CN114268131A - Control system and method based on doubly-fed fan electromagnetic transient averaging model - Google Patents
Control system and method based on doubly-fed fan electromagnetic transient averaging model Download PDFInfo
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Abstract
The invention discloses a control system based on a doubly-fed fan electromagnetic transient averaging model, which comprises: the wind power generation system comprises a machine side converter electrically connected with the double-fed wind turbine and a grid side converter electrically connected with a power distribution network, wherein the machine side converter is electrically connected with the grid side converter, the machine side converter and the grid side converter both adopt an averaging model, and the double-fed wind turbine is provided with a first control end for controlling the start and stop of the wind driven generator and a second control end which is used for controlling the rotation speed control or the torque control of the wind turbine; the machine side converter is provided with a third control end for controlling locking or unlocking of the machine side converter; and a fourth control end for controlling locking or unlocking of the grid-side converter is arranged on the grid-side converter. Has the advantages that: aiming at the electromagnetic transient simulation of the double-fed fan, the invention provides a control method of an averaging model topology, so that the electromagnetic transient simulation efficiency of the double-fed fan is higher, and the system can reach a steady state more quickly.
Description
Technical Field
The invention relates to the technical field of power systems, in particular to a control system and a control method based on a doubly-fed fan electromagnetic transient averaging model.
Background
With the increase of energy demand, more and more new energy power generation systems are connected to a power grid, and challenges are brought to safe and stable operation of the power grid. Among them, the doubly-fed wind turbine is one of the most widely used wind power generators. The large-scale access of the double-fed fan changes the damping characteristic and the transient stability characteristic of a power grid system, and the phenomena of low-frequency power oscillation and subsynchronous oscillation may occur in the power grid. Therefore, the influence of the double-fed wind turbine access on the stability of the power grid system needs to be researched.
The traditional means for analyzing the problems is to establish a mathematical model of the electric power system of the doubly-fed wind turbine, obtain the dynamic characteristics of the doubly-fed wind turbine through electromagnetic transient simulation calculation, and analyze the influence of the dynamic characteristics on the system stability. Generally, a power system mathematical model is a detailed model, such as fig. 1, that is, all power electronic switches of the system are included in the model, and the on and off of the power electronic switches are simulated to obtain a simulation result. The detailed model simulation has the advantages of high accuracy and capability of accurately reflecting the dynamic response of a real system. However, since the operating frequencies of the power electronic switch in the model are high frequencies, electromagnetic transient simulation of the detailed model has high requirements on the simulation step length, and the simulation step length needs to be as small as possible to correctly judge the operating state of the power electronic switch. However, with the increase of the scale of the wind field and the complexity of the power distribution network, the electromagnetic transient simulation of the detailed model becomes inefficient due to the small step size, the requirement on the computing power is higher and higher, and the requirement on large-scale simulation or real-time simulation is difficult to meet.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a control system and a control method based on a doubly-fed fan electromagnetic transient averaging model, and is specifically realized by the following technical scheme:
the control system based on the doubly-fed fan electromagnetic transient state averaging model comprises: the wind power generation system comprises a machine side converter electrically connected with the double-fed wind turbine and a grid side converter electrically connected with a power distribution network, wherein the machine side converter is electrically connected with the grid side converter, the machine side converter and the grid side converter both adopt an averaging model, and a first control end for controlling the starting and stopping of the wind driven generator and a second control end for controlling the wind turbine to be in rotating speed control or torque control are arranged on the double-fed wind turbine; the machine side converter is provided with a third control end for controlling locking or unlocking of the machine side converter; and a fourth control end for controlling locking or unlocking of the grid-side converter is arranged on the grid-side converter.
