CN105071727A - Torque control method and system of permanent magnet synchronous direct-current wind generating set - Google Patents
Torque control method and system of permanent magnet synchronous direct-current wind generating set Download PDFInfo
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Abstract
The invention provides a torque control method and system of a permanent magnet synchronous direct-current wind generating set, wherein a voltage ripple prediction module estimates the capacitance voltage ripple amplitude of an MMC sub-module according to the working state of a converter; a reference voltage prediction module utilizes the sub-module capacitance voltage ripple amplitude and motor parameters to predict an alternating-current voltage of the MMC; and a motor current control module is used for realizing current control of the MMC in a rotor flux linkage oriented dq coordinate system. A dq shaft current instruction can be tracked rapidly and accurately under the condition that an alternating output voltage is distorted seriously, so that relatively good torque dynamic response performance is realized.
Description
Technical field
The present invention relates to flexible DC power transmission in electric power system, electric and electronic technical field, particularly, relate to a kind of method for controlling torque and system of the permanent magnet synchronous DC wind turbine generator based on MMC.
Background technology
Along with the fast development of wind generating technology, the scale of marine wind field is increasing, and single wind generator capacity also reaches 10MW rank.The submarine cable ac transmission of long distance creates many problems, such as produces larger reactive current, higher cost and loss etc., and therefore direct current converges the hot research problem becoming marine wind field delivery of electrical energy with transmission gradually.
For the wind turbine generator of access wind field high voltage direct drift net, need an AC-DC converter by low-voltage alternating-current generator access high voltage direct drift net.Modular multilevel converter (modularmultilevelconverter, MMC) flexible direct-current transmission field is widely used in, there is modular structure, there is good harmonic performance and lower loss, the two-way flow of energy can be realized, a kind of AC-DC converter being applicable to high-power high-voltage, for direct current wind power generation group provides a kind of converter solution preferably.For high-power offshore wind turbine, change gear box is the bottleneck problem of unit design, and magneto alternator group does not need gear box, simplify mechanical structure, improve reliability, having higher power factor, is the generator type being best suited for offshore wind turbine at present.
Based in the permanent magnet synchronous DC wind turbine generator of MMC, generator output AC frequency is lower, under MMC is operated in the condition of low frequency, low modulation ratio, submodule capacitor voltage fluctuation is larger, voltage fluctuation of capacitor is coupled in MMC ac output voltage by modulation, and AC voltage waveform is distorted.When using conventional vector control method to carry out direct torque, be subject to the impact of voltage distortion, dynamic control performance declines, and needs longer regulating time for given torque instruction.
Through retrieval, " automatic electric drive control system " (Chen Baishi, the third edition, China Machine Press, 2003), the vector control system discussed in the document is applicable to the voltage source converter (as two level, three-level converter etc.) of general type, and be operated in low modulation ratio, low-frequency MMC can produce the distortion of larger fundamental frequency voltages in output voltage, therefore traditional vector control system can not directly be applied in the permanent magnet synchronous DC wind turbine generator based on MMC, otherwise can affect its dynamic response process." modular multi-level converter low frequency control method " (Proceedings of the CSEE, 33rd volume, the 24th phase, 2013), the document has inquired into low-frequency operation when MMC drives as motor and control method, mainly by the voltage fluctuation of high-frequency current suppression module.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of method for controlling torque and system of the permanent magnet synchronous DC wind turbine generator based on MMC, can realize when ac output voltage is subject to Severe distortion following the tracks of fast and accurately the instruction of dq shaft current, thus realize good torque dynamic response performance.
Application scenario in the present invention is different from general MMC motor and drives, main feature is that MMC is operated in low modulation and compares state, the distortion that submodule voltage fluctuation causes in output voltage also from generally apply different, therefore scheme proposed by the invention is the application for the permanent magnet synchronous DC wind turbine generator based on MMC, can improve its dynamic response performance.
