CN116316858A - Marine wind turbine generator network type control method, system, equipment and medium - Google Patents

Marine wind turbine generator network type control method, system, equipment and medium Download PDF

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Publication number
CN116316858A
CN116316858A CN202310552297.1A CN202310552297A CN116316858A CN 116316858 A CN116316858 A CN 116316858A CN 202310552297 A CN202310552297 A CN 202310552297A CN 116316858 A CN116316858 A CN 116316858A
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voltage
wind turbine
command value
value
voltage command
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CN116316858B (en
Inventor
陈建福
裴星宇
吴宏远
唐捷
陈勇
杨锐雄
邹国惠
程旭
李建标
曹安瑛
张帆
段新辉
廖鹏
肖小清
金砚秋
张哲任
黄莹
徐政
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Zhuhai Power Supply Bureau of Guangdong Power Grid Co Ltd
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Zhuhai Power Supply Bureau of Guangdong Power Grid Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/381—Dispersed generators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/12—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/12—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load
    • H02J3/16—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load by adjustment of reactive power
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
    • H02J3/241—The oscillation concerning frequency
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
    • H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
    • H02J2300/20—The dispersed energy generation being of renewable origin
    • H02J2300/28—The renewable source being wind energy
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/76—Power conversion electric or electronic aspects

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

Abstract

The invention discloses a method, a system, equipment and a medium for controlling a network structure of an offshore wind turbine. The voltage controller and the current controller perform differential control conversion by adopting an alternating voltage amplitude command value and voltage controller shaft data to generate a first shaft valve side voltage command value and a second shaft valve side voltage command value. Integrating the alternating voltage frequency to generate a reference phase of the grid-side converter. And converting the first shaft valve side voltage command value and the second shaft valve side voltage command value by adopting a network side converter reference phase to generate a network side converter control command corresponding to the wind turbine generator. Through the voltage amplitude controller, only the control strategy of the grid-side converter of the grid-structured wind turbine generator is changed, the original control strategy is still used by the side converter, and the control is simple to implement and high in reliability.

Description

Marine wind turbine generator network type control method, system, equipment and medium
Technical Field
The invention relates to the technical field of marine wind turbine networking control, in particular to a marine wind turbine networking control method, a marine wind turbine networking control system, a marine wind turbine networking control equipment and a marine wind turbine networking control medium.
Background
The offshore wind energy has great development potential, and the gravity center of wind power development at home and abroad is gradually changed from land to sea in recent years. Compared with an offshore wind farm, the offshore wind farm has richer and more stable wind energy resources. Economic and reliable grid connection of remote offshore wind power is a key technology to be researched urgently. The wind turbine generator adopts following-net control, and an active power grid is connected to the wind turbine generator to operate the wind turbine generator. In the offshore wind power frequency alternating current transmission system, a land grid provides supporting voltage for a following grid type wind turbine generator. In the offshore wind power flexible direct current output system, a modularized multi-level rectifier controlled by adopting fixed alternating voltage amplitude/frequency provides supporting voltage for the following-net wind turbine generator. The power frequency alternating current transmission system is limited by the transmission distance. And the offshore wind power flexible direct current delivery system needs to be built with a large-scale offshore conversion platform, so that the investment and operation and maintenance costs are high.
The diode uncontrolled rectifier has low investment cost, low power consumption and high operation reliability, and can improve the economy and reliability of the open sea wind power grid-connected system. Therefore, a diode-uncontrolled rectifier is often used instead of a modular multilevel converter. But the diode-controlled rectifier must be supplied with a commutation voltage from an external support voltage source to operate. Therefore, the wind turbine generator needs to operate in a net-structured control mode, and the amplitude and frequency of alternating voltage of the offshore alternating current system are established.
The existing offshore wind turbine structure grid type control method controls the amplitude and the frequency of alternating current voltage output by a wind turbine through a grid-side converter of the wind turbine, and controls the direct current voltage of the converter of the wind turbine through a side converter of the wind turbine. The control strategy of the conventional grid-following wind turbine generator side converter and the control strategy of the conventional grid-side converter are required to be changed simultaneously, so that the implementation is complex, and the reliability is low.
Disclosure of Invention
The invention provides a method, a system, equipment and a medium for controlling a network structure of an offshore wind turbine, which solve the technical problems that the conventional control strategy of a machine side converter and a network side converter of a follow-up network wind turbine needs to be changed at the same time in the existing method for controlling the network structure of the offshore wind turbine, the implementation is complex, and the reliability is low.
The invention provides a method for controlling a network structure of an offshore wind turbine, which comprises the following steps:
when operation data and voltage controller axis data corresponding to a wind turbine are received, performing data conversion by adopting the operation data through a voltage amplitude controller and a reactive power controller, and generating an alternating voltage amplitude command value and alternating voltage frequency corresponding to the wind turbine;
Performing differential control conversion by adopting the alternating voltage amplitude command value and the voltage controller shaft data through a voltage controller and a current controller to generate a first shaft valve side voltage command value and a second shaft valve side voltage command value corresponding to the wind turbine generator;
integrating the alternating voltage frequency to generate a grid-side converter reference phase corresponding to the wind turbine generator;
and converting the first shaft valve side voltage command value and the second shaft valve side voltage command value by adopting the network side converter reference phase to generate a network side converter control command corresponding to the wind turbine generator.
Optionally, the operation data comprises a direct current voltage actual value of the wind turbine generator converter, an output reactive power actual value of the wind turbine generator, a direct current voltage command value of the wind turbine generator converter and an output reactive power command value of the wind turbine generator; the step of performing data conversion by the voltage amplitude controller and the reactive power controller through the operation data to generate an alternating voltage amplitude command value and an alternating voltage frequency corresponding to the wind turbine generator comprises the following steps:
calculating a difference value between the actual direct current voltage value of the wind turbine generator converter and the direct current voltage command value of the wind turbine generator converter to generate a converter direct current voltage difference value;
Calculating a difference value between the actual value of the output reactive power of the wind turbine and the instruction value of the output reactive power of the wind turbine, and generating a reactive power difference value;
converting the direct-current voltage difference value of the converter by adopting a proportional-integral link and a series lead-lag link through a voltage amplitude controller to generate an alternating-current voltage amplitude command value corresponding to the wind turbine generator;
the first transfer function corresponding to the proportional-integral link and the series lead-lag link is as follows:
Figure SMS_1
；
wherein ,
Figure SMS_2
is a first proportional coefficient; />
Figure SMS_3
The time constant is an integration link time constant; />
Figure SMS_4
Is a Laplacian operator; />
Figure SMS_5
A first lead link time constant; />
Figure SMS_6
A second hysteresis time constant;
converting the reactive power difference value by adopting a proportional differential link and a series lead-lag link through a reactive power controller to generate a frequency deviation corresponding to the wind turbine generator;
the second transfer function corresponding to the proportional differential link series lead-lag link is as follows:
Figure SMS_7
；
wherein , wherein
Figure SMS_8
Is a second scaling factor; />
Figure SMS_9
Is the differential link time constant; />
Figure SMS_10
Is a Laplacian operator;
Figure SMS_11
a second lead link time constant; />
Figure SMS_12
A second hysteresis time constant;
and calculating the sum value between the frequency deviation and the corresponding rated frequency, and generating the alternating voltage frequency corresponding to the wind turbine generator.
