CN115506954B - An adaptive control method for power fluctuation suppression and frequency regulation of wind turbines - Google Patents
An adaptive control method for power fluctuation suppression and frequency regulation of wind turbines Download PDFInfo
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- CN115506954B CN115506954B CN202211252499.6A CN202211252499A CN115506954B CN 115506954 B CN115506954 B CN 115506954B CN 202211252499 A CN202211252499 A CN 202211252499A CN 115506954 B CN115506954 B CN 115506954B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D9/00—Adaptations of wind motors for special use; Combinations of wind motors with apparatus driven thereby; Wind motors specially adapted for installation in particular locations
- F03D9/20—Wind motors characterised by the driven apparatus
- F03D9/25—Wind motors characterised by the driven apparatus the apparatus being an electrical generator
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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
- H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
- H02J3/241—The oscillation concerning frequency
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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
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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
- H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
- H02J2300/20—The dispersed energy generation being of renewable origin
- H02J2300/28—The renewable source being wind energy
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- 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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- Power Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Eletrric Generators (AREA)
- Wind Motors (AREA)
Abstract
本发明公开了一种风电机组功率波动抑制与频率调节的自适应控制方法，通过在风电机组的额外控制环中实施自适应控制，配合桨距角控制器、轴系系统及减载计算模块，同时实现风电功率波动抑制以及频率调节控制。控制方法包括以下步骤：计算电网频率偏差；对风电机组进行减载控制计算；通过隶属函数在下垂控制和风电平滑控制中实现自适应切换；在减载控制的作用下，利用风力发电机组转子中储存的动能，协调风力发电机组参与一次调频和平滑输出功率波动，改变风力发电机组有功输出。本方法适用于各种风电渗透率以及各种风速，使风电机组在参与电力系统一次调频和平抑自身输出功率波动得到有效的平衡。
The present invention discloses an adaptive control method for power fluctuation suppression and frequency regulation of a wind turbine. By implementing adaptive control in an additional control loop of the wind turbine, in conjunction with a pitch angle controller, a shafting system and a load reduction calculation module, wind power fluctuation suppression and frequency regulation control are simultaneously achieved. The control method includes the following steps: calculating the grid frequency deviation; performing load reduction control calculation on the wind turbine; realizing adaptive switching between droop control and wind power smoothing control through membership functions; under the action of load reduction control, utilizing the kinetic energy stored in the rotor of the wind turbine generator set, coordinating the wind turbine generator set to participate in primary frequency regulation and smooth output power fluctuations, and changing the active output of the wind turbine generator set. This method is applicable to various wind power penetration rates and various wind speeds, so that the wind turbine generator set can achieve an effective balance in participating in the primary frequency regulation of the power system and smoothing its own output power fluctuations.
Description
Technical Field
The invention belongs to the field of frequency regulation of a wind turbine participating system, and particularly relates to a self-adaptive control method for power fluctuation suppression and frequency regulation of a wind turbine.
Background
In recent years, the global wind power installation capacity is continuously improved, and as more wind power generator sets are directly integrated into a power grid, the interaction between a fan and the power grid is more and more complex.
In wind power generation technology, doubly-fed induction-based wind power generation sets are widely adopted due to their high efficiency over a wide range of wind speeds. However, uncertainty and intermittence of wind energy, as well as asynchronous grid connection of doubly-fed induction wind turbine generator sets, exacerbate fluctuations in wind power output. In addition, under the condition of high wind power popularity, rapid fluctuation of wind power output can also cause severe change of frequency, so that stability of a system is damaged. In this case, smoothing the output power of the wind turbine and providing frequency adjustment become two important goals of smooth operation of the wind turbine and safe operation of the power system.
At present, the doubly-fed induction wind generating set can utilize the kinetic energy of the rotor to participate in primary frequency modulation, and the kinetic energy of the rotor can also be utilized to smooth the wind power output power. However, the former uses the frequency deviation as a control signal to reduce the system frequency deviation, and the latter alleviates power fluctuation according to the output power of the wind generating set, so that how to realize coordination and smooth transition between the two is a difficult problem.
Therefore, a control method for smoothing the output power fluctuation of the wind generating set and participating in primary frequency modulation of the power grid by utilizing the potential of the wind generating set is needed, and smooth control and smooth transition of frequency adjustment can be realized.
