Deep and far sea wind power plant multi-machine cooperation rapid frequency support method and system

Abstract

The invention belongs to the field of wind power generation fast frequency support, and particularly discloses a deep and far sea wind power plant multi-machine cooperation fast frequency support method and system, and the method comprises the steps: representing the communication topology of a wind power plant through employing an algebraic graph theory, and obtaining a Laplacian matrix in an undirected graph; considering the safety constraint of the rotor rotating speed of the fan, and combining the rotor rotating speed of the fan to construct a consistency state factor of the fan; constructing a dynamic process model of a node state, and determining a control protocol of the node state based on a consistency state factor of a fan and a Laplacian matrix of an undirected graph; and a node state control protocol acts on an active current inner ring of a fan, so that cooperative frequency support control of the deep and far sea wind power plant on the power grid is realized. The method can give full play to the frequency supporting capability of the wind power plant.

Description

Technical Field

[0001] The present application belongs to the field of rapid frequency support for wind power generation, and more specifically, to a method and system for rapid frequency support of multiple machines in deep sea wind farms. Background Art

[0002] System inertia is a basic requirement for the safe operation of the power grid. With the continuous large-scale access of wind power, the system inertia continues to decrease, and the risk of frequency instability continues to increase. The low inertia problem has become a "stumbling block" in building a new power system. As a typical wind power generation scenario, offshore wind power has broad development prospects and huge installed capacity. It is a large "power bank" supporting the power grid. Enabling it to have frequency support capabilities is an important way to solve the low inertia problem of the new power system. At present, there have been many power grid accidents caused by insufficient frequency support capabilities. Therefore, it is urgent for offshore wind farms to have frequency support capabilities.

[0003] In terms of frequency support control of wind farms, the wind farm cluster control strategies in existing literature can be mainly divided into two categories according to the control method: centralized and distributed cluster control. Under centralized cluster control, the wind farm integrates the received system dispatch instructions and operating information such as wind speed, and obtains the active power setting value of the wind farm participating in frequency support through the frequency modulation controller. The unit power distribution module distributes the frequency support active power setting value to each wind turbine according to a certain distribution strategy based on the operating characteristics of different wind turbines, so as to give full play to the frequency support capacity of the wind farm. However, the existing centralized cluster control treats the wind farm as a single unit, without considering the differences in frequency support capabilities of different wind turbines, which can easily lead to the unit speed exceeding the limit and losing step and exiting the grid, and even make the grid frequency worse than when the wind farm does not participate in frequency modulation. Under distributed cluster control, each wind turbine only needs to communicate with the adjacent wind turbines to determine its own control target, so there is no need to communicate with the control center. The goal of distributed control is to make the support power provided by each wind turbine match its own support capacity, so that wind turbines with strong support capacity can produce more power, while wind turbines with weak support capacity can produce less power. However, due to the lack of communication with the control center, this method has problems such as long signal interaction response time and poor convergence. Summary of the invention

[0004] In view of the defects of the prior art, the purpose of this application is to provide a method and system for rapid frequency support of multiple machines in deep sea wind farms, aiming to solve the problem that the centralized cluster control in the existing wind farm cluster control method treats the wind farm as a single unit, without considering the differences in frequency support capabilities of different wind turbines, which can easily lead to the unit speed exceeding the limit and losing step and exiting the grid, and even make the grid frequency worse than when the wind farm does not participate in frequency regulation.

[0005] To achieve the above objectives, in a first aspect, the present application provides a method for rapid frequency support of multiple machines in deep sea wind farms, comprising the following steps: Step S1: using algebraic graph theory to characterize the communication topology of the wind farm, and obtaining a Laplace matrix in an undirected graph; wherein a node in the undirected graph represents a wind turbine in the wind farm; nodes with communication channels are neighbors; At the same time, the rotor speed safety constraint of the fan is considered, and the consistency state factor of the fan is constructed in combination with the rotor speed of the fan; Step S2: construct a dynamic process model of the node state, and determine a control protocol of the node state based on the consistency state factor of the wind turbine and the Laplace matrix of the undirected graph, so that the consistency state factor of the wind turbine converges to the same value; Step S3: Apply the node status control protocol to the active current inner loop of the wind turbine to achieve coordinated frequency support control of the deep sea wind farm to the power grid.

