Inertia control method and device for wind power plant

Abstract

The invention provides an inertia control method and device for a wind power plant. The inertia control method comprises the following steps: when the frequency of a grid-connected point of a wind power plant meets a preset inertia response condition, controlling a corresponding wind generating set in the wind power plant to start to execute an inertia response action, and starting to execute an inertia anti-reverse adjustment action at the same time; before execution of the inertia response action is finished, periodically determining whether the action to be executed after the inertia response action is finished is a primary frequency modulation action or a secondary frequency modulation action; and when it is determined that the action to be executed after the inertia response action is finished is the secondary frequency modulation action, the inertia anti-reverse-adjustment action continues to be executed while the secondary frequency modulation action is executed.

Description

Technical Field

[0001] The present disclosure generally relates to the field of electric power technology, and more specifically, to an inertia control method and device for a wind farm. Background Art

[0002] In the related technologies of using wind farms as power plants to supply electricity, as the primary frequency regulation technology related to wind farms has been gradually rolled out from the initial pilot projects of the Northwest Power Grid and Northeast Power Grid in China, it has now become a mandatory grid connection requirement, and the requirements for related technologies are becoming more and more stringent. With the development of wind turbines (hereinafter referred to as wind turbines), the types of wind turbines covered by wind farms are increasing, and the control strategy inside a single wind turbine (hereinafter referred to as a single machine) has also changed.

[0003] In the scenario where a wind farm is used as a power plant to provide electricity to a power grid system (hereinafter referred to as the power grid) (e.g., a power grid company, etc.), the power grid has unified requirements for inertia response control, primary frequency regulation control, and secondary frequency regulation control of the wind farm. For example, the power grid requires that the secondary frequency regulation be slow and participate in regulation almost throughout the entire process; the primary frequency regulation is faster than the secondary frequency regulation, and the time involved in control is relatively short; the inertia response is required to be faster and the time involved in control is relatively short. In addition, the power grid has requirements for both the response speed and control accuracy of the wind farm, as well as the performance of smooth transitions in switching between different control functions.

[0004] Therefore, there is a need for an improved inertia control method for a wind farm to meet the above and other requirements. Summary of the invention

[0005] An exemplary embodiment of the present disclosure is to provide an inertia control method and device for a wind farm, which can effectively suppress the reverse adjustment of the inertia response.

[0006] According to one aspect of an embodiment of the present disclosure, there is provided an inertia control method for a wind farm, the inertia control method comprising: when the grid connection point frequency of the wind farm satisfies a preset inertia response condition, controlling the corresponding wind turbine generator set in the wind farm to start executing an inertia response action, and simultaneously starting to execute an inertia anti-reverse regulation action; before the inertia response action is completed, periodically determining whether an action to be executed after the inertia response action is completed is a primary frequency regulation action or a secondary frequency regulation action; when it is determined that the action to be executed after the inertia response action is completed is a secondary frequency regulation action, continuing to execute the inertia anti-reverse regulation action while executing the secondary frequency regulation action.

[0007] Optionally, the inertia control method may further include: while controlling the corresponding wind turbine generator set in the wind farm to start executing the inertia response action, setting the inertia occurrence determination flag to a first preset value, wherein the first preset value indicates that an inertia response action has occurred.

[0008] Optionally, in response to determining that the value of the anti-reverse adjustment determination flag is the second preset value and the value of the inertia occurrence determination flag is the first preset value at the end of the inertia response action, it is determined that the action to be executed after the inertia response action is completed is a secondary frequency modulation action, wherein the second preset value indicates that a single frequency modulation action is not triggered during the entire execution process of the inertia response action, and the anti-reverse adjustment determination flag has the second preset value when the inertia response action starts.

[0009] Optionally, the inertia control method may further include: when it is determined at a preset time point before the inertia response action ends that the action to be performed after the inertia response action ends is a frequency modulation action, setting the anti-reverse modulation determination flag to a third preset value, and updating the inertia occurrence determination flag to a fourth preset value, wherein the fourth preset value indicates that a frequency modulation action will be performed after the inertia response action ends.

[0010] Optionally, the inertia control method may further include: before the inertia response action ends, if the control condition corresponding to the primary frequency modulation is not received, setting the anti-reverse modulation determination flag to a fifth preset value, wherein the fifth preset value indicates that the control condition corresponding to the primary frequency modulation is not received during the current execution of the inertia response action.

[0011] Optionally, the inertia control method may further include: when it is determined that the action to be performed after the inertia response action is completed is a frequency modulation action, controlling the frequency modulation action to be performed immediately without power drop when the inertia response action is completed.

[0012] According to another aspect of an embodiment of the present disclosure, there is provided an inertia control device for a wind farm, the inertia control device comprising: an inertia response control module, configured to: when the grid connection point frequency of the wind farm meets a preset inertia response condition, control the corresponding wind turbine generator set in the wind farm to start executing an inertia response action; before the inertia response action is completed, periodically determine whether the action to be executed after the inertia response action is completed is a primary frequency modulation action or a secondary frequency modulation action; an inertia anti-reverse regulation control module, configured to: start executing an inertia anti-reverse regulation action at the same time as starting to execute the inertia response action; when it is determined that the action to be executed after the inertia response action is completed is a secondary frequency modulation action, continue to execute the inertia anti-reverse regulation action while executing the secondary frequency modulation action.

[0013] Optionally, the inertia response control module can be further configured to: determine that the action to be performed after the inertia response action ends is a secondary frequency modulation action in the following manner: determine at the time point when the inertia response action ends that the value of the inertia occurrence determination identifier is a first preset value and the value of the anti-reverse modulation determination identifier is a second preset value.

[0014] Optionally, the inertia response control module may be further configured to: while controlling the corresponding wind turbine generator set in the wind farm to start executing the inertia response action, set the inertia occurrence determination flag to a first preset value, wherein the first preset value indicates that an inertia response action has occurred.

[0015] Optionally, the inertia response control module can also be configured to: in response to determining that the value of the anti-reverse adjustment determination flag is a second preset value and the value of the inertia occurrence determination flag is the first preset value at the end of the inertia response action, determine that the action to be executed after the inertia response action is completed is a secondary frequency modulation action, wherein the second preset value indicates that a single frequency modulation action is not triggered during the entire execution process of the inertia response action, and the anti-reverse adjustment determination flag has the second preset value when the inertia response action starts.

