Control method and system of grid-type doubly-fed wind turbine based on dual time scale

Abstract

The present invention proposes a control method and system for a grid-forming doubly-fed wind turbine based on dual-time-scale K P The method includes: subtracting the collected active power output by the doubly-fed wind generator from the active power reference value, and inputting the result into a PI controller based on dual-time-scale K P to obtain an output signal; summing the output signal with f0 and outputting the frequency of the virtual synchronous coordinate system; outputting the angle of the virtual synchronous coordinate system through a time integration link; obtaining the control quantity of the generator output voltage phase based on the angle of the virtual synchronous coordinate system; and obtaining the PWM modulation signal of the wind turbine converter based on the control quantity of the voltage phase to control the switching tubes of the wind turbine converter, and finally realizing the control of the wind power generation set.

Description

Technical Field

[0001] The present invention belongs to the technical field of control of a grid-type doubly-fed wind turbine, and in particular relates to a control method and system for a grid-type doubly-fed wind turbine based on a dual time scale. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] With the growing demand for renewable energy, wind power generation has been widely used as a clean and renewable energy form. Doubly-fed wind turbines have become one of the mainstream technologies in the current wind power generation field due to their efficient energy conversion, flexible power regulation and good grid-connected performance.

[0004] Doubly-fed wind turbines integrate multiple subsystems such as aerodynamics, mechanics, and electrical systems. Their complexity leads to inevitable stability challenges during operation. In particular, the elastic coupling and weak damping effect between the wind turbine and the generator may cause torsional vibration, posing a threat to the stability and safety of the entire transmission system. This phenomenon not only affects the operational safety of the wind turbine, but may also deteriorate the quality of power, thereby affecting the stability of the power grid. By introducing a dual-mass shaft transmission system and a virtual damping control scheme, grid-following doubly-fed wind turbines can effectively suppress power oscillations and improve system stability. However, at present, a large number of wind turbines realize the grid-building function through droop control. Affected by the coupling relationship between the mechanical and electrical characteristics of the doubly-fed wind turbine, the phase delay of the grid-building wind turbine increases under weak grid conditions, the virtual damping control effect is weakened, and the stable operation of the wind turbine is difficult to guarantee. The solution to this problem is still unclear. Summary of the invention

[0005] In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a dual time scale K P The control method of the grid-type doubly-fed wind turbine maintains the stability of the steady-state performance of the system while ensuring the dynamic performance of the system, namely the virtual damping control effect, and solves the problem of weakened damping control effect of the grid-type doubly-fed wind turbine under weak power grid conditions.

[0006] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions:

[0007] In a first aspect, a control method for a grid-type doubly-fed wind turbine based on a dual time scale is disclosed, comprising:

[0008] The collected active power output of the doubly-fed wind turbine generator is subtracted from the active power reference value and then input into the dual time scale K P PI controller, get the output signal;

[0009] The reference value f of the output signal and the virtual synchronous coordinate system frequency 0 Sum and output the frequency of the virtual synchronous coordinate system;

[0010] The frequency of the virtual synchronous coordinate system outputs the angle of the virtual synchronous coordinate system through the time integration link;

[0011] The control amount of the generator output voltage phase is obtained based on the angle of the virtual synchronous coordinate system;

[0012] The PWM modulation signal of the wind turbine converter is obtained based on the control quantity of the voltage phase, so as to realize the control of the switch tube of the wind turbine converter and finally realize the control of the wind turbine generator set.

[0013] As a further technical solution, the dual time scale K P The PI controller sets two controller parameters: a proportional coefficient without time delay and a proportional coefficient with time delay. The sum of the two is the initial proportional coefficient of the controller. The initial proportional coefficient of the controller is a dual-time scale proportional coefficient.

[0014] As a further technical solution, the proportionality coefficient without time delay is a larger value than the proportionality coefficient with time delay, so as to ensure that the grid-type doubly-fed wind turbine generator set has sufficient dynamic response capability and reduce phase delay.

