CN101639038B - FPGA-based maximum power tracking controller of wind power system - Google Patents
FPGA-based maximum power tracking controller of wind power system Download PDFInfo
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Abstract
The invention relates to an FPGA-based maximum power tracking controller of a wind power system, comprising a sliding-mode extremum searching module and a fuzzy parameter setting module. Parameters of the sliding-mode extremum searching module are adjusted according to the output of the fuzzy parameter setting module; the sliding-mode extremum searching module comprises a comparison unit, a switching unit and two integrators; the fuzzy parameter setting module comprises a fuzzy controller; and power track errors and a wind speed are used as the input of the fuzzy controller. Small size, flexible design and high controller response speed of the controller are achieved because the maximum power tracking controller for searching a sliding-mode extremum of the wind power system is realized on an FPGA chip; parameters of a blower are unnecessary to know, and accurately measuring the wind speed and calculating the differential coefficient of the output power of the wind power system are not needed, thereby high tracking precision and stability are achieved.
Description
Technical field
The present invention relates to a kind of controller, especially a kind of maximum power tracking controller of wind power system based on FPGA.
Background technique
Wind energy is a kind of cleaning, renewable energy sources widely distributed, with fastest developing speed, also is the renewable energy sources with large-scale development and commercialized development prospect.But wind energy also is a kind of energy with randomness, burst, unstability feature, in order to improve utilization ratio of wind energy, need control the operation of blower fan to catch peak output according to change of wind velocity.
At present, Chang Gui wind power system maximum power tracking and controlling method mainly contains tip speed ratio (Tip SpeedRatio-TSR) control, (the Power Signal Feedback-PSF) control of power signal feedback, climbing method (HillClimb Searching-HCS) etc.TSR control needs in real time accurately measuring wind, because the randomness of wind speed and variability make its accurate measurement in working control comparatively difficult.PSF control utilizes fan characteristic and double feedback electric engine power circuit characteristic to realize the control of stator active power, thereby realizes the adjusting of generator speed; This method does not need measuring wind, but the characteristic of blower fan need obtain through a large amount of experiment tests.HCS is by measuring rotation speed of fan and output power in real time, utilize the mathematics optimization method to follow the tracks of maximum output, this method has been avoided measuring wind, but need to measure in real time, calculate the differential of output power and rotating speed, the differential ring festival-gathering makes noise amplification, high frequency instability, has limited its dynamic performance.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, provide a kind of wind power system fuzzy sliding formwork extremum search maximal power tracing controller, provide the optimized rotating speed reference value for realizing the wind power system maximal wind-energy capture based on FPGA (programmable gate array).
According to technological scheme provided by the invention, described maximum power tracking controller of wind power system based on FPGA comprises sliding formwork extremum search module and the fuzzy parameter module of adjusting, and the adjust output of module is adjusted the parameter of sliding formwork extremum search module according to fuzzy parameter; Described sliding formwork extremum search module comprises comparing unit, switch element and 2 integrators, and the described fuzzy parameter module of adjusting comprises fuzzy controller;
Wind power system peak output P with the generation of sliding formwork extremum search module
s *As with reference to value, and with the real output P of wind power system
sSubtract each other output power tracking error e by comparing unit, according to power tracking error e structure switch element;
Described switch element comprises tri-state switch function and hard-limiting switch function, the output z of tri-state switch function
1The peak output reference value P that the value conduct that generates through integration searches
s *, the output z of hard-limiting switch function
2The value that the process integration generates is as peak output reference value P
s *Pairing optimal velocity reference value w
r *
The parameter of described switch element is adjusted by the output of fuzzy controller, described fuzzy controller be input as wind power system power tracking error e and wind speed V.
The representation of described tri-state switch function is:
k
1Be described tri-state switch function z
1(e) input scaling factor, k
2Be described tri-state switch function z
1(e) amplitude, k
3, k
4Be described tri-state switch function z
1(e) two threshold values, k
1, k
2, k
3, k
4All be on the occasion of.
