CN115085268A - Virtual-like synchronous generator inertia control system for direct-drive wind turbine generator - Google Patents

Virtual-like synchronous generator inertia control system for direct-drive wind turbine generator Download PDF

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CN115085268A
CN115085268A CN202210859420.XA CN202210859420A CN115085268A CN 115085268 A CN115085268 A CN 115085268A CN 202210859420 A CN202210859420 A CN 202210859420A CN 115085268 A CN115085268 A CN 115085268A
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direct
current
wind turbine
turbine generator
inertia
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朱晓荣
沈可心
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North China Electric Power University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/381—Dispersed generators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/01—Arrangements for reducing harmonics or ripples
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/36—Arrangements for transfer of electric power between ac networks via a high-tension dc link
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
    • H02J3/466—Scheduling the operation of the generators, e.g. connecting or disconnecting generators to meet a given demand
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/12—Arrangements for reducing harmonics from ac input or output
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
    • H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
    • H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
    • H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
    • H02M7/12—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/21—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/217—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M7/219—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only in a bridge configuration
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
    • H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
    • H02J2300/20—The dispersed energy generation being of renewable origin
    • H02J2300/28—The renewable source being wind energy

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Eletrric Generators (AREA)

Abstract

The invention discloses a virtual synchronous generator-like inertia control system for a direct-drive wind turbine generator, which comprises: the direct-current micro-grid subsystem is used for simulating the working environment of the direct-drive wind turbine generator in the direct-current micro-grid; the data acquisition subsystem is used for acquiring system parameters of the direct current micro-grid system; the inertia control subsystem is used for realizing the inertia support of the direct-current voltage by constructing a virtual inertia control model; the inertial support capability evaluation subsystem is used for evaluating the inertial support capability of the wind turbine generator under different operating conditions to obtain a voltage drop inertial support coefficient and a voltage rise inertial support coefficient; the self-adaptive virtual inertia coefficient control subsystem is used for generating a self-adaptive virtual inertia coefficient of the direct-drive wind turbine generator set by acquiring a virtual inertia coefficient reference value; according to the invention, through self-adaptive virtual inertia coefficient control, the wind turbine generator set under different operating conditions can provide proper inertia support for the system, and the stability of the system is enhanced.

Description

Virtual-like synchronous generator inertia control system for direct-drive wind turbine generator
Technical Field
The invention relates to the technical field of power supply control, in particular to an inertia control system of a virtual-like synchronous generator for a direct-drive wind turbine generator.
Background
As an effective way for expanding the distributed power generation technology, the direct-current microgrid has obvious advantages in the aspects of improving the energy utilization rate, flexibly controlling and the like, and has led to extensive research. However, due to the isolation effect of the power electronic converter, the direct-current microgrid has the characteristic of low inertia, so that the power grid is very sensitive to frequent load switching and sudden change of new energy output power, and the stable operation of the system is seriously influenced.
The wind turbine generator is incorporated into the direct current microgrid through the converter, operates under the Maximum Power Point Tracking (MPPT) mode, can't provide inertial support for the system. In fact, the variation range of the rotating speed of the wind turbine generator is wide, and a large amount of kinetic energy is stored in the rotor. In the dynamic process, the control strategy of the fan-side converter is changed, so that the generator rotor releases or stores kinetic energy, an inertial support is provided for the direct-current voltage, and the dynamic stability of the direct-current voltage is improved.
The Virtual Synchronous Generator (VSG) technology is to introduce an electromechanical transient equation of a synchronous machine into a converter, so as to simulate inertia and damping characteristics of the synchronous machine, and the VSG technology is more mature in application in an alternating-current micro-grid. In the prior art of the direct current microgrid, a virtual inertia control strategy of A Virtual Synchronous Generator (AVSG) is included, for example, a virtual inertia control strategy of a bidirectional grid-connected converter of the direct current microgrid recorded in the report of the electrical engineering of china is recorded in the electrical engineering science of china, a control strategy of a DC-DC converter based on the virtual synchronous generator is automatically recorded in an electrical power system, but the research of applying the strategy to a wind turbine side converter in the direct current microgrid is less, and the current related research lacks the evaluation of the inertia supporting capability of wind turbine generators under different operating conditions; however, in other control strategies, various problems also exist, for example, in a variable speed wind turbine frequency modulation characteristic analysis recorded automatically by a power system and a wind farm time sequence cooperative control strategy, wind turbines are sequenced according to different wind speeds to quantify the frequency modulation capability of the wind turbines, but the control strategy is complex. And a wind power plant virtual inertia multi-machine cooperative control strategy which is recorded in a power grid technology and takes frequency modulation capability into consideration is adopted, and although complex time sequence arrangement is avoided, the inertia supporting capability under the full wind speed is not taken into consideration.
Therefore, for the problem of low inertia of the direct-current microgrid, an inertia control system similar to a virtual synchronous generator for directly driving a wind turbine generator is urgently needed, and the inertia supporting capability of the wind turbine generator under different operating conditions is evaluated, so that the system has certain practical value.