[0015] As a further technical solution, the proportional coefficient with time delay is a negative number and has a certain time delay, which complements the proportional coefficient without time delay and is used to maintain the steady-state performance of the grid-type doubly-fed wind turbine generator set.

[0016] As a further technical solution, the frequency expression of the virtual synchronous coordinate system is:

[0017]

[0018] Among them, P is the active power output of the doubly fed wind turbine generator, P ref is the active power reference value of the doubly-fed wind turbine generator, K P1 is the proportionality coefficient without delay, K P2 is the proportionality factor with time delay.

[0019] As a further technical solution, when the power grid fluctuates, the proportional coefficient without time delay responds first while the proportional coefficient with time delay does not respond, thereby achieving a rapid response to system fluctuations.

[0020] As a further technical solution, after a time delay, the proportional coefficient without time delay and the proportional coefficient with time delay respond simultaneously, maintaining the steady-state performance of the grid-type doubly-fed wind turbine generator set on the basis of achieving rapid response.

[0021] In the second aspect, a dual time scale K is disclosed. P The control system of the grid-type doubly-fed wind turbine includes:

[0022] Based on the dual time scale K P The PI controller module is configured to: input the difference between the collected active power output of the double-fed wind turbine generator and the active power reference value into the dual time scale K P PI controller, get the output signal;

[0023] The control module of the wind turbine is configured to: output signal and f 0 Sum and output the frequency of the virtual synchronous coordinate system;

[0024] The frequency of the virtual synchronous coordinate system outputs the angle of the virtual synchronous coordinate system through the time integration link; the control amount of the generator output voltage phase is obtained based on the angle of the virtual synchronous coordinate system; the PWM modulation signal of the wind turbine converter is obtained based on the control amount of the voltage phase, so as to realize the control of the switch tube of the wind turbine converter and finally realize the control of the wind turbine generator set.

[0025] One or more of the above technical solutions have the following beneficial effects:

[0026] The technical solution of the present invention makes a unified analysis of the mechanical and electrical characteristics of the doubly-fed wind turbine generator, and explains why the virtual damping control is difficult to play an effective role when the grid-type wind turbine is connected to a weak power grid. A dual-time scale K P Optimize the control scheme. This scheme uses a larger delay-free K P1 and a negative delay K P2 While ensuring the virtual damping control effect, the stability of the system's steady-state performance is maintained, solving the problem of weakened damping control effect of grid-connected doubly-fed wind turbines under weak grid conditions.

[0027] The technical solution of the present invention adopts a larger delay-free K P1 parameters, this patent solution can significantly improve the dynamic response speed of wind turbines. P1 The larger value of ensures that the phase delay can be effectively reduced when the wind turbine transmission system vibrates, and improves the effect of virtual damping control under weak grid conditions.

[0028] The technical solution of the present invention satisfies K P1 +K P2 =K PThis design allows the wind turbine to maintain the expected working state and steady-state characteristics during steady-state operation.

[0029] The technical solution of the present invention aims at the control challenge of grid-type DFIG in a weak power grid environment. This patent solution effectively solves the shortcomings of virtual damping control of grid-type wind turbine generator sets in a weak power grid environment, significantly improves the transmission system stability of grid-type double-fed wind turbine generator sets, and improves the adaptability of wind turbine generator sets to weak power grids.

[0030] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0032] Figure 1 This is the droop control block diagram;

[0033] Figure 2 It is the topological structure diagram of the grid-type doubly-fed wind turbine generator set;

[0034] Figure 3 is the Bode diagram corresponding to formula (17);

[0035] Figure 4 For different K P The formula (10) below the value corresponds to the step reaction diagram;

[0036] Figure 5 K P Frequency response graph when increasing;

[0037] Figure 6 A control block diagram of an embodiment of the present invention;

[0038] Figure 7 is the Bode diagram corresponding to formula (19);

[0039] Figure 8 K is the dual time scale P Frequency response plot of the control;

[0040] Fig. 9 This is a schematic diagram of simulation conditions for Case 1;