Optionally, the voltage controller axis data includes a first axis voltage actual value and a second axis voltage actual value; the step of performing differential control conversion by the voltage controller and the current controller by adopting the alternating voltage amplitude command value and the voltage controller shaft data to generate a first shaft valve side voltage command value and a second shaft valve side voltage command value corresponding to the wind turbine generator set comprises the following steps:
taking the alternating voltage amplitude command value as a first axis voltage command value;
calculating a difference value between the first axis voltage command value and the first axis voltage actual value to generate a first axis voltage command difference value;
setting a second axis voltage command value according to a preset command threshold;
calculating a difference value between the second axis voltage command value and the second axis voltage actual value, and generating a second axis voltage command difference value;
the first shaft voltage command difference value is subjected to difference control conversion through a voltage controller and a current controller in sequence, and a first shaft valve side voltage command value corresponding to the wind turbine generator is generated;
and carrying out difference control conversion on the second shaft voltage command difference value through the voltage controller and the current controller in sequence to generate a second shaft valve side voltage command value corresponding to the wind turbine generator.
Optionally, the step of generating the grid-side converter control command corresponding to the wind turbine generator set by performing a conversion operation on the first axis valve side voltage command value and the second axis valve side voltage command value using the grid-side converter reference phase includes:
coordinate conversion is carried out on the first shaft valve side voltage command value and the second shaft valve side voltage command value by adopting the grid side converter reference phase, and a three-phase valve side voltage command value is generated;
and carrying out pulse width modulation on the three-phase valve side voltage command value to generate a grid side converter control command corresponding to the wind turbine generator.
The invention also provides a marine wind turbine networking control system, which comprises:
the system comprises an alternating voltage amplitude command value and alternating voltage frequency generation module, a voltage amplitude controller and a reactive power controller, wherein the alternating voltage amplitude command value and alternating voltage frequency generation module is used for generating an alternating voltage amplitude command value and an alternating voltage frequency corresponding to a wind turbine generator by performing data conversion by adopting the operation data through the voltage amplitude controller and the reactive power controller when operation data and voltage controller shaft data corresponding to the wind turbine generator are received;
the first shaft valve side voltage command value and second shaft valve side voltage command value generation module is used for performing differential control conversion by adopting the alternating voltage amplitude command value and the voltage controller shaft data through a voltage controller and a current controller to generate a first shaft valve side voltage command value and a second shaft valve side voltage command value corresponding to the wind turbine generator;
The grid-side converter reference phase generation module is used for integrating the alternating voltage frequency to generate a grid-side converter reference phase corresponding to the wind turbine generator;
and the grid-side converter control instruction generation module is used for converting the first shaft valve side voltage instruction value and the second shaft valve side voltage instruction value by adopting the grid-side converter reference phase to generate a grid-side converter control instruction corresponding to the wind turbine generator.
Optionally, the operation data comprises a direct current voltage actual value of the wind turbine generator converter, an output reactive power actual value of the wind turbine generator, a direct current voltage command value of the wind turbine generator converter and an output reactive power command value of the wind turbine generator; the alternating voltage amplitude command value and alternating voltage frequency generation module comprises:
the converter direct current voltage difference generating module is used for calculating the difference between the actual value of the direct current voltage of the wind turbine converter and the direct current voltage command value of the wind turbine converter to generate a converter direct current voltage difference;
the reactive power difference generating module is used for calculating the difference between the actual value of the output reactive power of the wind turbine and the command value of the output reactive power of the wind turbine to generate a reactive power difference;
The alternating voltage amplitude command value generation module is used for converting the direct voltage difference value of the converter by adopting a proportional-integral link and a series lead-lag link through the voltage amplitude controller to generate an alternating voltage amplitude command value corresponding to the wind turbine generator;
the first transfer function corresponding to the proportional-integral link and the series lead-lag link is as follows:
Figure SMS_13
；
wherein ,
Figure SMS_14
is a first proportional coefficient; />
Figure SMS_15
The time constant is an integration link time constant; />
Figure SMS_16
Is a Laplacian operator; />
Figure SMS_17
A first lead link time constant; />
Figure SMS_18
A second hysteresis time constant;
the frequency deviation generation module is used for converting the reactive power difference value through a reactive power controller by adopting a proportional differential link and a series lead-lag link, so as to generate frequency deviation corresponding to the wind turbine generator;
the second transfer function corresponding to the proportional differential link series lead-lag link is as follows:
Figure SMS_19
；
wherein , wherein
Figure SMS_20
Is a second scaling factor; />
Figure SMS_21
Is the differential link time constant; />
Figure SMS_22
Is a Laplacian operator;
Figure SMS_23
a second lead link time constant; />
Figure SMS_24
A second hysteresis time constant;
and the alternating voltage frequency generation module is used for calculating the sum value between the frequency deviation and the corresponding rated frequency and generating the alternating voltage frequency corresponding to the wind turbine generator.
