CN116345486A - Model predictive control-based primary frequency modulation coordination control method and device in wind field - Google Patents
Model predictive control-based primary frequency modulation coordination control method and device in wind field Download PDFInfo
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Abstract
The invention provides a model predictive control-based primary frequency modulation coordination control method and device in a wind field, which avoid complex time sequence arrangement among fans under different working conditions under a traditional wind field active distribution control strategy while avoiding secondary drop of system frequency caused by rotation speed recovery. The primary frequency modulation coordination control method in the wind field based on model predictive control comprises the following steps: step 1, quantifying the primary frequency modulation capacity of a wind turbine generator based on short-time power overdriving control, and establishing a system frequency response model considering wind power participation frequency modulation; step 2, based on a system frequency response model, estimating the system frequency disturbance quantity, predicting the lowest point of the system frequency, and determining the primary frequency modulation capacity of the wind field participation
And 3, establishing a model predictive control-based wind power plant internal frequency modulation coordination control model by considering the output fluctuation characteristics of each wind turbine in the wind power plant, and distributing the internal primary frequency modulation power of the wind power plant in real time based on the model.
Description
Technical Field
The invention belongs to the technical field of operation control of power systems, and particularly relates to a model predictive control-based method and device for controlling primary frequency modulation coordination in a wind field.
Background
Under the current development trend of the construction of a novel power system mainly based on new energy, the permeability of wind power is continuously improved. However, the variable speed constant frequency wind turbine generator which is widely applied at present is connected with the power electronic converter, the power grid frequency change cannot be actively responded, and the large-scale grid connection brings new challenges to the frequency safety and stability of a power system.
In order to improve the frequency stability of the power grid under the condition of high wind power permeability, the prior research provides a frequency modulation control strategy based on releasing the kinetic energy of the fan rotor, such as short-time power super-emission control, sagging control and the like. However, due to the limitation of the rotation speed, the wind turbine generator cannot continuously increase active power, and in the process of recovering the rotation speed of the fan, the rotor accelerates to absorb the active power, so that the system is easy to generate secondary frequency drop. In addition, in practical engineering application, the wind farm often comprises hundreds of wind motor sets, and because of randomness and fluctuation of wind speed and influence by factors such as turbulence intensity and wake effect in the wind farm, the operation working condition of each fan in the wind farm is complex, and a traditional wind farm frequency modulation active distribution strategy based on fixed rules is difficult to obtain a good frequency modulation effect.
Currently, researches are focused on setting kinetic energy control parameters of a rotor of a fan unit layer, and frequency coordination control between wind turbines in a wind farm and frequency modulation capacity available from the wind farm is considered from the field station level control. Therefore, the research of the primary frequency modulation coordination control method in the wind field based on model predictive control has very important significance.
Disclosure of Invention
The invention aims to solve the problems, and aims to provide a model predictive control-based method and device for controlling primary frequency modulation coordination in a wind field, which avoid complex time sequence arrangement among fans under different working conditions in a traditional wind field active distribution control strategy while avoiding secondary drop of system frequency caused by rotation speed recovery.
