Wind turbine generator control method and apparatus, and wind farm control method and apparatus

Abstract

A wind turbine generator control method and apparatus, and a wind farm control method and apparatus. The wind turbine generator control method comprises the steps of: S101, receiving an active power regulation instruction, the active power regulation instruction comprising an active power regulation type and an active power regulation target value; S102, on the basis of the active power regulation type, determining a reserve rotational speed-torque control curve, the active power regulation type being one of primary frequency regulation, secondary frequency regulation, and inertia response; and S103, on the basis of the active power regulation target value and the reserve rotational speed-torque control curve, controlling the rotational speed and torque of a wind turbine generator to enable the wind turbine generator to reach the active power regulation target value, wherein at a same rotational speed, the difference between a power value corresponding to a point on an optimal rotational speed-torque control curve and a power value corresponding to a point on the reserve rotational speed-torque control curve is: the product of a reserve coefficient and rated power.

Description

Wind turbine generator control method, wind farm control method and corresponding device Technical Field

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

[0002] Primary frequency regulation technology, initially rolled out in pilot programs in Northwest and Northeast China's power grids, has now become a mandatory grid-connection requirement, with increasingly stringent technical requirements. Primary frequency regulation technology is now applicable to a growing number of wind turbine models. With the advancement of wind turbines (hereinafter referred to as wind turbines), the control strategies within individual wind turbines are undergoing significant changes. However, the grid's primary frequency regulation requirements for wind farms remain uniform.

[0003] The power grid's requirements for secondary frequency regulation are slow response speed and almost full participation in regulation; the requirements for primary frequency regulation are faster response speed than secondary frequency regulation and less participation in control time; the requirements for inertia response are even faster response speed and less participation in control time; the power grid requires both response speed and accuracy, as well as smooth transition between switching between different functions.

[0004] Existing technologies can meet the grid's requirements for response speed and accuracy to different functions, but cannot meet the requirement for smooth power transition when switching between different functions.

[0005] Summary of the Invention

[0006] An exemplary embodiment of the present disclosure provides a control method for a wind turbine generator set, a control method for a wind farm, and corresponding devices, which can meet the requirements of smooth power transition when switching between primary frequency regulation function, secondary frequency regulation function, and inertia response function.

[0007] According to a first aspect of an embodiment of the present disclosure, a control method for a wind turbine generator set is provided, the control method comprising: receiving an active power regulation instruction, wherein the active power regulation instruction comprises an active power regulation type and an active power regulation target value; determining a standby speed torque control curve based on the active power regulation type; controlling the speed and torque of the wind turbine generator set based on the active power regulation target value and the standby speed torque control curve so that the wind turbine generator set reaches the active power regulation target value; wherein the active power regulation type is one of primary frequency regulation, secondary frequency regulation and inertia response; wherein, at the same speed, the difference between the power value corresponding to a point on the optimal speed torque control curve and the power value corresponding to a point on the standby speed torque control curve is: the product of the standby coefficient and the rated power, and the optimal speed torque control curve is a speed torque control curve that meets MPPT.

[0008] Optionally, the step of determining a standby speed torque control curve based on the active power regulation type includes: determining a standby coefficient based on the active power regulation type; and determining the standby speed torque control curve based on the standby coefficient.

[0009] Optionally, the step of determining the backup coefficient based on the active power regulation type includes: when the active power regulation type is inertia response, determining the backup coefficient based on the active power regulation target value and the power threshold; wherein, the power threshold is the value after the optimal power value is reduced by a preset proportion, and the optimal power value is the power value corresponding to the point on the optimal speed-torque control curve where the speed value is the current speed value.

[0010] Optionally, based on the active power regulation target value and the power threshold, the step of determining the backup coefficient includes: when the active power regulation target value is greater than or equal to the power threshold, determining the backup coefficient as the preset ratio; when the active power regulation target value is less than the power threshold, determining the backup coefficient as the ratio of the difference between the optimal power value and the active power regulation target value to the rated power.

[0011] Optionally, the step of determining the backup coefficient based on the active power regulation type includes: when the active power regulation type is primary frequency regulation or secondary frequency regulation, determining the backup coefficient based on the current power value and the power threshold; wherein, the power threshold is the value after the optimal power value is reduced by a preset proportion, and the optimal power value is the power value corresponding to the point on the optimal speed-torque control curve where the speed value is the current speed value.

[0012] Optionally, the step of determining the backup coefficient based on the current power value and the power threshold includes: when the current power value is greater than or equal to the power threshold, determining the backup coefficient as the preset ratio; when the current power value is less than the power threshold, determining the backup coefficient as: the ratio of the difference between the optimal power value and the current power value to the rated power.

[0013] Optionally, based on the active power regulation target value and the standby speed and torque control curve, the step of controlling the speed and torque of the wind turbine generator set includes: when the active power regulation type is primary frequency regulation, if the current power value is greater than the power threshold and the active power regulation target value is lower than the power value corresponding to the point on the standby speed and torque control curve where the speed value is the current speed value, then the torque is controlled to drop to the torque value corresponding to the point on the standby speed and torque control curve where the speed value is the current speed value; after reaching the torque value, the speed and torque are controlled to change along the standby speed and torque control curve until the active power regulation target value is reached.

[0014] Optionally, based on the active power regulation target value and the standby speed and torque control curve, the step of controlling the speed and torque of the wind turbine generator set includes: when the active power regulation type is inertia response, if the active power regulation target value is lower than or equal to the power threshold, then controlling the torque to drop to the torque value corresponding to the point on the standby speed and torque control curve where the speed value is the current speed value.

[0015] According to a second aspect of an embodiment of the present disclosure, a control method for a wind farm is provided, the control method comprising: when a trigger condition for active power regulation is met, obtaining an active power regulation amount that needs to be regulated by the wind farm; determining the active power adjustable amount of the wind farm based on the active power adjustable amount of each wind turbine generator set in the wind farm; determining the active power regulation amount that needs to be regulated by each wind turbine generator set based on the active power regulation amount that needs to be regulated by the wind farm and the active power adjustable amount of the wind farm; for each wind turbine generator set, if the model of the wind turbine generator set is of the first type, sending the active power regulation target value determined based on the active power regulation amount of the wind turbine generator set and the type of active power regulation to the wind turbine generator set; if the model of the wind turbine generator set is of the second type, sending the active power regulation amount of the wind turbine generator set and the type of active power regulation to the wind turbine generator set; wherein the type of active power regulation is primary frequency regulation or inertia response.

