Abstract：Existing grid forming direct drive wind turbines struggle to exhibit complete grid forming characteristics and provide sufficient active support. This limitation mainly results from two key factors: the inherent dynamic characteristics of wind turbines and the lack of adequate power reserve capacity. To address this problem, integrating energy storage on the DC side to form a grid forming direct drive wind storage integrated system has become an effective solution for grid forming wind turbines to improve power reserve. However, the influence mechanism of both energy storage integration and differences in energy storage control strategies on shafting torsional vibration characteristics remains unclear. This study conducted corresponding analyses on this critical issue. Firstly, the study established small signal models for the grid forming direct drive wind storage integrated system under three common energy storage integration modes. These modes specifically included no energy storage integration, energy storage responding to damping power, and energy storage responding to inertial power. Meanwhile, based on the two mass block model of the shafting, the study derived the expressions for the natural oscillation frequency and damping ratio of the shafting torsional vibration mode. Through these expressions, the influence laws of shafting parameters on the oscillation frequency and damping ratio of the torsional vibration mode were analyzed. On this basis, the study considered the wind turbine dynamics connected to one end of the shafting, equivalent it to a wind turbine dynamic compensation damping, and analyzed the influencing factors of this dynamic compensation damping. Secondly, the study noted that the other end of the shafting was connected to the electrical dynamics of the direct drive wind turbine, and this dynamics was affected by the energy storage integration mode. Therefore, the damping torque method was used to convert the electrical dynamics of the grid forming direct drive wind storage integrated system into equivalent shafting damping. The reconstruction effect of energy storage integration on electrical dynamics was analyzed by comparing the equivalent shafting damping under different energy storage integration modes. Additionally, the influences of electrical dynamics on the shafting damping ratio and natural oscillation frequency under different energy storage integration modes were derived. Thirdly, the study analyzed how wind speed fluctuations induce shafting torsional vibration through wind turbine dynamics and deduced the influencing factors of this propagation path. Simultaneously, after adopting grid forming control, the study analyzed how power grid frequency fluctuations trigger shafting torsional vibration through electrical dynamics. The reconstruction effect of energy storage integration modes on this propagation path was deduced, and the possibility of energy storage acting as a buffer zone between the wind turbine and the power grid was demonstrated. Finally, the correctness of the above theoretical analysis was verified through nonlinear time domain simulation results. From the perspective of shafting dynamics, this study provides a new reference factor for the design of energy storage control strategies for wind storage integrated systems. This reference factor helps optimize the control strategy to balance the system’s grid forming performance and shafting torsional vibration stability.
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2026, Vol. 41 