[0006] More preferably, The Laplacian matrix of the undirected graph in step S1 is ;in, ; Adjacency matrix ; Represents edge The weight of , then there is a slave node Point to Node The directed edge of ;otherwise, ; } Represents the sum of the edge sets consisting of ordered pairs of corresponding nodes; represents a finite and non-empty set of nodes; n is the number of nodes; Represents the field of real numbers.

[0007] Further preferably, the consistency state factor of the wind turbine in step S1 is:

[0008] in, For the i The initial rotor speed of the typhoon; For the i The current rotor speed of the wind turbine; To safely limit the rotor speed of the fan, when the frequency drops , as the frequency increases ; is the minimum rotor speed of the fan; is the maximum rotor speed of the fan.

[0009] Further preferably, the dynamic process model of the node state in step S2 is:

[0010]

[0011] in, For the i Control protocol for typhoon turbine consistency state factor; is the consistency convergence coefficient; n is the number of nodes; adjacency matrix ; Represents edge The weight of Represents the field of real numbers.

[0012] Further preferably, the q-axis reference value of the inner loop of the active current of the wind turbine in step S3 is for:

[0013] in, for The basic component in is output by the speed outer loop PI controller; for The single machine inertia response component in ; for The site consistency coordination component in the frequency drop , as the frequency increases .

[0014] In a second aspect, the present application provides a deep sea wind farm multi-machine coordinated rapid frequency support system, comprising: The adjacency matrix acquisition module is used to characterize the communication topology of the wind farm using algebraic graph theory and obtain the adjacency matrix in the undirected graph; wherein a node in the undirected graph represents a wind turbine in the wind farm; nodes with communication channels are neighbors of each other; The consistency state factor construction module is used to construct the Laplace matrix of the undirected graph according to the adjacency matrix in the undirected graph; at the same time, the rotor speed safety constraint of the wind turbine is considered, and the consistency state factor of the wind turbine is constructed in combination with the rotor speed of the wind turbine; A control protocol building module is used to build a dynamic process model of the node state, and determine the control protocol of the node state based on the consistency state factor of the wind turbine and the Laplace matrix of the undirected graph, so that the consistency state factor of the wind turbine converges to the same value; The frequency support control module is used to apply the node status control protocol to the active current inner loop of the wind turbine, so as to realize the coordinated frequency support control of the deep sea wind farm to the power grid.

[0015] Further preferably, the Laplace matrix of the undirected graph in the consistency state factor building module is ;in, ; Adjacency matrix ; Represents edge The weight of , then there is a slave node Point to Node The directed edge of ;otherwise, ; } Represents the sum of the edge sets consisting of ordered pairs of corresponding nodes; represents a finite and non-empty set of nodes; n is the number of nodes; Represents the field of real numbers.

[0016] Further preferably, the consistency state factor of the wind turbine in the consistency state factor construction module is:

[0017] in, For the i The initial rotor speed of the typhoon; For the i The current rotor speed of the wind turbine; To safely limit the rotor speed of the fan, when the frequency drops , as the frequency increases ; is the minimum rotor speed of the fan; is the maximum rotor speed of the fan.

[0018] Further preferably, the dynamic process model of the node state in the control protocol building module is:

[0019]

[0020] in, For the i Control protocol for typhoon turbine consistency state factor; is the consistency convergence coefficient; n is the number of nodes; adjacency matrix ; Represents edge The weight of Represents the field of real numbers.

[0021] Further preferably, the q-axis reference value of the inner loop of the active current of the fan in the frequency support control module is for:

[0022] in, for The basic component in is output by the speed outer loop PI controller; for The single machine inertia response component in ; for The site consistency coordination component in the frequency drop , as the frequency increases .

[0023] In a third aspect, the present application provides an electronic device comprising: at least one memory for storing programs; and at least one processor for executing the programs stored in the memory. When the programs stored in the memory are executed, the processor is used to execute the method described in the first aspect or a further preferred implementation of the first aspect.

