Method and device for primary frequency modulation control of a variable speed wind turbine generator system

Abstract

The present disclosure provides a method and device for primary frequency modulation control of a variable-speed wind turbine generator set, which comprises detecting a grid frequency and obtaining active power corresponding to the grid frequency; detecting a wind speed and a rotor speed of the wind turbine generator set, and obtaining a rotor radius, air density and gear box speed ratio, and then obtaining a wind energy absorption coefficient, an optimal gain of the wind turbine generator set and a maximum power corresponding to the wind speed; obtaining a frequency modulation gain based on the active power, the maximum power and the optimal gain; obtaining a frequency modulation torque instruction based on the frequency modulation gain, and performing primary frequency modulation on the variable-speed wind turbine generator set based on the frequency modulation torque instruction. The method according to the present disclosure can solve the problem that the wind turbine generator set without a variable-pitch actuator cannot respond to frequency modulation power.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of wind power generation, and in particular to a method and device for primary frequency modulation control of a variable-speed wind turbine generator system. BACKGROUND

[0002] The frequency of a conventional synchronous generator is relatively controllable, while wind power presents a random fluctuation characteristic on the supply side. A variable-speed constant-frequency wind turbine generator system is connected to a power grid through a back-back converter, and the generator is decoupled from the power grid system, so it cannot suppress system frequency changes. High proportion of renewable energy access and high proportion of power electronic device application make the power system present low inertia and weak damping. The frequency stability problem of the new power electronic power system is highlighted, and new energy stations need to be connected to the grid frequency modulation.

[0003] The existing technical solutions for this problem include: the grid-connected point of the wind farm uses a corresponding active control system and installs an independent control device to complete the active-frequency droop control, so that it has the ability to participate in the rapid adjustment of the grid frequency at the grid-connected point. The traditional method generally controls the pitch angle, absorbs and releases wind energy by folding and unfolding the blades, thereby controlling the active power and then responding to the primary frequency modulation. However, in the early stage of wind power development, the unit was not equipped with a pitch actuator, and such units cannot be modified for primary frequency modulation because they cannot control power by pitch. SUMMARY

[0004] The present disclosure aims to at least partially solve one of the technical problems in the related art.

[0005] To this end, a first object of the present disclosure is to provide a method for primary frequency modulation control of a variable-speed wind turbine generator system to solve the problem that wind turbine generators without a pitch actuator cannot respond to frequency modulation power.

[0006] A second object of the present disclosure is to provide a device for primary frequency modulation control of a variable-speed wind turbine generator system.

[0007] A third object of the present disclosure is to provide an electronic device.

[0008] To achieve the above-mentioned objects, a first aspect of the present disclosure provides a method for primary frequency modulation control of a variable-speed wind turbine generator system, comprising:

[0009] detecting a grid frequency to obtain an active power corresponding to the grid frequency;

[0010] detecting a wind speed and a rotor speed of the wind turbine generator, and obtaining a rotor radius, an air density and a gearbox speed ratio, and then obtaining a wind energy absorption coefficient, an optimal gain of the wind turbine generator and a maximum power corresponding to the wind speed;

[0011] obtain a frequency modulation gain based on the active power, the maximum power and the optimal gain;

[0012] obtain a frequency modulation torque instruction based on the frequency modulation gain, and perform primary frequency modulation on the variable speed wind turbine generator set based on the frequency modulation torque instruction.

[0013] In an embodiment of the present disclosure, the active power corresponding to the grid frequency is obtained by interpolation.

[0014] In an embodiment of the present disclosure, the interpolation method is one of linear interpolation, spline interpolation and direct table lookup.

[0015] In an embodiment of the present disclosure, the wind speed and the impeller speed of the wind turbine generator set are detected, and the impeller radius, air density and gear box speed ratio are obtained, and then the wind energy absorption coefficient, the optimal gain of the wind turbine generator set and the maximum power corresponding to the wind speed are obtained, including: detecting the wind speed and the impeller speed of the wind turbine generator set, and obtaining the impeller radius, air density and gear box speed ratio; obtaining a tip speed ratio based on the wind speed, the impeller speed and the impeller radius; obtaining the wind energy absorption coefficient, the optimal gain of the wind turbine generator set and the maximum power corresponding to the wind speed based on the tip speed ratio, the air density, the impeller radius, the gear box speed ratio and the impeller speed.

