CN110854915A - PQ mode virtual synchronous generator control method and device and droop controller - Google Patents
PQ mode virtual synchronous generator control method and device and droop controller Download PDFInfo
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- H02J3/12—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load
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Abstract
The application provides a PQ mode virtual synchronous generator control method, a device and a droop controller, wherein the PQ mode virtual synchronous generator control method is realized by applying the droop controller which is arranged outside the PQ mode virtual synchronous generator and is connected with the PQ mode virtual synchronous generator, and the method comprises the following steps: collecting a generator terminal voltage of the PQ mode virtual synchronous generator; and if the abnormal voltage fluctuation state of the target wind turbine generator is judged and obtained according to the generator terminal voltage, controlling the PQ mode virtual synchronous generator to send a first reactive power value corresponding to the generator terminal voltage to the target wind turbine generator according to the generator terminal voltage, a preset voltage reference value, a reactive power reference value and a droop coefficient, so that the target wind turbine generator adjusts the voltage according to the reactive power value. The method and the device can improve the efficiency of controlling the PQ mode virtual synchronous generator, and further improve the safety and reliability of the wind turbine generator.
Description
Technical Field
The application relates to the technical field of wind turbine generator voltage regulation, in particular to a PQ mode virtual synchronous generator control method and device and a droop controller.
Background
With the continuous aggravation of world environmental pollution and the increasing severity of energy crisis, a large number of distributed power supplies represented by wind power and photovoltaic are subjected to grid-connected power generation through a grid-connected inverter, but the instability of the distributed power supplies brings huge challenges to the safe operation of a power grid. In order to cope with this problem, a new inverter control method, i.e., a virtual synchronous generator control technique, has been rapidly developed.
The virtual synchronous generator control technology can control the grid-connected inverter to simulate the external characteristics of the synchronous generator, and can provide certain damping and inertia for a power grid, so that the stability of the power grid is improved. In order to utilize wind and light resources to the maximum, a virtual synchronous generator of renewable energy type such as wind power and photovoltaic is generally operated in a PQ control mode to realize Maximum Power Point Tracking (MPPT). However, as the installed capacity of new energy is continuously increased, the problem of exposure in the operation process of the new energy power station is more and more prominent. When the wind turbine generator has abnormal voltage fluctuation, the voltage fluctuation cannot be quickly responded, the risk of fan off-grid faults is increased and decreased, and the safe operation of a power grid is seriously influenced. However, it is only academically recognized that large-scale wind power is at risk when abnormal voltage fluctuation occurs, and an effective method for solving the problem is not available.
Disclosure of Invention
Aiming at the problems in the prior art, the application provides a PQ mode virtual synchronous generator control method, a PQ mode virtual synchronous generator control device and a droop controller, which can improve the efficiency of controlling the PQ mode virtual synchronous generator and further improve the safety and reliability of a wind turbine generator.
In order to solve the technical problem, the application provides the following technical scheme:
in a first aspect, the present application provides a PQ mode virtual synchronous generator control method implemented by using a droop controller disposed outside the PQ mode virtual synchronous generator and connected to the PQ mode virtual synchronous generator, the method comprising:
collecting a generator terminal voltage of the PQ mode virtual synchronous generator;
and if the abnormal voltage fluctuation state of the target wind turbine generator is judged and obtained according to the generator terminal voltage, controlling the PQ mode virtual synchronous generator to send a first reactive power value corresponding to the generator terminal voltage to the target wind turbine generator according to the generator terminal voltage, a preset voltage reference value, a reactive power reference value and a droop coefficient, so that the target wind turbine generator adjusts the voltage according to the reactive power value.
Further, if it is determined according to the generator-side voltage that the target wind turbine generator is in the abnormal voltage fluctuation state, controlling the PQ-mode virtual synchronous generator to send a first reactive power value corresponding to the generator-side voltage to the target wind turbine generator according to the generator-side voltage, a preset voltage reference value, a reactive power reference value and a droop coefficient, including: and if the difference between the generator terminal voltage and a preset voltage reference value exceeds a safety threshold, controlling the PQ mode virtual synchronous generator to send a first reactive power value corresponding to the generator terminal voltage to the target wind turbine generator according to the generator terminal voltage, the preset voltage reference value, a reactive power reference value and a droop coefficient.
Further, the PQ-mode virtual synchronous generator is configured to receive a reactive power adjustment instruction sent by an automatic voltage control system corresponding to the target wind turbine generator after controlling the PQ-mode virtual synchronous generator to send a first reactive power value corresponding to the generator-side voltage to the target wind turbine generator, and output a second reactive power value corresponding to the reactive power adjustment instruction to the target wind turbine generator according to the reactive power adjustment instruction, so that the target wind turbine generator adjusts the voltage to a state before the voltage is in an abnormal fluctuation state according to the second reactive power value, where the second reactive power value is greater than the first reactive power value.
Further, the controlling the PQ mode virtual synchronous generator to send the first reactive power value corresponding to the generator terminal voltage to the target wind turbine generator according to the generator terminal voltage, a preset voltage reference value, a preset reactive power reference value and a droop coefficient includes: acquiring a difference value between the first reactive power value and a preset reactive power reference value according to the difference value between the terminal voltage and a preset voltage reference value and the preset droop coefficient; obtaining the first reactive power value by applying the difference value between the first reactive power value and a preset reactive power reference value and the preset reactive power reference value; and sending the first idle power value to the PQ mode virtual synchronous generator and controlling the PQ mode virtual synchronous generator to send the first idle power value to the target wind turbine generator.
