CN103972924B - Permanent magnet direct-drive wind power system low voltage traversing control method under unbalanced electric grid voltage - Google Patents

Permanent magnet direct-drive wind power system low voltage traversing control method under unbalanced electric grid voltage Download PDF

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CN103972924B
CN103972924B CN201410153006.2A CN201410153006A CN103972924B CN 103972924 B CN103972924 B CN 103972924B CN 201410153006 A CN201410153006 A CN 201410153006A CN 103972924 B CN103972924 B CN 103972924B
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CN103972924A (en
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罗祾
陈甜甜
潘爱强
金家培
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State Grid Shanghai Electric Power Co Ltd
East China Power Test and Research Institute Co Ltd
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State Grid Shanghai Electric Power Co Ltd
East China Power Test and Research Institute Co Ltd
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Abstract

The present invention relates to permanent magnet direct-drive wind power system low voltage traversing control method under a kind of unbalanced electric grid voltage, the control method specifically includes following steps:1) obtain the phase theta of positive and negative sequence voltagep、θn;2) using positive-negative sequence voltage-phase, by under three-phase power grid voltage current transformation to dq coordinate systems, obtain the positive-negative sequence voltage x current under dq coordinate systems;3) active power calculated using positive-negative sequence power network current and grid-connected reactor parameter on grid-connected reactor consumes DC component Δ P0, cosine component Δ Pc2, sinusoidal component Δ Ps2;4) reference value of reference value and reactive power DC component of the DC component of inverter active power of output is obtained 5) using the value and power reference for obtaining, calculate the positive and negative order components of inverter output current;6) switching signal is obtained using the positive and negative order components of output current, and control inverter output current and power output with switching signal.Compared with prior art, the present invention has the advantages that efficient, easy.

Description

Permanent magnet direct-drive wind power system low voltage traversing control method under unbalanced electric grid voltage
Technical field
The present invention relates to a kind of wind power system control method, more particularly, to permanent magnet direct-drive under a kind of unbalanced electric grid voltage Wind power system low voltage traversing control method.
Background technology
As the power that electrical network is accessed due to wind energy turbine set is continuously increased, wind energy turbine set is increasing with the reciprocal effect of electrical network, In order to improve the stability and the quality of power supply of electrical network, electrical network proposes a series of requirement to wind farm grid-connected, including low Voltage ride-through is required.
Using the grid-connected permanent magnet direct drive synthronous wind-mill generator of full power convertor, wind-driven generator is realized with electrical network Full decoupled, control is flexible, can be greatly enhanced low voltage ride-through capability by rationally control.
Unbalanced grid faults or asymmetric load, the non-full transposition of power transmission line etc., can result in unbalanced source voltage. During unbalanced source voltage, due to the generation of negative sequence component, if current transformer will cause direct current using traditional positive sequence control strategy Side voltage produces 2 double-frequency fluctuations, causes DC capacitor frequently discharge and recharge, reduces capacitor life-span.And the 2 of current transformer DC side Subharmonic voltage and electric current will will produce 2n+1 uncharacteristic harmonics in AC by the modulating action of pulsewidth modulation.Therefore, Under the conditions of research unbalanced electric grid voltage, the Stable Control Strategy of DC voltage is particularly important.
