CN104967376A - Doubly-fed wind generator rotor linkage deadbeat fault operation method - Google Patents
Doubly-fed wind generator rotor linkage deadbeat fault operation method Download PDFInfo
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Abstract
The invention discloses a doubly-fed wind generator rotor linkage deadbeat fault operation method. When power grid voltage drops, by means of a rotor voltage prediction model, in order to make the rotor linkage follow a given value in the model to realize the deadbeat control of the rotor linkage, the value of the rotor linkage at the next moment needs to be replaced by the given value of the rotor linkage at the next moment, the given value of the rotor linkage follows the actual value of the stator linkage, the predicted rotor voltage in a two-phase synchronous rotating coordinate system is subjected to coordinate reversion to obtain the rotor voltage in a two-phase rotor rotating speed rotating coordinate system, and at the end, PWM modulation is carried out. The fault operation method has the advantages of simple operation, good decoupling, fast dynamic response, and high robustness. The rotor linkage deadbeat control method is provided under the power grid fault state, the rotor fault current can be controlled within 1.5-1.6 times of the rated current, the electromagnetic torque ripple during the failure is reduced, the dynamic response speed is fast, and the control precision is high.
Description
Technical field
The invention belongs to double-fed wind power generator and run control technology field, power prediction when being specifically related to Power System Steady-state control and electrical network rapid drawdown time rotor flux dead-beat control method, double-fed wind power generator failure operation ability under stability when improving normal operation and malfunction.
Background technology
In recent years, power industry in China's development rapidly, was attracted attention by people.Along with the continuous increase of the continuous expansion of wind energy turbine set scale and the single-machine capacity of Wind turbines, the permeability of wind-powered electricity generation in electrical network progressively improves.Although too fast development brings considerable economic benefit, cause certain destruction also to the stability of electric power system.Caused the extensive off-grid of Wind turbines by electric network fault, very large impact can be caused to power grid security, consider the stability of electric power system, first must improve the reliability of Wind turbines itself.The stator and rotor direct grid-connected of double-fed wind power generator, can not effectively isolate contacting between electrical network, Wind turbines is very responsive to electric network fault, and in case of a fault, the control ability of low capacity pwm converter to double-fed wind power generator is also restricted, and causes the electric network fault serviceability of double-fed wind power generator more weak.
When line voltage steady operation, the vector control system of double-fed wind power generator rotor side converter generally adopts that power control loop is outer shroud, current regulator is the double circle structure of inner ring, rotor current reference value is obtained by exterior ring power adjuster, obtain rotor voltage reference value by inner ring current regulator, two adjusters all adopt PI linear controller.But because pwm converter is a kind of switching mode non linear system, linear controller is adopted to realize Control of Nonlinear Systems, certain departure and dynamic response time delay will be caused, whole Control system architecture is complicated in addition, dynamic property is not good enough, rely on larger to PI controller and generator parameter.Therefore propose power prediction to control, make stator side active power and reactive power fluctuation less, have implement simple, decoupling is better, dynamic response is fast, the advantage of strong robustness.
When line voltage rapid drawdown, the control realizing failure operation ability at present mainly contains three kinds of methods.First is realize failure operation ability by improving Excitation Control Strategy, and this method is applicable to minor failure, and when grid voltage sags is very dark, the failure operation that this excitation con-trol algorithm is difficult to realize electricity generation system controls.The second is series connection grid side converter, and this method can realize the failure operation in any situation, but its connected mode is complicated, and cost intensive, what adopt in actual applications is little.The third adopts rotor to increase crow bar protection to realize failure operation.When line voltage occur single-phase fall 90% or three-phase symmetrical fall 70% fault time, current most of control method is difficult to control within 2 times of its rated current to rotor current between age at failure, and electromagnetic torque fluctuation is larger, very large to the impulsive force of unit.The response speed of control system and the control precision of controller directly affect the inhibition of fault current.Propose rotor flux dead beat forecast Control Algorithm in the present invention, it has rapid dynamic response speed, precision is high, without features such as overshoots in control procedure, controller saturation can not be caused under the large disturbances such as electrical network catastrophe failure, not only can control rotor fault electric current within 1.5-1.6 times of rated current, and between age at failure, electromagnetic torque pulsation is less, effectively can improves the not off-grid serviceability of double-fed wind power generator under line voltage fault.