Optionally, the voltage controller axis data includes a first axis voltage actual value and a second axis voltage actual value; the first shaft valve side voltage command value and second shaft valve side voltage command value generation module includes:
the first axis voltage command value setting module is used for taking the alternating voltage amplitude command value as a first axis voltage command value;
the first shaft voltage command difference generating module is used for calculating the difference between the first shaft voltage command value and the first shaft voltage actual value to generate a first shaft voltage command difference;
the second axis voltage command value setting module is used for setting a second axis voltage command value according to a preset command threshold value;
the second axis voltage command difference generating module is used for calculating the difference between the second axis voltage command value and the second axis voltage actual value and generating a second axis voltage command difference;
the first shaft valve side voltage command value generation module is used for carrying out difference control conversion on the first shaft voltage command difference value through a voltage controller and a current controller in sequence to generate a first shaft valve side voltage command value corresponding to the wind turbine generator;
and the second shaft valve side voltage command value generation module is used for sequentially carrying out difference control conversion on the second shaft voltage command difference value through the voltage controller and the current controller to generate a second shaft valve side voltage command value corresponding to the wind turbine generator.
Optionally, the network-side inverter control instruction generating module includes:
the three-phase valve side voltage command value generation module is used for carrying out coordinate conversion on the first shaft valve side voltage command value and the second shaft valve side voltage command value by adopting the grid side converter reference phase to generate a three-phase valve side voltage command value;
and the grid-side converter control instruction generation submodule is used for carrying out pulse width modulation on the three-phase valve side voltage instruction value to generate a grid-side converter control instruction corresponding to the wind turbine generator.
The invention also provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the computer program, when executed by the processor, causes the processor to execute the steps for realizing the network type control method of any offshore wind turbine generator set.
The invention also provides a computer readable storage medium having stored thereon a computer program which when executed implements a method of controlling a grid-formation of an offshore wind turbine as described in any of the above.
From the above technical scheme, the invention has the following advantages:
according to the method, when operation data corresponding to the wind turbine generator and voltage controller shaft data are received, the voltage amplitude controller and the reactive power controller perform data conversion by adopting the operation data, so that alternating voltage amplitude command values and alternating voltage frequencies corresponding to the wind turbine generator are generated. And performing differential control conversion by adopting an alternating voltage amplitude command value and voltage controller shaft data through a voltage controller and a current controller to generate a first shaft valve side voltage command value and a second shaft valve side voltage command value corresponding to the wind turbine generator. Integrating the alternating voltage frequency to generate a grid-side converter reference phase corresponding to the wind turbine, and then converting the first shaft valve side voltage command value and the second shaft valve side voltage command value by adopting the grid-side converter reference phase to generate a grid-side converter control command corresponding to the wind turbine. The method solves the technical problems that the conventional control strategy of the grid-following wind turbine generator side converter and the conventional control strategy of the grid-side converter of the offshore wind turbine generator are required to be changed simultaneously, the implementation is complex, and the reliability is low. The direct-current voltage of the wind turbine generator converter and the amplitude of the alternating-current voltage output by the wind turbine generator can be controlled simultaneously through the voltage amplitude controller, so that the machine side converter of the grid-built wind turbine generator can still follow the control strategy of the conventional machine side converter of the grid-built wind turbine generator, and the control is simple to implement and high in reliability.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a flowchart illustrating steps of a method for controlling a network configuration of an offshore wind turbine according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a marine wind power transmission system based on diode uncontrolled rectification according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating steps of a method for controlling a network configuration of an offshore wind turbine according to a second embodiment of the present invention;
FIG. 4 is a block flow diagram of a method for controlling a network of offshore wind turbines according to a second embodiment of the present invention;
fig. 5 is a schematic structural diagram of a voltage amplitude controller according to a second embodiment of the present invention;
fig. 6 is a schematic structural diagram of a reactive power controller according to a second embodiment of the present invention;
fig. 7 is a schematic diagram of a simulation waveform of active power and reactive power output by a wind turbine generator according to a second embodiment of the present invention;
FIG. 8 is a schematic diagram of a simulation waveform of an output ac voltage frequency of a wind turbine generator according to a second embodiment of the present invention;
FIG. 9 is a schematic diagram of a simulation waveform of an effective value of an AC voltage of a rectifier station according to a second embodiment of the present invention;
fig. 10 is a schematic diagram of a simulation waveform of a diode uncontrolled rectifier absorbing active power and reactive power according to a second embodiment of the present invention;
fig. 11 is a schematic diagram of a simulation waveform of a dc voltage of a dc power transmission system according to a second embodiment of the present invention;
fig. 12 is a schematic diagram of a simulation waveform of a dc current of a dc power transmission system according to a second embodiment of the present invention;
fig. 13 is a block diagram of a network control system for an offshore wind turbine according to a third embodiment of the invention.
Detailed Description
The embodiment of the invention provides a method, a system, equipment and a medium for controlling a network type of an offshore wind turbine, which are used for solving the technical problems that the conventional control strategy of a machine side converter and a network side converter of a follow-up network type wind turbine needs to be changed at the same time in the existing method for controlling the network type of the offshore wind turbine, the implementation is complex, and the reliability is low.
The network-type control method for the offshore wind turbine generator is used in an offshore wind turbine output system based on diode uncontrolled rectification and is used for controlling an offshore wind farm, namely controlling the running state of the wind turbine generator, and only changing the control strategy of the network-side converter, so that the control strategy of the machine-side converter of the network-type wind turbine generator can still be used along with that of a conventional following network-type wind turbine generator.
As shown in fig. 2, the offshore wind power transmission system based on diode uncontrolled rectification is formed by sequentially connecting an offshore wind power plant, an alternating current collection submarine cable, a rectification station, a direct current transmission submarine cable, an inversion station and an onshore power grid. The offshore wind farm comprises 2 wind turbines, and each wind turbine is formed by sequentially connecting a wind turbine, a generator, a machine side converter, a network side converter, an LC filter and a step-up transformer. The rectifying station includes an ac filter and a diode-uncontrolled rectifier. The inverter station includes a modular multilevel converter.
In order to make the objects, features and advantages of the present invention more comprehensible, the technical solutions in the embodiments of the present invention are described in detail below with reference to the accompanying drawings, and it is apparent that the embodiments described below are only some embodiments of the present invention, but not all embodiments of the present invention. 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.
Referring to fig. 1, fig. 1 is a flowchart illustrating steps of a method for controlling a network configuration of an offshore wind turbine according to an embodiment of the invention.
The first embodiment of the invention provides a network control method for an offshore wind turbine, which comprises the following steps:
and 101, when operation data and voltage controller axis data corresponding to the wind turbine generator are received, performing data conversion by using the operation data through a voltage amplitude controller and a reactive power controller, and generating an alternating voltage amplitude command value and alternating voltage frequency corresponding to the wind turbine generator.