[0016] Optionally, the inertia response control module can also be configured as follows: when it is determined at a preset time point before the end of the inertia response action that the action to be performed after the end of the inertia response action is a frequency modulation action, the anti-reverse modulation determination flag is set to a third preset value, and the inertia occurrence determination flag is updated to a fourth preset value, wherein the fourth preset value indicates that a frequency modulation action will be performed after the end of the inertia response action.

[0017] Optionally, the inertia response control module can also be configured to: before the inertia response action ends, if the control condition corresponding to the primary frequency modulation is not received, set the anti-reverse modulation determination flag to a fifth preset value, wherein the fifth preset value indicates that the control condition corresponding to the primary frequency modulation is not received during the current execution of the inertia response action.

[0018] Optionally, the inertia response control module can also be configured as: in response to the value of the anti-reverse adjustment determination identifier being the third preset value and the value of the inertia occurrence determination identifier being the fourth preset value, when the inertia response action ends, the inertia anti-reverse adjustment control module is configured to end the inertia anti-reverse adjustment action, so that a frequency modulation action is directly performed after the inertia response action ends and the inertia anti-reverse adjustment action is not performed while performing a frequency modulation action.

[0019] Optionally, the inertia response control module may also be configured to: after the anti-reverse adjustment determination flag is set to a fifth preset value, in response to not receiving a control condition corresponding to the primary frequency modulation until the inertia response action ends, set the anti-reverse adjustment determination flag to a second preset value at the end of the inertia response action, and the inertia anti-reverse adjustment control module may also be configured to: determine to continue executing the inertia anti-reverse adjustment action while executing the secondary frequency modulation action, and end the inertia anti-reverse adjustment action only when the secondary frequency modulation action ends.

[0020] Optionally, the inertia control device may further include a primary frequency modulation control module, which is configured to: when it is determined by the inertia response control module that the action to be performed after the inertia response action ends is a primary frequency modulation action, control the primary frequency modulation action to be performed immediately without power drop when the inertia response action ends.

[0021] According to another aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided. When instructions in the computer-readable storage medium are executed by at least one processor, the at least one processor is prompted to execute the inertia control method as described above.

[0022] According to another aspect of an embodiment of the present disclosure, a computer device is provided, comprising: at least one processor; and at least one memory storing computer executable instructions, wherein the computer executable instructions, when executed by the at least one processor, cause the at least one processor to execute the inertia control method as described above.

[0023] According to the inertia control method and device of the wind farm of the exemplary embodiment of the present disclosure, it is proposed to realize the inertia anti-reverse adjustment function under the condition of single inertia control (ie, inertia connected with secondary frequency control), so as to effectively suppress the reverse adjustment of the inertia response.

[0024] In addition, according to the inertia control method and device of the wind farm disclosed in the present invention, by preventing power from dropping and not performing anti-reverse regulation action when the inertia is connected to the primary frequency regulation, it is also possible to control the smooth switching between the primary frequency regulation and the inertia response.

[0025] In addition, through the inertia control method and device of the wind farm disclosed in the present invention, the three functions of primary frequency regulation, secondary frequency regulation and inertia response can be integrated through one channel.

[0026] Additional aspects and / or advantages of the present general inventive concept will be set forth in part in the following description and in part will be apparent from the description or may be learned through practice of the present general inventive concept. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and other objects and features of the exemplary embodiments of the present disclosure will become more apparent through the following description in conjunction with the accompanying drawings which exemplarily illustrate the embodiments, in which:

[0028] Figure 1 A flow chart showing an inertia control method of a wind farm according to an exemplary embodiment of the present disclosure;

[0029] Figure 2 A flow chart showing an inertia control method of a wind farm according to another exemplary embodiment of the present disclosure;

[0030] Figure 3 shows a topology of a wind farm according to an exemplary embodiment of the present disclosure;

[0031] Figure 4 An example of primary frequency modulation droop control according to an exemplary embodiment of the present disclosure is shown;

[0032] Figure 5 An example of a primary frequency modulation step response indicator is shown according to an exemplary embodiment of the present disclosure;

[0033] Figure 6 An example flow chart showing an anti-reversal process according to an exemplary embodiment of the present disclosure;

[0034] Figure 7 An example flow chart showing the replacement of master / slave modes and corresponding rates according to an exemplary embodiment of the present disclosure;

[0035] Figure 8 A diagram showing simulation results of full engine inertia specific power according to an exemplary embodiment of the present disclosure;

[0036] Fig. 9 A diagram showing simulation results of full engine inertia power reduction according to an exemplary embodiment of the present disclosure;

[0037] Fig.10 A diagram showing simulation results of inertia and primary frequency modulation power increase according to an exemplary embodiment of the present disclosure;

[0038] Fig.11 A diagram showing simulation results of inertia and primary frequency modulation power reduction according to an exemplary embodiment of the present disclosure;

[0039] Fig.12 A structural block diagram showing an inertia control device of a wind farm according to an exemplary embodiment of the present disclosure is shown;

[0040] Fig.13 A structural block diagram showing a computer device according to an exemplary embodiment of the present disclosure;

[0041] Fig.14It shows the process of reverse adjustment after the unit inertia response. DETAILED DESCRIPTION

[0042] Reference will now be made in detail to the embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like parts throughout. The embodiments will be described below with reference to the drawings in order to explain the present disclosure.

[0043] As mentioned in the above description, currently, in the relevant technology of using wind farms as power plants for power supply, the inertia response of wind farms in some regions (for example, Yunnan Province) has become a standard grid access verification indicator, and with the advancement of field-level inertia demonstrations in power grids (for example, Jiangsu Power Grid), the inertia response requirements for wind turbines have also gradually increased. For example, during the inertia control process, if there is an inertia command issued by the field control and the wind turbine, and the two commands have a large deviation, the wind turbine will be shut down due to excessive acceleration.

[0044] In addition, during the free power generation and power increase control process, after the rotor kinetic energy is released, the inertia response time will cause a secondary power drop, i.e., the reverse regulation phenomenon. The depth and duration of the secondary drop must meet the requirements of the power grid. In addition, the drop control during the inertia and primary frequency regulation connection process also needs to be handled flexibly.