Summary of the invention
For the weak point of control strategy under Network Voltage Stability state and under malfunction, the invention provides a kind of double-fed wind power generator rotor magnetic linkage dead beat failure operation method, power prediction under Network Voltage Stability state controls, realize stator side active power and reactive power fluctuation less, have and implement simply, decoupling is better, dynamic response is fast, the advantage of strong robustness, rotor flux dead-beat control method is proposed under grid failure state, rotor fault electric current can be controlled within 1.5-1.6 times of rated current, between age at failure, electromagnetic torque pulsation is less, rapid dynamic response speed, control precision is high.
The present invention adopts following technical scheme for achieving the above object, and double-fed wind power generator rotor magnetic linkage dead beat failure operation method, is characterized in that concrete steps are:
(1), when Network Voltage Stability runs, stator three-phase voltage is gathered
u s
abc with stator three-phase current
i s
abc two-phase stator voltage under Coordinate Conversion obtains two-phase rest frame
u s
α β with two-phase stator current
i s
α β , gather rotor three-phase voltage
u r
abc with rotor three-phase electric current
i r
abc two-phase rotor voltage under Coordinate Conversion obtains two-phase rotor coordinate
u r
α β with two-phase rotor current
i r
α β ;
(2) stator magnetic linkage space bit angle setting, is calculated
θ 1, by the rotor velocity recorded
ω rcarry out integral and calculating to obtain
θ r;
(3), based on the two-phase synchronous rotating frame of stator flux orientation, stator magnetic linkage and rotor is calculated
αaxle clamp angle
θ 1-
θ r, then to stator two phase voltage
u s
α β , stator biphase current
i s
α β , rotor two phase voltage
u r
α β with rotor biphase current
i r
α β to carry out Coordinate Conversion and obtain stator and rotor current
d, qaxle component;
(4), by the stator current under two-phase synchronous rotating frame
i s
d ,
i sq , rotor current
i r
d ,
i r
q , stator self inductance
l s, rotor self-induction
l rand mutual inductance between rotor
l mcarry out stator magnetic linkage and rotor flux calculates stator magnetic linkage
d, qaxle component Ψ
s
d , Ψ
s
q and rotor flux
d, qaxle component Ψ
r
d , Ψ
r
q ;
(5), the voltage equation of double-fed wind power generator under two-phase synchronous rotating frame and flux linkage equations are:
,
,
,
, in formula: subscript s represents that all variablees are all at synchronous rotating frame, and subscript s and r represents stator variable and rotor variable respectively,
u s,
u rrepresent stator voltage and rotor voltage respectively,
r s,
r rrepresent stator resistance and rotor resistance respectively,
i s,
i rrepresent stator current and rotor current respectively,
ω 1,
ω rrepresent synchronous angular velocity and rotor velocity respectively, Ψ
s, Ψ
rrepresent stator magnetic linkage and rotor flux respectively,
l s,
l r,
l mrepresent the mutual inductance between stator self inductance, rotor self-induction and rotor respectively;
(6), can be obtained by the rotor magnetic linkage formula stator current in step (5):
, in formula:
, when Network Voltage Stability runs, double-fed aerogenerator stator voltage is a constant, and ignore the impact of stator resistance, the amplitude of stator magnetic linkage is:
;
(7), show that stator active power and reactive power are by the stator current formula in stator voltage formula in step (5) and step (6):
,
, in formula:
,
θfor the angle between rotor magnetic linkage;
(8), the d axle of synchronous rotating frame is oriented on stator magnetic linkage, that is:
, the representation in components under stator active power and reactive power d, q axis coordinate system is:
,
, stator side active power determined by rotor flux;
(9), Model Predictive Control object makes stator active power and reactive power follow its set-point, and in the k moment, stator active power and reactive power error are expressed as:
,
, to following formula be met in the k+1 moment:
,
, in k moment stator active power and reactive power variable quantity be:
, obtaining active power and reactive power variable quantity within a sampling period by the formula in step (8) is:
,
;
(10), suppose that the sampling period is
, by double-fed wind power generator rotor voltage formula discretely to obtain:
, in formula:
u r
d ,
u r
q be respectively the component of rotor voltage under two-phase synchronous rotating frame, active power in one-period in step (9) and reactive power variable quantity are substituted into rotor voltage formula can be obtained:
,