Geng Qiang, Xia Changliang, Yan Yan et al. and Zhao Zilong, Wu Wei peace Wang Wei exist respectively《In the case of unbalanced source voltage PWM rectifier constant frequency direct Power Control》With《Directly driven wind-powered unit low voltage crossing technology under unbalanced grid faults》Wen Zhong Directly by stably transporting to the active power of electrical network suppressing 2 harmonics of DC terminal voltage.Most of documents are then using changing The double-current control strategy based on symmetrical component method for entering is suppressing 2 harmonics of DC terminal.Xiao Lei, Huang are held on even to dead in order to perfect one's virtue and Huang Keyuan Deng《Directly-drive permanent magnet wind generating system dc busbar voltage stability contorting under unbalance grid failure》Propose a kind of positive and negative The double-current control strategy that sequence voltage is oriented respectively, and with reference to energy bleed-off circuit realizing stablizing for DC voltage.Chen Yi East, Yang Yulin and Wang Liqiao etc. exist《Full power convertor wind generation set control strategy during unbalanced grid faults》For electrical network frequency Rate fluctuation situation, adds phase-locked loop frequency amendment link, it is proposed that a kind of DC side sampled voltage is with 2 frequency multiplication trap functions Double-current control strategy.Under the conditions of above control strategy is all the power swing on grid-connected reactor is ignored, by injecting electricity The suitable positive-negative sequence current of one, net realizing the control of the active power to transporting to electrical network, so as to realize the control to DC voltage System.But in the Wind turbines of MW class, full power convertor switching frequency relatively low (about 2kHz), the inductance of grid-connected reactor Value is relatively large, therefore ignores the power swing on grid-connected reactor and will bring adverse effect to control effect.Yongsug Suh Exist respectively《Control scheme in hybrid synchronous stationary frame for PWM AC-DC converter under generalized unbalanced operating conditions》With《Modeling and Analysis of Instantaneous Active and Reactive Power for PWM AC/DCConverter Under Generalized Unbalanced Network》By introducing net side current transformer bridge arm output voltage variable in text, Although 2 harmonics of DC terminal can be eliminated, control system is complicated.Liao Yong, Zhuan Kai, Yao Jun《Unbalanced source voltage When total power wind-electricity integration current transformer control strategy》A kind of power swing considered on grid-connected reactor is proposed, outside voltage Ring introduces the control strategy of feedforward, but calculating process is complicated.
The content of the invention
The purpose of the present invention is exactly to provide a kind of unbalanced power grid electricity to overcome the defect of above-mentioned prior art presence Pressure permanent magnet direct-drive wind power system low voltage traversing control method.
The purpose of the present invention can be achieved through the following technical solutions:
Permanent magnet direct-drive wind power system low voltage traversing control method under a kind of unbalanced electric grid voltage, it is characterised in that should Control method specifically includes following steps:
1) obtain the phase theta of positive and negative sequence voltagep、θn
2) using positive-negative sequence voltage-phase, by under three-phase power grid voltage current transformation to dq coordinate systems, dq coordinate systems are obtained Under positive-negative sequence voltage x current,
Positive sequence is:
Negative phase-sequence:
Wherein,WithPositive and negative sequence voltage respectively under dq coordinate systems Component, T (θp)、T(θn) transformation matrix that positive-negative sequence α β coordinates are tied to positive-negative sequence dq coordinate system is respectively, WithPositive-negative sequence component of voltage respectively under α β coordinate systems;
3) the active power consumption on grid-connected reactor is calculated using positive-negative sequence power network current and grid-connected reactor parameter DC component Δ P0, cosine component Δ Pc2, sinusoidal component Δ Ps2
4) obtain the reference value of the DC component of inverter active power of outputWith the reference of reactive power DC component Value
5) using the value and power reference for obtaining, the positive and negative order components of inverter output current are calculated;
6) switching signal is obtained using the positive and negative order components of output current, and control inverter output current with switching signal And power output.
The step 1) it is specially:
11) three-phase power grid voltage is transformed under α β coordinate systems, electrical network electricity is obtained using T/4 time expander methods under α β coordinate systems The positive and negative order components of pressure;
12) using step 11) in positive and negative order components under the α β coordinate systems that obtain, the lock phase for being oriented using positive-negative sequence respectively Method, obtains the phase theta of positive and negative sequence voltagep、θn
The step 4) it is specially:
41) DC voltage reference value is multiplied by direct voltage reference value with the error of measured value Jing after PI controllers, obtains The reference value of the DC component of inverter active power of output
42) at points of common connection, voltage reference value obtains inverter Jing after PI controllers with the error of measured value and exports idle The reference value of power DC component
To maintain unit power factor controlling,It is set to 0.
The step 6) it is specially:
61) under dq coordinate systems, positive-negative sequence current obtains positive-negative sequence voltage signal Jing after PI controllers;
62) positive-negative sequence voltage signal obtains the voltage signal under α β coordinate systems through conversion;
63) switching signal of inverter, switching signal control inverter output current and output work are obtained again through SVPWM Rate.