[0045] Below, we will refer to Fig.14 Let's take an example to explain why inertia reversal occurs. Fig.14 As shown in FIG. 1 , the main control of the wind turbine in the wind farm receives the target power adjustment amount DeltP and the speed and starts to adjust the power. Fig.14 , Fig.14 There are three diagrams arranged from top to bottom and the parts marked with four colored boxes will be described below. In the first diagram, the blue line represents the frequency regulation rate, the orange line represents the frequency regulation increment, and the yellow line represents the grid-side active power; in the second diagram, the blue line represents the generator speed of the wind turbine (referred to as speed); in the third diagram, the blue line represents the torque.

[0046] Specifically, in the free power generation condition, under the condition of inertia power increase control, the unit suddenly increases the electromagnetic torque, sacrificing the impeller rotation inertia. At this time, since the electromagnetic torque is greater than the mechanical torque, it will cause the speed to drop and the power to drop (such as Fig.14 That is, the inertia response process has a reverse adjustment phenomenon, which does not meet the grid requirements.

[0047] Next, when the inertia power control ends (i.e., after the field control command is withdrawn), the master control inputs the design strategy according to the original preset input (e.g., according to 5% Pn (rated power), twice the inertia response time t (e.g., t can be Fig.14The reverse drop is performed in the same way as the first convex part of the blue line and the orange line in the first diagram. In order to maintain the power of 5% Pn, a secondary torque increase is performed (for example, Fig.14 The result is that the power is maintained for a period of time (as shown in the yellow box in the third diagram of Fig.14 The yellow line in the figure is located in the part close to the horizontal line in the red box.)

[0048] In addition, if Fig.14 The secondary increase in torque shown in the green box in the figure will cause the speed to drop again and accelerate, and the torque will drop together with the speed to prevent the fan from shutting down. This drop process will continue until the mechanical torque is equal to the electromagnetic torque. Subsequently, when the mechanical torque is greater than the electromagnetic torque, the speed is raised, and the torque can then be controlled according to the unit control strategy PI and slowly return to normal (such as Fig.14 ).

[0049] In response to the above problems, the present disclosure proposes an inertia control method and device for a wind farm. The inertia control method for a wind farm proposed in the present disclosure takes into account the deviation problem of the instructions issued to the wind turbine, and proposes a more optimized control strategy to solve the deviation problem. In addition, in response to the power drop that exists when the inertia response is followed by the secondary frequency modulation, the present disclosure proposes an anti-reverse regulation control strategy that can improve the power drop problem. In addition, in response to the functional drop control when the inertia response is followed by the primary frequency modulation, the present disclosure proposes a control strategy that prevents the power from dropping when the inertia response is connected to the primary frequency modulation.

[0050] Refer to the following Figures 1 to 12 The inertia control method and device of a wind farm according to the present disclosure are specifically described.

[0051] Figure 1 A flow chart showing an inertia control method of a wind farm according to an exemplary embodiment of the present disclosure.

[0052] As an example, a wind farm may include multiple wind turbine generator sets (referred to as turbines), each of which may include one or more wind turbines (referred to as wind turbines). The turbines / wind turbines of the wind farm are connected to the power grid in an appropriate manner.

[0053] As an example, the inertia control method of a wind farm according to an exemplary embodiment of the present disclosure may be executed by a field-level controller (referred to as field control) of the wind farm. For example, the field-level controller may include a voltage management platform (VMP) and / or an integrated energy management platform (IEMP).

[0054] In the case of realizing field-level inertia control, the wind turbine / unit is dispatched by the field control (VMP or IEMP) to cooperate with the rapid change process control of the active power of the whole field. Since the field-level inertia involves the connection with the primary frequency modulation and the secondary frequency modulation, the control logic is relatively complicated. Therefore, the present disclosure proposes a field control end inertia control solution for the primary frequency modulation, the secondary frequency modulation and the inertia response based on the set value method.

[0055] In the present disclosure, primary frequency regulation (PFR) may refer to a control function in which a power plant (e.g., a wind farm) adjusts its active output to reduce frequency deviation through the automatic response of a control system when the power system frequency deviates from a target frequency. Secondary frequency regulation may refer to a general power limit control function. Automatic generation control (AGC) may refer to a service that realizes, through an automatic control program, tracking the instructions issued by a power dispatching and trading agency within a specified output adjustment range for a wind farm, and adjusting the power generation output in real time at a certain adjustment rate to meet the power system frequency and tie line power control requirements.

[0056] The following first describes the wind farm control equipment, topology, and primary frequency regulation related characteristics. Figures 3 to 5 The topological structure of the wind farm to which the present disclosure is applied is briefly described. Figure 3 A topology of a wind farm according to an exemplary embodiment of the present disclosure is shown. Figure 4 An example of primary frequency modulation droop control according to an exemplary embodiment of the present disclosure is shown. Figure 5 An example of a primary frequency modulation step response indicator according to an exemplary embodiment of the present disclosure is shown.

[0057] Reference Figure 3 , the wind farm's field-level controller (e.g. Figure 3 The wind farm station control system shown in the figure is the upper control device of the wind farm (referred to as the field control device), which can monitor the grid connection point data and centrally control all wind turbine generator sets / wind turbines. Furthermore, the specific functions of the field control device mainly include the calculation of the overall demand target plan control command of the grid connection point, the calculation of the adjustable power margin (standby power) of the wind turbine and the whole field, the control command allocation method, and the issuance of unit commands.

[0058] In the present disclosure, the reserve power can be divided into upward reserve power and downward reserve power, which indicates the distance from the theoretical power and the control lower limit power based on the current power. Here, the theoretical power can represent the ultra-short-term wind turbine power forecast, which is the power value that the wind turbine should be able to achieve at a certain wind speed.

[0059] exist Figure 3In the figure, the case where the wind farm station control system is our field control equipment is shown. In this case, the mode corresponding to the inertia control performed by our field control equipment can correspond to the master station mode. However, there is another case, that is, Figure 1 In the case where there is another station (for example, not our station system) between the wind farm station control system and the telecontrol equipment, in this case, the mode corresponding to the inertia control performed by our wind farm station control system may correspond to the substation mode, while the mode corresponding to the inertia control performed by the other station may correspond to the master station mode. In the above two cases, the difference between our field control equipment performing inertia control in the master station mode and the substation mode is that the objects receiving the instructions are different.

