CN115912397B - Frequency modulation control method, system and equipment for wind-storage-coordinated double-fed wind turbine generator - Google Patents
Frequency modulation control method, system and equipment for wind-storage-coordinated double-fed wind turbine generator Download PDFInfo
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Abstract
The invention discloses a frequency modulation control method, a frequency modulation control system and a frequency modulation control product for a wind-storage-coordinated doubly-fed wind turbine. The method comprises the following steps: when the load state is a sudden change state, when the rotor rotating speed is smaller than the minimum rotor rotating speed, enabling the doubly-fed wind turbine to release or absorb rotor kinetic energy, providing inertia response power for the system until the current frequency deviation of the system is equal to 0, and determining that inertia response is finished; when the rotating speed of the doubly-fed wind turbine is not less than the minimum rotating speed of the rotor, determining that the doubly-fed wind turbine does not participate in frequency modulation; when the current frequency deviation is smaller than 0.033Hz, judging whether the charge state of the super capacitor is smaller than the minimum charge state; if the power is smaller than the preset threshold, starting the super capacitor to provide primary frequency modulation power for the system; if the current frequency deviation is not less than 0.033Hz, or the state of charge is not less than the minimum state of charge, the super capacitor is not started; when the load state is in a stable state, the doubly-fed wind turbine generator is operated at a maximum power tracking point, and the super capacitor is not started. The invention can provide long-time active support and meet the primary frequency modulation requirement.
Description
Technical Field
The invention relates to the field of fan power generation grid connection, in particular to a frequency modulation control method, a frequency modulation control system and frequency modulation control equipment for a wind-storage-coordinated double-fed wind turbine.
Background
The wind power is used as the main force of new energy power generation, the installed capacity of China reaches 30 ten thousand MW by the end of 2021, and the newly increased installed capacity is kept the first world for 12 years continuously. In the face of such large-scale installed capacity, the problem of safety and stability of the power system brought by wind power grid connection is particularly important. A Doubly fed wind generator (duubly-Fed Induction Generator, DFIG) is one of the most widely used types of wind power generation, and is connected to a power grid through a rotor-side and a grid-side converter, wherein the rotor speed is decoupled from the system frequency, and is usually operated in a maximum power tracking state. Although the traditional decoupling control of the doubly-fed wind power generator realizes the maximization of wind energy utilization, when power fluctuation occurs in a power grid, the kinetic energy of a rotor is hidden, and active support cannot be provided for the power grid like a conventional synchronous generator, so that the stability of the system is reduced, and the frequency safety problem is easily caused.
Aiming at the frequency modulation problem caused by fan grid connection, students at home and abroad carry out a great deal of researches and put forward frequency modulation strategies such as virtual inertia control, overspeed load shedding control, pitch angle changing control and the like, but the mode of adopting virtual inertia control support effectively suppresses system frequency fluctuation, but cannot provide long-time active support, so that primary frequency modulation requirements are met; the control mode of overspeed and pitch control and load shedding is adopted to realize the long-time frequency modulation function of the fan, but the fan has defects, the overspeed load shedding cannot realize maximum power tracking in a normal state, and partial wind power resource waste is caused; the pitch angle needs to be frequently adjusted to change the pitch and reduce the load, so that the mechanical device is worn, and the service life is shortened.
Disclosure of Invention
The invention aims to provide a frequency modulation control method, a frequency modulation control system and frequency modulation control equipment for a wind-storage-coordinated doubly-fed wind turbine, which are used for solving the problems that a virtual inertia control strategy cannot provide primary frequency adjustment support, the speed adjustment range of an overspeed load shedding control strategy is limited, and the power generation benefit is reduced.
In order to achieve the above object, the present invention provides the following solutions:
a frequency modulation control method of a wind-storage-coordinated double-fed wind turbine generator set comprises the following steps: double-fed wind turbine generator system and supercapacitor;
acquiring a load state of a frequency modulation system of the doubly-fed wind turbine; the load state includes a steady state and a abrupt state; the mutation states include a sudden increase state and a sudden decrease state;
when the load state is a sudden change state, judging whether the rotor rotating speed of the doubly-fed wind turbine is larger than the minimum rotor rotating speed, and judging whether the current frequency deviation of the doubly-fed wind turbine frequency modulation system is larger than-0.033 Hz;
when the rotor rotating speed of the doubly-fed wind turbine is greater than the minimum rotor rotating speed, enabling the doubly-fed wind turbine to release or absorb rotor kinetic energy, and providing inertia response power for a doubly-fed wind turbine frequency modulation system;
Calculating the current frequency deviation of the doubly-fed wind turbine frequency modulation system in real time until the current frequency deviation of the doubly-fed wind turbine frequency modulation system is equal to 0, determining that inertia response is finished, and recovering the rotating speed of the rotor to an initial value;
when the rotor rotating speed of the doubly-fed wind turbine is not greater than the minimum rotor rotating speed, determining that the doubly-fed wind turbine does not participate in frequency modulation;
when the current frequency deviation of the doubly-fed wind turbine frequency modulation system is larger than-0.033 Hz, judging whether the charge state of the super capacitor is larger than the minimum charge state;
if the state of charge is greater than the minimum state of charge, starting the supercapacitor, providing primary frequency modulation power for the doubly-fed wind turbine frequency modulation system until the current frequency deviation of the doubly-fed wind turbine frequency modulation system is equal to 0, determining that primary frequency modulation is finished, and stopping current operation of the supercapacitor; the current operation is a charging operation or a discharging operation;
if the current frequency deviation of the doubly-fed wind turbine frequency modulation system is not more than-0.033 Hz, or the state of charge is not more than the minimum state of charge, not starting the supercapacitor;
and when the load state is a stable state, enabling the doubly-fed wind turbine to operate at a maximum power tracking point, and not starting the super capacitor.
Optionally, the kinetic energy of the rotor released in the process of adjusting the rotating speed of the rotor by the doubly-fed wind turbine is:
wherein ΔE is k To be released asThe kinetic energy of the rotor; e (E) 1 To adjust the kinetic energy of the rotor before; e (E) 2 The kinetic energy of the rotor after being regulated; j is equivalent moment of inertia of the doubly-fed wind turbine generator; omega 1 To adjust the pre-rotor speed; omega 2 The adjusted rotor rotating speed is obtained; n is n 1 Is omega 1 A wind speed at lower wind speed; n is n 2 Is omega 2 A wind speed at lower wind speed; n is the gear box transformation ratio.