The operation data are all data corresponding to the offshore wind turbine during operation, and comprise a direct current voltage actual value of the wind turbine converter, an output reactive power actual value of the wind turbine, a direct current voltage command value of the wind turbine converter and an output reactive power command value of the wind turbine.
The voltage controller axis data refers to operation data corresponding to each axis of the voltage controller, and includes a first axis voltage actual value and a second axis voltage actual value.
In the embodiment of the invention, if the operation data corresponding to the wind turbine and the voltage controller shaft data are received, the difference value between the actual direct-current voltage value of the wind turbine converter and the direct-current voltage command value of the wind turbine converter is calculated, and the direct-current voltage difference value of the converter is generated. And calculating the difference between the actual value of the output reactive power of the wind turbine and the instruction value of the output reactive power of the wind turbine, and generating a reactive power difference. And converting the direct-current voltage difference of the converter by adopting a proportional-integral link and a series lead-lag link through a voltage amplitude controller, and generating an alternating-current voltage amplitude command value corresponding to the wind turbine generator. And converting the reactive power difference by adopting a proportional differential link and a series lead-lag link through the reactive power controller to generate frequency deviation corresponding to the wind turbine, and then calculating the sum value between the frequency deviation and the corresponding rated frequency to generate alternating voltage frequency corresponding to the wind turbine.
And 102, performing differential control conversion by adopting an alternating voltage amplitude command value and voltage controller shaft data through a voltage controller and a current controller to generate a first shaft valve side voltage command value and a second shaft valve side voltage command value corresponding to the wind turbine.
In the embodiment of the invention, the first axis voltage command difference value is generated by taking the alternating voltage amplitude command value as the first axis voltage command value and calculating the difference between the first axis voltage command value and the first axis voltage actual value. And setting a second axis voltage command value according to a preset command threshold, calculating a difference value between the second axis voltage command value and a second axis voltage actual value, and generating a second axis voltage command difference value. And carrying out differential control conversion on the first shaft voltage command differential value through a voltage controller and a current controller in sequence to generate a first shaft valve side voltage command value corresponding to the wind turbine. And carrying out differential control conversion on the second shaft voltage command differential value through a voltage controller and a current controller in sequence to generate a second shaft valve side voltage command value corresponding to the wind turbine generator.
And 103, integrating the alternating voltage frequency to generate a grid-side converter reference phase corresponding to the wind turbine generator.
In the embodiment of the invention, the alternating voltage is used for controlling the frequencyfIntegral transformation is carried out, so that the reference phase of the grid-side converter of the wind turbine generator is obtained
Figure SMS_25
. Wherein the alternating voltage frequency isfThe integral formula used for integral transformation is:
Figure SMS_26
；
in the formula ,
Figure SMS_27
reference phase for the grid-side converter;fis the ac voltage frequency.
And 104, converting the first shaft valve side voltage command value and the second shaft valve side voltage command value by using a grid side converter reference phase to generate a grid side converter control command corresponding to the wind turbine generator.
In the embodiment of the invention, the three-phase valve side voltage command value is generated by performing coordinate conversion on the first shaft valve side voltage command value and the second shaft valve side voltage command value by adopting the grid side converter reference phase. And then, carrying out pulse width modulation on the three-phase valve side voltage command value to generate a grid side converter control command corresponding to the wind turbine generator.
In the embodiment of the invention, when the operation data and the voltage controller axis data corresponding to the wind turbine are received, the voltage amplitude controller and the reactive power controller perform data conversion by adopting the operation data, so that the alternating voltage amplitude command value and the alternating voltage frequency corresponding to the wind turbine are generated. And performing differential control conversion by adopting an alternating voltage amplitude command value and voltage controller shaft data through a voltage controller and a current controller to generate a first shaft valve side voltage command value and a second shaft valve side voltage command value corresponding to the wind turbine generator. Integrating the alternating voltage frequency to generate a grid-side converter reference phase corresponding to the wind turbine, and then converting the first shaft valve side voltage command value and the second shaft valve side voltage command value by adopting the grid-side converter reference phase to generate a grid-side converter control command corresponding to the wind turbine. The method solves the technical problems that the conventional control strategy of the grid-following wind turbine generator side converter and the conventional control strategy of the grid-side converter of the offshore wind turbine generator are required to be changed simultaneously, the implementation is complex, and the reliability is low. The direct-current voltage of the wind turbine generator converter and the amplitude of the alternating-current voltage output by the wind turbine generator can be controlled simultaneously through the voltage amplitude controller, so that the machine side converter of the grid-built wind turbine generator can still follow the control strategy of the conventional machine side converter of the grid-built wind turbine generator, and the control is simple to implement and high in reliability.
Referring to fig. 3 and fig. 4, fig. 3 is a flowchart illustrating steps of a method for controlling a network structure of an offshore wind turbine according to a second embodiment of the present invention; fig. 4 is a schematic diagram of a control system of a wind turbine grid-side converter, which is a flow chart of a control method of a wind turbine grid-side converter in the offshore wind turbine grid structure provided in the second embodiment of the invention.
The step flow chart of another network type control method for the offshore wind turbine provided by the embodiment II of the invention comprises the following steps:
and 301, when operation data and voltage controller axis data corresponding to the wind turbine are received, performing data conversion by using the operation data through a voltage amplitude controller and a reactive power controller, and generating an alternating voltage amplitude command value and alternating voltage frequency corresponding to the wind turbine.
Further, the operation data includes a wind turbine converter dc voltage actual value, a wind turbine output reactive power actual value, a wind turbine converter dc voltage command value, and a wind turbine output reactive power command value, and step 301 may include the following substeps S11-S15:
s11, calculating a difference value between the actual direct current voltage value of the wind turbine generator system converter and the direct current voltage command value of the wind turbine generator system converter, and generating a converter direct current voltage difference value.
S12, calculating a difference value between the actual value of the output reactive power of the wind turbine and the instruction value of the output reactive power of the wind turbine, and generating a reactive power difference value.
S13, converting the direct-current voltage difference of the converter by adopting a proportional-integral link and a series lead-lag link through a voltage amplitude controller, and generating an alternating-current voltage amplitude command value corresponding to the wind turbine generator.
