Dual-input dual-output damping controller construction method, damping controller and device

Abstract

The present application provides a dual-input dual-output damping controller construction method, damping controller and device, the method includes: based on the state space equation of the power system with wind turbine participation, the transfer function of the bandpass filter and the lead-lag compensation loop, construct a bandpass filter and a lead-lag compensation loop for filtering out the oscillation mode dominated by the wind turbine frequency response controller and the phase-locked loop in the frequency deviation and phase angle deviation of the wind turbine grid connection point when oscillation occurs and compensating the phase angle; according to the lead-lag compensation loop and the gain formula, construct a controller gain for calculating the gain and obtaining the active power compensation and reactive power compensation to be added to the wind turbine side for oscillation suppression. The present application fully considers the influence of the frequency response controller and the phase-locked loop on the system stability when the wind turbine participates in the grid frequency modulation, and can effectively suppress the low-frequency oscillation that may occur in the system when the frequency drops, and can also ensure the operation stability and reliability of the power system when the wind turbine is connected to a weak grid.

Description

Technical Field

[0001] The present application relates to the technical field of low-frequency oscillation suppression, and in particular to a dual-input dual-output damping controller construction method, a damping controller and a device. Background Art

[0002] As wind power generation gradually replaces traditional thermal power units as the main generator set, the inertia constant of the power system has dropped significantly, and the resulting system frequency stability problem needs to be paid attention to. In fact, the inertia constant of the wind turbine rotor is similar to that of the thermal power unit, and it has the ability to support the frequency of the power system. However, since the rotor of the wind turbine is decoupled from the power grid, it cannot respond to the frequency drop problem in the system like a thermal power unit. Therefore, the wind turbine can participate in the grid frequency response by designing an additional frequency response controller.

[0003] The input of the frequency response controller is the grid connection point frequency measured by the wind turbine through the phase-locked loop. When the grid frequency fluctuates, the frequency response controller can participate in the grid frequency regulation by changing the active power of the wind turbine. Studies have found that there is a risk of low-frequency oscillation when wind power measures the grid frequency through the phase-locked loop.

[0004] At present, existing research has suppressed the new low-frequency oscillation introduced by the fan participating in frequency modulation by separately designing a single-input single-output damping controller. The single-input single-output damping controller selects the frequency deviation as input and the useful power used for damping control as output to suppress the low-frequency oscillation. The existing damping controller design ignores the influence of low-frequency oscillation generated by measuring the frequency of the fan grid connection point using a phase-locked loop. Summary of the invention

[0005] In view of this, the embodiments of the present application provide a dual-input dual-output damping controller construction method, a damping controller and a device to eliminate or improve one or more defects existing in the prior art.

[0006] The first aspect of the present application provides a method for constructing a dual-input dual-output damping controller, comprising:

[0007] Based on the state space equation of the power system with wind turbines involved, the transfer functions of the preset bandpass filter and the lead-lag compensation loop are solved respectively to construct a bandpass filter for filtering out the oscillation mode dominated by the wind turbine frequency response controller and the phase-locked loop in the dual input data, and a lead-lag compensation loop for compensating the phase angle of the oscillation mode dominated by the wind turbine frequency response controller and the phase-locked loop in the dual input data, wherein the dual input data includes: the frequency deviation and the phase angle deviation of the wind turbine grid connection point when oscillation occurs;

[0008] Solving a preset gain formula according to the lead-lag compensation loop to construct a controller gain for calculating the gain and obtaining dual output data to be added to the wind turbine side, wherein the dual output data includes: active power compensation for oscillation suppression corresponding to the frequency deviation and reactive power compensation corresponding to the phase angle deviation;

[0009] Based on the bandpass filter, lead-lag compensation loop and controller gain which are arranged in sequence, a dual-input dual-output damping controller for suppressing the frequency response oscillation of the fan is generated.

[0010] In some embodiments of the present application, the state space equation of the power system with wind turbines is based on, respectively solving the transfer functions of the preset bandpass filter and the lead-lag compensation loop to construct a bandpass filter for filtering out the oscillation mode dominated by the wind turbine frequency response controller and the phase-locked loop in the dual input data, and a lead-lag compensation loop for respectively compensating the phase angle of the oscillation mode dominated by the wind turbine frequency response controller and the phase-locked loop in the dual input data, including:

[0011] The grid frequency and phase angle of the wind turbine connection point when oscillation occurs are used as outputs to construct the state space equation of the power system with wind turbines involved.

[0012] Solving the transfer function of a preset band-pass filter based on the state space equation of the power system with the wind turbine involved, so as to construct a band-pass filter for filtering out the oscillation mode dominated by the wind turbine frequency response controller and the phase-locked loop in the dual input data;

[0013] The residues of the oscillation modes dominated by the fan frequency response controller and the phase-locked loop are determined according to the state-space equations, and the time constants corresponding to the fan frequency response controller and the phase-locked loop are determined respectively by using the residues, and the transfer function of the preset lead-lag compensation loop is solved based on the time constants to construct a lead-lag compensation loop for compensating the phase angles of the oscillation modes dominated by the fan frequency response controller and the phase-locked loop in the dual input data respectively.

[0014] In some embodiments of the present application, the grid frequency and phase angle of the wind turbine grid connection point when oscillation occurs are used as outputs to construct the state space equation of the power system in which the wind turbine participates, including:

[0015] Establish a system frequency regulation model corresponding to the power system with wind turbines;

[0016] The active power point and reactive power point corresponding to an operating point on the system frequency regulation model are taken as input, and the grid frequency and phase angle of the wind turbine grid connection point when oscillation occurs are taken as output for linearization processing to obtain the state space equation of the power system.

[0017] In some embodiments of the present application, the state space equation of the power system with wind turbines is used to solve the transfer function of the preset bandpass filter to construct a bandpass filter for filtering out the oscillation mode dominated by the wind turbine frequency response controller and the phase-locked loop in the dual input data, including:

[0018] According to the state space matrix in the state space equation, determining each characteristic root in the power system for reflecting the low-frequency oscillation mode, and obtaining the frequency and damping ratio corresponding to each of the characteristic roots;

[0019] Find the characteristic roots of the low-frequency oscillation modes respectively dominated by the fan frequency response controller and the phase-locked loop from each of the characteristic roots as the target characteristic roots;

[0020] Based on the frequencies and damping ratios corresponding to the target characteristic roots, the transfer functions of the preset bandpass filters are solved respectively to obtain bandpass filters for filtering out the oscillation modes dominated by the fan frequency response controller and the phase-locked loop in the dual input data.

