CN114665471B - Black start and coordination recovery method for receiving-end power grid based on wind power storage combined system - Google Patents
Black start and coordination recovery method for receiving-end power grid based on wind power storage combined system 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, wherein a battery energy storage system is started firstly, the energy storage system adopts V/f control, and the energy storage system maintains the bus voltage and frequency of the power grid; 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 when the wind storage combined system is in heavy power failure at the receiving end, and the proposed receiving end coordination recovery strategy can effectively ensure the stability of the system at 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-storage combined system.
Background
The scale of a power system in China is huge, the structure of a 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 current power grid is more seriously affected by various unconventional events such as extreme weather, artificial damage and the like, the safe operation risk of the power grid is rapidly increased, and the probability of the power grid black start scene caused by large-scale power failure accidents is continuously improved.
In recent years, blackout accidents occur continuously around the world, and cause huge economic loss and social influence to relevant countries. Therefore, the power department must face the complex external environment in the new situation besides ensuring 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 in 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, and if the region depends on hydroelectric power plants in other power grids, the recovery time may be long, so that serious economic loss is caused.
In areas rich in wind energy, wind power plants have become a local and important power source. According to statistics of the global wind energy council, the wind power permeability in China is estimated to reach about 15% in 2035 years. Due to the volatility and randomness of wind power, the inertia of a power grid is reduced and the stability is poor due to the large-scale wind power centralized access, so that the current phenomenon of abandoning wind is serious. Considering 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, so that the wind power storage combined system 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 power grid blackout at a receiving end needs to be studied deeply.
The prior art scheme and the existing problems are as follows:
the method comprises the following steps: 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 research [ J ] hydroelectric power station electromechanical technology, 2021,44 (03): 57-58+94. Doi.
The key technology research on black start of hydropower plant [ J ] Yunnan electric power technology, 2021,49 (05): 54-57.
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.
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 is lack of water resources in partial regions of China, so that a hydroelectric power plant is 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:
document [4] wanhai flood, whole river yuan, energy storage system control and configuration for damping wind power fluctuations is reviewed [ J ] power system automation, 2014,38 (19): 126-135.
A control method for stabilizing fluctuation of output power of wind power generation by a hybrid energy storage system, jianping, xiong Huachuan and the document [5] is designed [ J ] power system automation, 2013,37 (01): 122-127.
Document [6] Li Xiangjun, hui Dong, wu Li and Lai Xiaokang, "Control strategy of basic state of charge for wind/basic hybrid power system,"2010IEEE International Symposium on Industrial electronics,2010, pp.2723-2726, doi 10.1109/ISIE.2010.567016.
The problem with this measure is that the energy storage system effectively suppresses the frequency fluctuation of the wind turbine, but the wind-storage combined system is not applied to the black start of the receiving-end 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, panhei, eastern licence. Double-fed wind farm black start scheme using improved virtual synchronous control [ J ]. Solar bulletin, 2021,42 (04): 162-167.doi.
Document [8] M.Aktarujjaman, M.A.Kashem, M.Negnevitsk and G.Ledwich, "Black start with dfig base distributed generation after major generators," 2006International Conference on Power electronics, drives and Energy systems,2006, pp.1-6, doi.
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: an external energy storage system grid-connected wind turbine generator can be provided with the following references:
the document [9] the possibility of the energy storage type wind power station as a black start power supply of a local area network discusses [ J ] the feasibility of the 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 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 a recovery stage system. 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 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 generating 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: p m Representing the power absorbed by the rotor from the wind energy; p nom Representing the rated power of the wind turbine; ρ represents an air density; r is wt Representing the radius of the wind wheel; v w Representing wind speed; omega wt Representing the rotational speed of the wind rotor; t is wt Representing the mechanical torque of the wind turbine input drive train; c P Representing 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):
P D1 ＝D 1 (ω 0 -ω 1 ) (3)
θ r ＝∫ω slip dt (4)
ω slip ＝ω 0 -ω r (5)
wherein, ω is N Represents a nominal frequency; omega 1 Representing the actual angular frequency; omega 0 Representing the internal potential angular frequency; m represents a droop coefficient representing the droop effect of the frequency regulator f/P; p ref A reference value representing active power; p m A measurement value representing active power; p D ＝P D1 ；P D1 Representing damping power, D 1 Is a damping coefficient; j. the design is a square Δ Representing a virtual inertia constant; omega slip Representing the angular frequency of the rotation difference; theta r Indicates the rotor rotation angle; omega r Representing the rotor angular frequency;
(2) Voltage control:
wherein, U s And U r Representing the stator voltage and the rotor voltage, respectively; i is s Representing a stator current; l is s 、L r And L m Respectively representing the self-inductance of the stator, the self-inductance of the rotor and the mutual inductance of the rotor; u shape Δr Representing 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:
wherein,
and x (t) is the derivative of the state variable, respectively; w (t) is unknown disturbance signal, y (t) is system output signal, u (t) is control input signal, z ∞ (t)、z 2 (t) is a reference output signal that measures system performance; A. b is 1 、B 2 、C 1 、C 2 、C 3 、D 11 、D 12 、D 22 、D 31 、D 32 Respectively a state matrix, an input matrix, a robust state matrix, a control cost state matrix, an output state matrix, a robust disturbance matrix, a robust output matrix, a disturbance state matrix and an output matrix;
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; />
Respectively a state matrix function, an input matrix function, a robust state matrix function, a control cost matrix function, a robust disturbance matrix function and a disturbance output matrix function;
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 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, a better supporting effect is realized on the frequency, 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 damaged by secondary power failure due to the fact that the low-frequency oscillation occurs to the system caused by insufficient damping between the rotors of the generator, and the system is unstable finally caused can be avoided.
