CN115102241A - Control method and device for network-building type double-fed fan and computer readable storage medium - Google Patents

Control method and device for network-building type double-fed fan and computer readable storage medium Download PDF

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CN115102241A
CN115102241A CN202210880740.3A CN202210880740A CN115102241A CN 115102241 A CN115102241 A CN 115102241A CN 202210880740 A CN202210880740 A CN 202210880740A CN 115102241 A CN115102241 A CN 115102241A
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fan
output
voltage
virtual
current
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CN115102241B (en
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孙华东
李文锋
郭剑波
郭强
张健
赵旭峰
魏巍
艾东平
郑超
孙航宇
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China Electric Power Research Institute Co Ltd CEPRI
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/381—Dispersed generators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/12—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load
    • H02J3/16—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load by adjustment of reactive power
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
    • H02J3/241—The oscillation concerning frequency
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • 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
    • H02J3/38—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
    • H02J3/50—Controlling the sharing of the out-of-phase component
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • H02P9/007—Control circuits for doubly fed 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
    • 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
    • H02P2103/00—Controlling arrangements characterised by the type of generator
    • H02P2103/20—Controlling arrangements characterised by the type of generator of the synchronous type
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/76—Power conversion electric or electronic aspects

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

Abstract

A control method, a device and a computer readable storage medium of a network-building type double-fed fan relate to the field of new energy grid-connected control, and the method comprises the following steps: obtaining virtual mechanical power based on the power grid frequency, the reference frequency and the active power instruction value; obtaining a virtual phase angle of an inner potential output by the fan based on the virtual mechanical power; obtaining the output inner potential amplitude of the fan based on the output end voltage of the fan, the end current and the feedforward control quantity; obtaining stator output reference current based on the voltage at the output end of the fan, the amplitude of the internal potential and the virtual phase angle of the internal potential; based on the stator output reference current and the stator and rotor side actual measurement current, obtaining an excitation voltage reference wave; and carrying out park inverse transformation on the excitation voltage reference wave to obtain a PWM (pulse-width modulation) signal of the converter. By the method and the device provided by the embodiment of the invention, the problem that the existing double-fed fan cannot provide autonomous support of voltage, frequency and inertia is solved, so that the double-fed fan can provide instantaneous inertia response and has the voltage-regulating and frequency-modulating capabilities.

Description

Control method and device for network-building type double-fed fan and computer readable storage medium
Technical Field
The invention relates to the field of new energy grid-connected control, in particular to a control method and device for a network-building type double-fed fan and a computer readable storage medium.
Background
The proposal of the target of 'carbon peak reaching and carbon neutralization' enables the new energy power generation field to be developed. In 2021, 4757 ten thousand kilowatts of newly-increased nationwide wind power grid-connected installation machines; the national wind power generation amount is 6526 hundred million kilowatt-hours. By the end of 2021 years, the wind power of all countries is cumulatively installed with 3.28 hundred million kilowatts. The wind power installation in China is estimated to reach 8 hundred million kilowatts in 2030 years and reach 30 hundred million kilowatts in 2060 years.
With the increase of the wind power grid-connected capacity, the characteristics of uncertainty, randomness and the like bring new challenges to the safe and stable operation of the power system. The doubly-fed wind generator is one of mainstream models in the global wind power field, a stator side of the doubly-fed wind generator is directly connected to a grid, a rotor side of the doubly-fed wind generator is connected to the grid through a back-to-back converter, and electric power can be exchanged with a power grid through a stator channel and a rotor channel. At present, a double-fed fan mainly adopts maximum power tracking control, and the rotating speed and the frequency of the fan are decoupled; the frequency of a system is observed through a phase-locked loop (PLL), a response mode is passive, the external characteristics of a current source are presented, inertia and damping response cannot be provided for a power grid, and the power grid voltage supporting capability is lacked.
Disclosure of Invention
In view of this, the invention provides a control method and device for a network-forming type doubly-fed wind turbine and a computer readable storage medium, and aims to solve the problem that the conventional doubly-fed wind turbine belongs to passive response and cannot provide autonomous support for voltage, frequency and inertia.
In a first aspect, an embodiment of the present invention provides a method for controlling a grid-type doubly-fed wind turbine, where the method includes: obtaining grid frequencyfReference frequencyf * And active power command valueP ref And based on said grid frequencyfReference frequencyf * And active power command valueP ref To obtain virtual mechanical powerP m (ii) a Based on the virtual mechanical powerP m To obtain the virtual phase angle of the output inner potential of the fanθ(ii) a Obtaining the output end voltage of the fanUCurrent at the output end of the fanIAnd feedforward control amount based on the output voltage of the fanUCurrent at the output end of the fanIAnd feedforward control quantity to obtain the output inner potential amplitude of the fanE m (ii) a Based on the fan output end voltageUThe output inner potential amplitude of the fanE m And the virtual phase angle of the internal potential output by the fanθObtaining the output reference current of the stator; obtaining an excitation voltage reference wave through current double-loop control based on the stator output reference current, the stator output actual measurement current and the rotor side actual measurement current; exciting the magnetic fieldAnd carrying out park inverse transformation on the voltage reference wave to obtain an excitation voltage reference wave under a three-phase static coordinate system as a PWM (pulse-width modulation) signal of the converter so as to realize control on a switching tube of the converter.
Further, the frequency is based on the power gridfReference frequencyf * And active power command valueP ref To obtain virtual mechanical powerP m The method comprises the following steps: the virtual mechanical power is calculated by adopting the following formulaP m ：
Figure 100002_DEST_PATH_IMAGE001
；
Wherein the content of the first and second substances,P ref is an active power command value, ΔP ref An additional power value is output for the speed regulator,K p for the function-frequency static characteristic coefficient of the virtual synchronizer,f * as a reference frequency, the frequency of the frequency,ffor the frequency of the power grid,f deadzone is a frequency dead zone range.
Further, the virtual mechanical power based on the virtual machine powerP m To obtain the virtual phase angle of the output inner potential of the fanθThe method comprises the following steps: calculating to obtain the virtual phase angle of the output internal potential of the fan by adopting the following formulaθ：
Figure 100002_DEST_PATH_IMAGE002
；
Wherein, the first and the second end of the pipe are connected with each other,ωthe internal potential virtual angular speed is output for the fan,Jin order to be a virtual moment of inertia,P m in order to be a virtual mechanical power,Pfor the actual output of active power by the stator of the doubly-fed wind turbine,ω 0 the angular speed is rated for the power grid system,D Equ is an equivalent virtual damping coefficient.
Further, the voltage of the output end of the fan is obtainedUCurrent at the output end of the fanIAnd feedforward control amount based on the output voltage of the fanUOutput end of the fanFlow ofIFeedforward control quantity to obtain the output inner potential amplitude of the fanE m The method comprises the following steps: obtaining the output end voltage of the fanUAnd end currentIAnd based on the output voltage of the fanUAnd end currentIObtaining the forced no-load electromotive force in linear relation with the excitation voltageE qe (ii) a Obtaining feedforward control quantity
Figure 100002_DEST_PATH_IMAGE003
And based on said feedforward control quantity
Figure 905163DEST_PATH_IMAGE003
And said forced no-load electromotive forceE qe To obtain the amplitude of the output internal potential of the fanE m 。
Further, the voltage of the output end of the fan is obtainedUAnd end currentIAnd based on the output voltage of the fanUAnd end currentIObtaining the forced no-load electromotive force in linear relation with the excitation voltageE qe The method comprises the following steps: the following formula is adopted to calculate and obtain the forced no-load electromotive force which is in a linear relation with the excitation voltageE qe ：
Figure 100002_DEST_PATH_IMAGE004
；
Wherein, the first and the second end of the pipe are connected with each other,T R is the time constant of the filter and is,Ufor the voltage of the output end of the fan,Iis the current of the output end of the fan,R C in order to adjust the difference resistance, the resistance,X C in order to adjust the difference reactance,Kin order to adjust the gain of the regulator,K ν a factor is selected for the proportional-integral,T 1 、T 2 is the time constant of the voltage regulator and,V * in order to excite the voltage regulator reference voltage,Vin order to excite the actual voltage of the voltage regulator,jis a virtual unit, and is a virtual unit,j=
Figure DEST_PATH_IMAGE006
，sis the laplacian operator.