[0021] In some embodiments of the present application, the determining the residues of the oscillation modes dominated by the fan frequency response controller and the phase-locked loop respectively according to the state-space equation, using the residues to respectively determine the time constants corresponding to the fan frequency response controller and the phase-locked loop respectively, and solving the transfer function of the preset lead-lag compensation loop based on the time constant to construct a lead-lag compensation loop for respectively compensating the phase angles of the oscillation modes dominated by the fan frequency response controller and the phase-locked loop respectively in the dual input data, includes:

[0022] Determine the left eigenvector and the right eigenvector corresponding to the target eigenroot according to the input matrix and the direct transfer matrix in the state space matrix;

[0023] Based on the left eigenvector and the right eigenvector, and the input matrix and the output matrix in the state space matrix, respectively determine the residues of the oscillation modes dominated by the wind turbine frequency response controller and the phase-locked loop;

[0024] Determine the corresponding lead-lag phase shift based on the residues of the oscillation modes dominated by the fan frequency response controller and the phase-locked loop, and the preset weight factors of the residues corresponding to the oscillation modes of the fan frequency response controller and the residues corresponding to the oscillation modes of the phase-locked loop;

[0025] Determine the ratio of the first time constant to the second time constant according to the lead-lag link phase shift;

[0026] Based on the ratio of the first time constant to the second time constant and the frequencies of the target characteristic roots respectively corresponding to the fan frequency response controller and the phase-locked loop, respectively determine the first time constant and the second time constant corresponding to the fan frequency response controller, and the first time constant and the second time constant corresponding to the phase-locked loop;

[0027] The first time constant and the second time constant corresponding to the fan frequency response controller and the phase-locked loop are applied respectively to solve the transfer functions of the preset lead-lag compensation loop, so as to obtain the lead-lag compensation loop for compensating the phase angles of the oscillation modes dominated by the fan frequency response controller and the phase-locked loop in the dual input data respectively.

[0028] In some embodiments of the present application, solving a preset gain formula according to the lead-lag compensation loop to construct a controller gain for calculating the gain and obtaining dual output data to be added to the wind turbine side includes:

[0029] According to preset data of the minimum damping ratio requirement of the power system for low-frequency oscillation, determining an ideal characteristic root position that meets the damping ratio requirement;

[0030] Based on the ideal characteristic root position, the target characteristic root, the lead-lag compensation loop, the residues of the oscillation modes dominated by the wind turbine frequency response controller and the phase-locked loop, and the preset weight factors of the residues corresponding to the oscillation modes of the wind turbine frequency response controller and the preset weight factors of the residues corresponding to the oscillation modes of the phase-locked loop, a preset gain formula is solved to construct a controller gain for calculating the gain and outputting the active power compensation and reactive power compensation to be added to the wind turbine side for oscillation suppression.

[0031] A second aspect of the present application provides a dual-input dual-output damping controller, comprising: a bandpass filter, a lead-lag compensation loop, and a controller gain connected in sequence;

[0032] The bandpass filter is used to filter out the oscillation mode dominated by the wind turbine frequency response controller and the phase-locked loop in the dual input data based on the corresponding transfer function, wherein the dual input data includes: the frequency deviation and the phase angle deviation of the wind turbine grid connection point when the oscillation occurs;

[0033] The lead-lag compensation loop is used to compensate the phase angles of the oscillation modes respectively dominated by the fan frequency response controller and the phase-locked loop in the dual input data based on the corresponding transfer functions;

[0034] The controller gain is used to calculate the gain based on the gain formula and obtain the dual output data to be added to the wind turbine side, wherein the dual output data includes: the active power compensation for oscillation suppression corresponding to the frequency deviation and the reactive power compensation corresponding to the phase angle deviation.

[0035] The third aspect of the present application provides a dual-input dual-output damping controller construction device, comprising:

[0036] The first construction module is used to solve the transfer functions of the preset bandpass filter and the lead-lag compensation loop respectively based on the state space equation of the power system with the wind turbine involved, so as to construct a bandpass filter for filtering out the oscillation mode dominated by the wind turbine frequency response controller and the phase-locked loop in the dual input data, and a lead-lag compensation loop for compensating the phase angle of the oscillation mode dominated by the wind turbine frequency response controller and the phase-locked loop in the dual input data, wherein the dual input data includes: the frequency deviation and the phase angle deviation of the wind turbine grid connection point when the oscillation occurs;

[0037] A second construction module is used to solve a preset gain formula according to the lead-lag compensation loop to construct a controller gain for calculating the gain and obtaining dual output data to be added to the wind turbine side, wherein the dual output data includes: active power compensation for oscillation suppression corresponding to the frequency deviation and reactive power compensation corresponding to the phase angle deviation;

[0038] The controller generation module is used to generate a dual-input dual-output damping controller for suppressing the frequency response oscillation of the fan based on the bandpass filter, lead-lag compensation loop and controller gain arranged in sequence.

[0039] The fourth aspect of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the dual-input dual-output damping controller construction method when executing the computer program.

[0040] The fifth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the dual-input dual-output damping controller construction method when executed by a processor.

[0041] The dual-input dual-output damping controller construction method provided in the present application solves the transfer functions of the preset bandpass filter and the lead-lag compensation loop respectively based on the state space equation of the power system with the participation of the wind turbine, so as to construct a bandpass filter for filtering out the oscillation mode dominated by the wind turbine frequency response controller and the phase-locked loop in the dual-input data, and a lead-lag compensation loop for compensating the phase angle of the oscillation mode dominated by the wind turbine frequency response controller and the phase-locked loop in the dual-input data, wherein the dual-input data includes: the frequency deviation and phase of the wind turbine grid-connected point when the oscillation occurs; angle deviation; solving a preset gain formula according to the lead-lag compensation loop to construct a controller gain for calculating the gain and obtaining the dual output data to be added to the wind turbine side, wherein the dual output data include: active power compensation for oscillation suppression corresponding to the frequency deviation and reactive power compensation corresponding to the phase angle deviation; fully considering the influence of the frequency response controller and the phase-locked loop on the system stability when the wind turbine participates in the grid frequency modulation, it can effectively suppress the low-frequency oscillation that may occur in the system when the frequency drops, and can also ensure the operation stability and reliability of the power system when the wind turbine is connected to a weak grid.

[0042] Additional advantages, purposes, and features of the present application will be partially described in the following description, and will become partially apparent to those skilled in the art after studying the following, or may be learned from the practice of the present application. The purposes and other advantages of the present application can be achieved and obtained by the structures specifically pointed out in the specification and the drawings.

[0043] Those skilled in the art will understand that the purposes and advantages that can be achieved by the present application are not limited to the above specific description, and the above and other purposes that can be achieved by the present application will be more clearly understood based on the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 This is a first flow chart of a method for constructing a dual-input dual-output damping controller in an embodiment of the present application.

[0046] Figure 2 It is a structural diagram of a dual-input dual-output damping controller in another embodiment of the present application.

[0047] Figure 3This is a second flow chart of a method for constructing a dual-input dual-output damping controller in an embodiment of the present application.

[0048] Figure 4 This is a third flow chart of a method for constructing a dual-input dual-output damping controller in an embodiment of the present application.

[0049] Figure 5 It is a schematic diagram of the operation logic of a dual-input dual-output damping controller in another embodiment of the present application.

[0050] Figure 6 This is a schematic structural diagram of a device for constructing a dual-input dual-output damping controller in another embodiment of the present application.

[0051] Figure 7 This is a flow chart of a method for constructing a dual-input dual-output damping controller provided in an application example of this application. DETAILED DESCRIPTION

[0052] The technical solution of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0053] It should also be noted here that in order to avoid obscuring the present application due to unnecessary details, only the structures and / or processing steps closely related to the scheme according to the present application are shown in the accompanying drawings, while other details that are not very relevant to the present application are omitted.

[0054] It should be emphasized that the term “include / comprises” when used herein refers to the presence of features, elements, steps or components, but does not exclude the presence or addition of one or more other features, elements, steps or components.

[0055] It should also be noted that, unless otherwise specified, the term “connection” herein may refer not only to a direct connection but also to an indirect connection with an intermediate.

[0056] Hereinafter, embodiments of the present application will be described with reference to the accompanying drawings. In the accompanying drawings, the same reference numerals represent the same or similar components, or the same or similar steps.