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) fan grid connection frequency changes; and (b) changing the effective value of the fan grid connection.
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 variation; and (b) the effective value of the load grid-connected voltage changes.
FIG. 7 is a grid connection process of a plant generator; (a) generator grid connection frequency variation; and (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) a handover control process frequency change; (b) switching control process voltage variations.
FIG. 11 is a grid-connected waveform diagram of a receiver generator set; the grid-connected frequency of a receiving-end generator set changes; and (b) grid connection of the receiving-end generating set and the receiving-end generating set.
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 is a graph showing frequency fluctuation results at various stages during a black start process of a DFIG rotor-side converter under different control strategies; (a) a fan grid connection process; (b) a service load grid connection process; (c) controlling a handover process; and (d) grid connection process of the receiving-end generator set. FIG. 14 AC system bus fault analysis; (a) ac bus frequency; (b) an alternating bus voltage; (c) power at the outlet of the energy storage system.
FIG. 15 is a diagram of a system model 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 black start method and a coordination recovery strategy of a receiving-end power grid based on a wind power storage combined system, which comprises 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 (35 KV) and the frequency (50 Hz) 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 line, 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-connected conditions, a fan is incorporated into a power grid to realize the starting of the wind power plant. At the moment, the energy storage system adopts V/f control.
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 power 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 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 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 a double-fed wind driven asynchronous generator is considered 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 the 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 m Representing the power absorbed by the rotor from the wind energy; p nom Representing the rated power of the wind turbine; ρ represents an air density; r wt Representing the radius of the wind wheel; v w Representing wind speed; omega wt Representing the rotational speed of the wind rotor; t is wt Representing the mechanical torque of the wind turbine input drive train; c P Representing a wind energy utilization coefficient; λ, β represent the tip speed ratio and pitch angle of the rotor, respectively.
Fig. 4 shows a waveform diagram of grid connection of a wind turbine. In the initial stage of black start, the voltage and frequency of an alternating current bus are established by the energy storage system, initial excitation is provided for the wind turbine generator, fig. 4 shows that fan grid connection is carried out in 3.01s, the energy storage system adopts constant V/f control at the moment, and the fans adopt virtual synchronous control. Fig. 4 (a) shows frequency variation in the process of grid connection of a fan, and the frequency of the fan controlled by virtual synchronization is increased to 50.59Hz at most 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 0.037pu. 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
P D1 ＝D 1 (ω 0 -ω 1 ) (3)
θ r ＝∫ω slip dt (4)
ω slip ＝ω 0 -ω r (5)
Wherein, ω is N Represents a nominal frequency; omega 1 Representing the actual angular frequency; omega 0 Representing the internal potential angular frequency; m represents a droop coefficient representing the droop effect of the frequency regulator f/P; p ref A reference value representing active power; p m A measurement value representing active power; p D1 Representing damping power, D 1 Is a damping coefficient; j. the design is a square Δ Representing a virtual inertia constant; omega slip Representing 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. According to 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 models the damping characteristics of a synchronous generator.
(b) Voltage control
Wherein, U s 、U r Respectively representing stator and rotor voltages; i is s 、I r Respectively representing stator and rotor currents; r s 、R r Respectively representing stator and rotor resistances; psi s 、ψ r Respectively showing stator and rotor flux linkages. L is s 、L r 、L m Respectively representing the self-inductance of the stator, the self-inductance of the rotor and the mutual inductance; i is s 、I r Representing stator and rotor currents, respectively.
FIG. 5 shows a block diagram of virtual synchronization control of the DFIG.
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 the rest of the 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 power plant. 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 respectively show the grid-connection process of the internal load of the wind power plant and the plant generator, fig. 6 (a) and 6 (b) respectively show the fluctuation of the power grid frequency and the voltage when the internal load of the wind power plant is connected to the grid, the maximum fluctuation of the frequency amplitude is 0.12Hz respectively, 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 connection 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 0.004pu. 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 the wind turbine generator maintains the voltage and the frequency of the power grid. In order to enable the wind storage combined system to be stable in the whole black start process and prevent the over-charging 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 battery energy storage system is controlled by adopting the V/f control strategy shown in FIG. 8, and the voltage reference value U is used for controlling the battery energy storage system Bref And a frequency reference value f Bref The 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, and when the energy storage system is switched to a control mode, the energy storage system adopts a P/Q control strategy shown in FIG. 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. And controlling the grid-side converter of the doubly-fed wind turbine generator by adopting a vector control technology based on grid voltage orientation 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, respectively, after the control mode of the energy storage system is switched, the control strategy of the energy storage system is switched at the 7 th time, 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 the alternating current system can be effectively stabilized by adopting the DFIG adopting the virtual synchronous control, the wind power plant provided 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 voltage fluctuation during the control switching process of the energy storage system, and the maximum fluctuation amplitude is 0.06pu, which embodies the voltage supporting effect of the DFIG under the virtual synchronous control on the alternating current system.