[0016] According to a third aspect of an embodiment of the present disclosure, a control device for a wind turbine generator set is provided, the control device comprising: an instruction receiving unit configured to receive an active power regulation instruction, wherein the active power regulation instruction comprises an active power regulation type and an active power regulation target value; a control curve determining unit configured to determine a standby speed torque control curve based on the active power regulation type; a control unit configured to control the speed and torque of the wind turbine generator set based on the active power regulation target value and the standby speed torque control curve, so that the wind turbine generator set reaches the active power regulation target value; wherein the active power regulation type is one of primary frequency regulation, secondary frequency regulation and inertia response; wherein, at the same speed, the difference between the power value corresponding to a point on the optimal speed torque control curve and the power value corresponding to a point on the standby speed torque control curve is: the product of the standby coefficient and the rated power, and the optimal speed torque control curve is a speed torque control curve that meets MPPT.

[0017] According to a fourth aspect of an embodiment of the present disclosure, a wind farm control device is provided, the control device comprising: a field-wide regulation amount determination unit configured to obtain an active power regulation amount that requires wind farm regulation when a triggering condition for active power regulation is met; a field-wide adjustable amount determination unit configured to determine an adjustable active power amount of the wind farm based on the adjustable active power amount of each wind turbine generator set in the wind farm; A single-machine regulation amount determination unit is configured to determine the active regulation amount that needs to be adjusted for each wind turbine generator set based on the active regulation amount that needs to be adjusted by the wind farm and the active adjustable amount of the wind farm; a sending unit is configured to, for each wind turbine generator set, if the model of the wind turbine generator set is of the first type, send the active regulation target value determined based on the active regulation amount of the wind turbine generator set and the type of active regulation to the wind turbine generator set; if the model of the wind turbine generator set is of the second type, send the active regulation amount of the wind turbine generator set and the type of active regulation to the wind turbine generator set; wherein the type of active regulation is primary frequency regulation or inertia response.

[0018] According to a fifth aspect of an embodiment of the present disclosure, a computer-readable storage medium storing a computer program is provided. When the computer program is executed by a processor, the processor is prompted to execute the control method of the wind turbine generator set as described above.

[0019] According to a sixth aspect of an embodiment of the present disclosure, a computer-readable storage medium storing a computer program is provided. When the computer program is executed by a processor, the processor is prompted to execute the wind farm control method as described above.

[0020] According to a seventh aspect of an embodiment of the present disclosure, a controller of a wind turbine generator set is provided, the controller comprising: a processor; and a memory storing a computer program, which, when executed by the processor, prompts the processor to execute the control method of the wind turbine generator set as described above.

[0021] According to an eighth aspect of an embodiment of the present disclosure, a controller for a wind farm is provided, the controller comprising: a processor; and a memory storing a computer program, which, when executed by the processor, prompts the processor to execute the wind farm control method as described above.

[0022] The wind turbine control method and apparatus according to the exemplary embodiments of the present disclosure can meet the requirements for smooth power transition when switching between primary frequency regulation, secondary frequency regulation, and inertia response functions. Furthermore, the wind farm control method and apparatus according to the exemplary embodiments of the present disclosure are suitable for the effective coordinated control of multiple wind farm models.

[0023] In the following description, some aspects and / or advantages of the general inventive concept of the present disclosure will be set forth, and some aspects and / or advantages will be known through the following description or implementation of the general inventive concept of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] These and / or other aspects and advantages of the present application will become more clear and easier to understand from the following detailed description of the embodiments of the present application in conjunction with the accompanying drawings, in which:

[0025] FIG1 shows an example of power fluctuation when the existing primary frequency modulation function and the secondary frequency modulation function are connected;

[0026] FIG2 shows an example of power fluctuation when the existing primary frequency modulation function and the inertia response function are connected;

[0027] FIG3 shows a flow chart of a method for controlling a wind turbine generator system according to an exemplary embodiment of the present disclosure;

[0028] FIG4 shows an example of a standby speed torque control curve according to an exemplary embodiment of the present disclosure;

[0029] FIG5 shows a flow chart of a method for controlling a wind farm according to an exemplary embodiment of the present disclosure;

[0030] FIG6 shows an example of a control method of a wind farm according to an exemplary embodiment of the present disclosure;

[0031] FIG7 shows a flow chart of a method for converting and sending a frequency modulation instruction according to an exemplary embodiment of the present disclosure;

[0032] FIG8 is a flowchart illustrating a method of converting and sending an inertia response command according to an exemplary embodiment of the present disclosure;

[0033] FIG9 shows a structural block diagram of a control device for a wind turbine generator set according to an exemplary embodiment of the present disclosure;

[0034] FIG10 shows a structural block diagram of a control device for a wind farm according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0035] Reference will now be made in detail to the embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like parts throughout. The embodiments are described below with reference to the drawings in order to explain the present disclosure.

[0036] It should be noted that the terms "first," "second," and the like in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the numbers used in this manner are interchangeable where appropriate so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure as detailed in the appended claims.

[0037] It should be noted that the phrase "at least one of the items" in this disclosure includes three types of parallel situations: "any one of the items", "a combination of any multiple items of the items", and "all of the items". For example, "including at least one of A and B" includes the following three parallel situations: (1) including A; (2) including B; (3) including A and B. For another example, "performing at least one of step 1 and step 2" includes the following three parallel situations: (1) performing step 1; (2) performing step 2; and (3) performing steps 1 and 2.

[0038] In the prior art, in response to the requirements of both fast and slow response speeds for the primary frequency modulation function, the secondary frequency modulation function, and the inertia response function, two speed-torque curve response modes are designed for the single-unit control strategy of the wind turbine. If a primary frequency modulation command or an inertia response command is received, speed and torque control is performed according to a set of speed-torque curves, which is named "speed-torque curve group 1"; if a secondary frequency modulation command is received, speed and torque control is performed according to another set of speed-torque curves, which is named "speed-torque curve group 2". In addition, different control channels are used to correspond to "speed-torque curve group 1" and "speed-torque curve group 2" respectively. Specifically, an incremental control channel is used for "speed-torque curve group 1", and a given value control channel is used for "speed-torque curve group 2" to respectively meet the requirements of fast control and slow control of active power.