In a second aspect, the present application provides a PQ mode virtual synchronous generator control device, including:
the acquisition module is used for acquiring the terminal voltage of the PQ mode virtual synchronous generator;
and the voltage adjusting module is used for controlling the PQ mode virtual synchronous generator to send a first reactive power value corresponding to the generator terminal voltage to the target wind turbine generator according to the generator terminal voltage, a preset voltage reference value, a reactive power reference value and a droop coefficient if the abnormal voltage fluctuation state of the target wind turbine generator is judged and known according to the generator terminal voltage, so that the target wind turbine generator adjusts the voltage according to the reactive power value.
Further, the voltage adjusting module includes: and the difference value judging unit is used for controlling the PQ mode virtual synchronous generator to send a first reactive power value corresponding to the generator terminal voltage to the target wind turbine generator set according to the generator terminal voltage, a preset voltage reference value, a reactive power reference value and a droop coefficient if the difference between the generator terminal voltage and a preset voltage reference value exceeds a safety threshold.
Further, the PQ-mode virtual synchronous generator is configured to receive a reactive power adjustment instruction sent by an automatic voltage control system corresponding to the target wind turbine generator after controlling the PQ-mode virtual synchronous generator to send a first reactive power value corresponding to the generator-side voltage to the target wind turbine generator, and output a second reactive power value corresponding to the reactive power adjustment instruction to the target wind turbine generator according to the reactive power adjustment instruction, so that the target wind turbine generator adjusts the voltage to a state before the voltage is in an abnormal fluctuation state according to the second reactive power value, where the second reactive power value is greater than the first reactive power value.
Further, the voltage adjusting module includes: a reactive power difference obtaining unit, configured to obtain a difference between the first reactive power value and a preset reactive power reference value according to a difference between the terminal voltage and a preset voltage reference value and the preset droop coefficient; the obtaining reactive power unit is used for applying a difference value between the first reactive power value and a preset reactive power reference value, and obtaining the first reactive power value by using the preset reactive power reference value; and the transmitting unit is used for transmitting the first reactive power value to the PQ mode virtual synchronous generator and controlling the PQ mode virtual synchronous generator to transmit the first reactive power value to the target wind turbine generator.
In a third aspect, the present application provides a droop controller, comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor implements the steps of the PQ mode virtual synchronous generator control method when executing the program.
In a fourth aspect, the present application provides a computer readable storage medium having stored thereon computer instructions which, when executed, implement the steps of the PQ mode virtual synchronous generator control method.
As can be seen from the above technical solutions, the present application provides a PQ mode virtual synchronous generator control method, an apparatus and a droop controller, wherein the PQ mode virtual synchronous generator control method is implemented by applying the droop controller of the PQ mode virtual synchronous generator, and the method includes: collecting a generator terminal voltage of the PQ mode virtual synchronous generator; if the abnormal voltage fluctuation state of the target wind turbine generator is judged and known according to the generator terminal voltage, the PQ mode virtual synchronous generator is controlled to send a first reactive power value corresponding to the generator terminal voltage to the target wind turbine generator according to the generator terminal voltage, a preset voltage reference value, a preset reactive power reference value and a droop coefficient, so that the target wind turbine generator adjusts the voltage according to the reactive power value, the high efficiency of controlling the PQ mode virtual synchronous generator can be improved, the safety and the reliability of the wind turbine generator are further improved, the problem that the voltage fluctuation cannot be quickly responded when the abnormal voltage fluctuation exists in the wind turbine generator can be solved, the voltage can be immediately responded through the generator terminal droop control, the risk of grid disconnection of a fan is reduced, the safe and reliable operation of the wind turbine generator is guaranteed, and the maintenance cost of the wind turbine generator is saved.
Drawings
Fig. 1 is a control block diagram of a conventional PQ mode virtual synchronous generator.
Fig. 2 is a block diagram illustrating a relationship between a PQ mode virtual synchronous generator and a droop controller in an embodiment of the present application.
Fig. 3 is a flowchart illustrating a method for controlling a PQ-mode virtual synchronous generator according to an embodiment of the present invention.
Fig. 4 is a relationship diagram of reactive droop control in the embodiment of the present application.
Fig. 5 is a flowchart illustrating a PQ mode virtual synchronous generator control method according to another embodiment of the present invention.
Fig. 6 is a schematic structural diagram of an automatic voltage control system of a wind farm in an embodiment of the present application.
Fig. 7 is a schematic structural diagram of a PQ mode virtual synchronous generator control device in the embodiment of the present application.
Fig. 8 is a schematic structural diagram of a wind power system in a specific application example of the present application.
Fig. 9 is a schematic diagram showing a comparison of voltage waveforms of dot-on-dot in an embodiment of the present application.
Fig. 10 is a schematic diagram illustrating a comparison of grid-connected point reactive power waveforms in an embodiment of the present application.
Fig. 11 is a diagram illustrating a comparison of terminal voltage waveforms in an exemplary embodiment of the present application.
Fig. 12 is a schematic diagram illustrating a comparison of terminal reactive power waveforms in an exemplary embodiment of the present application.
Fig. 13 is a hardware configuration block diagram of a server of a PQ mode virtual synchronous generator control method in the embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all 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 application.