[0024] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method described in the first aspect or a further preferred implementation of the first aspect.

[0025] In a fifth aspect, the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the method described in the first aspect or a further preferred implementation of the first aspect.

[0026] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here.

[0027] In general, the above technical solutions conceived by this application have the following beneficial effects compared with the prior art: The present application provides a method for rapid frequency support of multiple machines in a deep sea wind farm in coordination, wherein a consistency state factor of the wind turbine that reflects the frequency support capability of the wind turbine is constructed by taking into account the rotor speed safety constraint of the wind turbine, and a control protocol for the node state is determined to ensure that the consistency state factor of the wind turbine converges to the same value, so that the frequency support power of the wind turbine set can be matched with the frequency regulation capability. Therefore, the present application can give full play to the frequency support capability of the wind farm.

[0028] The present application provides a method for rapid frequency support of multiple machines in deep sea wind farms. Since the consistency state factor of the wind turbine is constructed only by using the rotor speed of the wind turbine set ( ), therefore, only the kinetic energy of the wind turbine is used to quickly support the grid frequency, which does not affect the power generation efficiency of the wind turbine under normal operating conditions and does not require the addition of any energy storage system. Therefore, the deep-sea wind farm multi-machine collaborative rapid frequency support method provided in this application is highly economical.

[0029] This application provides a method for rapid frequency support of multiple machines in deep sea wind farms, which applies the control protocol of node status to the active current inner loop of the wind turbine ( for The site consistency coordination component in the frequency drop , as the frequency increases ), only the control branch is introduced into the inner loop of the wind turbine active current, and the vector control structure widely used in wind power generation is not changed. Therefore, the deep-sea wind farm multi-machine collaborative rapid frequency support method provided by this application is easy to implement and has high feasibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is one of the flow diagrams of the method for rapid frequency support of multiple machines in offshore wind farms provided in the embodiment of the present application; Figure 2 It is the main circuit topology structure of the direct-drive wind turbine provided in the embodiment of the present application; Figure 3 It is the offshore wind farm communication topology structure provided by the embodiment of the present application; FIG4 (a) is a comparison diagram of simulation effects of a grid frequency change curve when no control strategy is adopted, a traditional method is adopted, and a method of the present application is adopted after a sudden drop in grid frequency, provided in an embodiment of the present application; FIG4( b ) is a comparison diagram of simulation effects of output power change curves of the first, sixth and twenty-first wind turbines when no control strategy is adopted, a traditional method is adopted and the method of the present application is adopted after a sudden drop in grid frequency, provided in an embodiment of the present application; FIG4( c ) is a comparison diagram of simulation effects of the rotor angular velocity variation curves of the first, sixth and twenty-first wind turbines when no control strategy is adopted, a traditional method is adopted and the method of the present application is adopted after a sudden drop in the grid frequency provided by an embodiment of the present application; Among them, the solid lines in FIG. 4 (a), FIG. 4 (b) and FIG. 4 (c) are simulation effect diagrams without using any control method, the dotted lines are simulation effect diagrams using the traditional method, and the dashed lines are simulation effect diagrams of the present application; Figure 5 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0032] The term "and / or" in this article is a description of the association relationship of associated objects, indicating that there can 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. The symbol " / " in this article indicates that the associated objects are in an or relationship, for example, A / B means A or B.

[0033] The terms “first”, “second” and the like in the specification and claims herein are used to distinguish different objects rather than to describe a specific order of the objects.

[0034] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0035] In the description of the embodiments of the present application, unless otherwise specified, “plurality” means two or more than two.