Further, the acquisition of the feedforward control amount
Figure 461784DEST_PATH_IMAGE003
And based on said feedforward control quantity
Figure 38259DEST_PATH_IMAGE003
And said forced no-load electromotive forceE qe To obtain the amplitude of the output internal potential of the fanE m The method comprises the following steps: calculating to obtain the output internal potential amplitude of the fan by adopting the following formulaE m ：
Figure 100002_DEST_PATH_IMAGE007
；
Wherein the content of the first and second substances,E qe is a forced no-load electromotive force in a linear relationship with the excitation voltage,
Figure 100002_DEST_PATH_IMAGE008
in order to virtually excite the winding time constant,
Figure 100002_DEST_PATH_IMAGE009
in order to be a virtual transient potential,
Figure 100002_DEST_PATH_IMAGE010
is a feedforward control quantity.
Further, the feedforward control amount
Figure 100002_DEST_PATH_IMAGE011
The method comprises the following steps: obtaining real-time stator outputdShaft reference currenti d And calculating to obtain feedforward control quantity
Figure 498715DEST_PATH_IMAGE011
(ii) a Wherein the content of the first and second substances,x d is composed ofdThe shaft-synchronous reactance is a synchronous reactance,
Figure 100002_DEST_PATH_IMAGE012
is composed ofdThe axis transient reactance.
Further, based on fan output terminal voltageUThe output inner potential amplitude of the fanE m And the virtual phase angle of the internal potential output by the fanθObtaining a stator output reference current, comprising: respectively outputting the internal potential amplitude of the fanE m And the output end voltage of the fanUAccording to the virtual phase angle of the internal potential output by the fanθIs positioned atdqShaft to obtain the output inner potential amplitude of the fanE m IsdqShaft voltage component and fan output voltageUIs/are as followsdqAn axis voltage component; according to the output inner potential amplitude of the fanE m IsdqShaft voltage component and fan output voltageUIs/are as followsdqThe component of the shaft voltage being calculated to obtain the stator output by the following formuladShaft andqreference current of the shaft:
Figure 100002_DEST_PATH_IMAGE013
；
wherein the content of the first and second substances,
Figure 100002_DEST_PATH_IMAGE014
、
Figure 100002_DEST_PATH_IMAGE015
outputting the amplitude of the internal potential for the fanE m Is/are as followsd、qThe component of the shaft voltage is,U d 、U q for the output voltage of the fanUIs/are as followsd、qThe component of the shaft voltage is that which,R、Xin order to be a true impedance parameter,R ν 、X ν is a virtual impedance parameter.
Further, the obtaining of the excitation voltage reference wave based on the stator output reference current, the stator output actual measurement current, and the rotor side actual measurement current through the current double loop control includes: performing first PI control on the deviation value of the stator output reference current and the stator output actual measurement current to obtain a rotor side reference current; and carrying out second PI control on the deviation value of the rotor side reference current and the rotor side actual measurement current, and introducing a feedforward cross decoupling term to obtain an excitation voltage reference wave.
In a second aspect, an embodiment of the present invention further provides a control device for a grid-structured doubly-fed wind turbine, where the control device includes: virtual FM controller for obtaining grid frequencyfReference frequencyf * And active power command valueP ref And based on said grid frequencyfReference frequencyf * And active power command valueP ref To obtain virtual mechanical powerP m (ii) a A virtual inertia and damping controller to base the virtual mechanical powerP m To obtain the virtual phase angle of the output inner potential of the fanθ(ii) a A virtual excitation controller for acquiring the voltage at the output end of the fanUCurrent at the output end of the fanIAnd feedforward control amount based on the output voltage of the fanUCurrent at the output end of the fanIFeedforward control quantity to obtain the output inner potential amplitude of the fanE m (ii) a A virtual circuit computing unit for calculating a voltage based on the output end of the fanUThe output inner potential amplitude of the fanE m And the virtual phase angle of the internal potential output by the fanθObtaining the output reference current of the stator; the current loop control unit is used for obtaining an excitation voltage reference wave through current double-loop control based on the stator output reference current, the stator output actual measurement current and the rotor side actual measurement current; and the PWM modulation unit is used for carrying out park inverse transformation on the excitation voltage reference wave to obtain the excitation voltage reference wave under a three-phase static coordinate system as a PWM modulation signal of the converter so as to realize the control of a switch tube of the converter.
Further, the method is based on the grid frequencyfReference frequencyf * And an active power command valueP ref To obtain virtual mechanical powerP m The method comprises the following steps: virtual is calculated by the following formulaPseudo-mechanical powerP m ：
Figure DEST_PATH_IMAGE016
；
Wherein the content of the first and second substances,P ref to active power command value, ΔP ref An additional power value is output for the speed regulator,K p for the function-frequency static characteristic coefficient of the virtual synchronizer,f * for the purpose of reference to the frequency (f),ffor the frequency of the power grid,f deadzone is a frequency dead zone range.
Further, the virtual inertia and damping controller is further configured to: calculating to obtain the virtual phase angle of the output internal potential of the fan by adopting the following formulaθ：
Figure 890251DEST_PATH_IMAGE002
；
Wherein, the first and the second end of the pipe are connected with each other,ωthe virtual angular speed of the internal potential is output for the fan,Jin order to be a virtual moment of inertia,P m in order to be a virtual mechanical power,Pfor the actual output of active power of the stator of the doubly-fed wind turbine,ω 0 the angular velocity is rated for the grid system,D Equ is an equivalent virtual damping coefficient.
Further, the virtual excitation controller is further configured to: obtaining the output end voltage of the fanUAnd end currentIAnd based on the output voltage of the fanUAnd end currentIObtaining the forced no-load electromotive force in linear relation with the excitation voltageE qe (ii) a Obtaining feedforward control quantity
Figure 773367DEST_PATH_IMAGE003
And based on said feedforward control quantity
Figure 102717DEST_PATH_IMAGE003
And said forced no-load electromotive forceE qe To obtain the amplitude of the output internal potential of the fanE m 。
Further, the voltage of the output end of the fan is obtainedUAnd end currentIAnd based on the output voltage of the fanUAnd end currentIObtaining the forced no-load electromotive force in linear relation with the excitation voltageE qe The method comprises the following steps: the following formula is adopted to calculate and obtain the forced no-load electromotive force which is in linear relation with the excitation voltageE qe ：
Figure 849087DEST_PATH_IMAGE004
；
Wherein the content of the first and second substances,T R is the time constant of the filter and is,Ufor the voltage of the output end of the fan,Iis the current at the output end of the fan,R C in order to adjust the difference resistance, the resistance adjusting device is provided with a resistance adjusting device,X C in order to adjust the difference reactance,Kin order to adjust the gain of the regulator,K ν a factor is selected for the proportional-integral,T 1 、T 2 is the time constant of the voltage regulator and,V * in order to excite the voltage regulator reference voltage,Vin order to excite the actual voltage of the voltage regulator,jis a virtual unit, and is a virtual unit,j=
Figure 580283DEST_PATH_IMAGE006
，sis the laplacian operator.
