CN115708284A - Control method and control device of wind generating set - Google Patents
Control method and control device of wind generating set Download PDFInfo
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- CN115708284A CN115708284A CN202110963075.XA CN202110963075A CN115708284A CN 115708284 A CN115708284 A CN 115708284A CN 202110963075 A CN202110963075 A CN 202110963075A CN 115708284 A CN115708284 A CN 115708284A
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Abstract
The disclosure provides a control method and a control device of a wind generating set. The control method may include the steps of: obtaining active power deviation by carrying out proportional integral differential operation on the deviation between the direct current bus voltage measured value and the direct current bus voltage reference value of the wind generating set; determining a virtual angular frequency deviation based on the active power deviation; determining a virtual inner potential phase based on the virtual angular frequency deviation; determining a d-axis component and a q-axis component of the modulation voltage based on the virtual angular frequency deviation, a reactive power set value and a reactive power measured value of the wind generating set, a rated voltage amplitude of the power grid and the grid-connected current under the dq coordinate system; and controlling the injection voltage of the grid-connected point of the wind generating set according to the virtual internal potential phase and the d-axis component and the q-axis component of the modulation voltage. The stability of the power system of the wind generating set can be improved.
Description
Technical Field
The present disclosure relates to the field of wind power generation technologies, and in particular, to a control method and a control device for a wind turbine generator system.
Background
Currently, wind power generation technology is rapidly developing, and the permeability of the wind power generation technology in power grid application is gradually improved. For the control of the wind generating set, various factors such as the stability of the power grid, the coupling of active power and reactive power and the like need to be considered. For example, although the voltage source type wind generating set has the active supporting capability of the power grid, the safe and stable operation requirements of the system cannot be met. Therefore, it is a current challenge to achieve effective control of wind turbine generators including grid-connected points.
Disclosure of Invention
The present disclosure provides a control method and a control apparatus of a wind turbine generator set to solve at least the above-mentioned problems.
According to a first aspect of embodiments of the present disclosure, there is provided a control method of a wind turbine generator system, the control method may include the steps of: obtaining active power deviation by carrying out proportional integral differential operation on the deviation between a direct current bus voltage measured value and a direct current bus voltage reference value of the wind generating set; determining a virtual angular frequency deviation based on the active power deviation; determining a virtual inner potential phase based on the virtual angular frequency deviation; determining a d-axis component and a q-axis component of the modulation voltage based on the virtual angular frequency deviation, a reactive power set value and a reactive power measured value of the wind generating set, a rated voltage amplitude of the power grid and grid-connected current under a dq coordinate system; and controlling the injection voltage of the grid-connected point of the wind generating set according to the virtual internal potential phase and the d-axis component and the q-axis component of the modulation voltage.
Optionally, the step of determining a virtual angular frequency deviation based on the active power deviation may comprise: directly inputting the active power deviation to a first-order low-pass filter to obtain the output of the first-order low-pass filter as the virtual angular frequency deviation; or inputting the sum of the active power deviation and the machine side active power to a first-order low-pass filter to obtain the output of the first-order low-pass filter as the virtual angular frequency deviation; or inputting the difference between the active power deviation and the network side active power to a first-order low-pass filter to obtain the output of the first-order low-pass filter as the virtual angular frequency deviation.
Optionally, the step of determining a virtual inner potential phase based on the virtual angular frequency deviation may comprise: determining a virtual angular frequency based on the virtual angular frequency deviation and a rated angular frequency of a power grid; determining the virtual inner potential phase based on the virtual angular frequency.
Alternatively, the step of determining the d-axis component and the q-axis component of the modulation voltage may comprise: determining a first disturbance quantity of the alternating-current bus voltage based on the virtual angular frequency deviation; determining a second disturbance quantity of the alternating current bus voltage based on a deviation between the reactive power set value and the reactive power measured value; determining a d-axis component of grid-connected reference voltage under a dq coordinate system based on the first disturbance quantity of the alternating-current bus voltage, the second disturbance quantity of the alternating-current bus voltage and the rated voltage amplitude of the power grid; setting a q-axis component of the grid-connected reference voltage under the dq coordinate system to be zero; and determining the d-axis component and the q-axis component of the modulation voltage based on the d-axis component and the q-axis component of the grid-connected reference voltage in the dq coordinate system.
Optionally, the step of determining the first disturbance quantity of the ac bus voltage based on the virtual angular frequency deviation may include: determining a first disturbance amount of the alternating-current bus voltage by performing at least one of a reset process, an amplification process, and a phase compensation process on the virtual angular frequency deviation.
Optionally, the step of determining the d-axis component and the q-axis component of the modulation voltage based on the d-axis component and the q-axis component of the grid-connected reference voltage in the dq coordinate system may include: only carrying out voltage outer loop control on a d-axis component and a q-axis component of the grid-connected reference voltage under a dq coordinate system to obtain the d-axis component and the q-axis component of the modulation voltage; or performing voltage outer loop control and current inner loop control on the d-axis component and the q-axis component of the grid-connected reference voltage in the dq coordinate system to obtain the d-axis component and the q-axis component of the modulation voltage.
Alternatively, the wind park may be a voltage source type wind park.
