Offshore wind power grid coordination control method and system, terminal and storage medium

Abstract

The invention provides an offshore wind power grid coordination control method and system, a terminal and a storage medium, and the method comprises the steps: building an offshore wind turbine adjustment model and a first energy storage equipment adjustment model based on a preset synchronous motor rotor motion equation; based on a sigmoid function, carrying out charge protection constraint on the first energy storage equipment adjustment model to obtain a second energy storage equipment adjustment model; when the operation parameters of the offshore wind power grid fluctuate, the power grid frequency at the current moment is input to the offshore wind turbine adjusting model and the second energy storage equipment adjusting model, the corresponding operation parameters of the offshore wind power grid are adjusted respectively, and coordination control is conducted on the offshore wind power grid. According to the invention, the problem of unstable power grid operation caused by negative influence on the power grid frequency during new energy grid connection in the prior art is solved. Through the combined action of the offshore wind turbine adjusting model and the second energy storage equipment adjusting model, the operation state of the offshore wind power grid is maintained, and stable operation of the offshore wind power grid is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of renewable energy power generation control design, and in particular to an offshore wind power grid coordinated control method, system, terminal and storage medium. Background Art

[0002] Compared with traditional power grids, the power electronic converters in renewable energy power generation have replaced synchronous motors, which directly leads to the common problems of low inertia and poor anti-interference ability in renewable energy power generation. When the electricity generated by renewable energy is connected to the power grid, the impact of its intermittent and uncertain power generation on the stability of the power grid becomes increasingly obvious. In traditional power grids, synchronous units can release enough rotor kinetic energy to provide an inertial buffer process for the system when the grid frequency fluctuates, hindering the change of grid frequency. However, renewable energy power generation does not have the inertial support capacity of synchronous motors, so when renewable energy is connected to the grid, it has a negative impact on the grid frequency.

[0003] At present, the existing technology needs to obtain the implementation frequency of the power grid and compare it with the start-up trigger frequency of the energy storage device, and compare the real-time frequency of the power grid with the start-up frequency of the energy storage device to determine whether to start the regulation. The devices include: wind turbines, machine-side converters, grid-side converters and energy storage devices, etc., and most offshore wind power systems rely on power electronic conversion devices for grid connection. The overall system inertia is low. When dealing with load fluctuations or fluctuations in the active power output of offshore wind turbines, the robustness is poor, resulting in large fluctuations in the power grid frequency. In addition, the virtual inertia control of a single energy storage device cannot participate in the power grid frequency regulation safely and stably enough, resulting in problems such as overcharging or over-discharging of energy storage, which accelerates the aging and damage of equipment, thereby affecting the stability of power grid operation. Summary of the invention

[0004] Based on the above problems, the present invention proposes an offshore wind power grid coordinated control method, system, terminal and storage medium to solve the problem of unstable grid operation caused by the negative impact on grid frequency caused by the grid connection of new energy in the prior art.

[0005] To achieve the above object, an embodiment of the present invention provides an offshore wind power grid coordinated control method, comprising:

[0006] Based on the preset synchronous motor rotor motion equation, an offshore wind turbine regulation model and a first energy storage device regulation model are constructed respectively;

[0007] Based on the sigmoid function, the charging protection constraint is performed on the first energy storage device regulation model to obtain the second energy storage device regulation model;

[0008] When the operating parameters of the offshore wind power grid fluctuate, the current grid frequency is input into the offshore wind turbine adjustment model and the second energy storage device adjustment model to adjust the corresponding offshore wind power grid operating parameters respectively;

[0009] Based on the adjusted offshore wind power grid operating parameters, the offshore wind power grid is coordinated and controlled.

[0010] The embodiment of the present invention proposes a coordinated control method for an offshore wind power grid. By referring to the rotor inertia of a synchronous motor similar to that of a preset synchronous motor rotor motion equation, an offshore wind turbine regulation model is constructed to provide additional inertia for the offshore wind power grid, thereby ensuring the active power output of the offshore wind turbine and enabling the offshore wind power grid to operate stably. At the same time, based on the preset synchronous motor rotor motion equation and the sigmoid function, a second energy storage device regulation model is finally constructed. In view of the problem that the frequency regulation capability of the energy storage device is affected by the state of charge, the healthy frequency regulation capability of the energy storage device is maintained, thereby ensuring the stable operation of the offshore wind power grid. In addition, when the operating parameters of the offshore wind power grid fluctuate, the offshore wind turbine regulation model and the second energy storage device regulation model work together to adjust the corresponding operating parameters accordingly. Finally, coordinated control is adopted to maintain the operating state of the offshore wind power grid, thereby further ensuring the stable operation of the offshore wind power grid.

