A load frequency control method and system considering wind power prediction disturbance

Abstract

The embodiments of the present specification provide a load frequency control method and system taking into account wind power predicted disturbances, wherein the method includes obtaining the current disturbance power of a wind turbine generator set operating in a maximum power tracking mode; calculating a predicted disturbance sequence of the wind turbine generator set operating in the maximum power tracking mode within a predicted time range; generating a disturbance sequence of the wind turbine generator set operating in the maximum power tracking mode within a predicted time range based on the current disturbance power and the predicted disturbance sequence; calculating an output sequence of a frequency modulation system within the predicted time range based on the disturbance sequence; calculating a control sequence of the predicted time range based on the output sequence of the frequency modulation system within the predicted time range; the frequency modulation system adjusts the load frequency of wind power grid connection based on the control sequence, which has the advantage of effectively reducing the system frequency deviation under wind power disturbances.

Description

Technical Field

[0001] The present specification relates to the field of wind power generation, and in particular to a load frequency control method and system considering wind power prediction disturbances. Background Art

[0002] With the depletion of fossil energy, non-polluting, highly economical new energy sources such as wind power have been widely developed and utilized. They are considered to be one of the most promising and scalable renewable energy sources. However, due to the inherent intermittent and volatile nature of wind power, large-scale wind power grid-connected operation will have a serious impact on the stability of grid frequency, and it is usually necessary to further improve the frequency regulation capability of the frequency regulation system. In related technologies, the frequency regulation method based on model predictive control can effectively reduce the frequency deviation of wind power grid-connected systems. However, in actual applications, the frequency regulation method based on model predictive control often uses real-time disturbance power as the controller disturbance input, and assumes that the disturbance within the prediction time range is the same as the disturbance at the current moment to solve the control signal. This method is difficult to give full play to the predictive control performance.

[0003] Therefore, it is necessary to provide a load frequency control method and system taking into account wind power predicted disturbances, so as to effectively reduce the system frequency deviation under wind power disturbances. Summary of the invention

[0004] One of the embodiments of the present specification provides a load frequency control method taking into account wind power predicted disturbances, the method comprising: obtaining a current disturbance power of a wind turbine generator set operating in a maximum power tracking mode; calculating a predicted disturbance sequence of the wind turbine generator set operating in the maximum power tracking mode within a predicted time range; generating a disturbance sequence of the wind turbine generator set operating in the maximum power tracking mode within a predicted time range based on the current disturbance power and the predicted disturbance sequence; calculating an output sequence of a frequency regulation system within the predicted time range based on the disturbance sequence; calculating a control sequence of the predicted time range based on the output sequence of the frequency regulation system within the predicted time range; the frequency regulation system adjusts the load frequency of wind power grid connection based on the control sequence.

[0005] In some embodiments, the wind turbine generator set operating in the maximum power tracking mode changes the rotation speed by adjusting the electromagnetic torque of the motor to capture the maximum mechanical power at the current wind speed.

[0006] In some embodiments, the obtaining of the current disturbance power of the wind turbine generator set operating in the maximum power tracking mode includes: calculating the current disturbance power based on the current output power and average output power of the wind turbine generator set operating in the maximum power tracking mode.

[0007] In some embodiments, the calculating the current disturbance power based on the current output power and the average output power of the wind turbine generator set operating in the maximum power tracking mode includes: calculating the current disturbance power based on the current output power and the average output power of the wind turbine generator set operating in the maximum power tracking mode according to the following formula: wL =P e -P e0 ; Among them, P wL is the current disturbance power, P e is the current output power of the wind turbine generator set operating in the maximum power tracking mode, P e0 is the average output power of the wind turbine generator set operating in the maximum power tracking mode.

[0008] In some embodiments, the calculating of the predicted disturbance sequence of the wind turbine generator set operating in the maximum power tracking mode within the predicted time range includes: calculating the predicted disturbance sequence based on the reference output power of the wind turbine generator set operating in the maximum power tracking mode during the maximum power tracking process within the predicted time range and the average output power of the wind turbine generator set operating in the maximum power tracking mode.