According to a second aspect of the embodiments of the present disclosure, there is provided a control apparatus of a wind turbine generator system, the control apparatus may include: a phase calculation module configured to: obtaining active power deviation by carrying out proportional integral differential operation on the deviation between a direct current bus voltage measured value and a direct current bus voltage reference value of the wind generating set; determining a virtual angular frequency deviation based on the active power deviation; determining a virtual inner potential phase based on the virtual angular frequency deviation; a voltage calculation module configured to: determining a d-axis component and a q-axis component of the modulation voltage based on the virtual angular frequency deviation, a reactive power set value and a reactive power measured value of the wind generating set, a rated voltage amplitude of the power grid and grid-connected current under a dq coordinate system; and a control module configured to control an injection voltage of a grid-connected point of the wind park according to the virtual inner potential phase and the d-axis component and the q-axis component of the modulation voltage.
Optionally, the phase calculation module may be configured to: directly inputting the active power deviation to a first-order low-pass filter to obtain the output of the first-order low-pass filter as the virtual angular frequency deviation; or inputting the sum of the active power deviation and the machine side active power to a first-order low-pass filter to obtain the output of the first-order low-pass filter as the virtual angular frequency deviation; or inputting the difference between the active power deviation and the network side active power to a first-order low-pass filter to obtain the output of the first-order low-pass filter as the virtual angular frequency deviation.
Optionally, the phase calculation module may be configured to: determining a virtual angular frequency based on the virtual angular frequency deviation and a rated angular frequency of a power grid; determining the virtual inner potential phase based on the virtual angular frequency.
Optionally, the voltage calculation module may be configured to: determining a first disturbance quantity of the alternating-current bus voltage based on the virtual angular frequency deviation; determining a second disturbance quantity of the alternating current bus voltage based on a deviation between the reactive power set value and the reactive power measured value; determining a d-axis component of grid-connected reference voltage under a dq coordinate system based on the first disturbance quantity of the alternating-current bus voltage, the second disturbance quantity of the alternating-current bus voltage and the rated voltage amplitude of the power grid; setting a q-axis component of the grid-connected reference voltage under the dq coordinate system to be zero; and determining the d-axis component and the q-axis component of the modulation voltage based on the d-axis component and the q-axis component of the grid-connected reference voltage in the dq coordinate system.
Optionally, the voltage calculation module may be configured to: determining a first disturbance amount of the alternating-current bus voltage by performing at least one of a reset process, an amplification process, and a phase compensation process on the virtual angular frequency deviation.
Optionally, the voltage calculation module may be configured to: only carrying out voltage outer loop control on a d-axis component and a q-axis component of the grid-connected reference voltage under a dq coordinate system to obtain the d-axis component and the q-axis component of the modulation voltage; or performing voltage outer loop control and current inner loop control on the d-axis component and the q-axis component of the grid-connected reference voltage in the dq coordinate system to obtain the d-axis component and the q-axis component of the modulation voltage.
Alternatively, the wind park may be a voltage source type wind park.
According to a third aspect of embodiments of the present disclosure, there is provided an electronic apparatus, which may include: at least one processor; at least one memory storing computer executable instructions, wherein the computer executable instructions, when executed by the at least one processor, cause the at least one processor to perform a method of controlling a wind park as described above.
According to a fourth aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium storing instructions that, when executed by at least one processor, cause the at least one processor to perform the method of controlling a wind park as described above.
The technical scheme provided by the embodiment of the disclosure at least brings the following beneficial effects:
the frequency adaptability, the parameter robustness and the deviation restraining speed of the wind generating set are improved by carrying out proportional integral differential operation on the deviation between the direct current bus voltage measured value and the direct current bus voltage reference value of the wind generating set. In addition, the PSS stabilizer of the analog power system is introduced into reactive voltage droop control, so that the stability of the power system of the wind generating set is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure and are not to be construed as limiting the disclosure.
FIG. 1 is a schematic structural view of a control system of a wind park according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of an analog power system PSS stabilizer according to an embodiment of the present disclosure;
FIG. 3 is a flow chart of a control method of a wind park according to an embodiment of the disclosure;
fig. 4 is a block diagram of a control arrangement of a wind park according to an embodiment of the present disclosure;
fig. 5 is a block diagram of an electronic device according to an embodiment of the disclosure.
Throughout the drawings, it should be noted that the same reference numerals are used to designate the same or similar elements, features and structures.
Detailed Description
In order to make the technical solutions of the present disclosure better understood by those of ordinary skill in the art, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings.
The following description with reference to the accompanying drawings is provided to assist in a comprehensive understanding of the embodiments of the disclosure as defined by the claims and their equivalents. Various specific details are included to aid understanding, but these are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the disclosure. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
The terms and words used in the following description and claims are not limited to the written meaning, but are used only by the inventors to achieve a clear and consistent understanding of the disclosure. Accordingly, it should be apparent to those skilled in the art that the following descriptions of the various embodiments of the present disclosure are provided for illustration only and not for the purpose of limiting the disclosure as defined by the appended claims and their equivalents.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the disclosure described herein are capable of operation in sequences other than those illustrated or otherwise described herein. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Hereinafter, according to various embodiments of the present disclosure, a method, an apparatus, and a system of the present disclosure will be described in detail with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a control system of a wind park according to an embodiment of the present disclosure. The control method of the present disclosure is described below with reference to fig. 1, taking a voltage source type wind turbine generator system as an example.