In order to achieve the above object, the present invention adopts the following scheme:
< method >
The invention provides a model predictive control-based primary frequency modulation coordination control method in a wind field, which is characterized by comprising the following steps of:
step 1: based on short-time power overdriving control, quantifying the primary frequency modulation capacity of the wind turbine generator, and establishing a system frequency response model considering wind power participation frequency modulation;
step 1.1: based on short-time power super-emission control of the fan, primary frequency modulation of the fan is divided into four stages:
1) A power step stage at the initial stage of disturbance;
2) Increasing active power;
3) The increasing active power is terminated and the rotating speed recovery stage is carried out;
4) And a rotational speed recovery stage:
wherein P is r,i (t) is the active power of the fan in the rotational speed recovery stage, P MPPT K is the active power reference value under maximum power tracking opt Is a fixed coefficient omega of the maximum power tracking stage of the fan r,i The rotation speed of the ith fan;
step 1.2: taking into consideration the phenomenon of system frequency secondary drop caused by the active power deficiency in the stages 3 and 4, establishing a system frequency response model:
wherein f b R is the regulating coefficient of the speed regulator, D is the damping coefficient, K m Is the mechanical power gain coefficient, ζ is the system damping ratio, Ω n Natural frequency of the system without damping;
step 2: based on a system frequency response model, estimating the system frequency disturbance quantity, predicting the lowest point of the system frequency, and determining the primary frequency modulation capacity of the wind field participation
Step 2.1: the two frequency minimum points of the prediction system are respectively:
wherein t is 1 And t 2 The time of the lowest point of the two frequencies is respectively; ΔP d The estimated system frequency disturbance power is used; ΔP ref And DeltaP off The sum of the increased active power of each fan in the wind field and the sum of the active power deficiency caused by entering the rotational speed recovery stage are respectively calculated;
step 2.2: based on the two-time frequency minimum points predicted in the step 2.1, obtaining primary frequency modulation output of the wind field by taking the frequency deviation minimum as an objective function
The result of (2) is:
wherein DeltaP 1 To solve for the objective function of the first order frequency nadir, ΔP 2 Is a solution taking the lowest point of the second order frequency as an objective function;
step 3: and (3) establishing a model predictive control-based wind farm internal frequency modulation coordination control model by considering the output fluctuation characteristics of each wind turbine in the wind farm, and distributing primary frequency modulation power in the wind farm in real time based on the model.
Preferably, in the method for coordinated control of primary frequency modulation in a wind field based on model predictive control provided by the invention, in step 1.1, 1) a power step phase is represented as:
wherein H is ω,i Inertia omega provided for participating in frequency modulation of ith fan in wind field r,i Is the rotation speed of the ith fan, P m,i For the mechanical power of the ith fan, P e,i The electromagnetic power of the ith fan;
2) The amplified active power phase is expressed as:
wherein P is 0,i For the initial active power of the ith fan, P 0,i +ΔP f,i Active power omega increased for ith fan at this stage 0,i For the initial rotation speed omega before the ith fan participates in frequency modulation off,i For the rotational speed of the ith fan at the end of this phase, ΔP ref,i Adding the sum of active power to the ith fan;
3) The amplified active power is terminated and transferred to a rotational speed recovery stage, expressed as:
ΔP off,i ＝(P 0,i +ΔP f,i )-P MPPT (ω off,i )。
preferably, in the method for controlling primary frequency modulation coordination in a wind field based on model predictive control provided by the invention, in step 1.2,
T R for reheat time constant, Ω n Is the natural frequency under system damping.
Preferably, in the method for coordinated control of primary frequency modulation in a wind field based on model predictive control provided by the invention, in step 2.1,
wherein H is s Is equivalent inertial time constant of the system, +.>
In order to collect the frequency change rate at the common connection point of the wind field, N is the number of fans in the wind field.
Preferably, the method for controlling primary frequency modulation coordination in a wind field based on model predictive control provided by the invention comprises the following substeps:
step 3.1: based on model predictive control, a wind power plant predictive model is established by considering the real-time running state of each fan in the wind power plant;
step 3.2: with minimum variation of all fan rotational speeds and wind energy loss E in wind field loss The minimum is an optimization target, and target functions of the minimum are respectively established;
step 3.3: the sum of active power output by primary frequency modulation of each fan in the wind field and primary frequency modulation capacity of the wind field in step 2.2
Equality is a constraint condition;
step 3.4: based on the optimization target and the constraint condition, real-time feedback correction is carried out according to the operation working condition of each fan, and real-time distribution is carried out on active power in the wind field.
Preferably, in the method for coordinated control of primary frequency modulation in a wind field based on model predictive control provided by the invention, in step 3.1, a predictive model of each fan is expressed as follows:
Δy i ＝C i Δx i
wherein omega is r0,i For the initial rotation speed of the ith fan, P e0,i For the initial electromagnetic power of the ith fan, P e0,i For the i-th fan initial mechanical power, ΔP ref,i Active power is output for primary frequency modulation of ith fan, H wt Is the inertia time constant of the fan.