Disclosure of Invention
In order to solve the technical problem, the invention aims to provide a virtual-like synchronous generator inertia control system for a direct-drive wind turbine generator, which enables the wind turbine generator to respond to system changes by changing a control strategy of a fan-side converter and provides inertia support for direct-current voltage.
In order to achieve the technical purpose, the invention provides a virtual-like synchronous generator inertia control system for a direct-drive wind turbine generator, which comprises:
the direct-current micro-grid subsystem is used for simulating the working environment of the direct-drive wind turbine generator in the direct-current micro-grid;
the data acquisition subsystem is used for acquiring system parameters of the direct current micro-grid system;
the inertia control subsystem is used for realizing inertia support of direct-current voltage by establishing a virtual inertia control model of a virtual synchronous generator like a direct-drive wind turbine generator;
the inertial support capability evaluation subsystem is used for evaluating the inertial support capability of the wind turbine generator under different operating conditions and acquiring a voltage drop inertial support coefficient k 1 Voltage rise inertial support coefficient k 2 ；
An adaptive virtual inertia coefficient control subsystem for decreasing the inertia support coefficient k according to the voltage 1 And voltage rise inertial support coefficient k 2 And generating a self-adaptive virtual inertia coefficient of the direct-drive wind turbine generator set by acquiring a virtual inertia coefficient reference value.
Preferably, the direct-current microgrid subsystem comprises a direct-current bus, a direct-drive wind turbine generator, an alternating-current/direct-current load, an AC-DC converter, a DC-DC converter, a grid-connected converter, an alternating-current power grid, an alternating-current measurement element, a direct-current measurement element, a filter and a control system, wherein the direct-drive wind turbine generator, the alternating-current/direct-current load are connected into the direct-current bus through the DC-DC converter or the AC-DC converter and are connected into the alternating-current power grid through the grid-connected converter and the filter device, the input end of the control system is respectively connected with the output ends of the direct-current measurement element and the alternating-current measurement element, and the output end of the control system is connected with the input end of the wind power side converter.
Preferably, the wind power side converter consists of an IGBT three-phase bridge circuit, a direct current side energy storage capacitor C and an alternating current side filter inductor L.
Preferably, the data acquisition subsystem comprises:
the voltage sensor is used for acquiring the voltage of the direct current bus;
the current sensor is used for acquiring direct-current side current of a bridge arm of the wind power side converter and direct-current side output current;
and the data acquisition module is used for acquiring the current rotating speed value of the direct-drive wind turbine generator and the droop coefficient of the grid-connected converter.
Preferably, the inertial control subsystem comprises:
the AVSG control module is used for generating a direct current bus voltage AVSG control equation according to the fact that a rotor motion equation of the virtual synchronous generator is established and analogies exist between variables of an alternating current power grid and a direct current power grid, wherein the direct current bus voltage AVSG control equation is used for adjusting the emitted electromagnetic power by changing the output current value so as to realize inertial support on the direct current bus voltage;
the rotating speed protection module is used for ensuring that the current rotating speed value is higher than the lowest rotating speed of the direct-drive wind turbine generator, wherein the lowest rotating speed is 0.6 pu;
and the rotating speed recovery module is used for recovering the rotating speed of the fan to the rotating speed value in the MPPT running state according to the set rotating speed recovery function.
Preferably, the direct current bus voltage AVSG control equation is expressed as:
Figure BDA0003755653810000041
wherein i set For given output current, i o For the output of current u on the DC side * dc Is an AVSG DC voltage reference value, u dcn Is rated value of DC voltage, C vir Is a virtual inertia time constant, k D Is the voltage damping coefficient.
Preferably, the expression of the speed recovery function is:
Figure BDA0003755653810000042
wherein, t rec Starting time, T, for speed recovery control rec The duration of the speed recovery process.
Preferably, the inertial support capability evaluation subsystem is used for evaluating the inertial support capability of the direct-drive wind turbine generator in a high wind speed region and a low/medium wind speed region, wherein the evaluation process of the inertial support capability is as follows:
obtaining a deceleration factor k of a wind turbine rotor J1 Up-regulation capacity factor k of machine side converter w1 Wherein the content of the first and second substances,
Figure BDA0003755653810000051
Figure BDA0003755653810000052
in the formula, E ωr 、E ωrmin 、E ω2 Respectively PMSG at the current rotation speed value omega r Minimum rotor speed value omega rmin Maximum allowable rotation speed ω 2 The kinetic energy of the lower rotor; p ωr 、P ωrmin 、P ω2 Respectively the current rotational speed value omega r Minimum rotor speed value omega rmin Maximum allowable rotation speed ω 2 The corresponding active power;
according to the current rotating speed value omega of the direct-drive wind turbine generator r The rotor has kinetic energy and active power when rotating, wherein,
Figure BDA0003755653810000053
Figure BDA0003755653810000054
in the formula, J w Is the rotational inertia of the wind turbine 0 For cutting into rotational speed, omega 1 For a constant speed region, the speed, omega 2 Is the maximum allowable rotating speed; p max To output an upper limit value of active power, k opt For maximum power tracking curve coefficient, omega 1 Is 1.1pu, omega 2 1.12 pu;
and evaluating the inertial support capacity.