Further, the feedforward control amount is obtained
Figure 619652DEST_PATH_IMAGE003
And based on said feedforward control quantity
Figure 170719DEST_PATH_IMAGE003
And said forced no-load electromotive forceE qe To obtain the amplitude of the output internal potential of the fanE m The method comprises the following steps: calculating to obtain the output internal potential amplitude of the fan by adopting the following formulaE m ：
Figure 704468DEST_PATH_IMAGE007
；
Wherein the content of the first and second substances,E qe is a forced no-load electromotive force in a linear relationship with the excitation voltage,
Figure 775324DEST_PATH_IMAGE008
in order to virtualize the time constant of the field winding,
Figure 1906DEST_PATH_IMAGE009
in order to be a virtual transient potential,
Figure DEST_PATH_IMAGE017
is a feedforward control quantity.
Further, the feedforward control amount
Figure 89204DEST_PATH_IMAGE011
The method comprises the following steps: obtaining real-time stator outputdShaft reference currenti d And calculating to obtain feedforward control quantity
Figure 161065DEST_PATH_IMAGE003
(ii) a Wherein the content of the first and second substances,x d is composed ofdThe shaft-synchronous reactance is a synchronous reactance,
Figure 352006DEST_PATH_IMAGE012
is composed ofdThe axis transient reactance.
Further, the virtual circuit calculation unit is further configured to: respectively outputting the internal potential amplitude of the fanE m And the output end voltage of the fanUAccording to the virtual phase angle of the internal potential output by the fanθIs positioned atdqShaft to obtain the output inner potential amplitude of the fanE m IsdqShaft voltage component and fan output voltageUIsdqAn axis voltage component; according to the output inner potential amplitude of the fanE m Is/are as followsdqShaft voltage component and fan output voltageUIs/are as followsdqThe shaft voltage component is calculated by the following formula to obtain the stator outputdShaft andqreference current of the shaft:
Figure 483910DEST_PATH_IMAGE013
；
wherein the content of the first and second substances,
Figure 9569DEST_PATH_IMAGE014
、
Figure 399968DEST_PATH_IMAGE015
outputting the amplitude of the internal potential for the fanE m Is/are as followsd、qThe component of the shaft voltage is,U d 、U q for the output voltage of the fanUIs/are as followsd、qThe component of the shaft voltage is,R、Xin order to be a true impedance parameter,R ν 、X ν is a virtual impedance parameter.
Further, the current loop control unit is further configured to: carrying out first PI control on the deviation value of the stator output reference current and the stator output measured current to obtain a rotor side reference current; and performing second PI control on the deviation value of the rotor side reference current and the rotor side actual measurement current, and introducing a feedforward cross decoupling term to obtain an excitation voltage reference wave.
In a third aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the methods provided in the foregoing embodiments.
The embodiment of the invention provides a control method and device of a network-building type double-fed fan and a computer readable storage medium, which are based on power grid frequencyfReference frequencyf * And an active power command valueP ref To obtain virtual mechanical powerP m Then based on virtual mechanical powerP m Obtaining the virtual phase angle of the output inner potential of the fanθAnd based on the output voltage of the fanUThe current of the fan output endIAnd feedforward control quantity to obtain the output inner potential amplitude of the fanE m Based on the output voltage of the fanUOutput inner potential amplitude of fanE m Virtual phase angle of internal potential output by wind-driven generatorθThe method comprises the steps of obtaining a stator output reference current, obtaining an excitation voltage reference wave based on the stator output reference current, the stator output actual measurement current and the rotor side actual measurement current, performing current double-loop control, performing park inverse transformation on the excitation voltage reference wave, and obtaining the excitation voltage reference wave under a three-phase static coordinate system as a PWM (pulse-width modulation) modulation signal of a converter so as to realize control over a switch tube of the converter.
Drawings
Fig. 1 shows an exemplary flowchart of a control method of a grid-type doubly-fed wind turbine according to an embodiment of the present invention;
FIG. 2 illustrates an exemplary block diagram of the internal control of a meshed converter according to an embodiment of the present invention;
FIG. 3 illustrates an exemplary block diagram of a current loop control according to an embodiment of the invention;
FIG. 4 illustrates an exemplary block diagram of a rotor-side control of a lattice-type doubly-fed wind turbine in accordance with an embodiment of the present invention;
fig. 5 shows a schematic structural diagram of a control device of a grid type doubly-fed wind turbine according to an embodiment of the present invention.
Detailed Description
The exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, however, the present invention may be embodied in many different forms and is not limited to the embodiments described herein, which are provided for complete and complete disclosure of the present invention and to fully convey the scope of the present invention to those skilled in the art. The terms used in the exemplary embodiments shown in the drawings are not intended to limit the present invention. In the drawings, the same units/elements are denoted by the same reference numerals.
Unless otherwise defined, terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Further, it will be understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense.
Fig. 1 shows an exemplary flowchart of a control method of a grid-type doubly-fed wind turbine according to an embodiment of the present invention.
As shown in fig. 1, the method includes:
step S101: obtaining grid frequencyfReference frequencyf * And active power command valueP ref And based on grid frequencyfReference frequencyf * And active power command valueP ref To obtain virtual mechanical powerP m 。
Reference frequencyf * And active power command valueP ref The method is preset according to specific conditions.
Further, based on grid frequencyfReference frequencyf * And active power command valueP ref To obtain virtual mechanical powerP m The method comprises the following steps:
the virtual mechanical power is calculated by adopting the following formulaP m ：
Figure DEST_PATH_IMAGE018
；
Wherein the content of the first and second substances,P ref to active power command value, ΔP ref An additional power value is output for the speed regulator,K p for the function-frequency static characteristic coefficient of the virtual synchronizer,f * for the purpose of reference to the frequency (f),ffor the frequency of the power grid,f deadzone is a frequency dead zone range.
FIG. 2 shows an example of internal control of a network-type converter according to an embodiment of the inventionExemplary block diagrams. As shown in the virtual frequency modulation controller portion in fig. 2, in order to realize that the fan actively responds to the frequency change of the system, the power frequency static characteristic of the speed regulating system of the synchronous generator is simulated, and a virtual frequency modulation controller is constructed; setting frequency variation response dead zone simultaneouslyf deadzone If the measured frequency of the power gridfAnd a reference frequencyf * The absolute value of the deviation exceeds the set dead zonef deadzone Then output according to the actual deviation, i.e.P m =P ref +K p (f * −f) Otherwise, set to 0, i.e.P m =P ref 。
Step S102: based on virtual mechanical powerP m To obtain the virtual phase angle of the output internal potential of the fanθ。
Further, step S102 includes:
calculating to obtain the virtual phase angle of the output internal potential of the fan by adopting the following formulaθ：
Figure 242154DEST_PATH_IMAGE002
；
Wherein the content of the first and second substances,ωthe internal potential virtual angular speed is output for the fan,Jin order to be a virtual moment of inertia,P m in order to be a virtual mechanical power,Pfor the actual output of active power of the stator of the doubly-fed wind turbine,ω 0 the angular speed is rated for the power grid system,D Equ is an equivalent virtual damping coefficient.
Further, the equivalent virtual damping coefficient is calculated by adopting the following formulaD Equ ：
Figure DEST_PATH_IMAGE019
；
Wherein the former itemDThe latter is composed of a first-stage stopping link and a first-stage phase shifting link, and can be used in the process of designing a virtual damping coefficientDThe virtual damping control capability is further enhanced on the basis,T w in order to keep off the time constant of the straight-line link,T 3 、T 4 is the time constant of the phase-shifting element,K D is the amplification factor of the deviation of the rotating speed,sis the laplacian operator.
