally unstable, so that secondary power failure is caused. Therefore, the invention identifies the system reduced-order model based on the total least square-rotation invariant (TLS-ESPRIT) technology with high operation efficiency and anti-interference capability, the TLS-ESPRIT algorithm is a subspace-based high-resolution signal analysis method, and has the advantages of strong anti-interference capability, the core of the ESPRIT is to form an autocorrelation matrix and a cross-correlation matrix through sampling data to calculate the rotation factor of a signal, calculate the frequency and the attenuation factor of the signal through the rotation factor, and finally calculate the amplitude and the phase of the signal by combining the TLS. And designing an additional controller by a Linear Matrix Inequality (LMI) robust control method. The low frequency oscillations that occur during black start are suppressed by the additional robust controller designed.
The system model which is based on the linear matrix inequality and robust control theoretical basis and considers the additive model error is shown in FIG. 15: g(s) is a controlled system; k(s) is a controller; w is an unknown disturbance; y is the system output; u is a control input; w1、W2、W3Is a function to be weighted; z is a radical of∞1，z∞2，z2Is a reference output for measuring the performance of the system. Let z∞＝[z∞1z∞2]TThe controlled system g(s) has the equation of state:
according to the state equation of the output feedback controller K(s), the original system and the controller K(s) form a closed loop system,
the controller of the present invention is designed with the following objectives: (1) and (3) local pole allocation: the introduction of the controller needs to ensure good damping characteristic of the system; (2) h∞Performance; (3) h2Performance; (4) multiple targets are simultaneous; by the aboveThe controller obtained by the target can meet the damping characteristic required by a closed-loop system and can achieve better comprehensive performance. In the design, a filter is added into the controller to provide damping for different oscillation modes and inhibit mutual influence among the modes, so that the control target is realized. The input of the controller is the angular speed deviation of the rotor of the receiving-end generator set, the controller is arranged at the active power control position of the battery energy storage system, and the structure is shown in fig. 16.
At the moment of 10.6s, the active power reference value P of the energy storage system controlled by the P/Q is adoptedrefIncreasing from 1pu to 1.03 pu; the effect of suppressing the difference in the angular velocities of the rotors of the started plant generator and the receiver-side power plant is shown in fig. 17. Simulations show that the additional robust controller designed has good suppression measures for low frequency oscillations that occur during black start. It is shown that the addition of an additional robust controller during black start can improve the stability of the black start.
Claims (4)
1. A black start method and a coordination recovery strategy for a receiving-end power grid based on a wind power storage combined system are characterized by comprising the following steps:
step 1: the double-fed wind power asynchronous generator is used as a black start power supply, a battery energy storage system is started, the energy storage system is externally connected to a power grid bus, the energy storage system is controlled by V/f, and the power grid bus voltage and frequency are maintained by the energy storage system;
step 2: after the energy storage system is automatically started, the energy storage system is used for carrying out no-load charging on a power collection line and a wind generator set box type transformer in the wind power plant, and supplying power and excitation voltage to internal equipment of the wind power plant; the wind turbine generator system utilizes a network side converter to establish direct current bus voltage and utilizes a rotor side converter to establish stable stator voltage and frequency; when the stator voltage, the amplitude and the phase meet grid-connected conditions, a fan is connected into a power grid, and the wind power plant is started; the energy storage system continues to adopt V/f control;
and step 3: establishing voltages and frequencies of 0.69KV and 50Hz in the wind power plant by using the started wind turbine generator, and starting the rest wind turbine generators and loads in the wind power plant;
and 4, step 4: after the internal units and loads of the wind power plant are all started, the control mode of the energy storage system is switched from V/f control to P/Q control, and the wind power generation unit maintains stable power grid bus voltage and frequency;
and 5: after the energy storage system switches the control mode, the wind turbine generator maintains the stability of the voltage and the frequency of the power grid, and then the thermal power generator unit of the receiving-end power grid is started; after the thermal power generating unit is started, the thermal power generating unit operates independently or operates in parallel with the wind storage combined system to be used for subsequent power grid recovery.