Preferably, the inertial support capability evaluation subsystem is further used for acquiring a voltage drop inertial support coefficient k 1 Wherein the voltage drop inertial support coefficient k 1 The expression of (a) is:
Figure BDA0003755653810000061
in the formula, the denominator represents ω r From omega rmin Change to omega 2 The maximum value of the molecule.
Preferably, the inertial support capability evaluation subsystem is further used for evaluating the inertial support capability of the wind turbine rotor by obtaining an acceleration factor k of the wind turbine rotor J2 Down-regulated capacity factor k of machine side converter w2 Generating a voltage rise inertial support coefficient k 2 Wherein the voltage rise inertial support coefficient k 2 The expression of (c) is:
Figure BDA0003755653810000062
Figure BDA0003755653810000063
Figure BDA0003755653810000064
the invention discloses the following technical effects:
1. the problem that the wind turbine generator cannot respond to system changes is solved, inertia of the direct-current micro-grid is enhanced, and the control structure is simple and easy to achieve.
2. Through the self-adaptive virtual inertia coefficient control, the wind turbine generator under different operating conditions can provide proper inertia support for the system, and the stability of the system is enhanced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic diagram of a DC microgrid configuration according to the present invention;
FIG. 3 is a schematic block diagram of a wind turbine side converter control based on a virtual generator control system according to the present invention;
FIG. 4 is a power tracking curve and operating region of a wind turbine according to the present invention;
FIG. 5 is a graph of the coefficient of inertial support of the wind turbine of the present invention;
FIG. 6 is a block diagram of the adaptive virtual inertia coefficient control of the present invention;
FIG. 7 is a rotation speed variation curve of the fan with different wind speeds according to the present invention, wherein (a) a fixed Cvir value/(b) an adaptive Cvir value is adopted.
FIG. 8 shows the DC bus voltage dynamic response of the wind turbine with different wind speeds using fixed/adaptive Cvir values.
Fig. 9 is a system simulation diagram in the case of random fluctuation of the load in the present invention, in which (a) shows random fluctuation of the load in a short time, (b) shows a dynamic response of the dc bus voltage, (c) shows a variation curve of the rotational speed of the fan, and (d) shows the output power of the fan.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
As shown in fig. 1 to 9, the present invention provides a virtual-like synchronous generator inertia control system for direct-drive wind turbine generator, comprising:
the direct-current micro-grid subsystem is used for simulating the working environment of the direct-drive wind turbine generator in the direct-current micro-grid;
the data acquisition subsystem is used for acquiring system parameters of the direct current micro-grid system;
the inertia control subsystem is used for realizing inertia support of direct-current voltage by establishing a virtual inertia control model of a virtual synchronous generator like a direct-drive wind turbine generator;
the inertial support capability evaluation subsystem is used for evaluating the inertial support capability of the wind turbine generator under different operating conditions and acquiring a voltage drop inertial support coefficient k 1 Voltage rise inertial support coefficient k 2 ；
An adaptive virtual inertia coefficient control subsystem for decreasing the inertia support coefficient k according to the voltage 1 And voltage rise inertial support coefficient k 2 And generating a self-adaptive virtual inertia coefficient of the direct-drive wind turbine generator set by acquiring a virtual inertia coefficient reference value.
Further preferably, the direct current microgrid subsystem is composed of a direct current bus, a direct-drive wind turbine generator, an alternating current/direct current load, an AC-DC converter, a DC-DC converter, a grid-connected converter, an alternating current power grid, an alternating current measurement element, a direct current measurement element, a filter and a control system, wherein the direct-drive wind turbine generator, the alternating current/direct current load are connected into the direct current bus through the DC-DC converter or the AC-DC converter, and are connected into the alternating current power grid through the grid-connected converter and the filter device, the input end of the control system is respectively connected with the output ends of the direct current measurement element and the alternating current measurement element, and the output end of the control system is connected with the input end of the wind power side converter.
Further preferably, the wind power side converter is composed of an IGBT three-phase bridge circuit, a dc side energy storage capacitor C, and an ac side filter inductor L.
Further preferably, the data acquisition subsystem comprises:
the voltage sensor is used for acquiring the voltage of the direct current bus;
the current sensor is used for acquiring direct-current side current of a bridge arm of the wind power side converter and direct-current side output current;
and the data acquisition module is used for acquiring the current rotating speed value of the direct-drive wind turbine generator and the droop coefficient of the grid-connected converter.
Further preferably, the inertial control subsystem comprises:
the AVSG control module is used for generating a direct current bus voltage AVSG control equation according to the fact that a rotor motion equation of the virtual synchronous generator is established and analogies exist between variables of an alternating current power grid and a direct current power grid, wherein the direct current bus voltage AVSG control equation is used for adjusting the emitted electromagnetic power by changing the output current value so as to realize inertial support on the direct current bus voltage;
the rotating speed protection module is used for ensuring that the current rotating speed value is higher than the lowest rotating speed of the direct-drive wind turbine generator, wherein the lowest rotating speed is 0.6 pu;
and the rotating speed recovery module is used for recovering the rotating speed of the fan to the rotating speed value in the MPPT running state according to the set rotating speed recovery function.