[0057] The existing research suppresses the new low-frequency oscillation introduced by the wind turbine participating in frequency modulation by separately designing a single-input single-output damping controller. The single-input single-output damping controller selects the frequency deviation as input and the useful power used for damping control as output to suppress the low-frequency oscillation. The existing damping controller design ignores the impact of low-frequency oscillation generated by using a phase-locked loop to measure the frequency of the wind turbine grid connection point. In the case of a weak power grid, the impact of the phase-locked loop on the stability of the system when the wind turbine participates in the grid frequency modulation cannot be ignored.

[0058] Therefore, in order to solve the problem that the existing damping controller design ignores the influence of low-frequency oscillation produced by using a phase-locked loop to measure the frequency of the wind turbine grid-connected point, this application proposes a dual-input dual-output wind turbine frequency response oscillation suppression method, specifically, a dual-input dual-output damping controller is constructed by a dual-input dual-output damping controller construction method, so as to suppress the frequency response oscillation of the wind turbine based on the dual-input dual-output damping controller. Specifically, the frequency deviation and phase angle deviation of the wind turbine grid-connected point are selected as the controller input, and the output is respectively added to the active and reactive control loops of the fan side outer loop controller. The controller can fully consider the influence of the frequency response controller and the phase-locked loop on the system stability when the wind turbine participates in the grid frequency modulation, and the low-frequency oscillation that may occur when the frequency drops, to ensure that the wind turbine can also ensure the system stability when connected to a weak grid.

[0059] The details are described in detail through the following examples.

[0060] The present application embodiment provides a dual-input dual-output damping controller construction method that can be implemented by a dual-input dual-output damping controller construction device, see Figure 1 The dual-input dual-output damping controller construction method specifically includes the following contents:

[0061] Step 100: Based on the state-space equation of the power system involving wind turbines, respectively solve the transfer functions of the preset bandpass filter and the lead-lag compensation loop to construct a bandpass filter for filtering out the oscillation modes dominated by the wind turbine frequency response controller and the phase-locked loop in the dual-input data, and a lead-lag compensation loop for respectively compensating for the phase angles of the oscillation modes dominated by the wind turbine frequency response controller and the phase-locked loop in the dual-input data, wherein the dual-input data include: the frequency deviation and the phase angle deviation of the wind turbine grid-connected point when oscillation occurs.

[0062] In step 100, the dual-input dual-output damping controller construction device solves the transfer function H of the preset bandpass filter BPF according to the pre-constructed state space equation of the power system with wind turbines. BPF (s) and the transfer function H(s) of the lead-lag compensation loop LL (Lead-lag), as well as the transfer function H of the bandpass filter BPF BPF(s) and the transfer function H(s) of the lead-lag compensation loop LL are used to construct the bandpass filter BPF (i.e., the bandpass filter containing the solved transfer function H) for filtering out the oscillation mode dominated by the fan frequency response controller and the phase-locked loop in the dual input data. BPF (s)), and a lead-lag compensation loop LL (i.e., a lead-lag compensation loop LL including the solved transfer function H(s)) for respectively compensating the phase angles of the oscillation modes dominated by the fan frequency response controller and the phase-locked loop in the dual input data.

[0063] It can be understood that the frequency deviation and phase angle deviation of the wind turbine grid connection point when oscillation occurs are written as frequency deviation Δf pcc and phase angle deviation Δθ pcc .

[0064] Specifically, the transfer function H of the bandpass filter BPF is BPF (s) is as shown in formula (1):

[0065]

[0066] In formula (1), represents the damping ratio of the filter, ω n is the natural frequency of the nth filter, and s is the complex variable in the Laplace transform.

[0067] Among them, ω n Specifically, the frequency f of the target characteristic root can be used. Specifically, the damping ratio ζ of the target characteristic root can be used. That is to say, in the stage of constructing the bandpass filter BPF, the frequency f and damping ratio ζ of the target characteristic root can be obtained, and then the frequency f and damping ratio ζ can be substituted into equation (1) to solve, so as to obtain the transfer function H of the bandpass filter BPF: BPF (s) correspond to the solution results of the fan frequency response controller and the phase-locked loop, and the fan frequency response controller and the phase-locked loop correspond to the solved transfer function H BPF (s) is used as the internal processing data of the bandpass filter BPF to calculate the frequency deviation Δf of the wind turbine grid connection point when oscillation occurs. pcc and phase angle deviation Δθ pcc When inputting the bandpass filter BPF, the bandpass filter BPF adopts the corresponding solved transfer function H of the fan frequency response controller and the phase-locked loop. BPF (s), for frequency deviation Δf pcc Filter out the oscillation mode dominated by the fan frequency response controller and calculate the phase angle deviation Δθ pcc Filter out the oscillation modes dominated by the phase-locked loop.

[0068] Specifically, the transfer function H(s) of the lead-lag compensation loop LL is shown in equation (2):

[0069]

[0070] In formula (2), T is the washout time constant, which is generally between 5 and 10 seconds; m is the order of the lead-lag loop, which is generally 2; T1 and T2 are both time constants, which can be specifically written as: T1 is the first time constant; T2 is the second time constant.

[0071] That is to say, in the stage of constructing the lead-lag compensation loop LL, the first time constant T1 and the second time constant T2 corresponding to the fan frequency response controller and the phase-locked loop can be obtained, and then the first time constant T1 and the second time constant T2ζ are substituted into equation (2) for solution, so as to obtain the transfer function H(s) of the lead-lag compensation loop LL corresponding to the solution results of the fan frequency response controller and the phase-locked loop, and the solved transfer functions H(s) corresponding to the fan frequency response controller and the phase-locked loop are used as the internal processing data of the lead-lag compensation loop LL, so as to obtain the frequency deviation Δf of the fan grid-connected point when oscillation occurs. pcc and phase angle deviation Δθ pcc After the bandpass filter BPF suppresses the oscillation and transmits it to the lead-lag compensation loop LL, the lead-lag compensation loop LL uses the corresponding solved transfer function H(s) of the fan frequency response controller and the phase-locked loop to calculate the frequency deviation Δf pcc Compensate the phase angle of the oscillation mode dominated by the fan frequency response controller and adjust the phase angle deviation Δθ pcc Compensates the phase angle of the oscillation mode dominated by the phase-locked loop.

[0072] Step 200: Solve a preset gain formula according to the lead-lag compensation loop to construct a controller gain for calculating the gain and obtaining dual output data to be added to the wind turbine side, wherein the dual output data includes: active power compensation for oscillation suppression corresponding to the frequency deviation and reactive power compensation corresponding to the phase angle deviation.

[0073] It can be understood that the active power compensation for oscillation suppression corresponding to the frequency deviation and the reactive power compensation corresponding to the phase angle deviation are respectively written as active power compensation ΔP da and reactive power compensation ΔQ da .

[0074] Specifically, the gain formula is shown in formula (7):

[0075]

[0076] In formula (7), w1 and w2 are the weight factors of the oscillation modal residue introduced by the wind turbine frequency response controller and the oscillation modal residue introduced by the phase-locked loop, respectively; R f-jk is the residue corresponding to the oscillation mode introduced by the fan frequency response controller, R pll-jk is the residue corresponding to the oscillation mode introduced by the phase-locked loop; K is the gain of the dual-input dual-output controller; λ i，der is the ideal characteristic root position; i is the i-th characteristic root of the system; H(λ i ) is the lead-lag transfer function corresponding to the i-th characteristic root, which is calculated according to formula (2).