The representation of described hard-limiting switch function is:
k
5Be described hard-limiting switch function z
2(e) amplitude, on the occasion of.
The module of adjusting described sliding formwork extremum search module, fuzzy parameter realizes on a slice fpga chip, fpga chip be input as wind power control system output power P
sWith the digital quantity signal of wind speed V correspondence, be output as optimal velocity reference value w
r *Corresponding digital quantity signal.
Advantage of the present invention is: adopt the control of sliding formwork extremum search to realize the wind power system maximal power tracing, the parameter of sliding formwork extremum search control is dynamically adjusted by the output of fuzzy control, adopts FPGA that described sliding formwork extremum search module, the fuzzy parameter module of adjusting has been carried out the hardware realization; Need not obtain the mathematical model and the parameter of blower fan, the measuring wind speed required precision is not high, has avoided differentiation element, and tracking accuracy and stability are high, and volume is little, the speed of response of flexible design, controller is fast.
Description of drawings
Fig. 1 is based on the maximum power tracking controller of wind power system structured flowchart of FPGA;
Fig. 2 is a switch element schematic diagram in the sliding formwork extremum search module;
Fig. 3 is the fuzzy parameter module input output connection diagram of adjusting;
Fig. 4 is that the present invention is embedded into the user mode figure in the grid type double-feedback wind power system.
Embodiment
The invention will be further described below in conjunction with drawings and Examples.
As shown in Figure 1: the present invention includes sliding formwork extremum search module and the fuzzy parameter module of adjusting, the adjust output of module is adjusted the parameter of sliding formwork extremum search module according to fuzzy parameter; Described sliding formwork extremum search module comprises comparing unit, switch element and two integrators, and the described fuzzy parameter module of adjusting comprises fuzzy controller.
The wind power system peak output reference value P that described comparing unit generates sliding formwork extremum search module
s *Real output P with wind power system
sSubtract each other, obtain the power tracking error e.Described switch element is by tri-state switch function z
1(e) and hard-limiting switch function z
2(e) constitute, as shown in Figure 2; Described tri-state switch function z
1(e) representation is:
Described hard-limiting switch function z
2(e) representation is:
k
1, k
2, k
3, k
4, k
5All be on the occasion of, k
1Be described tri-state switch function z
1(e) input scaling factor, k
2Be described tri-state switch function z
1(e) amplitude, k
3, k
4Be described tri-state switch function z
1(e) two threshold values, k
5Be described hard-limiting switch function z
2(e) amplitude.Described tri-state switch function z
1(e) output z
1The peak output reference value P that the value conduct that generates through integration searches
s *, described hard-limiting switch function z
2(e) output z
2The value that the process integration generates is as optimal velocity reference value w
r *, with the peak output P that obtains
s *Corresponding, promptly at optimal velocity reference value w
r *Following wind power system is with Maximum Power Output value P
s *Described sliding formwork extremum search module does not need to measure differential and the wind velocity signal that calculates the wind power system output power.
Switch element in the described sliding formwork extremum search module has five parameter k
1, k
2, k
3, k
4, k
5, need adjust according to different wind speed range and tracking error, to improve search accuracy and rapidity.The present invention adopts fuzzy control to realize this function, i.e. the fuzzy parameter module of adjusting.As shown in Figure 3, what described fuzzy parameter was adjusted module is input as power tracking error e and wind velocity signal V, is output as five parameter k of switch element in the described sliding formwork extremum search module
1, k
2, k
3, k
4, k
5Described wind velocity signal V is less demanding to measuring accuracy.
Described sliding formwork extremum search module, the fuzzy parameter module of adjusting is realized on a slice fpga chip EP1C6T144C8.Described FPGA is input as wind power control system output power P
sWith the digital quantity signal of wind speed V correspondence, be output as optimal velocity reference value w
r *Corresponding digital quantity signal.
The present invention is embedded in the grid type double-feedback wind power system, as shown in Figure 4.