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 of participating in black start of a receiving end power grid by the wind storage combined system 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, indicating that the receiving-end generator is successfully connected to the grid, and completing 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 a 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 a rotation factor of a signal, the frequency and the attenuation factor of the signal are calculated through the rotation factor, and finally the amplitude and the phase of the signal are calculated 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 invention adopts the robustness based on the linear matrix inequalityThe system model, which controls the theoretical basis and takes into account the additive model error, is shown in fig. 15: g(s) is a controlled system; k(s) is a controller; w is unknown disturbance; y is the system output; u is a control input; w 1 、W 2 、W 3 Is a function to be weighted; z is a radical of ∞1 ，z ∞2 ，z 2 Is a reference output for measuring the performance of the system. Let z be ∞ ＝[z ∞1 z ∞2 ] T Then, the controlled system G(s) has the equation of state:
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,
the controller of the present invention is designed with the following objectives: (1) regional pole allocation: the introduction of the controller needs to ensure good damping characteristic of the system; (2) H ∞ Performance; (3) H 2 Performance; (4) multi-target simultaneous; the controller obtained by the aim 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 a 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 angular speed deviation of a rotor of the receiving-end generator set, the controller is arranged at an active power control position of the battery energy storage system, and the structure is shown in fig. 16.
At the time of 10.6s, the active power reference value P of the energy storage system controlled by P/Q is adopted ref Increasing from 1pu to 1.03pu; the effect of suppressing the rotor angular velocity difference between the started plant generator and the receiver-side generator set is shown in fig. 17. Simulations show that the additional robust controller designed has good suppression measures for low frequency oscillations occurring during black start. Indicating the addition of additional robustness during black startThe controller can improve the stability of the black start process.
Claims (3)
1. A black start and coordination recovery method for a receiving-end power grid based on a wind power storage combined system is 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;
and 2, step: 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 3, 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 generating 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 for subsequent power grid recovery;
and in the black start process, identifying a system reduced-order model based on the total least square-rotation invariance with high operation efficiency and interference rejection capacity: 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 and the state variable, respectively; w (t) is unknown disturbance signal, y (t) is system output signal, u (t) is control input signal, z ∞ (t)、z 2 (t) is a reference output signal that measures system performance; A. b is 1 、B 2 、C 1 、C 2 、C 3 、D 11 、D 12 、D 22 、D 31 、D 32 Respectively a state matrix, an input matrix, a robust state matrix, a control cost state matrix, an output state matrix, a robust disturbance matrix, a robust output matrix, a disturbance state matrix and an output matrix;
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; />
Respectively a state matrix function, an input matrix function, a robust state matrix function, a control cost matrix function, a robust disturbance matrix function and a disturbance output matrix function; />
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.
2. The wind-storage combined system-based black start and coordinated recovery method for the receiving-end power grid according to claim 1, wherein the doubly-fed wind power asynchronous generator comprises a wind wheel, a transmission gear system, a doubly-fed generator and a back-to-back double PWM converter; the power absorbed by the rotor from the wind energy is expressed as:
wherein: p m Representing the power absorbed by the rotor from the wind energy; p nom Representing the rated power of the wind turbine; ρ represents an air density; r wt Representing the radius of the wind wheel; v w Representing wind speed; omega wt Representing the rotational speed of the wind rotor; t is wt Representing the mechanical torque of the wind turbine input drive train; c P Representing 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 and coordination recovery method for the receiving-end power grid according to claim 1, wherein 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:
P D1 ＝D 1 (ω 0 -ω 1 ) (3)
θ r ＝∫ω slip dt (4)
ω slip ＝ω 0 -ω r (5)
wherein, ω is N Represents a nominal frequency; omega 1 Representing the actual angular frequency; omega 0 Representing the internal potential angular frequency; m represents a droop coefficient representing the droop effect of the frequency regulator f/P; p ref A reference value representing active power; p m A measurement value representing active power; p D ＝P D1 ；P D1 Representing damping power, D 1 Is a damping coefficient; j. the design is a square Δ Representing a virtual inertia constant; omega slip Representing the angular frequency of the rotation difference; theta r Indicates the rotor rotation angle; omega r Representing the rotor angular frequency;
(2) Voltage control:
wherein, U s And U r Representing the stator voltage and the rotor voltage, respectively; i is s Representing a stator current; l is a radical of an alcohol s 、L r And L m Respectively representing the self-inductance of the stator, the self-inductance of the rotor and the mutual inductance of the rotor; u shape Δr Representing the rotor voltage magnitude compensation term.
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