CN114759595A - Low-frequency oscillation suppression method and device for wind power grid-connected system - Google Patents
Low-frequency oscillation suppression method and device for wind power grid-connected system Download PDFInfo
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Abstract
The application relates to a method and a device for suppressing low-frequency oscillation of a wind power grid-connected system, belongs to the technical field of wind power generation systems, and solves the problem that the low-frequency oscillation suppression and the frequency supporting capability of the wind power grid-connected system cannot be considered in the prior art. Collecting operating state parameters of the doubly-fed wind turbine; calculating to obtain energy curvature components of each energy compensation branch circuit based on the operating state parameters; determining an oscillation suppression function of a preset energy compensation branch according to the energy curvature component; determining frequency response state information of the wind power grid-connected system based on the operation state parameters; determining a frequency support function of a preset energy compensation branch according to the frequency response state information; determining an energy compensation gain coefficient of a preset energy compensation branch according to a preset boundary condition, an oscillation suppression function and a frequency support function; and controlling the preset energy compensation branch circuit to inhibit the low-frequency oscillation of the wind power grid-connected system based on the energy compensation gain coefficient. The technical scheme provided by the application can improve the power angle stability of the system.
Description
Technical Field
The invention belongs to the technical field of wind power generation systems, and particularly relates to a low-frequency oscillation suppression method and device for a wind power grid-connected system.
Background
When the wind turbine generator has certain inertia, the dynamic characteristics of the wind turbine generator are coupled with a system, so that the influence on the motion characteristics of a rotor of the synchronous generator is deepened, and the low-frequency oscillation is possibly aggravated. Therefore, for the wind power grid-connected system containing the virtual inertia, it is of great significance to explore measures capable of simultaneously ensuring stable power angle and stable frequency.
At present, according to the low-frequency oscillation suppression effect and data measurement, the power angle stability of a control link on a fan grid-connected system is qualitatively evaluated, and then measures for guaranteeing the power angle stability and the frequency stability are provided.
However, the low-frequency oscillation suppression effect and the data measurement processing complexity are contradictory, so that the reference for selecting the measurement signal is not strong enough, and the control link can only carry out qualitative analysis on the power angle stability of the fan grid-connected system, thereby reducing the stability effect of measures on the system. Meanwhile, in the prior art, an external damping controller only focuses on improving the suppression capability of low-frequency oscillation, neglects the capability of a control link of a fan to participate in stabilizing the oscillation of the system, and fails to give consideration to both the suppression capability of the low-frequency oscillation and the frequency supporting capability of the wind power grid-connected system.
Disclosure of Invention
In view of the foregoing analysis, the present application aims to provide a method and an apparatus for suppressing low-frequency oscillation of a wind power grid-connected system, so as to solve at least one of the above technical problems.
The purpose of the application is mainly realized by the following technical scheme:
on one hand, the application provides a method for suppressing low-frequency oscillation of a wind power grid-connected system, which is characterized by comprising the following steps:
collecting operating state parameters of the doubly-fed wind turbine;
calculating to obtain energy curvature components of each energy compensation branch circuit based on the running state parameters;
determining an oscillation suppression function of a preset energy compensation branch according to the energy curvature component;
determining frequency response state information of the wind power grid-connected system based on the operation state parameters;
determining a frequency support function of the preset energy compensation branch according to the frequency response state information;
determining an energy compensation gain coefficient of the preset energy compensation branch according to a preset boundary condition, the oscillation suppression function and the frequency support function;
and controlling the preset energy compensation branch circuit to inhibit the low-frequency oscillation of the wind power grid-connected system based on the energy compensation gain coefficient.
Further, the operating state parameters include: the low-frequency oscillation frequency, the low-frequency oscillation attenuation time, the first moment running state parameter and the second moment running state parameter;
the first-time operating state parameters include: active power at the end of the fan at the zero moment of oscillation starting, fan end voltage, fan end phase angle, output line equivalent impedance, grid-connected point voltage, grid-connected point phase angle, output line current, line impedance angle, power factor angle and phase-locked loop phase angle;
the second-time operating state parameters include: the active power at the fan end after the oscillation starts, the fan end voltage, the fan end phase angle, the output line equivalent impedance, the grid-connected point voltage, the grid-connected point phase angle, the output line current, the line impedance angle, the power factor angle and one or more of the phase-locked loop phase angle.
Further, the energy curvature components comprise energy curvature components corresponding to phase angle swing and energy curvature components corresponding to power control;
obtaining the energy curvature component through an energy curvature calculation model;
the energy curvature calculation model includes: a phase angle model and a power control model;
said calculating an energy curvature component based on said operating state parameter, comprising:
calculating to obtain a PCC point voltage disturbance quantity, a machine end voltage disturbance quantity and a phase angle oscillation amplitude of a sent current disturbance quantity based on the operating state parameters;
determining an energy curvature component corresponding to phase angle swing through a phase angle model according to the operating state parameter, the PCC point voltage disturbance quantity, the machine terminal voltage disturbance quantity and the phase angle oscillation amplitude of the sent current disturbance quantity;
and determining an energy curvature component corresponding to power control through a power control model according to the operating state parameter, the PCC point voltage disturbance quantity, the terminal voltage disturbance quantity and the phase angle oscillation amplitude of the sent current disturbance quantity.