The first transfer function corresponding to the proportional-integral link and the series lead-lag link is as follows:
Figure SMS_28
；
wherein ,
Figure SMS_29
is a first proportional coefficient; />
Figure SMS_30
The time constant is an integration link time constant; />
Figure SMS_31
Is a Laplacian operator; />
Figure SMS_32
A first lead link time constant; />
Figure SMS_33
A second hysteresis time constant; and->
Figure SMS_34
and />
Figure SMS_35
In (a) and (b)n=1，2，3，4。
S14, converting the reactive power difference value by adopting a proportional differential link and a series lead-lag link through a reactive power controller, and generating the frequency deviation corresponding to the wind turbine.
The second transfer function corresponding to the proportional differential link and the series lead-lag link is as follows:
Figure SMS_36
；
wherein , wherein
Figure SMS_37
Is a second scaling factor; />
Figure SMS_38
Is the differential link time constant; />
Figure SMS_39
Is a Laplacian operator;
Figure SMS_40
a second lead link time constant; />
Figure SMS_41
A second hysteresis time constant; and->
Figure SMS_42
and />
Figure SMS_43
In (a) and (b)n=1，2，3，4。
S15, calculating the sum value between the frequency deviation and the corresponding rated frequency, and generating the alternating voltage frequency corresponding to the wind turbine generator.
In the embodiment of the invention, the voltage amplitude controller is also called as a direct-current voltage-alternating-current voltage amplitude controller. Reactive power controllers are also known as input reactive power-frequency controllers. And calculating the difference value between the actual direct current voltage value of the wind turbine generator converter and the direct current voltage command value of the wind turbine generator converter, thereby determining the direct current voltage difference value of the converter corresponding to the wind turbine generator. And calculating the difference value between the actual value of the output reactive power of the wind turbine and the instruction value of the output reactive power of the wind turbine, thereby determining the corresponding reactive power difference value of the wind turbine.
As shown in fig. 5, the DC voltage of the converter is differentiated
Figure SMS_44
The input voltage amplitude controller is input DC voltage-AC voltage amplitude controller, and the DC voltage-AC voltage amplitude controller adopts proportional-integral link series lead hysteresisThe DC voltage difference value of the converter is converted into an AC voltage amplitude command value output by the wind turbine generator in the later link>
Figure SMS_45
. Namely, the direct-current voltage difference value of the converter is converted into an alternating-current voltage amplitude command value output by the wind turbine generator set through a first transfer function>
Figure SMS_46
。
As shown in fig. 6, the reactive power difference
Figure SMS_47
The input reactive power controller is the input reactive power-frequency controller. The reactive power-frequency controller adopts a proportional integral link to connect in series with a lead-lag link to convert the reactive power difference value into frequency deviation corresponding to the wind turbine generator set >
Figure SMS_48
That is, the reactive power difference value is converted into the corresponding frequency deviation +.>
Figure SMS_49
. Frequency deviation +.>
Figure SMS_50
Corresponding rated power->
Figure SMS_51
Adding to obtain the alternating voltage frequency corresponding to the wind turbine generatorf。
And 302, performing differential control conversion by adopting an alternating voltage amplitude command value and voltage controller shaft data through a voltage controller and a current controller to generate a first shaft valve side voltage command value and a second shaft valve side voltage command value corresponding to the wind turbine.
Further, the voltage controller axis data includes a first axis voltage actual value and a second axis voltage actual value, and step 302 may include the following substeps S21-S26:
s21, taking the alternating-current voltage amplitude command value as a first axis voltage command value.
S22, calculating a difference value between the first axis voltage command value and the first axis voltage actual value, and generating a first axis voltage command difference value.
S23, setting a second axis voltage command value according to a preset command threshold.
S24, calculating a difference value between the second axis voltage command value and the second axis voltage actual value, and generating a second axis voltage command difference value.
And S25, carrying out differential control conversion on the first shaft voltage command differential value through a voltage controller and a current controller in sequence, and generating a first shaft valve side voltage command value corresponding to the wind turbine generator.
S26, carrying out differential control conversion on the second shaft voltage command differential value through a voltage controller and a current controller in sequence, and generating a second shaft valve side voltage command value corresponding to the wind turbine generator.
The preset command threshold is a value obtained by setting the second voltage command value to a specified value based on actual requirements, and is usually 0, i.e
Figure SMS_52
。
The actual value of the first shaft voltage is also calleddThe actual value of the shaft voltage, the actual value of the second voltage is also calledqActual value of shaft voltage. The first shaft valve side voltage command value is also called asdA shaft valve side voltage command value, also called a second shaft valve side voltage command valueqAxle valve side voltage command value.
In the embodiment of the invention, the alternating voltage amplitude command value is taken as the first axis voltage command valuedShaft voltage command value
Figure SMS_53
. Setting the second axis voltage command value to a preset command threshold value, namelyqAxle voltage command value>
Figure SMS_54
。
Calculating a second axis voltage command value
Figure SMS_55
And the second axis voltage actual value->
Figure SMS_56
The difference between the first axis voltage command difference is obtained>
Figure SMS_57
. Calculating the difference between the second axis voltage command value and the second axis voltage actual value to obtain a second axis voltage command difference +.>
Figure SMS_58
。
Difference value of first axis voltage command
Figure SMS_59
And a second axis voltage command difference +.>
Figure SMS_60
The corresponding wind turbine generator is obtained through control conversion of the voltage controller and the current controller in sequence dAxle valve side voltage command value +.>
Figure SMS_61
Andqaxle valve side voltage command value +.>
Figure SMS_62
。
And 303, integrating the alternating voltage frequency to generate a grid-side converter reference phase corresponding to the wind turbine generator.
In the embodiment of the present invention, the implementation process of step 303 is similar to that of step 103, and will not be repeated here.
And 304, performing coordinate transformation on the first shaft valve side voltage command value and the second shaft valve side voltage command value by adopting a network side converter reference phase to generate a three-phase valve side voltage command value.
In the embodiment of the invention, the alternating voltage frequency is output to the wind turbine generatorfObtaining reference phase of wind turbine grid-side converter by integral transformation
Figure SMS_63
Utilize->
Figure SMS_64
For->
Figure SMS_65
and />
Figure SMS_66
Coordinate transformation is carried out to obtainabcThree-phase valve side voltage command value +.>
Figure SMS_67
。
And 305, performing pulse width modulation on the three-phase valve side voltage command value to generate a grid side converter control command corresponding to the wind turbine generator.
In the embodiment of the invention, the three-phase valve side voltage command value
Figure SMS_68
And generating a grid-side converter control instruction corresponding to the wind turbine after PWM modulation, so as to control the converter element in the grid-side converter of the wind turbine.