[0060] According to the examples disclosed herein, the main functions controlled by the field-level controller may include primary frequency regulation. For example, in the case of high-frequency disturbance in the wind farm power grid, the primary frequency regulation action amount may no longer be adjusted downward after reaching 10% of the rated output, and in the case of low-frequency disturbance in the power grid, the primary frequency regulation action amount may no longer be adjusted upward after reaching 6% of the rated output (10% and 6% are both recommended setting values). The primary frequency regulation droop characteristic is achieved by setting the frequency and active power broken line function, as shown in the following formula (1):

[0061]

[0062] Where P represents the full-field power target value that needs to be achieved by primary frequency modulation, in MW. d Indicates the primary frequency modulation dead zone, in Hz. N Indicates the rated frequency of the power grid system, in Hz. N Indicates rated power, in MW. δ% indicates the frequency regulation difference coefficient of new energy. P0 indicates the initial value of the primary frequency regulation, in MW. f indicates the actual frequency of the power grid.

[0063] For example, the dead zone of the primary frequency modulation is set to 0.05Hz, the differential coefficient is set to 5%, and the maximum power limit of the primary frequency modulation power is set to 6%P N , the maximum power limit of the primary frequency modulation power adjustment is set to 10%P N In the case of Figure 4 shown.

[0064] In addition, the primary frequency modulation step response index according to the example of the present disclosure can be as follows: Figure 5 shown.

[0065] exist Figure 5 In the example, t0 represents the start time, t d Indicates the start time, t up Represents the response time, t sIndicates the adjustment time, P N represents the rated power, and ΔP represents the target power adjustment amount.

[0066] Reference Figure 1 , Figure 1 An inertia control method 100 of a wind farm according to an exemplary embodiment of the present disclosure is shown.

[0067] In the inertia control scheme disclosed in the present invention, the following two grid demand situations are mainly considered: 1) single inertia control (i.e., inertia is connected to secondary frequency regulation control); 2) inertia is connected to primary frequency regulation control. For situation 1), there is a high probability that there will be problems of power reverse regulation and secondary drop in this case, so the present invention proposes to add an anti-reverse regulation preprocessing mechanism in this case. For situation 2), since the inertia is connected to the primary frequency regulation in this case, there is no time to process the power reverse regulation, so the present invention proposes to directly control the inertia response to ensure that the corresponding power does not drop in this case, and at the same time, the anti-reverse regulation preprocessing mechanism is not adopted during the execution of the primary frequency regulation.

[0068] According to an embodiment of the present disclosure, the enabling condition of the anti-reverse regulation control function based on the adjustable rate is that there is no frequency regulation after the inertia. The present disclosure uses the identification related to the control working condition to be described below to control whether the anti-reverse regulation control function is enabled. Here, the anti-reverse regulation control can represent the limitation of the secondary power drop after the rotor kinetic energy increases the power under the free power generation condition.

[0069] According to an embodiment of the present disclosure, in step S101, when the grid connection point frequency of the wind farm meets the preset inertia response condition, the corresponding wind turbine generator set in the wind farm is controlled to start executing the inertia response action and simultaneously start executing the inertia anti-reverse adjustment action.

[0070] Here, the present disclosure does not make any special limitation on the preset inertia response conditions, and relevant settings and judgments can be made according to actual working conditions.

[0071] In addition, regarding the calculation of the reserve power involved in the present disclosure, the present disclosure calculates the available power of the inertia separately from the reserve power of the primary frequency modulation, and the frequency modulation adopts the method of locking the adjustable power during the regulation process and open-loop control. For example, the activation condition of the inertia is that no inertia action occurs, that is, the calculation of the inertia adjustable power is performed only when no inertia action occurs; while the reserve power of the primary frequency modulation is calculated in real time and is not subject to conditional constraints.

[0072] As an example, the inertia control method 100 may further include: while controlling the corresponding wind turbine generator set in the wind farm to start executing the inertia response action, setting the inertia occurrence determination flag to a first preset value. Here, the first preset value indicates that an inertia response action has occurred. By setting the flag, it is possible to identify whether inertia has occurred, and the change in the value can reflect whether a frequency modulation and other related working conditions are connected after the inertia.

[0073] For example, when the corresponding wind turbine generator set in the wind farm is controlled to start executing the inertia response action, the inertia occurrence determination flag G_InerStartFlag may be set to 1, indicating that the inertia response action has occurred.

[0074] According to an embodiment of the present disclosure, the inertia occurrence determination flag G_InerStartFlag is used to record whether an over-inertia response occurs. Specifically, "G_InerStartFlag = 1" indicates that an over-inertia response action occurs.

[0075] As an example, the purpose of setting the above-mentioned inertia occurrence determination flag G_InerStartFlag is to help determine whether the operating condition executed after the inertia is a primary frequency modulation condition or a secondary frequency modulation condition. Specifically, since it is impossible to predict in advance whether a primary frequency modulation will follow after the current moment before receiving an operation instruction corresponding to the primary frequency modulation condition, in the present disclosure, when the inertia response is triggered, the inertia occurrence determination flag G_InerStartFlag is set to 1. Subsequently, if other operating conditions are encountered during the inertia distribution process of a preset time thereafter, G_InerStartFlag can be set to 0 to terminate the anti-reverse regulation control function. For example, if an operation instruction corresponding to the primary frequency modulation condition is received after a predetermined time period of the inertia response action and before the inertia response action ends, G_InerStartFlag can be set to 0 to terminate the anti-reverse regulation control function.

[0076] According to an embodiment of the present disclosure, in step S102, before the inertia response action is completed, it is periodically determined whether the action to be performed after the inertia response action is completed is a primary frequency modulation action or a secondary frequency modulation action. Here, the present disclosure considers the following two situations: inertia connection primary frequency modulation control and inertia connection secondary frequency modulation control.

[0077] As an example, for the case where the inertia is connected to a frequency modulation, the inertia control method 100 may further include: when it is determined at a preset time point before the inertia response action ends that the action to be performed after the inertia response action ends is a frequency modulation action, setting the anti-reverse modulation determination flag to a third preset value, and updating the inertia occurrence determination flag to a fourth preset value, wherein the fourth preset value indicates that a frequency modulation action will be performed after the inertia response action ends. The above-mentioned setting values ​​of the two flags can accurately determine the case where the inertia is connected to a frequency modulation.