[0011] Furthermore, based on the preset synchronous motor rotor motion equation, the offshore wind turbine regulation model and the first energy storage device regulation model are respectively constructed, specifically:

[0012] Based on the preset synchronous motor rotor motion equation, the offshore wind turbine regulation model is constructed according to the offshore wind turbine virtual inertia coefficient and offshore wind turbine virtual damping coefficient;

[0013] Based on the preset synchronous motor rotor motion equation, a first energy storage device regulation model is constructed according to the inertia power reference value of the energy storage device, the droop power reference value of the energy storage device, the grid frequency and the grid frequency fluctuation value.

[0014] A coordinated control method for an offshore wind power grid proposed in an embodiment of the present invention introduces virtual inertia damping control in the rotor control model of the offshore wind turbine, thereby providing the system with additional additional inertia to ensure the operating output of the wind turbine. At the same time, an inertia damping control model similar to that of a synchronous motor is introduced to construct a first energy storage device adjustment model for subsequent charging and discharging constraint protection of the energy storage device, thereby improving the operating stability of the offshore wind grid.

[0015] Furthermore, based on the sigmoid function, the charging protection constraint is performed on the first energy storage device regulation model to obtain the second energy storage device regulation model, which is specifically:

[0016] Obtain the upper and lower limits of the state of charge of the energy storage device and establish charge protection constraints;

[0017] Based on the sigmoid function and the charge protection constraint, calculating the charge and discharge frequency modulation coefficient of the energy storage device;

[0018] By adding the energy storage device charging and discharging frequency modulation coefficient to the first energy storage device regulation model, a second energy storage device regulation model is constructed.

[0019] An offshore wind power grid coordinated control method proposed in an embodiment of the present invention constructs a charge protection constraint through the upper and lower limits of the charge state of the energy storage device, and performs protection constraints on the charge state of the energy storage device during charging and discharging to prevent the energy storage from being overcharged or over-discharged, causing accelerated aging and damage to the equipment.

[0020] Furthermore, when the power grid frequency fluctuation value is greater than a preset threshold, the energy storage device is in a charging state, and a charging frequency modulation coefficient of the energy storage device is calculated;

[0021] When the grid frequency fluctuation value is less than a preset threshold, the energy storage device is in a discharging state, and the discharge frequency modulation coefficient of the energy storage device is calculated.

[0022] Furthermore, when the operating parameters of the offshore wind power grid fluctuate, the current grid frequency is input into the offshore wind turbine regulation model and the second energy storage device regulation model to adjust the corresponding offshore wind power grid operating parameters respectively, specifically:

[0023] When the output power of the offshore wind power grid fluctuates, the current grid frequency is input into the offshore wind turbine regulation model, inertia is added to the offshore wind power grid by combining MPPT, and the output power of the offshore wind power grid is adjusted;

[0024] When the load power of the offshore wind grid fluctuates, the current grid frequency is input into the second energy storage device regulation model to optimize the frequency regulation performance of the offshore wind grid and regulate the load power of the offshore wind grid.

[0025] An offshore wind power grid coordinated control method proposed in an embodiment of the present invention combines an offshore wind turbine regulation model with offshore wind turbine MPPT control to jointly control the active power output of the offshore wind turbine and maintain the frequency stability of the offshore wind power grid.