[0016] In an embodiment of the present disclosure, the wind energy absorption coefficient, the optimal gain of the wind turbine generator set and the maximum power corresponding to the wind speed are obtained based on the tip speed ratio, the air density, the impeller radius, the gear box speed ratio and the impeller speed, including: obtaining the wind energy absorption coefficient corresponding to the wind speed based on the tip speed ratio; obtaining the optimal gain of the wind turbine generator set based on the air density, the impeller radius, the wind energy absorption coefficient, the tip speed ratio and the gear box speed ratio; obtaining the maximum power corresponding to the wind speed based on the optimal gain and the impeller speed.

[0017] In an embodiment of the present disclosure, the frequency modulation gain is obtained based on the active power, the maximum power and the optimal gain, including: obtaining a frequency modulation coefficient based on the active power and the maximum power; and obtaining the frequency modulation gain based on the frequency modulation coefficient and the optimal gain.

[0018] To achieve the above object, a second aspect of the present disclosure provides a device for primary frequency modulation control of a variable speed wind turbine generator set, comprising:

[0019] An active power obtaining module is configured to detect a grid frequency and obtain an active power corresponding to the grid frequency.

[0020] The first calculation module is configured to detect a wind speed and a rotor speed of the wind turbine generator set, and obtain a rotor radius, an air density and a gearbox speed ratio, and further obtain a wind energy absorption coefficient, an optimal gain of the wind turbine generator set and a maximum power corresponding to the wind speed.

[0021] The second calculation module is configured to obtain a frequency modulation gain based on the active power, the maximum power and the optimal gain.

[0022] The instruction generation module is configured to obtain a frequency modulation torque instruction based on the frequency modulation gain, and perform primary frequency modulation on the variable-speed wind turbine generator set based on the frequency modulation torque instruction.

[0023] In an embodiment of the present disclosure, the active power obtaining module, when obtaining the active power corresponding to the grid frequency, is specifically configured to obtain the active power corresponding to the grid frequency by interpolation.

[0024] In an embodiment of the present disclosure, the second calculation module is specifically configured to obtain a frequency modulation coefficient based on the active power and the maximum power, and obtain the frequency modulation gain based on the frequency modulation coefficient and the optimal gain.

[0025] To achieve the above object, a third aspect of the present disclosure provides an electronic device, comprising: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method for primary frequency modulation control of the variable-speed wind turbine generator set according to the first aspect of the present disclosure.

[0026] In one or more embodiments of the present disclosure, the grid frequency is detected, and the active power corresponding to the grid frequency is obtained; the wind speed and the rotor speed of the wind turbine generator set are detected, and the rotor radius, the air density and the gearbox speed ratio are obtained, and further the wind energy absorption coefficient, the optimal gain of the wind turbine generator set and the maximum power corresponding to the wind speed are obtained; the frequency modulation gain is obtained based on the active power, the maximum power and the optimal gain; the frequency modulation torque instruction is obtained based on the frequency modulation gain, and the primary frequency modulation is performed on the variable-speed wind turbine generator set based on the frequency modulation torque instruction. In this case, the wind energy absorption coefficient and the frequency modulation torque instruction are obtained by using the grid frequency, the active power, the wind speed, the rotor speed of the wind turbine generator set, the gearbox speed ratio, the rotor radius and the air density, and the primary frequency modulation is performed by using the frequency modulation torque instruction, thereby improving the frequency modulation accuracy of the wind turbine generator set without a variable-pitch actuator and solving the problem that the wind turbine generator set without a variable-pitch actuator cannot respond to the frequency modulation power.

[0027] Additional aspects and advantages of the present disclosure will be in part apparent and in part pointed out hereinafter. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the specific embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. The above and / or additional aspects and advantages of this disclosure will become apparent and readily understood from the following description of the embodiments in conjunction with the accompanying drawings, wherein:

[0029] Figure 1 A flowchart illustrating a method for primary frequency regulation control of a variable-speed wind turbine generator set provided in an embodiment of this disclosure;

[0030] Figure 2 A flowchart illustrating another method for primary frequency regulation control of a variable-speed wind turbine generator set provided in this embodiment of the present disclosure;

[0031] Figure 3 A flowchart illustrating the method for obtaining optimal gain and maximum power provided in this embodiment of the disclosure;

[0032] Figure 4 A block diagram of a device for primary frequency regulation control of a variable speed wind turbine generator set provided in an embodiment of this disclosure;

[0033] Figure 5 This is a block diagram of an electronic device used to implement the method for primary frequency regulation control of a variable-speed wind turbine generator set according to embodiments of the present disclosure. Detailed Implementation

[0034] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this disclosure as detailed in the appended claims.

