Overspeed frequency modulation control method and device for full-power wind turbine generator, terminal equipment and storage medium

Abstract

The invention discloses an overspeed frequency modulation control method and device for a full-power wind turbine generator, terminal equipment and a storage medium, and the method comprises the steps: calculating the power data of a converter of the full-power wind turbine generator according to the grid-side three-phase voltage and stator three-phase current of the full-power wind turbine generator; according to the current wind speed and a wind energy utilization coefficient when the wind driven generator performs maximum power point tracking at the current wind speed, calculating a rotor reference rotating speed of the full-power wind turbine generator under overspeed and load shedding; determining an active power reference value of the full-power wind turbine generator according to the rotor reference rotating speed and an active disturbance rejection controller; calculating a virtual angular frequency and a voltage amplitude reference value according to the power data of the full-power wind turbine generator converter, the active power reference value and the virtual synchronous generator model; generating a stator voltage control instruction according to the virtual angular frequency, the voltage amplitude reference value, the grid-side three-phase voltage and the stator three-phase current; and performing overspeed frequency modulation control on the full-power wind turbine generator according to the stator voltage control instruction.

Description

Technical Field

[0001] The present invention relates to the technical field of renewable energy power generation, and in particular to an overspeed frequency regulation control method, device, terminal equipment and storage medium for a full-power wind turbine generator set. Background Art

[0002] At present, the overall control methods of wind power generation are divided into two categories, namely fixed speed constant frequency and variable speed constant frequency. The variable speed constant frequency wind power generation system is more flexible and has a wider range of applications than the fixed speed constant frequency wind power system. The motors of the variable speed constant frequency control method are divided into double-fed wind turbines and full-power wind turbines. Among them, full-power wind turbines are generally based on permanent magnet synchronous direct-drive wind turbines, which are characterized by the wind wheel and gearbox directly driving the rotor end, while the stator end is connected to the grid through a back-to-back converter. The advantages of this structure are simple control systems and large output power of a single unit. With the trend of vigorously developing new energy, the installed capacity of full-power wind power generation continues to increase. Since wind turbines need to be connected to the grid through power electronic devices, they usually work in the maximum power point tracking mode. The active power and frequency are decoupled, and they cannot provide active standby power to support grid frequency control. They do not have the inertial support capacity of traditional synchronous generators, which makes the equivalent inertia of the grid continue to decrease and the frequency support capacity weakened. When the grid frequency fluctuates, the risk of oscillation instability of full-power wind turbines increases, affecting the stability of the system.

[0003] In order to solve the problems of grid frequency fluctuation and insufficient inertial support under high penetration rate, the existing technology adopts primary frequency regulation control, which usually adopts external power equipment such as super capacitors and batteries for frequency compensation. However, the cost of external power equipment is relatively high. Therefore, there is an urgent need for a full-power wind turbine overspeed frequency regulation control method without external power equipment to reduce the cost of overspeed frequency regulation. Summary of the invention

[0004] The embodiment of the present invention provides a method, device, terminal device and storage medium for controlling overspeed frequency regulation of a full-power wind turbine generator set, which can reduce the overspeed frequency regulation cost of a full-power wind turbine generator set.

[0005] An embodiment of the present invention provides an overspeed frequency regulation control method for a full-power wind turbine generator set, comprising:

[0006] Obtain the grid-side three-phase voltage, stator three-phase current, current wind speed and wind energy utilization coefficient of the full-power wind turbine when the full-power wind turbine performs maximum power point tracking at the current wind speed;

[0007] Calculate the power data of the full-power wind turbine converter based on the grid-side three-phase voltage and stator three-phase current of the full-power wind turbine;

[0008] According to the current wind speed and the wind energy utilization coefficient when the wind turbine performs maximum power point tracking at the current wind speed, the rotor reference speed of the full-power wind turbine set under overspeed load reduction is calculated;

[0009] Determine the active power reference value of the full-power wind turbine according to the rotor reference speed and the active disturbance rejection controller;

[0010] Calculate virtual angular frequency and voltage amplitude reference values ​​according to power data of full-power wind turbine converter, active power reference value and virtual synchronous generator model;

[0011] Generate a stator voltage control command according to a virtual angular frequency, a voltage amplitude reference value, a grid-side three-phase voltage, and a stator three-phase current;

[0012] The stator voltage control instruction is used to perform overspeed frequency regulation control on the full-power wind turbine set.