Further preferably, the control equation of the dc bus voltage AVSG is expressed as:
Figure BDA0003755653810000101
wherein i set Given for the output current, i o For the output of current u on the DC side * dc Is an AVSG DC voltage reference value, u dcn Is rated value of DC voltage, C vir Is a virtual inertia time constant, k D Is the voltage damping coefficient.
Further preferably, the expression of the speed recovery function is:
Figure BDA0003755653810000102
wherein, t rec Starting time, T, for speed recovery control rec The duration of the speed recovery process.
Further preferably, the inertial support capability evaluation subsystem is used for evaluating the inertial support capability of the direct-drive wind turbine generator in a high wind speed area and a low/medium wind speed area, wherein the evaluation process of the inertial support capability is as follows:
obtaining a deceleration factor k of a wind turbine rotor J1 Up-regulation capacity factor k of machine side converter w1 Wherein the content of the first and second substances,
Figure BDA0003755653810000111
Figure BDA0003755653810000112
in the formula, E ωr 、E ωrmin 、E ω2 Respectively PMSG at the current rotation speed value omega r Minimum rotor speed value omega rmin Maximum allowable rotation speed ω 2 Kinetic energy of the lower rotor; p ωr 、P ωrmin 、P ω2 Respectively the current rotational speed value omega r Minimum rotor speed value omega rmin Maximum allowable rotation speed ω 2 The corresponding active power;
according to the current rotating speed value omega of the direct-drive wind turbine generator r The rotor has kinetic energy and active power when rotating, wherein,
Figure BDA0003755653810000113
Figure BDA0003755653810000114
in the formula, J w Is the rotational inertia of the wind turbine 0 For cutting into rotational speed, omega 1 For a constant speed region, the speed, omega 2 Is the maximum allowable rotating speed; p max To output an upper limit value of active power, k opt For maximum power tracking curve coefficient, omega 1 Is 1.1pu, omega 2 1.12 pu;
and evaluating the inertial support capacity.
Further preferably, the inertial support capability evaluation subsystem is further configured to obtain a voltage drop inertial support coefficient k 1 Wherein the voltage drop inertial support coefficient k 1 The expression of (a) is:
Figure BDA0003755653810000121
in the formula, the denominator represents omega r From ω rmin Change to omega 2 The maximum value of the molecule.
Further preferably, the inertial support capability evaluation subsystem is further configured to evaluate the inertial support capability by obtaining an acceleration factor k of the wind turbine rotor J2 Down-regulated capacity factor k of machine side converter w2 Generating a voltage rise inertial support coefficient k 2 Wherein the voltage rise inertial support coefficient k 2 The expression of (a) is:
Figure BDA0003755653810000122
Figure BDA0003755653810000123
Figure BDA0003755653810000124
the example employs a direct drive wind turbine. The dc voltage reference value is generally a dc-side rated voltage, which in this example is 500V. The grid-connected converter adopts droop control to maintain the active power balance in the system, and the voltage stability of the direct-current bus is ensured. The load is connected to the direct current bus through a DC/AC converter or a DC/DC converter, and is a constant-power load.
As shown in fig. 1, a virtual-like synchronous generator inertia control system for a direct-drive wind turbine generator includes the following contents:
step 1: establishing a direct-current micro-grid simplified model containing a direct-drive wind turbine generator: as shown in fig. 2, the system mainly comprises a direct-drive wind turbine generator, an ac/dc load and a corresponding power electronic converter. The fan side converter comprises an IGBT three-phase bridge circuit, a direct current side energy storage capacitor C and an alternating current side filter inductor L. In the figure: u. of dc Is a dc bus voltage; i.e. i dc For bridge arm direct side current, i o And outputting current for the direct current side of the W-VSC.
Step (ii) of2: signal measurement: measuring the DC bus voltage u by means of a voltage sensor dc Measuring bridge arm direct current i of W-VSC by current sensor dc Output current i at the DC side o And collecting the current rotation speed value omega of the wind turbine generator r And local information such as G-VSC droop coefficient.
And step 3: and establishing a virtual inertia control model of the similar virtual synchronous generator of the direct-drive wind turbine generator set, as shown in fig. 3. Expressions (1) - (3) are AVSG control module expressions.
Figure BDA0003755653810000131
Figure BDA0003755653810000132
Figure BDA0003755653810000133
In the formula:
Figure BDA0003755653810000134
a current reference value given by maximum power tracking control for an inner ring reference value of a fan-side converter
Figure BDA0003755653810000135
Current value obtained by controlling of analog virtual synchronous generator
Figure BDA0003755653810000136
Composition is carried out; i.e. i set For given output current, i o For the output of current u on the DC side dc * Is an AVSG DC voltage reference value, u dcn Is rated value of DC voltage, C vir Is a virtual inertia time constant, k D Is the voltage damping coefficient.