[0035] In the description of the present disclosure, the description referring to the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. The illustrative representations of the above terms in the present description are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in one or more embodiments or examples. In addition, different embodiments or examples described in the present description and features of different embodiments or examples can be combined and combined by those skilled in the art without contradiction.

[0036] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present disclosure, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified. It should also be understood that the term "and / or" used in the present disclosure means and includes any or all possible combinations of one or more associated listed items.

[0037] The embodiments of the present disclosure are described in detail below, examples of which are shown in the accompanying drawings, in which the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the accompanying drawings are exemplary and are intended to explain the present disclosure, and cannot be understood as a limitation of the present disclosure.

[0038] The present disclosure provides a method and device for primary frequency modulation control of a variable-speed wind turbine generator set, mainly aiming to solve the problem that the wind turbine generator set without a variable pitch actuator cannot respond to frequency modulation power.

[0039] In the first embodiment, Figure 1 A flowchart of a method for primary frequency modulation control of a variable-speed wind turbine generator set is provided by the embodiments of the present disclosure. As Figure 1 shown, the method for primary frequency modulation control of a variable-speed wind turbine generator set includes the following steps:

[0040] Step S11, detecting the grid frequency to obtain the active power corresponding to the grid frequency.

[0041] In step S11, the detected grid frequency can be represented by the symbol F. The active power corresponding to the grid frequency can be represented by the symbol Pper. The active power Pper corresponding to the grid frequency is the active power Pper that needs to be modulated corresponding to the detected grid frequency F.

[0042] In step S11, the active power corresponding to the grid frequency is obtained, including: obtaining the active power corresponding to the grid frequency by interpolation.

[0043] In this embodiment, the interpolation method is one of linear interpolation, spline interpolation and direct table lookup. However, the interpolation method of the embodiments of the present disclosure is not limited thereto.

[0044] Specifically, taking linear interpolation as an example, the method for obtaining the active power corresponding to the grid frequency includes: obtaining a set grid frequency, a first frequency less than the set grid frequency and a second frequency greater than the set grid frequency, wherein the detected grid frequency is greater than the first frequency and less than the second frequency; obtaining the active power that needs to be primary frequency-regulated corresponding to the set grid frequency, the first frequency and the second frequency; obtaining the active power corresponding to the grid frequency based on the active power that needs to be primary frequency-regulated corresponding to the set grid frequency, the first frequency and the second frequency and the detected grid frequency. Wherein the set grid frequency is 50 Hz, the first frequency is for example 49.5 Hz and the second frequency is for example 50.5 Hz, Pper49.5, Pper50 and Pper50.5 represent the active power that needs to be primary frequency-regulated when the frequency is 49.5 Hz, 50 Hz and 50.5 Hz respectively, when 49.5 Hz < F < 50 Hz, Pper = ((50-F)*Pper49.5+(F-49.5)*Pper50) / (50-49.5); when 50 Hz < F < 50.5 Hz, Pper = ((50.5-F)*Pper50+(F-50)*Pper50.5) / (50.5-50).

[0045] Figure 2 Another flowchart of the method for primary frequency-regulation control of a variable speed wind turbine generator set provided by the embodiments of the present disclosure is shown. In some other embodiments, as shown in FIG. 6, before step S11 is performed, the function flag Fenable in the current detection cycle can be detected first, if it is 1, it means that the control function is turned on, i.e. step S11 can be entered to detect the grid frequency, if it is not 1, the logic ends. Figure 2

[0046] In some other embodiments, as shown in FIG. 7, before step S11 is performed, the function flag Fenable in the current detection cycle can be detected first, if it is 1, it means that the control function is turned on, i.e. step S11 can be entered to detect the grid frequency, if it is not 1, the logic ends. Figure 2 ​As shown, before the active power corresponding to the grid frequency in the obtaining step S11 is obtained, the grid frequency variation can also be calculated, and it is judged whether the grid frequency variation is greater than the dead zone. If the detected grid frequency F is less than the dead zone, the logic ends, and it is not necessary to perform a frequency modulation. The grid frequency variation can be denoted by a symbol f_dis. The dead zone can be denoted by a symbol deadband. The dead zone can generally be set to 0.05 Hz, that is, the frequency range corresponding to the dead zone deadband is 50 Hz ± 0.05 Hz. The dead zone deadband adopts a fixed dead zone mode, but the embodiments of the present disclosure are not limited to this mode, for example, a variable dead zone mode can also be adopted.