[0013] Further, generating a stator voltage control instruction according to the virtual angular frequency, the voltage amplitude reference value, the grid-side three-phase voltage and the stator three-phase current includes:

[0014] Determine a voltage deviation result according to a voltage amplitude reference value, a grid-side three-phase voltage and a virtual angular frequency, and generate a stator current control instruction according to the voltage deviation result;

[0015] A current deviation result is determined according to the stator current control instruction, the stator three-phase current and the virtual angular frequency, and a stator voltage control instruction is generated according to the current deviation result.

[0016] Further, the calculation of the rotor reference speed of the full-power wind turbine generator set under overspeed load shedding according to the current wind speed and the wind energy utilization coefficient when the wind turbine generator performs maximum power point tracking under the current wind speed includes:

[0017] Calculate the load reduction rate of the current wind speed primary frequency regulation under overspeed load reduction according to the current wind speed and the preset load reduction rate calculation formula;

[0018] According to the load reduction rate of the primary frequency regulation at the current wind speed, the current wind speed and the wind energy utilization coefficient when the wind turbine performs maximum power point tracking at the current wind speed, the rotor reference speed of the full-power wind turbine under overspeed load reduction is calculated.

[0019] Furthermore, after calculating the rotor reference speed of the full-power wind turbine generator set under overspeed load shedding, the method further includes:

[0020] Obtain the measured value of the grid frequency at the grid connection point, the reference value of the grid frequency at the grid connection point, the optimal speed of the full-power wind turbine and the optimal speed after the primary frequency regulation;

[0021] According to the optimal speed of the full-power wind turbine and the optimal speed after the primary frequency modulation, the frequency deviation compensation coefficient after the primary frequency modulation is calculated;

[0022] Calculate the speed deviation compensation value after the primary frequency modulation according to the frequency deviation compensation coefficient after the primary frequency modulation, the grid frequency measurement value at the grid connection point and the grid frequency reference value at the grid connection point;

[0023] According to the speed deviation compensation value after the primary frequency regulation and the rotor reference speed of the full-power wind turbine under overspeed and load reduction, the reference value of the speed change of the primary frequency regulation under overspeed and load reduction is determined.

[0024] Based on the above method embodiment, the present invention provides a corresponding device embodiment;

[0025] An embodiment of the present invention provides an overspeed frequency regulation control device for a full-power wind turbine generator set, including: a data acquisition module, a power calculation module, an overspeed load reduction analysis module and an overspeed frequency regulation control module;

[0026] The data acquisition module is used to obtain the grid-side three-phase voltage, stator three-phase current, current wind speed and wind energy utilization coefficient of the full-power wind turbine when the full-power wind turbine performs maximum power point tracking at the current wind speed;

[0027] The power calculation module is used to calculate the power data of the full-power wind turbine converter according to the grid-side three-phase voltage and stator three-phase current of the full-power wind turbine;

[0028] The overspeed load reduction analysis module is used to calculate the rotor reference speed of the full-power wind turbine under overspeed load reduction according to the current wind speed and the wind energy utilization coefficient when the wind turbine performs maximum power point tracking under the current wind speed; determine the active power reference value of the full-power wind turbine according to the rotor reference speed and the anti-disturbance controller; calculate the virtual angular frequency and voltage amplitude reference value according to the power data of the full-power wind turbine converter, the active power reference value and the virtual synchronous generator model;

[0029] The overspeed frequency regulation control module is used to generate a stator voltage control instruction according to the virtual angular frequency, the voltage amplitude reference value, the grid-side three-phase voltage and the stator three-phase current; and perform overspeed frequency regulation control on the full-power wind turbine set with the stator voltage control instruction.

[0030] Further, generating a stator voltage control instruction according to the virtual angular frequency, the voltage amplitude reference value, the grid-side three-phase voltage and the stator three-phase current includes:

[0031] Determine a voltage deviation result according to a voltage amplitude reference value, a grid-side three-phase voltage and a virtual angular frequency, and generate a stator current control instruction according to the voltage deviation result;

[0032] A current deviation result is determined according to the stator current control instruction, the stator three-phase current and the virtual angular frequency, and a stator voltage control instruction is generated according to the current deviation result.

[0033] Further, the calculation of the rotor reference speed of the full-power wind turbine generator set under overspeed load shedding according to the current wind speed and the wind energy utilization coefficient when the wind turbine generator performs maximum power point tracking under the current wind speed includes:

[0034] Calculate the load reduction rate of the current wind speed primary frequency regulation under overspeed load reduction according to the current wind speed and the preset load reduction rate calculation formula;

[0035] According to the load reduction rate of the primary frequency regulation at the current wind speed, the current wind speed and the wind energy utilization coefficient when the wind turbine performs maximum power point tracking at the current wind speed, the rotor reference speed of the full-power wind turbine under overspeed load reduction is calculated.