[0039] In the prior art, for the primary frequency modulation command and inertia response command, "speed-torque curve group 1" is used for incremental control, that is, control is performed based on the received active power regulation command (active power increment command). Since this control is performed separately from the normal optimal speed-torque control curve (Kopt control curve), the start and end of the primary frequency modulation and inertia response events are completely dependent on the triggering and elimination of the active power increment DeltP that requires full-field regulation. The response process of the wind turbine must rely on the active power increment command being 0 in order to end the entire event. If the primary frequency modulation function is controlled according to "speed-torque curve group 1" and the secondary frequency modulation function is controlled according to "speed-torque curve group 2", the control curves of the two must be fully integrated after the incremental control corresponding to "speed-torque curve group 1" has completely returned to 0. Specifically, the triggering and termination conditions for the fan's primary frequency modulation and inertia response control are whether the active power increment instruction is 0. If it is not 0, the adjustment will start, and if it is 0, the primary frequency modulation and inertia response control will end. Therefore, after the active power increment instruction is 0, the control strategy will definitely start the control to return to the power level before the start of adjustment, that is, P0, regardless of whether the current goal does not need to return to that position. The set value channel sets the actual final target value, so the control of the fan will result in a less friendly control path that first returns to P0 and then to the target value.

[0040] Grid requirements include coordinated control of primary and secondary frequency regulation, with smooth power transfer. For example, when primary frequency regulation exits and secondary frequency regulation takes over, the control deviation must be no greater than ±1% Pn or ±2% Pn. Therefore, when AGC commands require coordinated control with primary frequency regulation, large power fluctuations can occur (as shown by the arrow in Figure 1, where the power curve shows a bump after primary frequency regulation exits), resulting in failure to pass network certification.

[0041] After evaluating and improving the control rate of the "Speed-Torque Curve Group 2," this disclosure has found that it can meet the rate requirements of primary frequency modulation. Therefore, the primary frequency modulation can be controlled internally by using the "Speed-Torque Curve Group 2" as a secondary frequency modulation. This means that when AGC commands require coordinated control with the primary frequency modulation, power fluctuations are eliminated, and power is smoothed during function switching.

[0042] Because the inertia response function requires the highest response speed, "Speed-Torque Curve Group 2" cannot meet actual needs. Therefore, the consideration is to respond to "Speed-Torque Curve Group 2" according to the primary frequency modulation and "Speed-Torque Curve Group 1" according to the inertia response. However, the primary frequency modulation and inertia response functions operate smoothly and meet the requirements. However, when the two functions switch, the power fluctuates significantly (as shown by the arrow in Figure 2), which does not meet the grid requirements. The grid requirements include that the wind farm's inertia response and primary frequency modulation functions should be used in conjunction. The wind farm should be able to achieve continuous and smooth active power regulation when participating in the power system's inertia response and primary frequency modulation. The wind farm's active power control system and AGC commands should be coordinated with the wind farm's primary frequency modulation.

[0043] To address this issue, the inertia response must also be switched from "speed-torque curve set 1" to "speed-torque curve set 2." Therefore, the present disclosure proposes that the primary frequency modulation, secondary frequency modulation, and inertia response share the same channel (the setpoint channel), that is, all use "speed-torque curve set 2." However, when using the same channel and the same set of speed-torque curves for control, a larger reserve is required to ensure rapid inertia response. Specifically, "speed-torque curve set 2" needs to be adjusted so that the gap between the optimal speed-torque control curve and the reserve speed-torque control curve (the reserved control curve) is larger, for example, greater than 20% of the rated power. However, if the control curves are fixed in this way, power generation will be affected, resulting in losses. Therefore, the present disclosure proposes to adaptively adjust the position of the standby speed torque control curve for different regulation functions, that is, adaptively change the interval between the optimal speed torque control curve and the standby speed torque control curve, thereby meeting the regulation speed of the inertia response without losing power generation, and minimizing the speed fluctuation range during the primary frequency modulation and inertia response, thereby reducing the impact of the large impeller fan's large rotational inertia and slow speed change, and solving the problem of uneven connection between the inertia response, primary frequency modulation, and secondary frequency modulation.

[0044] FIG3 shows a flow chart of a method for controlling a wind turbine generator system according to an exemplary embodiment of the present disclosure.

[0045] As an example, the control method of a wind turbine generator set according to an exemplary embodiment of the present disclosure may be executed by an electronic device having data processing capabilities. For example, the electronic device may be a controller of the wind turbine generator set.

[0046] 3 , in step S101 , an active power adjustment instruction is received.

[0047] The active power regulation command includes an active power regulation type and an active power regulation target value (i.e., an active power setpoint). The active power regulation type can be one of primary frequency modulation, secondary frequency modulation, and inertia response. In other words, the received active power regulation command can be one of these. Furthermore, the active power regulation command can also include an active power regulation rate.

[0048] For a single fan, the three functions of primary frequency regulation, inertia response, and secondary frequency regulation do not occur at the same time and can be executed separately. Therefore, different mode words and rates are used to distinguish their execution.

[0049] In step S102 , a standby speed torque control curve is determined based on the active power regulation type.

[0050] At the same speed, the difference between the power value corresponding to a point on the optimal speed-torque control curve and the power value corresponding to a point on the standby speed-torque control curve is: the product of the standby coefficient and the rated power of the wind turbine generator set. The optimal speed-torque control curve is a speed-torque control curve that meets MPPT (maximum power point tracking). Control according to the optimal speed-torque control curve can meet optimal power generation.

[0051] As shown in FIG4 , an example of a standby speed torque control curve is shown, where line 1 is a standby speed torque control curve when the standby coefficient is 20%.

[0052] According to an exemplary embodiment of the present disclosure, a standby speed torque control curve is determined in a targeted manner according to the active power regulation type, so that even if the primary frequency regulation, secondary frequency regulation, and inertia response share the same channel (given value channel), the rapidity of the inertia response can be met without losing power generation, and the problem of uneven connection between the inertia response, primary frequency regulation, and secondary frequency regulation can be effectively solved.