Preferably, in the method for coordinated control of primary frequency modulation in a wind field based on model predictive control provided by the invention, in step 3.3, the constraint conditions are as follows:
wherein P is max,i The active power output of the ith fan is the maximum value.
< device >
The invention further provides a model predictive control-based primary frequency modulation coordination control device in a wind field, which is characterized by comprising the following steps:
prediction model establishment unit for short-time power superemission controlThe method comprises the steps of manufacturing, quantifying primary frequency modulation capacity of a wind turbine generator, and establishing a system frequency response model considering wind power participation frequency modulation; based on short-time power super-emission control of the fan, primary frequency modulation is divided into four stages: 1) A power step stage at the initial stage of disturbance; 2) Increasing active power; 3) The increasing active power is terminated and the rotating speed recovery stage is carried out; 4) And a rotational speed recovery stage:
wherein P is r,i (t) is the active power of the fan in the rotational speed recovery stage, P MPPT K is the active power reference value under maximum power tracking opt Is a fixed coefficient omega of the maximum power tracking stage of the fan r,i The rotation speed of the ith fan; then, taking the phenomenon of system frequency secondary drop caused by the active power deficiency in the stages 3 and 4 into consideration, and establishing a system frequency response model:
wherein f b R is the regulating coefficient of the speed regulator, D is the damping coefficient, K m Is the mechanical power gain coefficient, ζ is the system damping ratio, Ω n Natural frequency of the system without damping;
a frequency modulation capacity determination unit for estimating the system frequency disturbance based on the system frequency response model, predicting the lowest point of the system frequency, and determining the primary frequency modulation capacity of the wind farm
The two frequency minimum points of the prediction system are respectively:
wherein t is 1 And t 2 The time of the lowest point of the two frequencies is respectively; ΔP d The estimated system frequency disturbance power is used; ΔP ref And DeltaP off Respectively generating active power for the sum of the active power generated by each fan in the wind field and entering the rotational speed recovery stageSum of power shortages; based on the two-time frequency minimum point predicted in the step 2.1, obtaining wind field primary frequency modulation output by taking the frequency deviation minimum as an objective function>
The result of (2) is:
wherein DeltaP 1 To solve for the objective function of the first order frequency nadir, ΔP 2 Is a solution taking the lowest point of the second order frequency as an objective function;
the real-time frequency modulation power distribution part is used for establishing a model-based predictive control model for the frequency modulation coordination control in the wind farm by considering the fluctuation characteristics of the output power of each wind turbine in the wind farm, and carrying out real-time distribution on primary frequency modulation power in the wind farm based on the model;
and the control part is in communication connection with the prediction model establishment part, the frequency modulation capacity determination part and the frequency modulation power real-time distribution part and controls the operation of the prediction model establishment part, the frequency modulation capacity determination part and the frequency modulation power real-time distribution part.
Preferably, the model prediction control-based primary frequency modulation coordination control device in a wind field provided by the invention further comprises: and the input display part is in communication connection with the prediction model establishment part, the frequency modulation capacity determination part, the frequency modulation power real-time distribution part and the control part, and displays corresponding information according to an operation instruction input by a user.
