CN109193785A - A kind of virtual inertia control method of large-scale wind electricity unit considering mechanical load constraint - Google Patents
A kind of virtual inertia control method of large-scale wind electricity unit considering mechanical load constraint Download PDFInfo
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Abstract
The invention discloses the virtual inertia control method of large-scale wind electricity unit, device, equipment and the computer readable storage medium of a kind of consideration mechanical load constraint, method includes: the expectation generator torque T that current control period is calculated by virtual inertia control ringi e(n) and the expectation generator torque T in the previous control period of current control periodi e(n-1), and desired generator torque variable quantity e is calculatedT, eT=Ti e(n)‑Ti e(n-1), n is current control period, and n-1 is the previous control period of current control period；Pass through the generator speed ω of current control periodg(n) and the generator speed ω in the previous control period of current control periodg(n-1), generator speed variable quantity e is calculatedω；By desired generator torque variable quantity eTIt is compared with setting value M, and by the required expectation generator torque T of current control periodi(n) it determines are as follows:M=f (eω), M is greater than 0.Above-mentioned technical proposal disclosed in the present application, to Ti(n) it is limited, excessive variation occurs to avoid generator torque, is impacted caused by transmission chain shafting in virtual inertia control process to reduce.
Description
Technical Field
The invention relates to the technical field of wind power generation, in particular to a method, a device and equipment for controlling virtual inertia of a large-scale wind turbine generator set by considering mechanical load constraint and a computer readable storage medium.
Background
With the gradual reduction of traditional energy and the gradual highlighting of environmental problems, the wind turbine generator converts wind energy into electric energy, which is more and more emphasized by countries in the world, and the installed capacity of the wind turbine generator is gradually increased. However, with the continuous increase of the wind power permeability of the local power grid, the motion characteristics of the volatility, randomness and the like of the wind power bring certain influences on the safe and stable operation of the power system. Therefore, there is a need to improve the grid-friendly technology of wind turbines.
One of the key technologies for realizing the power grid friendliness of the wind turbine generator is to enable the wind turbine generator to have virtual inertia and primary frequency modulation control capability, even if the wind turbine generator has the frequency modulation capability similar to that of a synchronous generator. In the virtual inertia and primary frequency modulation control, in order to meet the rapidity (generally, hundred millisecond response speed) of the virtual inertia control response of the wind turbine generator, the electromagnetic torque of the generator can rapidly rise, fall or fluctuate, and the electromagnetic torque can bring large impact to a transmission chain shafting of a large wind turbine generator (with a gear box), cause large load, and even possibly cause torsional vibration instability of the transmission chain shafting, thereby bringing influence to the safe and stable operation of the wind turbine generator.
In summary, how to reduce the impact on the transmission chain shafting in the virtual inertia control process so that the wind turbine generator can operate safely and stably is a technical problem to be solved urgently by technical personnel in the field.
Disclosure of Invention
In view of the above, the present invention provides a method, an apparatus, a device, and a computer readable storage medium for controlling virtual inertia of a large wind turbine generator in consideration of mechanical load constraints, so as to reduce impact on a transmission chain shafting during a virtual inertia control process, thereby enabling the wind turbine generator to operate safely and stably.
In order to achieve the above purpose, the invention provides the following technical scheme:
a virtual inertia control method of a large-scale wind turbine generator set considering mechanical load constraint comprises the following steps:
calculating a desired generator torque T for a current control cycle via a virtual inertia control loopi e(n) and a desired generator torque T of a control cycle preceding said current control cyclei e(n-1), and calculates the expected generator torque variation eTWherein e isT＝Ti e(n)-Ti e(n-1)，TiFor a desired generator torque, n represents a current control period, and n-1 represents a control period previous to the current control period;
generator speed ω through the current control periodg(n) and the generator speed ω of the control cycle preceding said current control cycleg(n-1), calculating the variation e of the rotating speed of the generatorω；
Changing the desired generator torque by an amount eTComparing with a set value M and comparing the required desired generator torque T of the current control periodi(n) is determined as:wherein M ═ f (e)ω) And M is greater than 0.
Preferably, the set value M isWherein,a is a preset positive number, T is a control period, and k is a preset coefficient.
