CN114884143A - Wind turbine generator output power virtual filtering control method based on rotor kinetic energy adjustment - Google Patents

Wind turbine generator output power virtual filtering control method based on rotor kinetic energy adjustment Download PDF

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CN114884143A
CN114884143A CN202210799809.XA CN202210799809A CN114884143A CN 114884143 A CN114884143 A CN 114884143A CN 202210799809 A CN202210799809 A CN 202210799809A CN 114884143 A CN114884143 A CN 114884143A
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wind turbine
wind
turbine generator
power
virtual
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廖凯
鲁丁文
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Southwest Jiaotong University
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Southwest Jiaotong University
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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
    • H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
    • H02J3/48—Controlling the sharing of the in-phase component
    • 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
    • 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
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
    • H02P9/10—Control effected upon generator excitation circuit to reduce harmful effects of overloads or transients, e.g. sudden application of load, sudden removal of load, sudden change of load
    • H02P9/105—Control effected upon generator excitation circuit to reduce harmful effects of overloads or transients, e.g. sudden application of load, sudden removal of load, sudden change of load for increasing the stability
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2101/00—Special adaptation of control arrangements for generators
    • H02P2101/15—Special adaptation of control arrangements for generators for wind-driven turbines
    • 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
    • Y02E70/00—Other energy conversion or management systems reducing GHG emissions
    • Y02E70/30—Systems combining energy storage with energy generation of non-fossil origin

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

Abstract

The invention belongs to the technical field of power generation and transformation, and particularly relates to a wind turbine generator output power virtual filtering control method based on rotor kinetic energy adjustment, which is used for solving the problem of output power fluctuation of a wind turbine generator and reducing wind energy loss. Based on the adjusting capability of the rotor kinetic energy of the wind turbine generator, the invention changes the active power reference value output by the wind turbine generator to force the rotor to accelerate or decelerate, so that the absorbed or released kinetic energy is opposite to the power fluctuation direction, thereby realizing smooth fluctuation of the output power of the wind turbine generator and avoiding obvious wind energy loss. The virtual filtering control method for the output power of the wind turbine generator can fully utilize the adjusting capability of the rotor kinetic energy of the fan, does not need to deploy a physical energy storage system, can still filter high-frequency fluctuation in the output power of the wind turbine generator, obviously smoothens the fluctuation of the wind power and does not cause obvious wind energy loss.

Description

Wind turbine generator output power virtual filtering control method based on rotor kinetic energy adjustment
Technical Field
The invention relates to the technical field of wind power generation, in particular to a wind turbine generator output power virtual filtering control method based on rotor kinetic energy adjustment.
Background
Wind power generation is one of new energy power generation technologies, and has the advantages of mature technology, low development cost and no harm to the environment. In order to capture the maximum wind energy, a wind energy conversion system of the wind turbine generator operates in a maximum power point tracking state, so that the power output of the wind turbine generator completely depends on random and intermittent wind speed, and particularly when the wind permeability is high, frequency fluctuation and electromechanical oscillation occur in a power system, and the safe and stable operation of the power system is threatened. Therefore, in this context, there is an urgent need to smooth the wind turbine output power fluctuation.
At present, methods for smoothing the output power fluctuation of a wind turbine generator can be generally divided into two types:
1) smoothing the output power fluctuation of the wind turbine generator by using a physical energy storage system and a physical energy storage system configured in the wind energy conversion system;
2) additional control loops are used, which are introduced into the wind energy conversion system to regulate the power output, smoothing out the wind energy.
However, the first method has higher investment cost in the early period, while the second method can not obviously reduce power fluctuation and has larger wind energy loss. The prior art is difficult to solve the problem of output power fluctuation of a wind generating set on the premise of almost not losing wind energy.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a wind turbine generator output power virtual filtering control method based on rotor kinetic energy adjustment, and aims to smooth the output power fluctuation of a wind turbine generator, improve the grid-connected friendliness of the wind turbine generator and ensure the safety and stability of a power system under high wind power permeability.