Preferably, the model prediction control-based primary frequency modulation coordination control device in a wind field provided by the invention further comprises: in the predictive model establishment section, 1) the power step phase is expressed as:
wherein H is ω,i Inertia omega provided for participating in frequency modulation of ith fan in wind field r,i Is the rotation speed of the ith fan, P m,i For the mechanical power of the ith fan, P e,i The electromagnetic power of the ith fan;
2) The amplified active power phase is expressed as:
wherein P is 0,i For the initial active power of the ith fan, P 0,i +ΔP f,i Active power omega increased for ith fan at this stage 0,i For the initial rotation speed omega before the ith fan participates in frequency modulation off,i For the rotational speed of the ith fan at the end of this phase, ΔP ref,i Adding the sum of active power to the ith fan;
3) The amplified active power is terminated and transferred to a rotational speed recovery stage, expressed as:
ΔP off,i ＝(P 0,i +ΔP f,i )-P MPPT (ω off,i )。
effects and effects of the invention
According to the method and the device for controlling primary frequency modulation coordination in the wind farm based on model predictive control, provided by the invention, the frequency secondary drop and the rotational speed recovery stage of the wind farm are considered, the frequency disturbance quantity of the system and the frequency minimum point of the predictive system are estimated based on an improved system frequency response model, and an objective function is respectively constructed for the two frequency minimum points to determine the active power reference value of the wind farm, so that the method for distributing primary frequency modulation power in the wind farm is obtained based on model predictive control. The invention accurately describes the dynamic response of the wind turbines participating in the system frequency regulation in the real system, can fully exert the frequency modulation capability of the wind turbine under different operation conditions in the wind field, effectively avoids the risk of secondary falling of the system frequency caused by the recovery of the rotating speed, and simultaneously avoids the tedious time sequence arrangement among the wind turbines under different working conditions under the active distribution control strategy in the traditional wind field.
Drawings
FIG. 1 is a flow chart of a model predictive control-based method for coordinated control of primary frequency modulation in a wind farm according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of short-time power over-power control of a wind turbine generator according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a system frequency response model according to an embodiment of the present invention;
fig. 4 is a schematic diagram of coordinated control in a wind farm according to an embodiment of the present invention.
Detailed Description
Specific embodiments of the method and apparatus for coordinated control of primary frequency modulation in a wind farm based on model predictive control according to the present invention are described in detail below with reference to the accompanying drawings.
Example 1
As shown in fig. 1, the method for controlling primary frequency modulation coordination in a wind field based on model predictive control provided in this embodiment specifically includes the following steps:
s1: based on short-time power overdriving control, quantifying the primary frequency modulation capacity of the wind turbine generator, and establishing a system frequency response model considering wind power participation frequency modulation, wherein the system frequency response model specifically comprises the following steps:
s1.1: as shown in fig. 2, the primary frequency modulation of the fan is divided into four stages based on short-time power overdriving control of the fan:
1. the initial period of the disturbance, the power step phase, may be expressed as:
wherein H is ω,i Inertia omega provided for participating in frequency modulation of ith fan in wind field r,i Is the rotation speed of the ith fan, P m,i For the mechanical power of the ith fan, P e,i The electromagnetic power of the ith fan;
2. the active power stage of the increase can be expressed as:
wherein P is 0,i +ΔP f,i Active power omega increased for ith fan at this stage 0,i For the initial rotation speed omega before the ith fan participates in frequency modulation off,i At the termination of this stage for the ith fanIs a rotation speed of the motor;
3. the amplified active power is terminated and transferred to a rotational speed recovery stage, which may be expressed as:
ΔP off,i ＝(P 0,i +ΔP f,i )-P MPPT (ω off,i )，
4. the rotational speed recovery phase may be expressed as:
wherein k is opt And (5) a fixed coefficient of a maximum power tracking stage of the fan.
S1.2: taking into consideration the phenomenon of system frequency secondary drop caused by the active power deficiency in the above stages 3 and 4, as shown in fig. 3, a system frequency response model is established:
wherein f b R is the regulating coefficient of the speed regulator, D is the damping coefficient, K m Is the mechanical power gain coefficient, ζ is the system damping ratio, Ω n Natural frequencies without damping for the system, where α and φ can be expressed as:
wherein T is R For reheat time constant, Ω n Is the natural frequency under system damping.
S2: based on a system frequency response model, estimating the system frequency disturbance quantity, predicting the lowest point of the system frequency, and determining the primary frequency modulation capacity of the wind field participation
The method comprises the following specific steps:
s2.1: based on the system frequency response model in S1.2, the bias derivative is calculated
The two frequency minimum points of the predictable system are respectively:
wherein t is 1 And t 2 The time of the lowest point of the two frequencies, delta P d The estimated system frequency disturbance power can be expressed as:
wherein H is s Is the equivalent inertial time constant of the system,
collecting the frequency change rate of the common connection point of the wind field; ΔP ref And DeltaP off The sum of the increased active power of each fan in the wind field and the sum of the active power deficiency caused by entering the rotational speed recovery stage can be expressed as:
wherein N is the number of fans in the wind field.