[0041] Fig.10 Phase delay analysis diagram, where (a) is the phase delay analysis diagram of the traditional control structure, and (b) is the phase delay analysis diagram of the proposed control structure;

[0042] Fig.11 This is a schematic diagram of simulation conditions for Case 2;

[0043] Fig.12 Schematic diagram of steady-state performance analysis; (a) increasing K P Schematic diagram of steady-state performance analysis; (b) Dual time scale K P Schematic diagram of steady-state performance analysis. DETAILED DESCRIPTION

[0044] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0045] It should be noted that the terms used herein are for describing specific embodiments only and are not intended to be limiting of exemplary embodiments according to the present invention.

[0046] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0047] Embodiment 1

[0048] This embodiment discloses a dual time scale K P The control method of the grid-type doubly-fed wind turbine comprises:

[0049] The collected active power output of the doubly-fed wind turbine generator is subtracted from the active power reference value and then input into the dual time scale K P PI controller, get the output signal;

[0050] Output signal and f 0 Sum and output the frequency of the virtual synchronous coordinate system;

[0051] The frequency of the virtual synchronous coordinate system outputs the angle of the virtual synchronous coordinate system through the time integration link;

[0052] The control amount of the generator output voltage phase is obtained based on the angle of the virtual synchronous coordinate system;

[0053] The PWM modulation signal of the wind turbine converter is obtained based on the control quantity of the voltage phase, so as to realize the control of the switch tube of the wind turbine converter and finally realize the control of the wind turbine generator set.

[0054] In order to better express the technical solution of this application, the following aspects are explained:

[0055] S1: The main control structure of the grid-type doubly-fed wind turbine generator, the transmission system model of the dual-mass shaft and the damping control scheme. This is the basic model used in the subsequent analysis and design scheme of this patent.

[0056] S2: Comprehensive analysis of the mechanical and electrical characteristics of the grid-type doubly-fed wind turbine generator system. This section reveals the coupling relationship between the grid-type wind turbine control and the damping control, and explains why the virtual damping control is difficult to function effectively when the grid-type wind turbine is connected to a weak power grid.

[0057] S3: Based on the above analysis, a dual time scale K is proposed P Optimization scheme.

[0058] S1: First, the main control structure of the grid-type wind turbine, the transmission system model of the dual-mass shaft and the damping control scheme are introduced, which is the basic model used in the subsequent analysis and design scheme of this patent.

[0059] In the prior art, the main control structure is shown in the attached Figure 1 shown.

[0060] Active and reactive power droop control is used in grid-type doubly-fed wind turbines. The corresponding equations of power and internal voltage are as follows:

[0061]

[0062] In the formula, f dq and θ dq are the frequency and angle of the virtual synchronous coordinate system respectively. ref is the reference value of the internal voltage amplitude, along the d-axis direction. 0 It is the reference value of the frequency of the virtual synchronous coordinate system. 0 is the base value of the internal voltage amplitude. ref , Q ref K, P, and Q are the reference value of active power and the actual value of reactive power respectively. P and K Q They are the droop gains of frequency modulation and voltage regulation respectively.

[0063] Dual mass axis model in existing technology:

[0064] This model can reflect the torsional dynamic characteristics of the transmission system, and its accuracy meets the research needs. Its motion equation is as follows

[0065]

[0066] Where J t , J g ,ω t ,ω g ,θ t and θg are the moment of inertia, angular velocity and angle of the wind turbine and generator respectively. t 、T g , and T s They are pneumatic torque, electromagnetic torque and shaft torque respectively.

[0067] The shaft torque is as shown in Equation 3

[0068] T s =K s (θ t -θ g )+D s (ω t -ω g ) (3)

[0069] In the formula, K s and D s are the shaft torsion spring and torsion damping constants, respectively.