Preferably, the required desired generator torque T is determined during said current control periodiAfter (n), further comprising:
desired generator torque T required according to the current control periodi(n) and the desired generator torque Ti eA difference of (n-1) e'TAnd the generator speed omega of the current control periodg(n) calculating a damping control desired generator torque TB：Wherein B is a damping coefficient;
setting the desired generator torque T required for the current control periodi(n) controlling desired generator torque T with said dampingBThe sum as the target required desired generator torque T of the current control periodi t(n)。
Preferably, the desired generator torque T is controlled during calculation of the dampingBThen, the method further comprises the following steps:
controlling desired generator torque T for said dampingBCarrying out low-pass filtering;
wherein, the expression of the corresponding low-pass filter during the low-pass filtering is:ω1for low pass filter frequency, ξ1Is the low pass filter damping ratio.
Preferably, the desired generator torque T is controlled during calculation of the dampingBThen, the method further comprises the following steps:
controlling desired generator torque T for said dampingBPerforming band-pass filtering;
wherein, the expression of the corresponding band-pass filter during band-pass filtering is:ω2、ω3for band pass filter frequency, ξ2、ξ3Is the band pass filter damping ratio.
Preferably, the desired generator torque T is controlled for said dampingBAfter the filtering, the method further comprises the following steps:
controlling desired generator torque T for said dampingBCarrying out amplitude limiting control to obtain the expected generator torque T of the damping control after amplitude limitingB'：Wherein b is a preset amplitude.
Preferably, the predetermined amplitude is in the range of 3% -5% of the rated generator torque.
A virtual inertia control device of a large-scale wind turbine generator considering mechanical load constraint comprises:
a first computing module to: calculating a desired generator torque T for a current control cycle via a virtual inertia control loopi e(n) and a desired generator torque T of a control cycle preceding said current control cyclei e(n-1), and calculates the expected generator torque variation eTWherein e isT＝Ti e(n)-Ti e(n-1)，TiFor a desired generator torque, n represents a current control period, and n-1 represents a control period previous to the current control period;
a second calculation module to: generator speed ω through the current control periodg(n) and the generator speed ω of the control cycle preceding said current control cycleg(n-1), calculating the variation e of the rotating speed of the generatorω；
A determination module to: changing the desired generator torque by an amount eTComparing with a set value M and comparing the required desired generator torque T of the current control periodi(n) is determined as:wherein M ═ f (e)ω) And M is greater than 0.
A virtual inertia control device of a large wind turbine generator considering mechanical load constraints comprises:
a memory for storing a computer program;
and the processor is used for realizing the steps of the virtual inertia control method of the large-scale wind turbine generator set considering the mechanical load constraint when the computer program is executed.
A computer readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method for controlling virtual inertia of a large wind turbine generator taking into account mechanical load constraints as set forth in any of the preceding claims.
The invention provides a method, a device, equipment and a computer readable storage medium for controlling virtual inertia of a large-scale wind turbine generator set by considering mechanical load constraint, wherein the method comprises the following steps: calculating a desired generator torque T for a current control cycle via a virtual inertia control loopi e(n) and a desired generator torque T of a control cycle preceding the current control cyclei e(n-1), and calculates the expected generator torque variation eTWherein e isT＝Ti e(n)-Ti e(n-1)，TiFor a desired generator torque, n represents a current control period, and n-1 represents a control period previous to the current control period; generator speed omega through current control cycleg(n) and the generator speed ω of the previous control cycle of the current control cycleg(n-1), calculating the variation e of the rotating speed of the generatorω(ii) a Will expect a generator torque delta eTCompares it with a set value M and compares the desired generator torque T required for the current control cyclei(n) is determined as:wherein M ═ f (e)ω) And M is greater than 0.