The expression (4) is an expression of the rotation speed protection module PRO:
Figure BDA0003755653810000137
in the formula: omega rmin For the lowest rotating speed of the fan, the invention takes omega rmin 0.6 pu.
Expression (5) is the expression of the rotation speed recovery module f (t):
Figure BDA0003755653810000141
in the formula: t is t rec Starting time, T, for speed recovery control rec The duration of the speed recovery process. The invention sets that the rotation speed is recovered to be started 2s after the AVSG control action, and the duration time of the rotation speed recovery is 8 s.
And 4, step 4: and evaluating the inertia supporting capacity of the wind turbine generator set under different operating conditions. The power tracking curve and the operation area of the wind turbine generator are shown in fig. 4. According to different wind speeds, the wind speed can be divided into 4 areas: the wind power generation system comprises a starting area, a maximum power tracking area (low wind speed area), a rotating speed constant area (medium wind speed area) and a power constant area (high wind speed area). In a low wind speed area and a medium wind speed area, the wind turbine generator carries out maximum wind power tracking control or rotating speed control; in a high wind speed area, the wind turbine generator keeps constant power by adjusting the pitch angle.
When the wind turbine runs at a high wind speed zone, the active power of the wind turbine reaches an upper limit value. When the direct current voltage is reduced, the output of the generator cannot be higher than a rated value, and inertial support cannot be provided. When the direct-current voltage rises, the rotating speed of the generator cannot be increased continuously to store kinetic energy, so that the generator also has inertia supporting capacity.
When the generator runs in a low/medium speed region, the direct-current voltage is reduced, the active power generated by the generator is increased, and meanwhile, the rotating speed is reduced to release kinetic energy; if the direct-current voltage rises, the output active power of the generator is reduced, and the rotating speed rises to store kinetic energy.
In order to evaluate the inertial support capability of the PMSG wind turbine generator when the direct-current voltage is reduced, a speed reduction factor k of a rotor of the wind turbine generator is defined J1 Up-regulation capacity factor k of machine side converter w1 Voltage of wind turbine generatorReduced inertial support coefficient k 1 Comprises the following steps:
Figure BDA0003755653810000151
Figure BDA0003755653810000152
Figure BDA0003755653810000153
similarly, in order to evaluate the inertia supporting capacity of the PMSG when the direct current voltage rises, an acceleration factor k of the wind turbine rotor is defined J2 Down-regulated capacity factor k of machine side converter w2 Voltage rise inertia support coefficient k of wind turbine generator 2 Comprises the following steps:
Figure BDA0003755653810000154
Figure BDA0003755653810000155
Figure BDA0003755653810000156
fig. 5 shows a graph of the inertial support coefficient of the wind turbine. In the figure, the solid black line and the broken line represent k 1 、k 2 . The rotating speed is in the low wind speed area in the interval of 0.6-1.1pu, and the rotating speed is in the middle wind speed area in the interval of 1.1-1.12 pu. The inertia support coefficient depends on the rotation speed of the generator and the adjustable capacity of the side converter, so as to increase the inertia support coefficient k by voltage 2 For example, when the rotation speed is low, the generator rotation speed has a large ascending space, and k is expressed by equation (10) J2 Is large; however, the wind turbine generator has small output and limited adjustable power, namely k represented by formula (11) w2 Is small; thus subject to k w2 Limiting, k at low wind speed 2 Smaller, increasing with increasing speed, and after reaching a maximum value, k 2 To k is J2 The limit of (c) decreases with increasing rotational speed. In the same way, k 1 Kinetic energy k released by rotor in low wind speed region J1 After reaching the maximum value, subject to the converter adjustable capacity k w1 The limit of (2).
And 5: the invention relates to self-adaptive virtual inertia coefficient control, which defines the self-adaptive virtual inertia coefficient as follows:
C vir ＝k i C vir0 (i＝1，2) (13)
wherein: c vir0 The reference value of the virtual inertia coefficient is obtained; k is a radical of formula i The inertia support coefficient of the wind turbine generator set during voltage drop and rise is obtained by the formulas (8) and (12).
The AVSG control strategy of the direct-drive wind turbine generator couples direct-current voltage fluctuation with rotor rotation speed change, so that the wind turbine generator provides inertial support by kinetic energy stored in a rotor when the direct-current bus voltage fluctuates, namely
Figure BDA0003755653810000161
Wherein: h w The inertia time constant of the wind turbine is defined as the ratio of the kinetic energy stored when the rotor rotates at the rated rotating speed to the rated capacity of the wind turbine.
Integrating the two sides of equation (14) simultaneously to obtain
Figure BDA0003755653810000162
Wherein: omega r1 、ω r2 The per-unit values of the electrical angular speed of the wind turbine generator before and after the change of the rotating speed of the wind turbine generator are respectively; u. u dc1 、u dc2 The DC bus voltage per unit values before and after the change of the rotating speed of the wind turbine generator are respectively.
When the DC micro-grid system is negativeWhen the load changes, the G-VSC depends on the droop coefficient k G Regulation of DC voltage is carried out, then u dc1 Can be expressed as:
u dc2 ＝u dc1 -ΔP L /(k G ·S GN ) (16)
wherein, Δ P L As a change in system load, S GN Is the rated capacity of the G-VSC.