[0036] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0037] This application can provide frequency support for deep-sea wind farms when they detect frequency disturbances, with fast response speed, which can effectively improve the frequency stability of the power grid. Specifically, each wind turbine in the wind farm is first regarded as a node in the graph, and the communication topology of the wind farm is characterized by algebraic graph theory; secondly, the Laplace matrix of the graph is calculated to determine the consistency state factor of the node in the graph; then a dynamic process model of the node state is established to determine the control protocol of the node state; finally, the control protocol is applied to the active current inner loop of the wind turbine to achieve coordinated frequency support control of the deep-sea wind farm on the power grid; the offshore wake effect is strong, the operating conditions of wind turbines are complex, and the frequency support capacity varies; existing studies generally adopt centralized control, which equates the wind farm to a single unit, without considering the differences in frequency support capacity of different wind turbines, which can easily lead to the unit speed exceeding the limit and losing step and exiting the grid, and even make the grid frequency worse than when the wind farm does not participate in frequency modulation. The multi-machine coordinated frequency support control method for offshore wind farms proposed in this application can match the frequency support power of wind turbines with the frequency regulation capability, thereby giving full play to the frequency support capability of the wind farm.

[0038] Example 1 like Figure 1 As shown, the embodiment of the present application provides a method for rapid frequency support of multiple machines in deep sea wind farms, which specifically includes the following steps: Step S1: using algebraic graph theory to characterize the communication topology of the wind farm, and obtaining a Laplace matrix in an undirected graph; wherein a node in the undirected graph represents a wind turbine in the wind farm; nodes with communication channels are neighbors; At the same time, the rotor speed safety constraint of the fan is considered, and the consistency state factor of the fan is constructed in combination with the rotor speed of the fan; Step S2: construct a dynamic process model of the node state, and determine a control protocol of the node state based on the consistency state factor of the wind turbine and the Laplace matrix of the undirected graph, so that the consistency state factor of the wind turbine converges to the same value; Step S3: Apply the node status control protocol to the active current inner loop of the wind turbine to achieve coordinated frequency support control of the deep sea wind farm to the power grid.

[0039] The offshore wake effect is strong, the operating conditions of wind turbines are complex, and the frequency support capabilities vary; existing studies generally use centralized control, treating wind farms as equivalent to a single unit, without considering the differences in frequency support capabilities of different wind turbines, which can easily lead to the unit speed exceeding the limit and losing step and exiting the grid, or even making the grid frequency worse than when the wind farm does not participate in frequency regulation. Based on this, the application provides a multi-machine coordinated frequency support control method for deep sea wind farms, which can match the frequency support power of wind turbines with the frequency regulation capability, and give full play to the frequency support capability of wind farms.

[0040] It should be noted here that the fan is a double-fed fan or a direct-drive fan. The technical solution of the present application is specifically explained below using a direct-drive fan as an example; like Figure 2 The figure shows the main circuit topology of the direct-drive fan. Figure 2 In the figure, PMSG stands for direct-drive wind turbine, MSC stands for machine-side converter, GSC stands for grid-side converter, and PLL stands for phase-locked loop. represents the rotor angular velocity, represents the rotor rotation angle, Represents the phase angle signal output by the frequency-locked loop, represents the mechanical power input to the direct-drive fan, Indicates the DC side capacitor voltage, Indicates the electromagnetic power output by the direct-drive fan, Indicates the output voltage of the direct-drive fan, Indicates the output current of the direct-drive fan, Indicates the output filter inductance of the grid-side converter, E represents the internal potential of the grid-side converter GSC, which is defined as , Indicates the reactive power output from the direct-drive wind turbine to the grid, Indicates the line reactance connecting the direct-drive wind turbine to the grid, Indicates the grid voltage. In the machine-side converter control, represents the rotor angular velocity given value, represents the rotor angular velocity PI controller, is the q-axis component of the stator current output by the rotor angular velocity PI controller, is the q-axis component of the stator current of the single-machine inertia response, is the q-axis component of the stator current for the station consistency cooperative control, Indicates the q-axis given value of the stator current. Indicates the stator current d-axis given value, Indicates the given modulation voltage of the generator-side converter. In the grid-side converter control, Indicates the given value of the DC side capacitor voltage, represents the DC voltage PI controller, Indicates the d-axis given value of the output current of the direct-drive fan; Indicates the reactive power given value output by the direct-drive wind turbine to the grid. PI Q represents the reactive power PI controller, Indicates the q-axis given value of the direct-drive fan output current, Represents the given modulation voltage of the grid-side converter.