Disclosure of Invention
The purpose of the invention is that: the self-adaptive control method for suppressing the power fluctuation and adjusting the frequency of the wind turbine generator is provided, smooth transition between the power fluctuation and the frequency adjustment is realized through unified control signals, so that the wind power fluctuation is suppressed, and meanwhile, the frequency quality of a system is improved.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
The self-adaptive control system for suppressing power fluctuation and adjusting frequency of the wind turbine comprises a wind turbine aerodynamic calculation module, a pitch angle controller, a doubly-fed induction generator model, a load shedding control module and an additional control loop, wherein the additional control loop is input into a power grid frequency deviation, outputs an active reference signal for self-adaptive control, and is output and connected into a fan; the additional control loop is an adaptive controller, and the adaptive controller realizes adaptive switching in droop control and wind power smoothing control through membership functions.
The membership functions are as follows:
δ(z)＝1-μ(z)
Wherein: μ (z) is a membership function, δ (z) is a membership function representing wind power smoothing control, z= |Δf| represents an absolute value of real-time frequency deviation, a is a membership function conversion parameter, the conversion speed of the two is controlled, and Δf h is a set frequency deviation dead zone.
The control method of the self-adaptive control system for wind turbine generator power fluctuation suppression and frequency adjustment comprises the following steps:
(1) Collecting the power grid frequency f meas in real time, and calculating the power grid frequency deviation delta f;
(2) Performing load shedding control calculation on the wind turbine generator to obtain a stable load shedding operation active reference value;
(3) Implementing adaptive control in an additional control loop of the wind generating set control system, wherein droop control in the adaptive control takes a dominant role when the system frequency deviation is larger than a set frequency deviation dead zone, and otherwise, wind power smoothing control in the adaptive control takes a main role;
(4) The adaptive switching is realized in droop control and wind power smoothing control through membership functions so as to change the active power signal of the adaptive control;
(5) Under the action of load shedding control, kinetic energy stored in a rotor of the wind generating set is utilized to coordinate the wind generating set to participate in primary frequency modulation and smooth output power fluctuation, so that the active output of the wind generating set is changed.
The load shedding control model is as follows:
when the load shedding operation amount is set to k delPmax, the load shedding power is as follows:
Pdel＝(1-kdel)Pmax
Wherein P max is the maximum power of the wind driven generator, and k del is the ratio of the load shedding operation amount to the maximum power.
If the rotation speed is moved from omega del to omega max, the mechanical power captured by the wind turbine generator is also changed from P del to P max; when the rotational speed is between ω del and ω max, the active reference value for the derated operation of the generator is calculated as follows:
Wherein: p del is the load shedding power, omega del is the rotating speed corresponding to the load shedding power, and omega max is the rotating speed corresponding to the maximum power of the fan.
The sagging control calculation mode is as follows:
Where K 1 is the droop coefficient and Δf t is the frequency deviation.
The wind power fluctuation stabilizing control calculation mode is as follows:
in the formula, The wind power output power is the wind power; t f is the filter constant.
The active reference signal of the self-adaptive control is a weighted average value of the active reference signals of the droop control and the wind power fluctuation stabilizing control, and the calculation mode is as follows:
the active power output of the wind turbine generator is as follows:
Wherein: For an active reference value of the load shedding control, Is an active reference signal for adaptive control.
The beneficial effects obtained by the invention are as follows:
The kinetic energy stored in the doubly-fed induction wind driven generator rotor is utilized to implement self-adaptive control in an additional control loop of a wind turbine generator control system, self-adaptive switching is realized in droop control and wind power smooth control through membership functions, coordination control of wind turbine generator output smooth control and frequency droop control under any wind power permeability and different wind speeds of medium, high and low is realized, system frequency quality is effectively improved, and fluctuation of wind turbine generator output power is restrained.
Drawings
FIG. 1 is a schematic diagram of an adaptively controlled wind turbine control framework.
FIG. 2 is a schematic diagram of wind power smoothing control based on a first order low pass filter.
FIG. 3 is a schematic diagram of wind turbine frequency droop control.
FIG. 4 is a schematic diagram of an adaptive strategy wind turbine additional loop control.
Fig. 5 is a schematic diagram of membership functions.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular and non-limiting detailed description of the invention will be rendered by reference to the appended drawings and appended detailed description.
The embodiment of the invention relates to an adaptive control method embodiment for power fluctuation suppression and frequency adjustment of a wind turbine generator. The method comprises the following steps:
(1) Collecting the power grid frequency f meas in real time, and calculating the power grid frequency deviation delta f;
(2) Performing load shedding control calculation on the wind turbine generator to obtain a stable load shedding operation active reference value;
(3) Implementing adaptive control in an additional control loop of the wind generating set control system, wherein droop control in the adaptive control takes a dominant role when the system frequency deviation is larger than a set frequency deviation dead zone, and otherwise, wind power smoothing control in the adaptive control takes a main role;
(4) The adaptive switching is realized in droop control and wind power smoothing control through membership functions so as to change the active power signal of the adaptive control;
(5) Under the action of load shedding control, kinetic energy stored in a rotor of the wind generating set is utilized to coordinate the wind generating set to participate in primary frequency modulation and smooth output power fluctuation, so that the active output of the wind generating set is changed.