For realizing above object, the invention provides a kind of method for controlling torque of the permanent magnet synchronous DC wind turbine generator based on MMC, comprising:
Voltage ripple prediction steps: MMC submodule capacitor voltage ripple amplitude is estimated according to converter operating state; This step, according to active power instruction, power factor and generator speed, calculates MMC submodule capacitor voltage ripple amplitude;
Reference voltage prediction steps: the MMC submodule capacitor voltage ripple amplitude obtained by voltage ripple prediction steps is predicted with the reference voltage that exchanges of the parameter of electric machine to MMC; This step, according to capacitance voltage ripple amplitude, torque current instruction, motor AC frequency, calculates the interchange reference voltage predicted value of MMC under the dq coordinate system of rotor flux linkage orientation;
Current of electric rate-determining steps: for realize rotor flux linkage orientation dq coordinate system under the Current Control of MMC; This step predicts interchange reference voltage predicted value, the permanent-magnetic synchronous motor rotor angle of the MMC obtained according to the instruction of dq shaft current, motor three-phase current sampled value, reference voltage, calculates three-phase alternating voltage modulating wave.
Preferably, described capacitance voltage ripple amplitude V
ripplecalculate according to following formula:
001"/>
In formula: P is transmitting active power, N is bridge arm module number, and m is modulation ratio, and ω is alternating current angular frequency, V
cfor submodule electric capacity rated voltage, C
sMfor the capacitance of submodule electric capacity, cos φ is power factor.
More preferably, the exit potential based on the magneto alternator in the permanent magnet synchronous DC wind turbine generator of MMC is directly proportional to rotating speed, and therefore described modulation ratio is also directly proportional to rotating speed.
Preferably, when considering voltage distortion, under the dq coordinate system of rotor flux linkage orientation, the interchange reference voltage of described MMC is represented by following equation:
In formula: U
dcfor MMC DC bus-bar voltage rated value, R
sfor motor stator resistance, L
qfor motor stator equivalence q axle inductance, i
qfor torque current set-point, ψ
ffor rotor flux.
Preferably, in described current of electric rate-determining steps, use two pi regulators to control dq shaft current, and use the output of reference voltage prediction module as feedforward amount.
The present invention also provides a kind of moment controlling system of the permanent magnet synchronous DC wind turbine generator based on MMC, comprising: voltage ripple prediction module, reference voltage prediction module and current of electric control module, wherein:
Described voltage ripple prediction module, estimates MMC submodule capacitor voltage ripple amplitude according to converter operating state; This module be input as active power instruction, power factor and generator speed, the output of this module is capacitance voltage ripple amplitude, and the output of this module referenced voltage prediction module in subsequent treatment is called;
Described reference voltage prediction module, uses submodule capacitor voltage ripple amplitude to predict with the reference voltage that exchanges of the parameter of electric machine to MMC; This module be input as capacitance voltage ripple amplitude, torque current instruction, motor AC frequency, the output of this module is the interchange reference voltage of MMC under the dq coordinate system of rotor flux linkage orientation, and the output of this module is called in current of electric control module;
Described current of electric control module, for realize rotor flux linkage orientation dq coordinate system under the Current Control of MMC; This module be input as the instruction of dq shaft current, motor three-phase current sampled value, the interchange reference voltage predicted value of MMC, permanent-magnetic synchronous motor rotor angle, the output of this module is three-phase alternating voltage modulating wave.
Compared with prior art, the present invention has following beneficial effect:
The present invention can realize when ac output voltage is subject to Severe distortion following the tracks of fast and accurately the instruction of dq shaft current, thus realizes good torque dynamic response performance.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is the permanent magnet synchronous direct flow fan generating set schematic diagram of one embodiment of the invention based on MMC;
Fig. 2 is the direct torque block diagram of one embodiment of the invention based on the permanent magnet synchronous DC wind turbine generator of MMC;
Fig. 3 is d shaft current instruction response simulation result comparison diagram, and wherein (a) is simulation result figure of the present invention, and (b) is the result figure under conventional vector control method.
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
As shown in Figure 1, a kind of method for controlling torque of the permanent magnet synchronous DC wind turbine generator based on MMC, adopts as lower module realizes:
Voltage ripple prediction module, this module is estimated MMC submodule capacitor voltage ripple amplitude according to converter operating state, and described capacitance voltage ripple amplitude can according to expression formula
002"/>
Calculate, in formula:
P is transmitting active power, and N is bridge arm module number, and m is modulation ratio, and ω is alternating current angular frequency, V
cfor submodule electric capacity rated voltage, C
sMfor the capacitance of submodule electric capacity, cos φ is power factor.