According to the technical scheme disclosed by the application, the expected generator torque T of the current control period is obtained through calculation according to the virtual inertia control loopi e(n) and a desired generator torque T of a control cycle preceding the current control cyclei e(n-1), calculating the expected generator torque variation eT，eT＝Ti e(n)-Ti e(n-1) and according to the current control periodSpeed of rotation omegag(n) and the generator speed ω of the previous control cycle of the current control cycleg(n-1), calculating the variation e of the rotating speed of the generatorωLet the setting value M be f (e)ω) And e is combinedωComparing with M, and determining the required expected generator torque T of the current control period according to the magnitude relation of the twoi(n) limiting:the generator torque is prevented from being changed excessively, so that the impact on a transmission chain shafting in the virtual inertia control process is reduced as much as possible, and the wind turbine generator can run safely and stably.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a virtual inertia control method for a large-scale wind turbine generator set with consideration of mechanical load constraints according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a virtual inertia amount control of an additional load constraint control loop according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a virtual inertia control device of a large-scale wind turbine generator set considering mechanical load constraints according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a large-scale wind turbine generator virtual inertia control device considering mechanical load constraints, provided by an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a flowchart of a method for controlling virtual inertia of a large wind turbine generator considering mechanical load constraints according to an embodiment of the present invention is shown, where the method includes:
s11: calculating a desired generator torque T for a current control cycle via a virtual inertia control loopi e(n) and a desired generator torque T of a control cycle preceding the current control cyclei e(n-1), and calculates the expected generator torque variation eTWherein e isT＝Ti e(n)-Ti e(n-1)，TiTo expect the generator torque, n represents the current control period, and n-1 represents the control period immediately preceding the current control period.
Detecting to obtain the grid frequency f (n) and the active power P of the current control periodg(n) generator speed omegag(n), then, inputting the detected parameters into a virtual inertia control loop to calculate the expected generator torque T of the current control periodi e(n), wherein n represents the current control period.
Similarly, the grid frequency f (n-1) and the active power P of the previous control period of the current control period are detectedg(n-1) generator speed omegag(n-1), then, inputting the obtained parameters into a virtual inertia control loop to calculate the expected generator torque T of the previous control period of the current control periodi e(n-1), wherein n-1Representing the previous control cycle of the current control cycle.
Desired generator torque T according to the current control cyclei e(n) and a desired generator torque T of a control cycle preceding the current control cyclei e(n-1), calculating the expected generator torque variation eTWherein e isT＝Ti e(n)-Ti e(n-1)。
S12: generator speed omega through current control cycleg(n) and the generator speed ω of the previous control cycle of the current control cycleg(n-1), calculating the variation e of the rotating speed of the generatorω。
Considering that the generator torque is related to the generator speed, the detected generator torque ω of the current control period may be usedg(n) and the generator speed ω of the previous control cycle of the current control cycleg(n-1), calculating the variation e of the rotating speed of the generatorωSo as to vary the amount e according to the rotation speed of the generatorωAnd judging the change condition of the torque of the generator.
S13: will expect a generator torque delta eTCompares it with a set value M and compares the desired generator torque T required for the current control cyclei(n) is determined as:wherein M ═ f (e)ω) And M is greater than 0.
When the variation e of the rotating speed of the generator is obtained by calculationωThen, the variation e can be determined according to the rotation speed of the generatorωSetting the setting value M to f (e)ω) Wherein, f (e) hereinω) Indicates that the set value M is eωAnd the set value M is set to a positive number greater than 0.
The calculated expected generator torque variation eTComparing with the set value M, if the expected generator torque variation eTWhen the torque is not in the range (-M, M), the torque is changed too much, so that the torque can be changed by e 'to avoid the large impact on the lacing of the wind turbine generator transmission chain shaft caused by the too much torque change'T(i.e., the desired generator torque T required for the current control cyclei(n) desired Generator Torque T from a control period previous to the current control periodi e(difference n-1), i.e. the desired generator torque T required for the current control periodi(n) limiting.
Specifically, if the desired generator torque variation eTIf the value is larger than or equal to the set value M, the expected generator torque T of the current control period is indicatedi e(n) desired Generator Torque T for a control period immediately preceding the current control periodi e(n-1) too fast, and in order to allow the wind turbine to operate safely and stably, the desired generator torque T of the current control period is not seti e(n) desired Generator Torque T required as a function of the present control cyclei(n) and comparing the desired generator torque T of the control cycle preceding the current control cyclei e(n-1) and the set value M as the desired generator torque T required for the current control periodi(n) to act as a limit on the generator torque of the current control cycle to avoid too rapid an increase in generator torque. If the desired generator torque variation eTLess than or equal to-M, indicating the desired generator torque T for the current control cyclei e(n) desired Generator Torque T for a control period immediately preceding the current control periodi e(n-1) too fast, and in order to allow the wind turbine to operate safely and stably, the desired generator torque T of the current control period is not seti e(n) desired Generator Torque T required as a function of the present control cyclei(n) and comparing the desired generator torque T of the control cycle preceding the current control cyclei e(n-1) difference from the set value M as the required desired generator torque T for the current control cyclei(n) starting with the generator torque for the current control cycleTo a limiting effect and thereby avoid a too rapid reduction of the generator torque.