Optionally, the energy storage device is selected through the output power of the rotor side of the doubly-fed wind turbine and the output power flowing into the grid-side converter.
Optionally, in the frequency modulation process using the doubly-fed wind turbine generator and the energy storage device, the active power reference value of the rotor side of the doubly-fed wind turbine generator is:
wherein P is R_ref An active power reference value of the rotor side of the doubly-fed wind turbine generator; p (P) MPPT Is the maximum output power; k (K) H Is an inertia response coefficient;the current frequency deviation of the frequency modulation system of the doubly-fed wind turbine is calculated;
the active power reference value of the energy storage device converter is as follows:
P C_ref ＝K D Δf；
wherein P is C_ref K is the active power reference value of the super capacitor converter D The primary frequency modulation response coefficient; and delta f is the current frequency deviation of the frequency modulation system of the doubly-fed wind turbine.
A frequency modulation control system of a wind-storage coordinated double-fed wind turbine generator set comprises: double-fed wind turbine generator system and supercapacitor;
the load state acquisition module is used for acquiring the load state of the doubly-fed wind turbine frequency modulation system; the load state includes a steady state and a abrupt state; the mutation states include a sudden increase state and a sudden decrease state;
the first judging module is used for judging whether the rotor rotating speed of the doubly-fed wind turbine is larger than the minimum rotor rotating speed or not and judging whether the current frequency deviation of the doubly-fed wind turbine frequency modulation system is larger than-0.033 Hz or not when the load state is the abrupt change state;
the doubly-fed wind turbine generator frequency modulation module is used for enabling the doubly-fed wind turbine generator to release or absorb rotor kinetic energy when the rotor rotating speed of the doubly-fed wind turbine generator is larger than the minimum rotor rotating speed, and providing inertia response power for the doubly-fed wind turbine generator frequency modulation system;
the doubly-fed wind turbine frequency modulation ending module is used for calculating the current frequency deviation of the doubly-fed wind turbine frequency modulation system in real time until the current frequency deviation of the doubly-fed wind turbine frequency modulation system is equal to 0, determining that inertia response is ended, and recovering the rotating speed of the rotor to an initial value;
The doubly-fed wind turbine generator does not participate in the frequency modulation determining module, and is used for determining that the doubly-fed wind turbine generator does not participate in frequency modulation when the rotor rotating speed of the doubly-fed wind turbine generator is not greater than the minimum rotor rotating speed;
the second judging module is used for judging whether the charge state of the super capacitor is larger than the minimum charge state or not when the current frequency deviation of the frequency modulation system of the doubly-fed wind turbine generator is larger than-0.033 Hz;
the primary frequency modulation module is used for starting the super capacitor to provide primary frequency modulation power for the doubly-fed wind turbine generator system if the charge state is larger than the minimum charge state until the current frequency deviation of the doubly-fed wind turbine generator system is equal to 0, and determining that primary frequency modulation is finished, wherein the super capacitor stops the current operation; the current operation is a charging operation or a discharging operation;
the non-starting supercapacitor determining module is used for not starting the supercapacitor if the current frequency deviation of the doubly-fed wind turbine generator frequency modulation system is not more than-0.033 Hz or the state of charge is not more than the minimum state of charge;
and the maximum power tracking point operation module is used for enabling the doubly-fed wind turbine generator to operate at the maximum power tracking point when the load state is a stable state, and not starting the super capacitor.
Optionally, the kinetic energy of the rotor released in the process of adjusting the rotating speed of the rotor by the doubly-fed wind turbine is:
wherein ΔE is k Kinetic energy for the released rotor; e (E) 1 To adjust the kinetic energy of the rotor before; e (E) 2 The kinetic energy of the rotor after being regulated; j is equivalent moment of inertia of the doubly-fed wind turbine generator; omega 1 To adjust the pre-rotor speed; omega 2 The adjusted rotor rotating speed is obtained; n is n 1 Is omega 1 A wind speed at lower wind speed; n is n 2 Is omega 2 A wind speed at lower wind speed; n is the gear box transformation ratio.
Optionally, the energy storage device is selected through the output power of the rotor side of the doubly-fed wind turbine and the output power flowing into the grid-side converter.
Optionally, in the frequency modulation process using the doubly-fed wind turbine generator and the energy storage device, the active power reference value of the rotor side of the doubly-fed wind turbine generator is:
wherein P is R_ref An active power reference value of the rotor side of the doubly-fed wind turbine generator; p (P) MPPT Is the maximum output power; k (K) H Is an inertia response coefficient;the current frequency deviation of the frequency modulation system of the doubly-fed wind turbine is calculated;
the active power reference value of the energy storage device converter is as follows:
P C_ref ＝K D Δf；
wherein P is C_ref K is the active power reference value of the super capacitor converter D The primary frequency modulation response coefficient; and delta f is the current frequency deviation of the frequency modulation system of the doubly-fed wind turbine.
The electronic equipment comprises a memory and a processor, wherein the memory is used for storing a computer program, and the processor runs the computer program to enable the electronic equipment to execute the doubly-fed wind turbine frequency modulation control method with wind storage coordination.