Fig. 2 shows an exemplary block diagram of the internal control of a network-type converter according to an embodiment of the present invention. As shown in a virtual inertia and damping controller part in fig. 2, a second-order rotor motion equation of the pseudo-synchronous generator adjusts output power by adjusting virtual mechanical power, introduces inertia coefficients to increase inertia characteristics in a dynamic process of power and frequency, and introduces equivalent virtual damping coefficients to enhance the capability of suppressing system power oscillation. When the actual output active power is unbalanced with the active reference value, the adjustment is realized through inertia and damping links, and finally the virtual phase angle of the output inner potential of the fan stator is obtained.
Step S103: obtaining the output end voltage of the fanUCurrent at the output end of the fanIAnd feedforward control amount based on output voltage of fanUCurrent at the output end of the fanIAnd feedforward control quantity to obtain the output inner potential amplitude of the fanE m 。
Further, step S103 includes:
obtaining the output end voltage of the fanUAnd end currentIAnd based on the output voltage of the fanUAnd end currentIObtaining the forced no-load electromotive force in linear relation with the excitation voltageE qe ；
Obtaining feedforward control quantity and based on the feedforward control quantity and forced no-load electromotive forceE qe To obtain the amplitude of the output internal potential of the fanE m 。
Further, acquiring the voltage of the output end of the fanUAnd end currentIAnd based on the output voltage of the fanUAnd end currentIObtaining the forced no-load electromotive force in linear relation with the excitation voltageE qe The method comprises the following steps:
the following formula is adopted to calculate and obtain the forced no-load electromotive force which is in linear relation with the excitation voltageE qe ：
Figure 607276DEST_PATH_IMAGE004
；
Wherein, the first and the second end of the pipe are connected with each other,T R is the time constant of the filter and is,Uis the voltage of the output end of the fan,Iis the current at the output end of the fan,R C in order to adjust the difference resistance, the resistance,X C in order to adjust the difference reactance,Kin order to adjust the gain of the regulator,K ν a factor is selected for the proportional-integral,T 1 、T 2 is the time constant of the voltage regulator and,V * in order to excite the voltage regulator reference voltage,Vin order to excite the actual voltage of the voltage regulator,jthe number of the units is a virtual unit,j=
Figure DEST_PATH_IMAGE020
，sis the laplacian operator.
X C The virtual regulating control system is provided with proper difference-adjusting characteristics for adjusting difference reactance. The introduction of the difference adjustment link can prevent the oscillation caused when the power generation equipment in parallel operation adjusts the voltage of one bus simultaneously.
Further, a feedforward control quantity is obtained and based on the feedforward control quantity and the forced no-load electromotive forceE qe To obtain the amplitude of the output internal potential of the fanE m The method comprises the following steps:
calculating to obtain the output inner potential amplitude of the fan by adopting the following formulaE m ：
Figure 200325DEST_PATH_IMAGE007
；
Wherein the content of the first and second substances,E qe is a forced no-load electromotive force in a linear relationship with the excitation voltage,
Figure DEST_PATH_IMAGE021
in order to virtually excite the winding time constant,
Figure 427038DEST_PATH_IMAGE009
in order to be a virtual transient potential,
Figure 825527DEST_PATH_IMAGE003
is a feedforward control quantity.
Further, feedforward control amount
Figure 564813DEST_PATH_IMAGE003
The method comprises the following steps:
obtaining real-time stator outputdShaft reference currenti d And calculating to obtain feedforward control quantity
Figure 65064DEST_PATH_IMAGE003
；
Wherein the content of the first and second substances,x d is composed ofdThe shaft-synchronous reactance is a synchronous reactance,
Figure 298731DEST_PATH_IMAGE012
is composed ofdThe axis transient reactance.
Fig. 2 shows an exemplary block diagram of the internal control of a network-type converter according to an embodiment of the present invention. As shown in the virtual excitation controller in fig. 2, the analog synchronous generator adjusts the output voltage and reactive power through a difference adjustment link and a voltage control link in the excitation system. The excitation system collects the voltage and the current of the output end of the fan, calculates the input signal of the virtual excitation control link at the moment, and performs deviation control after filtering the signal; and a series PID control link is introduced, so that the consistency of the control structure of the excitation controller of the existing synchronous machine is kept, and the comparison and the correction with the characteristics of the synchronous machine are facilitated. Meanwhile, in order to more accurately simulate the transient process of the excitation winding of the generator, a first-order transient voltage equation of the synchronous generator is introduced, and a feedforward control quantity is added
Figure 568038DEST_PATH_IMAGE010
To reflect the influence of the excitation controller branch on the external characteristics of the synchronous machine.
Step S104: based on fan output terminal voltageUOutput inner potential amplitude of fanValue ofE m Virtual phase angle of internal potential output by wind-driven generatorθAnd obtaining the output reference current of the stator.
Further, step S104 includes:
respectively output the internal potential amplitude of the fanE m Voltage of output end of wind turbineUAccording to the virtual phase angle of the internal potential output by the fanθIs positioned atdqShaft to obtain the output inner potential amplitude of the fanE m IsdqShaft voltage component and fan output voltageUIs/are as followsdqAn axis voltage component;
according to the amplitude of the internal potential output by the fanE m Is/are as followsdqShaft voltage component and fan output voltageUIs/are as followsdqThe component of the shaft voltage being calculated to obtain the stator output by the following formuladShaft andqreference current of the shaft:
Figure DEST_PATH_IMAGE022
；
wherein the content of the first and second substances,
Figure 527160DEST_PATH_IMAGE014
、
Figure 249128DEST_PATH_IMAGE015
outputting the amplitude of the internal potential for the fanE m Isd、qThe component of the shaft voltage is,U d 、U q for the output voltage of the fanUIs/are as followsd、qAxial voltage component of (a)R+R ν )+j(X+X ν ) Is the total impedance of the branch circuit,R、Xin order to be a true impedance parameter,R ν 、X ν is a virtual impedance parameter.
jIs a virtual unit, and is a virtual unit,j=
Figure 20906DEST_PATH_IMAGE020
。R ν 、X ν can be used for clipping control. Electric currentThe amplitude limiting method adopts an equal proportion virtual impedance method,R ν 、X ν can be calculated by the following method:
Figure DEST_PATH_IMAGE023
；
wherein the content of the first and second substances,I dq the actual total current value, namely the current at the output end of the fan,I dqlim and outputting a total current amplitude limiting value for the stator, and determining according to a low-voltage current limiting curve of the system alternating voltage.
Fig. 2 shows an exemplary block diagram of the internal control of a network-type converter according to an embodiment of the present invention. As shown in the virtual circuit calculating section in fig. 2, the virtual internal potentials are appliedE m ∠θPositioned to rotate at a virtual speeddqOn the shaft, order
Figure DEST_PATH_IMAGE024
、
Figure DEST_PATH_IMAGE025
And the voltage of the output end of the fan is adjustedUBy virtual phase angleθIs positioned atdqAxis of obtaining voltage componentU d 、U q . Fan terminal voltageUAnd internal potential
Figure DEST_PATH_IMAGE026
The reference current output by the stator can be calculated by dividing the voltage difference value by the total branch impedance.
Step S105: and obtaining an excitation voltage reference wave through current double-loop control based on the stator output reference current, the stator output actual measurement current and the rotor side actual measurement current.
Further, step S105 includes:
carrying out first PI control on the deviation value of the stator output reference current and the stator output actual measurement current to obtain a rotor side reference current;
and carrying out second PI control on the deviation value of the rotor side reference current and the rotor side actual measurement current, and introducing a feedforward cross decoupling term to obtain an excitation voltage reference wave.
Fig. 3 shows an exemplary block diagram of a current loop control according to an embodiment of the invention. As shown in fig. 3, the current loop control includes two parts: firstly, PI control is carried out on the deviation value of the stator output reference current and the actually measured current to obtain a rotor side current reference value, then PI control is carried out on the deviation value of the rotor side reference current and the actually measured current, and a feedforward cross decoupling term is introduced to obtain an excitation voltage reference wave.