The system parameters of the offshore wind power transmission system based on diode uncontrolled rectification are assumed to be shown in tables 1 to 5.
Figure SMS_69
Figure SMS_70
Figure SMS_71
Figure SMS_72
/>
Figure SMS_73
Corresponding simulation platforms are built in electromagnetic transient simulation software PSCAD/EMTDC, and wind speed fluctuation of the wind turbine generator #1 and wind turbine generator #2 is simulated. Before t=2.0 s, the two wind motor sets have been stably operated at rated wind speed 12 m/s; assume that at t=2.0 s, wind speeds for wind turbines #1 and #2 drop from a 12m/s step down to 11m/s. Fig. 7 and fig. 8 show simulation results of active power output by a wind turbine, reactive power output by a wind turbine and ac voltage frequency output by a wind turbine, fig. 9 and fig. 10 show simulation results of active power absorption by a rectifier station ac bus voltage effective value and a diode uncontrolled rectifier, and fig. 11 and fig. 12 show simulation results of dc voltage of a dc power transmission system and dc current of the dc power transmission system, as can be seen from the figures, after t=2.0 s, two wind turbine groups keep running stably, so the simulation results prove that the control method provided by the embodiment of the invention is high in reliability.
In the embodiment of the invention, when the operation data corresponding to the wind turbine generator and the voltage controller axis data are received, the voltage amplitude controller adopts a proportional-integral link to connect in series with a lead-lag link to obtain a direct-current voltage difference value of the converter
Figure SMS_75
Converting to generate AC voltage amplitude command value corresponding to the wind turbine generator set>
Figure SMS_77
. The reactive power controller adopts a proportional differential link to connect a lead-lag link in series to control the reactive power difference value +.>
Figure SMS_79
Converting to generate frequency deviation corresponding to the wind turbine generator setf. To make the voltage controllerdAxle voltage command value>
Figure SMS_81
Q-axis voltage command value->
Figure SMS_83
Will be
Figure SMS_84
Difference sum of +.>
Figure SMS_86
The difference value of (2) is obtained by control conversion of a voltage controller and a current controller in sequencedAxle valve side voltage command value +.>
Figure SMS_74
Andqaxle valve side voltage command value +.>
Figure SMS_76
. Output AC voltage frequency to wind turbine generatorfIntegrating transformation is carried out to obtain reference phase +.>
Figure SMS_78
Utilize->
Figure SMS_80
For->
Figure SMS_82
and />
Figure SMS_85
Coordinate transformation is carried out to obtainabcThree-phase valve side voltage command value +.>
Figure SMS_87
Will->
Figure SMS_88
And generating a grid-side converter control instruction corresponding to the wind turbine after PWM modulation, so that a trigger signal controls a converter element in the grid-side converter of the wind turbine. The direct-current voltage-alternating-current voltage amplitude controller, namely the voltage amplitude controller, can simultaneously control the direct-current voltage of the wind turbine generator converter and the amplitude of the alternating-current voltage output by the wind turbine generator, so that the wind turbine generator side converter can still control the conventional following wind turbine generator side converter The control strategy is simple to implement and high in reliability, and has a guiding effect on the grid formation control of the wind turbine generator. The invention is suitable for the offshore wind power delivery system based on diode uncontrolled rectification, does not need additional supporting voltage source equipment, can reduce the investment and operation and maintenance cost of the system, and has great application value in practical engineering.
Referring to fig. 13, fig. 13 is a block diagram illustrating a network control system for an offshore wind turbine according to a third embodiment of the present invention.
The third embodiment of the invention provides a marine wind turbine networking control system, which comprises:
the alternating voltage amplitude command value and alternating voltage frequency generation module 1301 is configured to, when operation data and voltage controller axis data corresponding to a wind turbine are received, perform data conversion by using the operation data through the voltage amplitude controller and the reactive power controller, and generate an alternating voltage amplitude command value and an alternating voltage frequency corresponding to the wind turbine.
The first axis valve side voltage command value and second axis valve side voltage command value generating module 1302 is configured to generate a first axis valve side voltage command value and a second axis valve side voltage command value corresponding to the wind turbine generator by performing differential control conversion by using the ac voltage amplitude command value and the voltage controller axis data through the voltage controller and the current controller.
The grid-side converter reference phase generation module 1303 is configured to integrate the ac voltage frequency to generate a grid-side converter reference phase corresponding to the wind turbine.
The grid-side converter control command generating module 1304 is configured to perform a conversion operation on the first axis valve side voltage command value and the second axis valve side voltage command value by using a grid-side converter reference phase, so as to generate a grid-side converter control command corresponding to the wind turbine generator.
Optionally, the operation data comprises a direct current voltage actual value of the wind turbine generator converter, an output reactive power actual value of the wind turbine generator, a direct current voltage command value of the wind turbine generator converter and an output reactive power command value of the wind turbine generator; the ac voltage amplitude command value and ac voltage frequency generation module 1301 includes:
the converter direct current voltage difference generating module is used for calculating the difference between the actual value of the direct current voltage of the wind turbine converter and the direct current voltage command value of the wind turbine converter to generate a converter direct current voltage difference.
And the reactive power difference generating module is used for calculating the difference between the actual value of the output reactive power of the wind turbine and the command value of the output reactive power of the wind turbine to generate a reactive power difference.
The alternating voltage amplitude command value generation module is used for converting the direct voltage difference value of the converter by adopting a proportional integral link and a series lead-lag link through the voltage amplitude controller to generate an alternating voltage amplitude command value corresponding to the wind turbine generator.
The first transfer function corresponding to the proportional-integral link and the series lead-lag link is as follows:
Figure SMS_89
；
wherein ,
Figure SMS_90
is a first proportional coefficient; />
Figure SMS_91
The time constant is an integration link time constant; />
Figure SMS_92
Is a Laplacian operator; />
Figure SMS_93
A first lead link time constant; />
Figure SMS_94
Is the second hysteresis time constant.
The frequency deviation generation module is used for converting the reactive power difference value through the reactive power controller by adopting a proportional differential link and a series lead-lag link, and generating the frequency deviation corresponding to the wind turbine generator.