The control framework of the self-adaptive control method for wind turbine generator power fluctuation suppression and frequency adjustment is shown in the attached figure 1, and specifically comprises the following steps: a wind turbine aerodynamic module, a pitch angle controller, a doubly fed induction generator model, a load shedding module, and an additional control loop module. The schematic diagram of the adaptive strategy implemented in the additional control loop is shown in fig. 4, the schematic diagram of the wind power smoothing control in the adaptive control is shown in fig. 2, and the frequency droop control is shown in fig. 3.
In the aerodynamic module of the wind turbine, the wind turbine converts wind energy into mechanical energy and then drives the fan blades to rotate. The mechanical power captured by the wind turbine can be calculated by an aerodynamic model as follows:
Wherein ρ is the atmospheric density; a is the area swept by the rotation of the fan blade; u w is the wind speed of the wind turbine; c P (lambda, beta) is the wind energy utilization coefficient; lambda is the tip speed ratio; beta is the pitch angle.
The wind energy utilization coefficient C P (λ, β) is calculated as follows:
Wherein,
Wherein omega r is the rotation speed; and r is the radius of the fan blade.
In the pitch angle controller, the wind energy capturing capacity of the wind turbine generator is adjusted by changing the pitch angle. The pitch angle control system consists of two parts: 1) A PI control system; 2) And a feedback control system. The difference between the actual rotor speed and the reference speed obtains a reference pitch angle through a PI control system, and the difference between the actual pitch angle and the reference pitch angle is an input signal of a feedback control system. Wherein, the input signal of pitch angle controller is:
Wherein: t mec is the measured mechanical torque.
The shafting system model of the doubly-fed induction generator is as follows:
Wherein omega r is the rotation speed; t m is the mechanical torque; t e is electromagnetic torque; h is the inertia constant.
The load shedding operation module model of the wind driven generator is as follows: when the load shedding operation amount is set to k delPmax, the load shedding power is as follows:
Pdel＝(1-kdel)Pmax
Wherein P max is the maximum power of the wind driven generator, and k del is the ratio of the load shedding operation amount to the maximum power.
If the rotation speed is moved from omega del to omega max, the mechanical power captured by the wind turbine generator is also changed from P del to P max; when the rotational speed is between ω del and ω max, the active reference value for the derated operation of the generator is calculated as follows:
Wherein: p del is the load shedding power, omega del is the rotating speed corresponding to the load shedding power, and omega max is the rotating speed corresponding to the maximum power of the fan.
The adaptive control implemented in the additional control loop is as follows:
The control area divided by the membership functions for wind power smooth control and sagging control is shown in fig. 5, wherein the membership functions are as follows:
δ(z)＝1-μ(z)
Wherein: μ (z) is a membership function representing frequency droop control, δ (z) is a membership function representing wind power smoothing control, z= |Δf| represents an absolute value of real-time frequency deviation, a is a membership function conversion parameter, the conversion speed of the two is controlled, and Δf h is a set frequency deviation dead zone.
The frequency droop control in the adaptive strategy is shown in fig. 2, and the active reference signal is calculated as follows:
The frequency deviation is given by:
in the formula, Is a frequency measurement; f nom is the frequency rating. Thus, the droop control active reference signal is:
where K 1 is the sag factor.
The wind power fluctuation stabilizing control in the self-adaptive strategy is shown in fig. 3, and the active reference signals are calculated as follows:
in the formula, The wind power output power is the wind power; t f is the filter constant.
The whole control framework of the self-adaptive control is shown in fig. 4, the active reference signal is a weighted average value of the active reference signals of droop control and wind power fluctuation stabilizing control, the weight is determined by a membership function, and the following calculation is performed:
after the active reference signals of the self-adaptive strategy are introduced into active power control, the active output of the wind turbine is as follows:
Wherein: For an active reference value of the load shedding control, Is an active reference signal for adaptive control.
In summary, it is shown that: the invention provides a self-adaptive control method for suppressing power fluctuation and adjusting frequency of a wind turbine, which utilizes kinetic energy stored in a rotor of a doubly-fed induction wind turbine to implement self-adaptive control in an additional control loop of a wind turbine control system, and realizes self-adaptive switching in droop control and wind power smooth control through membership functions, thereby realizing coordinated control of wind turbine output smooth control and frequency droop control, effectively improving system frequency quality and suppressing wind turbine output power fluctuation.
It should be noted that the foregoing description is only a preferred embodiment of the present invention, and is intended to illustrate the technical concept and features of the present invention, but not to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.