[0077] Among them, H(λ i ) Specifically, H(s) obtained by the above step 100 can be used; λ i Specifically, the target characteristic root can be used. That is, in the stage of constructing the controller gain, H(s) obtained by step 100 and R solved in advance can be used. f-jk , R pll-jk , i，der , the target characteristic root, and the preset w1 and w2 are substituted into equation (7) to solve K, and finally the active and reactive power compensation attached to the wind turbine side controller is obtained.

[0078] Step 300: Based on the bandpass filter, lead-lag compensation loop and controller gain that are arranged in sequence, a dual-input dual-output damping controller for suppressing the frequency response oscillation of the fan is generated.

[0079] Specifically, see Figure 2 The dual-input dual-output damping controller includes the bandpass filter, the lead-lag compensation loop and the controller gain connected in sequence.

[0080] From the above description, it can be seen that the dual-input dual-output damping controller construction method provided in the embodiment of the present application fully considers the influence of the frequency response controller and the phase-locked loop on the system stability when the wind turbine participates in the grid frequency modulation, and can effectively suppress the low-frequency oscillations that may occur in the system when the frequency drops. When the wind turbine is connected to a weak grid, it can also ensure the operating stability and reliability of the power system.

[0081] In order to further improve the reliability and effectiveness of constructing the bandpass filter and the lead-lag compensation loop, in a dual-input dual-output damping controller construction method provided in an embodiment of the present application, see Figure 3 , step 100 of the dual-input dual-output damping controller construction method specifically includes the following contents:

[0082] Step 110: Taking the grid frequency and phase angle of the wind turbine grid connection point when oscillation occurs as output, construct a state space equation of the power system with the wind turbine involved.

[0083] Step 120: Solve the transfer function of a preset bandpass filter based on the state space equation of the power system with the wind turbine involved, so as to construct a bandpass filter for filtering out the oscillation mode dominated by the wind turbine frequency response controller and the phase-locked loop in the dual input data.

[0084] Step 130: Determine the residues of the oscillation modes dominated by the fan frequency response controller and the phase-locked loop respectively according to the state-space equation, use the residues to respectively determine the time constants corresponding to the fan frequency response controller and the phase-locked loop respectively, and solve the transfer function of the preset lead-lag compensation loop based on the time constant to construct a lead-lag compensation loop for respectively compensating for the phase angles of the oscillation modes dominated by the fan frequency response controller and the phase-locked loop respectively in the dual input data.

[0085] In order to further improve the effectiveness and reliability of constructing the state space equation of the power system with wind turbine participation, in a dual-input dual-output damping controller construction method provided in an embodiment of the present application, see Figure 4 , step 110 of the dual-input dual-output damping controller construction method specifically includes the following contents:

[0086] Step 111: Establish a system frequency regulation model corresponding to the power system with wind turbines involved.

[0087] Step 112: taking the active power point and reactive power point corresponding to an operating point on the system frequency regulation model as input, and taking the grid frequency and phase angle of the wind turbine grid-connected point when oscillation occurs as output for linearization processing to obtain the state space equation of the power system.

[0088] Specifically, a model for wind turbines to participate in power system frequency regulation is established and based on a certain operating point, P and Q points are used as inputs. pcc and θ pcc The output is linearized to obtain the state space equation of the power system, as shown in equation (8).

[0089]

[0090] In formula (8), the state space matrix A, the input matrix B, the output matrix C, and the direct transfer matrix D are the state space equation coefficient matrices, x is the state variable of the power system, u is the input of the power system, and the active power point P and reactive power point Q corresponding to an operating point on the system frequency regulation model, u = [PQ]; y is the output of the power system, that is, the grid frequency f of the wind turbine grid connection point when the oscillation occurs pcc and phase angle θpcc , is the first-order differential of x.

[0091] Among them, when the power system is linearized, f pcc ,θ pcc Or Δf pcc , Δθ pcc is the same, with Δf pcc =f pcc -f ref For example, f ref is a constant reference value, which is zero when the derivative is taken. However, when the controller is finally implemented, the controller input is Δf pcc , Δθ pcc .

[0092] In order to further improve the effectiveness and reliability of constructing a bandpass filter, in a dual-input dual-output damping controller construction method provided in an embodiment of the present application, see Figure 4 , step 120 of the dual-input dual-output damping controller construction method specifically includes the following contents:

[0093] Step 121: According to the state space matrix in the state space equation, each characteristic root used to reflect the low-frequency oscillation mode in the power system is determined, and the frequency and damping ratio corresponding to each of the characteristic roots are obtained.

[0094] In step 121, the state space matrix A is analyzed to calculate the system characteristic root λ, and the frequency f and damping ratio ζ of each characteristic root are obtained according to the following formula (9);

[0095]

[0096] The calculation of the characteristic roots is based on the analysis of the system's state space matrix A, which is a mature technology. In matlab, all the characteristic roots of the A matrix can be obtained through the code eig(A).

[0097] Step 122: searching, from among the characteristic roots, characteristic roots of low-frequency oscillation modes respectively dominated by the fan frequency response controller and the phase-locked loop as target characteristic roots.

[0098] Step 123: Based on the frequencies and damping ratios corresponding to the target characteristic roots, respectively solve the transfer functions of the preset bandpass filters to obtain bandpass filters for filtering out the oscillation modes dominated by the fan frequency response controller and the phase-locked loop in the dual input data.

[0099] Specifically, the low-frequency oscillation mode dominated by the fan frequency response controller and the phase-locked loop is found; after the BPF finds the low-frequency oscillation mode dominated by the fan frequency response controller and the phase-locked loop, the frequency and damping ratio of the mode are used to solve the BPF in equation (1).

[0100] In order to further improve the effectiveness and reliability of constructing a lead-lag compensation loop, in a dual-input dual-output damping controller construction method provided in an embodiment of the present application, see Figure 4 , step 130 of the dual-input dual-output damping controller construction method specifically includes the following contents:

[0101] Step 131: Determine the left eigenvector and the right eigenvector corresponding to the target eigenroot according to the input matrix and the direct transfer matrix in the state space matrix.

[0102] In step 131, according to the input matrix B and the direct transfer matrix D in the state space matrix, the left eigenvector t′ and the right eigenvector v corresponding to the target eigenvalue are determined based on equation (10):

[0103]

[0104] Step 132: Based on the left eigenvector and the right eigenvector, and the input matrix and the output matrix in the state space matrix, respectively determine the residues of the oscillation modes dominated by the wind turbine frequency response controller and the phase-locked loop.

[0105] In step 132, based on the left eigenvector t′ and the right eigenvector v, and the input matrix B and the output matrix C in the state space matrix, the residue R of the oscillation mode dominated by the fan frequency response controller is determined based on equation (4): f-jk and the residue R of the oscillation mode dominated by the phase-locked loop pll-jk :

[0106] R ijk =C j t i v i B k (7)

[0107] In formula (4), C j is the output matrix corresponding to the j-th output, t i is the left eigenvector corresponding to the i-th eigenvalue λ, v i is the right eigenvector corresponding to the i-th eigenvalue λ, B k is the input matrix corresponding to the kth input. ijk Expressed as the residue of the ith mode, R ijkSpecifically, it can be the residue R of the oscillation mode dominated by the fan frequency response controller fjk , can also be the residue R of the oscillation mode dominated by the phase-locked loop pll-jk .