[0047] In step S11, the detection of the grid frequency can be performed in a set detection period.

[0048] In step S12, the wind speed and the impeller speed of the wind turbine generator set are detected, and the impeller radius, air density and gearbox speed ratio are obtained, and then the wind energy absorption coefficient, the optimal gain of the wind turbine generator set and the maximum power corresponding to the wind speed are obtained.

[0049] Figure 3 The flowchart of the method for obtaining the optimal gain and the maximum power provided by the embodiments of the present disclosure is shown. In some embodiments, in step S12, the wind speed and the impeller speed of the wind turbine generator set are detected, and the impeller radius, air density and gearbox speed ratio are obtained, and then the wind energy absorption coefficient, the optimal gain of the wind turbine generator set and the maximum power corresponding to the wind speed are obtained, as shown in Figure 3 As shown, specifically, the wind speed and the impeller speed of the wind turbine generator set are detected, and the impeller radius, air density and gearbox speed ratio are obtained (step S121); the tip speed ratio is obtained based on the wind speed, the impeller speed and the impeller radius (step S122); the wind energy absorption coefficient, the optimal gain of the wind turbine generator set and the maximum power corresponding to the wind speed are obtained based on the tip speed ratio, the air density, the impeller radius, the gearbox speed ratio and the impeller speed (step S123).

[0050] In step S122, the detected wind speed can be denoted by a symbol w, the impeller speed of the wind turbine generator set can be denoted by a symbol omega, the impeller radius can be denoted by a symbol R, and the tip speed ratio can be denoted by a symbol lamda. The tip speed ratio lamda satisfies: lamda = omega * R / w.

[0051] In some embodiments, the wind energy absorption coefficient, the optimal gain of the wind turbine generator set and the maximum power corresponding to the wind speed are obtained based on the tip speed ratio, the air density, the impeller radius, the gearbox speed ratio and the impeller rotating speed in step S123, specifically comprising: obtaining the wind energy absorption coefficient corresponding to the wind speed based on the tip speed ratio; obtaining the optimal gain of the wind turbine generator set based on the air density, the impeller radius, the wind energy absorption coefficient, the tip speed ratio and the gearbox speed ratio; and obtaining the maximum power corresponding to the wind speed based on the optimal gain and the impeller rotating speed.

[0052] In step S123, the wind energy absorption coefficient can be denoted by symbol CPmax, which is a function of the tip speed ratio lamda. At a specified wind speed and a specific impeller rotating speed of the wind turbine generator set, the wind energy absorption coefficient is obtained based on the tip speed ratio at which the maximum power can be emitted. Therefore, the wind energy absorption coefficient CPmax in step S123 is obtained corresponding to the tip speed ratio lamda at which the maximum power can be emitted at the detected wind speed w and at the specific impeller rotating speed omega of the wind turbine generator set.

[0053] In step S123, the optimal gain of the wind turbine generator set is obtained based on the air density, the impeller radius, the wind energy absorption coefficient, the tip speed ratio and the gearbox speed ratio, wherein the optimal gain of the wind turbine generator set satisfies:

[0054] Kopt = rou * pi * R * R * R * R * R * CPmax / (2 * lamda * lamda * lamda * G * G * G)

[0055] In the formula, Kopt represents the optimal gain of the wind turbine generator set, rou represents the air density, pi represents a constant, and G represents the gearbox speed ratio.

[0056] In step S123, the maximum power corresponding to the wind speed is obtained based on the optimal gain and the detected impeller rotating speed of the wind turbine generator set, wherein the maximum power satisfies:

[0057] Pmax = Kopt * omega * omega * omega

[0058] In the formula, Pmax represents the maximum power corresponding to the wind speed. The maximum power corresponding to the wind speed is the maximum active power that can be emitted by the wind turbine generator set at the corresponding impeller rotating speed at the detected wind speed.

[0059] In step S13, the frequency modulation gain is obtained based on the active power, the maximum power and the optimal gain.

[0060] In step S13, the frequency modulation gain is obtained based on the active power, the maximum power and the optimal gain, comprising: obtaining a frequency modulation coefficient based on the active power and the maximum power; and obtaining the frequency modulation gain based on the frequency modulation coefficient and the optimal gain.