If the desired generator torque variation eTWithin the range of (-M, M), the change of the generator torque is not particularly severe, and at the moment, the change of the generator torque does not cause great impact on a shaft of a transmission chain of the wind turbine generator, so that the expected generator torque T of the current control period can be directly usedi e(n) desired Generator Torque T required as a function of the present control cyclei(n)。
That is, the desired generator torque T required for the current control cycle may ultimately be determinedi(n) is determined as:that is, the generator torque may be varied by an amount e'TThe limitation is:desired generator torque T required in determining current control periodi(n) thereafter, i.e. the desired generator torque T required for the current control cycleiAnd (n) the actual generator torque of the current control period is used to avoid the phenomenon that the generator torque changes too fast to cause a large load on a transmission chain shaft system of the wind turbine generator, so that the wind turbine generator can operate safely and stably.
According to the technical scheme disclosed by the application, the expected generator torque T of the current control period is obtained through calculation according to the virtual inertia control loopi e(n) and a desired generator torque T of a control cycle preceding the current control cyclei e(n-1), calculating the expected generator torque variation eT，eT＝Ti e(n)-Ti e(n-1) and according to the generator speed omega of the current control cycleg(n) and the generator speed ω of the previous control cycle of the current control cycleg(n-1), calculating the variation e of the rotating speed of the generatorωLet the setting value M be f (e)ω) And e is combinedωAnd M is advancedComparing the required expected generator torque T of the current control period according to the magnitude relation of the twoi(n) limiting:the generator torque is prevented from being changed excessively, so that the impact on a transmission chain shafting in the virtual inertia control process is reduced as much as possible, and the wind turbine generator can run safely and stably.
The embodiment of the invention provides a virtual inertia control method of a large-scale wind turbine generator set considering mechanical load constraint, wherein a set value M isWherein,a is a preset positive number, T is a control period, and k is a preset coefficient.
According to the variation e of the rotating speed of the generatorωThe set value M may specifically beWherein k is a coefficient (namely a preset coefficient) preset according to the operating characteristics of the wind turbine generator, T is a control period,a is a predetermined positive number (a non-zero positive number with a smaller value) to avoid eωThe occurrence of 0 (due to e)ωRequired as a divisor).
Accordingly, the desired generator torque T required for the current control cycle is then determinedi(n) is limited to:to achieve the desired generator torque T required for the current control cycle when the generator speed varies significantlyi(n) limiting to prevent excessive variation in generator torque, and finallyThe existing wind turbine generator set is safe and stable to operate.
According to the virtual inertia control method of the large-scale wind turbine generator set considering mechanical load constraint, the required expected generator torque T of the current control period is determinediAfter (n), the method may further include:
desired generator torque T required according to the current control cyclei(n) and desired Generator Torque Ti eA difference of (n-1) e'TAnd the generator speed omega of the current control cycleg(n) calculating a damping control desired generator torque TB：Wherein B is a damping coefficient;
desired generator torque T required for the current control cyclei(n) desired Generator Torque T with damping controlBThe sum as the target required desired generator torque T of the current control periodi t(n)。
At a variation e according to the desired generator torqueTAnd a set valueThe relationship between determines the desired generator torque T required for the current control cyclei(n) thereafter, the desired generator torque T may then be requested for the current control cycleiAnd (n) performing virtual resistance adding, namely performing adaptive damping control on the transmission chain to reduce the oscillation amplitude of the torque of the generator, so as to inhibit the torsion of the transmission chain and avoid causing torsional vibration instability of the transmission chain shaft system.