Further, the phase angle model is of the general formula:
wherein, Delta ESFor characterizing the energy curvature, Δ E, produced by phase angle swingSPDelta E corresponding to proportionality coefficient used for characterizing phase-locked loopS，ΔESIDelta E corresponding to integral coefficient used for characterizing phase-locked loopS，ΔESLDelta E for characterizing coupling correspondences of d-axis and q-axisS，Kp_pll、Ki_pllAnd respectively representing the proportional coefficient and the integral coefficient of the phase-locked loop. U shapesd0、Isd0、Isq0Respectively representing components of a voltage d axis, a current d axis and a current q axis of a fan end stator at the zero moment of starting oscillation; Δ usd、Δusq、Δisd、ΔisqRespectively representing the disturbance quantities of a voltage d axis, a voltage q axis, a current d axis and a current q axis of a stator at the fan end after oscillation starts; omega represents the low-frequency oscillation frequency; t denotes the oscillation time.
The general formula of the power control model is as follows:
ΔEC＝ΔECP+ΔECI+ΔECL
wherein, Delta ECFor characterizing the energy curvature, Δ E, produced by power control of a converterCPDelta E corresponding to proportionality coefficient used for characterizing phase-locked loopC，ΔECIFor characterizing the corresponding delta E of the integral coefficient of a phase-locked loopC，ΔECLDelta E for characterizing coupling correspondences of d-axis and q-axisC；Kp_pll、Ki_pllRespectively representing the proportional coefficient and the integral coefficient of the phase-locked loop; u shapesd0Representing a voltage d-axis component of a fan end stator at the zero moment of starting oscillation; l ism、LsEquivalent mutual inductance of a stator and a rotor of the doubly-fed fan and self inductance of the stator are respectively obtained; Δ usd、Δusq、Δisd、ΔisqRespectively representing the disturbance quantities of a voltage d axis, a voltage q axis, a current d axis and a current q axis of a stator at the fan end after oscillation starts; Δ ird、ΔirqRespectively are disturbance quantities of command values of a rotor current d axis and a current q axis generated by power control in the low-frequency oscillation process.
Further, the determining an oscillation suppression function of a preset energy compensation branch according to the energy curvature component includes:
respectively calculating energy curvature components corresponding to the phase angle swing of each energy compensation branch circuit according to the phase angle model;
respectively calculating energy curvature components corresponding to the power control of each energy compensation branch according to the power control model;
determining an energy curvature function of each energy compensation branch circuit according to an energy curvature component corresponding to phase angle swing of each energy compensation branch circuit and an energy curvature component corresponding to power control;
determining an oscillation suppression index function of each energy compensation branch according to an energy curvature function of each energy compensation branch, wherein the oscillation suppression index is used for indicating the contribution of the energy compensation branch to a low-frequency oscillation suppression effect;
and determining an oscillation suppression function according to the oscillation suppression index function of each energy compensation branch.
Further, the preset energy compensation branch comprises a first branch and a second branch;
the energy curvature function of the first branch is specifically as follows:
the energy curvature function of the second branch is specifically as follows:
the oscillation suppression index function is:
the oscillation suppression function is:
J1(K1,K2)＝lg(η1+η2+1)
wherein eta isiThe oscillation suppression index is used for representing the ith branch; delta EECiFor characterizing the energy curvature, K, of the ith branchiThe energy compensation gain coefficient is used for representing the ith branch; kp_pll、Ki_pllRespectively representing the proportional coefficient and the integral coefficient of the phase-locked loop; u shapesd0Representing a voltage d-axis component of a fan end stator at the zero moment of starting oscillation; omega represents the low-frequency oscillation frequency; t represents the oscillation time; gamma is a low-frequency oscillation attenuation time constant respectively; thetas.0Representing an outlet voltage initial phase angle of the fan at the zero moment of starting oscillation; thetapll.0Representing an initial phase angle of a phase-locked loop of the fan at the zero moment of starting oscillation; l ism、LsEquivalent mutual inductance of a stator and a rotor of the doubly-fed fan and self inductance of the stator are respectively obtained; omegaU、ΩIThe phase angle oscillation amplitudes of the terminal voltage disturbance quantity and the sent current disturbance quantity are respectively; u shapesIs the fan terminal voltage; i issTo send out line current;
is the power factor angle.
Further, the preset energy compensation branch comprises a first branch and a second branch;
the frequency response state information is specifically:
Pstepfor power shortage, H is the equivalent inertia time constant of the synchronous machine, D is the equivalent damping coefficient, alphaiFor the i-th generator sag factor, TiIs the i-th generator speed regulator time constant, KSGFor capacity ratio of synchronous machines, KDFIGThe capacity ratio of the fan is taken as the capacity ratio; Δ ω is the system frequency disturbance; k1Compensating the energy of the first branch by a gain factor, K2Compensating the energy of the second branch for a gain factor; m isΔωIs the slope of the frequency sectional line; kp_pll、Ki_pllRespectively representing the proportional coefficient and the integral coefficient of the phase-locked loop; u shapesIs the fan terminal voltage; i issTo send out line current; thetas.0Representing an outlet voltage initial phase angle of the fan at the zero moment of starting oscillation; theta.theta.pll.0Representing an initial phase angle of a phase-locked loop of the fan at the zero moment of starting oscillation;
is a power factor angle; delta PGiFor the active power variation of the synchronous machine, KVIAs a gain factor of virtual inertia, Δ PDFIGThe active power variation of the double-fed fan is obtained.