[0078] According to an embodiment of the present disclosure, the above-mentioned anti-reverse modulation determination identifier G_DeltPFlag can be used to indicate the control working condition. For example, "G_DeltPFlag = 0" indicates that the primary frequency modulation is not triggered, "G_DeltPFlag = ±1" indicates that the primary frequency modulation is triggered, and "G_DeltPFlag = ±3" indicates inertia control, and inertia distribution continues (for example, inertia distribution based on static open-loop control is not distributed according to real-time power demand, but is distributed according to the initial value of the full-field power). Here, in the present disclosure, regarding the meaning of "±", when the value is a positive number, it corresponds to the case of power increase (also called power increase), and similarly, when the value is a negative number, it corresponds to the case of power reduction (also called power reduction), and the following similar situations will not be repeated. In addition, all numerical settings in the present disclosure are only examples, and the present disclosure is not limited to this, and other numerical values, symbols, identifiers, etc. that can implement the scheme of the present disclosure may also be used.

[0079] For example, in the case where power increase is required, when it is determined at a preset time point before the end of the inertia response action that the action to be performed after the end of the inertia response action is a frequency modulation action, the anti-reverse adjustment determination flag G_DeltPFlag is set to 1, and the inertia occurrence determination flag G_InerStartFlag is updated to 0. Here, "G_InerStartFlag = 0" means that a frequency modulation action will be performed after the end of the inertia response action. Therefore, in the case of non-inertia operating conditions (for example, a frequency modulation condition), the anti-reverse adjustment action of inertia is effectively controlled by setting the inertia occurrence determination flag G_InerStartFlag to 0. For example, in this case, after the inertia response action ends, the anti-reverse adjustment action is not performed when the non-inertia operating condition is executed.

[0080] As an example, the inertia control method 100 also includes: in response to the value of the anti-reverse adjustment determination identifier being a third preset value and the value of the inertia occurrence determination identifier being a fourth preset value, ending the inertia anti-reverse adjustment action when the inertia response action ends, so that a frequency modulation action is directly executed after the inertia response action ends and the inertia anti-reverse adjustment action is not executed while executing the frequency modulation action.

[0081] For example, in response to the anti-reverse adjustment determination flag G_DeltPFlag=1 and the inertia generation determination flag G_InerStartFlag=0, the inertia anti-reverse adjustment action is ended when the inertia response action ends, so that a frequency modulation action is directly executed after the inertia response action ends and the inertia anti-reverse adjustment action is not executed while executing the frequency modulation action.

[0082] According to an embodiment of the present disclosure, the inertia control method 100 further includes step S203 (such as Figure 2 As shown): When it is determined that the action to be performed after the inertia response action ends is a frequency modulation action, the control does not cause power drop when the inertia response action ends and immediately performs a frequency modulation action. Here, refer to Figure 2 Step S201 and step S202 are respectively the same as steps S101 and S102, and are not repeated here.

[0083] According to the embodiments of the present disclosure, by preventing power from dropping and not performing anti-reverse modulation action when the inertia is connected to the primary frequency modulation, it is possible to control the smooth switching between the primary frequency modulation and the inertia response.

[0084] For example, the power can be controlled to a preset value before the power drops during the inertia connection of a frequency modulation, so that the power does not drop during the connection. Fig.10 and Fig.11 To illustrate the effect, Fig.10 A simulation result diagram showing inertia and primary frequency modulation power increase according to an exemplary embodiment of the present disclosure is shown. Fig.11 FIG. 4 shows a simulation result diagram of inertia and primary frequency modulation power reduction according to an exemplary embodiment of the present disclosure. Fig.10 and Fig.11 It can be seen that when the inertia is connected with the primary frequency modulation, the power does not drop but transitions smoothly.

[0085] As an example, for the case of inertia connection secondary frequency modulation, in response to determining that the value of the anti-reverse modulation determination flag is the second preset value and the value of the inertia occurrence determination flag is the first preset value at the end of the inertia response action, it can be determined that the action to be performed after the inertia response action ends is a secondary frequency modulation action. Here, the second preset value indicates that the primary frequency modulation action is not triggered during the entire execution process of the inertia response action, and the anti-reverse modulation determination flag has the second preset value when the inertia response action starts. Through the above-mentioned set values ​​of these two flags, the situation of inertia connection secondary frequency modulation can be accurately determined.

[0086] For example, when power increase is required, in response to determining that the anti-reverse modulation determination flag G_DeltPFlag=0 and the inertia generation determination flag G_InerStartFlag=1 at the end of the inertia response action, it is determined that the action to be performed after the inertia response action ends is a secondary frequency modulation action.

[0087] As an example, the inertia control method 100 may also include: before the inertia response action ends, if the control condition corresponding to the primary frequency modulation is not received, setting the anti-reverse modulation determination flag to a fifth preset value, wherein the fifth preset value indicates that the control condition corresponding to the primary frequency modulation is not received during the current execution of the inertia response action.

[0088] Optionally, the inertia control method 100 may further include: after the anti-reverse adjustment determination flag is set to a fifth preset value, in response to not receiving a control condition corresponding to the primary frequency modulation until the inertia response action ends, setting the anti-reverse adjustment determination flag to a second preset value at the end of the inertia response action, and determining to continue executing the inertia anti-reverse adjustment action while executing the secondary frequency modulation action, until the inertia anti-reverse adjustment action ends when the secondary frequency modulation action ends.

[0089] For example, when power increase is required, before the inertia response action is completed, if the control condition corresponding to the primary frequency modulation is not received, the anti-reverse modulation determination flag G_DeltPFlag can be set to 3. After this setting, if the control condition corresponding to the primary frequency modulation is not received until the inertia response action is completed, the anti-reverse modulation determination flag G_DeltPFlag is set to 0 at the end of the inertia response action, and it is determined to continue to execute the inertia anti-reverse modulation action while executing the secondary frequency modulation action, and the inertia anti-reverse modulation action is not terminated until the secondary frequency modulation action is completed.

[0090] The above settings can help improve the stability of the inertia distribution strategy and reduce the causes of fan / unit shutdown.

[0091] According to the embodiments of the present disclosure, referring to Figure 1 In step S103, when it is determined that the action to be performed after the inertia response action is a secondary frequency modulation action, the inertia anti-reverse adjustment action is continued to be performed while the secondary frequency modulation action is performed, and the inertia anti-reverse adjustment action is not terminated until the secondary frequency modulation action is completed. By realizing the inertia anti-reverse adjustment function under the condition of single inertia control (i.e., inertia connected to secondary frequency modulation control), the reverse adjustment of the inertia response can be effectively suppressed.