[0041] like Figure 3 The figure shows the communication topology of deep sea wind farm. Figure 3 The deep sea wind farm in the project includes 25 wind turbines, and the power generated by each wind turbine is collected to the offshore AC bus through the collection system; Figure 3 The arrows in represent communication channels; Further preferably, in step S1, each wind turbine in the wind farm is regarded as a node in an undirected graph, and the communication topology of the wind farm is characterized by using algebraic graph theory, specifically: A picture G = ( V , E ) by the node set V and edge set E It consists of two parts, represents a finite and non-empty set of nodes, Represents the edge set and the ordered pair of corresponding nodes; node v i The neighbor node set of ; Each wind turbine in the wind farm is regarded as a node in the graph, and the communication channels between wind turbines are regarded as the edges of the nodes; if there is a communication channel between two wind turbines, the nodes they represent are said to be neighbors; Representation diagram G The adjacency matrix of Represents edge The weight of , then there is a slave node point to The directed edge of ;otherwise ; Set here , ; , , then the graph is an undirected graph; an undirected graph G The path in refers to the node v i Start with a different set of edges to the node The end of the edge set sequence; if the node and If there is a path between nodes and is connected; if the undirected graph G There is a path between any two nodes in the graph. G is connected; in this embodiment, n is 25, and the communication topology of the wind farm is an undirected graph; Further preferably, in step S1, the Laplace matrix of the graph is calculated to determine the consistency state factor of the nodes in the graph, specifically: Undirected Graph G The Laplacian matrix The definition is as follows:

[0042] Get an undirected graph G After finding the Laplacian matrix, we can solve its eigenvalues. G , whose Laplacian matrix L is positive semidefinite and has exactly one eigenvalue of 0.

[0043] The essence of frequency support is to increase power when the frequency drops and reduce power when the frequency rises. For wind turbines, the power of fast frequency support comes from the rotor kinetic energy, which is closely related to the rotor speed of the wind turbine. x i Indicates the topology diagram i The consistency state factor of the fan must also be related to the speed; since the rotor motion equation of the fan is:

[0044] in, is the mechanical power input to the fan, is the electromagnetic power output by the fan, is the rotor inertia of the fan, is the rotor speed of the fan; Integrating the fan rotor motion equation yields:

[0045] in, is the initial rotor speed of the fan; it can be obtained that the rotor kinetic energy of the fan for frequency support is related to the square difference between the current speed and the initial speed; at the same time, because the rotor speed has safety constraints, the general lower limit is , the upper limit is Therefore, the present application i The consistency state factor of the typhoon is:

[0046] Among them, the consistency state factor is used to reflect the frequency support capability of the wind turbine; For the i The initial rotor speed of the typhoon; For the i The current rotor speed of the wind turbine; To safely limit the rotor speed of the fan, when the frequency drops , as the frequency increases ; Further preferably, step S2 establishes a dynamic process model of the node state and determines the control protocol of the node state, specifically: The change of the consistency state factor of the wind turbine can be described by a first-order dynamic process. Therefore, the dynamic process model of the node state established in this application is as follows:

[0047] in, For the i Control protocol for the consistency state factor of the typhoon turbine; if i Typhoon and j If there is a communication channel between the typhoon generator and the ;otherwise ; The purpose of the control protocol is to make the wind turbine consistency state factors in the wind farm converge to the same value; therefore, for:

[0048] in, is the consistency convergence coefficient, and its value range is 0~4; the control protocol of the entire wind farm is expressed in matrix form as follows:

[0049] Because the Laplacian matrix L A is positive semidefinite and has only one eigenvalue of 0, so There is no eigenvalue in the positive half plane, so the system is asymptotically stable and the control protocol can make the wind turbine consistency state factor converge to the same value.