In the present embodiment, the exit potential of magneto alternator is directly proportional to rotating speed, and therefore modulation ratio is also directly proportional to rotating speed.
In the present embodiment, described voltage ripple prediction module be input as active power instruction, power factor and generator speed, export as capacitance voltage ripple amplitude, and this output referenced voltage prediction module in subsequent treatment is called.
Reference voltage prediction module, this module uses submodule capacitor voltage ripple amplitude to predict with the reference voltage that exchanges of the parameter of electric machine to MMC; When considering voltage distortion, under the dq coordinate system of rotor flux linkage orientation, the interchange reference voltage of MMC can by equation
003"/>
Represent, in formula:
U
dcfor MMC DC bus-bar voltage rated value, R
sfor motor stator resistance, L
qfor motor stator equivalence q axle inductance, i
qfor torque current set-point, ψ
ffor rotor flux.
In the present embodiment, described reference voltage prediction module be input as capacitance voltage ripple amplitude, torque current instruction, motor AC frequency, the interchange reference voltage of MMC under the dq coordinate system that output is rotor flux linkage orientation, and this output is called in current of electric control module.
Current of electric control module, this module realizes the Current Control of MMC under the dq coordinate system of rotor flux linkage orientation, this module class controls like conventional vector, two pi regulators are used to control dq shaft current, but in feedforward amount, be different from conventional vector control, use the output of reference voltage prediction module as feedforward amount.
In the present embodiment, described current of electric control module be input as the instruction of dq shaft current, motor three-phase current sampled value, the interchange reference voltage predicted value of MMC, permanent-magnetic synchronous motor rotor angle, export as three-phase alternating voltage modulating wave.
In the present embodiment, be illustrated in figure 1 the permanent magnet synchronous direct flow fan generating set schematic diagram based on MMC, wherein: rated power is 10MW, DC bus-bar voltage is 50kV, brachium pontis submodule number is 14, each module rated voltage is 2500V, submodule electric capacity is 17mF, and brachium pontis inductance is 300 μ H, and switching frequency is 100Hz, magneto alternator rated line voltage is 6kV, rated speed is 4.2-11.9r/min, and motor d axle equivalent inductance is 7.51mH, and equivalent q axle inductance is 5.01mH, stator resistance is 6.24m Ω, and rotor flux is 27.6Wb.
Above-mentioned parameter is substituted into the control system that can arrive DC fan in control block diagram as shown in Figure 2, current-order can be obtained according to torque instruction, active power and power factor can be calculated in conjunction with motor speed, can obtain reference voltage predicted value by voltage ripple prediction module and reference voltage prediction module, this predicted value is accurately controlled after synthesizing with distorted voltage component after ovennodulation voltage.By emulating system at RT-LAB real-time simulation platform, the torque step instruction of 50% is sent to system, simulation result as shown in Figure 3, as can be seen from Figure 3, using under identical PI Parameter Conditions, in Fig. 3 (a), described in the present embodiment, method can follow the tracks of d shaft current fast, and in Fig. 3 (b), the response speed of conventional vector control method is comparatively slow, and then the method described in the present embodiment that demonstrates has torque corresponding speed faster.
The present invention predicts according to converter working condition antithetical phrase module capacitance voltage ripple amplitude; According to the interchange reference voltage of submodule capacitor voltage ripple prediction in distortion situation, improve conventional vector and control, improve dynamic property.The present invention can realize when ac output voltage is subject to Severe distortion following the tracks of fast and accurately the instruction of dq shaft current, thus realizes good torque dynamic response performance.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (7)
1. a method for controlling torque for permanent magnet synchronous DC wind turbine generator, is characterized in that, comprising:
Voltage ripple prediction steps: MMC submodule capacitor voltage ripple amplitude is estimated according to converter operating state; This step, according to active power instruction, power factor and generator speed, calculates MMC submodule capacitor voltage ripple amplitude;
Reference voltage prediction steps: the MMC submodule capacitor voltage ripple amplitude obtained by voltage ripple prediction steps is predicted with the reference voltage that exchanges of the parameter of electric machine to MMC; This step, according to capacitance voltage ripple amplitude, torque current instruction, motor AC frequency, calculates the interchange reference voltage predicted value of MMC under the dq coordinate system of rotor flux linkage orientation;
Current of electric rate-determining steps: for realize rotor flux linkage orientation dq coordinate system under the Current Control of MMC; This step predicts interchange reference voltage predicted value, the permanent-magnetic synchronous motor rotor angle of the MMC obtained according to the instruction of dq shaft current, motor three-phase current sampled value, reference voltage, calculates three-phase alternating voltage modulating wave.