[0092] As an example, the overall change of the G_DeltPFlag value according to the embodiment of the present disclosure may be as follows: Assuming that the total duration of inertia is 10 seconds, G_DeltPFlag is initially set to 0, and taking the case of power increase as an example, 1) when inertia is triggered, G_DeltPFlag is set to 3 within 10 seconds of inertia occurrence, and if a frequency modulation operating condition control has not been received at the end of 10 seconds, G_DeltPFlag is set to 0 at the end of 10 seconds; 2) when inertia is triggered, G_DeltPFlag is set to 3 within 10 seconds of inertia occurrence, and a frequency modulation operating condition control is received before the end of 10 seconds, and when a frequency modulation operating condition control is received, G_DeltPFlag is set to 1. In addition, as another case, if inertia is not triggered, G_DeltPFlag remains at 0.

[0093] As another example, in the master mode, there may be a situation where both the inertia switch and the primary frequency modulation switch are turned on. At this time, it is necessary to call the inertia / primary frequency modulation priority decision maker to determine whether to execute inertia control or primary frequency modulation control first. The result of the decision made by the priority decision maker can be summarized as follows: when both the inertia switch and the primary frequency modulation switch are turned on, the inertia control is executed first, that is, the primary frequency modulation control is executed only when the inertia switch is not turned on, otherwise the inertia control is executed first as long as the inertia switch is turned on.

[0094] Specifically, in one example, when a single inertia switch is turned on, in order to prevent the low speed and high torque or high speed and low torque conditions from exceeding the converter boundary and causing shutdown during inertia control, the field level control adds a prefabricated inertia control shutdown function. Before shutting down the inertia control, that is, during the field level control inertia process, G_InerStartFlag = 1, G_DeltPFlag! = 0, and G_DeltPFlag = 0 in other cases.

[0095] In another example, when both the inertia switch and the primary frequency modulation switch are turned on, in order to prevent the low speed and high torque or high speed and low torque conditions from exceeding the converter boundary and causing shutdown during inertia control, the field level control adds a function of prefabricated inertia control shutdown. Before closing the inertia control, that is, during the field level control inertia process, G_InerStartFlag=1, and G_DeltPFlag!=0, in other cases, G_DeltPFlag is not specially set, but its value is determined according to the previous primary frequency modulation condition, where the primary frequency modulation is triggered, indicating the connection of the primary frequency modulation control, and the primary frequency modulation is not triggered, corresponding to G_DeltPFlag=0.

[0096] In addition, when inertia control is executed first, the duration before the pre-made function of shutting down the inertia control takes effect is used as the actual execution time of the inertia control. For example, the inertia control execution time is limited to 10s, that is, the inertia control function is immediately turned off after the inertia control execution time reaches 10s, and the inertia control function is switched to the subsequent primary frequency modulation or secondary frequency modulation.

[0097] The specific process of the above inertia anti-reverse adjustment control can be referred to Figure 6 As shown, Figure 6 An example flow chart of anti-reverse modulation processing according to an exemplary embodiment of the present disclosure is shown. Figure 6 The design principle and related contents of the process are the specific implementation process corresponding to the field-level control, so Figure 6 The details will not be repeated.

[0098] In addition, as another example, the compatibility of the present disclosure with fans of different models can be illustrated by the following example. Figure 7 For example, Figure 7 An example flow chart of changing the master / slave mode and the corresponding rate according to an exemplary embodiment of the present disclosure is shown. Figure 7 , showing the execution status in the master station and substation modes. Specifically, when the control is completed, all fans are polled. If the set value switch of the fan is enabled (i.e., PFRPowerEnable=1), the mode and rate are switched to secondary frequency modulation. If the set value switch of the fan is not enabled (i.e., PFRPowerEnable=0), the primary frequency modulation increment and rate are set to 0. Here, the value of PFRPowerEnable can be used to distinguish fans of different models (including corresponding protocols) (for example, new fans that can realize the anti-reverse modulation function (whose protocol supports this function) and old fans that cannot realize the anti-reverse modulation function (whose protocol does not support this function)). Through the above settings, the control end instruction switching of new fans and old fans can be taken into account.

[0099] Below, we will refer to Figures 8 to 11 The simulation results of the inertia control method according to the embodiment of the present disclosure are described. Figure 8 A diagram showing simulation results of full engine inertia specific power according to an exemplary embodiment of the present disclosure is shown. Fig. 9 FIG. 4 shows a simulation result diagram of full-engine inertia power reduction according to an exemplary embodiment of the present disclosure, Fig.10 A simulation result diagram of inertia and primary frequency modulation power increase according to an exemplary embodiment of the present disclosure is shown, and Fig.11 A diagram showing simulation results of inertia and primary frequency modulation power reduction according to an exemplary embodiment of the present disclosure.

[0100] Reference Figures 8 to 11 , Mode indicates the frequency modulation mode of the unit, including but not limited to the following settings: Mode = 0 indicates ordinary power limit (secondary frequency modulation), Mode = 1 indicates primary frequency modulation, Mode = 2 indicates inertia response, Mode = 3 indicates extreme speed power limit (with brake resistor) (not shown). Here, the default value of Mode is 0, and is not limited to the above mode settings.

[0101] Reference Figure 8 and Fig. 9 , showing the inertia connection secondary frequency modulation control, about the realization of the anti-reverse modulation function, 10kw / s can represent an exemplary initial anti-reverse modulation preset rate, but the anti-reverse modulation function does not work during the inertia response time period (because there is no power drop in this stage), and it actually works in time periods T1 and T2. Specifically, Figure 8 For example, in time period T1, the power is gradually increased, that is, the power will not drop to a lower level (in this time period, the unit executes according to its own settings, corresponding to whether the unit's reverse adjustment function is completed, the mark InertiaTrueEnable=1); in time period T2, field-level control takes effect and the unit obeys the control of the field control (corresponding to whether the unit's reverse adjustment function is completed, the mark InertiaTrueEnable=0), at this time, the reverse adjustment effect of the preset rate of 10kw / s is obvious, and the power P exceeds the theoretical power.

[0102] That is, when using Figure 8 The anti-reverse control strategy described above is used to execute the above Fig.14 In the case of inertia-to-power control shown, Fig.14 The depth, duration, and recovery speed of the grid-side power drop (especially the secondary power drop) represented by the yellow line in the figure will be greatly improved, thereby effectively suppressing the reverse adjustment of the inertia response.