[0108] Step 133: Determine the corresponding lead-lag phase shift based on the residues of the oscillation modes dominated by the fan frequency response controller and the phase-locked loop, and the preset weight factors of the residues corresponding to the oscillation modes of the fan frequency response controller and the weight factors of the residues corresponding to the oscillation modes of the phase-locked loop.

[0109] In step 133, based on the residue R of the oscillation mode dominated by the wind turbine frequency response controller f-jk and the residue R of the oscillation mode dominated by the phase-locked loop pll-jk , and the preset weight factor w1 of the residue corresponding to the oscillation mode of the fan frequency corresponding controller and the weight factor w2 of the residue corresponding to the oscillation mode of the phase-locked loop, and the corresponding lead-lag link phase shift φ is determined according to formula (6):

[0110] φ=180°-arg(w1R f-jk +w2R pll-jk ) (8)

[0111] In formula (6), φ represents the phase shift required for the design of the dual-input dual-output controller; arg(.) represents the angle; w1 and w2 are the weight factors of the oscillation modal residues introduced by the wind turbine frequency response controller and the oscillation modal residues introduced by the phase-locked loop, respectively.

[0112] Step 134: Determine the ratio of the first time constant to the second time constant according to the lead-lag link phase shift.

[0113] In step 134, according to the lead-lag phase shift φ, the ratio α of the first time constant T1 and the second time constant T2 is determined according to equation (3):

[0114]

[0115] In formula (3), φ represents the phase shift of the lead-lag link, and α represents the ratio of the time constants T1 and T2.

[0116] Step 135: Based on the ratio of the first time constant and the second time constant, and the frequencies of the target characteristic roots corresponding to the fan frequency response controller and the phase-locked loop, respectively, determine the first time constant and the second time constant corresponding to the fan frequency response controller, and the first time constant and the second time constant corresponding to the phase-locked loop.

[0117] In step 135, the first time constant T1 and the second time constant T2 are determined according to equation (3).

[0118] Step 136: Apply the first time constant and the second time constant corresponding to the fan frequency response controller and the phase-locked loop, respectively, to solve the transfer function of the preset lead-lag compensation loop, so as to obtain a lead-lag compensation loop for respectively compensating for the phase angles of the oscillation modes dominated by the fan frequency response controller and the phase-locked loop in the dual input data.

[0119] In step 136, equation (2) is the lead-lag transfer function of the final controller. After the time constants T1 and T2 are calculated, the design of this link is completed. When designing the lead-lag link, it is necessary to first obtain φ (solved by equation (6)) and α and then solve T1 and T2, which are calculated by equation (3). In the calculation of equation (3), the residue value must be obtained. The residue is calculated according to equation (4). The left and right eigenvectors required in equation (4) are calculated by equation (10).

[0120] In order to further improve the effectiveness and reliability of constructing the controller gain, in a dual-input dual-output damping controller construction method provided in an embodiment of the present application, see Figure 4 , step 200 of the dual-input dual-output damping controller construction method specifically includes the following contents:

[0121] Step 210: Determine an ideal characteristic root position that meets the damping ratio requirement based on preset minimum damping ratio requirement data of the power system for low-frequency oscillation.

[0122] Step 220: Based on the ideal characteristic root position, the target characteristic root, the lead-lag compensation loop, the residues of the oscillation modes dominated by the wind turbine frequency response controller and the phase-locked loop, and the preset weight factors of the residues corresponding to the oscillation modes of the wind turbine frequency response controller and the preset weight factors of the residues corresponding to the oscillation modes of the phase-locked loop, solve the preset gain formula to construct a controller gain for calculating the gain and outputting the active power compensation and reactive power compensation for oscillation suppression to be added to the wind turbine side.

[0123] Specifically, the minimum damping ratio of low-frequency oscillations in the power system can be min , and obtain the ideal characteristic root position λ that meets the damping ratio requirements i，der , solve the controller gain K according to formula (7). The damping controller output is added to the decoupled active power and reactive power control outer loops on the wind turbine side.

[0124] Based on the above-mentioned embodiment of the dual-input dual-output damping controller construction method, the present application also provides an embodiment of a dual-input dual-output damping controller, see Figure 2 and Figure 5 The dual-input dual-output damping controller specifically includes the following contents:

[0125] A bandpass filter, a lead-lag compensation loop, and a controller gain connected in sequence;

[0126] The bandpass filter is used to filter out the oscillation mode dominated by the wind turbine frequency response controller and the phase-locked loop in the dual input data based on the corresponding transfer function, wherein the dual input data includes: the frequency deviation and the phase angle deviation of the wind turbine grid connection point when the oscillation occurs;

[0127] The lead-lag compensation loop is used to compensate the phase angles of the oscillation modes respectively dominated by the fan frequency response controller and the phase-locked loop in the dual input data based on the corresponding transfer functions;

[0128] The controller gain is used to calculate the gain based on the gain formula and obtain the dual output data to be added to the wind turbine side, wherein the dual output data includes: the active power compensation for oscillation suppression corresponding to the frequency deviation and the reactive power compensation corresponding to the phase angle deviation.

[0129] Figure 5 In the figure, BPF stands for bandpass filter, Lead-lag stands for lead-lag compensation loop, H(s) stands for the transfer function of the lead-lag compensation loop; Gain stands for controller gain, and K stands for the calculated gain.

[0130] The embodiment of the dual-input dual-output damping controller provided in the present application can be specifically implemented according to the embodiment of the dual-input dual-output damping controller construction method in the above embodiment. Its functions will not be repeated here, and reference can be made to the detailed description of the embodiment of the dual-input dual-output damping controller construction method in the above embodiment.

[0131] From the above description, it can be seen that the dual-input dual-output damping controller provided in the embodiment of the present application fully considers the influence of the frequency response controller and the phase-locked loop on the system stability when the wind turbine participates in the grid frequency modulation, and can effectively suppress the low-frequency oscillation that may occur in the system when the frequency drops. When the wind turbine is connected to a weak grid, it can also ensure the operating stability and reliability of the power system.

[0132] From the software level, the present application also provides a dual-input dual-output damping controller construction device for executing all or part of the dual-input dual-output damping controller construction method, see Figure 6 The dual-input dual-output damping controller construction device specifically includes the following contents:

[0133] The first construction module 10 is used to solve the transfer functions of the preset bandpass filter and the lead-lag compensation loop respectively based on the state-space equation of the power system involving the wind turbine, so as to construct a bandpass filter for filtering out the oscillation mode dominated by the wind turbine frequency response controller and the phase-locked loop in the dual-input data, and a lead-lag compensation loop for compensating the phase angles of the oscillation modes dominated by the wind turbine frequency response controller and the phase-locked loop in the dual-input data, respectively, wherein the dual-input data includes: the frequency deviation and the phase angle deviation of the wind turbine grid-connected point when oscillation occurs.

[0134] The second construction module 20 is used to solve a preset gain formula according to the lead-lag compensation loop to construct a controller gain for calculating the gain and obtaining the dual output data to be added to the wind turbine side, wherein the dual output data includes: the active power compensation for oscillation suppression corresponding to the frequency deviation and the reactive power compensation corresponding to the phase angle deviation.

[0135] The controller generation module 30 is used to generate a dual-input dual-output damping controller for suppressing the frequency response oscillation of the fan based on the bandpass filter, the lead-lag compensation loop and the controller gain which are arranged in sequence.