As shown in fig. 1, the injection voltage of the grid-connected point of the wind turbine generator system can be better controlled by modifying at least one of the dc bus voltage control loop 1 and the reactive voltage droop control loop 2 in the voltage source type wind turbine generator system. The dc bus voltage control loop 1 and the reactive voltage droop control loop 2 of the present disclosure will be described in detail below, respectively.
The dc bus voltage control loop 1 may also be referred to as a self-synchronizing loop. A proportional-integral-derivative (PID) controller can be introduced into the direct-current bus voltage control loop 1, and the deviation between the direct-current bus voltage measured value and the direct-current bus voltage reference value of the wind generating set is used as the input of the PID controller, so that the injection voltage of the grid-connected point of the wind generating set is controlled by utilizing the virtual internal potential phase. The DC bus voltage measurement is the capacitor voltage u shown in FIG. 1 dc 。
As an example, the input to the PID controller can be a DC bus voltage measurement u dc And a DC bus voltage reference value u dcref The squared difference value of (a) is shown in fig. 1. Alternatively, the DC bus voltage measurement u may be measured dc And a DC bus voltage reference value u dcref The difference of (c) is used as an input to the PID controller.
In FIG. 1, sK c Can represent a differential element, K T Can represent the proportional link, K i The/s may represent an integration element. The parameters involved in the proportional, integral and derivative operations in the PID controller can be set differently according to different situations.
The PID controller can obtain the active power deviation by carrying out proportional integral derivative operation on the deviation between the direct current bus voltage measured value and the direct current bus voltage reference value of the wind generating set. For example, in FIG. 1, the DC bus voltage measurement u dc And a DC bus voltage reference value u dcref The squared error value of (2) is subjected to a ratio K T Integral K i S, differential sK c After operation, the active power deviation delta P can be obtained ref 。
The virtual angular frequency deviation may be determined based on the active power deviation. As an example, as shown in FIG. 1, the active power deviation Δ P may be calculated ref Directly input to the first-order low-pass filter 1/(sK) J +K D ) To obtain the output of the first order low pass filter as the virtual angular frequency deviation Δ ω.
According to another example, the sum of the active power deviation and the machine side active power may be input to a first order low pass filter to obtain an output of the first order low pass filter as a virtual angular frequency deviation; or the difference between the active power deviation and the network side active power can be input to the first-order low-pass filter to obtain the output of the first-order low-pass filter as the virtual angular frequency deviation. Here, the control loop 1 shown in fig. 1 does not contain net side active power feedback. After the power feedback is introduced, the effect is similar to that of a differential link, and the power feedback is machine-side and network-side active power deviation in a physical sense.
Next, a virtual angular frequency may be determined based on the virtual angular frequency deviation and a rated angular frequency of the power grid, and a virtual inner potential phase may be determined based on the virtual angular frequency. For example, referring to FIG. 1, the virtual angular frequency deviation Δ ω and the rated angular frequency ω of the power grid may be based on 0 To obtain a virtual angular frequency ω, and then perform an integration operation 1/s on the virtual angular frequency to obtain a virtual internal potential phase θ.
In the related art, the power angle refers to the difference between the output voltage phase angle of the converter and the grid voltage phase angle. If the phase angle of the output voltage of the converter is ahead of the phase angle of the voltage of the power grid, namely the power angle is greater than 0, the active power is transmitted from the converter to the alternating current system; on the contrary, when the phase angle of the output voltage of the converter lags behind the phase angle of the voltage of the power grid, namely the power angle is smaller than 0, the active power is from the alternating current system to the converter. When the frequency of the output voltage of the converter is consistent with the frequency of the system, the power angle is unchanged. In a stable state, the phase angle of the output voltage of the converter leads the phase angle of the voltage of the power grid, namely the power angle is larger than 0, and the active power is transmitted from the converter to an alternating current system. Based on this fact, the following rule can be obtained: when the frequency of the system is increased, the power angle is reduced, and the transmission active power of the converter and the alternating current system is reduced. Because the direct current voltage deviation is obtained by subtracting a given value from a feedback value, the converter actively increases the direct current bus voltage in order to maintain the direct current bus voltage unchanged, the output frequency of the converter is increased after the action of a rotor motion equation (equivalent to first-order low-pass filtering), the frequency further increases the phase angle of the output voltage of the converter through an integration link, and finally increases the power angle between the converter and an alternating current system, so that the power angle is restored to the original stable value, and the active power transmitted between the converter and the alternating current system is maintained. Certainly, the above process can also be intuitively understood from another angle, that is, in order to maintain synchronization with the grid voltage (i.e., frequency is consistent), the converter needs to increase its output angular frequency, so as to maintain the power angle unchanged, and since the angular frequency is obtained by a first-order low-pass filter through a direct-current voltage deviation (a feedback value minus a given value), the phenomenon that the direct-current bus voltage is increased occurs; when the system frequency is reduced, the power angle is increased, the transmission active power of the converter and the alternating current system is increased, the frequency of the output voltage of the converter needs to be reduced in order to maintain the synchronization with the alternating current system, and therefore the voltage of the direct current bus falls.