The control system based on the doubly-fed wind turbine electromagnetic transient state averaging model is further designed in that the averaging model of the machine side converter and the grid side converter comprises: the three-phase current measuring device comprises a rectifier bridge, a three-phase circuit breaker, a controlled current source and three controlled voltage sources, wherein the controlled current source is connected with the rectifier bridge in parallel to form a direct current side of an averaging model, and the input side of the rectifier bridge is connected with a three-phase alternating current power measurement of a current transformer; the three-phase circuit breaker is correspondingly and electrically connected with the three controlled voltage sources respectively and used for controlling the connection or disconnection of the three-phase controlled voltage sources, and a preset logic relation exists between a control signal of the three-phase circuit breaker and a control signal received by the third control end or the fourth control end.
The control system based on the doubly-fed fan electromagnetic transient averaging model is further designed in that the rectifier bridge comprises six uncontrolled diodes, every two diodes of the six uncontrolled diodes are connected in series to form three parallel-connected rectifier branches, and each rectifier branch is provided with a contact point between the two diodes corresponding to three controlled voltage sources.
The control system based on the doubly-fed fan electromagnetic transient state averaging model is further designed in that the averaging model of the machine side converter and the grid side converter further comprises overvoltage suppression resistors, and the overvoltage suppression resistors are respectively arranged on a positive electrode and a negative electrode of the direct current side of the averaging model and are grounded.
The control system based on the doubly-fed fan electromagnetic transient averaging model is further designed in that when the preset logic relationship is set that the third control end or the fourth control end is locked, a control signal of the three-phase circuit breaker is set to be 0, and the three-phase controlled voltage source is disconnected; when the third control end or the fourth control end is unlocked, the control signal of the three-phase circuit breaker is set to be 1, and the three-phase controlled voltage source is connected.
The control system based on the doubly-fed fan electromagnetic transient state averaging model is further designed in such a way that when a control signal of the three-phase circuit breaker is 0, only an uncontrolled rectification link exists in a topology, and an inductor and a capacitor in a circuit are automatically charged and discharged; when the control signal of the three-phase circuit breaker is 1, the three-phase controlled voltage source is accessed, based on the switch averaging principle of the converter, the power electronic switch which does not stop in the detailed model of the converter is equivalent to the coupling form of the controlled current source and the controlled voltage source, and according to the active power balance principle, the average model relation formula as the formula (1) is obtained:
in the formula (1), uabcAnd idcRespectively representing the controlled voltage and current, udcRepresenting a direct voltage utriRepresenting the power of a carrier in PWM controlMagnitude of pressure, vabc_refRepresenting a three-phase duty cycle reference signal.
The invention also provides a control method of the control system based on the doubly-fed fan electromagnetic transient averaging model, which sets the input signals of the first control end, the second control end, the third control end and the fourth control end to be 0 or 1 respectively, and for the first control end, the input signals of 0 and 1 respectively represent the stop and the start of the wind driven generator; for the second control end, the input of 0 and 1 respectively and correspondingly indicates that the fan is in rotating speed control and torque control; for the third control end, the input of 0 and 1 respectively corresponds to locking and unlocking of the converter at the control machine side; for the fourth control end, the inputs of 0 and 1 respectively correspond to locking and unlocking of the control network side converter, and the specific control logic is as follows: initial signals of the first control end, the second control end, the third control end and the fourth control end are all set to be 0, after t time, an input of the fourth control end is set to be 1, the grid-side converter is unlocked, and the grid-side converter controls the direct-current side voltage and the reactive power to be set values and is stable; t is t1After the moment, the input device of the third control end is 1, the machine side converter is unlocked, and the machine side converter controls the active power to a set value and stabilizes; meanwhile, the input of the first control end is 1, the wind driven generator is started, and the wind driven generator controls the power of the wind driven generator, namely the active power reference value to a set value and stabilizes according to a set constant rotating speed; t is t2After the moment, the input of the second control terminal is set to 1, and the wind turbine is changed from the rotation speed control to the torque control.
The control method of the control system based on the doubly-fed wind turbine electromagnetic transient averaging model is further designed in the following way, wherein t belongs to (0.15, 0.25), t1∈(0.3，0.5)，t2∈(0.8，1.5)，t、t1And t2In seconds.