[0026] The embodiment of the present invention further provides an offshore wind power grid coordinated control system, comprising: a first model building module, a second model building module, a power grid regulation module and a coordinated control module;

[0027] The first model building module is used to build an offshore wind turbine regulation model and a first energy storage device regulation model respectively based on a preset synchronous motor rotor motion equation;

[0028] The second model building module is used to perform charge protection constraints on the first energy storage device regulation model based on the sigmoid function to obtain the second energy storage device regulation model;

[0029] The grid regulation module is used to input the current grid frequency into the offshore wind turbine regulation model and the second energy storage device regulation model when the offshore wind grid operation parameters fluctuate, and respectively adjust the corresponding offshore wind grid operation parameters;

[0030] The coordination control module is used to coordinate and control the offshore wind power grid based on the adjusted offshore wind power grid operating parameters.

[0031] The embodiment of the present invention proposes an offshore wind power grid coordinated control system, which constructs an offshore wind turbine regulation model by referring to the preset synchronous motor rotor motion equation and the rotor inertia similar to the synchronous motor through a first model construction module to provide additional inertia for the offshore wind power grid, thereby ensuring the active power output of the offshore wind turbine and enabling the offshore wind power grid to operate stably; at the same time, a second energy storage device regulation model is finally constructed based on the preset synchronous motor rotor motion equation and the sigmoid function through a second model construction module, and the problem that the frequency regulation capability of the energy storage device is affected by the state of charge is addressed, thereby maintaining the healthy frequency regulation capability of the energy storage device and ensuring the stable operation of the offshore wind power grid; finally, when the operating parameters of the offshore wind power grid fluctuate, the offshore wind turbine regulation model and the second energy storage device regulation model work together through the power grid regulation module to adjust the corresponding operating parameters accordingly, and finally, the coordinated control module is used to coordinate and control the operating state of the offshore wind power grid, thereby further ensuring the stable operation of the offshore wind power grid.

[0032] Furthermore, the second model building module is used to perform charge protection constraints on the first energy storage device regulation model based on the sigmoid function to obtain the second energy storage device regulation model, which is specifically:

[0033] A constraint construction unit, a frequency modulation coefficient calculation unit and a model processing construction unit;

[0034] The constraint construction unit is used to obtain the upper and lower limits of the state of charge of the energy storage device and construct the charge protection constraint;

[0035] The frequency modulation coefficient calculation unit is used to calculate the charging and discharging frequency modulation coefficient of the energy storage device based on the sigmoid function and the charge protection constraint;

[0036] The model processing construction unit is used to construct a second energy storage device regulation model by adding an energy storage device charging and discharging frequency modulation coefficient to the first energy storage device regulation model.

[0037] Furthermore, the grid regulation module is used to input the current grid frequency into the offshore wind turbine regulation model and the second energy storage device regulation model when the offshore wind grid operation parameters fluctuate, and adjust the corresponding offshore wind grid operation parameters respectively, specifically:

[0038] a first regulating unit and a second regulating unit;

[0039] The first regulating unit is used for inputting the current grid frequency into the offshore wind turbine regulation model when the output power of the offshore wind grid fluctuates, adding inertia to the offshore wind grid by combining MPPT, and regulating the output power of the offshore wind grid;

[0040] The second regulating unit is used to input the current grid frequency into the second energy storage device regulation model when the load power of the offshore wind grid fluctuates, optimize the frequency regulation performance of the offshore wind grid, and regulate the load power of the offshore wind grid.

[0041] An offshore wind power grid coordinated control terminal comprises a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, wherein the processor implements the offshore wind power grid coordinated control method when executing the computer program.

[0042] A storage medium for coordinated control of an offshore wind power grid, the storage medium comprising: a computer-readable storage medium and a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the method for coordinated control of an offshore wind power grid. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A schematic flow chart of the steps of a coordinated control method for an offshore wind power grid provided in one embodiment of the present invention;

[0044] Figure 2 A schematic diagram of the module structure of an offshore wind power grid coordination control system provided in one embodiment of the present invention;

[0045] Figure 3 A schematic diagram of the structure of a second model building module of an offshore wind power grid coordination control system provided by a certain embodiment of the present invention;

[0046] Figure 4 A schematic diagram of the structure of a power grid regulation module of an offshore wind power grid coordination control system provided by a certain embodiment of the present invention;

[0047] Figure 5 A schematic diagram of an offshore wind power grid system structure of an offshore wind power grid coordinated control method provided by a certain embodiment of the present invention;

[0048] Figure 6 A block diagram of an offshore wind turbine additional virtual inertia control of an offshore wind power grid coordinated control method provided in a certain embodiment of the present invention. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] See also Figure 5 , Figure 5 A schematic diagram of an offshore wind power grid system structure of an offshore wind power grid coordinated control method provided by a certain embodiment of the present invention; in this embodiment, the following is adopted Figure 5 An offshore wind power grid system of an offshore wind power grid coordinated control method shown is explained, and the offshore wind power grid system consists of an offshore wind turbine, a machine-side converter station, a grid-side converter station, a DC cable and an energy storage device.