Further, the frequency support function is:
wherein, Δ ωmax0When the compensation branch is not put into use, the wind power grid-connected system responds to the difference between the lowest point of the frequency response and the rated frequency under the action of impact load; Δ ωmax(K1,K2) Is a solution of the following equation:
wherein, Δ ωmaxIs the maximum frequency deviation, tmaxFor the system to reach the maximum frequency deviation moment, mΔωIs the ratio of the two.
Further, the determining an energy compensation gain coefficient of the preset energy compensation branch according to a preset boundary condition, the oscillation suppression function and the frequency support function includes:
determining the oscillation suppression function and the frequency support function as a dual objective function;
optimizing the double objective function by using the preset boundary condition to obtain the energy compensation gain coefficient;
the dual objective function is: max { J1,J2}；
The preset boundary conditions are as follows:
J1is the oscillation suppression function, J2Is the frequency support function; p (x)) 0 is the power flow equation constraint, ωminTo the lower limit of the system frequency, KmaxIs an empirical constant.
On the other hand, the embodiment of the application provides a wind power grid-connected system low-frequency oscillation suppression device, including: the device comprises an acquisition module, a data processing module and a control module;
the acquisition module is used for acquiring the operating state parameters of the double-fed fan;
the data processing module is used for calculating an energy curvature component through a preset energy curvature calculation model based on the running state parameter, wherein the energy curvature component is used for indicating a quadratic derivative value of the dynamic energy of the doubly-fed wind turbine in a state corresponding to the running state parameter; determining an oscillation suppression function of a preset energy compensation branch according to the energy curvature component; determining frequency response state information of the wind power grid-connected system based on the operation state parameters; determining a frequency support function of the preset energy compensation branch according to the frequency response state information; determining an energy compensation gain coefficient of the preset energy compensation branch according to a preset boundary condition, the oscillation suppression function and the frequency support function;
and the control module is used for controlling the corresponding energy compensation branch circuit to inhibit the low-frequency oscillation of the wind power grid-connected system based on the energy compensation gain coefficient.
Compared with the prior art, the application has the technical effects that:
1. and obtaining an oscillation suppression function by taking the energy curvature as an entry point, thereby realizing the quantification and analysis of the power angle stability capability of the grid-connected system. The energy curvature is obtained from the energy curvature component which is a secondary derivative value of the dynamic energy of the doubly-fed fan, so that the evaluation method has high reliability, and the accuracy and the applicability of analyzing the power angle stability capability of the grid-connected system are improved.
2. And finally, determining an energy compensation gain coefficient of the energy compensation branch circuit based on the oscillation suppression function and the frequency support function, thereby realizing the balance between the external low-frequency oscillation suppression capability and the self frequency support capability of the system.
3. The external low-frequency oscillation suppression capability and the self frequency supporting capability of the system are considered, the rapid suppression can be realized within several seconds, the instability of the system due to the overlarge oscillation amplitude is avoided, and the power angle stability of the system is improved.
4. Compared with the traditional method, the frequency supporting capability of the fan participating in the primary frequency modulation process can be properly improved to match with the external adjusting effect while the oscillation suppression capability is improved, so that the system is prevented from exceeding the frequency tolerance range, and the frequency stability of the system is further improved.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings, in which like reference numerals refer to like parts throughout, are for the purpose of illustrating particular embodiments only and are not to be considered limiting of the application.
Fig. 1 is a schematic diagram of a control structure of a converter including virtual inertia control according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of a control structure of a converter after a compensation branch is added to the circuit in fig. 1 according to an embodiment of the present application;
fig. 3 is a flowchart of a method for suppressing low-frequency oscillation of a wind power grid-connected system according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a 10-machine 39-node system in embodiment 1;
FIG. 5a is a variation curve of the energy emitted to the system by the fan along with the control parameters and the time when the system is in failure in the embodiment 1;
FIG. 5b is a graph showing the variation of the energy emitted from the fan to the system with the control parameters and time under the composite fluctuation condition in example 1;
FIG. 6 is a schematic diagram showing system characteristic values of an optimization result in embodiment 1;
FIG. 7 is a characteristic value chart of the system before and after compensation in example 1;
fig. 8a is a variation curve of the current of the grid-connected synchronous machine in three control modes, which is used for energy compensation at the zero time of low-frequency oscillation in the embodiment 1;
fig. 8b is a variation curve of the grid-connected synchronous machine current in three control modes, which is used for energy compensation when low-frequency oscillation is performed for 10 seconds in embodiment 1;
fig. 8c is a variation curve of the grid-connected synchronous machine voltage in three control modes, where energy compensation is performed at zero time of low-frequency oscillation in embodiment 1;
fig. 8d is a variation curve of the grid-connected synchronous machine voltage in three control modes, which is obtained by performing energy compensation during low-frequency oscillation for 10 seconds in embodiment 1;
fig. 8e is a variation curve of the power angle of the grid-connected synchronous machine in three control modes when the low-frequency oscillation zero time in embodiment 1 is used for energy compensation;
fig. 8f is a variation curve of the power angle of the grid-connected synchronous machine in three control modes, which is obtained by performing energy compensation during low-frequency oscillation for 10 seconds in embodiment 1;
fig. 9 is a variation curve of the grid-connected bus operating frequency in three control modes in the primary frequency modulation of embodiment 1.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the application and together with the description, serve to explain the principles of the application and not to limit the scope of the application.