[0103] Specifically, refer to Figure 8 and Fig.14 ,pass Figure 8 The anti-reverse adjustment control strategy can improve Fig.14 The yellow line of the first diagram in FIG is located in the portion of the approximate horizontal line in the green frame (and the small section in front of the portion of the approximate horizontal line where the grid-side active power decreases a little is the inertia response), that is, the portion of the approximate horizontal line can be improved to be the same as Figure 8 The similar oblique line of the time period T2 in the figure makes the corresponding power drop in this part be suppressed and improved, and also makes Fig.14 The blue line in the second diagram corresponds to the speed in the green box, and the rate of decrease slows down (the slope becomes smaller), the valley value moves up, and it can also make Fig.14The blue line in the third graph corresponds to a torque in the yellow box, where the rate of increase (slope) becomes smaller and the peak value moves downward.

[0104] Reference Fig.10 and Fig.11 Through the above-mentioned inertia control method disclosed in the present invention, it can be seen that Fig.10 and Fig.11 When the inertia is connected to the primary frequency modulation control, there is no secondary power drop, and the anti-reverse regulation function is not executed during the primary frequency modulation control.

[0105] According to the inertia control method and device of the wind farm of the exemplary embodiment of the present disclosure, it is proposed to realize the inertia anti-reverse adjustment function under the condition of single inertia control (ie, inertia connected with secondary frequency control), so as to effectively suppress the reverse adjustment of the inertia response.

[0106] In addition, according to the inertia control method and device of the wind farm disclosed in the present invention, by preventing power from dropping and not performing anti-reverse regulation action when the inertia is connected to the primary frequency regulation, it is also possible to control the smooth switching between the primary frequency regulation and the inertia response.

[0107] In addition, through the inertia control method and device of the wind farm disclosed in the present invention, the three functions of primary frequency regulation, secondary frequency regulation and inertia response can be integrated through one channel, and the switching of the three functions is also more flexible.

[0108] In addition, the inertia distribution strategy of the inertia control scheme disclosed in the present invention is stable, and can reduce the causes of wind turbine / unit shutdown.

[0109] In addition, the inertia control scheme disclosed in the present invention is compatible with fans of different models, and can identify different fan model strategies and channel interfaces through different fan model protocols, thereby realizing the integration of inertia response control strategies of different models. Furthermore, through the joint control of fans of multiple models, each fan can meet the control requirements at the same time.

[0110] In addition, the inertia control scheme according to the present disclosure is implemented by software, without increasing hardware costs, and can reduce control investment costs. In addition, in view of the particularity of engineering, the advantages of implementing by software also include the ability to flexibly change the control strategy by changing the configuration to meet engineering needs.

[0111] In addition, from the perspective of engineering implementation, the control strategies and channels of new models (models that can add anti-reverse adjustment control strategies) can be quickly iterated and covered, with high delivery efficiency.

[0112] Fig.12 A structural block diagram of an inertia control device of a wind farm according to an exemplary embodiment of the present disclosure is shown.

[0113] Reference Fig.12The inertia control device 1200 includes: an inertia response control module 1210 and an inertia anti-reverse adjustment control module 1220 .

[0114] According to an embodiment of the present disclosure, the inertia response control module 1210 is configured to control the corresponding wind turbine generator set in the wind farm to start executing the inertia response action when the grid connection point frequency of the wind farm meets the preset inertia response condition.

[0115] According to an embodiment of the present disclosure, the inertia response control module 1210 is further configured to: before the inertia response action is completed, periodically determine whether the action to be executed after the inertia response action is completed is a primary frequency modulation action or a secondary frequency modulation action.

[0116] According to an embodiment of the present disclosure, the inertia anti-reverse adjustment control module 1220 is configured to start executing the inertia anti-reverse adjustment action at the same time as starting to execute the inertia response action.

[0117] According to an embodiment of the present disclosure, the inertia anti-reverse adjustment control module 1220 is also configured to: when it is determined that the action to be performed after the inertia response action is completed is a secondary frequency modulation action, continue to perform the inertia anti-reverse adjustment action while performing the secondary frequency modulation action, and the inertia anti-reverse adjustment action is not terminated until the secondary frequency modulation action is completed.

[0118] As an example, the inertia response control module 1210 can be further configured to: determine that the action to be performed after the inertia response action ends is a secondary frequency modulation action in the following manner: determine at the time point when the inertia response action ends that the value of the inertia occurrence determination identifier is a first preset value and the value of the anti-reverse modulation determination identifier is a second preset value.

[0119] As an example, the inertia response control module 1210 may also be configured to: while controlling the corresponding wind turbine generator set in the wind farm to start executing the inertia response action, set the inertia occurrence confirmation flag to a first preset value. Here, the first preset value indicates that the inertia response action has occurred.

[0120] As an example, the inertia response control module 1210 may also be configured to: in response to determining that the value of the anti-reverse adjustment determination flag is the second preset value and the value of the inertia occurrence determination flag is the first preset value at the end of the inertia response action, determine that the action to be performed after the inertia response action ends is a secondary frequency modulation action. Here, the second preset value indicates that the primary frequency modulation action is not triggered during the entire execution of the inertia response action, and the anti-reverse adjustment determination flag has the second preset value when the inertia response action starts.

[0121] As an example, the inertia response control module 1210 may also be configured to: when it is determined at a preset time point before the inertia response action ends that the action to be performed after the inertia response action ends is a frequency modulation action, set the anti-reverse modulation determination flag to a third preset value, and update the inertia occurrence determination flag to a fourth preset value. Here, the fourth preset value indicates that a frequency modulation action will be performed after the inertia response action ends.

[0122] As an example, the inertia response control module 1210 may also be configured to: before the inertia response action ends, if the control condition corresponding to the primary frequency modulation is not received, set the anti-reverse modulation determination flag to a fifth preset value. Here, the fifth preset value indicates that the control condition corresponding to the primary frequency modulation is not received during the current execution of the inertia response action.

[0123] As an example, the inertia response control module 1210 can also be configured as follows: in response to the value of the anti-reverse adjustment determination identifier being a third preset value and the value of the inertia occurrence determination identifier being a fourth preset value, at the end of the inertia response action, the inertia anti-reverse adjustment control module 1220 is configured to end the inertia anti-reverse adjustment action, so that a frequency modulation action is directly performed after the inertia response action ends and the inertia anti-reverse adjustment action is not performed while performing a frequency modulation action.