, obtain from formula
u r
d (k),
u r
q k (), will
u r
d (k),
u r
q k () rotor voltage under coordinate inverse transformation obtains two-phase rotor reference coordinate system, then carries out PWM;
(11), when grid voltage sags, carry out double-fed wind power generator rotor magnetic linkage dead beat PREDICTIVE CONTROL, the control frequency arranging control system improves 1 times, can be obtained through distortion by double-fed wind power generator rotor voltage dispersion formula in step (10):
,
, the target of rotor flux dead beat PREDICTIVE CONTROL makes rotor flux reach set-point in the k+1 moment, Ψ in formula
r
d (k+1), Ψ
r
q (k+1) rotor flux is respectively
d,
qaxle is at the set-point Ψ in k+1 moment
r
d *(k+1), Ψ
r
q *(k+1);
(12), the set-point of rotor flux calculates, that is: Ψ
r *=
mΨ
s, wherein
,
i s rfor stator current rated value, Ψ
s rfor stator magnetic linkage actual value, subscript r represents with rotor speed
ω rtwo phase coordinate systems rotated, subscript s represents the variable of stator side.Between age at failure
mcan with Ψ
s rtranslating self-adapting change, realize the real-time optimistic control to rotor flux, by obtain with rotor speed
ω rrotor flux reference value under the two-phase rotor coordinate rotated, through Coordinate Conversion, obtains the rotor flux reference value under two-phase synchronous rotating frame;
(13), by step (11)
u r
d (k),
u r
q k () rotor voltage under coordinate inverse transformation obtains two-phase rotor reference coordinate system, then carries out PWM.
When line voltage occur single-phase fall 90% or three-phase symmetrical fall 70% fault time, current most of control method is difficult to control within 2 times of its rated current to rotor current between age at failure, and electromagnetic torque fluctuation is larger, very large to the impulsive force of unit.Control method that the present invention carries is between age at failure
mcan change by electric network fault self-adapting, realize the real-time optimistic control of rotor flux between age at failure; In addition, by PREDICTIVE CONTROL magnetic linkage, than linear controller fast response time, can respond fast electric network fault, and there is not the controller saturation problem under large disturbances.The fault harm of effective alleviation, effectively can control rotor current within 1.5-1.6 times of rated current, and between age at failure, electromagnetic torque pulsation is less under the present invention nonserviceables.
Accompanying drawing explanation
Fig. 1 is two-phase stator
α βrest frame, two-phase rotor speed
ω rrotate
α r β rcoordinate system, two same pace
ω 1rotate
d qcoordinate system;
Fig. 2 is DFIG vector form equivalent electric circuit in two-phase synchronous rotating frame;
Fig. 3 is the structured flowchart of the normal period control method of line voltage;
Fig. 4 is the structured flowchart of line voltage fault period control method;
The operation result of different control method is adopted when Fig. 5 is under line voltage stable situation and grid voltage three-phase symmetrical falls 70%;
Fig. 6 adopts the operation result of different control method when being and falling 90% with line voltage is single-phase under line voltage stable situation.
Specific implementation method
Below in conjunction with accompanying drawing, the present invention will be further described.Fig. 1 is two-phase stator
α βrest frame, two-phase rotor speed
ω rrotate
α r β rcoordinate system, two same pace
ω 1rotate
d qcoordinate system.Control method of the present invention, based on two-phase synchronous rotating frame, by the stator current that collects and rotor current, through Coordinate Conversion, obtains the variable under two-phase synchronous rotating frame.
Fig. 2 is DFIG vector form equivalent electric circuit in two-phase synchronous rotating frame.Can draw thus double-fed aerogenerator stator voltage and rotor voltage formula as follows:
（1）
（2）
In formula: subscript s represents that all variablees are all at synchronous rotating frame, and subscript s and r represents stator variable and rotor variable respectively,
u s,
u rrepresent stator voltage and rotor voltage respectively,
r s,
r rrepresent stator resistance and rotor resistance respectively,
i s,
i rrepresent stator current and rotor current respectively,
ω 1,
ω rrepresent synchronous angular velocity and rotor velocity respectively, Ψ
s, Ψ
rrepresent stator magnetic linkage and rotor flux respectively.
The equation of double-fed wind power generator rotor magnetic linkage under two-phase synchronous rotating frame is:
（3）
（4）
In formula:
l s,
l r,
l srepresent the mutual inductance between stator self inductance, rotor self-induction and rotor respectively.