[0061] Specifically, such as Figure 2 As shown, the frequency regulation coefficient is obtained by dividing the active power Pper corresponding to the grid frequency by the maximum power Pmax corresponding to the wind speed. That is, the frequency regulation coefficient satisfies: K = Pper / Pmax, where K represents the frequency regulation coefficient; the frequency regulation coefficient K is multiplied by the optimal gain Kopt of the wind turbine generator to obtain the frequency regulation gain. That is, the frequency regulation gain satisfies: Koptper = K*Kopt, where Koptper represents the frequency regulation gain.

[0062] In step S13, the frequency modulation gain is obtained by multiplying the optimal gain Kopt related to the wind energy absorption coefficient by the frequency modulation coefficient. However, the embodiments of this disclosure are not limited to this method. For example, the frequency modulation gain can also be obtained by increasing or decreasing the wind energy absorption coefficient.

[0063] In steps S12 and S13, the optimal gain Kopt and frequency regulation gain Koptper of the wind turbine generator set are calculated by using a fixed value calculated by formula. However, the embodiments of this disclosure are not limited to this method. For example, the optimal gain Kopt and frequency regulation gain Koptper of the wind turbine generator set can also be calculated by dynamically calculating the air density.

[0064] Step S14: Obtain the frequency modulation torque command based on the frequency modulation gain, and perform a first frequency modulation on the variable speed wind turbine generator set based on the frequency modulation torque command.

[0065] In step S14, the frequency modulation torque command is obtained based on the frequency modulation gain, and the frequency modulation torque command Qref satisfies:

[0066] Qref = Koptper * omega * omega.

[0067] In this case, the frequency regulation gain is obtained by using the wind energy absorption coefficient, and then the frequency regulation torque command is obtained. In the process of obtaining the frequency regulation torque command, the maximum wind energy absorption coefficient in the traditional method is used as the standard, and it is multiplied by a coefficient to reserve some power. The frequency regulation torque command is used to control the wind energy absorption coefficient of the associated power grid frequency change, thereby controlling the active power and completing a frequency regulation response.

[0068] In step S14, the frequency modulation torque command Qref can be passed to the converter actuator for active power execution (see...). Figure 2 This method allows for primary frequency regulation of the variable-speed wind turbine generator set. However, the embodiments of this disclosure are not limited to this method; the variable-speed wind turbine generator set can also be frequency regulated by calculating the frequency regulation active power command and sending it to the power control system.

[0069] In step S14, the frequency-regulation active power control can be performed on the individual wind turbine generator set, and the wind farm-level control can also be used. When the wind farm-level control is used, the frequency-regulation torque or active power instruction of each wind turbine generator set in the entire wind farm needs to be calculated and delivered to the individual wind turbine generator set through the energy management platform or other means for execution of the frequency-regulation torque or active power instruction.

[0070] In the method for primary frequency regulation control of the variable-speed wind turbine generator set in the embodiments of the present disclosure, the grid frequency is detected, and the active power corresponding to the grid frequency is obtained; the wind speed and the impeller speed of the wind turbine generator set are detected, and the impeller radius, air density and gearbox speed ratio are obtained, and then the wind energy absorption coefficient, the optimal gain of the wind turbine generator set and the maximum power corresponding to the wind speed are obtained; the frequency-regulation gain is obtained based on the active power, the maximum power and the optimal gain; the frequency-regulation torque instruction is obtained based on the frequency-regulation gain, and the variable-speed wind turbine generator set is subjected to primary frequency regulation based on the frequency-regulation torque instruction. In this case, the grid frequency, the active power, the wind speed, the impeller speed of the wind turbine generator set, the gearbox speed ratio, the impeller radius and the air density are used to obtain the wind energy absorption coefficient and the frequency-regulation torque instruction, and the primary frequency regulation is performed by using the frequency-regulation torque instruction, thereby improving the frequency-regulation accuracy of the wind turbine generator set without a pitch actuator and solving the problem that the wind turbine generator set without a pitch actuator cannot respond to the frequency-regulation power. In addition, the method of the present disclosure uses the wind turbine generator set to reserve the frequency-regulation active power in a manner that is not in accordance with the optimal speed-torque operating curve, rather than absorbing and releasing wind energy through pitch action to reserve the active power. The method innovatively links the grid frequency variation (i.e., frequency regulation) to the wind energy absorption coefficient during the primary frequency regulation response process, controls the wind energy absorption coefficient of the wind turbine generator set through the grid frequency variation, maximally considers the problem that some old wind turbine generators cannot complete the primary frequency regulation response due to the inability to absorb and release wind energy through pitch action, and improves the grid-connection friendliness of the old wind turbine generators in the grid frequency fluctuation condition. The active power of the wind turbine generator set can be controlled without pitch action, and then the primary frequency regulation response is completed. The method of the present disclosure directly links the wind energy absorption coefficient of the wind turbine generator set to the grid frequency variation, thereby overcoming the problem in the traditional method that the wind turbine generator set can only absorb and release wind energy through pitch action, fully considering the actual needs of the old wind turbine generators without a pitch actuator, and solving the problem that the old wind turbine generators cannot adjust the active power in the grid frequency variation condition.