[0036] Furthermore, it also includes: a deviation compensation module;

[0037] The deviation compensation module is used to obtain the measured value of the grid frequency at the grid connection point, the reference value of the grid frequency at the grid connection point, the optimal speed of the full-power wind turbine and the optimal speed after the primary frequency modulation;

[0038] According to the optimal speed of the full-power wind turbine and the optimal speed after the primary frequency modulation, the frequency deviation compensation coefficient after the primary frequency modulation is calculated;

[0039] Calculate the speed deviation compensation value after the primary frequency modulation according to the frequency deviation compensation coefficient after the primary frequency modulation, the grid frequency measurement value at the grid connection point and the grid frequency reference value at the grid connection point;

[0040] According to the speed deviation compensation value after the primary frequency regulation and the rotor reference speed of the full-power wind turbine under overspeed and load reduction, the reference value of the speed change of the primary frequency regulation under overspeed and load reduction is determined.

[0041] Another embodiment of the present invention provides a terminal device, including 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 the overspeed frequency regulation control method of a full-power wind turbine set described in the above-mentioned embodiment of the invention.

[0042] Another embodiment of the present invention provides a storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the storage medium is located is controlled to execute the overspeed frequency regulation control method of a full-power wind turbine set described in the above-mentioned embodiment of the invention.

[0043] The following beneficial effects are achieved by implementing the present invention:

[0044] The present invention provides an overspeed frequency regulation control method, device, terminal equipment and storage medium for a full-power wind turbine. The overspeed frequency regulation method obtains the grid-side three-phase voltage, stator three-phase current, current wind speed and wind energy utilization coefficient of the full-power wind turbine when the full-power wind turbine performs maximum power point tracking at the current wind speed, and then calculates power data and the rotor reference speed of the full-power wind turbine under overspeed load reduction in sequence, combines an anti-disturbance controller and a virtual synchronous generator model to complete virtual angular frequency and voltage amplitude reference values, and then generates a stator voltage control instruction according to the virtual angular frequency, voltage amplitude reference value, grid-side three-phase voltage and stator three-phase current, and performs overspeed frequency regulation control on the full-power wind turbine with the stator voltage control instruction; primary frequency regulation is achieved by utilizing the overspeed load reduction spare capacity of the full-power wind turbine itself. Compared with the overspeed load reduction frequency regulation method of the prior art, no external spare power equipment is required, the overspeed frequency regulation control cost of the full-power wind turbine can be reduced, and grid frequency fluctuations can be effectively suppressed. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 The present invention is a flowchart of an overspeed frequency regulation control method for a full-power wind turbine generator set provided by an embodiment of the present invention.

[0046] Figure 2 The present invention is a schematic diagram of overspeed frequency regulation control of a full-power wind turbine generator set provided by an embodiment of the present invention.

[0047] Figure 3 It is a schematic diagram of primary frequency modulation for overspeed load reduction provided by an embodiment of the present invention.

[0048] Figure 4 It is a schematic diagram of overspeed load reduction control of an active disturbance rejection controller provided by an embodiment of the present invention.

[0049] Figure 5 It is a schematic diagram of the VSG processing process provided by an embodiment of the present invention.

[0050] Figure 6 The present invention is a schematic structural diagram of an overspeed frequency regulation control device for a full-power wind turbine generator set provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0051] 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.

[0052] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0054] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0055] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0056] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0057] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0058] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0059] like Figure 1 As shown in FIG. 1 , an overspeed frequency regulation control method for a full-power wind turbine generator system is provided in one embodiment of the present invention. Figure 2 FIG. 1 is a schematic diagram of overspeed frequency regulation control of a full-power wind turbine generator set provided by the present invention.