The invention has the following advantages:
compared with a conventional converter averaging model, the converter in the control system based on the double-fed fan electromagnetic transient averaging model has the advantages that two large resistors are added on the direct current side and used for suppressing overvoltage so as to protect a circuit and eliminate most resonance phenomena; a rectifier bridge is added, consists of six uncontrolled diodes and is used for converting three-phase alternating current into direct current; a three-phase circuit breaker is added for controlling the connection and disconnection of a three-phase controlled voltage source.
According to the control method, after the voltage of the power distribution network is stable, the network side converter is started, and after the network side converter is controlled to be stable, the machine side converter is started. Mutual interference between the control of the two converters is reduced, and the influence of numerical value fluctuation on other control links in the control process of one control link is avoided, so that the model can reach a stable state more quickly.
The grid-side converter is started for control, and then the wind driven generator is started, so that mutual interference between the controls can be reduced. Meanwhile, the wind driven generator is controlled by constant rotating speed at the stage, the reference value of the active power output by the wind driven generator is also constant, and the machine side converter can control the active power to the reference value and stabilize the active power, so that the simultaneous starting of the wind driven generator (constant rotating speed control) and the control of the machine side converter cannot influence each other.
The wind driven generator is controlled by the constant rotating speed and then is controlled by the torque, and when the wind driven generator is controlled by the constant rotating speed, the reference value of the output active power is also constant, so that the control of the machine side converter to reach a steady state is facilitated. After the control of the grid side converter, the machine side converter and the wind driven generator is stable, the control is changed into torque control, and the influence of fluctuation generated by control switching is smaller, so that the whole system can return to a stable state.
Drawings
FIG. 1 is a detailed model topology schematic diagram of a doubly-fed wind turbine power generation system.
Fig. 2 is a schematic diagram of the overall topology of the doubly-fed wind turbine averaging model. In FIG. 2, udcIs the DC voltage of the DC side of the converter uabcFor three-phase voltage, i, on the AC side of the converterabcThree-phase current at the AC side of the converter; i.e. idcFor averaging the current value, u, of a controlled current source in a model of a convertera、ub、ucVoltage values i of controlled voltage sources of a, b and c three phases in the converter averaging modela、ib、icThe current values of the three phases are respectively.
Fig. 3 is a schematic diagram of an averaging model topology of the current transformer.
Fig. 4 is a schematic flow chart of a control method of a control system based on a doubly-fed wind turbine electromagnetic transient averaging model.
Detailed Description
The technical solution of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 2, the control system based on the doubly-fed wind turbine electromagnetic transient averaging model of the embodiment includes: the wind power generation system comprises a machine side converter electrically connected with the double-fed wind turbine and a grid side converter electrically connected with a power distribution network, wherein the machine side converter is electrically connected with the grid side converter, the machine side converter and the grid side converter both adopt an averaging model, and the double-fed wind turbine is provided with a first control end for controlling the start and stop of the wind driven generator and a second control end for controlling the rotation speed control or the torque control of the wind turbine; the machine side converter is provided with a third control end for controlling locking or unlocking of the machine side converter; and a fourth control end for controlling locking or unlocking of the grid-side converter is arranged on the grid-side converter.
As shown in fig. 3, the averaging model of the machine-side converter and the grid-side converter includes: the three-phase alternating current power supply comprises a rectifier bridge, a three-phase circuit breaker, a controlled current source and three controlled voltage sources, wherein the controlled current source is connected with the rectifier bridge in parallel to form a direct current side of an averaging model, and the input side of the rectifier bridge is connected with a three-phase alternating current power measurement of a current transformer; the three-phase circuit breaker is correspondingly and electrically connected with the three controlled voltage sources respectively and used for controlling the connection or disconnection of the three-phase controlled voltage sources, and a preset logic relationship exists between a control signal of the three-phase circuit breaker and a control signal received by the third control end or the fourth control end.
The rectifier bridge of the embodiment comprises six uncontrolled diodes, every two diodes of the six uncontrolled diodes are connected in series to form three parallel-connected rectifier branches, and each rectifier branch is provided with a contact point between the two diodes corresponding to three controlled voltage sources.