A computer readable storage medium storing a computer program which when executed by a processor implements the wind-storage-coordinated doubly-fed wind turbine frequency modulation control method described above.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the invention provides a frequency modulation control method, a system and equipment for a doubly-fed wind turbine generator with wind storage coordination, which are based on inertia and primary frequency modulation control strategies of the doubly-fed wind turbine generator, utilize kinetic energy of a rotor released or absorbed by the doubly-fed wind turbine generator to provide inertia power support, and enable a super capacitor to respond to primary frequency adjustment, and jointly realize grid-connected frequency modulation capacity of the doubly-fed wind turbine generator by coordinately controlling two energy sources of the super capacitor and the kinetic energy of the rotor of the doubly-fed wind turbine generator;
in addition, the system frequency fluctuation is dynamically identified, so that the requirement of the fan for actively participating in the system frequency adjustment is met, and the doubly-fed wind turbine generator is always operated in a maximum power tracking state during steady-state operation, so that the maximum wind energy utilization is ensured, and the economic benefit of the system is improved; the pitch angle does not need to be frequently regulated, so that the abrasion of the mechanical device is avoided, and the service life of the mechanical device is prolonged.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a frequency modulation control method of a wind-storage coordinated double-fed wind turbine provided by the invention;
FIG. 2 is a graph of the current frequency deviation amount and the system frequency change rate of the frequency modulation system of the doubly-fed wind turbine generator; FIG. 2 (a) is a graph of the current frequency deviation amount and time of the frequency modulation system of the doubly-fed wind turbine provided by the invention; FIG. 2 (b) is a graph of the system frequency change rate versus time provided by the present invention;
FIG. 3 is a block diagram illustrating a system inertia control strategy according to the present invention;
FIG. 4 is a graph illustrating the operation of the overspeed load shedding control strategy provided by the present invention;
FIG. 5 is a model diagram of a drive system of a doubly-fed wind turbine provided by the invention;
FIG. 6 is a diagram of a supercapacitor configuration model provided by the invention;
Fig. 7 is a block diagram of a wind-storage coordination control strategy provided by the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a frequency modulation control method, a frequency modulation control system and frequency modulation control equipment for a doubly-fed wind turbine generator set with coordinated wind storage, which can provide long-time active support, meet primary frequency modulation requirements, improve economic benefits of the system and prolong the service life of mechanical devices.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
In recent years, with the high-speed development of energy storage technology, the energy storage device is widely applied to wind power generation, and the energy storage device adopting the super capacitor completely bears inertia and primary frequency modulation functions, so that the active frequency modulation function of the fan is realized on the basis of not changing the existing control scheme of the fan. Considering the advantages of the energy storage device in energy density and response speed, the wind power frequency modulation device provides possibility for solving the wind power frequency modulation problem. However, if the wind power generation and the storage are combined and coordinated, the energy of the blower can be fully utilized, the advantage of sufficient energy of the energy storage device can be exerted, the capacity of the energy storage device can be effectively reduced, and the maximum power generation benefit can be realized.
Example 1
During the frequency adjustment period, the frequency modulation control method of the wind-storage-coordinated doubly-fed wind turbine is shown in fig. 1, fig. 1 is a flow chart of the frequency modulation control method of the wind-storage-coordinated doubly-fed wind turbine, shown in fig. 1, wherein w is as follows rmin At the minimum rotational speed of the rotor,for calculating the current frequency deviation of the frequency modulation system of the doubly-fed wind turbine, namely the variation of the frequency, df is the frequency variation in a certain period, dt is the period, and SOC is the state of charge, and SOC min Is the minimum state of charge.
A frequency modulation control method of a wind-storage-coordinated double-fed wind turbine generator set comprises the following steps: double-fed wind turbine generator system and ultracapacitor system.
step1: acquiring a load state of a frequency modulation system of the doubly-fed wind turbine; the load state includes a steady state and a abrupt state; the mutation states include a sudden increase state and a sudden decrease state; executing step2 and step3 when the load state is a abrupt state; step10 is performed when the load state is a steady state.
Differentiation and association of virtual inertia and primary frequency modulation:
aiming at the problem of system equivalent inertia reduction caused by grid connection of the doubly-fed wind turbine, the advantages and the disadvantages of the adoption of a virtual inertia control strategy are analyzed; in order to realize the primary frequency modulation power of the doubly-fed wind turbine, an overspeed load shedding control strategy is analyzed, and the energy requirement of primary frequency modulation is met by reducing the wind energy captured by a fan/reserved active power.
Inertia reflects the resistance degree of the unit to the change of the system frequency state, namely the kinetic energy E of the unit rotor under the synchronous angular velocity k System rated capacity S N The ratio is generally expressed in terms of an inertial time constant H:
wherein J is moment of inertia, w r The rotor speed is given, and p is the pole pair number of the unit.
The inertia is closely related to the unit rotational speed, which in turn is coupled to the system frequency. When the frequency fluctuates, if the mechanical power of the machine set is kept unchanged, the kinetic energy of the rotor is output in the form of electromagnetic power, and the power P H Frequency fluctuation is restrained, and the inertia supporting effect is achieved.
Wherein f N For the nominal frequency of the system, P N Is rated power of the unit.
Primary frequency modulation is to automatically increase or decrease electromagnetic power output under control of a system to cope with disturbance of system frequency, and unit adjustment power K is usually used G The representation is performed.
Wherein DeltaP G And the primary frequency modulation support power is Δf which is the current frequency deviation of the frequency modulation system of the doubly-fed wind turbine.
Power P for inertia response H In proportion to the differential quantity of the system frequency, the differential has the characteristic of advanced regulation, so that when the frequency of the power grid fluctuates, the inertia supporting power is released or absorbed first, and the response speed is higher. In addition, the inertia support power responds to the rate of change of frequency, so Even if the frequency has not been rated, the inertia will no longer function as long as the frequency is no longer fluctuating. Therefore, the response time is not long, and is generally about 5 seconds. As can be seen by comparing the curves of the grid frequency deviation and the frequency change rate in fig. 2, the initial frequency change rate has a larger fluctuation amplitude, the inertia support power has a more remarkable effect in the initial stage, but the overall energy supply is limited due to the fact that the time is not long.
The primary frequency modulation support power is in direct proportion to the current frequency deviation amount of the frequency modulation system of the doubly-fed wind turbine generator, and is generally deltaf & gtor plus or minus 0.03Hz, namely, the response speed is slower compared with the response speed of inertia support after exceeding a frequency modulation dead zone. The duration of the frequency deviation is long compared to the rate of change of frequency, so the system needs to provide a primary frequency modulation support power for a longer period of time, typically 30s. It can be seen from fig. 3 that the inertia support power is almost zero at the later stage of the frequency fluctuation, the primary frequency modulation effect is more important, and the overall energy requirement is higher due to its long response time.
Aiming at the problem of system equivalent inertia reduction caused by grid connection of the doubly-fed wind turbine, a virtual inertia control strategy of the doubly-fed wind turbine is analyzed.