S2.2: based on the predicted lowest frequency point in S2.1, the wind field primary frequency modulation output can be obtained by taking the minimum frequency deviation as an objective function due to the existence of two lowest frequency points
The result of (2) is:
wherein DeltaP 1 To the firstThe lowest point of the secondary frequency is the solution of the objective function, deltaP 2 Is a solution taking the lowest point of the second order frequency as an objective function;
s3: in consideration of the output fluctuation characteristics of each wind turbine generator in a wind field, a model predictive control-based wind field frequency modulation coordination control model is established, and as shown in fig. 4, the specific steps include:
s3.1: based on model predictive control, a wind farm prediction model is established, wherein the prediction model of each fan can be expressed as follows:
Δy i ＝C i Δx i
in the method, in the process of the invention,
wherein omega is r0,i For the initial rotation speed of the ith fan, P e0,i For the initial electromagnetic power of the ith fan, P e0,i For the i-th fan initial mechanical power, ΔP ref,i Active power is output for primary frequency modulation of ith fan, H wt Is the inertia time constant of the fan;
s3.2: with minimum variation of all fan rotational speeds and wind energy loss E in wind field loss The minimum is an optimization target, and the objective functions are respectively established and can be expressed as:
wherein k is time, ω r,avg The average rotating speed of a fan in a wind field is represented by ρ, air density, R, the radius of a fan blade, v w,i Wind speed of ith fan, C p,i The wind energy utilization coefficient of the ith fan is shown, and lambda is the tip speed ratio of the fan.
S3.3: the sum of the active power output by the primary frequency modulation of each fan in the wind field and the primary frequency modulation output of the wind field in the step 2.2
Equality is a constraint, and can be obtained:
wherein P is max,i The active power output of the ith fan is the maximum value.
< example two >
The second embodiment provides a model prediction control-based primary frequency modulation coordination control device in a wind field, which can automatically realize the method, and the device comprises a prediction model establishment part, a frequency modulation capacity determination part, a frequency modulation power real-time distribution part, an input display part and a control part.
The prediction model building part executes the content described in the step 1, and based on short-time power overdriving control, the wind turbine generator is quantized to participate in primary frequency modulation capacity, and a system frequency response model which takes wind power into frequency modulation into account is built.
The frequency modulation capacity determining part executes the content described in the step 2, evaluates the system frequency disturbance quantity based on the system frequency response model, predicts the lowest point of the system frequency, and determines that the wind field participates in primary frequency modulation capacity
The frequency modulation power real-time distribution part executes the content described in the step 3, considers the fluctuation characteristics of the output power of each wind turbine in the wind farm, establishes a model predictive control-based frequency modulation coordination control model in the wind farm, and distributes primary frequency modulation power in the wind farm in real time based on the model.
The input display unit can display corresponding information according to an operation instruction input by a user.
The control part is communicated with the prediction model establishment part, the frequency modulation capacity determination part, the frequency modulation power real-time distribution part and the input display part, and controls the operation of the prediction model establishment part, the frequency modulation capacity determination part, the frequency modulation power real-time distribution part and the input display part.
The above embodiments are merely illustrative of the technical solutions of the present invention. The method and apparatus for coordinated control of primary frequency modulation in a wind farm based on model predictive control according to the present invention are not limited to the above embodiments, but are defined by the scope of the claims. Any modifications, additions or equivalent substitutions made by those skilled in the art based on this embodiment are within the scope of the invention as claimed in the claims.