The averaging model of the machine side converter and the grid side converter further comprises an overvoltage suppression resistor, and the overvoltage suppression resistor is arranged on the positive pole and the negative pole of the direct current side of the averaging model and is grounded.
Further, when the preset logic relationship is set that the third control end or the fourth control end is locked, the control signal of the three-phase circuit breaker is set to be 0, and the three-phase controlled voltage source is disconnected; when the third control end or the fourth control end is unlocked, the control signal of the three-phase circuit breaker is set to be 1, and the three-phase controlled voltage source is connected.
When the control signal of the three-phase circuit breaker is 0, only an uncontrolled rectifying link exists in the topology, and the inductor and the capacitor in the circuit are automatically charged and discharged; when the control signal of the three-phase circuit breaker is 1, the three-phase controlled voltage source is accessed, based on the switch averaging principle of the converter, the power electronic switch which does not stop in the detailed model of the converter is equivalent to the coupling form of the controlled current source and the controlled voltage source, and according to the active power balance principle, the average model relation formula as the formula (1) is obtained:
in the formula (1), uabcAnd idcRespectively representing the controlled voltage and current, udcRepresenting a direct voltage utriRepresenting the voltage amplitude, v, of the carrier in PWM controlabc_refRepresenting a three-phase duty cycle reference signal.
As shown in fig. 4, the present embodiment further provides a control method of a control system based on an electromagnetic transient averaging model of a doubly-fed wind turbine, where the method sets input signals of a first control end, a second control end, a third control end, and a fourth control end to be 0 or 1, and for the first control end, the input signals of 0 and 1 respectively indicate that a wind turbine is stopped or started; for the second control end, the input of 0 and 1 respectively and correspondingly indicates that the fan is in rotating speed control and torque control; for the third control end, the input of 0 and 1 respectively corresponds to locking and unlocking of the converter at the control machine side; for the fourth control end, the inputs of 0 and 1 respectively correspond to locking and unlocking of the control network side converter, and the specific control logic is as follows: a first control terminal, a second control terminal, and a third controlInitial signals of the control end and the fourth control end are set to be 0, after the time t, the input of the fourth control end is set to be 1, the grid-side converter is unlocked, and the grid-side converter controls the direct-current side voltage and the reactive power to be set values and stabilizes; t is t1After the moment, the input device of the third control end is 1, the machine side converter is unlocked, and the machine side converter controls the active power to a set value and stabilizes; meanwhile, the input of the first control end is 1, the wind driven generator is started, and the wind driven generator controls the power of the wind driven generator, namely the active power reference value to a set value and stabilizes according to a set constant rotating speed; t is t2After the moment, the input of the second control terminal is set to 1, and the wind turbine is changed from the rotation speed control to the torque control.
The invention sets t epsilon (0.15, 0.25), t1∈(0.3，0.5)，t2∈(0.8，1.5)，t、t1And t2In seconds. In the preferred embodiment, t is 0.2 and t is1Is 0.4, t2Is 1.6.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A control system based on a doubly-fed fan electromagnetic transient averaging model comprises: the wind driven generator is characterized in that the machine side converter and the grid side converter both adopt an averaging model, and a first control end for controlling the start and stop of the wind driven generator and a second control end for controlling the rotation speed control or the torque control of the wind driven generator are arranged on the doubly-fed fan; the machine side converter is provided with a third control end for controlling locking or unlocking of the machine side converter; and a fourth control end for controlling locking or unlocking of the grid-side converter is arranged on the grid-side converter.
2. The doubly-fed wind turbine electromagnetic transient averaging model-based control system of claim 1, wherein the averaging model of the machine-side converter and the grid-side converter comprises: the three-phase current measuring device comprises a rectifier bridge, a three-phase circuit breaker, a controlled current source and three controlled voltage sources, wherein the controlled current source is connected with the rectifier bridge in parallel to form a direct current side of an averaging model, and the input side of the rectifier bridge is connected with a three-phase alternating current power measurement of a current transformer; the three-phase circuit breaker is correspondingly and electrically connected with the three controlled voltage sources respectively and used for controlling the connection or disconnection of the three-phase controlled voltage sources, and a preset logic relation exists between a control signal of the three-phase circuit breaker and a control signal received by the third control end or the fourth control end.