The second transfer function corresponding to the proportional differential link and the series lead-lag link is as follows:
Figure SMS_95
；
wherein , wherein
Figure SMS_96
Is a second scaling factor; />
Figure SMS_97
Is the differential link time constant; />
Figure SMS_98
Is a Laplacian operator;
Figure SMS_99
a second lead link time constant; />
Figure SMS_100
Is the second hysteresis time constant. />
The alternating voltage frequency generation module is used for calculating the sum value between the frequency deviation and the corresponding rated frequency and generating the alternating voltage frequency corresponding to the wind turbine generator.
Optionally, the voltage controller axis data includes a first axis voltage actual value and a second axis voltage actual value; the first and second axle valve side voltage command value generation modules 1302 include:
the first axis voltage command value setting module is used for taking the alternating current voltage amplitude command value as a first axis voltage command value.
The first shaft voltage command difference generating module is used for calculating the difference between the first shaft voltage command value and the first shaft voltage actual value and generating a first shaft voltage command difference.
The second axis voltage command value setting module is used for setting a second axis voltage command value according to a preset command threshold value.
And the second axis voltage command difference generating module is used for calculating the difference between the second axis voltage command value and the second axis voltage actual value and generating a second axis voltage command difference.
The first shaft valve side voltage command value generation module is used for carrying out difference control conversion on a first shaft voltage command difference value through the voltage controller and the current controller in sequence to generate a first shaft valve side voltage command value corresponding to the wind turbine generator.
The second shaft valve side voltage command value generation module is used for sequentially carrying out difference control conversion on the second shaft voltage command difference value through the voltage controller and the current controller to generate a second shaft valve side voltage command value corresponding to the wind turbine generator.
Optionally, the network-side inverter control command generation module 1304 includes:
the three-phase valve side voltage command value generation module is used for carrying out coordinate transformation on the first shaft valve side voltage command value and the second shaft valve side voltage command value by adopting a network side converter reference phase to generate a three-phase valve side voltage command value.
And the grid-side converter control instruction generation submodule is used for carrying out pulse width modulation on the three-phase valve side voltage instruction value to generate a grid-side converter control instruction corresponding to the wind turbine generator.
The embodiment of the invention also provides electronic equipment, which comprises: a memory and a processor, the memory storing a computer program; the computer program, when executed by a processor, causes the processor to perform the offshore wind turbine grid-type control method of any of the embodiments described above.
The memory may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. The memory has memory space for program code to perform any of the method steps described above. For example, the memory space for the program code may include individual program code for implementing the various steps in the above method, respectively. The program code can be read from or written to one or more computer program products. These computer program products comprise a program code carrier such as a hard disk, a Compact Disc (CD), a memory card or a floppy disk. The program code may be compressed, for example, in a suitable form. These codes, when executed by a computing processing device, cause the computing processing device to perform the steps in the above-described offshore wind turbine grid-type control method.
The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, implements the offshore wind turbine grid type control method according to any of the embodiments.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. The marine wind turbine networking control method is characterized by comprising the following steps of:
when operation data and voltage controller axis data corresponding to a wind turbine are received, performing data conversion by adopting the operation data through a voltage amplitude controller and a reactive power controller, and generating an alternating voltage amplitude command value and alternating voltage frequency corresponding to the wind turbine;
performing differential control conversion by adopting the alternating voltage amplitude command value and the voltage controller shaft data through a voltage controller and a current controller to generate a first shaft valve side voltage command value and a second shaft valve side voltage command value corresponding to the wind turbine generator;
integrating the alternating voltage frequency to generate a grid-side converter reference phase corresponding to the wind turbine generator;
And converting the first shaft valve side voltage command value and the second shaft valve side voltage command value by adopting the network side converter reference phase to generate a network side converter control command corresponding to the wind turbine generator.
2. The offshore wind turbine grid formation control method of claim 1, wherein the operation data comprises a wind turbine converter direct current voltage actual value, a wind turbine output reactive power actual value, a wind turbine converter direct current voltage command value and a wind turbine output reactive power command value; the step of performing data conversion by the voltage amplitude controller and the reactive power controller through the operation data to generate an alternating voltage amplitude command value and an alternating voltage frequency corresponding to the wind turbine generator comprises the following steps:
calculating a difference value between the actual direct current voltage value of the wind turbine generator converter and the direct current voltage command value of the wind turbine generator converter to generate a converter direct current voltage difference value;
calculating a difference value between the actual value of the output reactive power of the wind turbine and the instruction value of the output reactive power of the wind turbine, and generating a reactive power difference value;
converting the direct-current voltage difference value of the converter by adopting a proportional-integral link and a series lead-lag link through a voltage amplitude controller to generate an alternating-current voltage amplitude command value corresponding to the wind turbine generator;
The first transfer function corresponding to the proportional-integral link and the series lead-lag link is as follows:
Figure QLYQS_1
；
wherein ,
Figure QLYQS_2
for the first ratioCoefficients; />
Figure QLYQS_3
The time constant is an integration link time constant; />
Figure QLYQS_4
Is a Laplacian operator; />
Figure QLYQS_5
A first lead link time constant; />
Figure QLYQS_6
A second hysteresis time constant;
converting the reactive power difference value by adopting a proportional differential link and a series lead-lag link through a reactive power controller to generate a frequency deviation corresponding to the wind turbine generator;
the second transfer function corresponding to the proportional differential link series lead-lag link is as follows:
Figure QLYQS_7
；
wherein , wherein
Figure QLYQS_8
Is a second scaling factor; />
Figure QLYQS_9
Is the differential link time constant; />
Figure QLYQS_10
Is a Laplacian operator; />
Figure QLYQS_11
A second lead link time constant; />
Figure QLYQS_12
A second hysteresis time constant;
and calculating the sum value between the frequency deviation and the corresponding rated frequency, and generating the alternating voltage frequency corresponding to the wind turbine generator.
3. The offshore wind turbine grid formation control method of claim 1, wherein the voltage controller shaft data comprises a first shaft voltage actual value and a second shaft voltage actual value; the step of performing differential control conversion by the voltage controller and the current controller by adopting the alternating voltage amplitude command value and the voltage controller shaft data to generate a first shaft valve side voltage command value and a second shaft valve side voltage command value corresponding to the wind turbine generator set comprises the following steps:
Taking the alternating voltage amplitude command value as a first axis voltage command value;
calculating a difference value between the first axis voltage command value and the first axis voltage actual value to generate a first axis voltage command difference value;
setting a second axis voltage command value according to a preset command threshold;
calculating a difference value between the second axis voltage command value and the second axis voltage actual value, and generating a second axis voltage command difference value;
the first shaft voltage command difference value is subjected to difference control conversion through a voltage controller and a current controller in sequence, and a first shaft valve side voltage command value corresponding to the wind turbine generator is generated;
and carrying out difference control conversion on the second shaft voltage command difference value through the voltage controller and the current controller in sequence to generate a second shaft valve side voltage command value corresponding to the wind turbine generator.