[0051] Example 1

[0052] See also Figure 1 , Figure 1 A schematic flow chart of the steps of a coordinated control method for an offshore wind power grid provided in one embodiment of the present invention. Figure 1 As shown, the embodiment of the present invention proposes a method for coordinated control of an offshore wind power grid, including steps 101 to 104, each of which is specifically as follows:

[0053] Step 101, based on the preset synchronous motor rotor motion equation, construct an offshore wind turbine regulation model and a first energy storage device regulation model respectively;

[0054] As an example of this embodiment, based on the preset synchronous motor rotor motion equation, according to the offshore wind turbine virtual inertia coefficient and the offshore wind turbine virtual damping coefficient, an offshore wind turbine regulation model is constructed; based on the preset synchronous motor rotor motion equation, according to the energy storage device inertia power reference value, the energy storage device droop power reference value, the grid frequency and the grid frequency fluctuation value, a first energy storage device regulation model is constructed. A specific implementation method is to preset the synchronous motor rotor motion equation as follows:

[0055]

[0056] Where ΔP is the rotor kinetic energy, J is the rotor moment of inertia, ω and ω N are the rotor angular velocity and the rated angular velocity, respectively, D is the damping coefficient, and Δω is the angular velocity difference. Among them, the values ​​of J and D in the synchronous motor can provide sufficient inertia support for the system containing the synchronous motor.

[0057] See also Figure 6 , Figure 6A block diagram of an additional virtual inertia control of an offshore wind turbine in an offshore wind power grid coordinated control method provided by a certain embodiment of the present invention. Figure 6 As shown, based on the above preset synchronous motor rotor motion equation, the additional virtual inertia control model of the offshore wind turbine is obtained by analogy design (equivalent to the offshore wind turbine regulation model):

[0058]

[0059] Where ΔP WT_ref Active power provided for virtual inertia control of offshore wind turbines, J WT and D WT are virtual inertia coefficient and virtual damping coefficient respectively, f is the grid frequency, Δf is the grid frequency fluctuation value, Figure 6 In, f N is the rated frequency of the power grid; the virtual inertia control of offshore wind turbines consists of two parts: virtual inertia and virtual damping. WT and D WT Provides additional inertia to the system.

[0060] Similarly, simulating the offshore wind turbine regulation model, a similar virtual inertia equation is introduced into the energy storage device control system, and the active power reference value in the energy storage device control system is calculated by analogy as follows:

[0061] P ref_B =P iner_B +P d_B

[0062] Where P ref_B , P iner_B and P d_B are the active power reference value, inertia power reference value and droop power reference value of the energy storage device control system, P iner_B and P d_B The mathematical model (equivalent to the first energy storage device regulation model) is designed as follows:

[0063]

[0064] P d_B =k d_B Δf

[0065]

[0066] In the formula, k iner_B and k d_B are the inertia coefficient and droop coefficient respectively, f is the grid frequency, and Δf is the grid frequency fluctuation value.

[0067] Step 102: Based on the sigmoid function, a charging protection constraint is performed on the first energy storage device regulation model to obtain a second energy storage device regulation model;

[0068] As an example of this embodiment, the upper and lower limits of the state of charge of the energy storage device are obtained, and the charge protection constraint is established;