3. The doubly-fed wind turbine electromagnetic transient averaging model-based control system as claimed in claim 2, wherein said rectifier bridge comprises six uncontrolled diodes, each two diodes of said six uncontrolled diodes are connected in series to form three parallel-connected rectifying branches, and each rectifying branch is provided with a contact point between two diodes corresponding to three controlled voltage sources respectively.
4. The doubly-fed wind turbine electromagnetic transient averaging model-based control system of claim 2, wherein the averaging model of the machine-side converter and the grid-side converter further comprises an overvoltage suppression resistor, and the overvoltage suppression resistor is arranged at a positive electrode and a negative electrode of a direct current side of the averaging model and connected to ground.
5. The doubly-fed wind turbine electromagnetic transient averaging model-based control system according to claim 2, wherein the preset logic relationship is set such that when the third control terminal or the fourth control terminal is locked, the control signal of the three-phase circuit breaker is set to 0, and the three-phase controlled voltage source is disconnected; when the third control end or the fourth control end is unlocked, the control signal of the three-phase circuit breaker is set to be 1, and the three-phase controlled voltage source is connected.
6. The control system based on the electromagnetic transient averaging model of the doubly-fed wind turbine according to claim 5, wherein when a control signal of the three-phase circuit breaker is 0, only an uncontrolled rectifying link exists in a topology, and an inductor and a capacitor in a circuit are automatically charged and discharged; when the control signal of the three-phase circuit breaker is 1, the three-phase controlled voltage source is accessed, based on the switch averaging principle of the converter, the power electronic switch which does not stop in the detailed model of the converter is equivalent to the coupling form of the controlled current source and the controlled voltage source, and according to the active power balance principle, the average model relation formula as the formula (1) is obtained:
in the formula (1), uabcAnd idcRespectively representing the controlled voltage and current, udcRepresenting a direct voltage utriRepresenting the voltage amplitude, v, of the carrier in PWM controlabc_refRepresenting a three-phase duty cycle reference signal.
7. The control method adopting the doubly-fed wind turbine electromagnetic transient averaging model-based control system according to any one of claims 1 to 6, wherein the input signals of the first control terminal, the second control terminal, the third control terminal and the fourth control terminal are respectively set to be 0 or 1, and for the first control terminal, the input signals of 0 and 1 respectively represent that the wind turbine is stopped and started; for the second control end, the input of 0 and 1 respectively and correspondingly indicates that the fan is in rotating speed control and torque control; for the third control end, the input of 0 and 1 respectively corresponds to locking and unlocking of the converter at the control machine side; for the fourth control end, the inputs of 0 and 1 respectively correspond to locking and unlocking of the control network side converter, and the specific control logic is as follows: initial signals of the first control end, the second control end, the third control end and the fourth control end are all set to be 0, after t time, an input of the fourth control end is set to be 1, the grid-side converter is unlocked, and the grid-side converter controls the direct-current side voltage and the reactive power to be set values and is stable; t is t1After the moment, theThe input device of the three control ends is 1, the machine side converter is unlocked, and the machine side converter controls the active power to a set value and stabilizes the active power; meanwhile, the input of the first control end is 1, the wind driven generator is started, and the wind driven generator controls the power of the wind driven generator, namely the active power reference value to a set value and stabilizes according to a set constant rotating speed; t is t2After the moment, the input of the second control terminal is set to 1, and the wind turbine is changed from the rotation speed control to the torque control.
8. The control method of the control system based on the electromagnetic transient averaging model of the doubly-fed wind turbine as claimed in claim 7, wherein t e (0.15, 0.25), t is1∈(0.3，0.5)，t2∈(0.8，1.5)，t、t1And t2In seconds.
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