As shown in fig. 1, a conventional PQ mode virtual synchronous generator (virtual synchronous generator,VSG), where PI denotes a proportional-integral regulator, PLL denotes a phase-locked loop, abc/dq denotes dq switching, phi denotes phase angle, S1To S6Respectively showing the switches of the respective components, ea to ec showing the VSG phase voltages, L1To L3And LS1To LS2Representing an inductance; c1To C3Represents the capacitance, Uga、UgbAnd UgcRespectively representing three-phase voltages of the grid, IabcRepresenting VSG three-phase output current, VabcRepresenting the VSG three-phase output voltage, IdqRepresents the value of the current after dq conversion, VdqRepresenting dq converted voltage values, P0 and Q0 are the real and reactive power commands, respectively, that control inverter operation. As can be seen from fig. 1, when the VSG is not connected to the droop controller, the VSG may be controlled according to P0 and Q0 issued from AVC. The PQ mode virtual synchronous generator has constant active power control and reactive power control, and controls an inverter to output corresponding active power and reactive power according to a power instruction, and is also called as a constant power mode. The PQ mode can be applied to grid-connected inverters for wind power generation, photovoltaic power generation and the like, and has good dynamic performance. For power supply forms of wind power generation, photovoltaic power generation and the like, P0 and Q0 are generally obtained by a Maximum Power Point Tracking (MPPT) link, so that maximum power can be obtained during steady-state operation, but when voltage abnormally fluctuates due to load disturbance, a traditional PQ mode virtual synchronous generator cannot immediately respond to voltage, and can only wait for a reactive power regulation instruction of AVC, a control period of the AVC is generally more than a minute level, that is, within the control period, a VSG is in a standby state, and even if a voltage emergency occurs, the power grid cannot be actively supported.
Based on this, the present application specifically provides a control method, an apparatus and a droop controller for a PQ mode virtual synchronous generator, which can make an emergency response to voltage when the wind turbine generator has abnormal voltage fluctuation, wherein the droop controller is added outside the PQ mode virtual synchronous generator, such as a droop control loop, the droop controller can directly measure the terminal voltage of the virtual synchronous generator, and when the terminal voltage has a deviation with a voltage reference value, the reactive value that the PQ mode virtual synchronous generator needs to send is calculated through the deviation, so that the change of the voltage can be responded rapidly, that is, the PQ mode virtual synchronous method can respond to the voltage immediately when the terminal voltage has a deviation, without waiting for an adjustment instruction of an automatic voltage control system (AVC), so as to greatly reduce the risk of fan off-grid, the safety and the reliability of the wind turbine generator are improved.
In order to improve the efficiency of controlling a PQ mode virtual synchronous generator and further improve the safety and reliability of a wind turbine generator, the embodiment of the application provides a PQ mode virtual synchronous generator control device, which can be a server or a client device, and the client device can include a smart phone, a tablet electronic device, a network set top box, a portable computer, a desktop computer, a Personal Digital Assistant (PDA), a vehicle-mounted device, an intelligent wearable device and the like. Wherein, intelligence wearing equipment can include intelligent glasses, intelligent wrist-watch and intelligent bracelet etc..
In practical applications, the portion for implementing PQ mode virtual synchronous generator control may be executed on the server side as described above, or all operations may be performed in the client device. The selection may be specifically performed according to the processing capability of the client device, the limitation of the user usage scenario, and the like. This is not a limitation of the present application. The client device may further include a processor if all operations are performed in the client device.
The client device may have a communication module (i.e., a communication unit), and may be communicatively connected to a remote server to implement data transmission with the server. The server may include a server on the task scheduling center side, and in other implementation scenarios, the server may also include a server on an intermediate platform, for example, a server on a third-party server platform that is communicatively linked to the task scheduling center server. The server may include a single computer device, or may include a server cluster formed by a plurality of servers, or a server structure of a distributed apparatus.
The server and the client device may communicate using any suitable network protocol, including network protocols not yet developed at the filing date of this application. The network protocol may include, for example, a TCP/IP protocol, a UDP/IP protocol, an HTTP protocol, an HTTPS protocol, or the like. Of course, the network Protocol may also include, for example, an RPC Protocol (Remote Procedure Call Protocol), a REST Protocol (Representational State Transfer Protocol), and the like used above the above Protocol.
In order to improve the efficiency of controlling the PQ mode virtual synchronous generator and further improve the safety and reliability of the wind turbine generator, embodiments of the present application provide a PQ mode virtual synchronous generator control method, and in this embodiment, the PQ mode virtual synchronous generator control method is implemented by using a droop controller that is disposed outside the PQ mode virtual synchronous generator and is connected to the PQ mode virtual synchronous generator.
Therefore, in the embodiment of the present application, a droop controller is disposed outside the PQ mode virtual synchronous generator, and the droop controller is connected to the PQ mode virtual synchronous generator, and the droop controller may be a controller or a server, etc., see fig. 2, PrefRepresenting the active power reference value, obtained from the maximum power tracking link, Q0And a droop controller for droop control, which is provided at the generator side of the PQ mode virtual synchronous generator and is capable of measuring the generator side voltage of the PQ mode virtual synchronous generator.
Referring to fig. 3, in the present embodiment, the method for controlling a PQ-mode virtual synchronous generator specifically includes the following steps:
step 100: and collecting the terminal voltage of the PQ mode virtual synchronous generator.