Claims (10)
1. The model prediction control-based primary frequency modulation coordination control method in the wind field is characterized by comprising the following steps of:
step 1: based on short-time power overdriving control, quantifying the primary frequency modulation capacity of the wind turbine generator, and establishing a system frequency response model considering wind power participation frequency modulation;
step 1.1: based on short-time power super-emission control of the fan, primary frequency modulation of the fan is divided into four stages:
1) A power step stage at the initial stage of disturbance;
2) Increasing active power;
3) The increasing active power is terminated and the rotating speed recovery stage is carried out;
4) And a rotational speed recovery stage:
wherein P is r,i (t) is the active power of the fan in the rotational speed recovery stage, P MPPT For the active power reference value at maximum power tracking,k opt is a fixed coefficient omega of the maximum power tracking stage of the fan r,i The rotation speed of the ith fan;
step 1.2: taking into consideration the phenomenon of system frequency secondary drop caused by the active power deficiency in the stages 3 and 4, establishing a system frequency response model:
wherein f b R is the regulating coefficient of the speed regulator, D is the damping coefficient, K m Is the mechanical power gain coefficient, ζ is the system damping ratio, Ω n Natural frequency of the system without damping;
step 2: based on a system frequency response model, estimating the system frequency disturbance quantity, predicting the lowest point of the system frequency, and determining the primary frequency modulation capacity of the wind field participation
Step 2.1: the two frequency minimum points of the prediction system are respectively:
wherein t is 1 And t 2 The time of the lowest point of the two frequencies is respectively; ΔP d The estimated system frequency disturbance power is used; ΔP ref And DeltaP off The sum of the increased active power of each fan in the wind field and the sum of the active power deficiency caused by entering the rotational speed recovery stage are respectively calculated;
step 2.2: based on the two-time frequency minimum points predicted in the step 2.1, obtaining primary frequency modulation output of the wind field by taking the frequency deviation minimum as an objective function
The result of (2) is:
wherein DeltaP 1 To solve for the objective function of the first order frequency nadir, ΔP 2 Is a solution taking the lowest point of the second order frequency as an objective function;
step 3: and (3) establishing a model predictive control-based wind farm internal frequency modulation coordination control model by considering the output fluctuation characteristics of each wind turbine in the wind farm, and distributing primary frequency modulation power in the wind farm in real time based on the model.
2. The model predictive control-based intra-wind-field primary frequency modulation coordination control method according to claim 1, wherein the method is characterized by comprising the following steps of:
wherein, in step 1.1, 1) the power step phase is expressed as:
wherein H is ω,i Inertia provided for participating in frequency modulation of ith fan in wind field, P m,i For the mechanical power of the ith fan, P e,i The electromagnetic power of the ith fan;
2) The amplified active power phase is expressed as:
wherein P is 0,i For the initial active power of the ith fan, P 0,i +ΔP f,i Active power omega increased for ith fan at this stage 0,i For the initial rotation speed omega before the ith fan participates in frequency modulation off,i For the rotational speed of the ith fan at the end of this phase, ΔP ref,i Adding the sum of active power to the ith fan;
3) The amplified active power is terminated and transferred to a rotational speed recovery stage, expressed as:
ΔP off,i ＝(P 0,i +ΔP f,i )-P MPPT (ω off,i )。
3. the model predictive control-based intra-wind-field primary frequency modulation coordination control method according to claim 1, wherein the method is characterized by comprising the following steps of:
wherein, in the step 1.2,
T R for reheat time constant, Ω n Is the natural frequency under system damping.
4. The model predictive control-based intra-wind-field primary frequency modulation coordination control method according to claim 1, wherein the method is characterized by comprising the following steps of:
wherein in step 2.1
Wherein H is s Is equivalent inertial time constant of the system, +.>
In order to collect the frequency change rate at the common connection point of the wind field, N is the number of fans in the wind field.
5. The model predictive control-based intra-wind-field primary frequency modulation coordination control method according to claim 1, wherein the method is characterized by comprising the following steps of:
wherein, step 3 comprises the following sub-steps:
step 3.1: based on model predictive control, a wind power plant predictive model is established by considering the real-time running state of each fan in the wind power plant;
step 3.2: with minimum variation of all fan rotational speeds and wind energy loss E in wind field loss The minimum is an optimization target, and target functions of the minimum are respectively established;
step 3.3: active power is output by primary frequency modulation of each fan in wind fieldSum of rates and step 2.2
Equality is a constraint condition;
step 3.4: based on the optimization target and the constraint condition, real-time feedback correction is carried out according to the operation working condition of each fan, and real-time distribution is carried out on active power in the wind field.