[0071] The following is an embodiment of the device of the present disclosure, which can be used to execute the method embodiments of the present disclosure. For details not disclosed in the device embodiments of the present disclosure, please refer to the method embodiments of the present disclosure.

[0072] Please refer to Figure 4 , Figure 4A block diagram of a device for primary frequency modulation control of a variable-speed wind turbine generator set is provided in embodiments of the present disclosure. The device 10 for primary frequency modulation control of the variable-speed wind turbine generator set comprises an active power obtaining module 11, a first calculation module 12, a second calculation module 13 and an instruction generating module 14, wherein:

[0073] The active power obtaining module 11 is configured to detect a grid frequency and obtain active power corresponding to the grid frequency.

[0074] The first calculation module 12 is configured to detect a wind speed and a rotor speed of the wind turbine generator set, and obtain a rotor radius, an air density and a gearbox speed ratio, and further obtain a wind energy absorption coefficient, an optimal gain of the wind turbine generator set and maximum power corresponding to the wind speed.

[0075] The second calculation module 13 is configured to obtain a frequency modulation gain based on the active power, the maximum power and the optimal gain.

[0076] The instruction generating module 14 is configured to obtain a frequency modulation torque instruction based on the frequency modulation gain, and perform primary frequency modulation on the variable-speed wind turbine generator set based on the frequency modulation torque instruction.

[0077] Optionally, when obtaining the active power corresponding to the grid frequency, the active power obtaining module 11 is specifically configured to obtain the active power corresponding to the grid frequency by an interpolation method.

[0078] Optionally, the interpolation method is one of a linear interpolation, a spline interpolation and a direct table lookup method.

[0079] Optionally, the first calculation module 12 is specifically configured to detect the wind speed and the rotor speed of the wind turbine generator set, and obtain the rotor radius, the air density and the gearbox speed ratio; obtain a tip speed ratio based on the wind speed, the rotor speed and the rotor radius; and obtain the wind energy absorption coefficient, the optimal gain of the wind turbine generator set and the maximum power corresponding to the wind speed based on the tip speed ratio, the air density, the rotor radius, the gearbox speed ratio and the rotor speed.

[0080] Optionally, the first calculation module 12 is specifically configured to obtain the wind energy absorption coefficient, the optimal gain of the wind turbine generator set and the maximum power corresponding to the wind speed based on the tip speed ratio, the air density, the rotor radius, the gearbox speed ratio and the rotor speed, including: obtaining the wind energy absorption coefficient corresponding to the wind speed based on the tip speed ratio; obtaining the optimal gain of the wind turbine generator set based on the air density, the rotor radius, the wind energy absorption coefficient, the tip speed ratio and the gearbox speed ratio; and obtaining the maximum power corresponding to the wind speed based on the optimal gain and the rotor speed.

[0081] Optionally, the second calculation module 13 is specifically configured to obtain a frequency modulation coefficient based on the active power and the maximum power; and obtain the frequency modulation gain based on the frequency modulation coefficient and the optimal gain.

[0082] It should be noted that the foregoing description of the method embodiment of the primary frequency modulation control of the variable-speed wind turbine generator set also applies to the device embodiment of the primary frequency modulation control of the variable-speed wind turbine generator set, which will not be described here.