The invention solves the technical problems and provides the following technical scheme:
the virtual filtering control method of the output power of the wind turbine generator based on the rotor kinetic energy regulation is characterized in that based on the regulation capacity of the rotor kinetic energy of the wind turbine generator, an active power reference value output by the wind turbine generator is changed to force the rotor to accelerate or decelerate, so that the kinetic energy absorbed or released by the rotor is opposite to the power fluctuation direction, and the output power of the wind turbine generator is smooth and does not cause obvious wind energy loss;
the method specifically comprises the following steps:
step 1: constructing a wind energy conversion system mathematical model based on the characteristics of the wind turbine generator, and selecting a stable working point of the wind turbine generator to linearize the wind energy conversion system by adopting a small signal analysis method so as to construct a wind energy conversion system linearization model;
step 2: based on the wind energy conversion system linearization model constructed in the step 1, adding a virtual filter transfer function behind a power controller of the linearization model, and solving to obtain a virtual filter transfer function in a way that the whole wind energy conversion system transfer function containing the virtual filter transfer function is equal to the whole transfer function of a physical energy storage system added at the output end of the wind energy conversion system;
and step 3: and (3) discretizing the transfer function of the virtual filter obtained in the step (2) by adopting a bilateral linear transformation method to determine a virtual filtering control equation suitable for an actual digital controller, and then smoothing the output power fluctuation of the wind turbine generator set by executing the digital controller containing the virtual filtering control equation.
Further, the wind energy conversion system mathematical model in the step 1 comprises four parts, namely a wind turbine, a mechanical transmission system, a generator and a power controller, wherein the wind turbine acquires mechanical power from wind, then drives the generator through the mechanical transmission system, and then generates electric energy according to an active power reference value output by the power controller; for the whole wind energy conversion system mathematical model, the input is wind speed, and the output is wind turbine generator output power.
Further, the suitable stable working point of the wind turbine generator in the step 1, namely the wind speed, the rotor speed and the output power of the wind turbine generator in stable operation are determined byv w0 、ω r0 AndP e0 and (4) showing.
Further, the wind energy conversion system linearization model in the step 1 comprises a rotor speed response unit and a wind energy response unit, the input is the deviation of the wind speed relative to the nominal value, the output is the active power change injected into the power grid by the wind turbine generator, and the power fluctuation caused by the wind speed fluctuation can be accurately reflected.
Further, the physical energy storage system in step 2 is controlled as a first-order low-pass filter to filter out high-frequency fluctuation in the output power of the wind turbine, which can be expressed as:
Figure DEST_PATH_IMAGE001
；
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE002
is the transfer function of a first-order low-pass filter,
Figure DEST_PATH_IMAGE003
is a time constant of a first-order low-pass filter,
Figure DEST_PATH_IMAGE004
is a complex variable.
Further, the virtual filter transfer function of step 2 can achieve the same filtering effect as that of an actual physical energy storage system, and can be represented as:
Figure DEST_PATH_IMAGE005
；
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE006
is a complex variable and is characterized in that,
Figure DEST_PATH_IMAGE007
expressed as a virtual filter transfer function,
Figure DEST_PATH_IMAGE008
、
Figure DEST_PATH_IMAGE009
、
Figure DEST_PATH_IMAGE010
and
Figure DEST_PATH_IMAGE011
rotor speed expressed as a linearized model of a wind turbineThe degree is responsive to the transfer function of the cell,
Figure DEST_PATH_IMAGE012
the transfer function of the wind energy response unit expressed as a linearized model of the wind turbine,
Figure DEST_PATH_IMAGE013
expressed as a first order low pass filter transfer function.