According to the rule obtained above, for example, when the power grid deviates from 50Hz, it is known that the dc bus voltage deviates from the reference value, and a dc quantity is introduced into Δ ω by integrating the deviation between the feedback value (i.e. the measured value) and the reference value to cancel out the error caused by ω 0. Therefore, the integration element K i The frequency adaptability problem can be solved by the aid of the frequency/s, and the frequency/s is an important link in the direct-current bus voltage control loop 1.
Further, the energy stored on the capacitor voltage may be represented as 0.5CU 2 The energy reflects the cumulative effect of the active power deviation on the machine side and the network side, if for 0.5CU 2 The differential value directly reflects the active power deviation of the machine side and the network side. Analogous to a synchronous machine, if the machine-side active power is the mechanical power and the grid-side active power is the electromagnetic power, the active power deviation is applied to the rotor with the damping winding, corresponding to the active power deviation, via a first-order low-pass filter 1/(sK) J +K D ). Therefore, the differential link sKc has clear physical significance, and the problem of poor parameter robustness can be solved in the direct-current bus voltage control loop 1.
In addition, the proportional link K T Can accelerate the response time of the dynamic process, play a role of quickly inhibiting the change at the initial stage of the frequency change, make up the problem of low response speed of the integral link, and simultaneously carry out differentiationThe links also play an auxiliary role.
In the reactive voltage droop control loop 2, a control loop 3 of the analog power system PSS stabilizer may be introduced to solve the low frequency oscillation problem.
The PSS stabilizer used in the power system is generally composed of an amplification section, a reset section, a phase compensation (correction) section, and a clipping section, and its output is superimposed as an excitation additional signal (i.e., a voltage disturbance amount in the reactive voltage droop control loop 2, which may be hereinafter referred to as a first disturbance amount) to a voltage reference value, as shown in fig. 2. Fig. 2 is a schematic structural diagram of an analog power system PSS stabilizer according to an embodiment of the present disclosure.
Referring to 2,K for the amplification stage of the PSS stabilizer,
showing the reset link of the PSS stabilizer,
and showing a phase compensation link of the PSS stabilizer, and max-min showing an amplitude limiting link of the PSS stabilizer. The parameters in each link may be set differently according to actual conditions.
According to the embodiment of the disclosure, the reset link makes the PSS stabilizer output zero when t → ∞ (s → 0), i.e. filters out the dc component in Δ ω, and at the same time, the reset link can make the dynamic signal smoothly pass through during the transition process, so that the PSS stabilizer only functions in the dynamic process. The phase compensation link can be composed of 1-3 lead correction links, and one lead link can correct up to 30 0 ～40 0 Thus, the lead element can compensate (cancel) the phase lag. The amplification factor K of the amplification element ensures a sufficient voltage amplitude. Therefore, by introducing the PSS stabilizer in the reactive voltage droop control loop 2, the stability of the system can be improved.
Referring back to fig. 1, in fig. 1, the PSS stabilizer may include a high pass filter
Phase compensationPayment device
And an amplifier K. The high-pass filter can be used as a reset link of the PSS stabilizer and can filter direct-current components in delta omega. The phase compensator can be used as an advance correction link of the PSS stabilizer, and the phase margin at the oscillation risk point can be improved. The amplifier can be used as a proportional link of the PSS stabilizer and used for improving the positive damping effect.
Although fig. 1 and 2 show that the PSS stabilizer includes a reset element, a phase compensation element, and an amplification element, the PSS stabilizer of the present disclosure may include at least one of the reset element, the phase compensation element, and the amplification element.
The first disturbance amount of the ac bus voltage may be determined by at least one of a reset process, an amplification process, and a phase compensation process on the virtual angular frequency deviation. For example, referring to fig. 1, the first disturbance amount Δ U is obtained by performing a reset process, an amplification process, and a phase compensation process on the virtual angular frequency deviation Δ ω 1 . Here, in calculating the first disturbance amount, the virtual angular frequency deviation may be processed using the order of the amplification process, the reset process, and the phase compensation process as illustrated in fig. 2 or other orders to obtain the first disturbance amount.
A second disturbance amount of the ac bus voltage may be determined based on a deviation between the reactive power setpoint and the reactive power measurement. The droop characteristic between the reactive power variation and the alternating voltage variation can be determined by a factor K Q To adjust. For example, referring to fig. 1, first a reactive power setpoint Q is calculated 0 Difference from the measured value of reactive power Q by a factor K Q To adjust the difference to obtain a second disturbance variable DeltaU 2 。
The d-axis component of the grid-connected reference voltage in the dq coordinate system can be determined based on the first disturbance amount of the alternating-current bus voltage, the second disturbance amount of the alternating-current bus voltage, and the rated voltage amplitude of the power grid. For example, referring to FIG. 1, may be based on Δ U 1 、ΔU 2 Rated voltage amplitude U of power grid 0 To obtain the d-axis component of the grid-connected reference voltage under the dq coordinate systemMeasurement of
Further, the q-axis component of the grid-connected reference voltage in the dq coordinate system may be set to zero. For example, referring to FIG. 1, the following may be used
Is set to 0. When will be
After setting to 0, control may be considered
I.e. the control grid-connected voltage amplitude.
The d-axis component and the q-axis component of the modulation voltage may be determined based on the d-axis component and the q-axis component of the grid-connected reference voltage in the dq coordinate system.