[0050] Further preferably, step S3 applies the control protocol to the active current inner loop of the wind turbine to achieve coordinated frequency support control of the deep sea wind farm to the power grid, specifically: For the wind farm i Typhoon, such as Figure 2 The q-axis reference value of the inner loop of the machine-side converter current is shown in the control of the machine-side converter. It consists of three parts, which can be expressed as:

[0051] in, for The basic component in is output by the speed outer loop PI controller; for The single machine inertia response component in ; for The site consistency coordination component in the frequency drop , as the frequency increases ; It can be expressed as:

[0052] in, f is the grid frequency measured at the grid connection point, droop coefficient The value range is 0~3; the proportional coefficient The value range is 0~3; Since the present application only utilizes the rotor kinetic energy of the wind turbine to quickly support the grid frequency, it does not affect the power generation efficiency of the wind turbine under normal operating conditions and does not require the addition of any energy storage system. Therefore, the method provided by the present application is more economical; since the method provided by the present application only introduces a control branch in the inner loop of the wind turbine active current and does not change the vector control structure widely used in wind power generation, it is easy to implement and has high feasibility; since the deep-sea wind farm multi-machine collaborative frequency support control method proposed in the present application can match the frequency support power of the wind turbine with the frequency regulation capability, it can give full play to the frequency support capability of the wind farm.

[0053] In order to better illustrate the effect of the method provided by the present application, a wind farm consisting of 25 typical 8MW direct-drive wind turbines is taken as an example for a simulation study; before the fault occurs, the system power is in a balanced state, the system frequency is the rated frequency of 50Hz, and at 45 seconds, the system suddenly increases the load by 50MW; Figures 4(a), 4(b) and 4(c) are comparison diagrams of the simulation effects of not using any control strategy, using the traditional method and using the method of the present application after the grid frequency suddenly drops, provided in the embodiment of the present application; wherein, the solid line in Figure 4(a) is the change curve of the grid frequency without adding a strategy, the solid line in Figure 4(b) is the output power change curve of the first, sixth and twenty-one wind turbines without adding a strategy, and the solid line in Figure 4(c) is the rotor angular velocity change curve of the first, sixth and twenty-one wind turbines without adding a strategy; the point in Figure 4(a) is the point in Figure 4(c) is the point in Figure 4(a) is the point in Figure 4(a) is the point in Figure 4(b) is the point in Figure 4(c) is the point in Figure 4(a) is the point in Figure 4(a) The line is the change curve of the grid frequency under the traditional method, the dotted line in Figure 4 (b) is the output power change curve of the first, sixth and twenty-one wind turbines under the traditional method, and the dotted line in Figure 4 (c) is the rotor angular velocity change curve of the first, sixth and twenty-one wind turbines under the traditional method; the dotted line in Figure 4 (a) is the change curve of the grid frequency under the method of this application, the dotted line in Figure 4 (b) is the output power change curve of the first, sixth and twenty-one wind turbines under the method of this application, and the dotted line in Figure 4 (c) is the rotor angular velocity change curve of the first, sixth and twenty-one wind turbines under the method of this application.

[0054] The offshore wake effect is strong, and the wind turbines in the wind farm may work in different states at the same time. The operating conditions of wind turbines are complex, and the frequency support capabilities vary. As shown in Figures 4 (a), 4 (b) and 4 (c), the working points of the first, sixth and twenty-first wind turbines are quite different. Existing studies generally adopt centralized control, which equates the wind farm to a single unit, without considering the differences in frequency support capabilities of different wind turbines, which can easily lead to the unit speed exceeding the limit and losing step and exiting the grid, and even make the grid frequency worse than when the wind farm does not participate in frequency regulation. As shown in Figures 4 (a), 4 (b) and 4 (c), the 21st wind turbine became unstable due to the low speed and could not be restored to the initial state, resulting in a serious deterioration of the grid frequency. The multi-machine coordinated frequency support control method for offshore wind farms proposed in this application can match the frequency support power of wind turbines with the frequency regulation capability, and give full play to the frequency support capability of the wind farm.