The control structure of the existing converter with virtual inertia control is shown in fig. 1. When the system is disturbed, the low-frequency oscillation of the system is suppressed through the energy compensation branch. The energy compensation branch control structure is shown in fig. 2. It should be noted that, in the embodiment of the present application, there are two main ways to implement the energy compensation branch: first, a new controller is provided on the motor, which can perform energy compensation according to the method described in the embodiments of the present application. Second, the program in the original controller is edited, so that the edited program can perform energy compensation according to the method described in the embodiment of the present application. Fig. 2 corresponds to the second embodiment in the present application.
Wherein, two branches included in fig. 2 are a first branch and a second branch, respectively. K1、K2Respectively representing the energy compensation gain coefficients of the two branches. Pref0Is an initial value of an active reference value, PrefIs an active reference value, QrefIs a reactive reference value, fpllIn fig. 1 and 2, Ki is the integral coefficient of the pll, and Kp is the proportional coefficient of the pll.
The following problems exist in the prior art for evaluating the oscillation suppression capability of two branches:
1. the persuasion of selecting the measurement signal is not strong enough, so that the power angle stability of the fan grid-connected system can only be qualitatively analyzed in the control link, and the stability effect of measures on the system is reduced.
2. Only the suppression capability of the low-frequency oscillation of the energy branch is improved, and the capability of the fan for participating in the suppression of the oscillation of the system is neglected, so that the compensated energy possibly exceeds the frequency tolerance range of the system, and finally, the system is unstable.
In order to solve the above problem, an embodiment of the present application provides a method for suppressing low-frequency oscillation of a wind power grid-connected system, as shown in fig. 3, including the following steps:
step1, collecting operating state parameters of the doubly-fed wind turbine.
In the embodiment of the present application, the operation state parameters include a low-frequency oscillation frequency, a low-frequency oscillation attenuation time, a first-time operation state parameter, and a second-time operation state parameter.
Wherein, the first time refers to the zero time of the oscillation; the second time refers to an arbitrary time after the start of oscillation.
The first-time operating state parameters include: one or more of active power at the fan end, fan end voltage, fan end phase angle, outgoing line equivalent impedance, grid-connected point voltage, grid-connected point phase angle, outgoing line current, line impedance angle, power factor angle and phase-locked loop phase angle at the moment when oscillation starts to zero;
the second moment operation state parameters include: the active power at the fan end after the oscillation starts, the fan end voltage, the fan end phase angle, the output line equivalent impedance, the grid-connected point voltage, the grid-connected point phase angle, the output line current, the line impedance angle, the power factor angle and one or more of the phase-locked loop phase angle.
And 2, calculating an energy curvature component through a preset energy curvature calculation model based on the running state parameters.
In the embodiment of the application, the energy curvature component is used for indicating the second derivative value of the dynamic energy of the doubly-fed wind turbine in the state corresponding to the operating state parameter. The energy curvature component is defined as:
wherein, Δ WAThe non-periodic component increment in the dynamic energy of the generator in one period is known from the above equation, and the energy curvature component delta E is equivalent to the second derivative of the energy function. When the delta E is less than 0, the energy function protrudes upwards, the energy emitted by the system in unit time is increased continuously, and finally the energy exceeds the dissipation capacity and is unstable; when the delta E is larger than 0, the energy function is concave, the energy emitted by the system is continuously reduced, and finally the system does not emit energy any more and is stable. Therefore, the quantitative analysis of the power angle stability of the wind turbine grid-connected system by taking the energy curvature component as the entry point has high reliability.
According to the generation reason of the dynamic energy curvature of the doubly-fed wind turbine grid-connected system, the generation reason can be divided into two parts, namely phase angle swing generation and converter power control generation. I.e. the energy curvature components include energy curvature components corresponding to phase angle swing and energy curvature components corresponding to power control. Accordingly, the energy curvature calculation model includes: a phase angle model and a power control model. Therein, the phase angle model is the curvature resulting from phase angle rocking.
Specifically, the phase angle model has the general formula:
the general formula of the power control model is as follows:
ΔEC＝ΔECP+ΔECI+ΔECL
wherein, Delta ESFor characterizing the energy curvature, Δ E, produced by phase angle swingSPDelta E corresponding to proportionality coefficient used for characterizing phase-locked loopS，ΔESIFor characterizing the corresponding delta E of the integral coefficient of a phase-locked loopS，ΔESLDelta E for characterizing coupling correspondences of d-axis and q-axisS；ΔECFor characterizing the energy curvature, Δ E, produced by power control of a converterCPDelta E corresponding to proportionality coefficient used for characterizing phase-locked loopC，ΔECIDelta E corresponding to integral coefficient used for characterizing phase-locked loopC，ΔECLDelta E for characterizing coupling correspondences of d-axis and q-axisC；Kp_pll、Ki_pllAnd respectively representing the proportional coefficient and the integral coefficient of the phase-locked loop. U shapesd0、Isd0、Isq0Respectively representing components of a voltage d axis, a current d axis and a current q axis of a fan end stator at the zero moment of starting oscillation; Δ usd、Δusq、Δisd、ΔisqRespectively representing the disturbance quantities of a voltage d axis, a voltage q axis, a current d axis and a current q axis of a stator at the fan end after oscillation starts; omega represents the low-frequency oscillation frequency; t denotes the oscillation time. The disturbance amount is a difference value between the corresponding second-time running state parameter and the corresponding first-time running state parameter, or is calculated through the difference value, and other parameters can be directly obtained.