4. The method for controlling a grid-type offshore wind turbine structure according to claim 1, wherein the step of generating the grid-side converter control command corresponding to the wind turbine by performing a conversion operation on the first shaft-valve-side voltage command value and the second shaft-valve-side voltage command value using the grid-side converter reference phase comprises:
Coordinate conversion is carried out on the first shaft valve side voltage command value and the second shaft valve side voltage command value by adopting the grid side converter reference phase, and a three-phase valve side voltage command value is generated;
and carrying out pulse width modulation on the three-phase valve side voltage command value to generate a grid side converter control command corresponding to the wind turbine generator.
5. An offshore wind turbine grid type control system, comprising:
the system comprises an alternating voltage amplitude command value and alternating voltage frequency generation module, a voltage amplitude controller and a reactive power controller, wherein the alternating voltage amplitude command value and alternating voltage frequency generation module is used for generating an alternating voltage amplitude command value and an alternating voltage frequency corresponding to a wind turbine generator by performing data conversion by adopting the operation data through the voltage amplitude controller and the reactive power controller when operation data and voltage controller shaft data corresponding to the wind turbine generator are received;
the first shaft valve side voltage command value and second shaft valve side voltage command value generation module is used for performing differential control conversion by adopting the alternating voltage amplitude command value and the voltage controller shaft data through a voltage controller and a current controller to generate a first shaft valve side voltage command value and a second shaft valve side voltage command value corresponding to the wind turbine generator;
the grid-side converter reference phase generation module is used for integrating the alternating voltage frequency to generate a grid-side converter reference phase corresponding to the wind turbine generator;
And the grid-side converter control instruction generation module is used for converting the first shaft valve side voltage instruction value and the second shaft valve side voltage instruction value by adopting the grid-side converter reference phase to generate a grid-side converter control instruction corresponding to the wind turbine generator.
6. The offshore wind turbine grid formation control system of claim 5, wherein the operational data includes a wind turbine converter dc voltage actual value, a wind turbine output reactive power actual value, a wind turbine converter dc voltage command value, and a wind turbine output reactive power command value; the alternating voltage amplitude command value and alternating voltage frequency generation module comprises:
the converter direct current voltage difference generating module is used for calculating the difference between the actual value of the direct current voltage of the wind turbine converter and the direct current voltage command value of the wind turbine converter to generate a converter direct current voltage difference;
the reactive power difference generating module is used for calculating the difference between the actual value of the output reactive power of the wind turbine and the command value of the output reactive power of the wind turbine to generate a reactive power difference;
the alternating voltage amplitude command value generation module is used for converting the direct voltage difference value of the converter by adopting a proportional-integral link and a series lead-lag link through the voltage amplitude controller to generate an alternating voltage amplitude command value corresponding to the wind turbine generator;
The first transfer function corresponding to the proportional-integral link and the series lead-lag link is as follows:
Figure QLYQS_13
；
wherein ,
Figure QLYQS_14
is a first proportional coefficient; />
Figure QLYQS_15
The time constant is an integration link time constant; />
Figure QLYQS_16
Is a Laplacian operator; />
Figure QLYQS_17
A first lead link time constant; />
Figure QLYQS_18
A second hysteresis time constant;
the frequency deviation generation module is used for converting the reactive power difference value through a reactive power controller by adopting a proportional differential link and a series lead-lag link, so as to generate frequency deviation corresponding to the wind turbine generator;
the second transfer function corresponding to the proportional differential link series lead-lag link is as follows:
Figure QLYQS_19
；
wherein , wherein
Figure QLYQS_20
Is a second scaling factor; />
Figure QLYQS_21
Is the differential link time constant; />
Figure QLYQS_22
Is a Laplacian operator; />
Figure QLYQS_23
A second lead link time constant; />
Figure QLYQS_24
A second hysteresis time constant;
and the alternating voltage frequency generation module is used for calculating the sum value between the frequency deviation and the corresponding rated frequency and generating the alternating voltage frequency corresponding to the wind turbine generator.
7. The offshore wind turbine grid formation control system of claim 5, wherein the voltage controller shaft data comprises a first shaft voltage actual value and a second shaft voltage actual value; the first shaft valve side voltage command value and second shaft valve side voltage command value generation module includes:
The first axis voltage command value setting module is used for taking the alternating voltage amplitude command value as a first axis voltage command value;
the first shaft voltage command difference generating module is used for calculating the difference between the first shaft voltage command value and the first shaft voltage actual value to generate a first shaft voltage command difference;
the second axis voltage command value setting module is used for setting a second axis voltage command value according to a preset command threshold value;
the second axis voltage command difference generating module is used for calculating the difference between the second axis voltage command value and the second axis voltage actual value and generating a second axis voltage command difference;
the first shaft valve side voltage command value generation module is used for carrying out difference control conversion on the first shaft voltage command difference value through a voltage controller and a current controller in sequence to generate a first shaft valve side voltage command value corresponding to the wind turbine generator;
and the second shaft valve side voltage command value generation module is used for sequentially carrying out difference control conversion on the second shaft voltage command difference value through the voltage controller and the current controller to generate a second shaft valve side voltage command value corresponding to the wind turbine generator.
8. The offshore wind turbine grid-formation control system of claim 5, wherein the grid-side inverter control command generation module comprises:
the three-phase valve side voltage command value generation module is used for carrying out coordinate conversion on the first shaft valve side voltage command value and the second shaft valve side voltage command value by adopting the grid side converter reference phase to generate a three-phase valve side voltage command value;
and the grid-side converter control instruction generation submodule is used for carrying out pulse width modulation on the three-phase valve side voltage instruction value to generate a grid-side converter control instruction corresponding to the wind turbine generator.
9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program which, when executed by the processor, causes the processor to perform the steps of the offshore wind turbine grid formation control method of any one of claims 1-4.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed, implements a marine wind turbine grid-formation control method as claimed in any one of claims 1-4.
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