[0060] An embodiment of the present invention provides an overspeed frequency regulation control method for a full-power wind turbine generator set, comprising:

[0061] Step S1: obtaining the grid-side three-phase voltage, stator three-phase current, current wind speed and wind energy utilization coefficient of the full-power wind turbine when the full-power wind turbine performs maximum power point tracking at the current wind speed;

[0062] Step S2: Calculating power data of the converter of the full-power wind turbine generator set according to the grid-side three-phase voltage and stator three-phase current of the full-power wind turbine generator set;

[0063] Step S3: calculating the rotor reference speed of the full-power wind turbine under overspeed load shedding according to the current wind speed and the wind energy utilization coefficient when the wind turbine performs maximum power point tracking under the current wind speed;

[0064] Step S4: determining an active power reference value of the full-power wind turbine generator set according to a rotor reference speed and an active disturbance rejection controller;

[0065] Step S5: Calculating virtual angular frequency and voltage amplitude reference values ​​according to power data of the full-power wind turbine converter, active power reference value and virtual synchronous generator model;

[0066] Step S6: generating a stator voltage control instruction according to the virtual angular frequency, the voltage amplitude reference value, the grid-side three-phase voltage and the stator three-phase current;

[0067] Step S7: performing overspeed frequency regulation control on the full-power wind turbine set with the stator voltage control instruction.

[0068] For step S1, Figure 2 As shown, the grid-side three-phase voltage U of the full-power wind turbine is collected. a , U b , U c, perform synchronous rotating coordinate transformation on it, and obtain the DC component U of the grid-side voltage d-axis d and the DC component U of the grid-side voltage q axis q . Collect the stator three-phase current i sa 、i sb 、i sc , perform synchronous rotating coordinate transformation on it, and obtain the DC component i of the stator current d axis sd and the DC component i of the stator current q axis sq At rated wind speed, the current wind speed v is collected by the wind speed sensor.

[0069] For step S2, the active power P and reactive power Q of the full-power wind turbine converter are calculated according to the grid-side three-phase voltage and stator three-phase current of the full-power wind turbine. The corresponding calculation formula is as follows:

[0070]

[0071] For step S3, in a preferred embodiment, the calculation of the rotor reference speed of the full-power wind turbine under overspeed load reduction based on the current wind speed and the wind energy utilization coefficient when the wind turbine performs maximum power point tracking at the current wind speed includes: calculating the load reduction rate of the current wind speed primary frequency regulation under overspeed load reduction based on the current wind speed and a preset load reduction rate calculation formula; calculating the rotor reference speed of the full-power wind turbine under overspeed load reduction based on the load reduction rate of the current wind speed primary frequency regulation, the current wind speed, and the wind energy utilization coefficient when the wind turbine performs maximum power point tracking at the current wind speed.

[0072] Specifically, the load reduction rate of the current wind speed primary frequency regulation under overspeed load reduction is calculated according to the current wind speed and the preset load reduction rate calculation formula. The preset load reduction rate calculation formula is as follows:

[0073] d%=c1v 3 +c2v 2 +c3v+c4;

[0074] Wherein, d% represents the load reduction rate of the primary frequency modulation of the current wind speed; v represents the current wind speed; c1, c2, c3 and c4 are the coefficients of the cubic fitting polynomial.

[0075] like Figure 3 As shown, it is a schematic diagram of the overspeed load shedding primary frequency modulation provided by the present invention. The overspeed load shedding primary frequency modulation control is performed according to the load shedding rate of the current wind speed primary frequency modulation and the current wind speed. In the overspeed load shedding primary frequency modulation control, the rotor reference speed of the full-power wind turbine under overspeed load shedding is calculated according to the following formula:

[0076] ω n_ref =(1-d%)vC p_mppt ;

[0077] Among them, ω n_ref represents the rotor reference speed of the full-power wind turbine under overspeed load reduction; d% represents the load reduction rate of the current wind speed primary frequency regulation; v represents the current wind speed; C p_mppt It indicates the wind energy utilization coefficient when the wind turbine performs maximum power point tracking at the current wind speed.

[0078] In a preferred embodiment, after calculating the rotor reference speed of a full-power wind turbine under overspeed load shedding, it also includes: obtaining the measured value of the grid frequency at the grid connection point, the reference value of the grid frequency at the grid connection point, the optimal speed of the full-power wind turbine and the optimal speed after the primary frequency modulation; calculating the frequency deviation compensation coefficient after the primary frequency modulation according to the optimal speed of the full-power wind turbine and the optimal speed after the primary frequency modulation; calculating the speed deviation compensation value after the primary frequency modulation according to the frequency deviation compensation coefficient after the primary frequency modulation, the measured value of the grid frequency at the grid connection point and the reference value of the grid frequency at the grid connection point; determining the reference value of the speed change of the primary frequency modulation under overspeed load shedding according to the speed deviation compensation value after the primary frequency modulation and the rotor reference speed of the full-power wind turbine under overspeed load shedding.