Based on the above formula, the specific process of step2 is:
calculating to obtain the voltage disturbance quantity of the PCC point, the terminal voltage disturbance quantity and the phase angle oscillation amplitude of the sent current disturbance quantity based on the operating state parameters; determining an energy curvature component corresponding to phase angle swing through a phase angle model according to the operating state parameters, the PCC point voltage disturbance quantity, the machine terminal voltage disturbance quantity and the phase angle oscillation amplitude of the sent current disturbance quantity; and determining an energy curvature component corresponding to power control through a power control model according to the operating state parameter, the PCC point voltage disturbance quantity, the terminal voltage disturbance quantity and the phase angle oscillation amplitude of the sent current disturbance quantity. Wherein the PCC points are points of common attachment.
And 3, determining an oscillation suppression function of the preset energy compensation branch circuit according to the energy curvature component.
In the embodiment of the present application, the specific process of step3 includes:
and S1, respectively calculating energy curvature components corresponding to the phase angle swing of each energy compensation branch circuit according to the phase angle model.
And S2, respectively calculating energy curvature components corresponding to the power control of each energy compensation branch according to the power control model.
And S3, determining the energy curvature function of each energy compensation branch according to the energy curvature component corresponding to the phase angle swing of each energy compensation branch and the energy curvature component corresponding to the power control.
In the embodiment of the present application, the energy curvature functions of the two branches in fig. 2 are respectively:
the energy curvature function of the first branch is specifically as follows:
the energy curvature function of the second branch is specifically as follows:
wherein L ism、LsEquivalent mutual inductance of a stator and a rotor of the doubly-fed fan and self inductance of the stator are respectively obtained; omegaU、ΩIThe phase angle oscillation amplitudes of the terminal voltage disturbance quantity and the sent current disturbance quantity are respectively; u shapesIs the fan terminal voltage; i issTo send out line current;
is the power factor angle. The disturbance amount is a difference value between the corresponding second-time running state parameter and the corresponding first-time running state parameter, or is calculated through the difference value, and other parameters can be directly obtained.
For example, when the front energy curvature is negative, the energy dissipated by the system is continuously increased, and therefore, the essence of the energy compensation branch is to inject energy into the system to compensate the energy loss corresponding to the negative curvature component. Therefore, the first branch is used for compensating the energy loss caused by the change of the d-axis component of the stator current, and the second branch is used for compensating the energy loss caused by the change of the q-axis component of the stator voltage.
And S4, determining the oscillation suppression index function of each energy compensation branch according to the energy curvature function of each energy compensation branch.
And S5, determining an oscillation suppression function according to the oscillation suppression index function of each energy compensation branch.
In the embodiment of the present application, the oscillation suppression index is used to indicate the contribution of the energy compensation branch to the low-frequency oscillation suppression effect.
The oscillation suppression index function is:
the oscillation suppression function is:
J1(K1,K2)＝lg(η1+η2+1)
wherein eta isiThe oscillation suppression index is used for representing the ith branch; delta EECiFor characterizing the energy curvature of the ith branch.
And 4, determining frequency response state information of the wind power grid-connected system based on the operation state parameters.
In the embodiment of the present application, the frequency response status information specifically includes:
Pstepfor power shortage, H is the equivalent inertia time constant of the synchronous machine, D is the equivalent damping coefficient, alphaiFor the i-th generator sag factor, TiIs the i-th generator speed regulator time constant, KSGFor capacity ratio of synchronous machines, KDFIGThe capacity ratio of the fan is taken as the capacity ratio; Δ ω is the system frequency disturbance; k1Compensating the energy of the first branch by a gain factor, K2Compensating the energy of the second branch for a gain factor; m isΔωIs the slope of the frequency sectional line; kp_pll、Ki_pllRespectively representing the proportional coefficient and the integral coefficient of the phase-locked loop; u shapesIs the fan terminal voltage; i issTo send out line current; thetas.0Representing an outlet voltage initial phase angle of the fan at the zero moment of starting oscillation; thetapll.0Representing an initial phase angle of a phase-locked loop of the fan at the zero starting moment of oscillation;
is a power factor angle; delta PGiFor the active power variation of the synchronous machine, KVIAs a gain factor of virtual inertia, Δ PDFIGThe active power variation of the doubly-fed wind turbine is shown. The disturbance amount is a difference value between the corresponding second-time running state parameter and the corresponding first-time running state parameter, or is calculated through the difference value, and other parameters can be directly obtained.
And 5, determining a frequency support function of the preset energy compensation branch according to the frequency response state information.
In the embodiment of the present application, the frequency support function is:
wherein, Δ ωmax0When the compensation branch is not put into the wind power grid-connected system, the difference between the lowest point of the frequency response and the rated frequency is obtained under the action of impact load, and the value of the parameter for a specific circuit is a fixed value or can be directly obtained by the conventional measuring method. And Δ ωmax(K1,K2) It needs to be solved by the following equation. The specific process is as follows:
suppose time tmaxMaximum frequency deviation delta omega of time systemmax，mΔωCan be approximated as Δ ωmax/tmax. The relation between delta omega and t can be obtained through a time domain expression of the frequency response state information. Let t be tmaxCan obtain delta omegamaxFrom the time d Δ ω/dt equal to 0, another relation between Δ ω and t can be obtained from the frequency response state information.