[0069] Based on the sigmoid function and the charge protection constraint, the charge and discharge frequency modulation coefficient of the energy storage device is calculated; by adding the charge and discharge frequency modulation coefficient of the energy storage device to the first energy storage device regulation model, a second energy storage device regulation model is constructed. A specific implementation method is that since the frequency modulation capability of the energy storage device is affected by the SOC, in the traditional control strategy, after the design of the energy storage device control system is completed, it is also necessary to perform protection constraints on the SOC of the energy storage device during charging and discharging to prevent the energy storage from being overcharged or over-discharged, causing accelerated aging and damage to the equipment. Therefore, in combination with the sigmoid function, healthy control of the SOC of the energy storage device is introduced into the energy storage device control system to maintain the healthy frequency modulation capability of the energy storage device. The sigmoid function curve rises exponentially in the initial stage, and eventually approaches the maximum value, the growth rate slows down, and the upper and lower limits approach two asymptotes parallel to the x-axis, respectively. Its mathematical model is as follows:

[0070]

[0071] In the formula, a is the final value, b is the initial value, and n is the rate of change of the sigmoid function curve.

[0072] Since the upper and lower limits of the SOC of energy storage equipment are not the same, when introducing the sigmoid function to adjust the SOC, it is necessary to design it for both energy storage charging and energy storage discharging.

[0073] Finally, the mathematical model of active power reference value when energy storage equipment participates in frequency modulation is as follows:

[0074] Δf<0, when the energy storage device is discharged:

[0075] P ref_B =k dis (P iner_B +P d_B )

[0076] Δf>0, when the energy storage device is charging:

[0077] P ref_B =k char (P iner_B +P d_B )

[0078] In the formula, k dis is the discharge frequency modulation coefficient of the energy storage device, k charThe frequency modulation factor for charging energy storage devices.

[0079] As another example of this embodiment, when the grid frequency fluctuation value is greater than a preset threshold, the energy storage device is in a charging state, and the charging frequency modulation coefficient of the energy storage device is calculated; when the grid frequency fluctuation value is less than a preset threshold, the energy storage device is in a discharging state, and the discharging frequency modulation coefficient of the energy storage device is calculated. A specific implementation method is that when Δf<0, the energy storage device is discharged, and the frequency modulation coefficient is as follows:

[0080]

[0081] In the formula, k dis is the discharge frequency modulation coefficient of the energy storage device.

[0082] When Δf>0, the energy storage device is charged and the frequency modulation coefficient is as follows:

[0083]

[0084] In the formula, k char is the charging frequency modulation coefficient of the energy storage device. SOC is the current state of charge of the energy storage, 0.2SOC and 0.8SOC are the upper and lower limits of the set state of charge, the value of n determines the shape of the sigmoid function curve, and the values ​​of a and b determine the frequency modulation performance.

[0085] Step 103, when the operating parameters of the offshore wind power grid fluctuate, the current grid frequency is input into the offshore wind turbine adjustment model and the second energy storage device adjustment model, and the corresponding offshore wind power grid operating parameters are adjusted respectively;

[0086] As an example of this embodiment, when the output power of the offshore wind grid fluctuates, the grid frequency at the current moment is input into the offshore wind turbine regulation model, and the offshore wind grid is added with inertia by combining with MPPT, and the output power of the offshore wind grid is adjusted; when the load power of the offshore wind grid fluctuates, the grid frequency at the current moment is input into the second energy storage device regulation model, the frequency regulation performance of the offshore wind grid is optimized, and the load power of the offshore wind grid is adjusted. A specific implementation method is to introduce virtual inertia damping control into the rotor control model of the offshore wind turbine, provide additional additional inertia for the system, and combine it with the MPPT control of the offshore wind turbine to jointly control the active power output of the offshore wind turbine; in the energy storage device control system, an inertia damping control model similar to that of the synchronous motor is introduced, and in view of the problem that the frequency regulation capability of the energy storage device is affected by the state of charge SOC, a sigmoid function model is introduced to maintain the healthy frequency regulation capability of the energy storage device and adjust the load power of the offshore wind grid. In general, when the load power and offshore wind turbine output power fluctuate, the energy storage equipment and offshore wind turbines act quickly to jointly participate in regulating the grid frequency and maintain the stable operation of the offshore wind power system.

[0087] Step 104 , based on the adjusted offshore wind power grid operating parameters, coordinate and control the offshore wind power grid.