As an example, voltage outer loop control and current inner loop control may be performed on a d-axis component and a q-axis component of a grid-connected reference voltage in a dq coordinate system to obtain the d-axis component and the q-axis component of the modulation voltage. For example, first, voltage outer loop control may be performed on a d-axis component and a q-axis component of a grid-connected reference voltage in a dq coordinate system to obtain a filter inductor current in the dq coordinate system, and the voltage outer loop control may be represented by the following expression (1):
wherein the content of the first and second substances,
represents the d-axis component of the grid-tied reference voltage in the dq coordinate system,
q-axis component, u, representing the grid-tied reference voltage in dq coordinate system d D-axis component u representing grid-connected voltage in dq coordinate system q Representing the dq coordinate systemQ-axis component of the grid-connected voltage of (1), i gd D-axis component, i, representing grid-connected current in dq coordinate system gq Represents the q-axis component of the grid-connected current in the dq coordinate system,
represents the d-axis component of the filtered inductor current in dq coordinate system,
representing the q-axis component of the filter inductor current in the dq coordinate system. Further, the remaining control parameters in expression (1) may be set differently according to different situations.
D-axis component and q-axis component of grid-connected reference voltage in dq coordinate system are subjected to voltage outer loop control, and then the d-axis component and the q-axis component can be obtained
And
then pair
Seed of a species of rice
The current inner loop control is performed, and can be expressed by the following expression (2):
wherein i d The d-axis component of the filter inductor current in the dq coordinate system is represented, and the q-axis component of the filter inductor current in the dq coordinate system is represented. Further, the remaining control parameters in expression (2) may be set differently according to different situations.
As another example, only the voltage outer loop control may be performed on the d-axis component and the q-axis component of the grid-connected reference voltage in the dq coordinate system to obtain the d-axis component and the q-axis component of the modulation voltage.
After the d-axis component and the q-axis component of the modulation voltage and the virtual internal potential phase are obtained, the injection voltage of the grid-connected point of the wind generating set can be controlled according to the virtual internal potential phase and the d-axis component and the q-axis component of the modulation voltage. In actual operation of the voltage source type wind generating set, parameters of abc coordinates are used, such as the reference 1,i abc Is a three-phase current u of a filter inductor abc Is a three-phase voltage i of the fan grid connection gabc The three-phase current is grid-connected to the fan, so that after the modulation voltage of a dq coordinate system is obtained, the d-axis component and the q-axis component of the virtual internal potential phase and the modulation voltage can be input to a dq/abc coordinate system conversion module and converted into an abc coordinate system to generate a three-phase modulation wave. For example, the virtual internal potential phase θ in dq coordinate system, the d-axis component u of the modulation voltage md And q-axis component u mq And converting the three-phase voltage into three-phase voltage under an abc coordinate system, and inputting the three-phase voltage into a Space Vector Pulse Width Modulation (SVPWM) module to perform space vector pulse width modulation. The three-phase voltage subjected to space vector pulse width modulation can be input into a converter so as to control the injection voltage of a grid-connected point of the wind generating set.
According to the embodiment of the disclosure, the injection voltage of the grid-connected point of the wind generating set can be dynamically controlled in the control system of the wind generating set based on the direct current bus voltage, so that the grid stability is improved, the coupling problem between active power and reactive power is improved, and the like.
Fig. 3 is a flow chart of a control method of a wind park according to an embodiment of the disclosure. The control method shown in fig. 3 may be performed by a main controller of a wind park, for example. Here, the wind turbine generator set may be a voltage source type wind turbine generator set.
Referring to fig. 3, in step S301, an active power deviation is obtained by performing a proportional integral derivative operation on a deviation between a dc bus voltage measurement value and a dc bus voltage reference value of the wind turbine generator set. The deviation between the dc bus voltage measurement and the dc bus voltage reference may be a difference or squared difference between the dc bus voltage measurement and the dc bus voltage reference.
In step S302, a virtual angular frequency deviation is determined based on the obtained active power deviation. For example, the active power deviation may be directly input to a first-order low-pass filter to obtain an output of the first-order low-pass filter as the virtual angular frequency deviation. Alternatively, the sum of the active power deviation and the machine side active power may be input to a first order low pass filter to obtain the output of the first order low pass filter as the virtual angular frequency deviation. Or the difference between the active power deviation and the network side active power can be input to the first-order low-pass filter to obtain the output of the first-order low-pass filter as the virtual angular frequency deviation.
In step S303, a virtual internal potential phase is determined based on the determined virtual angular frequency deviation. For example, the virtual angular frequency may be determined based on the virtual angular frequency deviation and a nominal angular frequency of the power grid, and then the virtual inner potential phase may be determined based on the virtual angular frequency.
In step S304, a d-axis component and a q-axis component of the modulation voltage are determined based on the obtained virtual angular frequency deviation, a reactive power set value of the wind turbine generator system, a reactive power measurement value, a rated voltage amplitude of the grid, and a grid-connected current in the dq coordinate system.