Can be obtained by formula (3) and (4):
（5）
In formula:
.
Ignore the impact of stator resistance, can obtain stator magnetic linkage amplitude by formula (1) is:
（6）
When Network Voltage Stability runs, stator magnetic linkage amplitude is constant.
Simultaneous formula (1) and formula (5), stator active power and reactive power are:
（7）
（8）
In formula:
,
θfor the angle between rotor magnetic linkage.
The d axle of synchronous rotating frame is oriented on stator magnetic linkage, that is:
, Ψ
s
d for the component of stator magnetic linkage on d axle, the representation in components under stator active power and reactive power d, q axis coordinate system is:
（9）
（10）
In formula:
p s,
q sbe respectively stator active power and reactive power, Ψ
s
d , Ψ
s
q be respectively stator magnetic linkage d, q axle component, Ψ
r
d , Ψ
r
q be respectively rotor flux d, q axle component.
In the k moment, the error of stator active power and reactive power can be expressed as:
（11）
（12）
Be make the error of stator active power and reactive power be 0 at the control objectives in k+1 moment, can be write as:
（13）
（14）
In order to meet the condition of formula (13) and formula (14), the variable quantity of k moment stator active power and reactive power is:
（15）
（16）
The variable quantity that can be obtained a sampling period internal power by formula (9) and formula (10) is:
（17）
（18）
Assuming that the sampling period is
t s, double-fed wind power generator is obtained two-phase synchronous rotating frame lower rotor part voltage equation is discrete:
（19）
（20）
In formula:
u r
d ,
u r
q be respectively the component of rotor voltage under two-phase synchronous rotating frame.
By formula (17), formula (18) substitutes into formula (19) respectively, formula (20) can obtain:
（21）
（22）
Under line voltage stable situation, obtain
u r
d (k),
u r
q k (), then through coordinate inverse transform, eventually passes PWM.
When grid voltage sags, carry out double-fed wind power generator rotor magnetic linkage dead beat PREDICTIVE CONTROL, the control frequency arranging control system improves 1 times.Formula (19), formula (20) can be obtained through distortion:
（23）
（24）
The target of rotor flux dead beat PREDICTIVE CONTROL makes rotor flux reach set-point in the k+1 moment, so Ψ in formula
r
d (k+1), Ψ
r
q (k+1) rotor flux is respectively
d,
qaxle is at the set-point Ψ in k+1 moment
r
d *(k+1), Ψ
r
q *(k+1).
Two-phase rotor speed
ω runder the coordinate system rotated, stators and rotators flux linkage equations can be expressed as:
Ψ
s r=
L s I s r+
L r I r r（25）
Ψ
r r=
L r I r r+
L m I s r（26）
Wherein
i swith
i rrepresent stator current and rotor current respectively, Ψ
sand Ψ
rrepresent stator magnetic linkage and rotor flux, subscript r represents with rotor speed
ω rrotate two phase coordinate systems, subscript s and r represents variable and the rotor-side variable of stator side respectively.
Can be obtained by formula (25) and formula (26):
（27）
Rotor current can be obtained, in computational process by formula (25) and formula (26)
:
（28）
In formula
l ls,
l lrrepresent stator leakage inductance and rotor leakage inductance respectively.
By the set-point Ψ of rotor flux
r *=
mΨ
ssubstitution formula (27) can obtain:
（28）
i s rfor the rated value of stator current, Ψ
s rfor the actual value of stator magnetic linkage.By the relation of rotor magnetic linkage and stator and rotor current, and rotor flux field weakening control method, obtain
mvalue size, between age at failure
mcan with Ψ
s rtranslating self-adapting changes, and realizes the real-time optimistic control to rotor flux.Instant of failure Ψ
s rvalue maximum, now
mget maximum, as can be seen from formula (28),
mlarger, rotor fault current value is less, and therefore can realize instant of failure and effectively control rotor current, instant of failure is particularly important to the control of rotor overcurrent.Double-fed aerogenerator stator side is directly connected with electrical network, and the distortion of stator side electric current is very large to electrical network harm, therefore between age at failure
i s rget rated value, to realize the adjustment to stator current between age at failure, control stator current within its maximum current allowed, the rotor speed finally will obtained
ω rrotate two-phase rotor coordinate under rotor flux reference value, through Coordinate Conversion, obtain the rotor flux reference value under two-phase synchronous rotating frame.