Desired generator torque T required during the current control cycleiThe principle of virtual resistance adding on (n) is as follows: generator torque variation e'TThe larger, the increased damping controls the desired generator torque TBThe larger the drive train torque, the lower the drive train load. The specific process comprises the following steps: according to the requirements of the current control periodDesired generator torque Ti(n) and desired Generator Torque Ti eA difference of (n-1) e'T(Generator torque variation e'T) And the generator speed omega of the current control cycleg(n) calculating a damping control desired generator torque TB：Wherein B is a damping coefficient. When the desired generator torque T of the damping control is calculatedBThen, the damping is controlled to the desired generator torque TBDesired generator torque T required for the current control cyclei(n) as the target desired generator torque T for the current control periodi t(n) the calculated target required desired generator torque T for the current control period is calculatedi t(n) as the actual generator torque for the current control cycle.
The embodiment of the invention provides a virtual inertia control method of a large-scale wind turbine generator set considering mechanical load constraint, which is used for calculating damping control expected generator torque TBThen, the method can further comprise the following steps:
controlling desired generator torque T for dampingBCarrying out low-pass filtering;
wherein, the expression of the corresponding low-pass filter during the low-pass filtering is:ω1for low pass filter frequency, ξ1Is the low pass filter damping ratio.
When the desired generator torque T of the damping control is calculatedBThereafter, and while the desired generator torque T required for the current control cycle is being appliedi(n) desired Generator Torque T with damping controlBThe sum as the target required desired generator torque T of the current control periodi t(n) before, in order to reduce high frequency components therein, the desired generator torque T may then be controlled for dampingBLow pass filtering is performed.
The expression of the corresponding low-pass filter in the low-pass filtering isWherein, ω is1For low pass filter frequency, ξ1Damping ratio of low pass filter to reject damping control desired generator torque TBInternal high frequency components.
The embodiment of the invention provides a virtual inertia control method of a large-scale wind turbine generator set considering mechanical load constraint, which is used for calculating damping control expected generator torque TBThen, the method can further comprise the following steps:
controlling desired generator torque T for dampingBPerforming band-pass filtering;
wherein, the expression of the corresponding band-pass filter during band-pass filtering is:ω2、ω3for band pass filter frequency, ξ2、ξ3Is the band pass filter damping ratio.
When the desired generator torque T of the damping control is calculatedBThereafter, and while the desired generator torque T required for the current control cycle is being appliedi(n) desired Generator Torque T with damping controlBThe sum as the target required desired generator torque T of the current control periodi tBefore (n), the desired generator torque T may also be controlled for dampingBAnd carrying out band-pass filtering to improve the damping control effect of the inherent frequency accessory of the drive chain shafting.
The expression of the corresponding band-pass filter during band-pass filtering isWherein, ω is2、ω3For band pass filter frequency, ξ2、ξ3Is the band pass filter damping ratio.
The embodiment of the invention provides a virtual inertia control method of a large-scale wind turbine generator set considering mechanical load constraint, which is used for controlling expected generator torque T for dampingBAfter the filtering, the method may further include:
controlling desired generator torque T for dampingBCarrying out amplitude limiting control to obtain the expected generator torque T of the damping control after amplitude limitingB'：Wherein b is a preset amplitude.
Controlling desired generator torque T at dampingBAfter filtering, and after filtering the desired generator torque T required for the current control cyclei(n) desired Generator Torque T with damping controlBThe sum as the target required desired generator torque T of the current control periodi tBefore (n), the damping may then be controlled to the desired generator torque TBLimited within a certain amplitude range to avoid damping control of the desired generator torque TBToo large.
Specifically, if damping control desires generator torque TBGreater than or equal to a preset amplitude b (amplitude preset according to the operating characteristics of the wind turbine generator), and the damping after amplitude limiting controls the expected generator torque TB' is the preset amplitude b; if damping control expects generator torque TBLess than or equal to-b, the desired generator torque T is controlled by damping after clippingB' is-b; if damping control expects generator torque TBIn the (-b, b) range, the damping after clipping controls the desired generator torque TB' desired generator torque T can be controlled directly for dampingB。
That is, the damping control desired generator torque T after the amplitude limit is finally obtainedB' is
According to the virtual inertia control method of the large-scale wind turbine generator set considering mechanical load constraint, the preset amplitude is within the range of 3% -5% of the rated generator torque.