Aiming at the problem of system equivalent inertia reduction caused by grid connection of the doubly-fed wind turbine, an improved virtual inertia control strategy is provided, and as shown in fig. 3, a frequency control module is added on the basis of maximum power tracking control of the doubly-fed wind turbine, namely, additional active power is introduced into an active power reference value of a rotor-side converter through parameters such as the current frequency deviation amount, the frequency change rate, the proportionality coefficient, the differential coefficient and the like of a frequency modulation system of the doubly-fed wind turbine, so that inertia response characteristics and damping characteristics of the synchronous wind turbine are simulated, and the function of actively providing inertia support when the wind turbine faces system frequency fluctuation is realized.
Under virtual inertia control strategy, active power reference value P of rotor side of doubly-fed wind turbine generator ref The method comprises the following steps:
wherein P is MPPT For maximum output power, ΔP 1 For inertia response power ΔP 2 To damp the response power, K 1 Is the differential coefficient, K 2 Is a proportionality coefficient.
The virtual inertia control strategy solves the problem of system equivalent inertia reduction caused by wind power grid connection, but the power support for primary frequency adjustment duration cannot be provided due to limited rotor kinetic energy of the fan.
In order to realize the primary frequency modulation power of the doubly-fed wind turbine, an overspeed load shedding control strategy is researched, and the energy requirement of primary frequency modulation is met by reducing the wind energy captured by a fan/reserved active power.
When no additional frequency modulation strategy is adopted, the doubly-fed wind turbine is generally operated in a maximum power tracking mode, and the maximum power tracking points of the doubly-fed wind turbine at different wind speeds are connected to form a maximum power tracking curve shown in fig. 4, and at the moment, the output power of the fan is as follows:
wherein r is air density, C p For the wind energy conversion coefficient, l opt For optimal tip speed ratio, R is the radius of the fan blade.
In order to realize the primary frequency modulation function of the doubly-fed wind turbine, an overspeed load shedding control strategy is provided, and the analog synchronous generator sets reserve boiler heat storage. Under normal working conditions, the overspeed load shedding control strategy is not operated at the maximum power tracking point A any more, but is operated at the load shedding point B by increasing the rotating speed of the rotor, and the reserved active power of the fan is delta P AB While DeltaP AB The size depends on the load shedding rate d%.
When the load is increased to cause the fluctuation of the system frequency, the doubly-fed wind turbine generator moves from the load shedding point B to the maximum power point A under the action of additional power, and the wind energy capture is increased by the fan through reducing the rotating speed, so that the system power shortage is compensated. When the frequency is restored to the rated value, the fan is operated again at the load shedding point B. Under the overspeed load shedding control strategy, the active power reference value of the rotor side of the wind turbine generator is as follows:
the overspeed load shedding control strategy realizes the function of participating in primary frequency adjustment after the fan is connected with the grid, but the power value is delta P because the fan always operates at the load shedding point under the normal working condition AB If the wind energy is in the wind discarding state, a large amount of wind energy resources are wasted if the duration is too long. In addition, since the fan is already in an overspeed state, the adjustable range of the speed increase becomes smaller, and when the load is reduced, the power adjustment range becomes narrower, and the primary frequency modulation capability of the fan is limited.
step2: judging whether the rotor rotating speed of the doubly-fed wind turbine is larger than the minimum rotor rotating speed, if so, executing step4, and if not, executing step6.
step3: judging whether the current frequency deviation of the frequency modulation system of the doubly-fed wind turbine is larger than-0.033 Hz, if so, executing step7, and if not, executing step9.
step4: and enabling the doubly-fed wind turbine to release or absorb the kinetic energy of the rotor, and providing inertia response power for the doubly-fed wind turbine frequency modulation system.
step5: and calculating the current frequency deviation of the doubly-fed wind turbine frequency modulation system in real time until the current frequency deviation of the doubly-fed wind turbine frequency modulation system is equal to 0, determining that inertia response is finished, and recovering the rotating speed of the rotor to an initial value.
step6: and determining that the doubly-fed wind turbine generator does not participate in frequency modulation.
The energy storage device is matched with a primary frequency modulation control scheme, the kinetic energy of the fan rotor is used as a main energy source of inertia support, the energy storage device is mainly matched with primary frequency modulation support power, and the fan grid-connected frequency modulation is realized through wind storage coordination control.
In consideration of the defects of the traditional virtual inertia control and overspeed load shedding control and the application of the energy storage device in the wind power field in recent years, the invention provides a wind storage coordination control scheme for jointly solving the problems of inertia and primary frequency modulation caused by fan grid connection. The energy of inertia of the reference synchronous generator set is derived from rotor kinetic energy, and primary frequency modulation energy is derived from reserved heat storage of a boiler.
If the kinetic energy of the fan rotor is used as an energy source of inertia support, the frequency modulation capability of the rotor kinetic energy is analyzed. The rotor kinetic energy of the doubly-fed wind turbine is mainly stored in a transmission system-shafting part and consists of blades, a low-speed shaft, a gear box, a high-speed shaft and a generator, as shown in fig. 5. The rotational inertia of the blades and the generator is far larger than that of the transmission shaft, so that an equivalent two-mass model is often adopted when modeling the shaft system part, and therefore, when calculating the equivalent rotational inertia J of the doubly-fed wind turbine generator, the following formula is adopted:
J＝J turb +J gear +J gen N 2
wherein J is turb For blade moment of inertia, J gen For generator moment of inertia, J gear And N is the gear box transformation ratio.
Rotor rotating speed of doubly-fed wind turbine generator set is w 1 Adjusted to w 2 The kinetic energy of the rotor released in the process is as follows:
wherein ΔE is k Kinetic energy for the released rotor; e (E) 1 To adjust the kinetic energy of the rotor before; e (E) 2 The kinetic energy of the rotor after being regulated; j is equivalent moment of inertia of the doubly-fed wind turbine generator; omega 1 To adjust the pre-rotor speed; omega 2 The adjusted rotor rotating speed is obtained; n is n 1 Is omega 1 A wind speed at lower wind speed; n is n 2 Is omega 2 A wind speed at lower wind speed; n is the gear box transformation ratio.