[0009] In some embodiments, the calculation of the predicted disturbance sequence based on the reference output power of the wind turbine generator set operating in the maximum power tracking mode during the maximum power tracking process within the prediction time range and the average output power of the wind turbine generator set operating in the maximum power tracking mode includes: calculating the predicted disturbance power of the wind turbine generator set based on the following formula: P * wL =P wopt -P e0 , where P wopt is the reference output power of the wind turbine in the process of maximum power tracking, P e0 is the average output power of the wind turbine generator set operating in the maximum power tracking mode.

[0010] In some embodiments, based on the current disturbance power and the predicted disturbance sequence, generating the disturbance sequence of the wind turbine generator set operating in the maximum power tracking mode within the predicted time range includes: splicing the current disturbance power and the predicted disturbance sequence in chronological order to generate the disturbance sequence of the wind turbine generator set operating in the maximum power tracking mode within the predicted time range.

[0011] In some embodiments, the calculating the output sequence of the frequency modulation system in the prediction time range based on the disturbance sequence includes: calculating the output sequence of the frequency modulation system in the prediction time range based on the disturbance sequence and the prediction model of the model predictive controller; the calculating the control sequence of the prediction time range based on the output sequence of the frequency modulation system in the prediction time range includes: solving the objective function under the prediction model constraints of the model predictive controller based on the output sequence of the frequency modulation system in the prediction time range to obtain the control sequence of the frequency modulation system in the prediction time range.

[0012] In some embodiments, the frequency regulation system adjusts the load frequency of wind power grid connection based on the control sequence, including: the frequency regulation system adjusts the load frequency of wind power grid connection based on the first control signal in the control sequence.

[0013] One of the embodiments of the present specification provides a load frequency control system that takes into account wind power predicted disturbances, the system comprising: a data acquisition module, used to acquire the current disturbance power of a wind turbine generator set operating in a maximum power tracking mode; a sequence prediction module, used to acquire the predicted disturbance sequence of the wind turbine generator set operating in the maximum power tracking mode within a predicted time range; a sequence splicing module, used to generate a disturbance sequence of the wind turbine generator set operating in the maximum power tracking mode within a predicted time range based on the current disturbance power and the predicted disturbance sequence; a data processing module, used to calculate an output sequence of a frequency modulation system within the predicted time range based on the disturbance sequence; the data processing module is also used to calculate a control sequence within the predicted time range based on the output sequence of the frequency modulation system within the predicted time range; a frequency adjustment module, used to adjust the load frequency of wind power grid connection based on the first control signal in the control sequence.

[0014] The present specification provides a load frequency control method and system that takes into account wind power predicted disturbances. Compared with the prior art, the load frequency control method utilizes the maximum power tracking delay of the wind turbine to obtain the wind power predicted disturbance, and combines the real-time disturbance with the predicted disturbance as the disturbance input sequence of the model predictive controller. In the optimization solution process of the model predictive control, the future disturbance of the system is taken into account, so as to better give the frequency modulation instructions, so as to effectively reduce the system frequency deviation under the wind power disturbance. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] This specification will be further described in the form of exemplary embodiments, which will be described in detail by the accompanying drawings. These embodiments are not restrictive, and in these embodiments, the same number represents the same structure, wherein:

[0016] Figure 1is a flow chart of an exemplary load frequency control method considering wind power prediction disturbances according to some embodiments of this specification;

[0017] Figure 2 It is a module diagram of a load frequency control device considering wind power prediction disturbance according to some embodiments of this specification;

[0018] Figure 3 is a structural block diagram of an electronic device according to some embodiments of this specification;

[0019] Figure 4 It is a result diagram of predicted disturbance power and actual disturbance power obtained by a permanent magnet synchronous wind turbine generator set in a maximum power tracking mode as shown in some embodiments of this specification;

[0020] Figure 5 It is a schematic diagram of comparing frequency modulation effects according to some embodiments of this specification. DETAILED DESCRIPTION

[0021] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of this specification. For ordinary technicians in this field, this specification can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0022] It should be understood that the "system", "device", "unit" and / or "module" used herein are a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

[0023] As shown in this specification and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "comprise" and "include" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0024] Flowcharts are used in this specification to illustrate the operations performed by the system according to the embodiments of this specification. It should be understood that the preceding or following operations are not necessarily performed precisely in order. Instead, the steps may be processed in reverse order or simultaneously. At the same time, other operations may also be added to these processes, or one or more operations may be removed from these processes.