As an example, a first disturbance amount of the alternating bus voltage may be determined based on the virtual angular frequency deviation. For example, the first disturbance amount of the alternating-current bus voltage may be determined by performing at least one of a reset process, an amplification process, and a phase compensation process on the virtual angular frequency deviation. Determining a second disturbance quantity of the alternating current bus voltage based on a deviation between the reactive power set value and the reactive power measured value, determining a d-axis component of the grid-connected reference voltage in a dq coordinate system based on the first disturbance quantity of the alternating current bus voltage, the second disturbance quantity of the alternating current bus voltage and a rated voltage amplitude of the power grid, setting a q-axis component of the grid-connected reference voltage in the dq coordinate system to be zero, and determining the d-axis component and the q-axis component of the modulation voltage based on the d-axis component and the q-axis component of the grid-connected reference voltage in the dq coordinate system. For example, only voltage outer loop control (as in expression (1) above) may be performed on the d-axis component and the q-axis component of the grid-connected reference voltage in the dq coordinate system to obtain the d-axis component and the q-axis component of the modulation voltage. Alternatively, voltage outer loop control (as in expression (1) above) and current inner loop control (as in expression (2) above) are performed on the d-axis component and the q-axis component of the grid-connected reference voltage in the dq coordinate system to obtain the d-axis component and the q-axis component of the modulation voltage.
In step S305, the injection voltage of the grid-connected point of the wind turbine generator set is controlled according to the determined virtual internal potential phase and the determined d-axis component and q-axis component of the modulation voltage.
The method comprehensively considers various factors such as power grid stability, active power and reactive power coupling and the like, and solves the problems of poor frequency adaptability and parameter robustness of the wind generating set by using the PID controller to adjust the voltage deviation of the direct current bus. In addition, by introducing the PSS stabilizer, the system stability of the wind generating set is improved.
Fig. 4 is a block diagram of a control device of a wind turbine generator set according to an embodiment of the present disclosure.
Referring to fig. 4, the control apparatus 400 may include a phase calculation module 401, a voltage calculation module 402, and a control module 403. Each module in the control apparatus 400 may be implemented by one or more modules, and the name of the corresponding module may vary according to the type of the module. In various embodiments, some modules in the control device 400 may be omitted, or additional modules may also be included. Furthermore, modules/elements according to various embodiments of the present disclosure may be combined to form a single entity, and thus may equivalently perform the functions of the respective modules/elements prior to combination.
The camera calculation module 401 may be implemented by, for example, the dc bus voltage control loop 1 described above, the voltage calculation module 402 may be implemented by, for example, the reactive voltage droop control loop 2, and the control module 403 may be implemented by, for example, a main controller of the wind turbine generator set.
The phase calculation module 401 may obtain an active power deviation by performing a proportional-integral-derivative operation on a deviation between a dc bus voltage measurement value and a dc bus voltage reference value of the wind turbine generator system, determine a virtual angular frequency deviation based on the active power deviation, and determine a virtual internal potential phase based on the virtual angular frequency deviation. Here, the deviation between the dc bus voltage measurement value and the dc bus voltage reference value may be a difference value or a squared difference value of the dc bus voltage measurement value and the dc bus voltage reference value.
As an example, the phase calculation module 401 may directly input the active power deviation to the first order low pass filter to obtain the output of the first order low pass filter as the virtual angular frequency deviation.
As another example, the phase calculation module 401 may input the sum of the active power deviation and the machine side active power to a first order low pass filter to obtain an output of the first order low pass filter as the virtual angular frequency deviation.
As yet another example, the phase calculation module 401 may input the difference between the active power deviation and the net side active power to a first order low pass filter to obtain an output of the first order low pass filter as the virtual angular frequency deviation.
Phase calculation module 401 may determine a virtual angular frequency based on the virtual angular frequency deviation and a nominal angular frequency of the power grid, and determine a virtual inner potential phase based on the virtual angular frequency. For example, the phase calculation module 401 may obtain the virtual internal potential phase by performing an integration operation on the virtual angular frequency.
The voltage calculation module 402 may determine a d-axis component and a q-axis component of the modulation voltage based on the virtual angular frequency deviation, a reactive power set value of the wind turbine generator system, a reactive power measurement value, a rated voltage amplitude of the grid, and a grid-connected current in the dq coordinate system.
As an example, the voltage calculation module 402 may determine a first disturbance amount of the ac bus voltage based on the virtual angular frequency deviation, determine a second disturbance amount of the ac bus voltage based on a deviation between the reactive power setting value and the reactive power measurement value, determine a d-axis component of the grid-connected reference voltage in the dq coordinate system based on the first disturbance amount of the ac bus voltage, the second disturbance amount of the ac bus voltage, and a rated voltage amplitude of the power grid, set a q-axis component of the grid-connected reference voltage in the dq coordinate system to zero, and then determine the d-axis component and the q-axis component of the modulation voltage based on the d-axis component and the q-axis component of the grid-connected reference voltage in the dq coordinate system.
The voltage calculation module 402 may determine the first disturbance amount of the ac bus voltage by performing at least one of a reset process, an amplification process, and a phase compensation process on the virtual angular frequency deviation.
The voltage calculation module 402 may perform voltage outer loop control only on the d-axis component and the q-axis component of the grid-connected reference voltage in the dq coordinate system to obtain the d-axis component and the q-axis component of the modulation voltage.
The voltage calculation module 402 may perform voltage outer loop control and current inner loop control on a d-axis component and a q-axis component of the grid-connected reference voltage in the dq coordinate system to obtain the d-axis component and the q-axis component of the modulation voltage.