[0053] Step S102 may include: determining a standby coefficient based on the active power regulation type; and then determining a standby speed torque control curve based on the standby coefficient, thereby obtaining the standby speed torque control curve under the standby coefficient.

[0054] In one embodiment, when the active power regulation type is inertia response, the reserve factor can be determined based on the active power regulation target value and a power threshold. The power threshold is the value obtained by adjusting the optimal power value down by a preset percentage. The optimal power value is the power value corresponding to the point on the optimal speed-torque control curve where the speed value is the current speed value. For example, the preset percentage can be set to a specific value based on actual conditions and specific needs, such as 20%.

[0055] As an example, when the active power regulation type is inertia response, if the active power regulation target value is greater than or equal to the power threshold, the backup coefficient is determined as a preset ratio; if the active power regulation target value is less than the power threshold, the backup coefficient is determined as: the ratio of the difference between the optimal power value and the active power regulation target value to the rated power, that is, the backup coefficient is determined to a value greater than the preset ratio.

[0056] For example, referring to Figure 4, assuming that the preset ratio is 20%, Line 1 is the standby speed torque control curve when the standby coefficient is the preset ratio (i.e., 20%), assuming that the active regulation type is inertia response, the current working point is point A, if the active regulation target value is the power value corresponding to point C or point D, that is, the active regulation target value is greater than or equal to the power value corresponding to point D (i.e., the power threshold), then Line 1 is used as the standby speed torque control curve; if the active regulation target value is less than the power value corresponding to point D and is the power value corresponding to point E, then Line 1 is moved down through point E as the current standby speed torque control curve.

[0057] In another embodiment, when the active power regulation type is primary frequency regulation or secondary frequency regulation, the backup coefficient is determined based on the current power value and the power threshold.

[0058] As an example, when the active power regulation type is primary frequency regulation or secondary frequency regulation, if the current power value is greater than or equal to the power threshold, the backup coefficient is determined as a preset ratio; if the current power value is less than the power threshold, the backup coefficient is determined as: the ratio of the difference between the optimal power value and the current power value to the rated power, that is, the backup coefficient is determined to a value greater than the preset ratio.

[0059] For example, referring to FIG. 4 , assuming a preset ratio of 20%, Line 1 represents the standby speed and torque control curve when the standby coefficient is the preset ratio (i.e., 20%). Assuming the active power regulation type is primary or secondary frequency modulation, and the current operating point is point A or point C, since the power value corresponding to the current operating point is greater than the power value corresponding to point D (i.e., the power threshold), Line 1 is used as the standby speed and torque control curve. Assuming the current operating point is point E, since the power value corresponding to the current operating point is less than the power value corresponding to point D (i.e., the power threshold), the curve passing through point E is used as the current standby speed and torque control curve. According to an exemplary embodiment of the present disclosure, if the inertia response ends at point E (at which point the standby speed and torque control curve is a curve passing through point E), and primary or secondary frequency modulation is subsequently performed, since the standby speed and torque control curve still uses the curve passing through point E, that is, the operating point remains on the standby speed and torque control curve, power fluctuations can be avoided.

[0060] In step S103 , based on the active power regulation target value and the standby speed and torque control curve, the speed and torque of the wind turbine generator set are controlled so that the wind turbine generator set reaches the active power regulation target value.

[0061] As an example, step S103 may include: when the active power regulation type is primary frequency modulation, if the current power value is greater than the power threshold and the active power regulation target value is lower than the power value corresponding to the point on the standby speed torque control curve where the speed value is the current speed value, then the control torque is reduced to the torque value corresponding to the point on the standby speed torque control curve where the speed value is the current speed value (the speed remains unchanged); after reaching this torque value, the control speed and torque are changed along the standby speed torque control curve until the active power regulation target value is reached.

[0062] As an example, step S103 may include: when the active power regulation type is secondary frequency modulation, if the current power value is greater than the power threshold and the active power regulation target value is lower than the power value corresponding to the point on the standby speed torque control curve where the speed value is the current speed value, then the control torque is reduced to the torque value corresponding to the point on the standby speed torque control curve where the speed value is the current speed value (the speed remains unchanged); after reaching this torque value, the control speed and torque are changed along the standby speed torque control curve until the active power regulation target value is reached.

[0063] For example, referring to Figure 4, assuming that the preset ratio is 20%, line 1 is the standby speed torque control curve when the standby coefficient is the preset ratio (i.e., 20%), assuming that the current working point is point A, the active power regulation type is primary frequency modulation, and the target power value (i.e., active power regulation target value) is the power value corresponding to point E and point E'. According to an exemplary embodiment of the present disclosure, the working point will be controlled to move along line 2 to point D, and then move along line 1 to point E', instead of moving along line 2 to point D and then moving downward to point E as in the prior art. At this time, the primary frequency modulation control ends, and the fan cannot maintain or correspond to point E', it will return from point E to point D, and then move to point E', so there will be power fluctuations at the fan end.

[0064] As an example, step S103 may include: when the active regulation type is inertia response, if the active regulation target value is lower than or equal to the power threshold, the control torque is reduced to the torque value corresponding to the point on the standby speed torque control curve where the speed value is the current speed value (the speed remains unchanged).

[0065] For example, referring to Figure 4, assuming that the preset ratio is 20%, line 1 is the standby speed torque control curve when the standby coefficient is the preset ratio (i.e., 20%), assuming that the current operating point is point A, the active power regulation type is inertia response, and the target power value is the power value corresponding to point E and point E'. According to an exemplary embodiment of the present disclosure, since the active power regulation type is inertia response and the target power value is less than the power value corresponding to point D, the standby speed torque control curve is adjusted to a curve passing through point E, so that the operating point can be controlled to move along line 2 until it moves to point E, thereby meeting the rapid adjustment requirements of the inertia response.

[0066] In addition, as an example, step S103 may include: when the active regulation type is one of primary frequency regulation, secondary frequency regulation, and inertia response, if the active regulation target value is greater than or equal to the power threshold, the control torque is reduced to the torque value corresponding to the point where the speed value is the current speed value and the corresponding power value is the active regulation target value (the speed remains unchanged).