[0025] Figure 1 is a flow chart of a load frequency control method considering wind power prediction disturbances according to some embodiments of this specification, such as Figure 1 As shown, the load frequency control method considering wind power prediction disturbance may include the following process.

[0026] Step 110: obtaining the current disturbance power of the wind turbine generator set operating in the maximum power tracking mode.

[0027] In some embodiments, a wind turbine generator set operating in a maximum power tracking mode changes the rotation speed by adjusting the electromagnetic torque of the motor to capture the maximum mechanical power at the current wind speed.

[0028] The mechanical power P captured by the fan from the air w It can be expressed as:

[0029]

[0030] Where ρ is the air density, V w is the real-time wind speed, S is the area swept by the fan blades in one rotation, S = 2πR 2 , R is the radius of the wind turbine blade, T m is the mechanical torque of the fan blade, w m is the fan rotor speed, C p is the wind energy utilization coefficient, C p It is a function of the pitch angle β and the tip speed ratio λ.

[0031] When the unit works in the maximum power tracking mode, the pitch angle β is 0 degrees, C p It is expressed as:

[0032]

[0033] Right now

[0034] At a certain wind speed, the wind turbine captures the maximum power P wopt It is expressed as:

[0035]

[0036] That is, at wind speed V w When the tip speed ratio λ reaches the maximum value λ opt , at this time the wind energy utilization coefficient C p Get the maximum value C p,opt , the unit captures the maximum mechanical power P wopt , the maximum mechanical power is the reference output power of the generator during the maximum power tracking process.

[0037] The unit output power is expressed as:

[0038] P e =T e w m (6)

[0039] Among them, T e is the electromagnetic torque of the permanent magnet synchronous motor connected to the fan, expressed as:

[0040]

[0041] Among them, L d and L q are the stator equivalent inductances of the d-axis and q-axis, I sd and I sq are the dq axis current components of the permanent magnet synchronous motor, ψ f is the permanent magnet flux of the permanent magnet synchronous motor, and p is the number of generator pole pairs.

[0042] The motion equation of permanent magnet synchronous wind turbine is:

[0043]

[0044] Where J is the total moment of inertia of the permanent magnet synchronous wind turbine generator set. The maximum power tracking target of the wind turbine set is to detect the current rotor speed w when the wind speed suddenly changes and the mechanical power captured by the set is less than the current optimal capture power. m , the optimal reference output power P is obtained by formula (5) wopt , adjust the dq axis current of the permanent magnet synchronous motor to adjust the motor electromagnetic torque T e , so that the fan output power P e Tracking P wopt .

[0045] The real-time disturbance power generated by the wind turbine (also called "current disturbance power") can be defined as:

[0046] P wL =P e -P e0 (9)

[0047] Among them, P e is the output power of the wind turbine, P e0 It is the average output power of the wind turbine generator set working in the maximum power tracking mode.

[0048] Step 120 , calculating a predicted disturbance sequence of the wind turbine generator set operating in the maximum power tracking mode within a predicted time range.

[0049] The predicted disturbance sequence within the prediction time range consists of the future disturbances of the system within the prediction time range d(k+1|k) to d(k+N p-1|k).

[0050] The predicted disturbance power of wind turbine can be defined as:

[0051] P * wL =P wopt -P e0 (10)

[0052] Among them, P wopt is the reference output power of the wind turbine during the maximum power tracking process. It can be calculated based on the current real-time speed of the wind turbine according to expression (5), P e0 It is the average output power of the wind turbine generator set working in the maximum power tracking mode, that is, the average value of the actual output power.