Step 200: and if the abnormal voltage fluctuation state of the target wind turbine generator is judged and obtained according to the generator terminal voltage, controlling the PQ mode virtual synchronous generator to send a first reactive power value corresponding to the generator terminal voltage to the target wind turbine generator according to the generator terminal voltage, a preset voltage reference value, a reactive power reference value and a droop coefficient, so that the target wind turbine generator adjusts the voltage according to the reactive power value.
Specifically, the target wind turbine generator is a wind turbine generator corresponding to the PQ mode virtual synchronous generator; the relationship among the terminal voltage, the first reactive power value, the preset voltage reference value, the reactive power reference value and the droop coefficient is shown in fig. 4, where V in fig. 40Is a predetermined voltage reference value, V1For the terminal voltage, Q1Is the first value of reactive power, Q0And the reactive power reference value and the slope of the straight line in the graph are the droop coefficients. The preset voltage reference value, the preset reactive power reference value and the preset droop coefficient can be set according to actual needs, and the method is not limited in the application.
Referring to fig. 5, in order to improve the efficiency and reliability of the voltage response of the wind turbine, in an embodiment of the present application, step 200 includes:
step 201: and if the difference between the generator terminal voltage and a preset voltage reference value exceeds a safety threshold, controlling the PQ mode virtual synchronous generator to send a first reactive power value corresponding to the generator terminal voltage to the target wind turbine generator according to the generator terminal voltage, the preset voltage reference value, a reactive power reference value and a droop coefficient.
Specifically, the safety threshold may be set according to actual conditions, which is not limited in this application.
In one embodiment of the present application, the PQ mode virtual synchronous generator is further configured to compensate the generator side voltage according to the reactive power value.
In order to restore the voltage of the wind turbine generator to the level before disturbance on the basis of quickly responding to the voltage fluctuation of the wind turbine generator and further improve the safety and reliability of the wind turbine generator, in an embodiment of the present application, the PQ mode virtual synchronous generator is configured to, after the PQ mode virtual synchronous generator is controlled to transmit a first reactive power value corresponding to the generator-side voltage to the target wind turbine, receiving a reactive power regulation instruction sent by an automatic voltage control system corresponding to the target wind turbine generator, and, outputting a second reactive power value corresponding to the reactive power regulation instruction to the target wind turbine generator according to the reactive power regulation instruction, and adjusting the voltage of the target wind turbine generator set to the state before the voltage abnormal fluctuation occurs according to the second reactive power value, wherein the second reactive power value is larger than the first reactive power value.
Specifically, the second reactive power value is obtained according to the reactive power regulation instruction sent by the AVC, and is used for regulating the voltage of the target wind turbine generator until the voltage abnormal fluctuation state occurs, so that the safety of the target wind turbine generator is further improved; the first reactive power value is obtained according to the generator terminal voltage collected by the droop controller and used for responding to the voltage abnormal state of the target wind turbine generator in time and avoiding the safety problem caused by sudden large-amplitude change of the voltage of the target wind turbine generator, but the first reactive power value is adjusted in a poor mode and cannot adjust the voltage of the target wind turbine generator until the voltage abnormal fluctuation state occurs.
The regulation period of the automatic voltage control system (AVC) in response to the voltage fluctuations of the wind turbine is generally above the minute limit. The voltage is regulated through AVC, namely required reactive power is calculated through a deviation value of the voltage and is sent to each reactive power source, and the reactive power source comprises a PQ mode virtual synchronous generator, so that the voltage is regulated. The new energy AVC is a specific execution unit of the Power grid AVC together with a transformer substation comprehensive Voltage Control (VQC) and an Automatic Voltage Regulator (AVR) of a synchronous unit, and the new energy AVC strategy fully utilizes the dynamic Reactive Power regulation capability of a double-fed fan, reasonably coordinates various Reactive Power sources of a new energy station, automatically carries out Reactive Power regulation in real time according to the running condition of a grid-connected point, and is an effective means for improving the Reactive Voltage level of the new energy station. The purpose of the new energy AVC is to bring the reactive voltage level of the new energy PCC into a desired U-Q operating region with minimum regulation cost and on the premise of ensuring voltage safety.
Various reactive voltage control means comprehensively considering new energy can be used for dividing new energy AVC systemIs divided into three layers. As shown in fig. 6, SVC refers to a dynamic reactive power compensation device, ULTC refers to an on-load tap changer, Dead Zone refers to a Dead Zone, DFIG refers to a doubly-fed asynchronous wind turbine, and U refers to a transformer, apccRefers to the grid-connected point voltage, QpccReferring to reactive power at the point of connection, lower right hand corner
Refers to the grid-connected point voltage reference value,refers to a grid-connected point reactive power reference value,
the power factor is referred to, wherein delta Qtur is the total reactive compensation quantity of the fan group, delta Qcap is the reactive compensation quantity of the capacitor, delta ttap is the gear adjustment quantity of the on-load tap-changing transformer, and delta Qsvc is the reactive compensation quantity of the dynamic reactive compensation device. The top layer is a wind field coordination decision module which coordinates the control quantity of a fan group, a photovoltaic device and centralized compensation equipment to respectively obtain the fan group, delta Qtur, delta Qcap and delta ttap; the middle layer is a fan group decision module, and the delta Qtur is shared among all controllable fans participating in reactive voltage regulation according to a certain optimization principle; the bottom layer is a fan and a photovoltaic control module, each fan and each photovoltaic inverter are controlled by PQ decoupling, and constant power factor or constant reactive power control is carried out in a reactive power controllable domain. During specific implementation, the new energy station can also set the action priority of the centralized compensation and the reactive power sources such as the wind turbine set and the photovoltaic power station. Currently, the site with the VSG priority is selected more.