[0067] For example, referring to Figure 4, assuming that the preset ratio is 20%, line 1 is the standby speed torque control curve when the standby coefficient is the preset ratio, assuming that the current operating point is point A, the active power regulation type is one of primary frequency modulation, secondary frequency modulation, and inertia response, and the target power value is the power value corresponding to point C. According to an exemplary embodiment of the present disclosure, the operating point is controlled to move directly from point A to point C along line 2.

[0068] To ensure both a fast inertia response and minimal power loss, this disclosure proposes the aforementioned exemplary embodiments. Because inertia response is short-lived and triggered, rather than real-time, a time separation approach can be employed to isolate inertia from secondary frequency regulation or free-generation conditions.

[0069] According to the exemplary embodiments of the present disclosure, the speed fluctuation range during the primary frequency modulation and inertia response can be minimized, thereby reducing the impact of the large impeller fan's large rotational inertia and slow speed change, and solving the problem of uneven connection between inertia response, primary frequency modulation, and secondary frequency modulation.

[0070] FIG5 shows a flowchart of a method for controlling a wind farm according to an exemplary embodiment of the present disclosure.

[0071] As an example, the control method of a wind farm according to an exemplary embodiment of the present disclosure may be executed by an electronic device having data processing capabilities. For example, the electronic device may be a controller of a wind farm.

[0072] 5 , in step S201 , when the triggering condition for active power regulation is met, the active power regulation amount requiring wind farm regulation is obtained.

[0073] As an example, the trigger condition for active power regulation may be a primary frequency modulation trigger condition or an inertia response trigger condition.

[0074] In step S202 , the adjustable active power of the wind farm is determined based on the adjustable active power of each wind turbine generator set in the wind farm.

[0075] In step S203 , based on the active power regulation amount that needs to be regulated by the wind farm and the active power adjustable amount of the wind farm, the active power regulation amount that needs to be regulated by each wind turbine generator set is determined.

[0076] It should be understood that appropriate methods can be used to allocate the active power regulation amount required to be regulated to each wind turbine generator set based on the active power regulation amount required to be regulated by the wind farm, the active power adjustable amount of the wind farm, and the active power adjustable amount of each wind turbine generator set.

[0077] In step S204, for each wind turbine generator set, if the model of the wind turbine generator set is of the first type, the active power regulation target value and the type of active power regulation determined based on the active power regulation amount of the wind turbine generator set are sent to the wind turbine generator set; if the model of the wind turbine generator set is of the second type, the active power regulation amount and the type of active power regulation of the wind turbine generator set are sent to the wind turbine generator set to control the wind turbine generator set to perform active power regulation.

[0078] If the trigger condition for active power regulation is a primary frequency modulation trigger condition, the active power regulation type is primary frequency modulation; if the trigger condition for active power regulation is an inertia response trigger condition, the active power regulation type is inertia response.

[0079] In addition, the active power regulation rate determined for each wind turbine can also be sent to the wind turbine.

[0080] In addition, as an example, if the trigger condition for active power regulation is a secondary frequency regulation trigger condition, the model of the wind turbine generator set is not distinguished, and the active power regulation target value determined based on the active power regulation amount of the wind turbine generator set and the type of active power regulation (i.e., secondary frequency regulation) are directly sent to the wind turbine generator set.

[0081] This disclosure takes into account that different wind turbine models adopt different control strategies, or in other words, adopt different motion control processes to achieve continuous movement and switching of primary frequency modulation, secondary frequency modulation, and inertia response. It proposes that the field level will unify the interfaces of different models, use a unified allocation strategy in the middle to allocate them, and finally differentiate the unified allocation results to achieve the joint control of multiple models in the entire field. Currently, the control strategies on the wind turbine side are divided into two categories (i.e., the first type and the second type), and the corresponding interfaces are also of two categories. Therefore, the field level also differentiates and treats the two types of interfaces differently, as shown in Figure 6.

[0082] Since the wind farm controller (hereinafter referred to as the field control) needs to be adaptable to all models, the field control needs to take into account the joint control of multiple models, and the communication interface and allocation strategy of the wind turbines must be compatible.

[0083] Therefore, the innovation of field control strategy includes two aspects:

[0084] 1. Disassembly of interfaces and channels of different models

[0085] Since the machine model is determined during the initialization of the control process and is not brought into the subsequent control structure, the machine model and the active setting value switch are judged during initialization to identify the machine model (i.e., the first type mentioned above) that can adopt the new control strategy.

[0086] Add the active power set value switch PFRPowerSetSwitch (PFR uses the active power channel to control the switch, 1 is on, 0 is off), and add the following variables in the wind turbine control structure WTSVGDataConfig: (1) PFRPowerEnable (active power set value enables PFR); (2) PFRPowerTrigger (active power set value triggers PFR).

[0087] When the active set value switch is turned on and the model is not a specific model, the PFRPowerEnable (active set value enable PFR) of this wind turbine is set, indicating that it can participate in the new control strategy, that is, the new control strategy will be used in the subsequent control allocation process.

[0088] This part of the function can be combined with the function of obtaining valid fan information, and a new function GetValidWT(void) is set up. Since the function GetValidDeviceInformation() for obtaining valid device information is too long, the fan part can be separated out.

[0089] As an example, 1.5MW and 2.0MW models can use the incremental interface, and other models can use the setpoint interface, so:

[0090] if((OPCUA1500Frecon!=G_WTSVCInfo[i].ProtoType)

[0091] &&(OPCUA1500Switch!=G_WTSVCInfo[i].ProtoType)

[0092] &&(OPCUA2000!=G_WTSVCInfo[i].ProtoType))

[0093] Then PFRPowerEnable=True

[0094] The set value control in the allocation strategy part and the instruction issuing part adopts PFRPowerEnable=True. The prerequisite for the above judgment shown in this example is that the active power set value switch PFRPowerSetSwitch is turned on.

[0095] If the wind turbine is neither a 1.5MW model nor a 2.0MW model but a new model, and due to on-site reasons the main control program cannot be set to the active power set value control mode, then the active power set value switch PFRPowerSetSwitch must be turned off so that the active power set value control mode will not be enabled.