The two relations form a binary equation set:
the solution of this system of equations is Δ ωmax(K1,K2)。
And 6, determining an energy compensation gain coefficient of a preset energy compensation branch according to the preset boundary condition, the oscillation suppression function and the frequency support function.
In the embodiment of the application, the oscillation suppression function and the frequency support function are determined to be double objective functions; and optimizing the dual-objective function by using a preset boundary condition to obtain an energy compensation gain coefficient.
Wherein, the two target functions are: max { J1,J2}；
The preset boundary conditions are as follows:
J1as a function of oscillation suppression, J2Is a frequency support function; p (x) 0 is the power flow equation constraint, ωminIs the lower limit of the system frequency, KmaxIs an empirical constant.
Aiming at the model, in order to ensure the compatibility and the effectiveness of the optimization strategy, the optimization scheme adopted by the method is that a parameter set S is obtained by using a multi-target wolf optimization algorithm (MOGWOL), and the parameter set S is subjected to arithmetic mean to obtain an optimal parameter pair
Namely the compensation gain coefficient of each energy compensation branch circuit, the steps are as follows:
step 1: randomly generating primary parameter set samples S in the parameter search range0。
Step 2: parameter set S0Substituting the oscillation suppression index function to calculate eta1、η2Then eta is added1、η2Substitution type oscillation suppression function J1. Parameter set S0Substituting the above equation set to obtain Δ ωmax(K1,K2) Then, the value of Δ ωmax(K1,K2) Substituted frequency support function J2And judging whether the constraint condition is satisfied, if not, regenerating S0。
Step 3: according to the value of the objective function J1And J2And updating the parameter set through MOGWO, and reserving the non-dominated parameter pair.
Step 4: and repeating the Step2-3 searching process until the iteration times are met, and terminating the searching. Calculating the average value of the current parameter set S, namely obtaining the optimal energy compensation branch parameter pair
And 7, controlling the corresponding energy compensation branch circuit to inhibit the low-frequency oscillation of the wind power grid-connected system based on the energy compensation gain coefficient.
The embodiment of the application further provides a low-frequency oscillation suppression device of a wind power grid-connected system, which comprises: the device comprises an acquisition module, a data processing module and a control module;
the acquisition module is used for acquiring the operating state parameters of the double-fed fan;
the data processing module is used for calculating an energy curvature component through a preset energy curvature calculation model based on the running state parameter, wherein the energy curvature component is used for indicating a secondary derivative value of the dynamic energy of the doubly-fed wind turbine in a state corresponding to the running state parameter; determining an oscillation suppression function of a preset energy compensation branch according to the energy curvature component; determining frequency response state information of the wind power grid-connected system based on the operation state parameters; determining a frequency support function of the preset energy compensation branch according to the frequency response state information; determining an energy compensation gain coefficient of the preset energy compensation branch according to a preset boundary condition, the oscillation suppression function and the frequency support function;
and the control module is used for controlling the corresponding energy compensation branch circuit to inhibit the low-frequency oscillation of the wind power grid-connected system based on the energy compensation gain coefficient.
To demonstrate the feasibility of the above method, the present application presents example 1:
the system structure of embodiment 1 is shown in fig. 4, the wind turbine grid-connected system is based on a 10-machine 39-node model, the synchronous machine G1 is replaced by 1000 parallel 1.5MW doubly-fed wind turbine generators, the wind turbine generators are collected to a Bus through a 0.69/20kV field transformer, and then the Bus 39 is connected through a 20/230kV transformer. The remaining parameters are shown in tables 1-3.
TABLE 1 doubly-fed wind turbine parameters
TABLE 2 rotor converter parameters
TABLE 3 Sync machine parameters
In the present embodiment, a low-frequency oscillation scene is set as a Load small disturbance, the disturbance time t is 5.1s, the end time t is 5.2s, the Load fluctuation amplitude is 1%, and the Load position is Load 08. Setting the primary frequency modulation scene as the load fluctuation amplitude of 5 percent, and the disturbance moment t is 5 s.
Firstly, in order to verify the curvature compensation effect of the compensation branch, the control parameter K in the example scene is continuously improved1,K2. The operation data acquisition module is used for acquiring voltage and current information of each state variable of the system and transmitting the voltage and current information to the data processing module.
The operation data processing module is used for extracting low-frequency oscillation components of voltage and current of each state variable in the data acquisition module, calculating a change curve of energy along with improvement of control parameters after low-frequency oscillation is generated due to disturbance of a system, and verifying the correctness of the branch energy curvature compensation effect as shown in fig. 5a and 5 b.
And the data processing module is operated, low-frequency oscillation suppression and frequency support evaluation indexes are calculated according to the energy curvature and system parameters, and MOGWO dual-target optimization parameters are adopted. The optimized result set is shown in fig. 6, and the optimized system characteristic values are shown in fig. 7. Optimized K1,K2Under the control and the conventional droop control, the voltage, current and power angle change curves of the grid-connected synchronous machine during low-frequency oscillation are shown in fig. 8a-8 f. Optimized K1,K2Under control and conventional droop control, the efficiency of the fan with both low-frequency oscillation suppression and frequency support capability improved by the compensation branch optimization strategy is verified by comparing the operating frequency curve of the grid-connected bus during primary frequency modulation with that shown in fig. 9.