, on the basis of double-current control method, on the grid-connected reactor of introducing, power consumption is used as inversion for the control method The correction of device reference power output, the positive and negative reference current of amendment, and then the suppression of 2 harmonic of DC voltage is realized, and Energy-storage travelling wave tube is introduced in DC terminal, the power that balancing generator sends is transported to the power of electrical network, realizes inverter with inverter The voltage stabilization of DC terminal.
The energy-storage travelling wave tube is super capacitor or battery etc., is connected in parallel on DC side, is less than in inverter output power and sends out When motor sends power, dump power is stored by super capacitor, sends power less than inverter fan-out capability in generator When power is sent to into electrical network.
Compared with prior art, the present invention has advantages below:
1) super-capacitor device is introduced in DC terminal, balance the power that generator sends and transport to electrical network with inverter Power, realizes the voltage stabilization of inverter DC terminal, improves the low voltage ride-through capability of blower fan.
2) using the control method of invention, Fourier analysis, the total harmonic distortion factor of electric current are carried out to grid-connected current three-phase (total harmonic distortion, THD) have decreased to 1.19% from 4.89%, 5.13%, 5.15% respectively, 2.92%th, 1.59%.
Description of the drawings
Flow charts of the Fig. 1 for the inventive method;
Fig. 2 is the main circuit diagram based on the grid-connected direct drive type permanent magnetism synchronous wind power generator system of full power convertor;
Fig. 3 is net side control strategy for inverter schematic diagram in the case of unbalanced power supply;
Fig. 4 locks facies principle figure respectively for positive and negative sequence voltage;
Fig. 5 is super capacitor control block diagram;
Fig. 6 is conventional balanced control strategy simulation result figure;
Fig. 7 carries control strategy simulation result figure by the inventive method;
Fig. 8 is grid-connected current spectrum analysis figure under existing Traditional control strategy;
Fig. 9 is grid-connected current spectrum analysis figure under control strategy of the present invention.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention Premised on implemented, give detailed embodiment and specific operating process, but protection scope of the present invention be not limited to Following embodiments.
As shown in figure 1, permanent magnet direct-drive wind power system low voltage traversing control method under a kind of unbalanced electric grid voltage, the control Method processed specifically includes following steps:
1) obtain the phase theta of positive and negative sequence voltagep、θn
2) using positive-negative sequence voltage-phase, by under three-phase power grid voltage current transformation to dq coordinate systems, dq coordinate systems are obtained Under positive-negative sequence voltage x current;
3) the active power consumption on grid-connected reactor is calculated using positive-negative sequence power network current and grid-connected reactor parameter DC component Δ P0, cosine component Δ Pc2, sinusoidal component Δ Ps2
4) obtain the reference value of the DC component of inverter active power of outputWith the reference of reactive power DC component Value
5) using the value and power reference for obtaining, the positive and negative order components of inverter output current are calculated;
6) switching signal is obtained using the positive and negative order components of output current, and control inverter output current with switching signal And power output.
Step 1) including sub-step:
11) three-phase power grid voltage is transformed under two-phase rest frame (α β coordinate systems), T/4 is adopted under d β coordinate systems Time expander method obtains the positive and negative order components of line voltage;
12) using step 11) in positive and negative order components under the α β coordinate systems that obtain, the lock phase for being oriented using positive-negative sequence respectively Method, obtains the phase theta of positive and negative sequence voltagep、θn
Step 4) including sub-step:
41) DC voltage reference value is multiplied by direct voltage reference value with the error of measured value Jing after PI controllers,
Obtain the reference value of the DC component of inverter active power of output
42) at PCC points, voltage reference value obtains inverter output reactive power Jing after PI controllers with the error of measured value The reference value of DC component
To maintain unit power factor controlling,It is set to 0.
Step 6) it is included in step:
61) under dq coordinate systems, positive-negative sequence current obtains positive-negative sequence voltage signal Jing after PI controllers;
62) positive-negative sequence voltage signal obtains the voltage signal under α β coordinate systems through conversion;
63) switching signal of inverter, switching signal control inverter output current and output work are obtained again through SVPWM Rate.
, on the basis of double-current control method, on the grid-connected reactor of introducing, power consumption is used as inverter for control method The correction of reference power output, the positive and negative reference current of amendment, and then the suppression of 2 harmonic of DC voltage is realized, and DC terminal introduces energy-storage travelling wave tube, and the power that balancing generator sends is transported to the power of electrical network, realizes that inverter is straight with inverter The voltage stabilization at stream end.