[0096] Here, different models are identified according to the communication protocol used by the wind turbine. Therefore, the protocol must be pre-defined and the point table pre-designed for each wind turbine.

[0097] 2. Fusion of Allocation Strategies

[0098] Due to the presence of mixed-type equipment on site, the conversion between incremental commands and setpoint commands cannot be placed in the outer loop and must be placed in the allocation. Also, during a previous frequency modulation closed-loop control, the fan command was set to the current allocation incremental command cache, DeltPTEMP[i] = DeltP[i] + P0[i] correction. Therefore, the fastest approach is to set the fan's active power setpoint, PowerSetTEMP[i], to the incremental command, DeltPTEMP[i] + P0[i] = DeltP[i] + P0[i] correction + P0[i].

[0099] The following variables can be added to the standalone structure WTSVGDataConfig:

[0100] BOOL PFRPowerEnable; / / Active power setting value enables PFR

[0101] BOOL PFRPowerTrigger; / / Active power setpoint triggers PFR

[0102] str_VarReadWrite PFRPowerSet; / / Frequency modulation active power setting value is actually sent

[0103] To facilitate analysis of each wind turbine's active power distribution and execution, each turbine's active power increment and active power setpoint channels are assigned and recorded. The str_PFC_Thd_Data structure adds the variable G_TotalP to record the total number of CommandPs issued by the field control system. The active power setpoint is expressed in kW.

[0104] In order to take all wind turbines into consideration, the incremental instruction DeltP[i] is first assigned to the wind turbine pre-issued instruction cache channel according to the whole field incremental instruction method, and then the DeltP[i] is converted into the set value PowerSet[i] to achieve the conversion.

[0105] After the incremental cache instruction calculation for the primary frequency modulation is completed, the set value instruction is calculated. The cache instruction for the incremental allocation group is DeltPTEMP[i]. The power at the start of each single machine frequency modulation is P0[i]. The set value is PowerSetTEMP[i] = DeltPTEMP[i] + P0[i]. The function AgcCtrlModeTEMP[i] = 1 (primary frequency modulation mode word) is executed. The process of converting and sending the primary frequency modulation instruction is shown in Figure 7.

[0106] After calculating the incremental cache command for the inertia response, the inertia setpoint command is calculated. The cache command for the incremental distribution unit is DeltPTEMP[i]. The power at the start of frequency regulation for each unit is P0[i]. The setpoint value is PowerSetTEMP[i] = DeltPTEMP[i] + P0[i]. The execution function AgcCtrlModeTEMP[i] = 2 (inertia response mode word). The process for converting and sending the inertia response command is shown in Figure 8.

[0107] Regarding issuing instructions, due to other functional requirements, there are multiple forms of issuing instructions, and the triggering time is different. Therefore, the following function is proposed:

[0108] The primary frequency modulation sends the active power setting value SendPFRPCMDToWT(Index,i);

[0109] Send the incremental setting value SendDeltPCMDToWT(Index,i) for one frequency modulation;

[0110] After the frequency modulation is completed, the active power setting value is sent: SendPCMDEndToWT(Index,i);

[0111] Send the starting active power setting value SendPCMDStartToWT(Index,i) in the first frequency modulation;

[0112] The incremental channel protocol version number SendCommVerToWT(Index,i) is sent in one frequency modulation.

[0113] As an example, control can be performed based on the highest priority for the active power setpoint. Each wind turbine is determined to be triggered using this method (i.e., the active power setpoint control trigger method, PFRPowerTrigger). If triggered, control is performed using the primary frequency modulation method, sending the active power setpoint SendPFRPCMDToWT(Index,i). Otherwise, control is performed using the remaining four functions in sequence, each with corresponding conditions.

[0114] According to the exemplary embodiments of the present disclosure, different machine model strategies and channel interfaces are identified through different wind turbine model protocols; multiple machine models are jointly controlled, and the field control can be compatible with and control all wind turbines in the wind farm; the new set value control strategy and channel are easy to be backward compatible, that is, they can not affect the normal use of the original incremental control strategy and channel, so the new set value control strategy and channel are easy to apply and have high delivery efficiency; in view of the particularity of the project, the control strategy can be changed by flexibly configuring the parameters in the controller (for example, field control); the three functions of primary frequency regulation, secondary frequency regulation, and inertia response are switched smoothly, and the isolation or complementarity of different controllers sharing a channel is high.

[0115] According to the exemplary embodiments of the present disclosure, the following technical effects can be achieved: the primary frequency regulation response speed and accuracy meet the requirements of the power grid; the secondary frequency regulation response speed and accuracy meet the requirements of the power grid; the inertia response speed and accuracy meet the requirements of the power grid; the power is smooth when the primary and secondary frequency regulation functions are switched; and the power is smooth when the primary frequency regulation and inertia response functions are switched.

[0116] FIG9 shows a structural block diagram of a control device for a wind turbine generator system according to an exemplary embodiment of the present disclosure.

[0117] 9 , the control device of a wind turbine generator system according to an exemplary embodiment of the present disclosure includes: a command receiving unit 101 , a control curve determining unit 102 , and a control unit 103 .

[0118] Specifically, the instruction receiving unit 101 is configured to receive an active power adjustment instruction, wherein the active power adjustment instruction includes: an active power adjustment type and an active power adjustment target value.

[0119] The control curve determining unit 102 is configured to determine a standby speed torque control curve based on the active power regulation type.

[0120] The control unit 103 is configured to control the speed and torque of the wind turbine generator set based on the active power regulation target value and the standby speed and torque control curve, so that the wind turbine generator set reaches the active power regulation target value.

[0121] The active power regulation type is one of primary frequency regulation, secondary frequency regulation and inertia response.

[0122] At the same speed, the difference between the power value corresponding to a point on the optimal speed-torque control curve and the power value corresponding to a point on the standby speed-torque control curve is: the product of the standby coefficient and the rated power, and the optimal speed-torque control curve is a speed-torque control curve that meets MPPT.

[0123] As an example, the control curve determining unit 102 may be configured to: determine a backup coefficient based on the active power regulation type; and determine the backup speed torque control curve based on the backup coefficient.