[0124] As an example, the inertia response control module 1210 may also be configured as follows: after the anti-reverse adjustment determination flag is set to the fifth preset value, in response to not receiving the control condition corresponding to the primary frequency modulation until the end of the inertia response action, the anti-reverse adjustment determination flag is set to the second preset value at the end of the inertia response action, and the inertia anti-reverse adjustment control module 1220 may also be configured as follows: determine to continue executing the inertia anti-reverse adjustment action while executing the secondary frequency modulation action, and end the inertia anti-reverse adjustment action only when the secondary frequency modulation action is completed.

[0125] As an example, the inertia control device 1200 may further include a primary frequency modulation control module (not shown). The primary frequency modulation control module may be configured to: when the inertia response control module determines that the action to be performed after the inertia response action ends is a primary frequency modulation action, control the primary frequency modulation action to be performed immediately without power drop when the inertia response action ends.

[0126] Optionally, the inertia control device 1200 may be provided in a controller of the wind farm.

[0127] It should be understood that the specific processing performed by the inertia control device of the wind farm according to the exemplary embodiment of the present disclosure has been referred to. Figures 1 to 11 It has been described in detail and will not be repeated here.

[0128] It should be understood that each unit in the inertia control device of a wind farm according to the exemplary embodiment of the present disclosure may be implemented as a hardware component and / or a software component. A person skilled in the art may implement each unit, for example, using a field programmable gate array (FPGA) or an application specific integrated circuit (ASIC) according to the processing performed by each defined unit.

[0129] An exemplary embodiment of the present disclosure provides a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to execute the inertia control method of a wind farm as described in the above exemplary embodiment. The computer-readable storage medium is any data storage device that can store data read by a computer system. Examples of computer-readable storage media include: read-only memory, random access memory, read-only optical disk, magnetic tape, floppy disk, optical data storage device, and carrier wave (such as data transmission through the Internet via a wired or wireless transmission path).

[0130] Fig.13 A structural block diagram of a computer device according to an exemplary embodiment of the present disclosure is shown.

[0131] The computer device 1300 according to the exemplary embodiment of the present disclosure includes: a processor 1310 and a memory 1320. The memory 1320 stores a computer program, and when the computer program is executed by the processor 1310, the processor 1310 is prompted to execute the inertia control method of the wind farm as described in the above exemplary embodiment. As an example, the computer device 1300 may be set in a controller of the wind farm.

[0132] Although some exemplary embodiments of the present disclosure have been shown and described, it will be appreciated by those skilled in the art that modifications may be made to these embodiments without departing from the principles and spirit of the present disclosure, the scope of which is defined by the claims and their equivalents.

Claims

1. An inertia control method for a wind farm, characterized in that: The inertia control method comprises: When the grid connection point frequency of the wind farm meets the preset inertia response condition, the corresponding wind turbine generator set in the wind farm is controlled to start executing the inertia response action, and at the same time, starts executing the inertia reverse adjustment prevention action; Before the inertia response action is completed, periodically determining whether the action to be performed after the inertia response action is completed is a primary frequency modulation action or a secondary frequency modulation action; When it is determined that the action to be performed after the inertia response action is completed is the secondary frequency modulation action, the inertia anti-reverse modulation action is continuously performed while the secondary frequency modulation action is performed.

2. The inertia control method according to claim 1, characterized in that: The inertia control method further includes: While controlling the corresponding wind turbine generator set in the wind farm to start executing the inertia response action, the inertia occurrence determination flag is set to a first preset value, wherein the first preset value indicates that an inertia response action has occurred.

3. The inertia control method according to claim 2, characterized in that: In response to determining that the value of the anti-reverse adjustment determination flag is the second preset value and the value of the inertia occurrence determination flag is the first preset value at the end of the inertia response action, it is determined that the action to be executed after the inertia response action is completed is a secondary frequency modulation action, wherein the second preset value indicates that a primary frequency modulation action is not triggered during the entire execution process of the inertia response action, and the anti-reverse adjustment determination flag has the second preset value when the inertia response action starts.

4. The inertia control method according to claim 2, characterized in that: The inertia control method further includes: When it is determined at a preset time point before the inertia response action ends that the action to be performed after the inertia response action ends is a frequency modulation action, the anti-reverse modulation determination flag is set to a third preset value, and the inertia occurrence determination flag is updated to a fourth preset value, wherein the fourth preset value indicates that a frequency modulation action will be performed after the inertia response action ends.

5. The inertia control method according to claim 2, characterized in that: The inertia control method further includes: Before the inertia response action ends, if the control condition corresponding to the primary frequency modulation is not received, the anti-reverse modulation determination flag is set to a fifth preset value, wherein the fifth preset value indicates that the control condition corresponding to the primary frequency modulation is not received during the current execution of the inertia response action.

6. The inertia control method according to claim 1, characterized in that: The inertia control method further includes: When it is determined that the action to be performed after the inertia response action ends is a frequency modulation action, control is performed immediately to perform the frequency modulation action without power drop when the inertia response action ends.

7. An inertia control device for a wind farm, characterized in that: The inertia control device comprises: The inertia response control module is configured to: when the grid connection point frequency of the wind farm meets the preset inertia response condition, control the corresponding wind turbine generator set in the wind farm to start executing the inertia response action; before the inertia response action is completed, periodically determine whether the action to be executed after the inertia response action is completed is a primary frequency modulation action or a secondary frequency modulation action; The inertia anti-reverse adjustment control module is configured to: start executing the inertia anti-reverse adjustment action at the same time as starting to execute the inertia response action; when it is determined that the action to be executed after the inertia response action is a secondary frequency modulation action, continue to execute the inertia anti-reverse adjustment action at the same time as executing the secondary frequency modulation action.

8. The inertia control device according to claim 7, characterized in that: The inertia response control module is further configured to: The action to be performed after the inertia response action is completed is determined to be a secondary frequency modulation action in the following manner: at the time point when the inertia response action is completed, it is determined that the value of the inertia occurrence determination flag is a first preset value and the value of the anti-reverse modulation determination flag is a second preset value.

9. A computer-readable storage medium, characterized in that: When the instructions in the computer-readable storage medium are executed by at least one processor, the at least one processor is prompted to perform the inertia control method according to any one of claims 1 to 6.

10. A computer device, characterized in that: include: at least one processor; at least one memory storing computer executable instructions, Wherein, when the computer executable instructions are executed by the at least one processor, the at least one processor is prompted to perform the inertia control method according to any one of claims 1 to 6.

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