[0079] Specifically, the rotor reference speed ω of the full-power wind turbine under overspeed load reduction is calculated. n_ref After that, the frequency deviation compensation coefficient K after one frequency modulation needs to be calculated according to the following formula: f And the speed deviation compensation value Δω after one frequency modulation:

[0080]

[0081] in, Indicates the optimal rotor speed of a full-power wind turbine at different wind speeds; ω mppt represents the optimal speed after load reduction of d%; f represents the measured value of the grid frequency at the grid connection point; f ref Indicates the grid frequency reference value of the grid connection point.

[0082] According to the speed deviation compensation value after the primary frequency regulation and the rotor reference speed of the full-power wind turbine under overspeed load reduction, the reference value Δω of the speed change of the primary frequency regulation under overspeed load reduction is determined. n_ref .

[0083] For step S4, Figure 4 As shown in the figure, the active power reference value P of the full-power wind turbine is determined according to the reference value of the speed change of the overspeed load shedding primary frequency regulation and the active disturbance rejection controller. ref .

[0084] It should be added that before this, it is necessary to design an anti-disturbance controller for the speed loop. The controlled object is the overspeed load reduction control of the full-power wind turbine. Its equivalent digital model transfer function G n (s) are as follows:

[0085]

[0086] Among them, K n , a1, a2, a3, b1, b2, b3 are coefficients determined according to the full-power wind turbine parameters, s represents the Laplace operator, Δω n Indicates the change in rotor speed; ΔP ref Indicates the active power reference value.

[0087] According to the high-order complex characteristics of the full-power wind turbine under overspeed load reduction control, the present invention adopts a 4th-order model-assisted active disturbance rejection controller for control. The active disturbance rejection controller includes an extended state observer LESO and an error feedback control law LSEF. The extended state observer is designed using the state space method, and the speed value ω n As the controlled variable, select x1=ω n is the state variable, x4 is the expanded state variable for total disturbance estimation. The output of the ADRC is the control variable u, which represents the active power reference value P of the full-power wind turbine. ref , y represents the observer output, from which the state space expression of the extended state observer LESO is:

[0088]

[0089] in, Represents the observed value corresponding to the state variable x; Represents the state variable derivative value The corresponding observation value; ω0 represents the bandwidth frequency value of the extended state observer; ω res represents the auxiliary coefficient of the motor model; Represents the observer output observation.

[0090] The output of the error feedback control law LSEF is the initial value of the control variable u0, and its corresponding transfer function expression is as follows:

[0091]

[0092] Among them, ω c It represents the bandwidth frequency of the ADRC, and its value is usually

[0093] Then the disturbance compensation calculation for the active disturbance rejection controller is as follows:

[0094]

[0095] Among them, u0 represents the initial control quantity of the controlled object output by error feedback control; u represents the control quantity after model-assisted ADRC compensation; represents the observed value of the total disturbance; b0=b3 / a3 represents the initial reference value determined according to the motor model.

[0096] For step S5, Figure 5 As shown, according to the active power P, reactive power Q, and active power reference value p of the full-power wind turbine converter ref The virtual synchronous generator model VSG of the machine-side converter is used to calculate the virtual angular frequency ω and the voltage amplitude reference value U ref , and its corresponding expression is as follows:

[0097]

[0098] Where, J represents the virtual inertia time constant; D represents the virtual damping coefficient; T d Represents the hysteresis correction coefficient; K d represents the differential compensation coefficient; ω0 is the rated power; n is the reactive droop control coefficient; U0 represents the rated voltage; Q ref Represents the reactive power reference value; θ s Indicates the coordinate transformation angle of the machine-side converter.

[0099] For step S6, in a preferred embodiment, the generating of the stator voltage control instruction according to the virtual angular frequency, the voltage amplitude reference value, the grid-side three-phase voltage and the stator three-phase current includes: determining the voltage deviation result according to the voltage amplitude reference value, the grid-side three-phase voltage and the virtual angular frequency, and generating the stator current control instruction according to the voltage deviation result; determining the current deviation result according to the stator current control instruction, the stator three-phase current and the virtual angular frequency, and generating the stator voltage control instruction according to the current deviation result.