[0070] In the prior art, virtual damping control of grid-type doubly-fed wind turbine transmission system:

[0071] In the powertrain damping control, by g Increase the damping torque T damp To achieve virtual damping. Assume T g and T damp yes

[0072]

[0073] Combined (2)(3)(4):

[0074]

[0075] S2. Unified analysis of mechanical and electrical characteristics:

[0076] Firstly, the mechanical and electrical characteristics of the grid-type doubly-fed wind turbine generator set are uniformly analyzed, and the reasons why the virtual damping control is difficult to play an effective role when the grid-type wind turbine generator set is connected to a weak power grid are explained.

[0077] Firstly, the reasons why the phase delay of grid-connected wind turbines increases under weak grid conditions are analyzed.

[0078] Phase delay increase analysis: grid-type doubly-fed wind turbine generator topology, see Appendix Figure 2 shown.

[0079] The converter of a wind turbine generator set usually uses power control, and the relationship between power and torque is as follows:

[0080] P=ω g T g. (6)

[0081] pass Figure 2 It can be seen that the active power of the wind turbine is

[0082]

[0083] In the formula, E, U, θ E ,θ U are the amplitude and phase angle of the external and internal voltages of the power grid, respectively. X is the equivalent impedance between the PCC and the external power grid.

[0084] Since the technical solution of this embodiment mainly focuses on active power and phase issues, the dynamic changes of voltage amplitude are ignored and it is assumed that it remains unchanged at the reference value. The dynamics of the phase can be approximated by the first-order inertia component:

[0085]

[0086] Among them, T VC is the equivalent time constant of voltage control. Assuming that the external voltage is constant, equation (7) can be linearized as

[0087]

[0088] Because the active power will track the power reference, further linearization gives ref to ΔP

[0089] ΔP=G GFM_1 (s)ΔP ref . (10)

[0090]

[0091] It can be seen from the formula that the transfer function from active power to active power reference value is affected by the strength of the grid. The smaller the grid strength, the longer the response time. When the grid strength is weak, the wind turbine needs a larger phase adjustment to achieve the same active power change, that is, the phase delay increases.

[0092] Then we further explain why the increase in phase delay will affect the virtual damping control:

[0093] Effect of phase delay on virtual damping control

[0094] After considering the virtual damping control, the active reference value of the wind turbine becomes

[0095] P ref =P ref_MPPT +P ref_damp (12)

[0096] Among them, P ref_MPPTis the active power reference generated by the MPPT control. ref_damp is the active power reference generated by damping control, equal to ω g T damp ..

[0097] P ref_MPPT This is slower than the time scale corresponding to the transmission vibration problem studied in this patent, so the first-order inertia component is used to approximate its control dynamics. It is linearized as

[0098]

[0099] In the formula, K MPPT and T MPPT is the equivalent control gain and time constant of MPPT control.

[0100] Combining (4), (12), and (13) we get

[0101]

[0102] According to formula 7, the additional torque formula can be derived as follows:

[0103]

[0104] Analysis shows that a larger phase delay means weaker or even negative damping, which weakens the effect of virtual damping control when the doubly-fed wind turbine is connected to a weak grid.

[0105] Further analysis

[0106] ΔT g =G damp_1 (s)Δω g (16)

[0107]

[0108] The Bode diagram of formula (17) is Figure 3 As shown in Figure 2, when the short-circuit ratio changes from 3.0 to 1.3 (the smaller the short-circuit ratio, the weaker the grid strength), the phase delay changes from 7° to 43°. This means that compared with the grid-following double-fed wind turbine generator set, the virtual damping control effect of the transmission system is worse when the grid-fed double-fed wind turbine generator set is connected to a weak grid.

[0109] S3 optimization solution design

[0110] Based on the above analysis, it can be concluded that under weak grid conditions, wind turbines need larger phase adjustments to achieve the same active power increment, that is, the phase delay increases, which further weakens the virtual damping control effect. PA vibration reduction control method for the transmission system of a grid-type doubly-fed wind turbine generator set is proposed.

[0111] Since the response delay is caused by the phase angle adjustment process, it can be intuitively solved by increasing the proportionality factor K P To speed up the response. However, only increasing the system K P It will reduce the steady-state performance of the system.