The kinetic energy of the rotor contained in the fan is closely related to the initial rotating speed of the fan, the rotating speeds of the fan are different under different working conditions, and the kinetic energy of the rotor is also larger.
Taking a certain 1.5MW double-fed wind turbine generator set and a certain 2MW double-fed wind turbine generator set as examples, the equivalent moment of inertia is 7.5658 multiplied by 10 respectively 6 kg.m 2 And 14.2X10 6 kg.m 2 When the fan pole pair number p=2 and the minimum rotation speed of the fan is set to be n=1050 r/min, the number is substituted into the numberThe kinetic energy of the rotor contained in the fan at different rotating speeds can be obtained, and the table 1 is a table of the frequency modulation capability of the rotating speeds of the 1.5MW and 2MW fan rotors, as shown in the table 1.
TABLE 1
When the doubly-fed wind turbine generator provides inertia power support for the system at 10% rated power, the duration of inertia response provided by the fan at different rotation speeds can be obtained, as shown in table 1. Even at a lower rotating speed of 1200r/min, the rotor kinetic energy contained in the 1.5MW fan and the 2MW fan can provide inertia response of not less than 5s, the requirement of a system on fan inertia support is met, but the energy of the system cannot meet the requirement of primary frequency modulation for 30s, so that the invention only adopts the rotor kinetic energy to provide inertia adjustment.
step7: judging whether the charge state of the super capacitor is larger than the minimum charge state, if so, executing step8, and if not, executing step9.
step8: starting the super capacitor, providing primary frequency modulation power for the doubly-fed wind turbine frequency modulation system until the current frequency deviation of the doubly-fed wind turbine frequency modulation system is equal to 0, determining that primary frequency modulation is finished, and stopping current operation of the super capacitor; the current operation is a charging operation or a discharging operation.
step9: the supercapacitor is not started.
The super capacitor mode is used as a main energy storage device, and the capacity allocation size of the super capacitor under different fan capacities is determined.
The energy storage devices are various in variety and different in performance, and in the field of wind power frequency modulation, the energy storage devices with wide application range are storage batteries and super capacitors. Considering that the function of adopting the energy storage equipment is to simulate the reserved heat storage of the boiler of the synchronous generator set and finish the primary frequency modulation function of the system, the frequency modulation frequency of the power grid is frequent in fluctuation frequency in the day, the requirement on the frequency modulation speed of the set is high, and the advantages of high circulative frequency and high response speed of the super capacitor are combined.
The super capacitor is arranged at a direct current bus (shown in fig. 6) of the double-fed wind turbine generator, and energy of the super capacitor flows to a power grid or a load through the grid-side converter. When the capacity of the super capacitor is configured, not only the function of the super capacitor is considered, but also the output power of the super capacitor and the adaptation degree of the network-side converter are analyzed. Firstly, the function of the super capacitor is to provide primary frequency modulation power support, and the primary frequency modulation output or input power is related to the current frequency deviation of the frequency modulation system of the doubly-fed wind turbine generator, and a plurality of documents show that the power adjustment value is generally not more than 10% of the rated power of the generator set, and the time is 30s. Second, the rated power of the selected super capacitor is 10% P N In this case, it is necessary to analyze whether the power flowing into the network-side converter exceeds the limit value.
Power P flowing into network side converter gsc The output power P of the rotor side of the doubly-fed wind turbine generator rsc And supercapacitor output power P c Two parts are formed; p (P) rsc The rotor speed and slip ratio s of the doubly-fed wind turbine are closely related, the working range of the rotor speed is generally 0.7 pu-1.3 pu, and s varies between-0.3 pu and 0.3 pu. When slip ratio s= -0.3, doubly-fed wind turbine generator output power P DFIG Reaching rated value, rotor side output power P rsc Also reaches a maximum.
P gsc ＝P rsc +P c
And if the rated power of the doubly-fed wind turbine generator is 2MW, the maximum power flowing through the rotor-side converter is 461kW, the maximum output power of the super capacitor is 200kW, and the power flowing into the grid-side converter is 661kW and is larger than the limit value 703kW of the grid-side converter. Therefore, 150kW multiplied by 30s is used as the energy configuration of the super capacitor, so that the primary frequency modulation energy requirement is met, and the power limit of the grid-side converter is also met.
In addition, in order to ensure the safety and reliability of the grid-side converter, the output power and the capacity of the super capacitor can be properly reduced for the built wind turbine generator. For the newly-built double-fed wind turbine, the rated power of the grid-side converter can be properly increased, and the phenomenon that the power flowing into the grid-side converter exceeds the limit of the grid-side converter is avoided.
step10: and enabling the doubly-fed wind turbine to operate at a maximum power tracking point, and not starting the super capacitor.
And the wind storage coordination frequency control strategy utilizes the kinetic energy of the rotor to provide short-time frequency support, the energy storage device improves frequency steady-state deviation, the frequency regulation function of the doubly-fed wind turbine is realized together, and under normal working conditions, the doubly-fed wind turbine operates at a maximum power tracking point, and the super capacitor is not started. When the system frequency fluctuates due to sudden load increase/sudden decrease, the wind turbine generator stops the change of the system frequency by releasing or absorbing the kinetic energy of the rotor, and time is reserved for primary frequency modulation, and at the moment, the power floating quantity of the wind turbine generator is in direct proportion to the frequency change rate. When the frequency deviation exceeds the primary frequency modulation dead zone, the super capacitor is started, or the energy is released to prevent the system frequency from dropping, or the energy is absorbed to prevent the frequency from rising, so as to reduce the frequency steady-state deviation.
The wind storage coordination control strategy utilizes the kinetic energy of the rotor to provide short-time frequency support by combining inertia and primary frequency modulation distinction, the energy storage device improves frequency steady-state deviation, and the frequency regulation function of the doubly-fed wind turbine is realized together, and a control block diagram is shown in fig. 7.