Energy-storage travelling wave tube is super capacitor or battery etc., is connected in parallel on DC side, is less than generator in inverter output power When sending power, dump power is stored by super capacitor, will when generator sends power less than inverter fan-out capability Power is sent to electrical network.
Main circuit based on the grid-connected direct drive type permanent magnetism synchronous wind power generator system of full power convertor is as shown in Figure 2. The power that generator sends all is delivered to electrical network by current transformer, and electrical network is full decoupled by DC link with generator.Machine Active power and stator voltage that side converter major control blower fan sends;Net side current transformer major control DC terminal voltage and defeated To the reactive power of electrical network.
Generally grid-connected without center line using three-phase in wind power system, without zero-sequence component circulation path, therefore line voltage is not right Positive-sequence component and negative sequence component are only considered during title.So, during unbalanced source voltage, PMSG unit net side current transformer Decoupled Models Such as formula (1):
Wherein subscript p and n represent positive sequence, negative phase-sequence dq axle component respectively.
When line voltage is asymmetric, active, the reactive power of Wind turbines feed-in electrical network are respectively:
Pl=Pl_0+Pl_c2cos2ωt+Pl_s2sin2ωt (2)
Ql=Ql_0+Ql_c2cos2ωt+Ql_s2sin2ωt (3)
In formula:Pl_0、Ql_0Respectively feed-in electric network active, reactive power DC component, Plc2、Pls2、Qlc2、Qls2Respectively 2 frequency multiplication cosine of active, reactive power and sinusoidal component.
For simplified operation process and control structure, the present embodiment realizes positive and negative sequence voltage difference by voltage on line side phaselocked loop Orientation.In positive sequence network, by dpAxle is oriented to positive sequence voltage vector direction, by d in negative sequence networknAxle is oriented to negative phase-sequence electricity Pressure vector direction.Therefore under synchronously rotating reference frame (dq coordinates) system, line voltage vector is:
Wherein,WithFor positive-negative sequence voltage magnitude.
Power balance of DC side equation is:
In formula:PcFor the active power of net side current transformer port output, PsGenerator side rectifier transports to the active of DC side Power.
Think to keep constant during failure.Under power dissipation condition on grid-connected reactor is ignored, Pc=Pl, by formula (2) formula (6) is substituted into, is obtained:
As long as rationally controllingMake 2 harmonic P of net side active powerlc2、Pls2For 0, it is possible to Ensure the voltage constant on DC bus capacitor.
Using voltage on line side phaselocked loop, the present embodiment realizes that positive and negative sequence voltage is oriented respectively, choose front 4 sides in (4) formula Journey, and (5) formula is substituted into and can be obtained:
Solve:
Grid-connected reactor inductance, the active power of resistance absorption are:
Have when the active power for considering to consume on grid-connected reactor:
(10) formula substitution (6) formula is obtained:
When power swing on grid-connected reactor is considered, in order to eliminate 2 harmonics of DC voltage, Pc should be made without 2 Harmonic, i.e. Pc_c2=0、Pc_s2=0.For further simplified operation, (9) formula can be further simplified as:
Then in (8) formula:
When being adjusted to DC terminal voltage using PI controllers, the active power direct current of net side current transformer port output Component can be expressed as:
Wherein:Kp, Ki are respectively the proportionality coefficient and integral coefficient of PI controllers.
When electrical network occurs unbalanced fault, when causing voltage significantly to fall, electrical network may need wind energy turbine set to provide idle Hold, the idle additional control that at this moment idle control can pass through in Fig. 3 is realized, but embodiment is for ease of control, directly will be idle Reference value is set to 0, i.e., unity power factor control is adopted in failure.
During unbalanced source voltage, due to the generation of negative phase-sequence, if voltage and current signal is carried out Park conversion directly, dq sits Voltage x current component under mark system will be containing 2 harmonics.Using T/4 time expander methods, in two-phase rest frame, (α β sit the present invention Mark system) under isolate the positive and negative order components of voltage x current, the phase angle for then being obtained using phaselocked loop is by voltage and current signal from α β To dq coordinate systems, it is all DC quantity so to obtain the voltage and current signal under dq coordinate systems to coordinate system transformation, in order to PI controls The tracking of device.By taking voltage as an example, then:
And:
Wherein:T is grid cycle;T(θp)、T(θn) it is respectively the conversion that positive-negative sequence α β coordinates are tied to positive-negative sequence dq coordinate system Matrix.