[0112] Different K P The step reaction corresponding to formula (12) is as follows: Figure 4 As shown, K P The frequency response when increasing is as follows Figure 5 shown.

[0113] Dual time scale K P Control scheme design: To address the problem of weakened damping control effect caused by phase delay under weak power grid conditions, this paper proposes a dual-time scale K P The control scheme includes two controller parameters: K P1 and K with delay P2 . Satisfy K P1 +K P2 =K P (Initial K P =0.05pu).

[0114] K P1 : Designed to a larger value of 0.3pu to ensure that the grid-type doubly-fed wind turbine generator has sufficient dynamic response capability, reduce phase delay, and ensure the effect of virtual damping control.

[0115] K P2 : Designed as -0.25pu negative number with a certain delay, which is similar to K P1 The two systems complement each other and maintain the steady-state performance of the grid-type doubly-fed wind turbine generator set.

[0116] About K P1 , K P2 Determination of:

[0117] K P1 +K P2 Determined according to the expected steady-state characteristics, K P1 +K P2 =K P =0.05, which represents the droop coefficient of the primary frequency modulation in the droop control.

[0118] K P1 It is determined according to the expected transient characteristics, and a larger value is used to reduce phase delay and ensure the effect of virtual damping control. Its typical value is 0.3 to 0.4.

[0119] K P2 The design also includes a delay time T d , when the delay time is short, K P1 Reduce phase delay to ensure that the effect of virtual damping control is not fully utilized, K P2 Started with K P1 When the delay time is further increased, the active output of the grid-connected double-fed wind turbine generator set will decrease after the system stabilizes, and the steady-state performance will decrease.

[0120] Therefore, this example comprehensively considers the dynamic response capability and steady-state performance of the grid-type doubly-fed wind turbine generator system to determine K P1 0.3pu, K P2 It is -0.25pu and Td is 1s.

[0121] Using dual time scale K P When f in (1) dq The expression becomes

[0122]

[0123] Dual time scale K P See attached for control block diagram Figure 6 As shown, at the moment of power grid fluctuation, K P1 First respond to the simultaneous K P2 No response, the collected active power output of the double-fed wind turbine generator is subtracted from the active power reference value and then input into the dual time scale K P The PI controller obtains the output signal, which is related to f 0 Sum and output f dq (the frequency of the virtual synchronous coordinate system), further f dq Output θ through the time integration link dq (The angle of the virtual synchronous coordinate system). The control quantity of the generator output voltage phase is further obtained, and the PWM modulation signal of the wind turbine converter is further obtained to realize the control of the switch tube of the wind turbine converter and finally realize the control of the wind turbine generator. A rapid response to system fluctuations is achieved.

[0124] After a delay, K P1 With K P2 At the same time, the collected active power output of the doubly fed wind turbine generator is subtracted from the active power reference value and then input into the dual time scale K P The PI controller obtains the output signal, which is related to f 0 Sum and output f dq (the frequency of the virtual synchronous coordinate system), further f dq Output θ through the time integration linkdq (angle of the virtual synchronous coordinate system). The control quantity of the generator output voltage phase is further obtained, and the PWM modulation signal of the wind turbine converter is further obtained to realize the control of the switch tube of the wind turbine converter and finally realize the control of the wind turbine generator set. The steady-state performance of the grid-type doubly fed wind turbine generator set is maintained on the basis of achieving rapid response.

[0125] In the dual time scale K P Under control, formula (17) becomes

[0126]

[0127] The Bode diagram corresponding to formula 19 is shown in the attached Figure 7 As shown, the dual time scale K P The control scheme reduces the phase delay from 43° to 5°, which means that the damping torque of the powertrain vibration is greater. That is, the deterioration of the virtual damping control effect is effectively suppressed. At the same time, the frequency response of the system after adopting the dual time scale is as follows: Figure 8 As shown, it can be seen that the system maintains the stability of steady-state performance.