When the load suddenly increases (suddenly decreases) and the voltage decreases (rises), the wind turbine generator increases (reduces) the active power, the rotating speed decreases (rises), an inertial support is provided for the system, the lowest rotating speed can be reduced to 0.6pu, the highest rotating speed can be increased to 1.12pu, and then the virtual inertia coefficient C is obtained vir The value of (A) should satisfy:
Figure BDA0003755653810000171
from the equation (17), the virtual inertia coefficient C vir The value of (d) and the inertia time constant Hw and the load variation delta P of the wind turbine generator L In connection with, C vir The larger the range of speed variation, the greater the inertia provided. As can be seen from FIG. 5, when the rotation speed is 0.989pu, the inertial support coefficient is the largest, so ω is taken r1 0.989pu, when the load suddenly increases and suddenly decreases by 10kW, C can be calculated from equation (17) vir0 The maximum values may be taken to be about 93.15s and 41.64s, respectively. The main parameters of the system used in the present invention are shown in table 1.
TABLE 1
Parameter(s) Value and unit Parameter(s) Value and unit
W-VSC capacity S WN 20kW DC side capacitor C 20μF
Reference value omega of rotation speed rn 7.85rad/s Voltage outer loop k pv 、k iv 2、100
Time constant of inertia H w 1.0014s Inner loop k of current pi 、k ii 0.4、20
Minimum rotation speed omega rmin 0.6pu Voltage damping coefficient k D 2
Constant-speed cut-in speed omega 1 1.1pu G-VSC capacity S GN 30kW
Maximum allowable rotation speed omega 2 1.12pu Sag factor k G 1/0.02
Maximum power tracking curveCoefficient of line k opt 0.5/1.1 3 pu Rated voltage u of DC bus dcn 500V
Synchronous inductor L sd 、L sq 0.0021H Switching frequency f s 7.65kHz
Fig. 6 shows a block diagram of the adaptive virtual inertia coefficient control. The inertial support capacity evaluation subsystem obtains the rotating speed of a rotor of the wind turbine generator through the data acquisition module and obtains the voltage of the direct current bus through the voltage sensor, and since the differential link is very sensitive to high-frequency interference doped in an input signal, in order to avoid signal flooding, a first-order inertial link is introduced to obtain the voltage change rate of the direct current bus. The rotor speed and the direct-current bus voltage change rate are input into the inertial support coefficient curve shown in fig. 5, so that the inertial support coefficient corresponding to the wind turbine generator under the current operation condition can be obtained (when the direct-current voltage change rate is less than 0, the corresponding voltage drop inertial support coefficient k is obtained 1 (ii) a When the change rate of the direct current voltage is larger than 0, the corresponding voltage rise inertial support coefficient k 2 ) (ii) a The input quantity of the self-adaptive virtual inertia coefficient control subsystem is direct current bus voltage, direct current bus voltage change rate, fan inertia time constant, load change quantity, G-VSC droop coefficient and G-VSC capacity, the maximum value of the virtual inertia coefficient can be obtained through the formula (17), in order to avoid the phenomenon that the direct current voltage is greatly overshot due to too large virtual inertia coefficient, the reference value of the virtual inertia coefficient is output to be 70% of the maximum value, the virtual inertia coefficient is multiplied by the inertia support coefficient to obtain the self-adaptive virtual inertia coefficient of the direct-drive wind turbine generator, the self-adaptive virtual inertia coefficient is input into the inertia control subsystem shown in figure 3, and the reference current value of the inner ring of the q axis is changed by controlling a machine side converter of the wind turbine generator,and adjusting the electromagnetic power output by the wind turbine generator set to change the rotating speed of the generator rotor so as to release or store kinetic energy and provide inertial support for direct-current voltage.
FIG. 7 shows that the fans with different wind speeds adopt the fixed/adaptive C vir Speed variation curve of values. FIG. 8 shows a fixed/adaptive C for different wind speed fans vir The value of the dc bus voltage is dynamically responsive. Three typical wind speeds of 6m/s, 8.1m/s and 9m/s are selected, and the per unit values of the rotating speed of the rotor are 0.731pu, 0.989pu and 1.098pu respectively. The initial load is 7kW, and big electric wire netting maintains the interior power balance of net through G-VSC droop control, and absorbed power is about 3kW, and when t is 15s, the sudden increase load 10 kW.
At different wind speeds, C vir When the fixed value is 35s, the rotation speed of the wind turbine generator changes as shown in fig. 7 (a). As can be seen from fig. 7(a), when the wind speed is 6m/s, the generator speed is low, and when the rotation speed protection module is not provided, the generator speed is reduced to be below the minimum rotation speed of 0.6 pu; when the rotating speed protection module is included, the inertial support is withdrawn when the rotating speed is reduced to 0.6pu, the rotating speed is recovered, and the stable operation of the wind turbine generator is ensured. As can be seen from FIG. 5, at a rotational speed of 0.989pu, the inertial support capability of the unit is the strongest, but fixed C vir When the wind speed is 8.1m/s and 9m/s, the inertia provided by the wind turbine generator is the same, and the inertia supporting capacity of the wind turbine generator is not fully utilized.