Step 400: and the PQ mode virtual synchronous generator outputs a second reactive power value corresponding to the reactive power regulation instruction to the target wind generation set according to the reactive power regulation instruction, so that the target wind generation set regulates the voltage to the state before the voltage abnormal fluctuation occurs according to the second reactive power value.
In order to improve the efficiency of responding to the voltage fluctuation of the wind turbine generator and further improve the safety and reliability of the wind turbine generator, in an embodiment of the present application, step 200 includes:
step 202: and acquiring a difference value between the first reactive power value and a preset reactive power reference value according to the difference value between the terminal voltage and a preset voltage reference value and the preset droop coefficient.
Step 203: and obtaining the first reactive power value by applying the difference value between the first reactive power value and a preset reactive power reference value and the preset reactive power reference value.
Specifically, the terminal voltage V1First value of reactive power Q1A predetermined voltage reference value V0Reference value of reactive power Q0And sag factor KpThe relationship between them is: kp＝(Q1-Q0)/(V1-V0)。
Step 204: and sending the first idle power value to the PQ mode virtual synchronous generator and controlling the PQ mode virtual synchronous generator to send the first idle power value to the target wind turbine generator.
In another embodiment of the present application, the PQ mode virtual synchronous generator control method includes: and changing a local QV droop control voltage reference point of the virtual synchronous machine into a grid-connected point, and receiving a PCC point voltage instruction which is directly forwarded by the site AVC to the QV droop virtual synchronous machine. When the voltage of the grid-connected point deviates, the QV droop calculates the required reactive power and transmits the required reactive power to the wind turbine generator, so that the voltage of the grid-connected point can be directly recovered, AVC regulation is not needed, and the control efficiency and reliability of the PQ mode virtual synchronous generator can be further improved.
In an embodiment of the present application, a droop controller is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the processor implements the steps of the PQ mode virtual synchronous generator control method in the above embodiments.
In terms of software, in order to quickly respond to voltage fluctuation of a wind turbine generator and further improve safety and reliability of the wind turbine generator, an embodiment of the PQ mode virtual synchronous generator control device for implementing all or part of the contents in the PQ mode virtual synchronous generator control method is provided in the present application, and referring to fig. 7, the PQ mode virtual synchronous generator control device specifically includes the following contents:
and the acquisition module 10 is used for acquiring the terminal voltage of the PQ mode virtual synchronous generator.
And the voltage adjusting module 20 is configured to, if it is determined according to the generator-side voltage that the target wind turbine generator is in the abnormal voltage fluctuation state, control the PQ-mode virtual synchronous generator to send a first reactive power value corresponding to the generator-side voltage to the target wind turbine generator according to the generator-side voltage, a preset voltage reference value, a reactive power reference value, and a droop coefficient, so that the target wind turbine generator adjusts the voltage according to the reactive power value.
In an embodiment of the present application, the voltage adjustment module includes:
and the difference value judging unit is used for controlling the PQ mode virtual synchronous generator to send a first reactive power value corresponding to the generator terminal voltage to the target wind turbine generator set according to the generator terminal voltage, a preset voltage reference value, a reactive power reference value and a droop coefficient if the difference between the generator terminal voltage and a preset voltage reference value exceeds a safety threshold.
In an embodiment of the present application, the PQ mode virtual synchronous generator is configured to receive a reactive power adjustment instruction sent by an automatic voltage control system corresponding to the target wind turbine generator after controlling the PQ mode virtual synchronous generator to send a first reactive power value corresponding to the generator-side voltage to the target wind turbine generator, and output a second reactive power value corresponding to the reactive power adjustment instruction to the target wind turbine generator according to the reactive power adjustment instruction, so that the target wind turbine generator adjusts the voltage to a state before the voltage abnormal fluctuation occurs according to the second reactive power value.
In an embodiment of the present application, the voltage adjustment module includes:
and the reactive power difference obtaining unit is used for obtaining a difference value between the first reactive power value and a preset reactive power reference value according to a difference value between the terminal voltage and a preset voltage reference value and the preset droop coefficient.
And the reactive power obtaining unit is used for applying a difference value between the first reactive power value and a preset reactive power reference value, and obtaining the first reactive power value by using the preset reactive power reference value.
And the transmitting unit is used for transmitting the first reactive power value to the PQ mode virtual synchronous generator and controlling the PQ mode virtual synchronous generator to transmit the first reactive power value to the target wind turbine generator.
The embodiment of the PQ mode virtual synchronous generator control device provided in the present specification may be specifically used for executing the processing procedure of the embodiment of the PQ mode virtual synchronous generator control method, and the function of the PQ mode virtual synchronous generator control device is not described herein again, and reference may be made to the detailed description of the embodiment of the PQ mode virtual synchronous generator control method.