Further, the virtual filtering control equation of step 3 is input as the active power information output by the wind turbine before virtual filtering control, and output as the active power reference value output by the wind turbine after virtual filtering control, and the reference value can be directly applied to an actual digital controller to execute virtual filtering control, and can be represented by the following equation:
Figure DEST_PATH_IMAGE014
；
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE015
、
Figure DEST_PATH_IMAGE016
for the discretized virtual filter transfer function parameters,
Figure DEST_PATH_IMAGE017
for the highest order of the discretized virtual filter transfer function,
Figure DEST_PATH_IMAGE018
、
Figure DEST_PATH_IMAGE019
respectively the active power output by the wind turbine before and after the virtual filtering control,
Figure DEST_PATH_IMAGE020
in the form of a discrete sequence number,
Figure DEST_PATH_IMAGE021
is the maximum value of the discrete sequence numbers.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. the virtual filtering control method for the output power of the wind turbine generator can fully utilize the adjusting capability of the rotor kinetic energy of the fan, realize that a physical energy storage system is not required to be deployed, but can still filter high-frequency fluctuation in the output power of the wind turbine generator, obviously smooth the fluctuation of the wind power and avoid obvious wind energy loss.
2. The virtual filtering control equation determined by the method can be directly applied to an actual digital controller, and has a wide engineering application value.
3. The wind turbine generator is connected to a power grid through back-to-back converters (a generator rotor side converter and a grid-connected side converter), and the electromagnetic power of the wind turbine generator can be flexibly changed by controlling the rotor side converter, so that the balance state of mechanical power and electromagnetic power is changed, and acceleration and deceleration of a rotor are realized.
4. The restrained electric energy output can increase the speed of the rotor of the wind turbine generator, so that the electric energy is converted into the kinetic energy of the rotor of the wind turbine generator and is used for making up the deficiency of power output, and therefore, obvious wind energy loss can not be caused.
Drawings
FIG. 1 is a flow chart of a wind turbine generator output power virtual filtering control method based on rotor kinetic energy regulation;
FIG. 2 is a mathematical model of a wind energy conversion system;
FIG. 3 is a wind energy conversion system linearization model;
FIG. 4 is a schematic diagram of a wind turbine generator output power virtual filtering control method based on rotor kinetic energy regulation;
FIG. 5 is a system transfer function diagram, wherein FIG. 5 (a) is a system transfer function diagram including a physical energy storage system; FIG. 5 (b) is a diagram of the transfer function of a system including a virtual filter;
FIG. 6 is a wind turbine dynamic response diagram under different wind turbine models, wherein FIG. 6 (a) is a wind speed waveform diagram; FIG. 6 (b) is a graph of wind turbine rotor speed; FIG. 6(c) is a graph of wind turbine output power; FIG. 6 (d) is a graph of wind power rate of change;
FIG. 7 is a comparative plot of wind turbine output power under different control methods, wherein FIG. 7 (a) is a waveform plot of wind speed; FIG. 7 (b) is a graph of wind turbine capture power.
Detailed Description
In order to make the technical means, features and effects achieved by the present invention easier to understand, the technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the specific embodiments and the drawings in the embodiments of the present invention.
As shown in fig. 1-7, in order to better understand the present invention, the following description is given in conjunction with the accompanying drawings:
as shown in fig. 1, a flow chart of a virtual filtering control method for wind turbine generator output power based on rotor kinetic energy adjustment mainly includes the following steps:
step 1: a wind energy conversion system mathematical model is built based on the characteristics of the wind turbine generator, and a small signal analysis method is adopted to select a stable working point of the wind turbine generator to linearize the wind energy conversion system so as to build a wind energy conversion system linearization model.
FIG. 2 shows a mathematical model of a wind energy conversion system, which includes four parts of a wind turbine, a mechanical transmission system, a generator and a power controller.