The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application.
Claims (10)
1. A method for suppressing low-frequency oscillation of a wind power grid-connected system is characterized by comprising the following steps:
collecting operating state parameters of the doubly-fed wind turbine;
calculating to obtain energy curvature components of each energy compensation branch circuit based on the running state parameters;
determining an oscillation suppression function of a preset energy compensation branch according to the energy curvature component;
determining frequency response state information of the wind power grid-connected system based on the operation state parameters;
determining a frequency support function of the preset energy compensation branch according to the frequency response state information;
determining an energy compensation gain coefficient of the preset energy compensation branch according to a preset boundary condition, the oscillation suppression function and the frequency support function;
and controlling the preset energy compensation branch circuit to inhibit the low-frequency oscillation of the wind power grid-connected system based on the energy compensation gain coefficient.
2. The method of claim 1,
the operating state parameters include: the low-frequency oscillation frequency, the low-frequency oscillation attenuation time, the first moment running state parameter and the second moment running state parameter;
the first-time operating state parameters include: active power at the end of the fan at the zero moment of oscillation starting, fan end voltage, fan end phase angle, output line equivalent impedance, grid-connected point voltage, grid-connected point phase angle, output line current, line impedance angle, power factor angle and phase-locked loop phase angle;
the second-time operating state parameters include: the active power at the fan end after the oscillation starts, the fan end voltage, the fan end phase angle, the output line equivalent impedance, the grid-connected point voltage, the grid-connected point phase angle, the output line current, the line impedance angle, the power factor angle and one or more of the phase-locked loop phase angle.
3. The method of claim 1, wherein the energy curvature components include energy curvature components corresponding to phase angle rocking and energy curvature components corresponding to power control;
obtaining the energy curvature component through an energy curvature calculation model;
the energy curvature calculation model includes: a phase angle model and a power control model;
said calculating an energy curvature component based on said operating state parameter comprises:
calculating to obtain a PCC point voltage disturbance quantity, a machine terminal voltage disturbance quantity and a phase angle oscillation amplitude of a sent current disturbance quantity based on the operating state parameters;
determining an energy curvature component corresponding to phase angle swing through a phase angle model according to the operating state parameter, the PCC point voltage disturbance quantity, the machine terminal voltage disturbance quantity and the phase angle oscillation amplitude of the sent current disturbance quantity;
and determining an energy curvature component corresponding to power control through a power control model according to the operating state parameter, the PCC point voltage disturbance quantity, the terminal voltage disturbance quantity and the phase angle oscillation amplitude of the sent current disturbance quantity.
4. The method of claim 3,
the phase angle model has the general formula:
ΔES＝ΔESP+ΔESI+ΔESL
wherein, Delta ESFor characterizing energy curvature resulting from phase angle rocking，ΔESPDelta E corresponding to proportionality coefficient used for characterizing phase-locked loopS，ΔESIFor characterizing the corresponding delta E of the integral coefficient of a phase-locked loopS，ΔESLDelta E for characterizing coupling correspondences of d-axis and q-axisS，Kp_pll、Ki_pllAnd respectively representing the proportional coefficient and the integral coefficient of the phase-locked loop. U shapesd0、Isd0、Isq0Respectively representing components of a voltage d axis, a current d axis and a current q axis of a fan end stator at the zero moment of starting oscillation; Δ usd、Δusq、Δisd、ΔisqRespectively representing the disturbance quantities of a voltage d axis, a voltage q axis, a current d axis and a current q axis of a stator at the fan end after oscillation starts; omega represents the low-frequency oscillation frequency; t represents the oscillation time;
the general formula of the power control model is as follows:
ΔEC＝ΔECP+ΔECI+ΔECL
wherein, Delta ECFor characterizing the energy curvature, Δ E, produced by power control of a converterCPDelta E corresponding to proportionality coefficient used for characterizing phase-locked loopC，ΔECIFor characterizing the corresponding delta E of the integral coefficient of a phase-locked loopC，ΔECLDelta E for characterizing coupling correspondences of d-axis and q-axisC；Kp_pll、Ki_pllRespectively representing the proportional coefficient and the integral coefficient of the phase-locked loop; u shapesd0Representing a voltage d-axis component of a fan end stator at the zero moment of starting oscillation; l ism、LsEquivalent mutual inductance of a stator and a rotor of the doubly-fed fan and self inductance of the stator are respectively obtained; Δ usd、Δusq、Δisd、ΔisqRespectively representing the disturbance quantities of a voltage d axis, a voltage q axis, a current d axis and a current q axis of a stator at the fan end after oscillation starts; Δ ird、ΔirqRespectively are disturbance quantities of command values of a rotor current d axis and a current q axis generated by power control in the low-frequency oscillation process.