Step S106: and performing park inverse transformation on the excitation voltage reference wave to obtain the excitation voltage reference wave under a three-phase static coordinate system as a PWM (pulse-width modulation) signal of the converter so as to realize control on a switching tube of the converter.
Will be provided withdqReference wave basis of excitation voltage under shaftθ−θ r And performing park inverse transformation to obtain an excitation voltage reference wave under a three-phase static coordinate system, and using the signal as a PWM (pulse-width modulation) signal of the converter to realize the control of a switching tube of the converter.
It needs to be understood that the doubly-fed wind turbine grid-side converter continues to adopt a traditional vector control strategy to maintain the voltage stability of the direct-current bus. The control method of the doubly-fed wind turbine in the steps S101-106 is specifically applied to the rotor side of the grid type doubly-fed wind turbine. Fig. 4 shows an exemplary block diagram of a rotor-side control of a grid-type doubly-fed wind turbine according to an embodiment of the present invention. As shown in fig. 4, the rotor-side converter adopts a network-forming control strategy based on a three-order practical model of the synchronous generator to set the virtual internal potential amplitude and the phase angle of the doubly-fed wind turbine, and controls the output active power and the reactive power of the doubly-fed wind turbine. The rotor side converter control mainly comprises a virtual frequency modulation controller, a virtual inertia and damping controller, a virtual excitation controller, a virtual circuit calculation, a current loop control, a PWM generator link and the like.
The above embodiment, based on grid frequencyfReference frequencyf * And an active power command valueP ref To obtain virtual mechanical powerP m Then based on virtual mechanical powerP m Obtain the output internal potential of the fanVirtual phase angleθAnd based on the output voltage of the fanUCurrent at the output end of the fanIAnd feedforward control quantity to obtain the output inner potential amplitude of the fanE m Based on the output voltage of the fanUOutput inner potential amplitude of fanE m Virtual phase angle of internal potential output by wind-driven generatorθThe method comprises the steps of obtaining a stator output reference current, obtaining an excitation voltage reference wave based on the stator output reference current, the stator output actual measurement current and the rotor side actual measurement current, performing current double-loop control, performing park inverse transformation on the excitation voltage reference wave, and obtaining the excitation voltage reference wave under a three-phase static coordinate system as a PWM (pulse-width modulation) modulation signal of a converter so as to realize control over a switch tube of the converter.
Fig. 5 shows a schematic structural diagram of a control device of a grid type doubly-fed wind turbine according to an embodiment of the present invention.
As shown in fig. 5, the apparatus includes:
a virtual FM controller 501 for obtaining the grid frequencyfReference frequencyf * And active power command valueP ref And based on grid frequencyfReference frequencyf * And active power command valueP ref To obtain virtual mechanical powerP m 。
Reference frequencyf * And active power command valueP ref The method is preset according to specific conditions.
Further, based on grid frequencyfReference frequencyf * And active power command valueP ref To obtain virtual mechanical powerP m The method comprises the following steps:
calculated by the following formulaVirtual mechanical powerP m ：
Figure 597250DEST_PATH_IMAGE016
；
Wherein the content of the first and second substances,P ref is an active power command value, ΔP ref An additional power value is output for the speed regulator,K p for the function-frequency static characteristic coefficient of the virtual synchronizer,f * for the purpose of reference to the frequency (f),fis the frequency of the power grid and is,f deadzone is a frequency dead zone range.
Fig. 2 shows an exemplary block diagram of the internal control of a network-type converter according to an embodiment of the present invention. As shown in the virtual frequency modulation controller part in fig. 2, in order to realize that the fan actively responds to the frequency change of the system, the power frequency static characteristic of the speed regulating system of the synchronous generator is simulated, and a virtual frequency modulation controller is constructed; setting frequency variation response dead zone simultaneouslyf deadzone If the measured frequency of the power gridfAnd a reference frequencyf * The absolute value of the deviation exceeds the set dead zonef deadzone Then output according to the actual deviation, i.e.P m =P ref +K p (f * −f) Otherwise, it is set to 0, i.e.P m =P ref 。
Virtual inertia and damping controller 502 for virtual machine power basedP m To obtain the virtual phase angle of the output inner potential of the fanθ。
Further, virtual inertia and damping controller 502 is also configured to:
calculating to obtain a virtual phase angle of the output internal potential of the fan by adopting the following formulaθ：
Figure 678339DEST_PATH_IMAGE002
；
Wherein the content of the first and second substances,ωthe internal potential virtual angular speed is output for the fan,Jin order to be a virtual moment of inertia,P m in order to be a virtual mechanical power,Pfor the actual output of active power of the stator of the doubly-fed wind turbine,ω 0 the angular velocity is rated for the grid system,D Equ is an equivalent virtual damping coefficient.
Further, the equivalent virtual damping coefficient is calculated by adopting the following formulaD Equ ：
Figure 128082DEST_PATH_IMAGE019
；
Wherein the former itemDThe latter is composed of a first-stage stopping link and a first-stage phase shifting link, and can be used in the process of designing a virtual damping coefficientDThe virtual damping control capability is further enhanced on the basis,T w in order to keep off the time constant of the straight-line link,T 3 、T 4 is the time constant of the phase-shifting element,K D is the amplification factor of the deviation of the rotating speed,sis the laplacian operator.
Fig. 2 shows an exemplary block diagram of the internal control of a network-type converter according to an embodiment of the present invention. As shown in a virtual inertia and damping controller part in fig. 2, a second-order rotor motion equation of the pseudo-synchronous generator adjusts output power by adjusting virtual mechanical power, introduces inertia coefficients to increase inertia characteristics in a dynamic process of power and frequency, and introduces equivalent virtual damping coefficients to enhance the capability of suppressing system power oscillation. When the actual output active power is not balanced with the active reference value, the adjustment is realized through inertia and a damping link, and finally the virtual phase angle of the output inner potential of the fan stator is obtained.
A virtual excitation controller 503 for obtaining the voltage at the output end of the fanUCurrent at the output end of the fanIAnd feedforward control amount based on output voltage of fanUCurrent at the output end of the fanIAnd feedforward control quantity to obtain the output inner potential amplitude of the fanE m 。
Further, the virtual excitation controller 503 is further configured to:
obtaining the output end voltage of the fanUAnd end currentIAnd based on the output voltage of the fanUAnd end currentIObtaining the forced no-load electromotive force in linear relation with the excitation voltageE qe ；
Obtaining feedforward control quantity and based on the feedforward control quantity and forced no-load electromotive forceE qe To obtain the output internal potential amplitude of the fanE m 。
Further, acquiring the voltage of the output end of the fanUAnd end currentIAnd based on the output voltage of the fanUAnd end currentIObtaining the forced no-load electromotive force in linear relation with the excitation voltageE qe The method comprises the following steps:
the following formula is adopted to calculate and obtain the forced no-load electromotive force which is in a linear relation with the excitation voltageE qe ：
Figure 952818DEST_PATH_IMAGE004
；
Wherein the content of the first and second substances,T R is the time constant of the filter and is,Ufor the voltage of the output end of the fan,Iis the current at the output end of the fan,R C in order to adjust the difference resistance, the resistance,X C in order to adjust the difference reactance,Kin order to adjust the gain of the regulator,K ν a factor is selected for the proportional-integral,T 1 、T 2 is the time constant of the voltage regulator and,V * in order to excite the voltage regulator reference voltage,Vin order to excite the actual voltage of the voltage regulator,jis a virtual unit, and is a virtual unit,j=
Figure 931138DEST_PATH_IMAGE006
，sis the laplacian operator.