The wind turbine section may be represented as:
Figure DEST_PATH_IMAGE022
（1）
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE023
is the length of the blade or blades,
Figure DEST_PATH_IMAGE024
is the density of the air and is,
Figure DEST_PATH_IMAGE025
is the wind speed, and the wind speed,
Figure DEST_PATH_IMAGE026
is the aerodynamic power coefficient, as a function of tip speed ratio
Figure DEST_PATH_IMAGE027
Sum pitch angle
Figure DEST_PATH_IMAGE028
Can be expressed as:
Figure DEST_PATH_IMAGE029
（2）
wherein the content of the first and second substances,
Figure 100002_DEST_PATH_IMAGE030
，
Figure DEST_PATH_IMAGE031
is the length of the blade or blades,
Figure DEST_PATH_IMAGE032
is the wind speed, and the wind speed,
Figure DEST_PATH_IMAGE033
is the ratio of the transformation of the gear box,
Figure DEST_PATH_IMAGE034
is the number of pole pairs of the wind power generator,
Figure DEST_PATH_IMAGE035
is the speed of the rotor of the wind turbine,
Figure DEST_PATH_IMAGE036
，
Figure DEST_PATH_IMAGE037
is a constant coefficient.
For maximum power capture, pitch angle
Figure DEST_PATH_IMAGE038
Is normally set to 0Is then the aerodynamic power coefficient
Figure DEST_PATH_IMAGE039
Can be expressed as about
Figure DEST_PATH_IMAGE040
A second order polynomial of:
Figure DEST_PATH_IMAGE041
（3）
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE042
、
Figure DEST_PATH_IMAGE043
and
Figure DEST_PATH_IMAGE044
is a constant coefficient of the number of the,
Figure DEST_PATH_IMAGE045
is the tip speed ratio.
The mechanical transmission system part generally adopts a simple block model, which can be expressed as:
Figure DEST_PATH_IMAGE046
（4）
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE047
is the time constant of the inertia and is,
Figure DEST_PATH_IMAGE048
is a mechanical torque, and the torque is,
Figure DEST_PATH_IMAGE049
is the electromagnetic torque, and the electromagnetic torque,
Figure DEST_PATH_IMAGE050
is the damping coefficient of the magnetic field generated by the magnetic field generator,
Figure DEST_PATH_IMAGE051
is the rotor speed of the wind turbine.
The generator part has a time constant of about 2-6s due to the inertia of the mechanical drive system, which is much longer than the 20ms response time of the power converter and its controller. Thus, in long time scale dynamics studies, the dynamics of the power converter are negligible.
The power controller part generally adopts maximum power tracking control, namely
Figure DEST_PATH_IMAGE052
When, it can be expressed as:
Figure DEST_PATH_IMAGE053
，
Figure DEST_PATH_IMAGE054
（5）
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE055
is the maximum power captured by the wind turbine,
Figure DEST_PATH_IMAGE056
is the optimal rotor speed of the wind turbine,
Figure DEST_PATH_IMAGE057
is the optimum coefficient of the,
Figure DEST_PATH_IMAGE058
、
Figure DEST_PATH_IMAGE059
and
Figure DEST_PATH_IMAGE060
is a constant coefficient of the number of the,
Figure DEST_PATH_IMAGE061
is the length of the blade or blades,
Figure DEST_PATH_IMAGE062
is the density of the air and is,
Figure DEST_PATH_IMAGE063
is the ratio of the transformation of the gear box,
Figure DEST_PATH_IMAGE064
is the pole pair number of the wind power generator.
Fig. 3 shows a wind energy conversion system linearization model, which includes two parts, a rotor speed response unit and a wind energy response unit.