[0124] As an example, the control curve determination unit 102 can be configured to: when the active power regulation type is inertia response, determine the backup coefficient based on the active power regulation target value and the power threshold; wherein the power threshold is: the value after the optimal power value is reduced by a preset proportion, and the optimal power value is the power value corresponding to the point on the optimal speed-torque control curve where the speed value is the current speed value.

[0125] As an example, the control curve determination unit 102 can be configured to: when the active power regulation target value is greater than or equal to the power threshold, determine the backup coefficient as the preset ratio; when the active power regulation target value is less than the power threshold, determine the backup coefficient as: the ratio of the difference between the optimal power value and the active power regulation target value to the rated power.

[0126] As an example, the control curve determination unit 102 can be configured to: when the active power regulation type is primary frequency regulation or secondary frequency regulation, determine the backup coefficient based on the current power value and the power threshold; wherein, the power threshold is: the value after the optimal power value is reduced by a preset proportion, and the optimal power value is the power value corresponding to the point on the optimal speed-torque control curve where the speed value is the current speed value.

[0127] As an example, the control curve determination unit 102 can be configured to: when the current power value is greater than or equal to the power threshold, determine the backup coefficient as the preset ratio; when the current power value is less than the power threshold, determine the backup coefficient as: the ratio of the difference between the optimal power value and the current power value to the rated power.

[0128] As an example, the control unit 103 can be configured as follows: when the active power regulation type is primary frequency modulation, if the current power value is greater than the power threshold and the active power regulation target value is lower than the power value corresponding to the point on the standby speed torque control curve where the speed value is the current speed value, the control torque is reduced to the torque value corresponding to the point on the standby speed torque control curve where the speed value is the current speed value; after reaching the torque value, the control speed and torque are changed along the standby speed torque control curve until the active power regulation target value is reached.

[0129] As an example, the control unit 103 can be configured as follows: when the active power regulation type is inertia response, if the active power regulation target value is lower than or equal to the power threshold, the control torque drops to the torque value corresponding to the point on the standby speed torque control curve where the speed value is the current speed value.

[0130] FIG10 shows a structural block diagram of a control device for a wind farm according to an exemplary embodiment of the present disclosure.

[0131] 10 , a wind farm control device according to an exemplary embodiment of the present disclosure includes: a field-wide adjustment amount determination unit 201 , a field-wide adjustable amount determination unit 202 , a single-machine adjustment amount determination unit 203 , and a sending unit 204 .

[0132] The whole-field regulation amount determining unit 201 is configured to obtain the active power regulation amount that needs to be regulated by the wind farm when the triggering condition for active power regulation is met.

[0133] The field-wide adjustable power determining unit 202 is configured to determine the adjustable active power of the wind farm based on the adjustable active power of each wind turbine generator set in the wind farm.

[0134] The single-machine adjustment amount determination unit 203 is configured to determine the active power adjustment amount that needs to be adjusted by each wind turbine generator set based on the active power adjustment amount that needs to be adjusted by the wind farm and the active power adjustable amount of the wind farm.

[0135] The sending unit 204 is configured to send, for each wind turbine generator set, the active power regulation target value determined based on the active power regulation amount of the wind turbine generator set and the type of active power regulation to the wind turbine generator set if the model of the wind turbine generator set belongs to the first type; and to send the active power regulation amount and the type of active power regulation of the wind turbine generator set to the wind turbine generator set if the model of the wind turbine generator set belongs to the second type.

[0136] The type of active power regulation is primary frequency modulation or inertia response.

[0137] It should be understood that the specific processes performed by the control device of the wind turbine generator set and the control device of the wind farm according to the exemplary embodiment of the present disclosure have been described in detail with reference to FIG. 1 to FIG. 8 , and the relevant details will not be repeated here.

[0138] It should be understood that the various units in the control device of the wind turbine generator set and the control device of the wind farm according to the exemplary embodiments of the present disclosure can be implemented as hardware components and / or software components. Those skilled in the art can implement each unit using, for example, a field programmable gate array (FPGA) or an application-specific integrated circuit (ASIC), depending on the processing performed by each defined unit.

[0139] An exemplary embodiment of the present disclosure provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor is prompted to perform the wind turbine control method described in the exemplary embodiment. The computer-readable storage medium is any data storage device that can store data read by a computer system. Examples of computer-readable storage media include read-only memory, random access memory, read-only optical discs, magnetic tapes, floppy disks, optical data storage devices, and carrier waves (such as data transmission via the Internet via a wired or wireless transmission path).

[0140] An exemplary embodiment of the present disclosure provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program causes the processor to perform the wind farm control method described in the exemplary embodiment. The computer-readable storage medium is any data storage device capable of storing data read by a computer system. Examples of computer-readable storage media include read-only memory, random access memory, read-only optical discs, magnetic tapes, floppy disks, optical data storage devices, and carrier waves (such as data transmission via the Internet via a wired or wireless transmission path).

[0141] According to an exemplary embodiment of the present disclosure, a controller of a wind turbine generator set includes: a processor (not shown) and a memory (not shown), wherein the memory stores a computer program, and when the computer program is executed by the processor, it prompts the processor to execute the control method of the wind turbine generator set as described in the above exemplary embodiment.

[0142] According to an exemplary embodiment of the present disclosure, a controller of a wind farm includes: a processor (not shown) and a memory (not shown), wherein the memory stores a computer program, which, when executed by the processor, prompts the processor to execute the wind farm control method as described in the above exemplary embodiment.

[0143] Although some exemplary embodiments of the present disclosure have been shown and described, it will be appreciated by those skilled in the art that modifications may be made to these embodiments without departing from the scope and spirit of the disclosure as defined by the claims and their equivalents.

Claims

1. A control method for a wind turbine generator set, wherein: The control method comprises: receiving an active power regulation instruction, wherein the active power regulation instruction includes an active power regulation type and an active power regulation target value; Based on the active power regulation type, determining a standby speed torque control curve; Based on the active power regulation target value and the standby speed torque control curve, controlling the speed and torque of the wind turbine generator set so that the wind turbine generator set reaches the active power regulation target value; The active power regulation type is one of primary frequency modulation, secondary frequency modulation and inertia response; Among them, at the same speed, the difference between the power value corresponding to a point on the optimal speed torque control curve and the power value corresponding to a point on the standby speed torque control curve is: the product of the standby coefficient and the rated power, and the optimal speed torque control curve is a speed torque control curve that meets MPPT.