2. the method for controlling torque of permanent magnet synchronous DC wind turbine generator according to claim 1, is characterized in that, described capacitance voltage ripple amplitude calculates according to following formula:
In formula: P is transmitting active power, N is bridge arm module number, and m is modulation ratio, and ω is alternating current angular frequency, V
cfor submodule electric capacity rated voltage, C
sMfor the capacitance of submodule electric capacity, cos φ is power factor.
3. the method for controlling torque of permanent magnet synchronous DC wind turbine generator according to claim 2, it is characterized in that, exit potential based on the magneto alternator in the permanent magnet synchronous DC wind turbine generator of MMC is directly proportional to rotating speed, and described modulation ratio is also directly proportional to rotating speed.
4. the method for controlling torque of the permanent magnet synchronous DC wind turbine generator according to any one of claim 1-3, it is characterized in that, when considering voltage distortion, under the dq coordinate system of rotor flux linkage orientation, the interchange reference voltage of described MMC is represented by following equation:
In formula: U
dcfor MMC DC bus-bar voltage rated value, R
sfor motor stator resistance, L
qfor motor stator equivalence q axle inductance, i
qfor torque current set-point, ψ
ffor rotor flux.
5. the method for controlling torque of the permanent magnet synchronous DC wind turbine generator according to any one of claim 1-3, it is characterized in that, in described current of electric rate-determining steps, use two pi regulators to control dq shaft current, and use the output of reference voltage prediction module as feedforward amount.
6. a moment controlling system for permanent magnet synchronous DC wind turbine generator, is characterized in that, comprising: voltage ripple prediction module, reference voltage prediction module and current of electric control module, wherein:
Described voltage ripple prediction module, estimates MMC submodule capacitor voltage ripple amplitude according to converter operating state; This module be input as active power instruction, power factor and generator speed, the output of this module is capacitance voltage ripple amplitude, and the output of this module referenced voltage prediction module in subsequent treatment is called;
Described reference voltage prediction module, uses submodule capacitor voltage ripple amplitude to predict with the reference voltage that exchanges of the parameter of electric machine to MMC; This module be input as capacitance voltage ripple amplitude, torque current instruction, motor AC frequency, the output of this module is the interchange reference voltage of MMC under the dq coordinate system of rotor flux linkage orientation, and the output of this module is called in current of electric control module;
Described current of electric control module, for realize rotor flux linkage orientation dq coordinate system under the Current Control of MMC; This module be input as the instruction of dq shaft current, motor three-phase current sampled value, the interchange reference voltage predicted value of MMC, permanent-magnetic synchronous motor rotor angle, the output of this module is three-phase alternating voltage modulating wave.
7. the moment controlling system of permanent magnet synchronous DC wind turbine generator according to claim 6, it is characterized in that, described current of electric control module uses two pi regulators to control dq shaft current, and uses the output of reference voltage prediction module as feedforward amount.
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| CN110165911A (en) * | 2019-05-16 | 2019-08-23 | 山东大学 | The stable state calculation method and application of multilevel converter in permanent-magnetic wind driven generator |
| US10707789B2 (en) | 2017-05-12 | 2020-07-07 | General Electric Company | Adaptive current damping module for improved power converter control in wind turbine systems |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106301102B (en) * | 2016-09-09 | 2019-03-01 | 湖南大学 | A kind of multiphase permanent magnet synchronous motor drive system and its control method |
| US10707789B2 (en) | 2017-05-12 | 2020-07-07 | General Electric Company | Adaptive current damping module for improved power converter control in wind turbine systems |
| CN110165911A (en) * | 2019-05-16 | 2019-08-23 | 山东大学 | The stable state calculation method and application of multilevel converter in permanent-magnetic wind driven generator |
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