[0136] The embodiment of the dual-input dual-output damping controller construction device provided in the present application can be specifically used to execute the processing flow of the embodiment of the dual-input dual-output damping controller construction method in the above-mentioned embodiment. Its functions will not be repeated here, and reference can be made to the detailed description of the above-mentioned dual-input dual-output damping controller construction method embodiment.

[0137] From the above description, it can be seen that the dual-input dual-output damping controller construction device provided in the embodiment of the present application fully considers the influence of the frequency response controller and the phase-locked loop on the system stability when the wind turbine participates in the grid frequency modulation, and can effectively suppress the low-frequency oscillation that may occur in the system when the frequency drops. When the wind turbine is connected to a weak grid, it can also ensure the operating stability and reliability of the power system.

[0138] It is understandable that the part of the dual-input dual-output damping controller construction device that performs dual-input dual-output damping controller construction can be completed in the server or client device. The specific selection can be made according to the processing capability of the client device and the limitations of the user's usage scenario. This application does not limit this. If all operations are completed in the client device, the client device may also include a processor for specific processing of the dual-input dual-output damping controller construction.

[0139] The client device may have a communication module (i.e., a communication unit) that can communicate with a remote server to achieve data transmission with the server. The server may include a server on the task scheduling center side, and other implementation scenarios may also include a server on an intermediate platform, such as a server on a third-party server platform that has a communication link with the task scheduling center server. The server may include a single computer device, or a server cluster consisting of multiple servers, or a server structure of a distributed device.

[0140] The server and the client device may communicate with each other using any suitable network protocol, including network protocols that have not yet been developed on the date of filing this application. The network protocols may include, for example, TCP / IP, UDP / IP, HTTP, HTTPS, etc. Of course, the network protocols may also include, for example, RPC (Remote Procedure Call Protocol) and REST (Representational State Transfer) protocols used on top of the above protocols.

[0141] In order to further illustrate the present scheme, the present application also provides a dual-input dual-output damping controller and a specific application example of the dual-input dual-output damping controller construction method. The application example of the present application aims at the problem that wind power participates in grid frequency modulation and introduces new low-frequency oscillations and the phase-locked loop is prone to low-frequency oscillations in weak grids, and proposes to design a dual-input dual-output oscillation suppression system. Since the wind turbine frequency response controller and the phase-locked loop cause oscillation problems, the controller inputs select the grid frequency and phase angle respectively, and the damping controller outputs are added to the decoupled active power and reactive power control outer loops on the wind turbine side. The specific description is as follows:

[0142] (I) Dual-input dual-output damping controller

[0143] See also Figure 5 , according to the frequency deviation Δf of the wind turbine grid connection point when oscillation occurs pcc and phase angle deviation Δθ pcc , the damping controller will accordingly generate active power compensation ΔP for oscillation suppression da and reactive power compensation ΔQ da Among them, BPF represents a bandpass filter, which is designed according to the oscillation frequency to be suppressed. The transfer function H of the second-order bandpass filter is BPF (s) are as follows:

[0144]

[0145] In the formula, represents the damping ratio of the filter, ω n is the natural frequency of the nth filter, and s is the complex variable in the Laplace transform.

[0146] The lead-lag compensation loop is designed by the residue method, and its transfer function H(s) is:

[0147]

[0148] Where T is the washout time constant, which is usually between 5 and 10 seconds; m is the order of the lead-lag loop, which is usually 2. The time constants T1 and T2 are obtained by the following formula:

[0149]

[0150] In formula (3), φ represents the phase shift of the lead-lag link, α represents the ratio of time constants T1 and T2; R ijk It is expressed as the residue of the i-th mode, and its calculation formula is as follows.

[0151] R ijk =C j t i v i B k (13)

[0152] In the formula, C j is the output matrix corresponding to the j-th output, t i is the left eigenvector corresponding to the i-th eigenroot λ, vi is the right eigenvector corresponding to the i-th eigenroot λ, B k is the input matrix corresponding to the kth input.

[0153] The controller gain is calculated by the following formula.

[0154]

[0155] The dual-input dual-output controller designed in the application example of this application will obtain two residues corresponding to the two oscillation modes caused by the fan frequency response controller and the phase-locked loop. Therefore, the R used in the controller design in equations (2) and (5) is ijk will contain two weighted residues. Let R f-jk is the residue corresponding to the oscillation mode introduced by the fan frequency response controller, R pll-jk is the residue corresponding to the oscillation mode introduced by the phase-locked loop. When designing the controller of the application example of this application, equations (3) and (5) can be expressed as:

[0156] φ=180°-arg(w1R f-jk +w2R pll-jk ) (15)

[0157]

[0158] In formula (6), φ represents the phase shift required for designing the dual-input dual-output controller proposed in the application example of this application; arg(.) represents the angle; w1 and w2 are the weight factors of the oscillation mode residue introduced by the fan frequency corresponding controller and the oscillation mode residue introduced by the phase-locked loop, respectively; in formula (7), K is the gain of the dual-input dual-output controller proposed in the application example of this application; λ i，der is the ideal characteristic root position; i is the i-th characteristic root of the system; H(λ i ) is the lead-lag transfer function corresponding to the i-th characteristic root, which is calculated according to formula (2).

[0159] Specifically, after the frequency deviation and phase angle deviation signals of the wind turbine grid-connected point are input into the dual-output controller, first, the oscillation mode dominated by the wind turbine frequency response controller and the oscillation mode dominated by the phase-locked loop are filtered out through the bandpass filter expressed by formula (1); secondly, the phase angles of the above two oscillation modes are compensated through the lead-lag compensation link designed by formula (2-3), and the compensated two modes are output; finally, the controller gain is calculated according to formula (6-7), and finally the active and reactive power compensation attached to the wind turbine side controller itself is obtained.

[0160] The application example of this application proposes a dual-input dual-output controller that takes into account the oscillation mode generated by the newly introduced frequency response controller of the wind turbine and the oscillation mode introduced by the phase-locked loop; secondly, in the controller gain design link, equations (6) and (7) simultaneously consider the residues corresponding to the above two oscillation modes.

[0161] (II) Construction method of dual-input dual-output damping controller

[0162] See also Figure 7 , the design process of the dual-input and dual-output fan frequency response oscillation suppression controller is as follows:

[0163] S1: Establish a model for wind turbines to participate in power system frequency regulation and take P and Q points as input based on a certain operating point. pcc and θ pcc The output is linearized to obtain the system state space equation (8). When the system is linearized, f pcc ,θ pcc Or Δf pcc , Δθ pcc is the same as Δf pcc =f pcc -f ref For example, f refis a constant reference value, which is zero when the derivative is taken. However, when the controller is finally implemented, the controller input is Δf pcc , Δθ pcc .

[0164]

[0165] In the formula, the state space matrix A, input matrix B, output matrix C, and direct transfer matrix D are the state space equation coefficient matrices, x is the system state variable, u is the system input, u = [PQ], and y is the system output. is the first-order differential of x.

[0166] S2: Analyze the state space matrix A to calculate the system characteristic root λ, and obtain the frequency f and damping ratio ζ of the characteristic root according to the following formula;

[0167]

[0168] The calculation of the characteristic roots is based on the analysis of the system's state space matrix A, which is a mature technology. In matlab, all the characteristic roots of the A matrix can be obtained through the code eig(A).