Under normal working conditions, the doubly-fed wind turbine generator runs at a maximum power tracking point, and the super capacitor is not started. When the system frequency fluctuates due to sudden load increase/sudden decrease, the wind turbine generator stops the change of the system frequency by releasing or absorbing the kinetic energy of the rotor, and time is reserved for primary frequency modulation, and at the moment, the power floating quantity of the wind turbine generator is in direct proportion to the frequency change rate. When the frequency deviation exceeds the primary frequency modulation dead zone, the super capacitor is started, or the energy-blocking system is released, or the energy-blocking system is absorbed, the frequency is blocked, the frequency steady-state deviation is reduced, the residual capacity of the super capacitor is monitored during the period, and the super capacitor is stopped when the residual capacity is lower than the minimum super capacitor capacity, or the super capacitor is stopped when the frequency deviation is zero, namely: when the deviation rate is small, the kinetic energy of the fan rotor is used as an energy source of inertia support, and when the deviation amount is large, the super capacitor is put into operation. During this period, the expressions of the doubly-fed wind turbine generator and the active power reference value of the supercapacitor are respectively as follows:
P C_ref ＝K D Δf
Wherein P is R_ref Describing the relation between the active power reference value and inertia of the fan unit for the active power reference value of the rotor-side converter of the doubly-fed wind turbine unit; k (K) H Is an inertia response coefficient; p (P) C_ref Describing the relation between the active power reference value of the super capacitor and the primary frequency modulation response coefficient for the active power reference value of the super capacitor converter; k (K) D The primary frequency modulation response coefficient;and calculating the current frequency deviation of the frequency modulation system of the doubly-fed wind turbine.
The economic comparison is carried out on the overspeed load shedding strategy and the wind storage coordination strategy, and the result shows that the cost of the wind storage coordination strategy provided by the invention is far lower than the annual economic loss of the overspeed load shedding scheme.
Compared with a virtual inertia control scheme, the wind storage coordination control strategy only uses rotor kinetic energy to provide inertia support, so that the problems that the rotation speed of the rotor drops to the lowest point, the rotor kinetic energy quickly rises after being released deeply, and the frequency drops secondarily are avoided, and the functional requirement of primary frequency modulation of the wind turbine can be met. Compared with an overspeed load shedding scheme, the wind storage coordination control strategy always operates at a maximum power tracking point under normal working conditions, so that economic loss caused by wind abandoning is avoided, and the rotation speed adjusting range is not limited any more. The only disadvantage is that the installation of the super capacitor increases the investment cost, but there is still a strong economic advantage, and table 2 is a comparison table of the overspeed load shedding strategy and the wind energy storage coordination strategy economy, as shown in table 2.
TABLE 2
Table 2 compares the economic benefits of a 2W double fed fan under two control schemes. When the load shedding rate is 10%, the electricity cost loss caused by wind energy resource waste per year under the condition of no limit electricity, which is the overspeed load shedding strategy, is up to 50.1 ten thousand. When the wind storage coordination strategy is adopted, the super capacitor is arranged at the direct current bus of the wind turbine generator, so that civil cost is avoided, and only the purchasing cost of the super capacitor and the converter is required to be paid, and the total cost is 35 ten thousand yuan. If the service life of the super capacitor is 8 years, the depreciation life of the converter is 20 years, the investment of the super capacitor is 3.625 ten thousand yuan per year, and the cost is far greater than the annual economic loss of an overspeed load shedding scheme.
Example two
In order to execute the corresponding method of the embodiment to realize the corresponding functions and technical effects, the following provides a frequency modulation control system of a wind-storage-coordinated double-fed wind turbine generator.
A frequency modulation control system of a wind-storage coordinated double-fed wind turbine generator set comprises: double-fed wind turbine generator system and ultracapacitor system.
The load state acquisition module is used for acquiring the load state of the doubly-fed wind turbine frequency modulation system; the load state includes a steady state and a abrupt state; the abrupt state includes a sudden increase state and a sudden decrease state.
And the first judging module is used for judging whether the rotor rotating speed of the doubly-fed wind turbine is larger than the minimum rotor rotating speed or not and judging whether the current frequency deviation of the doubly-fed wind turbine frequency modulation system is larger than-0.033 Hz or not when the load state is the abrupt change state.
And the doubly-fed wind turbine frequency modulation module is used for enabling the doubly-fed wind turbine to release or absorb rotor kinetic energy when the rotor rotating speed of the doubly-fed wind turbine is larger than the minimum rotor rotating speed and providing inertia response power for the doubly-fed wind turbine frequency modulation system.
And the doubly-fed wind turbine frequency modulation ending module is used for calculating the current frequency deviation of the doubly-fed wind turbine frequency modulation system in real time until the current frequency deviation of the doubly-fed wind turbine frequency modulation system is equal to 0, determining that inertia response is ended, and recovering the rotating speed of the rotor to an initial value.
And the doubly-fed wind turbine generator does not participate in the frequency modulation determining module, and is used for determining that the doubly-fed wind turbine generator does not participate in frequency modulation when the rotor rotating speed of the doubly-fed wind turbine generator is not greater than the minimum rotor rotating speed.
And the second judging module is used for judging whether the charge state of the super capacitor is larger than the minimum charge state or not when the current frequency deviation of the frequency modulation system of the doubly-fed wind turbine generator is larger than-0.033 Hz.
The primary frequency modulation module is used for starting the super capacitor to provide primary frequency modulation power for the doubly-fed wind turbine generator system if the charge state is larger than the minimum charge state until the current frequency deviation of the doubly-fed wind turbine generator system is equal to 0, and determining that primary frequency modulation is finished, wherein the super capacitor stops the current operation; the current operation is a charging operation or a discharging operation.
And not starting a supercapacitor determining module, wherein the supercapacitor is not started if the current frequency deviation of the frequency modulation system of the doubly-fed wind turbine is not greater than-0.033 Hz or the state of charge is not greater than the minimum state of charge.
And the maximum power tracking point operation module is used for enabling the doubly-fed wind turbine generator to operate at the maximum power tracking point when the load state is a stable state, and not starting the super capacitor.
In practical application, the kinetic energy of the rotor released in the process of regulating the rotating speed of the rotor by the doubly-fed wind turbine is as follows:
wherein ΔE is k Kinetic energy for the released rotor; e (E) 1 To adjust the kinetic energy of the rotor before; e (E) 2 The kinetic energy of the rotor after being regulated; j is equivalent moment of inertia of the doubly-fed wind turbine generator; omega 1 To adjust the pre-rotor speed; omega 2 The adjusted rotor rotating speed is obtained; n is n 1 Is omega 1 A wind speed at lower wind speed; n is n 2 Is omega 2 A wind speed at lower wind speed; n is the gear box transformation ratio.