[0053] Step 130 : generating a disturbance sequence of the wind turbine generator set operating in the maximum power tracking mode within a predicted time range based on the current disturbance power and the predicted disturbance sequence.

[0054] In some embodiments, the current disturbance power and the predicted disturbance sequence are spliced ​​in chronological order to generate a disturbance sequence of the wind turbine generator set working in the maximum power tracking mode within the predicted time range. The disturbance sequence D of the wind turbine generator set working in the maximum power tracking mode within the predicted time range consists of the disturbance of the system at the current time k (i.e., "current disturbance power") d(k|k) and the future disturbances of the system within the predicted time range d(k+1|k) to d(k+N|k). p -1|k) together to obtain the system disturbance sequence within the prediction time range, which is expressed as:

[0055] D=[d(k|k) d(k+1|k) … d(k+N p -1|k)] T (11)

[0056] The actual wind power disturbance d(k|k) suffered by the system k at the current moment can be expressed by formula (9) as:

[0057] d(k|k)=P wL (12)

[0058] At the current time k, due to the tracking delay τ of the wind turbine, the system will be subject to the wind power disturbance sequence d(k+1|k) in the future. It is known that T c is the model predictive controller sampling interval, and P * wL Therefore, the disturbance sequence D in the model predictive control algorithm consists of the current disturbance to the system and the future predicted disturbance.

[0059] Step 140: Calculate the output sequence of the frequency modulation system in the prediction time range based on the disturbance sequence.

[0060] The differential equation of the frequency modulation system can be described as:

[0061]

[0062] where x=[f,P m ,P g ] T , f is the system frequency offset, P m is the change in mechanical power of the generator, P g is the change of the speed regulator at the generator end. f(·) is the dynamic transfer function about state x. T g is the speed regulator time constant. H is the equivalent inertia constant of the regional power grid. Where d = P wL , P wL It is the real-time disturbance power generated by the wind turbine.

[0063] The control objective of the frequency modulation controller is to wL Under this condition, the controller output P c Adjust the output power of the frequency modulation unit to suppress the system frequency deviation f and make it as close to 0 as possible.

[0064] Based on the state space equation of the frequency modulation system, the prediction model of the model predictive controller obtained after discretization is defined as follows:

[0065]

[0066] Among them, A d , B d 、E d , C d They are the discrete system matrix, control input matrix, disturbance matrix and system output matrix, x(k) is the state vector of the system at time step k, u(k) is the control input vector of the system at time step k. d(k) is the wind power disturbance power received by the system at the current moment.

[0067] From formula (14), we can get p The system prediction output within is expressed as:

[0068] Y=S x x(k)+S u U+S d D (15)

[0069] Among them, Y is the system output within the prediction time domain obtained by the model predictive controller based on the current system state information and the control sequence U to be solved and the predicted disturbance sequence D within the prediction time range, which is expressed as:

[0070] Y=[y(k+1|k) y(k+2|k) … y(k+N p |k)] T (16)

[0071] Among them, U is the prediction time range N p The control sequence to be solved is N u ≤N p , when N u ≤j≤N p When u(k+j|k)=u(k+N u -1|k), it is expressed as:

[0072] U=[u(k|k) u(k+1|k) … u(k+N u -1|k)] T (17)

[0073] Among them, j represents the time step that exceeds the control time domain range but belongs to the prediction time range, S x , S u , S d is the coefficient matrix of the prediction equation of the model predictive controller. The coefficient matrix A in formula (14) d , B d 、E d , C d constitute.

[0074] Step 150, calculating a control sequence of the prediction time range based on the output sequence of the frequency modulation system in the prediction time range.