In order to further make a quick response to a voltage emergency, so that the voltage emergency can stably operate along with a reactive instruction of an intra-station AVC (automatic voltage control) in a steady state and can autonomously and quickly respond to voltage change in a transient state, the application example further provides a specific application example of the PQ-mode virtual synchronous generator, which specifically comprises the following contents:
a droop control ring, namely the droop controller, is added outside the PQ mode virtual synchronous generator, the droop control ring directly measures the terminal voltage of the virtual synchronous generator, and when the terminal voltage deviates from a voltage reference value, the reactive power value required to be sent by the wind turbine generator is calculated through the deviation, so that the change of the voltage can be quickly responded. The reactive voltage regulation strategy of a virtual synchronous generator operating in PQ mode employs droop control, which directly gives a reactive power reference. In response to the voltage change at the terminal, the reactive power change increases with the voltage decrease, i.e. the reactive voltage sags.
In order to further make a quick response to a voltage emergency, so that the voltage emergency can stably operate along with a reactive instruction of an intra-station AVC (automatic voltage control) in a steady state and can autonomously and quickly respond to voltage change in a transient state, the application example of the control method of the PQ-mode virtual synchronous generator is further provided, and the control method specifically comprises the following steps:
in the present application example, the wind power system comprises a wind power generator with the capacity of 300MW, and a local load Z for initial operationfIs active 300MW, reactive power 0Mvar, disturbance load ZloadThe active power is 0MW, and the reactive power is 60 Mvar. The main circuit structure is shown in FIG. 8, VSG represents a PQ mode virtual synchronous generator, S1Switch and S for controlling connection of 110KV large power grid2Representing switches controlling operation of the reactive disturbance load, PCC representing a point of connection, Z1Representing the transmission line load, ZfRepresenting local load, ZloadRepresenting a reactive disturbance load.
The system is simulated, and the simulation conditions are as follows: in the simulation process, switch S1Is always closed, namely is connected with a power grid with the voltage level of 110 kV. The simulation time length is 30S, and when t is 5S, the switch S is closed2Namely, adding reactive load disturbance Zload, the disturbance size is 60Mvar, the AVC period is set to 15s, namely, the AVC operates when t is 20 s. When t is equal to 0s to 5s, the doubly-fed fan operates with a local load, and when t is equal to 5s to 30s, the doubly-fed fan operates with a disturbance load. Simulation medium-end droop coefficient KpReactive sensitivity coefficient K of AVC 15qFig. 9 is a voltage waveform comparison diagram of a grid-connected point of a conventional VSG and a VSG externally provided with a droop controller, fig. 10 is a reactive power waveform comparison diagram of a grid-connected point of a conventional VSG and a VSG externally provided with a droop controller, fig. 11 is a voltage waveform comparison diagram of a terminal of a conventional VSG and a VSG externally provided with a droop controller, fig. 12 is a voltage waveform comparison diagram of a terminal of a reactive power of a conventional VSG and a VSG externally provided with a droop controller, and fig. 9 to 12 show that a modified VSG is a VSG externally provided with a droop controller according to an embodiment of the present invention.
As can be seen from fig. 9 and 12, when there is a load disturbance, the voltage of the grid-connected point of the conventional PQ mode virtual synchronous generator drops to 0.97pu, and the machine end of the PQ mode virtual synchronous generator does not send out a reactive power to support the power grid, and can only wait for an AVC adjustment instruction; and the PQ mode virtual synchronous generator with the droop controller arranged outside the power grid has the advantages that reactive power is rapidly sent out to support the power grid when load disturbance exists, the voltage of a grid-connected point drops to 0.979pu at the moment, the function of automatic reactive compensation is achieved, however, as the droop control is poor regulation, the voltage cannot be recovered to the level before disturbance, at the moment, the voltage needs to be regulated again by waiting for an AVC regulation instruction, and the PCC voltage can be recovered to the level before disturbance. In addition, as can be seen from fig. 10, the reactive power output by the conventional VSG and the VSG connected point where the droop controller is externally disposed is substantially the same, and as can be seen from fig. 11, when there is a load disturbance, the terminal voltage of the conventional VSG drops significantly, and the terminal voltage of the PQ-mode virtual synchronous generator where the droop controller is externally disposed can be compensated immediately.
Simulation results show that when load disturbance occurs, the voltage of a grid-connected point is reduced, the traditional PQ mode virtual synchronous generator cannot support the voltage, the improved PQ mode virtual synchronous generator rapidly generates reactive power when the disturbance occurs, and has a supporting effect on the voltage of the grid-connected point.
According to the PQ mode virtual synchronous generator control method, the PQ mode virtual synchronous generator control device and the droop controller, the efficiency of PQ mode virtual synchronous generator control can be improved, the safety and the reliability of the wind turbine generator can be further improved, specifically, the problem that voltage fluctuation cannot be responded quickly when the wind turbine generator has abnormal voltage fluctuation can be solved, the voltage can be responded immediately through terminal droop control, the risk of fan grid disconnection is reduced, safe and reliable operation of the wind turbine generator is guaranteed, and the maintenance cost of the wind turbine generator is saved.
On the hardware level, the embodiments provided by the method described above in the present application may be executed in a server device, a computer cluster, or a similar computing device. Taking the operation on a server as an example, fig. 13 is a hardware configuration block diagram of a server of a PQ mode virtual synchronous generator control method according to the embodiment of the present application. As shown in fig. 13, the server device may include one or more (only one shown) processors 1020 (the processors 1020 may include, but are not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 1040 for storing data, and a transmission module 1060 for communication functions. It will be understood by those skilled in the art that the structure shown in fig. 13 is only an illustration and is not intended to limit the structure of the electronic device. For example, the server device may also include more or fewer components than shown in FIG. 13, or have a different configuration than shown in FIG. 13.