The damping control after the amplitude limit expects the generator torque T in consideration of the influence of the damping control on the control effect of the virtual inertiaB' should not be too large, and therefore, it can be controlled within 3% -5% of the rated generator torque, i.e. the preset amplitude b is equal to 3% -5% of the rated generator torque.
Damping control of desired generator torque T after clippingB' thereafter, the damping after clipping may then be controlled to the desired generator torque TB' desired generator torque T required for the current control periodi(n) as the target desired generator torque T for the current control periodi t(n) the calculated target required desired generator torque T for the current control period is calculatedi t(n) as the actual generator torque for the current control cycle.
Combining the torque variation e 'of the generator'T(i.e., the desired generator torque T required for the current control cyclei(n) desired Generator Torque T from a control period previous to the current control periodi e(difference n-1) required desired generator torque T at the current control periodi(n) virtual damping on and damping control of desired generator torque TBThe control method for performing filtering and amplitude limiting control is equivalent to adding a load constraint control loop to an original virtual inertia control loop, and specifically, refer to fig. 2, which shows a virtual inertia control flowchart of an additional load constraint control loop provided by an embodiment of the present invention, where the flowchart includes virtual inertia control and a torque variation e 'to a generator'TLimiting and differentiating (obtaining the torque variation e 'of the generator)'T) Virtual adding resistance, controlling the calculated damping to the desired generator torque TBFiltering and damping controlProducing desired generator torque TBA flow of amplitude limiting control is carried out, and finally the damping after amplitude limiting is controlled to expect the torque T of the generatorB' desired generator torque T required for the current control periodi(n) as the target desired generator torque T for the current control periodi tAnd (n), finally, the constraint on the load of the transmission chain shafting is realized, so that the impact on the transmission chain shafting in the virtual inertia control process is reduced as much as possible, and the safe and stable operation of the wind turbine generator is ensured.
An embodiment of the present invention further provides a virtual inertia control device of a large wind turbine generator considering mechanical load constraints, please refer to fig. 3, which shows a schematic structural diagram of the virtual inertia control device of the large wind turbine generator considering mechanical load constraints, and the schematic structural diagram may include:
a first calculation module 11 configured to: calculating a desired generator torque T for a current control cycle via a virtual inertia control loopi e(n) and a desired generator torque T of a control cycle preceding the current control cyclei e(n-1), and calculates the expected generator torque variation eTWherein e isT＝Ti e(n)-Ti e(n-1)，TiFor a desired generator torque, n represents a current control period, and n-1 represents a control period previous to the current control period;
a second calculation module 12 for: generator speed omega through current control cycleg(n) and the generator speed ω of the previous control cycle of the current control cycleg(n-1), calculating the variation e of the rotating speed of the generatorω；
A determining module 13 configured to: will expect a generator torque delta eTCompares it with a set value M and compares the desired generator torque T required for the current control cyclei(n) is determined as:wherein, M ═ f(eω) And M is greater than 0.
An embodiment of the present invention further provides a virtual inertia control device of a large wind turbine generator considering mechanical load constraints, please refer to fig. 4, which shows a schematic structural diagram of the virtual inertia control device of the large wind turbine generator considering mechanical load constraints, and the schematic structural diagram may include:
a memory 21 for storing a computer program;
and the processor 22 is used for implementing the steps of any one of the above methods for controlling the virtual inertia of the large-scale wind turbine generator considering the mechanical load constraint when executing the computer program.
The embodiment of the invention also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when being executed by a processor, the computer program realizes the steps of any one of the above methods for controlling the virtual inertia of the large-scale wind turbine generator in consideration of the mechanical load constraint.