[0169] S3: Find the low-frequency oscillation mode dominated by the fan frequency response controller and the phase-locked loop; After finding the low-frequency oscillation mode dominated by the fan frequency response controller and the phase-locked loop, the BPF uses the frequency and damping ratio of the mode to solve the BPF in equation (1).

[0170] S4: Calculate the residues corresponding to the oscillation mode according to the input matrix B, the output matrix, and the left and right eigenvectors; wherein the left and right eigenvectors are obtained according to the following formula;

[0171]

[0172] S5: Design the time constant of the lead-lag link according to the obtained residue; H(s) is obtained in steps S4 and S5. Equation (2) is the transfer function of the lead-lag of the final controller. After the time constants T1 and T2 are calculated, the design of this link is completed. When designing the lead-lag link, it is necessary to first obtain φ (solved by equation (6)) and α and then solve T1 and T2, which are calculated by equation (3). In the calculation of (3), the residue value must be obtained. The residue is calculated according to equation (4). The left and right eigenvectors required in (4) are calculated by (10). Therefore, steps S4-S6 are all implemented for the lead-lag link.

[0173] S6: According to the power system's requirements for the minimum damping ratio of low-frequency oscillationsζ min , and obtain the position of the characteristic root that meets the damping ratio requirements λ i，der, solve the controller gain K according to equation (7). The damping controller output is added to the decoupled active power and reactive power control outer loops on the wind turbine side.

[0174] In summary, the dual-input dual-output damping controller and the construction method of the dual-input dual-output damping controller provided in the application example of this application select the frequency deviation and phase angle deviation of the wind turbine grid connection point as the controller input, and the output is added to the active and reactive control loops of the wind turbine side outer loop controller respectively. Compared with the existing damping controller, the controller in the application example of this application can fully consider the influence of the frequency response controller and the phase-locked loop on the system stability when the wind turbine participates in the grid frequency modulation, and ensure the system stability of the wind turbine when it is connected to a weak grid.

[0175] The embodiment of the present application also provides an electronic device, which may include a processor, a memory, a receiver and a transmitter, wherein the processor is used to execute the dual-input dual-output damping controller construction method mentioned in the above embodiment, wherein the processor and the memory may be connected via a bus or other means, such as by bus connection. The receiver may be connected to the processor and the memory via wired or wireless means.

[0176] The processor may be a central processing unit (CPU). The processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above chips.

[0177] As a non-transient computer-readable storage medium, the memory can be used to store non-transient software programs, non-transient computer executable programs and modules, such as the program instructions / modules corresponding to the dual-input dual-output damping controller construction method in the embodiment of the present application. The processor executes various functional applications and data processing of the processor by running the non-transient software programs, instructions and modules stored in the memory, that is, the dual-input dual-output damping controller construction method in the above method embodiment is realized.

[0178] The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created by the processor, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0179] The one or more modules are stored in the memory, and when executed by the processor, perform the dual-input dual-output damping controller construction method in the embodiment.

[0180] In some embodiments of the present application, the user equipment may include a processor, a memory, and a transceiver unit, which may include a receiver and a transmitter. The processor, memory, receiver, and transmitter may be connected through a bus system. The memory is used to store computer instructions, and the processor is used to execute the computer instructions stored in the memory to control the transceiver unit to send and receive signals.

[0181] As an implementation method, the functions of the receiver and the transmitter in the present application can be considered to be implemented through a transceiver circuit or a dedicated chip for transceiver, and the processor can be considered to be implemented through a dedicated processing chip, a processing circuit or a general chip.

[0182] As another implementation method, it is possible to use a general-purpose computer to implement the server provided in the embodiment of the present application, that is, to store the program code for implementing the functions of the processor, receiver, and transmitter in a memory, and the general-purpose processor implements the functions of the processor, receiver, and transmitter by executing the code in the memory.

[0183] The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the aforementioned dual-input dual-output damping controller construction method are implemented. The computer-readable storage medium can be a tangible storage medium, such as a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a floppy disk, a hard disk, a removable storage disk, a CD-ROM, or any other form of storage medium known in the technical field.

[0184] It should be understood by those skilled in the art that the exemplary components, systems and methods described in conjunction with the embodiments disclosed herein can be implemented in hardware, software or a combination of the two. Whether it is specifically performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link via a data signal carried in a carrier.

[0185] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0186] In the present application, features described and / or illustrated for one embodiment may be used in the same manner or in a similar manner in one or more other embodiments, and / or combined with features of other embodiments or replace features of other embodiments.

[0187] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the embodiments of the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for constructing a dual-input dual-output damping controller, characterized in that: include: Based on the state space equation of the power system with wind turbines involved, the transfer functions of the preset bandpass filter and the lead-lag compensation loop are solved respectively to construct a bandpass filter for filtering out the oscillation mode dominated by the wind turbine frequency response controller and the phase-locked loop in the dual input data, and a lead-lag compensation loop for compensating the phase angle of the oscillation mode dominated by the wind turbine frequency response controller and the phase-locked loop in the dual input data, wherein the dual input data includes: the frequency deviation and the phase angle deviation of the wind turbine grid connection point when oscillation occurs; Solving a preset gain formula according to the lead-lag compensation loop to construct a controller gain for calculating the gain and obtaining dual output data to be added to the wind turbine side, wherein the dual output data includes: active power compensation for oscillation suppression corresponding to the frequency deviation and reactive power compensation corresponding to the phase angle deviation; Based on the bandpass filter, lead-lag compensation loop and controller gain which are arranged in sequence, a dual-input dual-output damping controller for suppressing the frequency response oscillation of the fan is generated; The gain formula is: In the formula, and are the weight factors of the oscillation modal residue introduced by the wind turbine frequency response controller and the oscillation modal residue introduced by the phase-locked loop, respectively; is the residue corresponding to the oscillation mode introduced by the fan frequency response controller, is the residue corresponding to the oscillation mode introduced by the phase-locked loop; K is the gain of the dual-input dual-output controller; is the ideal characteristic root position; is the i-th characteristic root of the system; is the lead-lag transfer function corresponding to the i-th eigenvalue.

2. The dual-input dual-output damping controller construction method according to claim 1, characterized in that: The state space equation of the power system with wind turbines is based on, respectively solving the transfer functions of the preset bandpass filter and the lead-lag compensation loop to construct a bandpass filter for filtering out the oscillation mode dominated by the wind turbine frequency response controller and the phase-locked loop in the dual input data, and a lead-lag compensation loop for respectively compensating the phase angle of the oscillation mode dominated by the wind turbine frequency response controller and the phase-locked loop in the dual input data, including: The grid frequency and phase angle of the wind turbine connection point when oscillation occurs are used as outputs to construct the state space equation of the power system with wind turbines involved. Solving the transfer function of a preset band-pass filter based on the state space equation of the power system with the wind turbine involved, so as to construct a band-pass filter for filtering out the oscillation mode dominated by the wind turbine frequency response controller and the phase-locked loop in the dual input data; The residues of the oscillation modes dominated by the fan frequency response controller and the phase-locked loop are determined according to the state-space equations, and the time constants corresponding to the fan frequency response controller and the phase-locked loop are determined respectively by using the residues, and the transfer function of the preset lead-lag compensation loop is solved based on the time constants to construct a lead-lag compensation loop for compensating the phase angles of the oscillation modes dominated by the fan frequency response controller and the phase-locked loop in the dual input data respectively.