[0128] The effectiveness of the proposed control structure is further verified by using simulation cases:

[0129] Case 1: A phase jump lasting 10 milliseconds is used to excite the torsional vibration of the transmission system. Verification Verification The use of a phase angle feedforward control scheme can reduce phase delay and improve the virtual damping control effect when the grid-type doubly-fed wind turbine generator is connected to a weak grid.

[0130] The simulation conditions are as follows Fig. 9 As shown in Figure 2, at t = 1s, the external grid voltage phase jumps 0.5rad at 1s and recovers at 1.01s. Fig.10 For phase delay analysis, we focus on (a) phase delay analysis under traditional control structure and (b) phase delay analysis under the proposed control structure.

[0131] It can be seen that the vibration of the transmission system lasts for more than 10 seconds under the traditional control structure, while the vibration of the transmission system is successfully suppressed within 2 seconds when the proposed control structure is adopted. It is verified that the proposed control scheme can significantly improve the virtual damping control effect when the grid-type doubly fed wind turbine generator is connected to a weak power grid.

[0132] Case 2: Grid frequency drops. Verification using dual time scale K P The scheme does not affect the steady-state performance of the unit.

[0133] The simulation conditions are as follows Fig.11 As shown. At t = 1s, the external power grid frequency drops from 50Hz to 49.75Hz. Steady-state performance analysis is shown in Fig.12As shown, (a) is the increase of K P Schematic diagram of steady-state performance analysis, (b) dual time scale K P Schematic diagram of steady-state performance analysis.

[0134] It can be seen that only increasing K P The control scheme will change the steady-state active output and change the steady-state performance of the unit. P Control, by satisfying K P1 +K P2 =K P The steady-state characteristics of the system remain unchanged.

[0135] Embodiment 2

[0136] The purpose of this embodiment is to provide a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the program.

[0137] Embodiment 3

[0138] The purpose of this embodiment is to provide a computer-readable storage medium.

[0139] A computer-readable storage medium stores a computer program, which executes the steps of the above method when executed by a processor.

[0140] Embodiment 4

[0141] The purpose of this embodiment is to provide a dual time scale K P The control system of the grid-type doubly-fed wind turbine includes:

[0142] The dual-time-scale PI controller module is configured to: input the difference between the collected active power output of the double-fed wind turbine generator and the active power reference value into the dual-time-scale K P PI controller, get the output signal;

[0143] The control module of the wind turbine is configured to: output signal and f 0 Sum and output the frequency of the virtual synchronous coordinate system;

[0144] The frequency of the virtual synchronous coordinate system outputs the angle of the virtual synchronous coordinate system through the time integration link; the control amount of the generator output voltage phase is obtained based on the angle of the virtual synchronous coordinate system; the PWM modulation signal of the wind turbine converter is obtained based on the control amount of the voltage phase, so as to realize the control of the switch tube of the wind turbine converter and finally realize the control of the wind turbine generator set.

[0145] Embodiment 5

[0146] The purpose of this embodiment is to provide a computer program product containing instructions, which, when running on a computer, enables the computer to execute the methods and functions involved in any of the above embodiments.

[0147] The steps involved in the apparatus of the above embodiment correspond to the method embodiment 1, and the specific implementation method can refer to the relevant description part of embodiment 1. The term "computer-readable storage medium" should be understood as a single medium or multiple media including one or more instruction sets; it should also be understood to include any medium that can store, encode or carry an instruction set for execution by a processor and enable the processor to execute any method in the present invention.

[0148] Those skilled in the art should understand that the modules or steps of the present invention described above can be implemented by a general-purpose computer device, or alternatively, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. The present invention is not limited to any specific combination of hardware and software.