The positive-negative sequence component of voltage isolated using formula (15)~(17), using positive-negative sequence line voltage as shown in Figure 4 Mutually strategy is locked respectively, the phase place of positive-negative sequence line voltage can be accurately obtained, and is then carried out dq using this phase angle and is converted with regard to energy Realize that positive and negative sequence voltage is oriented respectively.In order to accelerate the response speed and control effect of PI controllers, the input quantity of PI controllers Using the ratio of the q axles component and d axle components of voltage.
Formula (13) and (14) are substituted into into the reference value that formula (8) is obtained revised positive-negative sequence current, then according to formula (1) it is capable of achieving the control of net side current transformer.Comprehensive above procedure can set up the control structure such as Fig. 3.The carried control plan of the present invention Power swing amendment on grid-connected reactor in slightly, actually using the power swing on grid-connected reactor of the upper sampling period The reference value for measuring to correct next controlling cycle power, so as to reach the purpose of amendment reference current.
Super capacitor in Fig. 2 is simplified model.
The order of severity of unbalanced power situation is directly determined the working condition of ultracapacitor.Ignoring switching loss In the case of, work as system stability, during Pc=Ps, no difference power, now super capacitor do not work;Work as system jam, Pc< During Ps, S1 is triggered, super capacitor absorbed power;Work as Pc>During Ps, S2 is triggered, super capacitor delivered power.Super capacitor control Block diagram processed is as shown in Figure 5.
The present invention is mounted with super-capacitor device in DC side, and the power and inverter that absorption blower fan sends is fed to electrical network The difference power of power, the more preferable stable DC terminal voltage of energy, so as to improve wind power system low voltage ride-through capability, in Fig. 2 Super capacitor is simplified model.
The order of severity of unbalanced power situation is directly determined the working condition of ultracapacitor.Ignoring switching loss In the case of, work as system stability, during Pc=Ps, no difference power, now super capacitor do not work;When system jam, Pc <During Ps, S1 is triggered, super capacitor absorbed power;Work as Pc>During Ps, s2 is triggered, super capacitor delivered power.Super capacitor Control block diagram is as shown in Figure 5.
Model is set up in Matlab/Simulink environment to be emulated.System major parameter is;Magneto alternator Rated power is 2MW;Electrical network rated voltage is 690V;The grid-connected reactor inductance of net side is 0.3mH, and resistance is 0.01 Ω;Direct current Lateral capacitance is 50mF, and DC voltage rated value is 1200V;Converter switches frequency is 2kHz.
There is singlephase earth fault, fault clearance when A phase voltages drop into 30%, 1.6s in 1.2s in electrical network.
As shown in fig. 6, when unbalanced source voltage, traditional control algorithm only considers positive sequence, it is impossible to which negative phase-sequence is had Effect control.Therefore DC terminal voltage, inverter active power of output Pc, feed-in network re-active power Pl, feed-in electric network reactive-load work( Rate QlAll there are 2 harmonics, this will all have a strong impact on the stable operation of wind energy turbine set.
As shown in fig. 7, when unbalanced source voltage, be to suppress 2 harmonic of DC voltage, the carried control of the present invention Strategy is due to considering the power swing on grid-connected reactor on the basis of conventional double-current control strategy, so that net side becomes 2 double-frequency fluctuations of stream device port active power of output Pc are effectively suppressed, and DC terminal voltage is also just stablized.Due to this The carried control strategy purpose of text is to control DC terminal voltage without 2 harmonics, but due to the power swing on grid-connected reactor, So that the active-power P of feed-in electrical networklStill contain 2 harmonic of part.
Can see from the waveform of electric current in Fig. 6 and Fig. 7, using the carried control strategy of the present invention, electric current under failure condition Degree of asymmetry increased;But as the carried control strategy of the present invention can control effectively to negative-sequence current, suppressing direct current The harmonic content of current on line side is decreased while 2 harmonic of voltage of side.Fourier analysis is carried out to a wherein phase current, As shown in Figure 8 and Figure 9.Fourier analysis, total harmonic distortion factor (the total harmonic of electric current are carried out to grid-connected current three-phase Distortion, THD) 1.19%, 2.92%, 1.59% is have decreased to from 4.89%, 5.13%, 5.15% respectively.