[0088] As an example of this embodiment, when the adjusted offshore wind power grid operating parameters are obtained, corresponding adjustments are made according to the actual operating conditions of the offshore wind power grid, so that the offshore wind turbine adjustment model and the second energy storage device adjustment model coordinately control the offshore wind power grid, that is, through the introduction of inertial characteristics, the active power reference value increment of the offshore wind turbine and the energy storage device in the control link is additionally increased, and the active power output / absorbed by the energy storage device is constrained and protected through the sigmoid function, further improving the stability support of the system by the active power output of the offshore wind turbine and the energy storage device. A more specific control method can be achieved by using existing technologies according to actual conditions, which will not be repeated here.

[0089] The embodiment of the present invention proposes a coordinated control method for an offshore wind power grid. By referring to the preset synchronous motor rotor motion equation and the similar rotor inertia of the synchronous motor, an offshore wind turbine regulation model is constructed to provide additional inertia for the offshore wind grid, thereby ensuring the active power output of the offshore wind turbine and enabling the offshore wind grid to operate stably. At the same time, based on the preset synchronous motor rotor motion equation and the sigmoid function, a second energy storage device regulation model is finally constructed. In view of the problem that the frequency regulation capability of the energy storage device is affected by the state of charge, the healthy frequency regulation capability of the energy storage device is maintained, thereby ensuring the stable operation of the offshore wind grid. In addition, when the operating parameters of the offshore wind grid fluctuate, the offshore wind turbine regulation model and the second energy storage device regulation model work together to adjust the corresponding operating parameters accordingly. Finally, coordinated control is adopted to maintain the offshore wind The operating status of the power grid further ensures the stable operation of the offshore wind power grid. In the rotor control model of the offshore wind turbine, virtual inertia damping control is introduced to provide the system with additional inertia to ensure the operating output of the wind turbine. At the same time, an inertia damping control model similar to that of the synchronous motor is introduced to construct the first energy storage device adjustment model for subsequent charging and discharging constraint protection of the energy storage device, thereby improving the operating stability of the offshore wind power grid. Through the upper and lower limits of the state of charge of the energy storage device, a charge protection constraint is constructed to protect the state of charge of the energy storage device during charging and discharging to prevent overcharging or over-discharging of the energy storage device from causing accelerated aging and damage to the equipment. The offshore wind turbine adjustment model is combined with the offshore wind turbine MPPT control to jointly control the active power output of the offshore wind turbine and maintain the frequency stability of the offshore wind power grid.

[0090] Example 2

[0091] See also Figure 2 , Figure 2 A schematic diagram of the module structure of an offshore wind power grid coordinated control system provided by an embodiment of the present invention. Figure 2As shown, an embodiment of the present invention provides an offshore wind power grid coordinated control system, including:

[0092] A first model building module 201, a second model building module 202, a power grid regulation module 203 and a coordination control module 204;

[0093] The first model building module 201 is used to build an offshore wind turbine regulation model and a first energy storage device regulation model respectively based on a preset synchronous motor rotor motion equation;

[0094] The second model building module 202 is used to perform charge protection constraints on the first energy storage device regulation model based on the sigmoid function to obtain the second energy storage device regulation model;

[0095] As an example of this embodiment, see Figure 3 , Figure 3 A schematic diagram of the structure of a second model building module of an offshore wind power grid coordinated control system provided by a certain embodiment of the present invention; Figure 3 As shown, the second model building module 202 is used to perform charge protection constraints on the first energy storage device regulation model based on the sigmoid function to obtain the second energy storage device regulation model, which is specifically:

[0096] Constraint construction unit 301, frequency modulation coefficient calculation unit 302 and model processing construction unit 303;

[0097] The constraint construction unit 301 is used to obtain the upper and lower limits of the state of charge of the energy storage device and construct the charge protection constraint;

[0098] The frequency modulation coefficient calculation unit 302 is used to calculate the charging and discharging frequency modulation coefficient of the energy storage device based on the sigmoid function and the charge protection constraint;

[0099] The model processing and constructing unit 303 is used to construct a second energy storage device regulation model by adding an energy storage device charging and discharging frequency modulation coefficient to the first energy storage device regulation model.