For a description of relevant parts in the large-scale wind turbine generator virtual inertia control apparatus, the device, and the computer-readable storage medium considering mechanical load constraints provided in the embodiments of the present invention, please refer to detailed descriptions of corresponding parts in the large-scale wind turbine generator virtual inertia control method considering mechanical load constraints provided in the embodiments of the present invention, which are not described herein again.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include elements inherent in the list. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. In addition, parts of the above technical solutions provided in the embodiments of the present invention that are consistent with the implementation principles of the corresponding technical solutions in the prior art are not described in detail, so as to avoid redundant description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A virtual inertia control method of a large-scale wind turbine generator set considering mechanical load constraint is characterized by comprising the following steps:
calculating a desired generator torque T for a current control cycle via a virtual inertia control loopi e(n) and a desired generator torque T of a control cycle preceding said current control cyclei e(n-1), and calculates the expected generator torque variation eTWherein e isT＝Ti e(n)-Ti e(n-1)，TiTo turn the generator as desiredMoment, n represents the current control period, and n-1 represents the previous control period of the current control period;
generator speed ω through the current control periodg(n) and the generator speed ω of the control cycle preceding said current control cycleg(n-1), calculating the variation e of the rotating speed of the generatorω；
Changing the desired generator torque by an amount eTComparing with a set value M and comparing the required desired generator torque T of the current control periodi(n) is determined as:wherein M ═ f (e)ω) And M is greater than 0.
2. The method for controlling the virtual inertia of a large wind turbine generator under consideration of mechanical load constraints as claimed in claim 1, wherein the set value M isWherein,a is a preset positive number, T is a control period, and k is a preset coefficient.
3. The method of claim 2, wherein the required desired generator torque T is determined for the current control periodiAfter (n), further comprising:
desired generator torque T required according to the current control periodi(n) and the desired generator torque Ti eA difference of (n-1) e'TAnd the generator speed omega of the current control periodg(n) calculating a damping control desired generator torque TB：Wherein B is a damping coefficient;
setting the desired generator torque T required for the current control periodi(n) controlling desired generator torque T with said dampingBThe sum as the target required desired generator torque T of the current control periodi t(n)。
4. The method for controlling virtual inertia of large wind turbine generator according to claim 3, wherein the desired generator torque T is calculated and controlled by calculating dampingBThen, the method further comprises the following steps:
controlling desired generator torque T for said dampingBCarrying out low-pass filtering;
wherein, the expression of the corresponding low-pass filter during the low-pass filtering is:ω1for low pass filter frequency, ξ1Is the low pass filter damping ratio.
5. The method for controlling virtual inertia of large wind turbine generator according to claim 3, wherein the desired generator torque T is calculated and controlled by calculating dampingBThen, the method further comprises the following steps:
controlling desired generator torque T for said dampingBPerforming band-pass filtering;
wherein, the expression of the corresponding band-pass filter during band-pass filtering is:ω2、ω3for band pass filter frequency, ξ2、ξ3Is the band pass filter damping ratio.
6. Large wind turbine virtual inertia considering mechanical load constraints according to claim 4 or 5Quantity control method, characterized in that the desired generator torque T is controlled for the dampingBAfter the filtering, the method further comprises the following steps:
controlling desired generator torque T for said dampingBCarrying out amplitude limiting control to obtain the expected generator torque T of the damping control after amplitude limitingB'：Wherein b is a preset amplitude.
7. The method for controlling the virtual inertia of a large wind turbine generator under consideration of mechanical load constraints as recited in claim 6, wherein the preset amplitude is within a range of 3% -5% of a rated generator torque.
8. A virtual inertia control device of a large-scale wind turbine generator considering mechanical load constraint is characterized by comprising:
a first computing module to: calculating a desired generator torque T for a current control cycle via a virtual inertia control loopi e(n) and a desired generator torque T of a control cycle preceding said current control cyclei e(n-1), and calculates the expected generator torque variation eTWherein e isT＝Ti e(n)-Ti e(n-1)，TiFor a desired generator torque, n represents a current control period, and n-1 represents a control period previous to the current control period;
a second calculation module to: generator speed ω through the current control periodg(n) and the generator speed ω of the control cycle preceding said current control cycleg(n-1), calculating the variation e of the rotating speed of the generatorω；
A determination module to: changing the desired generator torque by an amount eTComparing with a set value M and comparing the required desired generator torque T of the current control periodi(n) is determined as:wherein M ═ f (e)ω) And M is greater than 0.
9. A virtual inertia control device of a large wind turbine generator considering mechanical load constraint is characterized by comprising:
a memory for storing a computer program;
a processor for implementing the steps of the method for virtual inertia control of a large wind turbine in view of mechanical load constraints as claimed in any one of claims 1 to 7 when executing said computer program.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the method for virtual inertia control of a large wind turbine generator taking into account mechanical load constraints as set forth in any one of claims 1 to 7.
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