The memory 1040 may be used to store software programs and modules of application software, such as program instructions/modules corresponding to the PQ mode virtual synchronous generator control method in the embodiment of the present application, and the processor 1020 executes various functional applications and data processing by running the software programs and modules stored in the memory 1040, so as to implement the PQ mode virtual synchronous generator control method of the application program. The memory 1040 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 1040 may further include memory located remotely from the processor 1020, which may be connected to the server device 101 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission module 1060 is used for receiving or transmitting data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the server device. In one example, the transmission module 1060 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the transmission module 1060 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
Based on the content of the foregoing PQ mode virtual synchronous generator control method, an embodiment of the present application further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and running on the processor. The electronic equipment types can comprise mobile terminals, special vehicle insurance equipment, vehicle-mounted interaction equipment, personal computers and the like. The processor may implement all or part of the PQ mode virtual synchronous generator control method when executing the instructions, for example, the processor may implement the following when executing the instructions:
step 100: and collecting the terminal voltage of the PQ mode virtual synchronous generator.
Step 200: and if the abnormal voltage fluctuation state of the target wind turbine generator is judged and obtained according to the generator terminal voltage, controlling the PQ mode virtual synchronous generator to send a first reactive power value corresponding to the generator terminal voltage to the target wind turbine generator according to the generator terminal voltage, a preset voltage reference value, a reactive power reference value and a droop coefficient, so that the target wind turbine generator adjusts the voltage according to the reactive power value.
As can be seen from the above description, the electronic device provided in the embodiments of the present application can improve the efficiency of controlling the PQ mode virtual synchronous generator, and thus improve the safety and reliability of the wind turbine.
Based on the content of the foregoing PQ mode virtual synchronous generator control method, an embodiment of the present application further provides a computer-readable storage medium capable of implementing all or part of the steps in the above PQ mode virtual synchronous generator control method embodiment, where the computer-readable storage medium stores a computer program, and the computer program implements all of the PQ mode virtual synchronous generator control method in the above embodiment when executed by a processor, for example, the processor implements the following steps when executing the computer program:
step 100: and collecting the terminal voltage of the PQ mode virtual synchronous generator.
Step 200: and if the abnormal voltage fluctuation state of the target wind turbine generator is judged and obtained according to the generator terminal voltage, controlling the PQ mode virtual synchronous generator to send a first reactive power value corresponding to the generator terminal voltage to the target wind turbine generator according to the generator terminal voltage, a preset voltage reference value, a reactive power reference value and a droop coefficient, so that the target wind turbine generator adjusts the voltage according to the reactive power value.
As can be seen from the above description, the computer-readable storage medium provided in the embodiments of the present application can improve the efficiency of controlling the PQ mode virtual synchronous generator, thereby improving the safety and reliability of the wind turbine.
In the present application, each embodiment of the method is described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. Reference is made to the description of the method embodiments.
The instructions described above may be stored in a variety of computer-readable storage media. The computer readable storage medium may include physical devices for storing information, which may be digitized and then stored using an electrical, magnetic, or optical media. The computer-readable storage medium according to this embodiment may include: devices that store information using electrical energy, such as various types of memory, e.g., RAM, ROM, etc.; devices that store information using magnetic energy, such as hard disks, floppy disks, tapes, core memories, bubble memories, and usb disks; devices that store information optically, such as CDs or DVDs. Of course, there are other ways of storing media that can be read, such as quantum memory, graphene memory, and so forth. The instructions in the devices or servers or clients or systems described below are as described above.
Although the present application provides method steps as described in an embodiment or flowchart, additional or fewer steps may be included based on conventional or non-inventive efforts. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. When an actual apparatus or client product executes, it may execute sequentially or in parallel (e.g., in the context of parallel processors or multi-threaded processing) according to the embodiments or methods shown in the figures.
The apparatuses or modules illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. For convenience of description, the above devices are described as being divided into various modules by functions, and are described separately. The functionality of the modules may be implemented in the same one or more software and/or hardware implementations of the present application. Of course, a module that implements a certain function may be implemented by a plurality of sub-modules or sub-units in combination.
The methods, apparatus or modules described herein may be implemented in computer readable program code to a controller implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer readable medium storing computer readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, Application Specific Integrated Circuits (ASICs), programmable logic controllers and embedded microcontrollers, examples of which include, but are not limited to, the following microcontrollers: the ARC625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may therefore be considered as a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.
Some of the modules in the apparatus described herein may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform particular tasks or implement particular abstract data types. The application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
From the above description of the embodiments, it is clear to those skilled in the art that the present application can be implemented by software plus necessary hardware. Based on such understanding, the technical solutions of the present application may be embodied in the form of software products or in the implementation process of data migration, which essentially or partially contributes to the prior art. The computer software product may be stored in a storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, mobile terminal, server, or network device, etc.) to perform the methods described in the various embodiments or portions of the embodiments of the present application.
The embodiments in the present specification are described in a progressive manner, and the same or similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. All or portions of the present application are operational with numerous general purpose or special purpose computing system environments or configurations. For example: personal computers, server computers, hand-held or portable devices, tablet-type devices, mobile communication terminals, multiprocessor systems, microprocessor-based systems, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.
While the present application has been described with examples, those of ordinary skill in the art will appreciate that there are numerous variations and permutations of the present application without departing from the spirit of the application, and it is intended that the appended claims encompass such variations and permutations without departing from the spirit of the application.