Rotor speed response unit
Figure DEST_PATH_IMAGE065
At the point of
Figure DEST_PATH_IMAGE066
Respectively related to wind speed
Figure DEST_PATH_IMAGE067
And rotor speed
Figure DEST_PATH_IMAGE068
Derived from partial derivatives of
Figure DEST_PATH_IMAGE069
To electromagnetic torque
Figure DEST_PATH_IMAGE070
At the point of
Figure DEST_PATH_IMAGE071
Respectively related to output power
Figure DEST_PATH_IMAGE072
And rotor speed
Figure DEST_PATH_IMAGE073
Derived from partial derivatives of
Figure DEST_PATH_IMAGE074
And Δ obtained by linearizing the formula (4)ω r Compositions, respectively expressed as:
Figure DEST_PATH_IMAGE075
（6）
Figure DEST_PATH_IMAGE076
（7）
Figure DEST_PATH_IMAGE077
（8）
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE078
、
Figure DEST_PATH_IMAGE079
、
Figure DEST_PATH_IMAGE080
、
Figure DEST_PATH_IMAGE081
and
Figure DEST_PATH_IMAGE082
expressed as the rotor speed response unit transfer function of the linearized model of the wind turbine,
Figure DEST_PATH_IMAGE083
、
Figure DEST_PATH_IMAGE084
and
Figure DEST_PATH_IMAGE085
expressed as the wind speed, the rotor speed and the output power of the wind turbine during the stable operation,
Figure DEST_PATH_IMAGE086
and with
Figure DEST_PATH_IMAGE087
Expressed as the amount of change in mechanical torque and electromagnetic torque,
Figure DEST_PATH_IMAGE088
、
Figure DEST_PATH_IMAGE089
and
Figure DEST_PATH_IMAGE090
expressed as variations in wind speed, rotor speed and output power,
Figure DEST_PATH_IMAGE091
、
Figure DEST_PATH_IMAGE092
and
Figure DEST_PATH_IMAGE093
is a constant coefficient of the number of the optical fibers,
Figure DEST_PATH_IMAGE094
is the length of the blade or blades,
Figure DEST_PATH_IMAGE095
is the density of the air and is,
Figure DEST_PATH_IMAGE096
is the ratio of the transformation of the gear box,
Figure DEST_PATH_IMAGE097
is the number of pole pairs of the wind power generator,
Figure DEST_PATH_IMAGE098
is the time constant of the inertia and is,
Figure DEST_PATH_IMAGE099
is the damping coefficient of the magnetic field generated by the magnetic field generator,
Figure DEST_PATH_IMAGE100
is a complex variable.
The wind energy response unit can be represented by the formula (5)
Figure DEST_PATH_IMAGE101
Relating to rotor speed
Figure DEST_PATH_IMAGE102
The partial derivative of (a) is obtained and can be expressed as:
Figure DEST_PATH_IMAGE103
（9）
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE104
the transfer function of the wind energy response unit expressed as a linearized model of the wind turbine,
Figure DEST_PATH_IMAGE105
and
Figure DEST_PATH_IMAGE106
expressed as the amount of change in output power and rotor speed,
Figure DEST_PATH_IMAGE107
expressed as the rotor speed at steady operation of the wind turbine,
Figure DEST_PATH_IMAGE108
is the optimum coefficient
Step 2: based on the wind energy conversion system linearization model constructed in the step 1, a virtual filter transfer function is added behind a power controller of the linearization model, and the virtual filter transfer function is solved in a way that the whole wind energy conversion system transfer function containing the virtual filter transfer function is equal to the whole transfer function of a physical energy storage system added at the output end of the wind energy conversion system.
Fig. 4 is a schematic diagram of a wind turbine generator output power virtual filtering control method based on rotor kinetic energy adjustment, which introduces an additional virtual filtering transfer function behind a power controller of a wind energy conversion system, so that the transfer function of the whole system is equal to the whole transfer function of an additional physical energy storage system at the output end of the wind energy conversion system, and further, the filtering effect equal to that of the physical energy storage system is achieved.