X C The virtual regulating control system is provided with proper difference-adjusting characteristics for adjusting difference reactance. The introduction of the difference adjustment link can prevent the oscillation caused when the power generation equipment in parallel operation adjusts the voltage of one bus simultaneously.
Further, a feedforward control amount is obtained
Figure 668281DEST_PATH_IMAGE003
And based on feed-forward control quantities
Figure 364842DEST_PATH_IMAGE003
And forced no-load electromotive forceE qe To obtain the amplitude of the output internal potential of the fanE m The method comprises the following steps:
calculating to obtain the output inner potential amplitude of the fan by adopting the following formulaE m ：
Figure 976958DEST_PATH_IMAGE007
；
Wherein the content of the first and second substances,E qe is a forced no-load electromotive force in a linear relationship with the excitation voltage,
Figure DEST_PATH_IMAGE027
in order to virtually excite the winding time constant,
Figure 153992DEST_PATH_IMAGE009
in order to be a virtual transient potential,
Figure DEST_PATH_IMAGE028
is a feedforward control quantity.
Further, feedforward control amount
Figure 373621DEST_PATH_IMAGE003
The method comprises the following steps:
obtaining real-time stator outputdShaft reference currenti d And calculating to obtain feedforward control quantity
Figure 809675DEST_PATH_IMAGE010
；
Wherein the content of the first and second substances,x d is composed ofdThe shaft-synchronous reactance is a synchronous reactance,
Figure 976214DEST_PATH_IMAGE012
is composed ofdThe axis transient reactance.
Fig. 2 shows an exemplary block diagram of the internal control of a network-type converter according to an embodiment of the present invention. As shown in the virtual excitation controller in fig. 2, the analog synchronous generator adjusts the output voltage and reactive power through a difference adjustment link and a voltage control link in the excitation system. The excitation system collects the output end voltage and the end current of the fan, calculates the input signal of the virtual excitation control link at the moment, and performs deviation control after filtering the signal; and a series PID control link is introduced, so that the consistency of the control structure of the excitation controller of the existing synchronous machine is kept, and the comparison and correction with the characteristics of the synchronous machine are facilitated. Meanwhile, in order to more accurately simulate the transient process of the excitation winding of the generator, a first-order transient voltage equation of the synchronous generator is introduced, and a feedforward control quantity is added
Figure 414280DEST_PATH_IMAGE003
To reflect the influence of the excitation controller branch on the external characteristics of the synchronous machine.
A virtual circuit computing unit 504 for computing a voltage based on the output of the fanUOutput inner potential amplitude of fanE m Virtual phase angle of internal potential output by wind-mixing fanθAnd obtaining the output reference current of the stator.
Further, the virtual circuit calculating unit 504 is further configured to:
respectively output the internal potential amplitude of the fanE m Voltage of output end of wind turbineUAccording to the virtual phase angle of the internal potential output by the fanθIs positioned atdqShaft to obtain the output inner potential amplitude of the fanE m Is/are as followsdqShaft voltage component and fan output voltageUIs/are as followsdqAn axis voltage component;
according to the amplitude of the internal potential output by the fanE m Is/are as followsdqShaft voltage component and fan output voltageUIs/are as followsdqThe component of the shaft voltage being calculated to obtain the stator output by the following formuladShaft andqreference current of shaft:
Figure 8072DEST_PATH_IMAGE022
；
wherein the content of the first and second substances,
Figure 679225DEST_PATH_IMAGE014
、
Figure 898723DEST_PATH_IMAGE015
outputting the amplitude of the internal potential for the fanE m Is/are as followsd、qThe component of the shaft voltage is,U d 、U q for the output voltage of the fanUIs/are as followsd、qAxial voltage component of (a)R+R ν )+j(X+X ν ) As a result of the total impedance of the branch,R、Xin order to be a true impedance parameter,R ν 、X ν is a virtual impedance parameter.
jIs a virtual unit, and is a virtual unit,j=
Figure 971721DEST_PATH_IMAGE006
。R ν 、X ν can be used for clipping control. The current amplitude limiting method adopts an equal proportion virtual impedance method,R ν 、X ν can be calculated by the following method:
Figure DEST_PATH_IMAGE029
；
wherein the content of the first and second substances,I dq the actual total current value, namely the current at the output end of the fan,I dqlim and outputting a total current amplitude limiting value for the stator, and determining according to a low-voltage current limiting curve of the system alternating voltage.
Fig. 2 shows an exemplary block diagram of the internal control of a network-type converter according to an embodiment of the present invention. As shown in the virtual circuit calculating section in fig. 2, the virtual internal potentials are appliedE m ∠θPositioned to rotate at a virtual speeddqOn the shaft, order
Figure DEST_PATH_IMAGE030
、
Figure DEST_PATH_IMAGE031
And the voltage of the output end of the fan is adjustedUBy virtual phase angleθIs positioned atdqAxis of obtaining voltage componentU d 、U q . Fan terminal voltageUAnd internal potential
Figure DEST_PATH_IMAGE032
The reference current output by the stator can be calculated by dividing the voltage difference value by the total branch impedance.
And the current loop control unit 505 is configured to obtain an excitation voltage reference wave through current double loop control based on the stator output reference current, the stator output actual measurement current, and the rotor side actual measurement current.
Further, the current loop control unit 505 is further configured to:
carrying out first PI control on the deviation value of the stator output reference current and the stator output actual measurement current to obtain a rotor side reference current;
and performing second PI control on the deviation between the reference current at the rotor side and the actually measured current at the rotor side, and introducing a feedforward cross decoupling term to obtain an excitation voltage reference wave.
Fig. 3 shows an exemplary block diagram of current loop control according to an embodiment of the invention. As shown in fig. 3, the current loop control includes two parts: firstly, PI control is carried out on the deviation value of the stator output reference current and the actually measured current to obtain rotor side reference current, then PI control is carried out on the deviation value of the rotor side reference current and the actually measured current, and a feedforward cross decoupling term is introduced to obtain an excitation voltage reference wave.
And the PWM modulation unit 506 is configured to perform inverse park transformation on the excitation voltage reference wave to obtain an excitation voltage reference wave in a three-phase stationary coordinate system, which is used as a PWM modulation signal of the converter, so as to control a switching tube of the converter.
Will be provided withdqReference wave basis of excitation voltage under shaftθ−θ r Performing park inverse transformation to obtain an excitation voltage reference wave under a three-phase static coordinate systemAnd the signal is used as a PWM modulation signal of the converter to realize the control of the switching tube of the converter.
It should be understood that the doubly-fed wind turbine grid-side converter continues to adopt a traditional vector control strategy to maintain the voltage stability of the direct-current bus. The control device of the double-fed fan is particularly applied to the rotor side of the grid type double-fed fan. Fig. 4 shows an exemplary block diagram of a rotor-side control of a grid-type doubly-fed wind turbine according to an embodiment of the present invention. As shown in fig. 4, the rotor-side converter adopts a network-forming control strategy based on a three-order practical model of the synchronous generator to set the virtual internal potential amplitude and the phase angle of the doubly-fed wind turbine, and controls the output active power and the reactive power of the doubly-fed wind turbine. The rotor side converter control mainly comprises a virtual frequency modulation controller, a virtual inertia and damping controller, a virtual excitation controller, a virtual circuit calculation, a current loop control, a PWM generator link and the like.