In practical application, the energy storage device is selected through the output power of the rotor side of the doubly-fed wind turbine and the output power flowing into the grid-side converter.
In practical application, in the frequency modulation process of the doubly-fed wind turbine generator and the energy storage device, the active power reference value of the rotor side of the doubly-fed wind turbine generator is as follows:
wherein P is R_ref An active power reference value of the rotor side of the doubly-fed wind turbine generator; p (P) MPPT Is the maximum output power; k (K) H Is an inertia response coefficient; />And calculating the current frequency deviation of the frequency modulation system of the doubly-fed wind turbine.
The active power reference value of the energy storage device converter is as follows:
P C_ref ＝K D Δf; wherein P is C_ref K is the active power reference value of the super capacitor converter D The primary frequency modulation response coefficient; Δf is the current frequency of the frequency modulation system of the doubly-fed wind turbine generatorRate deviation.
Example III
The embodiment of the invention provides electronic equipment which comprises a memory and a processor, wherein the memory is used for storing a computer program, and the processor runs the computer program to enable the electronic equipment to execute the doubly-fed wind turbine frequency modulation control method for wind storage coordination provided in the embodiment I.
In practical applications, the electronic device may be a server.
In practical applications, the electronic device includes: at least one processor (processor), memory (memory), bus, and communication interface (Communications Interface).
Wherein: the processor, communication interface, and memory communicate with each other via a communication bus.
And the communication interface is used for communicating with other devices.
And a processor, configured to execute a program, and specifically may execute the method described in the foregoing embodiment.
In particular, the program may include program code including computer-operating instructions.
The processor may be a central processing unit, CPU, or specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of the present invention. The one or more processors included in the electronic device may be the same type of processor, such as one or more CPUs; but may also be different types of processors such as one or more CPUs and one or more ASICs.
And the memory is used for storing programs. The memory may comprise high-speed RAM memory or may further comprise non-volatile memory, such as at least one disk memory.
Based on the description of the above embodiments, the embodiments of the present application provide a storage medium having stored thereon computer program instructions executable by a processor to implement the method of any of the embodiments
The wind-storage-coordinated doubly-fed wind turbine frequency modulation control system provided by the embodiment of the application exists in various forms, including but not limited to:
(1) A mobile communication device: such devices are characterized by mobile communication capabilities and are primarily aimed at providing voice, data communications. Such terminals include: smart phones (e.g., iPhone), multimedia phones, functional phones, and low-end phones, etc.
(2) Ultra mobile personal computer device: such devices are in the category of personal computers, having computing and processing functions, and generally having mobile internet access capabilities. Such terminals include: PDA, MID, and UMPC devices, etc., such as iPad.
(3) Portable entertainment device: such devices may display and play multimedia content. The device comprises: audio, video players (e.g., iPod), palm game consoles, electronic books, and smart toys and portable car navigation devices.
(4) Other electronic devices with data interaction functions.
Thus, particular embodiments of the present subject matter have been described. Other embodiments are within the scope of the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may be advantageous.
The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. One typical implementation is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being functionally divided into various units, respectively. Of course, the functions of each element may be implemented in one or more software and/or hardware elements when implemented in the present application. It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. 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.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of a storage medium for a computer include, but are not limited to, a phase change memory (PRAM), a Static Random Access Memory (SRAM), a Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a flash memory or other memory technology, a compact disc read only memory (CD-ROM), a compact disc Read Only Memory (ROM),
Digital Versatile Disk (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices
Or any other non-transmission medium, may be used to store information that may be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular transactions or implement particular abstract data types. The application may also be practiced in distributed computing environments where transactions are performed by remote processing devices that are connected through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (8)
1. A frequency modulation control method of a wind-storage-coordinated double-fed wind turbine generator is characterized by comprising the following steps: double-fed wind turbine generator system and supercapacitor;
acquiring a load state of a frequency modulation system of the doubly-fed wind turbine; the load state includes a steady state and a abrupt state; the mutation states include a sudden increase state and a sudden decrease state;
When the load state is a sudden change state, judging whether the rotor rotating speed of the doubly-fed wind turbine is larger than the minimum rotor rotating speed, and judging whether the current frequency deviation of the doubly-fed wind turbine frequency modulation system is smaller than-0.033 Hz;
when the rotor rotating speed of the doubly-fed wind turbine is greater than the minimum rotor rotating speed, enabling the doubly-fed wind turbine to release or absorb rotor kinetic energy, and providing inertia response power for a doubly-fed wind turbine frequency modulation system;
calculating the current frequency deviation of the doubly-fed wind turbine frequency modulation system in real time until the current frequency deviation of the doubly-fed wind turbine frequency modulation system is equal to 0, determining that inertia response is finished, and recovering the rotating speed of the rotor to an initial value;
when the rotor rotating speed of the doubly-fed wind turbine is not greater than the minimum rotor rotating speed, determining that the doubly-fed wind turbine does not participate in frequency modulation;
when the current frequency deviation of the doubly-fed wind turbine frequency modulation system is smaller than-0.033 Hz, judging whether the state of charge of the super capacitor is larger than the minimum state of charge;
if the state of charge is greater than the minimum state of charge, starting the supercapacitor, providing primary frequency modulation power for the doubly-fed wind turbine frequency modulation system until the current frequency deviation of the doubly-fed wind turbine frequency modulation system is equal to 0, determining that primary frequency modulation is finished, and stopping current operation of the supercapacitor; the current operation is a charging operation or a discharging operation;
If the current frequency deviation of the doubly-fed wind turbine frequency modulation system is not less than-0.033 Hz, or the state of charge is not greater than the minimum state of charge, not starting the supercapacitor;
when the load state is a stable state, the doubly-fed wind turbine generator is operated at a maximum power tracking point, and the super capacitor is not started;
in the frequency modulation process of the doubly-fed wind turbine generator and the energy storage device, the active power reference value of the rotor side of the doubly-fed wind turbine generator is as follows:
wherein,P R_ref an active power reference value of the rotor side of the doubly-fed wind turbine generator; p (P) MPPT Is the maximum output power; k (K) H Is an inertia response coefficient;the current frequency deviation of the frequency modulation system of the doubly-fed wind turbine is calculated;
the active power reference value of the energy storage device converter is as follows:
P C_ref ＝K D Δf；
wherein P is C_ref K is the active power reference value of the super capacitor converter D The primary frequency modulation response coefficient; and delta f is the current frequency deviation of the frequency modulation system of the doubly-fed wind turbine.