2. The control method according to claim 1, wherein: The step of determining a standby speed torque control curve based on the active power regulation type includes: Based on the active power regulation type, determining a reserve coefficient; Based on the backup coefficient, the backup speed torque control curve is determined.

3. The control method according to claim 2, wherein: The step of determining the standby coefficient based on the active power regulation type comprises: In a case where the active power regulation type is inertia response, determining the standby coefficient based on the active power regulation target value and a power threshold; The power threshold is a value obtained by reducing the optimal power value by a preset ratio, and the optimal power value is a power value corresponding to a point on the optimal speed-torque control curve whose speed value is the current speed value.

4. The control method according to claim 3, wherein: Based on the active power regulation target value and the power threshold, the step of determining the standby coefficient comprises: When the active power regulation target value is greater than or equal to the power threshold, determining the standby coefficient as the preset ratio; When the active power regulation target value is less than the power threshold, the standby coefficient is determined as a ratio of a difference between the optimal power value and the active power regulation target value to the rated power.

5. The control method according to claim 2, wherein: The step of determining the standby coefficient based on the active power regulation type comprises: In the case where the active power regulation type is primary frequency modulation or secondary frequency modulation, determining the standby coefficient based on a current power value and a power threshold; The power threshold is a value obtained by reducing the optimal power value by a preset ratio, and the optimal power value is a power value corresponding to a point on the optimal speed-torque control curve whose speed value is the current speed value.

6. The control method according to claim 5, wherein: The step of determining the standby coefficient based on the current power value and the power threshold comprises: When the current power value is greater than or equal to the power threshold, determining the standby coefficient as the preset ratio; In the case that the current power value is less than the power threshold, the backup coefficient is determined as: a ratio of a difference between the optimal power value and the current power value to the rated power.

7. The control method according to claim 5 or 6, wherein: Based on the active power regulation target value and the standby speed torque control curve, the step of controlling the speed and torque of the wind turbine generator set includes: In the case where the active power regulation type is primary frequency modulation, if the current power value is greater than the power threshold value and the active power regulation target value is lower than the power value corresponding to the point on the standby speed torque control curve whose speed value is the current speed value, the control torque is reduced to the torque value corresponding to the point on the standby speed torque control curve whose speed value is the current speed value; After the torque value is reached, the speed and torque are controlled to change along the standby speed torque control curve until the active power regulation target value is reached.

8. The control method according to claim 3 or 4, wherein: Based on the active power regulation target value and the standby speed torque control curve, the step of controlling the speed and torque of the wind turbine generator set includes: When the active power regulation type is inertia response, if the active power regulation target value is lower than or equal to the power threshold, the control torque is reduced to the torque value corresponding to the point on the standby speed torque control curve where the speed value is the current speed value.

9. A method for controlling a wind farm, wherein: The control method comprises: When the triggering condition of active power regulation is met, the active power regulation amount that needs to be regulated by the wind farm is obtained; Determining the adjustable active power of the wind farm based on the adjustable active power of each wind turbine generator set in the wind farm; Based on the active power regulation amount that needs to be regulated by the wind farm and the active power adjustable amount of the wind farm, determining the active power regulation amount that needs to be regulated by each wind turbine generator set; For each wind turbine generator set, if the model of the wind turbine generator set belongs to the first type, sending the active power regulation target value determined based on the active power regulation amount of the wind turbine generator set and the type of active power regulation to the wind turbine generator set; If the model of the wind turbine generator set belongs to the second type, sending the active power adjustment amount of the wind turbine generator set and the type of active power adjustment to the wind turbine generator set; The type of active power regulation is primary frequency modulation or inertia response.

10. A control device for a wind turbine generator set, wherein: The control device comprises: An instruction receiving unit is configured to receive an active power regulation instruction, wherein the active power regulation instruction includes an active power regulation type and an active power regulation target value; a control curve determining unit, configured to determine a standby speed torque control curve based on the active power regulation type; a control unit, configured to control the speed and torque of the wind turbine generator set based on the active power regulation target value and the standby speed torque control curve, so that the wind turbine generator set reaches the active power regulation target value; The active power regulation type is one of primary frequency modulation, secondary frequency modulation and inertia response; Among them, at the same speed, the difference between the power value corresponding to a point on the optimal speed torque control curve and the power value corresponding to a point on the standby speed torque control curve is: the product of the standby coefficient and the rated power, and the optimal speed torque control curve is a speed torque control curve that meets MPPT.

11. A control device for a wind farm, wherein: The control device comprises: The whole-field regulation amount determination unit is configured to obtain the active power regulation amount that needs to be regulated by the wind farm when the triggering condition of active power regulation is met; A whole-field adjustable quantity determination unit, configured to determine the active adjustable quantity of the wind farm based on the active adjustable quantity of each wind turbine generator set in the wind farm; A single machine adjustment amount determination unit is configured to determine the active power adjustment amount that needs to be adjusted by each wind turbine generator set based on the active power adjustment amount that needs to be adjusted by the wind farm and the active power adjustable amount of the wind farm; a sending unit configured to send, for each wind turbine generator set, an active power regulation target value determined based on the active power regulation amount of the wind turbine generator set and the type of active power regulation to the wind turbine generator set if the wind turbine generator set belongs to the first type; and to send the active power regulation amount of the wind turbine generator set and the type of active power regulation to the wind turbine generator set if the wind turbine generator set belongs to the second type; The type of active power regulation is primary frequency modulation or inertia response.

12. A computer-readable storage medium storing a computer program, wherein: When the computer program is executed by a processor, the processor is prompted to execute the control method of a wind turbine generator set according to any one of claims 1 to 8 or the control method of a wind farm according to claim 9.

13. A controller for a wind turbine generator set, wherein: The controller comprises: processor; A memory storing a computer program, which, when executed by a processor, prompts the processor to execute the control method for a wind turbine generator set according to any one of claims 1 to 8.

14. A controller for a wind farm, wherein: The controller comprises: processor; The memory stores a computer program, which, when executed by the processor, prompts the processor to execute the wind farm control method according to claim 9.

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