[0075] Based on the control objective of the frequency modulation system, the optimization solution considers the following minimization objective function:

[0076]

[0077] Among them, y and u are the system output and control quantity in the prediction time domain, respectively, and the Q and R matrices are the system output and control action penalty matrices, respectively, in the form of positive definite symmetric matrices. Solving the minimization objective function under the constraints of the system prediction model, that is, constrained by equation (14), constitutes a quadratic programming problem. Therefore, at the current time k, the optimal control set of the system in the prediction time domain length is obtained, and the first control action is applied to the system to complete a rolling optimization. At the next time, the system state is sampled and the solution is repeated.

[0078] Step 160: The frequency regulation system adjusts the load frequency of the wind power grid-connected based on the control sequence.

[0079] In some embodiments, the frequency regulation system may adjust the load frequency of the wind power grid-connected based on the first control signal in the control sequence.

[0080] In some embodiments, a load frequency control method that considers wind power predicted disturbances utilizes the maximum power tracking delay of the wind turbine to obtain the wind power predicted disturbance, and combines the real-time disturbance with the predicted disturbance as a load frequency control method of the disturbance input sequence of the model predictive controller. In the optimization solution process of the model predictive control, the future disturbance of the system is taken into account, so as to better give the frequency modulation instructions, so as to effectively reduce the system frequency deviation under the wind power disturbance.

[0081] It should be noted that the above description of the load frequency control method considering wind power prediction disturbance is only for example and explanation, and does not limit the scope of application of this specification. For those skilled in the art, various modifications and changes can be made to the cloud virtual host server management method under the guidance of this specification. However, these modifications and changes are still within the scope of this specification.

[0082] The effect of the load frequency control method considering wind power forecast disturbance is explained below through a control experiment.

[0083] There is a tracking delay between the reference output power and the actual output power of the permanent magnet synchronous wind turbine generator set PWSG in the maximum power tracking mode, that is, the reference output power is obtained first and the actual output power of the unit is obtained later during the maximum power tracking process. Therefore, when the wind turbine is in the grid-connected state, the reference output power can be used to obtain the predicted disturbance power of wind power grid connection in advance, which is used for the subsequent frequency regulation of the frequency regulation side controller. Figure 4 is a result diagram of predicted disturbance power and actual disturbance power obtained by a permanent magnet synchronous wind turbine generator set in maximum power tracking mode as shown in some embodiments of this specification, such as Figure 4 As shown, the dotted line is the predicted disturbance power obtained from the reference output power in the maximum power tracking process, and the solid line is the disturbance power obtained from the actual output power of the unit.

[0084] In the load frequency control method considering wind power forecast disturbance, the forecast disturbance power sequence obtained from the wind turbine part is added to the derivation of the output sequence to compare the frequency regulation effect with the model predictive control method that directly uses the actual disturbance data. Figure 5 is a schematic diagram of frequency modulation effect comparison according to some embodiments of this specification, such as Figure 5 As shown in the figure, the dotted line is the frequency regulation effect of the load frequency control method considering wind power prediction disturbance, and the solid line is the frequency regulation effect of the conventional model prediction control method. Figure 5It can be seen that the load frequency control method considering wind power prediction disturbance is effective. In the peak part of system frequency fluctuation, the load frequency control method considering wind power prediction disturbance can effectively reduce the deviation of system frequency under wind power disturbance. This is because in the output sequence derivation part of the conventional model predictive control algorithm, since it is assumed that the future disturbance is the same as the current disturbance, and the actual future disturbance is a downward trend, the control amount increases, which leads to a larger system frequency deviation. In the load frequency control method considering wind power prediction disturbance, due to the use of predicted disturbance, it has a priori knowledge of future system disturbances, and adjusts the controller output in time to effectively reduce the control effect of the system at the peak of the system frequency deviation.

[0085] The comparison of frequency regulation performance indicators of the load frequency control method considering wind power forecast disturbance and the conventional model predictive control method is shown in Table 1. The smaller the value of these performance indicators, the better the frequency regulation performance. MFD is the maximum system frequency deviation, ISE is the square error integral, ITSE is the time square error-free integral, and IAE is the absolute error integral. Compared with the conventional method, the four performance indicators of the load frequency control method considering wind power forecast disturbance are improved by 12.8%, 6.67%, 5.41%, and 3.02%, respectively.