[0083] In the device embodiment of the primary frequency modulation control of the variable-speed wind turbine generator set, the active power obtaining module detects the grid frequency and obtains the active power corresponding to the grid frequency; the first calculation module detects the wind speed and the impeller speed of the wind turbine generator set, and obtains the impeller radius, air density and gearbox speed ratio, and then obtains the wind energy absorption coefficient, the optimal gain of the wind turbine generator set and the maximum power corresponding to the wind speed; the second calculation module obtains the frequency modulation gain based on the active power, the maximum power and the optimal gain; the instruction generation module obtains the frequency modulation torque instruction based on the frequency modulation gain, and performs primary frequency modulation on the variable-speed wind turbine generator set based on the frequency modulation torque instruction. In this case, the wind energy absorption coefficient and the frequency modulation torque instruction are obtained by using the grid frequency, the active power, the wind speed, the impeller speed of the wind turbine generator set, the gearbox speed ratio, the impeller radius and the air density, and the primary frequency modulation is performed by using the frequency modulation torque instruction, thereby improving the frequency modulation accuracy of the wind turbine generator set without a variable pitch actuator and solving the problem that the wind turbine generator set without a variable pitch actuator cannot respond to the frequency modulation power. In addition, the device of the present disclosure uses a method of reserving the frequency modulation active power in a manner that the wind turbine generator set does not operate according to the optimal speed-torque operating curve, rather than absorbing and releasing wind energy through variable pitch action to reserve active power. The device innovatively associates the grid frequency change (i.e. frequency modulation) with the wind energy absorption coefficient during the primary frequency modulation response process, controls the wind energy absorption coefficient of the wind turbine generator set through the grid frequency change, maximally considers the problem that some old wind turbine generators cannot complete the primary frequency modulation response due to the inability to absorb and release wind energy through variable pitch action, and improves the grid-friendly nature of the old wind turbine generators under the grid frequency fluctuation condition. The active power of the wind turbine generator set can be controlled without variable pitch, and the primary frequency modulation response can be completed. The device of the present disclosure directly associates the wind energy absorption coefficient of the wind turbine generator set with the grid frequency change, which overcomes the problem in the traditional method that the wind turbine generator set can only absorb and release wind energy through variable pitch action, thereby fully considering the actual needs of the old wind turbine generators without a variable pitch actuator and solving the problem of active power regulation of the old wind turbine generators under the grid frequency fluctuation condition.

[0084] According to the embodiments of the present disclosure, the present disclosure further provides an electronic device, a readable storage medium and a computer program product.

[0085] Figure 5is a block diagram of an electronic device that implements a method for primary frequency modulation control of a variable speed wind turbine generator system according to embodiments of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices such as personal digital assistants, cellular telephones, smart phones, wearable electronic devices, and other similar computing devices. The components shown in the figures, connections and relationships between components, and the functions performed by the components are for illustration only and are not intended to limit the implementation described in and / or claimed by this disclosure.

[0086] As shown in Figure 5 The electronic device 20 includes a computing unit 21 that can perform various appropriate actions and processes in accordance with a computer program stored in a read-only memory (ROM) 22 or a computer program loaded from a storage unit 28 into a random access memory (RAM) 23. Various programs and data required for the operation of the electronic device 20 can also be stored in the RAM 23. The computing unit 21, the ROM 22, and the RAM 23 are connected to each other through a bus 24. An input / output (I / O) interface 25 is also connected to the bus 24.

[0087] Various components in the electronic device 20 are connected to the I / O interface 25, including an input unit 26, such as a keyboard, a mouse, and the like; an output unit 27, such as various types of displays, speakers, and the like; the storage unit 28, such as a magnetic disk, an optical disk, and the like, which is communicatively connected to the computing unit 21; and a communication unit 29, such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 29 allows the electronic device 20 to exchange information / data with other electronic devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0088] The computing unit 21 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 21 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 21 performs various methods and processes described above, such as the method of performing primary frequency regulation control of a variable speed wind turbine. For example, in some embodiments, the method of performing primary frequency regulation control of a variable speed wind turbine can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 28. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 20 via the ROM 22 and / or the communication unit 29. When the computer program is loaded onto the RAM 23 and executed by the computing unit 21, one or more steps of the method of performing primary frequency regulation control of a variable speed wind turbine described above can be performed. Alternatively, in other embodiments, the computing unit 21 can be configured to perform the method of performing primary frequency regulation control of a variable speed wind turbine by any other suitable means, such as by means of firmware.

[0089] Various implementations of the systems and techniques described above in this disclosure can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic electronic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0090] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces the functions / operations specified in the flowcharts and / or the block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0091] In this disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or electronic device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or electronic device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium would include a lined- up electrical connection, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0092] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0093] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), the Internet, and a blockchain network.