Claims (5)

1. a kind of permanent magnet direct-drive wind power system low voltage traversing control method under unbalanced electric grid voltage, it is characterised in that the control Method processed specifically includes following steps:
1) obtain the phase theta of positive and negative sequence voltagep、θn
2) using positive-negative sequence voltage-phase, by under three-phase power grid voltage current transformation to dq coordinate systems, obtain under dq coordinate systems Positive-negative sequence voltage x current,
Positive sequence is:
e d p ( t ) e q p ( t ) = T ( &theta; p ) e &alpha; p ( t ) e &beta; p ( t )
Negative phase-sequence:
e d n ( t ) e q n ( t ) = T ( &theta; n ) e &alpha; n ( t ) e &beta; n ( t )
Wherein,WithPositive and negative sequence voltage respectively under dq coordinate systems point Amount, T (θp)、T(θn) transformation matrix that positive-negative sequence α β coordinates are tied to positive-negative sequence dq coordinate system is respectively, WithPositive-negative sequence component of voltage respectively under α β coordinate systems;
3) active power on grid-connected reactor is calculated using the positive-negative sequence current under dq coordinate systems and grid-connected reactor parameter Consume DC component Δ P0, cosine component Δ Pc2, sinusoidal component Δ Ps2
4) obtain the reference value of the DC component of inverter active power of outputWith the reference value of reactive power DC component
5) using the value and power reference for obtaining, the positive and negative order components of inverter output current are calculated;
6) switching signal is obtained using the positive and negative order components of output current, and control inverter output current and defeated with switching signal Go out power;
The control method on the basis of double-current control method introduces power consumption on grid-connected reactor and joins as inverter The correction of power output, the positive and negative reference current of amendment are examined, and then realizes the suppression of 2 harmonic of DC voltage, and straight Stream end introduces energy-storage travelling wave tube, and the power that balancing generator sends is transported to the power of electrical network, realizes inverter direct current with inverter The voltage stabilization at end;
The step 6) it is specially:
61) under dq coordinate systems, the positive-negative sequence current of inverter output current obtains positive-negative sequence voltage signal Jing after PI controllers;
62) positive-negative sequence voltage signal obtains the voltage signal under α β coordinate systems through conversion;
63) switching signal of inverter, switching signal control inverter output current and power output are obtained again through SVPWM.
2. permanent magnet direct-drive wind power system low voltage crossing controlling party under a kind of unbalanced electric grid voltage according to claim 1 Method, it is characterised in that the step 1) it is specially:
11) three-phase power grid voltage is transformed under α β coordinate systems, line voltage is obtained using T/4 time expander methods under α β coordinate systems Positive and negative order components;
12) using step 11) in positive and negative order components under the α β coordinate systems that obtain, the lock for being oriented using positive-negative sequence respectively mutually side Method, obtains the phase theta of positive and negative sequence voltagep、θn
3. permanent magnet direct-drive wind power system low voltage crossing controlling party under a kind of unbalanced electric grid voltage according to claim 1 Method, it is characterised in that the step 4) it is specially:
41) DC voltage reference value is multiplied by DC voltage reference value Jing after PI controllers with the error of measured value, obtains inverse Become the reference value of the DC component of device active power of output
42) at points of common connection, voltage reference value obtains inverter output reactive power Jing after PI controllers with the error of measured value The reference value of DC component
4. permanent magnet direct-drive wind power system low voltage crossing controlling party under a kind of unbalanced electric grid voltage according to claim 3 Method, it is characterised in that to maintain unit power factor controlling,It is set to 0.
5. permanent magnet direct-drive wind power system low voltage crossing controlling party under a kind of unbalanced electric grid voltage according to claim 1 Method, it is characterised in that the energy-storage travelling wave tube is super capacitor or battery, is connected in parallel on DC side, low in inverter output power When generator sends power, dump power is stored by super capacitor, is sent power in generator and is exported less than inverter Power is sent to into electrical network during ability.
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