Blower fan, gear-box, double feedback electric engine, rotor-side transducer, grid side converter, electric capacity, transformer and electrical network constitute the body module of grid type double-feedback wind power system; The controller of grid type double-feedback wind power system is realized that by the F2812DSP of TI vector control, the PWM trigger signal of mainly finishing grid side converter and rotor-side transducer modulated, the active power and the wattless power measurement computing function of the actual output of wind power system.
Isolated drive circuit is isolated amplification rear driving grid side converter and rotor-side transducer to the pwm signal that comes from DSP; The voltage of double feedback electric engine stator side output, current signal are through the zero cross signal of formation voltage electric current behind the processing circuit and the measurement signal that is suitable for the A/D input range of F2812DSP, and be connected respectively to capturing unit CAP1-2 and the A/D converting unit of F2812DSP, carry out the measurement of active power and wattless power for DSP and calculate; And with the form of active power with digital quantity, the digital quantity delivery outlet (DO) by F2812DSP sends the fuzzy sliding formwork extremum search maximal power tracing controller of wind power system based on FPGA to, as wind power system real output P
sSignal.
Be installed in wind meter output signal on the blower fan through the digital quantity signal of output wind speed behind the A/D converter, pass to the fuzzy sliding formwork extremum search peak output controller of wind power system, as the wind speed V signal based on FPGA.
The fuzzy sliding formwork extremum search maximal power tracing controller of wind power system based on FPGA is output as optimal velocity reference value w
r *, w
r *Signal is a digital quantity, links to each other with the digital quantity inlet opening (DI) of F2812DSP, as the reference value of double feedback electric engine speed closed loop control; The output that is installed in the encoder in the double feedback electric engine rotating shaft is connected to the orthogonal pulses coding unit QEP3-4 of F2812DSP, measures the actual speed of calculating double feedback electric engine for F2812DSP; Double feedback electric engine is at optimal velocity reference value w
r *Effect realize down speed closed loop control.
When the wind speed of the residing wind field of blower fan changes, if double feedback electric engine is still at current w
r *Following operation, according to the characteristic of blower fan, the output power of wind power system will change, and cause tracking error e to change, and the variation of e causes the switch motion of switch element, makes system cut out sliding-mode surface; Under the effect of extremum search module, system motion is cut sliding-mode surface once more near the new equinoctial point, produces new peak output reference value P
s *And optimal velocity reference value w
r *Double feedback electric engine is at new optimal velocity reference value w
r *Effect under carry out speed closed loop control, make fan operation at the maximal wind-energy capture state, realize the control of wind power system maximal power tracing.
The present invention has following characteristics:
1, described wind power system fuzzy sliding mode extremum search maximal power tracing controller based on FPGA utilizes fast, the resourceful advantage of FPGA processing speed, adopts the parallel processing mode of pipeline mode to realize sliding formwork extremum search function, fuzzy parameter setting function. Improved the response speed of system, the controller volume of realization is little, and flexible design is easy to be embedded in the wind power control system.
2, the input parameter of described wind power system fuzzy sliding mode extremum search maximal power tracing controller based on FPGA only is power output signal and the wind velocity signal of generator, what pay particular attention to is, not high to the wind velocity signal required precision, avoided the difficulty of high accuracy measuring wind speed; Avoid simultaneously needing in the conventional control method to obtain the differential of blower fan model and parameter, rated output and speed, improved the stability of controller.
3, described wind power system fuzzy sliding mode extremum search maximal power tracing controller based on the FPGA parameter that can adjust switch element in the sliding formwork extremum search module according to wind speed range and power tracking error signal, avoid different wind speed zone to the impact of sliding formwork extremum search control effect, improved the controller tracking accuracy.