When the wind speed is 6m/s, 8.1m/s and 9m/s, the corresponding voltage drop inertial support coefficient k1 can be calculated to be about 0.28, 1 and 0.79 respectively according to the expressions (6) to (8). C is calculated from formula (17) vir0 The maximum time can be 93.15 s. Considering C vir When the system is too large, the wind turbine generator provides larger inertia for the system, but obvious voltage overshoot is brought, so that the method takes C vir0 And is 70% of the maximum value, about 65s, the corresponding adaptive virtual inertia coefficients are about 18s, 65s and 51s respectively. The curve of the change of the rotating speed of the wind turbine generator with the adaptive virtual inertia coefficient at different wind speeds is shown in fig. 7 (b).
Comparing fig. 7(a) and (b), it can be known that, when the adaptive virtual inertia coefficient is adopted, the wind turbine generator can provide different inertial supports according to the operation state. When the wind speed is 8.1m/s, the kinetic energy released by the unit is the maximum; when the wind speed is 6m/s, the kinetic energy released by the wind turbine generator is minimum, and the rotation speed protection is not triggered.
Fig. 8 shows the dynamic response of the dc bus when the wind turbine generator employs a fixed, adaptive virtual inertia coefficient at different wind speeds. As can be seen from fig. 8, when the adaptive virtual inertia coefficient is adopted, the voltage change of the direct current bus of the wind turbine generator with the wind speed of 6m/s is smoother, and the voltage drop caused by the rotation speed protection action is avoided, while the voltage drop of the direct current bus of the wind turbine generator with the wind speeds of 8.1m/s and 9m/s is slower, which indicates that the wind turbine generator provides a larger inertial support for the system; however, at a wind speed of 8.1m/s, a significant overshoot in voltage occurs due to the release of too much kinetic energy.
FIG. 9 shows a simulation diagram of the system when the load fluctuates randomly, the wind speed is 9m/s, and the load fluctuates randomly between 10kW and 25 kW. As can be seen from fig. 9, when the load fluctuates randomly, the voltage fluctuation of the dc bus under AVSG control is smaller, and the voltage quality of the dc microgrid is improved; when the MPPT control is adopted, the rotating speed of the wind turbine generator does not respond to the change of the system, and the output power of the wind turbine generator is basically unchanged, while when the AVSG control is adopted, the rotating speed of the rotor and the output power of the wind turbine generator change along with the fluctuation of the load, so that the inertial support is provided for the system, and the fluctuation of direct-current voltage is reduced.
In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

Claims (10)

1. A virtual synchronous generator-like inertial control system for a direct-drive wind turbine generator is characterized by comprising:
the direct-current micro-grid subsystem is used for simulating the working environment of the direct-drive wind turbine generator in the direct-current micro-grid;
the data acquisition subsystem is used for acquiring system parameters of the direct current micro-grid system;
the inertia control subsystem is used for realizing inertia support of direct-current voltage by establishing a virtual inertia control model of a virtual synchronous generator like the direct-drive wind turbine generator;
the inertial support capability evaluation subsystem is used for evaluating the inertial support capability of the wind turbine generator under different operating conditions and acquiring a voltage drop inertial support coefficient k 1 Voltage rise inertial support coefficient k 2 ；
Adaptive virtualA quasi-inertia coefficient control subsystem for decreasing the inertia support coefficient k according to the voltage 1 And voltage rise inertial support coefficient k 2 And generating the self-adaptive virtual inertia coefficient of the direct-drive wind turbine generator set by acquiring the reference value of the virtual inertia coefficient.
2. The virtual synchronous generator-like inertial control system for the direct-drive wind turbine generator set according to claim 1, characterized in that:
the direct-current microgrid subsystem comprises a direct-current bus, a direct-drive wind turbine generator, an alternating-current and direct-current load, an AC-DC converter, a DC-DC converter, a grid-connected converter, an alternating-current power grid, an alternating-current measuring element, a direct-current measuring element, a filter and a control system, wherein the direct-drive wind turbine generator, the alternating-current and direct-current load are connected into the direct-current bus through the DC-DC converter or the AC-DC converter and are connected into the alternating-current power grid through the grid-connected converter and the filter device, the input end of the control system is connected with the output ends of the direct-current measuring element and the alternating-current measuring element respectively, and the output end of the control system is connected with the input end of a wind power side converter.
3. The virtual synchronous generator-like inertia control system for the direct-drive wind turbine generator set as claimed in claim 2, wherein:
the wind power side converter is composed of an IGBT three-phase bridge circuit, a direct current side energy storage capacitor C and an alternating current side filter inductor L.
4. The virtual-like synchronous generator inertia control system for the direct-drive wind turbine generator set as recited in claim 3, wherein:
the data acquisition subsystem includes:
the voltage sensor is used for acquiring the voltage of the direct current bus;
the current sensor is used for acquiring bridge arm direct current side current and direct current side output current of the wind power side converter;
and the data acquisition module is used for acquiring the current rotating speed value of the direct-drive wind turbine generator and the droop coefficient of the grid-connected converter.