2. The wind-storage combined system-based black start method and the coordinated recovery strategy for the receiving-end power grid according to claim 1, wherein the double-fed asynchronous wind power generator comprises a wind wheel, a transmission gear system, a double-fed generator, a back-to-back double PWM converter; the power absorbed by the rotor from the wind energy is expressed as:
wherein: pmRepresenting the power absorbed by the rotor from the wind energy; p isnomRepresenting the rated power of the wind turbine; ρ represents an air density; rwtRepresenting the radius of the wind wheel; vwRepresenting wind speed; omegawtRepresenting the rotational speed of the wind wheel; t iswtRepresenting the mechanical torque of the wind turbine input drive train; cPRepresenting a wind energy utilization coefficient; λ, β represent the tip speed ratio and pitch angle of the rotor, respectively.
3. The wind-storage combined system-based black start method and the coordination recovery strategy for the receiving-end power grid according to claim 1 are characterized in that the wind turbine adopts virtual synchronous control, including voltage control and excitation control;
(1) excitation control:
virtual rotation equation of the fan:
damping equation of the double-fed asynchronous wind power generator:
PD1＝D1(ω0-ω1) (3)
θr＝∫ωslipdt (4)
ωslip＝ω0-ωr (5)
wherein, ω isNRepresents a nominal frequency; omega1Representing the actual angular frequency; omega0Representing the internal potential angular frequency; m represents a droop coefficient representing the droop effect of the frequency regulator f/P; prefA reference value representing active power; p ismA measurement value representing active power; pD＝PD1；PD1Representing damping power, D1Is a damping coefficient; j. the design is a squareΔRepresenting a virtual inertia constant; omegaslipRepresenting the angular frequency of the rotation difference; thetarIndicates the rotor rotation angle; omegarRepresenting the rotor angular frequency;
(2) voltage control:
wherein, UsAnd UrRepresenting the stator voltage and the rotor voltage, respectively; i issRepresenting a stator current; l iss、LrAnd LmRespectively representing the self-inductance of a stator, the self-inductance of a rotor and the mutual inductance of the rotor; u shapeΔrRepresenting the rotor voltage magnitude compensation term.
4. The wind-storage combined system-based receiving-end power grid black start method and the coordination recovery strategy according to claim 1, further comprising identifying a system order reduction model based on a total least square-rotation invariance technique with high operational efficiency and disturbance rejection capability in a black start process: forming an autocorrelation matrix and a cross-correlation matrix through sampling data to calculate a rotation factor of a signal, solving the frequency and the attenuation factor of the signal through the rotation factor, and finally solving the amplitude and the phase of the signal by combining with the total least square; designing an additional robust controller by a linear matrix inequality robust control method to inhibit low-frequency oscillation occurring in the black start process; the controlled system G(s) has the state equation as follows:
wherein,
and x (t) are the derivative of the state variable and the state variable, respectively; w (t) is the unknown disturbance signal, y (t) is the system output signal, u (t) is the control input signal, z∞(t)、z2(t) is a reference output signal that measures system performance; A. b is1、B2、C1、C2、C3、D11、D12、D22、D31、D32The state matrix, the input matrix, the robust state matrix, the control cost state matrix, the output state matrix, the robust disturbance matrix, the robust output matrix, the disturbance state matrix and the output matrix are respectively. (ii) a
According to the state equation of the output feedback controller K(s), the closed loop system formed by the original system and the controller K(s) is as follows:
wherein,
and
respectively a derivative of a state variable function and a state variable function matrix;
the function of a state matrix, the function of an input matrix, the function of a robust state matrix, the function of a control cost matrix, the function of a robust disturbance matrix and the function of a disturbance output matrix are respectively adopted. (ii) a
The method also comprises the steps that a filter is added into the controller to provide damping for different oscillation modes and inhibit mutual influence among the modes, so that a control target is realized; the input of the controller is the angular speed deviation of the rotor of the receiving-end generator set and is arranged at the active power control part of the battery energy storage system.
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