2. The wind-storage-coordinated doubly-fed wind turbine frequency modulation control method according to claim 1, wherein rotor kinetic energy released in the process of adjusting the rotor rotational speed of the doubly-fed wind turbine is:
Wherein ΔE is k Kinetic energy for the released rotor; e (E) 1 To adjust the kinetic energy of the rotor before; e (E) 2 The kinetic energy of the rotor after being regulated; j is equivalent moment of inertia of the doubly-fed wind turbine generator; omega 1 To adjust the pre-rotor speed; omega 2 The adjusted rotor rotating speed is obtained; n is n 1 Is omega 1 A wind speed at lower wind speed; n is n 2 Is omega 2 A wind speed at lower wind speed; n is the gear box transformation ratio.
3. The wind-storage-coordinated doubly-fed wind turbine frequency modulation control method according to claim 1, wherein the energy storage device is selected by the output power of a rotor side of the doubly-fed wind turbine and the output power flowing into a grid-side converter.
4. A doubly-fed wind turbine frequency modulation control system with coordinated wind storage is characterized by comprising: double-fed wind turbine generator system and supercapacitor;
the load state acquisition module is used for acquiring the load state of the doubly-fed wind turbine frequency modulation system; the load state includes a steady state and a abrupt state; the mutation states include a sudden increase state and a sudden decrease state;
the first judging module is used for judging whether the rotor rotating speed of the doubly-fed wind turbine is larger than the minimum rotor rotating speed or not and judging whether the current frequency deviation of the doubly-fed wind turbine frequency modulation system is smaller than-0.033 Hz or not when the load state is the abrupt change state;
The doubly-fed wind turbine generator frequency modulation module is used for enabling the doubly-fed wind turbine generator to release or absorb rotor kinetic energy when the rotor rotating speed of the doubly-fed wind turbine generator is larger than the minimum rotor rotating speed, and providing inertia response power for the doubly-fed wind turbine generator frequency modulation system;
the doubly-fed wind turbine frequency modulation ending module is used for calculating the current frequency deviation of the doubly-fed wind turbine frequency modulation system in real time until the current frequency deviation of the doubly-fed wind turbine frequency modulation system is equal to 0, determining that inertia response is ended, and recovering the rotating speed of the rotor to an initial value;
the doubly-fed wind turbine generator does not participate in the frequency modulation determining module, and is used for determining that the doubly-fed wind turbine generator does not participate in frequency modulation when the rotor rotating speed of the doubly-fed wind turbine generator is not greater than the minimum rotor rotating speed;
the second judging module is used for judging whether the charge state of the super capacitor is larger than the minimum charge state or not when the current frequency deviation of the frequency modulation system of the doubly-fed wind turbine generator is smaller than-0.033 Hz;
the primary frequency modulation module is used for starting the super capacitor to provide primary frequency modulation power for the doubly-fed wind turbine generator system if the charge state is larger than the minimum charge state until the current frequency deviation of the doubly-fed wind turbine generator system is equal to 0, and determining that primary frequency modulation is finished, wherein the super capacitor stops the current operation; the current operation is a charging operation or a discharging operation;
The non-starting supercapacitor determining module is used for not starting the supercapacitor if the current frequency deviation of the doubly-fed wind turbine generator frequency modulation system is not less than-0.033 Hz or the state of charge is not greater than the minimum state of charge;
the maximum power tracking point operation module is used for enabling the doubly-fed wind turbine generator to operate at a maximum power tracking point when the load state is a stable state, and not starting the super capacitor;
in the frequency modulation process of the doubly-fed wind turbine generator and the energy storage device, the active power reference value of the rotor side of the doubly-fed wind turbine generator is as follows:
wherein P is R_ref An active power reference value of the rotor side of the doubly-fed wind turbine generator; p (P) MPPT Is the maximum output power; k (K) H Is an inertia response coefficient;the current frequency deviation of the frequency modulation system of the doubly-fed wind turbine is calculated;
the active power reference value of the energy storage device converter is as follows:
P C_ref ＝K D Δf；
wherein P is C_ref K is the active power reference value of the super capacitor converter D The primary frequency modulation response coefficient; and delta f is the current frequency deviation of the frequency modulation system of the doubly-fed wind turbine.
5. The wind-storage-coordinated doubly-fed wind turbine frequency modulation control system according to claim 4, wherein rotor kinetic energy released during adjustment of the rotor speed by the doubly-fed wind turbine is:
Wherein ΔE is k Kinetic energy for the released rotor; e (E) 1 To adjust the kinetic energy of the rotor before; e (E) 2 The kinetic energy of the rotor after being regulated; j is equivalent moment of inertia of the doubly-fed wind turbine generator; omega 1 To adjust the pre-rotor speed; omega 2 The adjusted rotor rotating speed is obtained; n is n 1 Is omega 1 A wind speed at lower wind speed; n is n 2 Is omega 2 A wind speed at lower wind speed; n is the gear box transformation ratio.
6. The wind-storage-coordinated doubly-fed wind turbine frequency modulation control system according to claim 5, wherein said energy storage means is selected by the output power of the rotor side of said doubly-fed wind turbine and the output power of the inflow grid-side converter.
7. An electronic device comprising a memory and a processor, the memory configured to store a computer program, the processor configured to execute the computer program to cause the electronic device to perform the wind-storage coordinated doubly-fed wind turbine frequency modulation control method according to any one of claims 1-3.
8. A computer readable storage medium, characterized in that it stores a computer program, which when executed by a processor implements a wind storage coordinated doubly fed wind turbine frequency modulation control method according to any of claims 1-3.
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