Double-fed wind power generator rotor magnetic linkage dead-beat control method, the control frequency arranging control system improves 1 times, it has rapid dynamic response speed, control precision is high, without features such as overshoots in failure process, not only can control rotor fault electric current within 1.5 ~ 1.6 times of rated current, and between age at failure, electromagnetic torque pulsation is less, reduce impact to generating set, effectively can improve double-fed wind power generator not off-grid serviceability under line voltage fault.
Detect double-fed wind power generator and the three-phase voltage of site, adopt control as shown in Figure 3 under steady state conditions, adopt control as shown in Figure 4 when an error occurs.Concrete steps are as follows: (1), when Network Voltage Stability moves, and gather stator three-phase voltage
U s
abc With stator three-phase current
I s
abc The two-phase stator voltage under two-phase rest frame is obtained through Coordinate Conversion
U s
α β With two-phase stator current
I s
α β , gather rotor three-phase voltage
U r
abc With rotor three-phase electric current
I r
abc The two-phase rotor voltage under two-phase rotor coordinate is obtained through Coordinate Conversion
U r
α β With two-phase rotor current
I r
α β ; (2) stator magnetic linkage space bit angle setting, is calculated
θ 1, by the rotor velocity recording
ω rCarry out integral and calculating to obtain
θ r; (3) the two-phase synchronous rotating frame, based on stator flux orientation, calculates stator magnetic linkage and rotor
αAxle clamp angle
θ 1-
θ r, then to stator two phase voltage
U s
α β , stator biphase current
I s
α β , rotor two phase voltage
U r
α β With rotor biphase current
I r
α β Carry out Coordinate Conversion and obtain stator and rotor current
D, qAxle component; (4), by the stator current under two-phase synchronous rotating frame
i s
d ,
i Sq , rotor current
i r
d ,
i r
q , stator self inductance
L s, rotor self-induction
L rAnd mutual inductance between rotor
L mCarry out stator magnetic linkage and rotor flux calculates stator magnetic linkage
D, qAxle component Ψ
s
d , Ψ
s
q And rotor flux
D, qAxle component Ψ
r
d , Ψ
r
q ; (5), voltage equation and the flux linkage equations of double-fed wind power generator under two-phase synchronous rotating frame is:
,
,
,
, in formula: subscript s represents all variablees all at synchronous rotating frame, subscript s and r represents respectively stator variable and rotor variable,
U s,
U rRepresent respectively stator voltage and rotor voltage,
R s,
R RRepresent respectively stator resistance and rotor resistance,
I s,
I rRepresent respectively stator current and rotor current,
ω 1,
ω rRepresent respectively synchronous angular velocity and rotor velocity, Ψ
s, Ψ
rRepresent respectively stator magnetic linkage and rotor flux,
L s,
L r,
L mRepresent respectively the mutual inductance between stator self inductance, rotor self-induction and rotor; (6), can be obtained by the rotor magnetic linkage formula stator current in step (5):
, in formula:
, when Network Voltage Stability moves, double-fed aerogenerator stator voltage is a constant, and ignore the impact of stator resistance, the amplitude of stator magnetic linkage is:
; (7), show that by the stator current formula in stator voltage formula in step (5) and step (6) stator active power and reactive power are:
,
, in formula:
,
θFor the angle between rotor magnetic linkage; (8), on stator magnetic linkage, that is: the d axle of synchronous rotating frame is oriented in
, the representation in components under stator active power and reactive power d, q axis coordinate system is:
,
, stator side active power is determined by rotor flux; (9), Model Predictive Control object is to make stator active power and reactive power follow its set-point, in the k moment, stator active power and reactive power error are expressed as:
,
, following formula to be met in the k+1 moment:
,
, in k moment stator active power and reactive power variable quantity be:
, obtaining active power and reactive power variable quantity within a sampling period by the formula in step (8) is:
,
; (10), the supposition sampling period is
, by double-fed wind power generator discrete the obtaining of rotor voltage formula:
, in formula:
u r
d ,
u r
q Be respectively the component of rotor voltage under two-phase synchronous rotating frame, active power in one-period in step (9) and reactive power variable quantity are put into rotor voltage formula can be obtained:
,
, from formula, obtain
u r
d (k),
u r
q (k), will
u r
d (k),
u r