The above embodiment, based on grid frequencyfReference frequencyf * And active power command valueP ref To obtain virtual mechanical powerP m Then based on virtual mechanical powerP m Obtaining the virtual phase angle of the output inner potential of the fanθAnd based on the output voltage of the fanUCurrent at the output end of the fanIAnd feedforward control quantity to obtain the output inner potential amplitude of the fanE m Based on the output voltage of the fanUOutput inner potential amplitude of fanE m Virtual phase angle of internal potential output by wind-driven generatorθObtaining a stator output reference current, obtaining an excitation voltage reference wave based on the stator output reference current, the stator output actual measurement current and the rotor side actual measurement current, performing current double-loop control, performing park inverse transformation on the excitation voltage reference wave to obtain an excitation voltage reference wave under a three-phase static coordinate system as a PWM (pulse-width modulation) signal of the converter so as to realize the control of a switch tube of the converter, and providing a control method of a double-fed fan with an active support capability, so that the double-fed wind driven generator can provide instant inertia response and has the capability of voltage and frequency regulation, and the control method is favorable for solving the problem of the high-proportion new energy access of a novel power systemSafe and stable operation, effectively improves the wind energy consumption level, and promotes the development and utilization of wind energy.
The embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for controlling a network-type doubly-fed wind turbine provided in the foregoing embodiments is implemented.
The invention has been described with reference to a few embodiments. However, other embodiments of the invention than the one disclosed above are equally possible within the scope of the invention, as would be apparent to a person skilled in the art from the appended patent claims.
Generally, all terms used in the claims are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise herein. All references to "a/an/the [ device, component, etc ]" are to be interpreted openly as referring to at least one instance of said device, component, etc., unless explicitly stated otherwise. The steps of any method disclosed herein do not have to be performed in the exact order disclosed, unless explicitly stated.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.

Claims (19)

1. A control method of a network-building type doubly-fed wind turbine is characterized by comprising the following steps:
obtaining grid frequencyfReference frequencyf * And active power command valueP ref And based on said grid frequencyfThe reference frequencyf * And the active power command valueP ref To obtain virtual mechanical powerP m ；
Based on the virtual mechanical powerP m To obtain the virtual phase angle of the output inner potential of the fanθ；
Obtaining the output end voltage of the fanUCurrent at the output end of the fanIAnd feedforward control amount based on the output voltage of the fanUThe current at the output end of the fanIAnd the feedforward control quantity is used for obtaining the output inner potential amplitude of the fanE m ；
Based on the fan output end voltageUThe output inner potential amplitude of the fanE m And the virtual phase angle of the internal potential output by the fanθObtaining the output reference current of the stator;
obtaining an excitation voltage reference wave through current double-loop control based on the stator output reference current, the stator output actual measurement current and the rotor side actual measurement current;
and carrying out park inverse transformation on the excitation voltage reference wave to obtain the excitation voltage reference wave under a three-phase static coordinate system as a PWM (pulse-width modulation) signal of the converter so as to realize the control of a switching tube of the converter.
2. The method of claim 1, wherein the grid frequency based isfThe reference frequencyf * And the active power command valueP ref To obtain virtual mechanical powerP m The method comprises the following steps:
the virtual mechanical power is calculated by adopting the following formulaP m ：
Figure DEST_PATH_IMAGE001
；
Wherein the content of the first and second substances,P ref is an active power command value, ΔP ref An additional power value is output for the speed regulator,K p for the power-frequency static characteristic coefficient of the virtual synchronizer,f * for the purpose of reference to the frequency (f),ffor the frequency of the power grid,f deadzone is a frequency dead zone range.
3. The method of claim 1, wherein the basing is based on the virtual mechanical powerP m To obtain the virtual phase angle of the output inner potential of the fanθThe method comprises the following steps:
calculating to obtain the virtual phase angle of the output internal potential of the fan by adopting the following formulaθ：
Figure DEST_PATH_IMAGE002
；
Wherein the content of the first and second substances,ωthe internal potential virtual angular speed is output for the fan,Jin order to be a virtual moment of inertia,P m in order to be a virtual mechanical power,Pfor the actual output of active power of the stator of the doubly-fed wind turbine,ω 0 the angular velocity is rated for the grid system,D Equ is an equivalent virtual damping coefficient.
4. The method of claim 1, wherein the obtaining the fan output voltageUCurrent at the output end of the fanIAnd feedforward control amount based on the output voltage of the fanUThe current at the output end of the fanIAnd the feedforward control quantity is used for obtaining the output inner potential amplitude of the fanE m ：
Obtaining the output end voltage of the fanUAnd end currentIAnd based on the output voltage of the fanUAnd end currentIObtaining the forced no-load electromotive force in linear relation with the excitation voltageE qe ；
Obtaining feedforward control quantity
Figure DEST_PATH_IMAGE003
And based on said feedforward control quantity
Figure DEST_PATH_IMAGE004
And said forced no-load electromotive forceE qe To obtain the amplitude of the output internal potential of the fanE m 。
5. The method of claim 4, wherein the obtaining the fan output voltageUAnd end currentIAnd based on the fan output end voltageUAnd end currentIObtaining the forced no-load electromotive force in linear relation with the excitation voltageE qe The method comprises the following steps:
the following formula is adopted to calculate and obtain the forced no-load electromotive force which is in linear relation with the excitation voltageE qe ：
Figure DEST_PATH_IMAGE005
；
Wherein the content of the first and second substances,T R is the time constant of the filter and is,Ufor the voltage of the output end of the fan,Iis the current at the output end of the fan,R C in order to adjust the difference resistance, the resistance,X C in order to adjust the difference reactance of the transformer,Kin order to adjust the gain of the regulator,K ν a factor is selected for the proportional-integral,T 1 、T 2 is the time constant of the voltage regulator and,V * in order to excite the voltage regulator reference voltage,Vin order to excite the actual voltage of the voltage regulator,jis a virtual unit, and is a virtual unit,j=
Figure DEST_PATH_IMAGE007
，sis the laplacian operator.
6. The method of claim 4, wherein the obtaining a feedforward control quantity
Figure 229916DEST_PATH_IMAGE003
And based on said feedforward control quantity
Figure 599586DEST_PATH_IMAGE003
And said forced no-load electromotive forceE qe To obtain the output internal potential amplitude of the fanE m The method comprises the following steps:
calculating to obtain the output inner potential amplitude of the fan by adopting the following formulaE m ：
Figure DEST_PATH_IMAGE008
；
Wherein the content of the first and second substances,E qe is a forced no-load electromotive force in a linear relationship with the excitation voltage,
Figure DEST_PATH_IMAGE009
in order to virtually excite the winding time constant,
Figure DEST_PATH_IMAGE010
in order to be a virtual transient potential,
Figure 910482DEST_PATH_IMAGE003
is a feedforward control quantity.
7. The method of claim 4, wherein the feedforward control quantity
Figure 492642DEST_PATH_IMAGE003
The method comprises the following steps:
obtaining real-time stator outputdShaft reference currenti d And calculating to obtain feedforward control quantity
Figure 510276DEST_PATH_IMAGE003
；
Wherein the content of the first and second substances,x d is composed ofdThe shaft-synchronous reactance is a synchronous reactance,
Figure DEST_PATH_IMAGE011
is composed ofdAxle temporaryA reactive reactance.
8. The method of claim 1, wherein the basing is based on a voltage at the output of the wind turbineUThe amplitude of the internal electric potential output by the fanE m And the virtual phase angle of the internal potential output by the fanθAnd obtaining a stator output reference current, comprising:
respectively outputting the internal potential amplitude of the fanE m And the output end voltage of the fanUAccording to the virtual phase angle of the internal potential output by the fanθIs positioned atdqShaft to obtain the output inner potential amplitude of the fanE m Is/are as followsdqShaft voltage component and fan output voltageUIs/are as followsdqAn axis voltage component;
according to the output inner potential amplitude of the fanE m Is/are as followsdqShaft voltage component and fan output voltageUIs/are as followsdqThe shaft voltage component is calculated by the following formula to obtain the stator outputdShaft andqreference current of the shaft:
Figure DEST_PATH_IMAGE012
；
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE013
、
Figure DEST_PATH_IMAGE014
outputting the amplitude of the internal potential for the fanE m Is/are as followsd、qThe component of the shaft voltage is,U d 、U q for the output voltage of the fanUIs/are as followsd、qThe component of the shaft voltage is,R、Xin order to be a true impedance parameter,R ν 、X ν is a virtual impedance parameter.