Claims (5)
1. The control method of the self-adaptive control system for suppressing power fluctuation and adjusting frequency of the wind turbine generator comprises a wind turbine aerodynamic calculation module, a pitch angle controller, a doubly-fed induction generator model and a load shedding control module, and is characterized by further comprising an additional control loop, wherein the additional control loop is input into a power grid frequency deviation, output into an active reference signal for self-adaptive control and output into a fan; the additional control loop is an adaptive controller, and the adaptive controller realizes adaptive switching in droop control and wind power smoothing control through membership functions;
the membership functions are as follows:
δ(z)＝1-μ(z)
Wherein: μ (z) is a membership function, δ (z) is a membership function representing wind power smoothing control, z= |Δf| represents an absolute value of grid frequency deviation, a is a parameter for μ (z) and δ (z) conversion, the conversion speed of the μ (z) and the δ (z) is controlled, and Δf h is a set frequency deviation dead zone;
the control method comprises the following steps:
(1) Collecting the power grid frequency f meas in real time, and calculating the power grid frequency deviation delta f;
(2) Performing load shedding control calculation on the wind turbine generator to obtain a stable load shedding operation active reference value;
(3) Implementing adaptive control in an additional control loop of the adaptive control system, wherein droop control in the adaptive control takes precedence when the frequency deviation of the power grid is larger than the set frequency deviation dead zone, otherwise wind power smoothing control in the adaptive control takes precedence;
(4) The adaptive switching is realized in droop control and wind power smoothing control through membership functions so as to change the active power signal of the adaptive control;
(5) Under the action of load shedding control, the kinetic energy stored in the rotor of the wind generating set is utilized to coordinate the wind generating set to participate in primary frequency modulation and smooth output power fluctuation, so that the active output of the wind generating set is changed;
The load shedding control model is as follows:
when the load shedding operation amount is set to k delPmax, the load shedding power is as follows:
Pdel＝(1-kdel)Pmax
Wherein P max is the maximum power of the wind driven generator, and k del is the ratio of the load shedding operation amount to the maximum power;
If the rotation speed is moved from omega del to omega max, the mechanical power captured by the wind turbine generator is also changed from P del to P max; when the rotational speed is between ω del and ω max, the active reference value for the derated operation of the generator is calculated as follows:
Wherein: p del is the load shedding power, ω del is the rotation speed corresponding to the load shedding power, ω max is the rotation speed corresponding to the maximum power of the fan, and ω r is the rotation speed.
2. The control method of the adaptive control system for wind turbine generator power fluctuation suppression and frequency adjustment according to claim 1, wherein the droop control calculation mode is as follows:
Where K 1 is the droop coefficient and Δf t is the frequency deviation.
3. The control method of the adaptive control system for wind turbine generator power fluctuation suppression and frequency adjustment according to claim 1, wherein the control calculation mode of wind turbine generator power fluctuation suppression is as follows:
in the formula, The wind power output power is the wind power; t f is the filter constant.
4. A control method of an adaptive control system for wind turbine power fluctuation suppression and frequency adjustment according to claim 3, wherein the active reference signal of the adaptive control is a weighted average of the active reference signals of droop control and wind turbine power fluctuation suppression, and the calculation method is as follows:
5. the control method of an adaptive control system for wind turbine generator power fluctuation suppression and frequency adjustment according to claim 1, wherein the active power output of the wind turbine generator is as follows:
Wherein: For an active reference value of the load shedding control, Is an active reference signal for adaptive control.
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| CN109167372A (en) * | 2018-08-14 | 2019-01-08 | 中国电力科学研究院有限公司 | The colony integrated control method for frequency of wind-powered electricity generation and system based on layered distribution type Model Predictive Control |
| CN111064206A (en) * | 2020-01-02 | 2020-04-24 | 重庆大学 | Frequency emergency control method of power system based on dynamic load shedding of doubly-fed wind turbines |
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| CN103032265B (en) * | 2012-12-12 | 2014-11-05 | 天津市电力公司 | Maximum output tracking control method of wind generation unit based on extremum research |
| CN114629172A (en) * | 2022-04-19 | 2022-06-14 | 云南电网有限责任公司电力科学研究院 | A wind power frequency modulation control method and system based on adaptive droop control |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109167372A (en) * | 2018-08-14 | 2019-01-08 | 中国电力科学研究院有限公司 | The colony integrated control method for frequency of wind-powered electricity generation and system based on layered distribution type Model Predictive Control |
| CN111064206A (en) * | 2020-01-02 | 2020-04-24 | 重庆大学 | Frequency emergency control method of power system based on dynamic load shedding of doubly-fed wind turbines |
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