q (k) obtain the rotor voltage under two-phase rotor reference coordinate system through coordinate inverse transformation, then carry out PWM; (11),When grid voltage sags, carry out double-fed wind power generator rotor magnetic linkage dead beat PREDICTIVE CONTROL, the controlled frequency that control system is set improves 1 doubly, can be obtained through distortion by double-fed wind power generator rotor voltage dispersion formula in step (10):
,
, the target of rotor flux dead beat PREDICTIVE CONTROL is to make rotor flux reach set-point in the k+1 moment, Ψ in formula
r
d (k+1), Ψ
r
q (k+1) rotor flux is respectively
d,
qAxle is at the set-point Ψ in k+1 moment
r
d *(k+1), Ψ
r
q *(k+1); (12), the set-point of rotor flux calculates, that is: Ψ
r *=
MΨ
s,Wherein
,
I s rFor stator current rated value, Ψ
s rFor stator magnetic linkage actual value, subscript r represents with rotor speed
ω rTwo phase coordinate systems of rotation, subscript s represents the variable of stator side.Between age at failure
mcan with Ψ
s rtranslating self-adapting change, realize the real-time optimistic control to rotor flux, by obtain with rotor speed
ω rrotor flux reference value under the two-phase rotor coordinate rotated, through Coordinate Conversion, obtains the rotor flux reference value under two-phase synchronous rotating frame; (13), by step (11)
u r
d (k),
u r
q k () rotor voltage under coordinate inverse transformation obtains two-phase rotor reference coordinate system, then carries out PWM.
Fig. 5 be line voltage normal time and fault time adopt the operation result figure of different control method.When 0-0.3s, rotor converter adopts power prediction to control, and this control method can make rotor current steady operation, and the basic ripple disable of electromagnetic torque, can keep the stability of active power and reactive power; At 0.3s, line voltage generation three-phase symmetrical falls 70% fault, rotor-side converter is switched to rotor flux track with zero error, the method can to control between age at failure rotor current within 1.5-1.6 times of rated current, electromagnetic torque fluctuation is less, active power and reactive power fluctuation less, improve double-fed wind power generator failure operation ability.
Fig. 6 be line voltage normal time and fault time adopt the operation result figure of different control method.When 0-0.3s, rotor converter adopts power prediction to control, and this control method can make rotor current steady operation, and the basic ripple disable of electromagnetic torque, can keep the stability of active power and reactive power; At 0.3s, line voltage breaks down, rotor-side converter is switched to rotor flux track with zero error, the method can to control between age at failure rotor current within 1.5-1.6 times of rated current, electromagnetic torque fluctuation is less, active power and reactive power fluctuation less, improve double-fed wind power generator failure operation ability.
Embodiment above describes general principle of the present invention, principal character and advantage; the technical staff of the industry should understand; the present invention is not restricted to the described embodiments; what describe in above-described embodiment and specification just illustrates principle of the present invention; under the scope not departing from the principle of the invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the scope of protection of the invention.
Claims (1)
1. double-fed wind power generator rotor magnetic linkage dead beat failure operation method, is characterized in that concrete steps are:
(1), when Network Voltage Stability runs, stator three-phase voltage is gathered
u s
abc with stator three-phase current
i s
abc two-phase stator voltage under Coordinate Conversion obtains two-phase rest frame
u s
α β with two-phase stator current
i s
α β , gather rotor three-phase voltage
u r
abc with rotor three-phase electric current
i r
abc two-phase rotor voltage under Coordinate Conversion obtains two-phase rotor coordinate
u r
α β with two-phase rotor current
i r
α β ;
(2) stator magnetic linkage space bit angle setting, is calculated
θ 1, by the rotor velocity recorded
ω rcarry out integral and calculating to obtain
θ r;
(3), based on the two-phase synchronous rotating frame of stator flux orientation, stator magnetic linkage and rotor is calculated
αaxle clamp angle
θ 1-
θ r, then to stator two phase voltage
u s
α β , stator biphase current
i s
α β , rotor two phase voltage
u r
α β with rotor biphase current
i r
α β to carry out Coordinate Conversion and obtain stator and rotor current
d, qaxle component;
(4), by the stator current under two-phase synchronous rotating frame
i s
d ,