Claims (2)
1. maximum power tracking controller of wind power system based on FPGA is characterized in that: comprise sliding formwork extremum search module and the fuzzy parameter module of adjusting, the adjust output of module is adjusted the parameter of sliding formwork extremum search module according to fuzzy parameter; Described sliding formwork extremum search module comprises comparing unit, switch element and two integrators, and the described fuzzy parameter module of adjusting comprises fuzzy controller;
The wind power system peak output that sliding formwork extremum search module is generated is as the peak output reference value
And with the real output P of wind power system
sSubtract each other output power tracking error e by comparing unit, according to power tracking error e structure switch element;
Described switch element comprises tri-state switch function and hard-limiting switch function, the output z of tri-state switch function
1The peak output reference value that the value conduct that generates through integration searches
The output z of hard-limiting switch function
2The value that the process integration generates is as the peak output reference value
Pairing optimal velocity reference value
The parameter of described switch element is adjusted by the output of fuzzy controller, described fuzzy controller be input as wind power system power tracking error e and wind speed V;
The representation of described tri-state switch function is:
k
1Be described tri-state switch function z
1(e) input scaling factor, k
2Be described tri-state switch function z
1(e) amplitude, k
3, k
4Be described tri-state switch function z
1(e) two threshold values, k
1, k
2, k
3, k
4All be on the occasion of;
The representation of described hard-limiting switch function is:
k
5Be described hard-limiting switch function z
2(e) amplitude, on the occasion of.
2. according to claim 1 based on the maximum power tracking controller of wind power system of FPGA, it is characterized in that: described sliding formwork extremum search module, the fuzzy parameter module of adjusting realizes on a slice fpga chip, fpga chip be input as wind power control system output power P
sWith the digital quantity signal of wind speed V correspondence, be output as the optimal velocity reference
Corresponding digital quantity signal.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102477943A (en) * | 2010-11-26 | 2012-05-30 | 惠州三华工业有限公司 | Intelligent MPPT (maximum power point tracking) wind energy controller |
| CN102437810A (en) * | 2011-06-17 | 2012-05-02 | 南京工程学院 | Variable parameter tracking control method of direct drive permanent magnetic synchronous wind turbine frequency converter controller |
| CN103032265B (en) | 2012-12-12 | 2014-11-05 | 天津市电力公司 | Maximum output tracking control method of wind generation unit based on extremum research |
| CN103410660B (en) * | 2013-05-14 | 2016-08-03 | 湖南工业大学 | Wind-power generating variable pitch Learning Control Method based on support vector machine |
| CN103266990B (en) * | 2013-05-30 | 2015-04-22 | 湖南工业大学 | Power giving method of direct-driven wind-driven generator system |
| CN103603767B (en) * | 2013-09-18 | 2016-03-30 | 国家电网公司 | A kind of extremum search controling parameters self-adapting regulation method based on sliding formwork |
| CN104410107B (en) * | 2014-11-27 | 2016-09-14 | 江苏科技大学 | A kind of passive integral sliding mode control method of double-fed wind power system |
| CN106950421B (en) * | 2017-01-03 | 2019-04-12 | 内蒙古电力(集团)有限责任公司 | A kind of active power for wind power extremum extracting method and system |
| CN107524563A (en) * | 2017-08-21 | 2017-12-29 | 华南理工大学 | A kind of control method based on slip form extremum search |
| CN109756162A (en) * | 2019-03-26 | 2019-05-14 | 无锡商业职业技术学院 | A kind of permanent magnet direct-drive wind power system obscures MPPT control method and its control device |
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| CN101054951A (en) * | 2007-05-24 | 2007-10-17 | 上海交通大学 | Large scale wind power machine control method based on maximum energy capture |
| WO2008039119A1 (en) * | 2006-09-29 | 2008-04-03 | Abb Research Ltd. | A control method |
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Patent Citations (4)
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| JP2004052649A (en) * | 2002-07-19 | 2004-02-19 | Meidensha Corp | Output power smoothing control device of wind power generator |
| WO2008039119A1 (en) * | 2006-09-29 | 2008-04-03 | Abb Research Ltd. | A control method |
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