5. The virtual synchronous generator-like inertia control system for the direct-drive wind turbine generator set as claimed in claim 4, wherein:
the inertial control subsystem includes:
the AVSG control module is used for generating a direct-current bus voltage AVSG control equation according to the fact that a rotor motion equation of the virtual synchronous generator is established and analogies exist between variables of an alternating-current power grid and a direct-current power grid, wherein the direct-current bus voltage AVSG control equation is used for adjusting the emitted electromagnetic power by changing the output current value so as to realize inertial support on the direct-current bus voltage;
the rotating speed protection module is used for ensuring that the current rotating speed value is higher than the lowest rotating speed of the direct-drive wind turbine generator, wherein the lowest rotating speed is 0.6 pu;
and the rotating speed recovery module is used for recovering the rotating speed of the fan to the rotating speed value in the MPPT running state according to the set rotating speed recovery function.
6. The virtual synchronous generator-like inertia control system for the direct-drive wind turbine generator set as claimed in claim 5, wherein:
the control equation of the direct-current bus voltage AVSG is expressed as:
Figure FDA0003755653800000031
wherein i set For given output current, i o For the output of current u on the DC side * dc Is an AVSG DC voltage reference value, u dcn Is rated value of DC voltage, C vir Is a virtual inertia time constant, k D Is the voltage damping coefficient.
7. The virtual synchronous generator-like inertial control system for the direct-drive wind turbine generator set as recited in claim 6, wherein:
the expression of the speed recovery function is as follows:
Figure FDA0003755653800000032
wherein, t rec Starting time, T, for speed recovery control rec The duration of the speed recovery process.
8. The virtual synchronous generator-like inertial control system for the direct-drive wind turbine generator set according to claim 7, characterized in that:
the inertial support capacity evaluation subsystem is used for evaluating the inertial support capacity of the direct-drive wind turbine generator in a high wind speed area and a low/medium wind speed area, wherein the evaluation process of the inertial support capacity comprises the following steps:
obtaining a deceleration factor k of a wind turbine rotor J1 Up-regulation capacity factor k of machine side converter w1 Wherein the content of the first and second substances,
Figure FDA0003755653800000041
Figure FDA0003755653800000042
in the formula, E ωr 、E ωrmin 、E ω2 Respectively PMSG at the current rotation speed value omega r Minimum rotor speed value omega rmin Maximum allowable rotation speed ω 2 The kinetic energy of the lower rotor; p ωr 、P ωrmin 、P ω2 Respectively the current rotational speed value omega r Minimum rotor speed value omega rmin Maximum allowable rotation speed ω 2 The corresponding active power;
according to the current rotating speed value omega of the direct-drive wind turbine generator r The rotor has kinetic energy and active power when rotating, wherein,
Figure FDA0003755653800000043
Figure FDA0003755653800000044
in the formula, J w Is the rotational inertia of the wind turbine 0 For cutting into rotational speed, omega 1 For a constant speed region, cut-in speed, omega 2 Is the maximum allowable rotating speed; p max To output an upper limit value of active power, k opt For maximum power tracking curve coefficient, omega 1 Is 1.1pu, omega 2 1.12 pu;
an evaluation of the inertial support capability is performed.
9. The virtual synchronous generator-like inertial control system for the direct-drive wind turbine generator set as recited in claim 6, wherein:
the inertial support capacity evaluation subsystem is also used for acquiring a voltage drop inertial support coefficient k 1 Wherein the voltage drop inertial support coefficient k 1 The expression of (a) is:
Figure FDA0003755653800000051
in the formula, the denominator represents ω r From ω rmin Change to omega 2 The maximum value of the molecule.
10. The virtual synchronous generator-like inertial control system for the direct-drive wind turbine generator set according to claim 9, characterized in that:
the inertial support capacity evaluation subsystem is also used for evaluating the inertial support capacity of the wind turbine generator rotor by acquiring the acceleration factor k of the wind turbine generator rotor J2 Down-regulated capacity factor k of machine side converter w2 Generating the voltage rise inertial support coefficient k 2 Wherein, theThe voltage rise inertial support coefficient k 2 The expression of (a) is:
Figure FDA0003755653800000052
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CN116014819A (en) * 2023-03-23 2023-04-25 湖南大学 Active power storage limit quantification method and system of permanent magnet wind generating set
CN116388215A (en) * 2022-10-31 2023-07-04 上海交通大学 Inertial power self-adaptive control system and method for interconnection converter of offshore drilling platform
CN116667389A (en) * 2023-07-25 2023-08-29 昆明理工大学 Novel wind-storage combined prediction correction control method for inertia lifting of power system

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CN116388215A (en) * 2022-10-31 2023-07-04 上海交通大学 Inertial power self-adaptive control system and method for interconnection converter of offshore drilling platform
CN116388215B (en) * 2022-10-31 2024-03-12 上海交通大学 Inertial power self-adaptive control system and method for interconnection converter of offshore drilling platform
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