Fig. 5 is a diagram of a transfer function of the system constructed based on fig. 4. Fig. 5 (a) and 5 (b) are a system transfer function diagram including a physical energy storage system and a system transfer function diagram including a virtual filter, which can be represented as follows:
Figure DEST_PATH_IMAGE109
（10）
Figure DEST_PATH_IMAGE110
（11）
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE111
expressed as fluctuation from wind speed with physical energy storage system
Figure DEST_PATH_IMAGE112
To injection grid power
Figure DEST_PATH_IMAGE113
The transfer function of (a) is selected,
Figure DEST_PATH_IMAGE114
expressed as fluctuations from wind speed with virtual filters
Figure DEST_PATH_IMAGE115
To injection grid power
Figure DEST_PATH_IMAGE116
The transfer function of (a) is selected,
Figure DEST_PATH_IMAGE117
、
Figure DEST_PATH_IMAGE118
、
Figure DEST_PATH_IMAGE119
、
Figure DEST_PATH_IMAGE120
and
Figure DEST_PATH_IMAGE121
expressed as the rotor speed response unit transfer function of the linearized model of the wind turbine,
Figure DEST_PATH_IMAGE122
the transfer function of the wind energy response unit expressed as a linearized model of the wind turbine,
Figure DEST_PATH_IMAGE123
expressed as a virtual filter transfer function,
Figure DEST_PATH_IMAGE124
is a complex variable and is characterized in that,
Figure DEST_PATH_IMAGE125
the transfer function is expressed as a first-order low-pass filter to filter out high-frequency fluctuation in the output power of the wind turbine generator, and can be expressed as:
Figure DEST_PATH_IMAGE126
（12）
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE127
is a time constant of a first-order low-pass filter,
Figure DEST_PATH_IMAGE128
is a complex variable.
Then, the virtual filter transfer function can be obtained by equating equation (10) to equation (11) and solving by the metson equation:
Figure DEST_PATH_IMAGE129
（13）
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE130
、
Figure DEST_PATH_IMAGE131
、
Figure DEST_PATH_IMAGE132
and
Figure DEST_PATH_IMAGE133
expressed as the rotor speed response unit transfer function of the linearized model of the wind turbine,
Figure DEST_PATH_IMAGE134
the transfer function of the wind energy response unit expressed as a linearized model of the wind turbine,
Figure DEST_PATH_IMAGE135
is a complex variable, and
Figure DEST_PATH_IMAGE136
、
Figure DEST_PATH_IMAGE137
、
Figure DEST_PATH_IMAGE138
and
Figure DEST_PATH_IMAGE139
are all constants, so the resulting virtual filter transfer function is only a simple third-order transfer function.
And step 3: and (3) discretizing the transfer function of the virtual filter obtained in the step (2) by adopting a bilateral linear transformation method to determine a virtual filtering control equation suitable for an actual digital controller, and then smoothing the output power fluctuation of the wind turbine generator set by executing the digital controller containing the virtual filtering control equation.
Applying bilateral linear transformation method to virtual filter continuous time transfer function obtained by formula (13)G VF Discretizing, wherein the discretized expression is as follows:
Figure DEST_PATH_IMAGE140
（14）
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE141
in order to be a function of a bilateral linear transformation,
Figure DEST_PATH_IMAGE142
is the highest order of the order,
Figure DEST_PATH_IMAGE143
for the discretized virtual filter transfer function parameters,
Figure DEST_PATH_IMAGE144
、
Figure DEST_PATH_IMAGE145
respectively the active power output by the wind turbine before and after the virtual filtering control,
Figure DEST_PATH_IMAGE146
in the form of a discrete sequence number,
Figure DEST_PATH_IMAGE147
is the maximum value of the discrete sequence numbers.
Then, based on equation (14) and combining the difference formula, a virtual filtering control equation applicable to the actual digital controller is obtained, which can be expressed as:
Figure DEST_PATH_IMAGE148
（15）
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE149
、
Figure DEST_PATH_IMAGE150
for the discretized virtual filter transfer function parameters,
Figure DEST_PATH_IMAGE151
for the highest order of the discretized virtual filter transfer function,
Figure DEST_PATH_IMAGE152
、
Figure DEST_PATH_IMAGE153
respectively the active power output by the wind turbine before and after the virtual filtering control,
Figure DEST_PATH_IMAGE154
in the form of a discrete sequence number,
Figure DEST_PATH_IMAGE155
is the maximum value of the discrete sequence numbers. The virtual filtering control equation inputs active power information output by the wind turbine generator before virtual filtering control, outputs an active power reference value output by the wind turbine generator after virtual filtering control, and the reference value can be directly applied to an actual digital controller to execute virtual filtering control so as to realize the smoothness of output power fluctuation of the wind turbine generator.