[0055] Example 2 The present application provides a deep sea wind farm multi-machine coordinated rapid frequency support system, comprising: The adjacency matrix acquisition module is used to characterize the communication topology of the wind farm using algebraic graph theory and obtain the adjacency matrix in the undirected graph; wherein a node in the undirected graph represents a wind turbine in the wind farm; nodes with communication channels are neighbors of each other; The consistency state factor construction module is used to construct the Laplace matrix of the undirected graph according to the adjacency matrix in the undirected graph; at the same time, the rotor speed safety constraint of the wind turbine is considered, and the consistency state factor of the wind turbine is constructed in combination with the rotor speed of the wind turbine; A control protocol building module is used to build a dynamic process model of the node state, and determine the control protocol of the node state based on the consistency state factor of the wind turbine and the Laplace matrix of the undirected graph, so that the consistency state factor of the wind turbine converges to the same value; The frequency support control module is used to apply the node status control protocol to the active current inner loop of the wind turbine, so as to realize the coordinated frequency support control of the deep sea wind farm to the power grid.

[0056] Further preferably, the Laplace matrix of the undirected graph in the consistency state factor building module is ;in, ; Adjacency matrix ; Represents edge The weight of , then there is a slave node Point to Node The directed edge of ;otherwise, ; } Represents the sum of the edge sets consisting of ordered pairs of corresponding nodes; represents a finite and non-empty set of nodes; n is the number of nodes; Represents the field of real numbers.

[0057] Further preferably, the consistency state factor of the wind turbine in the consistency state factor construction module is:

[0058] in, For the i The initial rotor speed of the typhoon; For the i The current rotor speed of the wind turbine; To safely limit the rotor speed of the fan, when the frequency drops , as the frequency increases ; is the minimum rotor speed of the fan; is the maximum rotor speed of the fan.

[0059] Further preferably, the dynamic process model of the node state in the control protocol building module is:

[0060]

[0061] in, For the i Control protocol for typhoon turbine consistency state factor; is the consistency convergence coefficient.

[0062] Further preferably, the q-axis reference value of the inner loop of the active current of the fan in the frequency support control module is for:

[0063] in, for The basic component in is output by the speed outer loop PI controller; for The single machine inertia response component in ; for The site consistency coordination component in the frequency drop , as the frequency increases .

[0064] It is understandable that the detailed functional implementation of each of the above modules can be found in the introduction of the aforementioned method embodiment, and will not be repeated here.

[0065] It should be understood that the above-mentioned system is used to execute the methods in the above-mentioned embodiments. The implementation principles and technical effects of the corresponding program modules in the system are similar to those described in the above-mentioned methods. The working process of the system can refer to the corresponding process in the above-mentioned method and will not be repeated here.

[0066] Based on the method in the above embodiment, Figure 5 As shown, an embodiment of the present application provides an electronic device, which may include: a processor (Processor) 810, a communication interface (Communications Interface) 820, a memory (Memory) 830 and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other through the communication bus 840. The processor 810 can call the logic instructions in the memory 830 to execute the method in the above embodiment.

[0067] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application.

[0068] Based on the method in the above embodiment, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method in the above embodiment.

[0069] Based on the method in the above embodiment, an embodiment of the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the method in the above embodiment.

[0070] It is understandable that the processor in the embodiment of the present application may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0071] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, mobile hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC.

[0072] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

[0073] It should be understood that the various numerical numbers involved in the embodiments of the present application are only used for the convenience of description and are not used to limit the scope of the embodiments of the present application.

[0074] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for rapid frequency support of multiple machines in deep sea wind farms, characterized in that: The following steps are involved: Step S1: using algebraic graph theory to characterize the communication topology of the wind farm, and obtaining a Laplace matrix in an undirected graph; wherein a node in the undirected graph represents a wind turbine in the wind farm; nodes with communication channels are neighbors; At the same time, the rotor speed safety constraint of the fan is considered, and the consistency state factor of the fan is constructed in combination with the rotor speed of the fan; Step S2: construct a dynamic process model of the node state, and determine a control protocol of the node state based on the consistency state factor of the wind turbine and the Laplace matrix of the undirected graph, so that the consistency state factor of the wind turbine converges to the same value; Step S3: Apply the node status control protocol to the active current inner loop of the wind turbine to achieve coordinated frequency support control of the deep sea wind farm to the power grid.