Claims (10)
1. A PQ mode virtual synchronous generator control method implemented by using a droop controller provided outside the PQ mode virtual synchronous generator and connected to the PQ mode virtual synchronous generator, comprising:
collecting a generator terminal voltage of the PQ mode virtual synchronous generator;
and if the abnormal voltage fluctuation state of the target wind turbine generator is judged and obtained according to the generator terminal voltage, controlling the PQ mode virtual synchronous generator to send a first reactive power value corresponding to the generator terminal voltage to the target wind turbine generator according to the generator terminal voltage, a preset voltage reference value, a reactive power reference value and a droop coefficient, so that the target wind turbine generator adjusts the voltage according to the reactive power value.
2. The method of claim 1, wherein if it is determined according to the generator-side voltage that a target wind turbine generator is in an abnormal voltage fluctuation state, controlling the PQ-mode virtual synchronous generator to transmit a first reactive power value corresponding to the generator-side voltage to the target wind turbine generator according to the generator-side voltage, a preset voltage reference value, a reactive power reference value, and a droop coefficient comprises:
and if the difference between the generator terminal voltage and a preset voltage reference value exceeds a safety threshold, controlling the PQ mode virtual synchronous generator to send a first reactive power value corresponding to the generator terminal voltage to the target wind turbine generator according to the generator terminal voltage, the preset voltage reference value, a reactive power reference value and a droop coefficient.
3. The method of claim 1, wherein the PQ mode virtual synchronous generator is configured to receive a reactive power adjustment instruction sent by an automatic voltage control system corresponding to the target wind turbine after the PQ mode virtual synchronous generator is controlled to send a first reactive power value corresponding to the generator-side voltage to the target wind turbine, and output a second reactive power value corresponding to the reactive power adjustment instruction to the target wind turbine according to the reactive power adjustment instruction, so that the target wind turbine adjusts the voltage to a state before the voltage abnormally fluctuates according to the second reactive power value, where the second reactive power value is greater than the first reactive power value.
4. The method of claim 1, wherein the step of controlling the PQ mode virtual synchronous generator to send a first reactive power value corresponding to the generator terminal voltage to the target wind turbine generator according to the generator terminal voltage, a preset voltage reference value, a reactive power reference value and a droop coefficient comprises:
acquiring a difference value between the first reactive power value and a preset reactive power reference value according to the difference value between the terminal voltage and a preset voltage reference value and the preset droop coefficient;
obtaining the first reactive power value by applying the difference value between the first reactive power value and a preset reactive power reference value and the preset reactive power reference value;
and sending the first idle power value to the PQ mode virtual synchronous generator and controlling the PQ mode virtual synchronous generator to send the first idle power value to the target wind turbine generator.
5. A PQ mode virtual synchronous generator control device comprising:
the acquisition module is used for acquiring the terminal voltage of the PQ mode virtual synchronous generator;
and the voltage adjusting module is used for controlling the PQ mode virtual synchronous generator to send a first reactive power value corresponding to the generator terminal voltage to the target wind turbine generator according to the generator terminal voltage, a preset voltage reference value, a reactive power reference value and a droop coefficient if the abnormal voltage fluctuation state of the target wind turbine generator is judged and known according to the generator terminal voltage, so that the target wind turbine generator adjusts the voltage according to the reactive power value.
6. The PQ mode virtual synchronous generator control device according to claim 5, wherein the voltage regulation module comprises:
and the difference value judging unit is used for controlling the PQ mode virtual synchronous generator to send a first reactive power value corresponding to the generator terminal voltage to the target wind turbine generator set according to the generator terminal voltage, a preset voltage reference value, a reactive power reference value and a droop coefficient if the difference between the generator terminal voltage and a preset voltage reference value exceeds a safety threshold.
7. The PQ mode virtual synchronous generator control device according to claim 5, wherein the PQ mode virtual synchronous generator is configured to receive a reactive power regulation instruction from the automatic voltage control system corresponding to the target wind turbine after the PQ mode virtual synchronous generator is controlled to send a first reactive power value corresponding to the generator-side voltage to the target wind turbine, and output a second reactive power value corresponding to the reactive power regulation instruction to the target wind turbine according to the reactive power regulation instruction, so that the target wind turbine regulates the voltage to a state before the voltage abnormal fluctuation occurs according to the second reactive power value, wherein the second reactive power value is greater than the first reactive power value.
8. The PQ mode virtual synchronous generator control device according to claim 5, wherein the voltage regulation module comprises:
a reactive power difference obtaining unit, configured to obtain a difference between the first reactive power value and a preset reactive power reference value according to a difference between the terminal voltage and a preset voltage reference value and the preset droop coefficient;
the obtaining reactive power unit is used for applying a difference value between the first reactive power value and a preset reactive power reference value, and obtaining the first reactive power value by using the preset reactive power reference value;
and the transmitting unit is used for transmitting the first reactive power value to the PQ mode virtual synchronous generator and controlling the PQ mode virtual synchronous generator to transmit the first reactive power value to the target wind turbine generator.
9. A droop controller comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the PQ mode virtual synchronous generator control method of any of claims 1 to 4.
10. A computer readable storage medium having stored thereon computer instructions, wherein the instructions, when executed, implement the steps of a PQ mode virtual synchronous generator control method of any of claims 1 through 4.
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