In order to verify the smooth effect of the control method provided by the invention on the fluctuation of the output power of the wind turbine generator, a full-order wind energy conversion system simulation model shown in fig. 2 is constructed, and the parameters are shown in table 1.
The control method provided by the invention is designed based on a linearization model. Therefore, firstly, comparing the linearized wind energy conversion system model with the full-order nonlinear wind energy conversion system model, and verifying the accuracy of the dynamic response of the linearized model; then, the effectiveness of the control method for suppressing the high-frequency fluctuation in the output power of the wind turbine generator is verified, and the simulation result is shown in fig. 6.
TABLE 1 wind energy conversion System parameters
Figure DEST_PATH_IMAGE156
As can be seen from fig. 6, the average percentage error between the linearized wind energy conversion system model and the full-order nonlinear wind energy conversion system model is only 0.52%, which verifies that the linearized wind energy conversion system model has higher accuracy, and therefore the effect of the control method proposed based on the linearized wind energy conversion system model can be ensured. And as can be seen from fig. 6(c) and (d), the control method provided by the invention can remarkably smooth the fluctuation of the output power of the wind turbine generator, so that the average fluctuation under the whole wind condition is reduced by 60%.
Furthermore, the introduction of the proposed control method will reduce the captured wind energy compared to a non-additional control method relying only on maximum power point tracking control. However, since this method uses rotor kinetic energy regulation to save energy, there is little loss of wind energy. In order to verify the point, the wind energy captured by the wind power generation set under the three conditions of the control method, the rotor speed limit control method and the non-additional control method is compared, and the simulation result is shown in fig. 7.
TABLE 2 comparative results
Figure DEST_PATH_IMAGE157
Based on FIG. 7, by calculation
Figure DEST_PATH_IMAGE158
The wind energy captured by the wind turbine is shown in table 2. The results show that the proposed control method reduces the captured wind energy from 109.73 to 109.59 only, while the rotor speed limit control method reduces the captured wind energy to 106.32. The comparison result shows that the control method has stronger wind energy smoothing capacity and smaller wind energy loss.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims (7)

1. The virtual filtering control method for the output power of the wind turbine generator based on rotor kinetic energy adjustment is characterized by comprising the following steps of:
step 1: constructing a wind energy conversion system mathematical model based on the characteristics of the wind turbine generator, and selecting a stable working point of the wind turbine generator to linearize the wind energy conversion system by adopting a small signal analysis method so as to construct a wind energy conversion system linearization model;
step 2: based on the wind energy conversion system linearization model constructed in the step 1, adding a virtual filter transfer function behind a power controller of the linearization model, and solving to obtain a virtual filter transfer function in a way that the whole wind energy conversion system transfer function containing the virtual filter transfer function is equal to the whole transfer function of a physical energy storage system added at the output end of the wind energy conversion system;
and step 3: and (3) discretizing the transfer function of the virtual filter obtained in the step (2) by adopting a bilateral linear transformation method to determine a virtual filtering control equation suitable for an actual digital controller, and then smoothing the output power fluctuation of the wind turbine generator set by executing the digital controller containing the virtual filtering control equation.
2. The virtual filtering control method for the output power of the wind turbine generator based on the rotor kinetic energy adjustment as claimed in claim 1, wherein: the wind energy conversion system mathematical model in the step 1 comprises four parts, namely a wind turbine, a mechanical transmission system, a generator and a power controller, wherein the wind turbine acquires mechanical power from wind, then drives the generator through the mechanical transmission system, and then generates electric energy according to an active power reference value output by the power controller; for the whole wind energy conversion system mathematical model, the input is wind speed, and the output is wind turbine generator output power.
3. The virtual filtering control method for the output power of the wind turbine generator based on the rotor kinetic energy adjustment as claimed in claim 1, wherein: the stable working point of the wind turbine generator in the step 1 is the wind speed, the rotor speed and the output power of the wind turbine generator in stable operation
Figure 672683DEST_PATH_IMAGE001
、
Figure 86347DEST_PATH_IMAGE002
And
Figure 235569DEST_PATH_IMAGE003
and (4) showing.