6. The model predictive control-based intra-wind-field primary frequency modulation coordination control method according to claim 5, wherein the method is characterized by comprising the following steps of:
wherein, in step 3.1, the prediction model of each fan is expressed as:
wherein omega is r0,i For the initial rotation speed of the ith fan, P e0,i For the initial electromagnetic power of the ith fan, P e0,i For the i-th fan initial mechanical power, ΔP ref,i Active power is output for primary frequency modulation of ith fan, H wt Is the inertia time constant of the fan.
7. The model predictive control-based intra-wind-field primary frequency modulation coordination control method according to claim 5, wherein the method is characterized by comprising the following steps of:
wherein, in step 3.3, the constraint conditions are:
wherein P is max,i The active power output of the ith fan is the maximum value.
8. The utility model provides a primary frequency modulation coordinated control device in wind field based on model predictive control which characterized in that includes:
the prediction model building part is used for quantifying the primary frequency modulation capacity of the wind turbine generator based on short-time power overdriving control and building a system frequency response model considering wind power participation frequency modulation; based on short-time power super-emission control of the fan, primary frequency modulation is divided into four stages: 1) A power step stage at the initial stage of disturbance; 2) Increasing active power; 3) The increasing active power is terminated and the rotating speed recovery stage is carried out; 4) And a rotational speed recovery stage:
wherein P is r,i (t) is the active power of the fan in the rotational speed recovery stage, P MPPT K is the active power reference value under maximum power tracking opt Is a fixed coefficient omega of the maximum power tracking stage of the fan r,i The rotation speed of the ith fan; then, taking the phenomenon of system frequency secondary drop caused by the active power deficiency in the stages 3 and 4 into consideration, and establishing a system frequency response model:
wherein f b R is the regulating coefficient of the speed regulator, D is the damping coefficient, K m Is the mechanical power gain coefficient, ζ is the system damping ratio, Ω n Natural frequency of the system without damping;
a frequency modulation capacity determination unit for estimating the system frequency disturbance based on the system frequency response model, predicting the lowest point of the system frequency, and determining the primary frequency modulation capacity of the wind farm
The two frequency minimum points of the prediction system are respectively:
the real-time frequency modulation power distribution part is used for establishing a model-based predictive control model for the frequency modulation coordination control in the wind farm by considering the fluctuation characteristics of the output power of each wind turbine in the wind farm, and carrying out real-time distribution on primary frequency modulation power in the wind farm based on the model;
and the control part is in communication connection with the prediction model establishment part, the frequency modulation capacity determination part and the frequency modulation power real-time distribution part and controls the operation of the prediction model establishment part, the frequency modulation capacity determination part and the frequency modulation power real-time distribution part.
9. The model predictive control-based intra-wind farm primary frequency modulation coordination control device according to claim 8, further comprising:
and the input display part is in communication connection with the prediction model establishment part, the frequency modulation capacity determination part, the frequency modulation power real-time distribution part and the control part, and displays corresponding information according to an operation instruction input by a user.
10. The model predictive control-based intra-wind-field primary frequency modulation coordination control device according to claim 8, wherein:
wherein, in the prediction model establishment section, 1) the power step phase is expressed as:
wherein H is ω,i Inertia provided for participating in frequency modulation of ith fan in wind field, P m,i For the mechanical power of the ith fan, P e,i The electromagnetic power of the ith fan;
2) The amplified active power phase is expressed as:
wherein P is 0,i For the initial active power of the ith fan, P 0,i +ΔP f,i Active power omega increased for ith fan at this stage 0,i For the initial rotation speed omega before the ith fan participates in frequency modulation off,i For the rotational speed of the ith fan at the end of this phase, ΔP ref,i Adding the sum of active power to the ith fan;
3) The amplified active power is terminated and transferred to a rotational speed recovery stage, expressed as:
ΔP off,i ＝(P 0,i +ΔP f,i )-P MPPT (ω off,i )。
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