9. The method of claim 1, wherein obtaining an excitation voltage reference wave based on the stator output reference current, the stator output measured current, and the rotor side measured current via current double loop control comprises:
performing first PI control on the deviation value of the stator output reference current and the stator output actual measurement current to obtain a rotor side reference current;
and carrying out second PI control on the deviation value of the rotor side reference current and the rotor side actual measurement current, and introducing a feedforward cross decoupling term to obtain an excitation voltage reference wave.
10. A control device for a grid-structured double-fed wind turbine, characterized in that the device comprises:
virtual FM controller for obtaining grid frequencyfReference frequencyf * And active power command valueP ref And based on said grid frequencyfThe reference frequencyf * And the active power instruction valueP ref To obtain virtual mechanical powerP m ；
A virtual inertia and damping controller to base the virtual mechanical powerP m To obtain the virtual phase angle of the output internal potential of the fanθ；
A virtual excitation controller for acquiring the voltage at the output end of the fanUCurrent at the output end of the fanIAnd feedforward control amount based on the output voltage of the fanUThe current at the output end of the fanIAnd the feedforward control quantity is used for obtaining the output inner potential amplitude of the fanE m ；
A virtual circuit computing unit for calculating a voltage based on the output end of the fanU、The output inner potential amplitude of the fanE m And the virtual phase angle of the internal potential output by the fanθObtaining the output reference current of the stator;
the current loop control unit is used for obtaining an excitation voltage reference wave through current double-loop control based on the stator output reference current, the stator output actual measurement current and the rotor side actual measurement current;
and the PWM modulation unit is used for carrying out park inverse transformation on the excitation voltage reference wave to obtain the excitation voltage reference wave under a three-phase static coordinate system as a PWM modulation signal of the converter so as to realize the control of a switch tube of the converter.
11. The apparatus of claim 10, wherein the grid frequency based is based onfThe reference frequencyf * And the active power command valueP ref To obtain virtual mechanical powerP m The method comprises the following steps:
the virtual mechanical power is calculated by adopting the following formulaP m ：
Figure 584936DEST_PATH_IMAGE001
；
Wherein the content of the first and second substances,P ref is an active power command value, ΔP ref An additional power value is output for the speed regulator,K p for the function-frequency static characteristic coefficient of the virtual synchronizer,f * for the purpose of reference to the frequency (f),ffor the frequency of the power grid,f deadzone is a frequency dead zone range.
12. The apparatus of claim 10, wherein the virtual inertia and damping controller is further configured to:
calculating to obtain the virtual phase angle of the output internal potential of the fan by adopting the following formulaθ：
Figure 304499DEST_PATH_IMAGE002
；
Wherein the content of the first and second substances,ωthe internal potential virtual angular speed is output for the fan,Jin order to be a virtual moment of inertia,P m in order to be a virtual mechanical power,Pfor the actual output of active power of the stator of the doubly-fed wind turbine,ω 0 is electricityThe net system is rated for the angular velocity,D Equ is an equivalent virtual damping coefficient.
13. The apparatus of claim 10, wherein the virtual excitation controller is further configured to:
obtaining the output end voltage of the fanUAnd end currentIAnd based on the output voltage of the fanUAnd end currentIObtaining the forced no-load electromotive force in linear relation with the excitation voltageE qe ；
Obtaining feedforward control quantity
Figure 706662DEST_PATH_IMAGE003
And based on said feedforward control quantity
Figure 578803DEST_PATH_IMAGE004
And said forced no-load electromotive forceE qe To obtain the amplitude of the output internal potential of the fanE m 。
14. The apparatus of claim 13, wherein the deriving the fan output voltageUAnd end currentIAnd based on the output voltage of the fanUAnd end currentIObtaining a forced no-load electromotive force in a linear relation with the excitation voltageE qe The method comprises the following steps:
the following formula is adopted to calculate and obtain the forced no-load electromotive force which is in a linear relation with the excitation voltageE qe ：
Figure 759117DEST_PATH_IMAGE005
；
Wherein the content of the first and second substances,T R is the time constant of the filter and is,Ufor the voltage of the output end of the fan,Iis the current of the output end of the fan,R C in order to adjust the difference resistance, the resistance,X C in order to adjust the difference reactance,Kin order to adjust the gain of the regulator,K ν a factor is selected for the proportional-integral,T 1 、T 2 is the time constant of the voltage regulator and,V * in order to excite the voltage regulator reference voltage,Vin order to excite the actual voltage of the voltage regulator,jis a virtual unit, and is a virtual unit,j=
Figure 716709DEST_PATH_IMAGE007
，sis the laplacian operator.
15. The apparatus of claim 13, wherein the obtaining of the feedforward control amount
Figure DEST_PATH_IMAGE015
And based on said feedforward control quantity
Figure 846864DEST_PATH_IMAGE015
And said forced no-load electromotive forceE qe To obtain the output internal potential amplitude of the fanE m The method comprises the following steps:
calculating to obtain the output inner potential amplitude of the fan by adopting the following formulaE m ：
Figure 557199DEST_PATH_IMAGE008
；
Wherein the content of the first and second substances,E qe is a forced no-load electromotive force in a linear relationship with the excitation voltage,
Figure 924727DEST_PATH_IMAGE009
in order to virtualize the time constant of the field winding,
Figure 618882DEST_PATH_IMAGE010
in order to be a virtual transient potential,
Figure 97268DEST_PATH_IMAGE003
is a feedforward control quantity.
16. The apparatus of claim 13, wherein the feedforward control amount
Figure 944001DEST_PATH_IMAGE003
The method comprises the following steps:
obtaining real-time stator outputdShaft reference currenti d And calculating to obtain feedforward control quantity
Figure 731698DEST_PATH_IMAGE003
；
Wherein the content of the first and second substances,x d is composed ofdThe shaft-synchronous reactance is a synchronous reactance,
Figure 663882DEST_PATH_IMAGE011
is composed ofdThe axis transient reactance.
17. The apparatus of claim 10, wherein the virtual circuit computation unit is further configured to:
respectively outputting the internal potential amplitude of the fanE m And the output end voltage of the fanUAccording to the virtual phase angle of the internal potential output by the fanθIs positioned atdqShaft to obtain the output inner potential amplitude of the fanE m IsdqShaft voltage component and fan output voltageUIs/are as followsdqAn axis voltage component;
according to the output inner potential amplitude of the fanE m Is/are as followsdqShaft voltage component and fan output voltageUIs/are as followsdqThe component of the shaft voltage being calculated to obtain the stator output by the following formuladShaft andqreference current of the shaft:
Figure 945958DEST_PATH_IMAGE012
；
wherein the content of the first and second substances,
Figure 887677DEST_PATH_IMAGE013
、
Figure 862586DEST_PATH_IMAGE014
outputting the amplitude of the internal potential for the fanE m Is/are as followsd、qThe component of the shaft voltage is,U d 、U q for the output voltage of the fanUIs/are as followsd、qThe component of the shaft voltage is,R、Xin order to be a true impedance parameter,R ν 、X ν is a virtual impedance parameter.
18. The apparatus of claim 10, wherein the current loop control unit is further configured to:
performing first PI control on the deviation value of the stator output reference current and the stator output actual measurement current to obtain a rotor side reference current;
and carrying out second PI control on the deviation value of the rotor side reference current and the rotor side actual measurement current, and introducing a feedforward cross decoupling term to obtain an excitation voltage reference wave.
19. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-9.
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