5. The method of claim 3,
the determining an oscillation suppression function of a preset energy compensation branch according to the energy curvature component includes:
respectively calculating energy curvature components corresponding to the phase angle swing of each energy compensation branch circuit according to the phase angle model;
respectively calculating energy curvature components corresponding to the power control of each energy compensation branch according to the power control model;
determining an energy curvature function of each energy compensation branch circuit according to an energy curvature component corresponding to phase angle swing of each energy compensation branch circuit and an energy curvature component corresponding to power control;
determining an oscillation suppression index function of each energy compensation branch according to the energy curvature function of each energy compensation branch, wherein the oscillation suppression index is used for indicating the contribution of the energy compensation branch to the low-frequency oscillation suppression effect;
and determining an oscillation suppression function according to the oscillation suppression index function of each energy compensation branch.
6. The method of claim 5, wherein the predetermined energy compensating branch comprises a first branch and a second branch;
the energy curvature function of the first branch is specifically as follows:
the energy curvature function of the second branch is specifically as follows:
the oscillation suppression index function is:
the oscillation suppression function is:
J1(K1,K2)＝lg(η1+η2+1)
wherein eta isiThe oscillation suppression index is used for representing the ith branch; delta EECiFor characterizing the energy curvature, K, of the ith branchiThe energy compensation gain coefficient is used for representing the ith branch; kp_pll、Ki_pllRespectively representing the proportional coefficient and the integral coefficient of the phase-locked loop; u shapesd0Representing a voltage d-axis component of a fan end stator at the zero moment of starting oscillation; omega represents the low-frequency oscillation frequency; t represents the oscillation time; gamma is respectively a low-frequency oscillation attenuation time constant; thetas.0Representing an outlet voltage initial phase angle of the fan at the zero moment of starting oscillation; thetapll.0Representing an initial phase angle of a phase-locked loop of the fan at the zero starting moment of oscillation; l ism、LsEquivalent mutual inductance of a stator and a rotor of the doubly-fed fan and self inductance of the stator are respectively obtained; omegaU、ΩIThe phase angle oscillation amplitudes of the terminal voltage disturbance quantity and the sent current disturbance quantity are respectively; u shapesIs the fan terminal voltage; i issTo send out line current;
is the power factor angle.
7. The method according to any one of claims 1 to 6,
the preset energy compensation branch comprises a first branch and a second branch;
the frequency response state information is specifically:
Pstepfor power shortage, H is the equivalent inertia time constant of the synchronous machine, D is the equivalent damping coefficient, alphaiFor the i-th generator sag factor, TiIs the i-th generator speed regulator time constant, KSGFor capacity ratio of synchronous machines, KDFIGThe capacity ratio of the fan is taken as the capacity ratio; Δ ω is the system frequency disturbance; k1Compensating the energy of the first branch by a gain factor, K2Compensating the energy of the second branch for a gain factor; m isΔωIs the slope of the frequency sectional line; kp_pll、Ki_pllRespectively representing the proportional coefficient and the integral coefficient of the phase-locked loop; u shapesIs the fan terminal voltage; i issTo send out line current; theta.theta.s.0Representing an outlet voltage initial phase angle of the fan at the zero moment of starting oscillation; thetapll.0Representing an initial phase angle of a phase-locked loop of the fan at the zero moment of starting oscillation;
is a power factor angle; delta PGiFor the active power variation of the synchronous machine, KVIAs a gain factor of virtual inertia, Δ PDFIGThe active power variation of the doubly-fed wind turbine is shown.
8. The method of claim 7,
the frequency support function is:
wherein, Δ ωmax0When the compensation branch is not put into, the wind power grid-connected system responds to the difference between the lowest point of the frequency response and the rated frequency under the action of impact load; Δ ωmax(K1,K2) Is a solution of the following equation:
wherein, Δ ωmaxIs the maximum frequency deviation, tmaxFor the system to reach the maximum frequency deviation moment, m in the formulaΔωIs the ratio of the two.
9. The method according to any one of claims 3 to 8,
the determining an energy compensation gain coefficient of the preset energy compensation branch according to a preset boundary condition, the oscillation suppression function and the frequency support function includes:
determining the oscillation suppression function and the frequency support function as a dual objective function;
optimizing the double objective function by using the preset boundary condition to obtain the energy compensation gain coefficient;
the dual objective function is: max { J1,J2}；
The preset boundary conditions are as follows:
J1is the oscillation suppression function, J2Is the frequency support function; p (x) 0 is the power flow equation constraint, ωminIs the lower limit of the system frequency, KmaxIs an empirical constant.
10. The utility model provides a wind-powered electricity generation grid-connected system low frequency oscillation suppression device which characterized in that includes: the device comprises an acquisition module, a data processing module and a control module;
the acquisition module is used for acquiring the operating state parameters of the double-fed fan;
the data processing module is used for calculating an energy curvature component through a preset energy curvature calculation model based on the running state parameter, wherein the energy curvature component is used for indicating a secondary derivative value of the dynamic energy of the doubly-fed wind turbine in a state corresponding to the running state parameter; determining an oscillation suppression function of a preset energy compensation branch according to the energy curvature component; determining frequency response state information of the wind power grid-connected system based on the operation state parameters; determining a frequency support function of the preset energy compensation branch circuit according to the frequency response state information; determining an energy compensation gain coefficient of the preset energy compensation branch according to a preset boundary condition, the oscillation suppression function and the frequency support function;
and the control module is used for controlling the corresponding energy compensation branch circuit to inhibit the low-frequency oscillation of the wind power grid-connected system based on the energy compensation gain coefficient.
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