[0086] Table 1

[0087] MFD ISE ITSE IAE Conventional methods 0.4043 0.3268 19.4092 5.0603 This method 0.3525 0.305 18.595 4.9084 Improvement rate 12.8％ 6.67％ 5.41％ 3.02％

[0088] Figure 2 1 is a block diagram of a load frequency control device considering wind power prediction disturbances according to some embodiments of this specification. Figure 2 As shown, a load frequency control system considering wind power prediction disturbance may include a data acquisition module, a sequence prediction module, a sequence splicing module, a data processing module and a frequency adjustment module.

[0089] The data acquisition module can be used to acquire the current disturbance power of the wind turbine generator set operating in the maximum power tracking mode.

[0090] The sequence prediction module can be used to obtain the predicted disturbance sequence of the wind turbine generator set operating in the maximum power tracking mode within the predicted time range.

[0091] The sequence splicing module can be used to generate a disturbance sequence of the wind turbine generator set operating in the maximum power tracking mode within a predicted time range based on the current disturbance power and the predicted disturbance sequence;

[0092] The data processing module may be used to calculate an output sequence of the frequency modulation system in the prediction time range based on the disturbance sequence;

[0093] The data processing module may also be used to calculate a control sequence for the predicted time range based on an output sequence of the frequency modulation system for the predicted time range.

[0094] The frequency adjustment module can be used to adjust the load frequency of wind power grid connection based on the first control signal in the control sequence.

[0095] For more information about the data acquisition module, sequence prediction module, sequence splicing module, data processing module, and frequency adjustment module, see Figure 1 The related descriptions will not be repeated here.

[0096] It should be noted that the above description of the load frequency control system and its modules considering wind power prediction disturbance is only for the convenience of description and cannot limit this specification to the scope of the embodiments. It is understandable that for those skilled in the art, after understanding the principle of the system, it is possible to arbitrarily combine the modules or form a subsystem to connect with other modules without deviating from this principle. In some embodiments, Figure 2 The data acquisition module, sequence prediction module, sequence splicing module, data processing module and frequency adjustment module disclosed in the specification can be different modules in a system, or one module can realize the functions of two or more modules. For example, each module can share a storage module, or each module can have its own storage module. Such variations are all within the protection scope of this specification.

[0097] Figure 3 is a structural block diagram of an electronic device according to some embodiments of this specification, such as Figure 3 The electronic devices shown are examples of hardware devices that can be applied to various aspects of the present invention. The electronic devices are intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic devices can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0098] like Figure 3As shown, the electronic device includes a computing unit, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) or a computer program loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for the operation of the device can also be stored. The computing unit, ROM and RAM are connected to each other through a bus. An input / output (I / O) interface is also connected to the bus.

[0099] Multiple components in the electronic device are connected to the I / O interface, including: an input unit, an output unit, a storage unit, and a communication unit. The input unit can be any type of device that can input information to the electronic device, and the input unit can receive input digital or character information, and generate key signal input related to user settings and / or function control of the electronic device. The output unit can be any type of device that can present information, and can include but is not limited to a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit can include but is not limited to a disk, an optical disk. The communication unit allows the electronic device to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and can include but is not limited to a modem, a network card, an infrared communication device, a wireless communication transceiver, and / or a chipset, such as a Bluetooth™ device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0100] The computing unit may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of computing units include, but are not limited to, central processing units (CPUs), graphics processing units (GPUs), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit performs the various methods and processes described above. For example, in some embodiments, load frequency control considering wind power forecast disturbances may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit. In some embodiments, part or all of the computer program may be loaded and / or installed on an electronic device via a ROM and / or a communication unit. In some embodiments, the computing unit may be configured to perform load frequency control considering wind power forecast disturbances by any other appropriate means (e.g., by means of firmware).