[0100] Specifically, according to the coordinate transformation angle of the computer-side converter of the virtual angular frequency, the d-axis grid-side voltage in the synchronous rotating coordinate system is calculated under the coordinate transformation angle, that is, the voltage amplitude reference value U ref The DC component U of the grid voltage d-axis d The deviation is calculated by calculating the zero value of the grid-side voltage on the q-axis and the DC component U of the grid-side voltage on the q-axis in the synchronous rotating coordinate system. q The deviation is input into the PI regulator of the voltage outer loop for processing, and the d-axis stator current control command i is output. sd_ref and q-axis stator current control command i sq_ref . Calculate the d-axis stator current control command i in the synchronous rotating coordinate system sd_ref The DC component i of the stator current d-axis sd The deviation between the q-axis stator current control command i sq_ref The DC component i of the stator current q axis sqThe deviation between them is input into the PI regulator of the stator current inner loop, and the d-axis stator voltage control command u is output. sd_ref and q-axis stator voltage control command u sq_ref The corresponding calculation expression is as follows:

[0101]

[0102] Among them, K pi K is the proportional coefficient of the PI regulator in the inner loop of the machine-side current; ii It is the integral coefficient of the PI regulator in the machine-side current loop.

[0103] For step S7, Figure 2 As shown, the d-axis stator voltage control command u sd_ref and q-axis stator voltage control command u sq_ref After modulation by the SVPWM link, the machine-side converter switch tube control signal is generated to control the opening and closing of the power devices of the machine-side converter, complete the modulation of the converter input waveform signal, and finally realize the grid-connected control of the full-power wind turbine under overspeed load reduction and frequency modulation.

[0104] Based on the above method embodiment, the present invention provides a corresponding device embodiment.

[0105] like Figure 6 As shown, an embodiment of the present invention provides an overspeed frequency regulation control device for a full-power wind turbine generator set, comprising: a data acquisition module, a power calculation module, an overspeed load reduction analysis module and an overspeed frequency regulation control module;

[0106] The data acquisition module is used to obtain the grid-side three-phase voltage, stator three-phase current, current wind speed and wind energy utilization coefficient of the full-power wind turbine when the full-power wind turbine performs maximum power point tracking at the current wind speed;

[0107] The power calculation module is used to calculate the power data of the full-power wind turbine converter according to the grid-side three-phase voltage and stator three-phase current of the full-power wind turbine;

[0108] The overspeed load reduction analysis module is used to calculate the rotor reference speed of the full-power wind turbine under overspeed load reduction according to the current wind speed and the wind energy utilization coefficient when the wind turbine performs maximum power point tracking under the current wind speed; determine the active power reference value of the full-power wind turbine according to the rotor reference speed and the anti-disturbance controller; calculate the virtual angular frequency and voltage amplitude reference value according to the power data of the full-power wind turbine converter, the active power reference value and the virtual synchronous generator model;

[0109] The overspeed frequency regulation control module is used to generate a stator voltage control instruction according to the virtual angular frequency, the voltage amplitude reference value, the grid-side three-phase voltage and the stator three-phase current; and perform overspeed frequency regulation control on the full-power wind turbine set with the stator voltage control instruction.

[0110] In a preferred embodiment, the generating of the stator voltage control instruction according to the virtual angular frequency, the voltage amplitude reference value, the grid-side three-phase voltage and the stator three-phase current includes:

[0111] Determine a voltage deviation result according to a voltage amplitude reference value, a grid-side three-phase voltage and a virtual angular frequency, and generate a stator current control instruction according to the voltage deviation result;

[0112] A current deviation result is determined according to the stator current control instruction, the stator three-phase current and the virtual angular frequency, and a stator voltage control instruction is generated according to the current deviation result.

[0113] In a preferred embodiment, the calculation of the rotor reference speed of the full-power wind turbine under overspeed load shedding according to the current wind speed and the wind energy utilization coefficient when the wind turbine performs maximum power point tracking under the current wind speed includes:

[0114] Calculate the load reduction rate of the current wind speed primary frequency regulation under overspeed load reduction according to the current wind speed and the preset load reduction rate calculation formula;

[0115] According to the load reduction rate of the primary frequency regulation at the current wind speed, the current wind speed and the wind energy utilization coefficient when the wind turbine performs maximum power point tracking at the current wind speed, the rotor reference speed of the full-power wind turbine under overspeed load reduction is calculated.

[0116] In a preferred embodiment, it further comprises: a deviation compensation module;

[0117] The deviation compensation module is used to obtain the measured value of the grid frequency at the grid connection point, the reference value of the grid frequency at the grid connection point, the optimal speed of the full-power wind turbine and the optimal speed after the primary frequency modulation;

[0118] According to the optimal speed of the full-power wind turbine and the optimal speed after the primary frequency modulation, the frequency deviation compensation coefficient after the primary frequency modulation is calculated;

[0119] Calculate the speed deviation compensation value after the primary frequency modulation according to the frequency deviation compensation coefficient after the primary frequency modulation, the grid frequency measurement value at the grid connection point and the grid frequency reference value at the grid connection point;

[0120] According to the speed deviation compensation value after the primary frequency regulation and the rotor reference speed of the full-power wind turbine under overspeed and load reduction, the reference value of the speed change of the primary frequency regulation under overspeed and load reduction is determined.