The control module 403 may control the injection voltage of the grid-connected point of the wind turbine generator set according to the virtual internal potential phase and the d-axis component and the q-axis component of the modulation voltage.
According to an embodiment of the present disclosure, an electronic device may be provided. Fig. 5 is a block diagram of an electronic device according to an embodiment of the disclosure, which electronic device 500 may comprise at least one memory 502 and at least one processor 501, said at least one memory 502 storing a set of computer-executable instructions, which when executed by the at least one processor 501, performs a method of controlling a wind park according to an embodiment of the disclosure.
Processor 501 may include a Central Processing Unit (CPU), graphics Processing Unit (GPU), programmable logic device, dedicated processor system, microcontroller, or microprocessor. By way of example, and not limitation, processor 501 may also include analog processors, digital processors, microprocessors, multi-core processors, processor arrays, network processors, and the like.
The memory 502, which is a storage medium, may include an operating system, a data storage module, a network communication module, a user interface module, a control program for the wind turbine generator system, and a database.
The memory 502 may be integrated with the processor 501, for example, a RAM or flash memory may be disposed within an integrated circuit microprocessor or the like. Further, memory 502 may comprise a stand-alone device, such as an external disk drive, storage array, or any other storage device usable by a database system. The memory 502 and the processor 501 may be operatively coupled or may communicate with each other, such as through I/O ports, network connections, etc., so that the processor 501 can read files stored in the memory 502.
In addition, the electronic device 500 may also include a video display (such as a liquid crystal display) and a user interaction interface (such as a keyboard, mouse, touch input device, etc.). All components of the electronic device 500 may be connected to each other via a bus and/or a network.
Those skilled in the art will appreciate that the configuration shown in FIG. 5 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
According to an embodiment of the present disclosure, there may also be provided a computer-readable storage medium storing instructions that, when executed by at least one processor, cause the at least one processor to perform a control method of a wind park according to the present disclosure. Examples of the computer-readable storage medium herein include: read-only memory (ROM), random-access programmable read-only memory (PROM), electrically erasable programmable read-only memory (EEPROM), random-access memory (RAM), dynamic random-access memory (DRAM), static random-access memory (SRAM), flash memory, non-volatile memory, CD-ROM, CD-R, CD + R, CD-RW, CD + RW, DVD-ROM, DVD-R, DVD + R, DVD-RW, DVD + RW, DVD-RAM, BD-ROM, BD-R, BD-R LTH, BD-RE, blu-ray or optical disk memory, hard Disk Drives (HDDs), solid-state hard disks (SSDs), card-type memory (such as a multimedia card, a Secure Digital (SD) card, or an extreme digital (XD) card), magnetic tape, floppy disk, magneto-optical data storage, hard disk, solid-state disk, and any other device configured to store and to enable a computer program and any associated data file, data processing structure and to be executed by a computer. The computer program in the computer-readable storage medium described above can be run in an environment deployed in a computer apparatus, such as a client, a host, a proxy device, a server, and the like, and further, in one example, the computer program and any associated data, data files, and data structures are distributed across a networked computer system such that the computer program and any associated data, data files, and data structures are stored, accessed, and executed in a distributed fashion by one or more processors or computers.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (15)
1. A control method of a wind generating set is characterized by comprising the following steps:
obtaining active power deviation by carrying out proportional integral differential operation on the deviation between a direct current bus voltage measured value and a direct current bus voltage reference value of the wind generating set;
determining a virtual angular frequency deviation based on the active power deviation;
determining a virtual inner potential phase based on the virtual angular frequency deviation;
determining a d-axis component and a q-axis component of the modulation voltage based on the virtual angular frequency deviation, a reactive power set value and a reactive power measured value of the wind generating set, a rated voltage amplitude of the power grid and grid-connected current under a dq coordinate system;
and controlling the injection voltage of the grid-connected point of the wind generating set according to the virtual internal potential phase and the d-axis component and the q-axis component of the modulation voltage.
2. The control method according to claim 1, wherein the step of determining a virtual angular frequency deviation based on the active power deviation comprises:
directly inputting the active power deviation into a first-order low-pass filter to obtain the output of the first-order low-pass filter as the virtual angular frequency deviation; or
Inputting the sum of the active power deviation and the machine side active power to a first-order low-pass filter to obtain the output of the first-order low-pass filter as the virtual angular frequency deviation; or
And inputting the difference between the active power deviation and the network side active power into a first-order low-pass filter to obtain the output of the first-order low-pass filter as the virtual angular frequency deviation.
3. The control method of claim 1, wherein the step of determining a virtual internal potential phase based on the virtual angular frequency deviation comprises:
determining a virtual angular frequency based on the virtual angular frequency deviation and a rated angular frequency of a power grid;
determining the virtual inner potential phase based on the virtual angular frequency.
4. The control method of claim 1, wherein the step of determining the d-axis component and the q-axis component of the modulation voltage comprises:
determining a first disturbance quantity of the alternating-current bus voltage based on the virtual angular frequency deviation;
determining a second disturbance quantity of the alternating current bus voltage based on a deviation between the reactive power set value and the reactive power measured value;
determining a d-axis component of grid-connected reference voltage under a dq coordinate system based on the first disturbance quantity of the alternating-current bus voltage, the second disturbance quantity of the alternating-current bus voltage and the rated voltage amplitude of the power grid;
setting a q-axis component of grid-connected reference voltage under a dq coordinate system to be zero;
and determining the d-axis component and the q-axis component of the modulation voltage based on the d-axis component and the q-axis component of the grid-connected reference voltage in the dq coordinate system.