[0101] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only for example and does not constitute a limitation of this specification. Although not explicitly stated here, those skilled in the art may make various modifications, improvements and corrections to this specification. Such modifications, improvements and corrections are suggested in this specification, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of this specification.

[0102] At the same time, this specification uses specific words to describe the embodiments of this specification. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of this specification. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures or characteristics in one or more embodiments of this specification can be appropriately combined.

[0103] In addition, unless explicitly stated in the claims, the order of the processing elements and sequences described in this specification, the use of alphanumeric characters, or the use of other names are not intended to limit the order of the processes and methods of this specification. Although the above disclosure discusses some invention embodiments that are currently considered useful through various examples, it should be understood that such details are only for illustrative purposes, and the attached claims are not limited to the disclosed embodiments. On the contrary, the claims are intended to cover all modifications and equivalent combinations that are consistent with the essence and scope of the embodiments of this specification. For example, although the system components described above can be implemented by hardware devices, they can also be implemented only by software solutions, such as installing the described system on an existing server or mobile device.

[0104] Similarly, it should be noted that in order to simplify the description disclosed in this specification and thus help understand one or more embodiments of the invention, in the above description of the embodiments of this specification, multiple features are sometimes combined into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the subject matter of this specification are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0105] In some embodiments, numbers describing the number of components and attributes are used. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise specified, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of this specification are approximate values, in specific embodiments, the setting of such numerical values ​​is as accurate as possible within the feasible range.

[0106] Finally, it should be understood that the embodiments described in this specification are only used to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, as an example and not a limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly introduced and described in this specification.

Claims

1. A load frequency control method considering wind power prediction disturbance, characterized in that: include: Obtain the current disturbance power d(k|k) of the wind turbine generator set operating in the maximum power tracking mode; Calculate the predicted disturbance sequence of the wind turbine generator set working in the maximum power tracking mode within the predicted time range, wherein the predicted disturbance sequence of the predicted time range is composed of the future disturbances d(k+1|k) to d(k+N p -1|k), where N p For the forecast time frame; Based on the current disturbance power and the predicted disturbance sequence, generating a disturbance sequence of the wind turbine generator set operating in the maximum power tracking mode within a predicted time range; Calculate the output sequence of the frequency modulation system in the prediction time range based on the disturbance sequence; Calculating a control sequence for the prediction time range based on an output sequence of the frequency modulation system for the prediction time range; The frequency regulation system adjusts the load frequency of wind power grid connection based on the control sequence; Calculating the predicted disturbance sequence of the wind turbine generator set operating in the maximum power tracking mode within the predicted time range includes: Calculating the predicted disturbance sequence based on the reference output power of the wind turbine generator set operating in the maximum power tracking mode during the maximum power tracking process within the prediction time range and the average output power of the wind turbine generator set operating in the maximum power tracking mode; Based on the current disturbance power and the predicted disturbance sequence, generating a disturbance sequence of the wind turbine generator set operating in the maximum power tracking mode within a predicted time range, comprising: splicing the current disturbance power and the predicted disturbance sequence in chronological order to generate a disturbance sequence of the wind turbine generator set operating in the maximum power tracking mode within a predicted time range; Calculating the output sequence of the frequency modulation system in the prediction time range based on the disturbance sequence includes: Calculating the output sequence of the frequency modulation system within the prediction time range based on the disturbance sequence and the prediction model of the model predictive controller; The calculating the control sequence of the predicted time range based on the output sequence of the frequency modulation system in the predicted time range comprises: Based on the output sequence of the frequency modulation system in the prediction time range, the objective function is solved under the prediction model constraint of the model predictive controller to obtain the control sequence of the frequency modulation system in the prediction time range.

2. The load frequency control method considering wind power prediction disturbance according to claim 1 is characterized in that: The wind turbine generator set operating in the maximum power tracking mode changes the rotation speed by adjusting the electromagnetic torque of the motor to capture the maximum mechanical power under the current wind speed.