[0149] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A control method for a grid-type doubly-fed wind turbine based on dual time scales, characterized in that: include: The collected active power output of the doubly-fed wind turbine generator is subtracted from the active power reference value and then input into the dual time scale based K P PI controller, get the output signal; Based on the dual time scale K P The PI controller sets two controller parameters: a proportional coefficient without time delay and a proportional coefficient with time delay, and the sum of the two is the initial proportional coefficient of the controller. The initial proportional coefficient of the controller is a dual-time scale proportional coefficient. The proportionality coefficient without time delay is a larger value than the proportionality coefficient with time delay, so as to ensure that the grid-type doubly-fed wind turbine generator set has sufficient dynamic response capability and reduces phase delay; The proportional coefficient with time delay is a negative number and has a certain time delay, which is complementary to the proportional coefficient without time delay and is used to maintain the steady-state performance of the grid-type doubly-fed wind turbine generator set; When the power grid fluctuates, the proportional coefficient without time delay responds first while the proportional coefficient with time delay does not respond, thus achieving a fast response to system fluctuations; After the time delay, the proportional coefficient without time delay and the proportional coefficient with time delay respond simultaneously, maintaining the steady-state performance of the grid-type doubly-fed wind turbine generator set on the basis of achieving fast response; The reference value of the output signal and the virtual synchronous coordinate system frequency f 0 sums and outputs the frequency of the virtual synchronous coordinate system; The frequency of the virtual synchronous coordinate system outputs the angle of the virtual synchronous coordinate system through the time integration link; The control amount of the generator output voltage phase is obtained based on the angle of the virtual synchronous coordinate system; The PWM modulation signal of the wind turbine converter is obtained based on the control quantity of the voltage phase, so as to realize the control of the switch tube of the wind turbine converter and finally realize the control of the wind turbine generator set.

2. The control method of the grid-type doubly-fed wind turbine based on dual time scales according to claim 1 is characterized in that: The frequency expression of the virtual synchronous coordinate system is: in, P is the active power output by the doubly-fed wind turbine generator, P ref is the active power reference value of the doubly-fed wind turbine generator, K P1 is the proportionality coefficient without delay, K P2 is the proportionality factor with time delay, f 0 is the reference value of the virtual synchronous coordinate system frequency.

3. Based on dual time scale K P The control system of the grid-type double-fed wind turbine is characterized by comprising: The dual-time-scale PI controller module is configured to: input the difference between the collected active power output of the double-fed wind turbine generator and the active power reference value into the dual-time-scale based K P PI controller, get the output signal; Based on the dual time scale K P The PI controller sets two controller parameters: a proportional coefficient without time delay and a proportional coefficient with time delay, and the sum of the two is the initial proportional coefficient of the controller. The initial proportional coefficient of the controller is a dual-time scale proportional coefficient. The proportionality coefficient without time delay is a larger value than the proportionality coefficient with time delay, so as to ensure that the grid-type doubly-fed wind turbine generator set has sufficient dynamic response capability and reduces phase delay; The proportional coefficient with time delay is a negative number and has a certain time delay, which is complementary to the proportional coefficient without time delay and is used to maintain the steady-state performance of the grid-type doubly-fed wind turbine generator set; When the power grid fluctuates, the proportional coefficient without time delay responds first while the proportional coefficient with time delay does not respond, thus achieving a fast response to system fluctuations; After the time delay, the proportional coefficient without time delay and the proportional coefficient with time delay respond simultaneously, maintaining the steady-state performance of the grid-type doubly-fed wind turbine generator set on the basis of achieving fast response; The control module of the wind turbine generator set is configured to: output signal and f 0 sums and outputs the frequency of the virtual synchronous coordinate system; The frequency of the virtual synchronous coordinate system outputs the angle of the virtual synchronous coordinate system through the time integration link; the control amount of the generator output voltage phase is obtained based on the angle of the virtual synchronous coordinate system; the PWM modulation signal of the wind turbine converter is obtained based on the control amount of the voltage phase, so as to realize the control of the switch tube of the wind turbine converter and finally realize the control of the wind turbine generator set.

4. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 2 is implemented.

5. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the method described in any one of claims 1 to 2 are implemented.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method described in any one of claims 1 to 2 are performed.

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