[0094] The computer system can include clients and servers. This relationship can be. remote, where each server is stored on a remote computer from a client. The clients and the servers can be connected through a communication network. The relationship can be a client-server relationship over a network. Servers can be cloud servers, also known as cloud computing servers or cloud hosts, which are a host product in the cloud computing service system. The servers can be servers of a distributed system, or servers combined with a blockchain.

[0095] It should be understood that the various forms of flow shown above can be reordered, steps added or removed. For example, the steps described in the present disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.

[0096] The above detailed description does not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for primary frequency regulation control of a variable-speed wind turbine generator set, characterized in that, include: Detect the power grid frequency and obtain the active power corresponding to the power grid frequency; The wind speed and the rotor speed of the wind turbine are detected, and the rotor radius, air density and gearbox speed ratio are obtained, thereby obtaining the wind energy absorption coefficient, the optimal gain of the wind turbine and the maximum power corresponding to the wind speed. The frequency modulation coefficient is obtained based on the active power and the maximum power; The frequency modulation gain is obtained based on the frequency modulation coefficient and the optimal gain; Based on the frequency modulation gain, a frequency modulation torque command is obtained, and the variable speed wind turbine generator set is frequency-modulated once based on the frequency modulation torque command.

2. The method for primary frequency regulation control of a variable-speed wind turbine generator set according to claim 1, characterized in that, Obtaining the active power corresponding to the grid frequency includes: obtaining the active power corresponding to the grid frequency through interpolation.

3. The method for primary frequency regulation control of a variable-speed wind turbine generator set according to claim 2, characterized in that, The interpolation method used is one of linear interpolation, spline interpolation, or direct table lookup.

4. The method for primary frequency regulation control of a variable-speed wind turbine generator set according to claim 1, characterized in that, The process involves detecting wind speed and the rotor speed of the wind turbine, obtaining the rotor radius, air density, and gearbox ratio, and then determining the wind energy absorption coefficient, the optimal gain of the wind turbine, and the maximum power corresponding to the wind speed. This includes: Detect wind speed and the rotor speed of the wind turbine generator set, and obtain rotor radius, air density and gearbox speed ratio; The tip speed ratio is obtained based on the wind speed, the impeller rotation speed, and the impeller radius; Based on the tip speed ratio, air density, impeller radius, gearbox speed ratio, and impeller rotation speed, the wind energy absorption coefficient, the optimal gain of the wind turbine generator set, and the maximum power corresponding to the wind speed are obtained.

5. The method for primary frequency regulation control of a variable-speed wind turbine generator set according to claim 4, characterized in that, The method of obtaining the wind energy absorption coefficient, the optimal gain of the wind turbine generator set, and the maximum power corresponding to the wind speed based on the tip speed ratio, the air density, the impeller radius, the gearbox speed ratio, and the impeller rotation speed includes: The wind energy absorption coefficient corresponding to the wind speed is obtained based on the blade tip speed ratio; The optimal gain of the wind turbine generator set is obtained based on the air density, the impeller radius, the wind energy absorption coefficient, the tip speed ratio, and the gearbox speed ratio. The maximum power corresponding to the wind speed is obtained based on the optimal gain and the impeller speed.

6. A device for primary frequency regulation control of a variable-speed wind turbine generator set, characterized in that, include: An active power acquisition module is used to detect the grid frequency and obtain the active power corresponding to the grid frequency; The first calculation module is used to detect wind speed and the rotor speed of the wind turbine generator set, and obtain the rotor radius, air density and gearbox speed ratio, thereby obtaining the wind energy absorption coefficient, the optimal gain of the wind turbine generator set and the maximum power corresponding to the wind speed. The second calculation module is used to obtain the frequency modulation coefficient based on the active power and the maximum power; and to obtain the frequency modulation gain based on the frequency modulation coefficient and the optimal gain. The instruction generation module is used to obtain a frequency modulation torque instruction based on the frequency modulation gain, and to perform a primary frequency modulation on the variable speed wind turbine generator set based on the frequency modulation torque instruction.

7. The device for primary frequency regulation control of a variable-speed wind turbine generator set according to claim 6, characterized in that, The active power acquisition module, when used to acquire the active power corresponding to the grid frequency, is specifically used for: The active power corresponding to the grid frequency is obtained by interpolation.

8. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method for primary frequency regulation control of a variable-speed wind turbine generator set as described in any one of claims 1-5.

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