[0100] The grid regulation module 203 is used to input the current grid frequency into the offshore wind turbine regulation model and the second energy storage device regulation model when the offshore wind grid operation parameters fluctuate, and respectively adjust the corresponding offshore wind grid operation parameters;

[0101] As an example of this embodiment, see Figure 4 , Figure 4 A schematic diagram of the structure of a power grid regulation module of an offshore wind power grid coordination control system provided by a certain embodiment of the present invention; Figure 4As shown, the grid regulation module 203 is used to input the current grid frequency into the offshore wind turbine regulation model and the second energy storage device regulation model when the offshore wind grid operation parameters fluctuate, and adjust the corresponding offshore wind grid operation parameters respectively, specifically:

[0102] A first adjustment unit 401 and a second adjustment unit 402;

[0103] The first regulating unit 401 is used for inputting the current grid frequency into the offshore wind turbine regulation model when the output power of the offshore wind grid fluctuates, adding inertia to the offshore wind grid by combining MPPT, and regulating the output power of the offshore wind grid;

[0104] The second regulating unit 402 is used to input the current grid frequency into the second energy storage device regulation model when the load power of the offshore wind grid fluctuates, optimize the frequency regulation performance of the offshore wind grid, and regulate the load power of the offshore wind grid.

[0105] The coordination control module 204 is used to coordinate and control the offshore wind power grid based on the adjusted offshore wind power grid operation parameters.

[0106] An embodiment of the present invention also proposes an offshore wind power grid coordinated control terminal, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor implements the offshore wind power grid coordinated control method when executing the computer program.

[0107] An embodiment of the present invention also proposes an offshore wind power grid coordinated control storage medium, the storage medium comprising: a computer-readable storage medium and a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the offshore wind power grid coordinated control method.

[0108] The embodiment of the present invention proposes an offshore wind power grid coordinated control system, which constructs an offshore wind turbine regulation model by referring to the preset synchronous motor rotor motion equation and the rotor inertia similar to the synchronous motor through a first model construction module to provide additional inertia for the offshore wind power grid, thereby ensuring the active power output of the offshore wind turbine and enabling the offshore wind power grid to operate stably; at the same time, a second energy storage device regulation model is finally constructed based on the preset synchronous motor rotor motion equation and the sigmoid function through a second model construction module, and the problem that the frequency regulation capability of the energy storage device is affected by the state of charge is addressed, thereby maintaining the healthy frequency regulation capability of the energy storage device and ensuring the stable operation of the offshore wind power grid; finally, when the operating parameters of the offshore wind power grid fluctuate, the offshore wind turbine regulation model and the second energy storage device regulation model work together through the power grid regulation module to adjust the corresponding operating parameters accordingly, and finally, the coordinated control module is used to coordinate and control the operating state of the offshore wind power grid, thereby further ensuring the stable operation of the offshore wind power grid.

[0109] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

[0110] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0111] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

Claims

1. A method for coordinated control of an offshore wind power grid, characterized in that: include: Based on the preset synchronous motor rotor motion equation, an offshore wind turbine regulation model and a first energy storage device regulation model are constructed respectively; Based on the sigmoid function, the charging protection constraint is performed on the first energy storage device regulation model to obtain the second energy storage device regulation model; When the operating parameters of the offshore wind power grid fluctuate, the current grid frequency is input into the offshore wind turbine adjustment model and the second energy storage device adjustment model to adjust the corresponding offshore wind power grid operating parameters respectively; Based on the adjusted offshore wind power grid operating parameters, the offshore wind power grid is coordinated and controlled.

2. The offshore wind power grid coordinated control method according to claim 1, characterized in that: Based on the preset synchronous motor rotor motion equation, the offshore wind turbine regulation model and the first energy storage device regulation model are respectively constructed, specifically: Based on the preset synchronous motor rotor motion equation, the offshore wind turbine regulation model is constructed according to the offshore wind turbine virtual inertia coefficient and offshore wind turbine virtual damping coefficient; Based on the preset synchronous motor rotor motion equation, a first energy storage device regulation model is constructed according to the inertia power reference value of the energy storage device, the droop power reference value of the energy storage device, the grid frequency and the grid frequency fluctuation value.