5. The control method according to claim 4, wherein the step of determining the first disturbance amount of the alternating-current bus voltage based on the virtual angular frequency deviation includes:
determining a first disturbance amount of the alternating-current bus voltage by performing at least one of a reset process, an amplification process, and a phase compensation process on the virtual angular frequency deviation.
6. The control method according to claim 4, wherein the step of determining the d-axis component and the q-axis component of the modulation voltage based on the d-axis component and the q-axis component of the grid-connected reference voltage in the dq coordinate system comprises:
only carrying out voltage outer loop control on a d-axis component and a q-axis component of the grid-connected reference voltage under a dq coordinate system to obtain the d-axis component and the q-axis component of the modulation voltage; or alternatively
And performing voltage outer loop control and current inner loop control on a d-axis component and a q-axis component of the grid-connected reference voltage in the dq coordinate system to obtain the d-axis component and the q-axis component of the modulation voltage.
7. The control method according to claim 1, characterized in that the wind park is a voltage source type wind park.
8. A control device of a wind turbine generator set, characterized in that the control device comprises:
a phase calculation module configured to: obtaining active power deviation by carrying out proportional integral differential operation on the deviation between a direct current bus voltage measured value and a direct current bus voltage reference value of the wind generating set; determining a virtual angular frequency deviation based on the active power deviation; determining a virtual inner potential phase based on the virtual angular frequency deviation;
a voltage calculation module configured to: determining a d-axis component and a q-axis component of the modulation voltage based on the virtual angular frequency deviation, a reactive power set value and a reactive power measured value of the wind generating set, a rated voltage amplitude of the power grid and grid-connected current under a dq coordinate system; and
a control module configured to control an injection voltage of a grid-connected point of a wind park according to the virtual inner potential phase and d-axis and q-axis components of the modulation voltage.
9. The control device of claim 8, wherein the phase calculation module is configured to:
directly inputting the active power deviation to a first-order low-pass filter to obtain the output of the first-order low-pass filter as the virtual angular frequency deviation; or
Inputting the sum of the active power deviation and the machine side active power into a first-order low-pass filter to obtain the output of the first-order low-pass filter as the virtual angular frequency deviation; or
And inputting the difference between the active power deviation and the network side active power into a first-order low-pass filter to obtain the output of the first-order low-pass filter as the virtual angular frequency deviation.
10. The control device of claim 8, wherein the phase calculation module is configured to:
determining a virtual angular frequency based on the virtual angular frequency deviation and a rated angular frequency of a power grid;
determining the virtual inner potential phase based on the virtual angular frequency.
11. The control device of claim 8, wherein the voltage calculation module is configured to:
determining a first disturbance quantity of the alternating-current bus voltage based on the virtual angular frequency deviation;
determining a second disturbance quantity of the alternating current bus voltage based on a deviation between the reactive power set value and the reactive power measured value;
determining a d-axis component of grid-connected reference voltage under a dq coordinate system based on the first disturbance quantity of the alternating-current bus voltage, the second disturbance quantity of the alternating-current bus voltage and the rated voltage amplitude of the power grid;
setting a q-axis component of the grid-connected reference voltage under the dq coordinate system to be zero;
and determining the d-axis component and the q-axis component of the modulation voltage based on the d-axis component and the q-axis component of the grid-connected reference voltage in the dq coordinate system.
12. The control device of claim 11, wherein the voltage calculation module is configured to:
only carrying out voltage outer loop control on a d-axis component and a q-axis component of grid-connected reference voltage under a dq coordinate system to obtain the d-axis component and the q-axis component of the modulation voltage; or
And performing voltage outer loop control and current inner loop control on a d-axis component and a q-axis component of the grid-connected reference voltage in the dq coordinate system to obtain the d-axis component and the q-axis component of the modulation voltage.
13. The control device of claim 11, wherein the wind turbine generator set is a voltage source type wind turbine generator set.
14. An electronic device, comprising:
at least one processor;
at least one memory storing computer-executable instructions,
wherein the computer-executable instructions, when executed by the at least one processor, cause the at least one processor to perform a method of controlling a wind park according to any one of claims 1 to 7.
15. A computer-readable storage medium storing instructions that, when executed by at least one processor, cause the at least one processor to perform the method of controlling a wind park according to any one of claims 1 to 7.
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| CN117154765A (en) * | 2023-10-30 | 2023-12-01 | 国网江西省电力有限公司电力科学研究院 | Active standby grid-structured photovoltaic virtual synchronous generator control method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117154765A (en) * | 2023-10-30 | 2023-12-01 | 国网江西省电力有限公司电力科学研究院 | Active standby grid-structured photovoltaic virtual synchronous generator control method and system |
| CN117154765B (en) * | 2023-10-30 | 2024-03-12 | 国网江西省电力有限公司电力科学研究院 | Active standby grid-structured photovoltaic virtual synchronous generator control method and system |
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