4. The virtual filtering control method for the output power of the wind turbine generator based on the rotor kinetic energy adjustment as claimed in claim 1, wherein: the wind energy conversion system linearization model in the step 1 comprises a rotor speed response unit and a wind energy response unit, the input is the deviation of wind speed relative to a nominal value, the output is the active power change injected into a power grid by a wind turbine generator, and the power fluctuation caused by the wind speed fluctuation can be accurately reflected.
5. The virtual filtering control method for the output power of the wind turbine generator based on the rotor kinetic energy adjustment as claimed in claim 1, wherein: the physical energy storage system in the step 2 is controlled as a first-order low-pass filter to filter out high-frequency fluctuation in the output power of the wind turbine generator, and can be represented as
Figure 443696DEST_PATH_IMAGE004
；
Wherein the content of the first and second substances,
Figure 678368DEST_PATH_IMAGE005
is the transfer function of a first-order low-pass filter,
Figure 898653DEST_PATH_IMAGE006
is a time constant of a first-order low-pass filter,
Figure 902381DEST_PATH_IMAGE007
is a complex variable.
6. The virtual filtering control method for the output power of the wind turbine generator based on the rotor kinetic energy adjustment as claimed in claim 1, wherein: the virtual filter transfer function of the step 2 can achieve the same filtering effect as that of the actual physical energy storage system, and can be expressed as
Figure 546989DEST_PATH_IMAGE009
；
Wherein the content of the first and second substances,
Figure 268957DEST_PATH_IMAGE010
is a complex variable and is characterized in that,
Figure 290003DEST_PATH_IMAGE011
expressed as a virtual filter transfer function,
Figure 148237DEST_PATH_IMAGE012
、
Figure 963747DEST_PATH_IMAGE013
、
Figure 907432DEST_PATH_IMAGE014
and
Figure 732168DEST_PATH_IMAGE015
expressed as wind turbine linearityThe rotor speed response unit transfer function of the model is modeled,
Figure 444910DEST_PATH_IMAGE016
the transfer function of the wind energy response unit expressed as a linearized model of the wind turbine,
Figure 431320DEST_PATH_IMAGE017
expressed as a first-order low-pass filtered transfer function,
Figure 127881DEST_PATH_IMAGE018
in order to be a mechanical torque, the torque,
Figure 225150DEST_PATH_IMAGE019
is the rotor speed of the wind turbine,
Figure 49187DEST_PATH_IMAGE020
is an electromagnetic torque,
Figure 472078DEST_PATH_IMAGE021
For outputting power,
Figure 124777DEST_PATH_IMAGE022
Is an unbalanced torque between the mechanical torque and the electromagnetic torque.
7. The wind turbine generator output power virtual filtering control method based on rotor kinetic energy regulation according to claim 1, characterized in that: the virtual filtering control equation of step 3 is input as active power information output by the wind turbine generator before virtual filtering control, and output as an active power reference value output by the wind turbine generator after virtual filtering control, and the active power reference value is directly applied to an actual digital controller to execute virtual filtering control, and is represented by the following equation:
Figure 291316DEST_PATH_IMAGE023
；
wherein the content of the first and second substances,
Figure 244228DEST_PATH_IMAGE024
、
Figure 572441DEST_PATH_IMAGE025
for the discretized virtual filter transfer function parameters,
Figure 712436DEST_PATH_IMAGE026
for the highest order of the discretized virtual filter transfer function,
Figure 417087DEST_PATH_IMAGE027
、
Figure 958926DEST_PATH_IMAGE028
respectively the active power output by the wind turbine before and after the virtual filtering control,
Figure 723620DEST_PATH_IMAGE029
in the form of a discrete sequence number,
Figure DEST_PATH_IMAGE030
is the maximum value of the discrete sequence numbers.
CN202210799809.XA 2022-07-08 2022-07-08 Wind turbine generator output power virtual filtering control method based on rotor kinetic energy adjustment Pending CN114884143A (en)

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