i s q , rotor current
i r
d ,
i r
q , stator self inductance
l s, rotor self-induction
l rand mutual inductance between rotor
l mcarry out stator magnetic linkage and rotor flux calculates stator magnetic linkage
d, qaxle component Ψ
s
d , Ψ
s
q and rotor flux
d, qaxle component Ψ
r
d , Ψ
r
q ;
(5), the voltage equation of double-fed wind power generator under two-phase synchronous rotating frame and flux linkage equations are:
,
,
,
, in formula: subscript s represents that all variablees are all at synchronous rotating frame, and subscript s and r represents stator variable and rotor variable respectively,
u s,
u rrepresent stator voltage and rotor voltage respectively,
r s,
r rrepresent stator resistance and rotor resistance respectively,
i s,
i rrepresent stator current and rotor current respectively,
ω 1,
ω rrepresent synchronous angular velocity and rotor velocity respectively, Ψ
s, Ψ
rrepresent stator magnetic linkage and rotor flux respectively,
l s,
l r,
l mrepresent the mutual inductance between stator self inductance, rotor self-induction and rotor respectively;
(6), can be obtained by the rotor magnetic linkage formula stator current in step (5):
, in formula:
, when Network Voltage Stability runs, double-fed aerogenerator stator voltage is a constant, and ignore the impact of stator resistance, the amplitude of stator magnetic linkage is:
;
(7), show that stator active power and reactive power are by the stator current formula in stator voltage formula in step (5) and step (6):
,
, in formula:
,
θfor the angle between rotor magnetic linkage;
(8), the d axle of synchronous rotating frame is oriented on stator magnetic linkage, that is:
, the representation in components under stator active power and reactive power d, q axis coordinate system is:
,
, stator side active power determined by rotor flux;
(9), Model Predictive Control object makes stator active power and reactive power follow its set-point, and in the k moment, stator active power and reactive power error are expressed as:
,
, to following formula be met in the k+1 moment:
,
, in k moment stator active power and reactive power variable quantity be:
, obtaining active power and reactive power variable quantity within a sampling period by the formula in step (8) is:
,
;
(10), suppose that the sampling period is
, by double-fed wind power generator rotor voltage formula discretely to obtain:
, in formula:
u r
d ,
u r
q be respectively the component of rotor voltage under two-phase synchronous rotating frame, active power in one-period in step (9) and reactive power variable quantity are substituted into rotor voltage formula can be obtained:
,
, obtain from formula
u r
d (k),
u r
q k (), will
u r
d (k),
u r
q k () rotor voltage under coordinate inverse transformation obtains two-phase rotor reference coordinate system, then carries out PWM;
(11), when grid voltage sags, carry out double-fed wind power generator rotor magnetic linkage dead beat PREDICTIVE CONTROL, the control frequency arranging control system improves 1 times, can be obtained through distortion by double-fed wind power generator rotor voltage dispersion formula in step (10):
,
, the target of rotor flux dead beat PREDICTIVE CONTROL makes rotor flux reach set-point in the k+1 moment, Ψ in formula
r
d (k+1), Ψ
r
q (k+1) rotor flux is respectively
d,
qaxle is at the set-point Ψ in k+1 moment
r
d *(k+1), Ψ
r
q *(k+1);
(12), the set-point of rotor flux calculates, that is: Ψ
r *=
mΨ
s, wherein
,
i s rfor stator current rated value, Ψ
s rfor stator magnetic linkage actual value, subscript r represents with rotor speed
ω rtwo phase coordinate systems rotated, subscript s represents the variable of stator side, between age at failure
mcan with Ψ
s rtranslating self-adapting change, realize the real-time optimistic control to rotor flux, by obtain with rotor speed
ω rrotor flux reference value under the two-phase rotor coordinate rotated, through Coordinate Conversion, obtains the rotor flux reference value under two-phase synchronous rotating frame;
(13), by step (11)
u r
d (k),
u r
q k () rotor voltage under coordinate inverse transformation obtains two-phase rotor reference coordinate system, then carries out PWM.
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| CN110838808A (en) * | 2019-11-18 | 2020-02-25 | 东南大学 | Diagnosis-free self-repairing method for open-circuit fault of double three-phase permanent magnet synchronous motor driving system |
| CN110838808B (en) * | 2019-11-18 | 2021-03-16 | 东南大学 | Diagnosis-free self-repairing method for open-circuit fault of double three-phase permanent magnet synchronous motor driving system |
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