[0121] It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without paying any creative effort.

[0122] Those skilled in the art can clearly understand that for the sake of convenience and brevity, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0123] Based on the above method item embodiments, the present invention provides corresponding terminal device item embodiments.

[0124] An embodiment of the present invention provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, an overspeed frequency regulation control method for a full-power wind turbine set as described in any one of the present invention is implemented.

[0125] The terminal device may be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The terminal device may include, but is not limited to, a processor and a memory.

[0126] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the terminal device, and uses various interfaces and lines to connect various parts of the entire terminal device.

[0127] The memory can be used to store the computer program, and the processor realizes various functions of the terminal device by running or executing the computer program stored in the memory and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application required for a function, etc.; the data storage area can store data created according to the use of the mobile phone, etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0128] Based on the above method item embodiments, the present invention provides a corresponding storage medium item embodiment.

[0129] An embodiment of the present invention provides a storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the storage medium is located is controlled to execute an overspeed frequency regulation control method for a full-power wind turbine set as described in any one of the present invention.

[0130] The storage medium is a computer-readable storage medium, and the computer program is stored in the computer-readable storage medium. When the computer program is executed by the processor, the steps of each of the above-mentioned method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium.

[0131] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for overspeed frequency regulation control of a full-power wind turbine generator set, characterized in that: include: Obtain the grid-side three-phase voltage, stator three-phase current, current wind speed and wind energy utilization coefficient of the full-power wind turbine when the full-power wind turbine performs maximum power point tracking at the current wind speed; Calculate the power data of the full-power wind turbine converter based on the grid-side three-phase voltage and stator three-phase current of the full-power wind turbine; According to the current wind speed and the wind energy utilization coefficient when the wind turbine performs maximum power point tracking at the current wind speed, the rotor reference speed of the full-power wind turbine set under overspeed load reduction is calculated; Determine the active power reference value of the full-power wind turbine according to the rotor reference speed and the active disturbance rejection controller; Calculate virtual angular frequency and voltage amplitude reference values ​​according to power data of full-power wind turbine converter, active power reference value and virtual synchronous generator model; Generate a stator voltage control command according to a virtual angular frequency, a voltage amplitude reference value, a grid-side three-phase voltage, and a stator three-phase current; The stator voltage control instruction is used to perform overspeed frequency regulation control on the full-power wind turbine set.

2. The overspeed frequency modulation control method of a full-power wind turbine generator set according to claim 1, characterized in that: The generating of the stator voltage control instruction according to the virtual angular frequency, the voltage amplitude reference value, the grid-side three-phase voltage and the stator three-phase current comprises: Determine a voltage deviation result according to a voltage amplitude reference value, a grid-side three-phase voltage and a virtual angular frequency, and generate a stator current control instruction according to the voltage deviation result; A current deviation result is determined according to the stator current control instruction, the stator three-phase current and the virtual angular frequency, and a stator voltage control instruction is generated according to the current deviation result.

3. The overspeed frequency modulation control method of a full-power wind turbine generator set according to claim 1, characterized in that: The step of calculating the rotor reference speed of the full-power wind turbine generator set under overspeed load reduction according to the current wind speed and the wind energy utilization coefficient when the wind turbine generator performs maximum power point tracking under the current wind speed includes: Calculate the load reduction rate of the current wind speed primary frequency regulation under overspeed load reduction according to the current wind speed and the preset load reduction rate calculation formula; According to the load reduction rate of the primary frequency regulation at the current wind speed, the current wind speed and the wind energy utilization coefficient when the wind turbine performs maximum power point tracking at the current wind speed, the rotor reference speed of the full-power wind turbine under overspeed load reduction is calculated.