3. The load frequency control method considering wind power prediction disturbance according to claim 1, characterized in that: The obtaining of the current disturbance power of the wind turbine generator set operating in the maximum power tracking mode includes: The current disturbance power is calculated based on the current output power and the average output power of the wind turbine generator set operating in the maximum power tracking mode.

4. The load frequency control method considering wind power prediction disturbance according to claim 3 is characterized in that: The calculating the current disturbance power based on the current output power and the average output power of the wind turbine generator set operating in the maximum power tracking mode includes: The current disturbance power is calculated based on the current output power and average output power of the wind turbine generator set operating in the maximum power tracking mode according to the following formula: P wL =P e -P e0 ; Among them, P wL is the current disturbance power, P e is the current output power of the wind turbine generator set operating in the maximum power tracking mode, P e0 is the average output power of the wind turbine generator set operating in the maximum power tracking mode.

5. The load frequency control method considering wind power prediction disturbance according to claim 1, characterized in that: The calculating the predicted disturbance sequence based on the reference output power of the wind turbine generator set operating in the maximum power tracking mode during the maximum power tracking process within the prediction time range and the average output power of the wind turbine generator set operating in the maximum power tracking mode comprises: The predicted disturbance power of the wind turbine is calculated based on the following formula: P * wL =P wopt -P e0 Among them, P wopt is the reference output power of the wind turbine in the process of maximum power tracking, P e0 is the average output power of the wind turbine generator set operating in the maximum power tracking mode.

6. The load frequency control method considering wind power prediction disturbance according to any one of claims 1 to 4, characterized in that: The frequency regulation system adjusts the load frequency of wind power grid connection based on the control sequence, including: The frequency regulation system adjusts the load frequency of the wind power grid-connected based on the first control signal in the control sequence.

7. A load frequency control system considering wind power prediction disturbance, characterized in that: include: A data acquisition module is used to acquire the current disturbance power d(k|k) of the wind turbine generator set operating in the maximum power tracking mode; A sequence prediction module is used to obtain the predicted disturbance sequence of the wind turbine generator set working in the maximum power tracking mode within the prediction time range, wherein the predicted disturbance sequence within the prediction time range is composed of the future disturbances d(k+1|k) to d(k+N p -1|k), where N p For the forecast time frame; A sequence splicing module, used to generate a disturbance sequence of the wind turbine generator set operating in the maximum power tracking mode within a predicted time range based on the current disturbance power and the predicted disturbance sequence; A data processing module, used for calculating an output sequence of the frequency modulation system in the prediction time range based on the disturbance sequence; The data processing module is further used to calculate the control sequence of the predicted time range based on the output sequence of the frequency modulation system in the predicted time range; A frequency adjustment module, used for adjusting the load frequency of wind power grid connection based on the first control signal in the control sequence; Calculating the predicted disturbance sequence of the wind turbine generator set operating in the maximum power tracking mode within the predicted time range includes: Calculating the predicted disturbance sequence based on the reference output power of the wind turbine generator set operating in the maximum power tracking mode during the maximum power tracking process within the prediction time range and the average output power of the wind turbine generator set operating in the maximum power tracking mode; Based on the current disturbance power and the predicted disturbance sequence, generating a disturbance sequence of the wind turbine generator set operating in the maximum power tracking mode within a predicted time range, comprising: splicing the current disturbance power and the predicted disturbance sequence in chronological order to generate a disturbance sequence of the wind turbine generator set operating in the maximum power tracking mode within a predicted time range; Calculating the output sequence of the frequency modulation system in the prediction time range based on the disturbance sequence includes: Calculating the output sequence of the frequency modulation system within the prediction time range based on the disturbance sequence and the prediction model of the model predictive controller; The calculating the control sequence of the predicted time range based on the output sequence of the frequency modulation system in the predicted time range comprises: Based on the output sequence of the frequency modulation system in the prediction time range, the objective function is solved under the prediction model constraint of the model predictive controller to obtain the control sequence of the frequency modulation system in the prediction time range.

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