3. The dual-input dual-output damping controller construction method according to claim 2, characterized in that: The state space equation of the power system with the wind turbine involved is constructed by taking the grid frequency and phase angle of the wind turbine grid connection point as output when the oscillation occurs, including: Establish a system frequency regulation model corresponding to the power system with wind turbines; The active power point and reactive power point corresponding to an operating point on the system frequency regulation model are taken as input, and the grid frequency and phase angle of the wind turbine grid connection point when oscillation occurs are taken as output for linearization processing to obtain the state space equation of the power system.

4. The method for constructing a dual-input dual-output damping controller according to claim 3, characterized in that: The method solves the transfer function of a preset bandpass filter based on the state space equation of the power system with wind turbines involved, so as to construct a bandpass filter for filtering out the oscillation mode dominated by the wind turbine frequency response controller and the phase-locked loop in the dual input data, including: According to the state space matrix in the state space equation, determining each characteristic root in the power system for reflecting the low-frequency oscillation mode, and obtaining the frequency and damping ratio corresponding to each of the characteristic roots; Find the characteristic roots of the low-frequency oscillation modes respectively dominated by the fan frequency response controller and the phase-locked loop from each of the characteristic roots as the target characteristic roots; Based on the frequencies and damping ratios corresponding to the target characteristic roots, the transfer functions of the preset bandpass filters are solved respectively to obtain bandpass filters for filtering out the oscillation modes dominated by the fan frequency response controller and the phase-locked loop in the dual input data.

5. The method for constructing a dual-input dual-output damping controller according to claim 4, characterized in that: The method of determining the residues of the oscillation modes dominated by the fan frequency response controller and the phase-locked loop according to the state-space equation, using the residues to respectively determine the time constants corresponding to the fan frequency response controller and the phase-locked loop, and solving the transfer function of the preset lead-lag compensation loop based on the time constant to construct a lead-lag compensation loop for respectively compensating the phase angles of the oscillation modes dominated by the fan frequency response controller and the phase-locked loop in the dual input data, comprises: Determine the left eigenvector and the right eigenvector corresponding to the target eigenroot according to the input matrix and the direct transfer matrix in the state space matrix; Based on the left eigenvector and the right eigenvector, and the input matrix and the output matrix in the state space matrix, respectively determine the residues of the oscillation modes dominated by the wind turbine frequency response controller and the phase-locked loop; Determine the corresponding lead-lag phase shift based on the residues of the oscillation modes dominated by the fan frequency response controller and the phase-locked loop, and the preset weight factors of the residues corresponding to the oscillation modes of the fan frequency response controller and the residues corresponding to the oscillation modes of the phase-locked loop; Determining the ratio of the first time constant and the second time constant of the lead-lag link according to the lead-lag link phase shift; Based on the ratio of the first time constant to the second time constant and the frequencies of the target characteristic roots respectively corresponding to the fan frequency response controller and the phase-locked loop, respectively determine the first time constant and the second time constant corresponding to the fan frequency response controller, and the first time constant and the second time constant corresponding to the phase-locked loop; The first time constant and the second time constant corresponding to the fan frequency response controller and the phase-locked loop are applied respectively to solve the transfer functions of the preset lead-lag compensation loop, so as to obtain the lead-lag compensation loop for compensating the phase angles of the oscillation modes dominated by the fan frequency response controller and the phase-locked loop in the dual input data respectively.

6. The method for constructing a dual-input dual-output damping controller according to claim 5, characterized in that: The method of solving a preset gain formula according to the lead-lag compensation loop to construct a controller gain for calculating the gain and obtaining the dual output data to be added to the fan side includes: According to preset data of the minimum damping ratio requirement of the power system for low-frequency oscillation, determining an ideal characteristic root position that meets the damping ratio requirement; Based on the ideal characteristic root position, the target characteristic root, the lead-lag compensation loop, the residues of the oscillation modes dominated by the wind turbine frequency response controller and the phase-locked loop, and the preset weight factors of the residues corresponding to the oscillation modes of the wind turbine frequency response controller and the preset weight factors of the residues corresponding to the oscillation modes of the phase-locked loop, a preset gain formula is solved to construct a controller gain for calculating the gain and outputting the active power compensation and reactive power compensation to be added to the wind turbine side for oscillation suppression.

7. A dual-input dual-output damping controller, characterized in that: include: A bandpass filter, a lead-lag compensation loop, and a controller gain connected in sequence; The bandpass filter is used to filter out the oscillation mode dominated by the wind turbine frequency response controller and the phase-locked loop in the dual input data based on the corresponding transfer function, wherein the dual input data includes: the frequency deviation and the phase angle deviation of the wind turbine grid connection point when the oscillation occurs; The lead-lag compensation loop is used to compensate the phase angles of the oscillation modes respectively dominated by the fan frequency response controller and the phase-locked loop in the dual input data based on the corresponding transfer functions; The controller gain is used to calculate the gain based on the gain formula and obtain the dual output data to be added to the wind turbine side, wherein the dual output data includes: the active power compensation for oscillation suppression corresponding to the frequency deviation and the reactive power compensation corresponding to the phase angle deviation; The gain formula is: In the formula, and are the weight factors of the oscillation modal residue introduced by the wind turbine frequency response controller and the oscillation modal residue introduced by the phase-locked loop, respectively; is the residue corresponding to the oscillation mode introduced by the fan frequency response controller, is the residue corresponding to the oscillation mode introduced by the phase-locked loop; K is the gain of the dual-input dual-output controller; is the ideal characteristic root position; is the i-th characteristic root of the system; is the lead-lag transfer function corresponding to the i-th eigenvalue.

8. A dual-input dual-output damping controller construction device, characterized in that: include: The first construction module is used to solve the transfer functions of the preset bandpass filter and the lead-lag compensation loop respectively based on the state space equation of the power system with the wind turbine involved, so as to construct a bandpass filter for filtering out the oscillation mode dominated by the wind turbine frequency response controller and the phase-locked loop in the dual input data, and a lead-lag compensation loop for compensating the phase angle of the oscillation mode dominated by the wind turbine frequency response controller and the phase-locked loop in the dual input data, wherein the dual input data includes: the frequency deviation and the phase angle deviation of the wind turbine grid connection point when the oscillation occurs; A second construction module is used to solve a preset gain formula according to the lead-lag compensation loop to construct a controller gain for calculating the gain and obtaining dual output data to be added to the wind turbine side, wherein the dual output data includes: active power compensation for oscillation suppression corresponding to the frequency deviation and reactive power compensation corresponding to the phase angle deviation; A controller generation module, used to generate a dual-input dual-output damping controller for suppressing the frequency response oscillation of the fan based on the bandpass filter, lead-lag compensation loop and controller gain which are arranged in sequence; The gain formula is: In the formula, and are the weight factors of the oscillation modal residue introduced by the wind turbine frequency response controller and the oscillation modal residue introduced by the phase-locked loop, respectively; is the residue corresponding to the oscillation mode introduced by the fan frequency response controller, is the residue corresponding to the oscillation mode introduced by the phase-locked loop; K is the gain of the dual-input dual-output controller; is the ideal characteristic root position; is the i-th characteristic root of the system; is the lead-lag transfer function corresponding to the i-th eigenvalue.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the dual-input dual-output damping controller construction method according to any one of claims 1 to 6 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for constructing a dual-input dual-output damping controller as claimed in any one of claims 1 to 6 is implemented.

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