3. The offshore wind power grid coordinated control method according to claim 2, characterized in that: Based on the sigmoid function, the charging protection constraint is performed on the first energy storage device regulation model to obtain the second energy storage device regulation model, which is specifically: Obtain the upper and lower limits of the state of charge of the energy storage device and establish charge protection constraints; Based on the sigmoid function and the charge protection constraint, calculating the charge and discharge frequency modulation coefficient of the energy storage device; By adding the energy storage device charging and discharging frequency modulation coefficient to the first energy storage device regulation model, a second energy storage device regulation model is constructed.

4. A method for coordinated control of an offshore wind power grid according to claim 2 or 3, characterized in that: When the grid frequency fluctuation value is greater than a preset threshold, the energy storage device is in a charging state, and a charging frequency modulation coefficient of the energy storage device is calculated; When the grid frequency fluctuation value is less than a preset threshold, the energy storage device is in a discharging state, and the discharge frequency modulation coefficient of the energy storage device is calculated.

5. The offshore wind power grid coordinated control method according to claim 1, characterized in that: When the offshore wind power grid operating parameters fluctuate, the current grid frequency is input into the offshore wind turbine adjustment model and the second energy storage device adjustment model to adjust the corresponding offshore wind power grid operating parameters respectively, specifically: When the output power of the offshore wind power grid fluctuates, the current grid frequency is input into the offshore wind turbine regulation model, inertia is added to the offshore wind power grid by combining MPPT, and the output power of the offshore wind power grid is adjusted; When the load power of the offshore wind grid fluctuates, the current grid frequency is input into the second energy storage device regulation model to optimize the frequency regulation performance of the offshore wind grid and regulate the load power of the offshore wind grid.

6. An offshore wind power grid coordinated control system, characterized in that: include: A first model building module, a second model building module, a power grid regulation module and a coordination control module; The first model building module is used to build an offshore wind turbine regulation model and a first energy storage device regulation model respectively based on a preset synchronous motor rotor motion equation; The second model building module is used to perform charge protection constraints on the first energy storage device regulation model based on the sigmoid function to obtain the second energy storage device regulation model; The grid regulation module is used to input the current grid frequency into the offshore wind turbine regulation model and the second energy storage device regulation model when the offshore wind grid operation parameters fluctuate, and respectively adjust the corresponding offshore wind grid operation parameters; The coordination control module is used to coordinate and control the offshore wind power grid based on the adjusted offshore wind power grid operating parameters.

7. An offshore wind power grid coordinated control system according to claim 6, characterized in that: The second model building module is used to perform charge protection constraints on the first energy storage device regulation model based on the sigmoid function to obtain the second energy storage device regulation model, which is specifically: A constraint construction unit, a frequency modulation coefficient calculation unit and a model processing construction unit; The constraint construction unit is used to obtain the upper and lower limits of the state of charge of the energy storage device and construct the charge protection constraint; The frequency modulation coefficient calculation unit is used to calculate the charging and discharging frequency modulation coefficient of the energy storage device based on the sigmoid function and the charge protection constraint; The model processing construction unit is used to construct a second energy storage device regulation model by adding an energy storage device charging and discharging frequency modulation coefficient to the first energy storage device regulation model.

8. An offshore wind power grid coordinated control system according to claim 6, characterized in that: The grid regulation module is used to input the current grid frequency into the offshore wind turbine regulation model and the second energy storage device regulation model when the offshore wind grid operation parameters fluctuate, and adjust the corresponding offshore wind grid operation parameters respectively, specifically: a first regulating unit and a second regulating unit; The first regulating unit is used for inputting the current grid frequency into the offshore wind turbine regulation model when the output power of the offshore wind grid fluctuates, adding inertia to the offshore wind grid by combining MPPT, and regulating the output power of the offshore wind grid; The second regulating unit is used to input the current grid frequency into the second energy storage device regulation model when the load power of the offshore wind grid fluctuates, optimize the frequency regulation performance of the offshore wind grid, and regulate the load power of the offshore wind grid.

9. An offshore wind power grid coordination control terminal, characterized in that: It comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, it implements an offshore wind power grid coordinated control method as described in any one of claims 1 to 5.

10. An offshore wind power grid coordinated control storage medium, characterized in that: The storage medium includes: a computer-readable storage medium and a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute an offshore wind power grid coordinated control method as described in any one of claims 1 to 5.

Images