2. The method for rapid frequency support of multiple machines in deep sea wind farms according to claim 1 is characterized in that: The Laplacian matrix of the undirected graph in step S1 is ;in, ; Adjacency matrix ; Represents edge The weight of , then there is a slave node Point to Node The directed edge of ;otherwise, ; } Represents the sum of the edge sets consisting of ordered pairs of corresponding nodes; represents a finite and non-empty set of nodes; n is the number of nodes; Represents the field of real numbers.

3. The method for rapid frequency support of multiple machines in deep sea wind farms according to claim 1 or 2, characterized in that: The consistency state factor of the fan in step S1 is: in, For the i The initial rotor speed of the typhoon; For the i The current rotor speed of the wind turbine; To safely limit the rotor speed of the fan, when the frequency drops , as the frequency increases ; is the minimum rotor speed of the fan; is the maximum rotor speed of the fan.

4. The method for rapid frequency support of multiple machines in deep sea wind farms according to claim 3 is characterized in that: The dynamic process model of the node state in step S2 is: in, For the i Control protocol for typhoon turbine consistency state factor; is the consistency convergence coefficient; n is the number of nodes; adjacency matrix ; Represents edge The weight of Represents the field of real numbers.

5. The method for rapid frequency support of multiple machines in deep sea wind farms according to claim 4 is characterized in that: The q-axis reference value of the inner loop of the active current of the fan in step S3 for: in, for The basic component in is output by the speed outer loop PI controller; for The single machine inertia response component in ; for The site consistency coordination component in the frequency drop , as the frequency increases .

6. A deep sea wind farm multi-machine coordinated rapid frequency support system, characterized in that: include: The adjacency matrix acquisition module is used to characterize the communication topology of the wind farm using algebraic graph theory and obtain the adjacency matrix in the undirected graph; wherein a node in the undirected graph represents a wind turbine in the wind farm; nodes with communication channels are neighbors of each other; The consistency state factor construction module is used to construct the Laplace matrix of the undirected graph according to the adjacency matrix in the undirected graph; at the same time, the rotor speed safety constraint of the wind turbine is considered, and the consistency state factor of the wind turbine is constructed in combination with the rotor speed of the wind turbine; A control protocol building module is used to build a dynamic process model of the node state, and determine the control protocol of the node state based on the consistency state factor of the wind turbine and the Laplace matrix of the undirected graph, so that the consistency state factor of the wind turbine converges to the same value; The frequency support control module is used to apply the node status control protocol to the active current inner loop of the wind turbine, so as to realize the coordinated frequency support control of the deep sea wind farm to the power grid.

7. The deep sea wind farm multi-machine coordinated rapid frequency support system according to claim 6 is characterized in that: The Laplacian matrix of the undirected graph in the consistency state factor building block is ;in, ; Adjacency matrix ; Represents edge The weight of , then there is a slave node Point to Node The directed edge of ;otherwise, ; } Represents the sum of the edge sets consisting of ordered pairs of corresponding nodes; represents a finite and non-empty set of nodes; n is the number of nodes; Represents the field of real numbers.

8. The deep sea wind farm multi-machine coordinated rapid frequency support system according to claim 6 or 7, characterized in that: The consistency state factor of the wind turbine in the consistency state factor building module is: in, For the i The initial rotor speed of the typhoon; For the i The current rotor speed of the wind turbine; To safely limit the rotor speed of the fan, when the frequency drops , as the frequency increases ; is the minimum rotor speed of the fan; is the maximum rotor speed of the fan.

9. The deep sea wind farm multi-machine coordinated rapid frequency support system according to claim 8 is characterized in that: The dynamic process model of the node status in the control protocol building module is: in, For the i Control protocol for typhoon turbine consistency state factor; is the consistency convergence coefficient; n is the number of nodes; adjacency matrix ; Represents edge The weight of Represents the field of real numbers.

10. The deep sea wind farm multi-machine coordinated rapid frequency support system according to claim 9 is characterized in that: Q-axis reference value of the active current inner loop of the fan in the frequency support control module for: in, for The basic component in is output by the speed outer loop PI controller; for The single machine inertia response component in ; for The site consistency coordination component in the frequency drop , as the frequency increases .

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