4. The overspeed frequency modulation control method of a full-power wind turbine generator set as claimed in claim 3, characterized in that: After calculating the rotor reference speed of the full-power wind turbine under overspeed load reduction, it also includes: Obtain the measured value of the grid frequency at the grid connection point, the reference value of the grid frequency at the grid connection point, the optimal speed of the full-power wind turbine and the optimal speed after the primary frequency regulation; According to the optimal speed of the full-power wind turbine and the optimal speed after the primary frequency modulation, the frequency deviation compensation coefficient after the primary frequency modulation is calculated; Calculate the speed deviation compensation value after the primary frequency modulation according to the frequency deviation compensation coefficient after the primary frequency modulation, the grid frequency measurement value at the grid connection point and the grid frequency reference value at the grid connection point; According to the speed deviation compensation value after the primary frequency regulation and the rotor reference speed of the full-power wind turbine under overspeed and load reduction, the reference value of the speed change of the primary frequency regulation under overspeed and load reduction is determined.

5. An overspeed frequency regulation control device for a full-power wind turbine generator set, characterized in that: include: Data acquisition module, power calculation module, overspeed load reduction analysis module and overspeed frequency regulation control module; The data acquisition module is used to obtain the grid-side three-phase voltage, stator three-phase current, current wind speed and wind energy utilization coefficient of the full-power wind turbine when the full-power wind turbine performs maximum power point tracking at the current wind speed; The power calculation module is used to calculate the power data of the full-power wind turbine converter according to the grid-side three-phase voltage and stator three-phase current of the full-power wind turbine; The overspeed load reduction analysis module is used to calculate the rotor reference speed of the full-power wind turbine under overspeed load reduction according to the current wind speed and the wind energy utilization coefficient when the wind turbine performs maximum power point tracking under the current wind speed; determine the active power reference value of the full-power wind turbine according to the rotor reference speed and the anti-disturbance controller; calculate the virtual angular frequency and voltage amplitude reference value according to the power data of the full-power wind turbine converter, the active power reference value and the virtual synchronous generator model; The overspeed frequency regulation control module is used to generate a stator voltage control instruction according to the virtual angular frequency, the voltage amplitude reference value, the grid-side three-phase voltage and the stator three-phase current; and perform overspeed frequency regulation control on the full-power wind turbine set with the stator voltage control instruction.

6. An overspeed frequency regulation control device for a full-power wind turbine generator set as claimed in claim 5, characterized in that: The generating of the stator voltage control instruction according to the virtual angular frequency, the voltage amplitude reference value, the grid-side three-phase voltage and the stator three-phase current comprises: Determine a voltage deviation result according to a voltage amplitude reference value, a grid-side three-phase voltage and a virtual angular frequency, and generate a stator current control instruction according to the voltage deviation result; A current deviation result is determined according to the stator current control instruction, the stator three-phase current and the virtual angular frequency, and a stator voltage control instruction is generated according to the current deviation result.

7. An overspeed frequency regulation control device for a full-power wind turbine generator set as claimed in claim 5, characterized in that: The step of calculating the rotor reference speed of the full-power wind turbine generator set under overspeed load reduction according to the current wind speed and the wind energy utilization coefficient when the wind turbine generator performs maximum power point tracking under the current wind speed includes: Calculate the load reduction rate of the current wind speed primary frequency regulation under overspeed load reduction according to the current wind speed and the preset load reduction rate calculation formula; According to the load reduction rate of the primary frequency regulation at the current wind speed, the current wind speed and the wind energy utilization coefficient when the wind turbine performs maximum power point tracking at the current wind speed, the rotor reference speed of the full-power wind turbine under overspeed load reduction is calculated.

8. An overspeed frequency regulation control device for a full-power wind turbine generator set as claimed in claim 6, characterized in that: Also includes: Deviation compensation module; The deviation compensation module is used to obtain the measured value of the grid frequency at the grid connection point, the reference value of the grid frequency at the grid connection point, the optimal speed of the full-power wind turbine and the optimal speed after the primary frequency modulation; According to the optimal speed of the full-power wind turbine and the optimal speed after the primary frequency modulation, the frequency deviation compensation coefficient after the primary frequency modulation is calculated; Calculate the speed deviation compensation value after the primary frequency modulation according to the frequency deviation compensation coefficient after the primary frequency modulation, the grid frequency measurement value at the grid connection point and the grid frequency reference value at the grid connection point; According to the speed deviation compensation value after the primary frequency regulation and the rotor reference speed of the full-power wind turbine under overspeed and load reduction, the reference value of the speed change of the primary frequency regulation under overspeed and load reduction is determined.

9. A terminal device, 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 overspeed frequency regulation control method for a full-power wind turbine set as described in any one of claims 1 to 4.

10. A storage medium, characterized in that: The storage medium includes a stored computer program, wherein when the computer program is running, the device where the storage medium is located is controlled to execute the overspeed frequency regulation control method for a full-power wind turbine set as described in any one of claims 1 to 4.

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