CN105515040B - A kind of DFIG control methods based on sliding formwork+repetition - Google Patents
A kind of DFIG control methods based on sliding formwork+repetition Download PDFInfo
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- 238000009415 formwork Methods 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims abstract description 35
- 230000003252 repetitive effect Effects 0.000 claims abstract description 20
- 230000033228 biological regulation Effects 0.000 claims abstract description 5
- 230000001360 synchronised effect Effects 0.000 claims description 72
- 230000004907 flux Effects 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 8
- 239000004576 sand Substances 0.000 claims description 5
- 238000010276 construction Methods 0.000 claims description 3
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- 230000000694 effects Effects 0.000 abstract description 3
- 230000004044 response Effects 0.000 abstract description 3
- 238000006243 chemical reaction Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 7
- 238000004088 simulation Methods 0.000 description 6
- 230000009466 transformation Effects 0.000 description 5
- 239000011159 matrix material Substances 0.000 description 3
- 230000002411 adverse Effects 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 210000001258 synovial membrane Anatomy 0.000 description 2
- 238000000844 transformation Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000004870 electrical engineering Methods 0.000 description 1
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- H02J3/386—
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/76—Power conversion electric or electronic aspects
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Abstract
The invention discloses a kind of DFIG control methods based on sliding formwork+repetition, it using d axle rotor current and q axle rotor current of the sliding formwork control directly to DFIG due to being controlled, the uneoupled control of DFIG active power and reactive power is realized, and the dynamic response capability of system is greatly promoted.Present invention employs Repetitive controller to adjust stator current, can eliminate any order harmonic components of the stator current caused by any subharmonic of line voltage, reaches balance and the output of sinusoidal threephase stator electric current.Compared to traditional control method, possess stronger dynamic regulation ability, any subharmonic stator current can be suppressed, and then enhance the control effect to DFIG, be more suitable for the unpredicted actual electric network situation of harmonic pollution situation.
Description
Technical field
The invention belongs to wind-power electricity generation control technology field, and in particular to a kind of DFIG controlling parties based on sliding formwork+repetition
Method.
Background technology
AC excitation double-fed asynchronous generator (doubly fed induction generator, DFIG) has speed change permanent
The advantages that frequency is run, active power and reactive power independence uneoupled control and frequency inverter capacity are small, obtains in wind power generation field
It is widely applied.Wherein DFIG stator is joined directly together with power network, and grid condition will directly affect the operation of system.China
Standard GB/T/T15543-2008《Quality of power supply imbalance of three-phase voltage》And GB/T14549-1993《The quality of power supply-public
Mains by harmonics》, it is allowed in normal operation power network, certain negative sequence voltage and each harmonic voltage be present.Under the power network, DFIG
Uneven and harmonic distortion will occur for stator output current, most probably beyond GB/T14549-1993《The quality of power supply-utility network
Harmonic wave》Specified in higher limit.If grid-connected by force, power grid quality is will further decrease, influences the power grid environment of power load etc..
Therefore, the control technology of DFIG under non-ideal grid conditions is inquired into, it is uneven and humorous with the stator current for eliminating thus introduced
Wave component.At present, the research to this mainly has both at home and abroad：1) vector control method based on resonant controller；2) resonance sliding formwork
Control method.Wherein Hu Jiabing etc. are in document " Coordinated control of DFIG ' s RSC and GSC
under generalized unbalanced and distorted grid voltage conditions”(IEEE
Transations on Industrial Electronics, 2013) resonant regulator is added in traditional vector controlled in,
Full space and the year top gem of a girdle-pendant are in document " doubly fed induction generator resonance sliding formwork control technology under uneven and harmonic voltage " (Chinese electrical engineering
Journal, 2015) resonant regulator is added in sliding formwork control in, all system is obtained to the harmonic current at the resonance point point
The control ability of amount.However, a resonant regulator can only be controlled to the specific subharmonic at resonant frequency, therefore
Belong to specified subharmonic control technology.But in actual electric network, it is also possible to other each harmonics be present.It is now secondary humorous using specifying
Ripple control technology, it will be unable to suppress the current distortion brought by other harmonic voltages, it is difficult to meet the requirement of grid-connected specification.If need
, it is necessary to the resonance regulation of the sizable different resonant frequencies of number when being controlled to all harmonic currents being likely to occur
Device.Excessive resonant regulator causes system more closed-loop poles occur, the stability of a system is adversely affected, such as Fig. 1
It is shown.
The content of the invention
For the above-mentioned technical problem present in prior art, the invention provides a kind of DFIG based on sliding formwork+repetition
Control method, go for the power grid environment of any subharmonic pollution, can also reduce control delay and possess faster response
Characteristic.
A kind of DFIG control methods based on sliding formwork+repetition, comprise the following steps：
(1) DFIG threephase stator voltage, threephase stator electric current, three-phase rotor current, rotating speed and rotor-position is gathered
Angle, DFIG threephase stator voltage, threephase stator electric current, three-phase rotor electricity is determined by coordinate transform according to rotor position angle
The component of stream, stator magnetic linkage and rotor flux in synchronous speed rotates d-q coordinate systems；
(2) the d axis components of given rotor current reference value are madeWith q axis componentsRotor current actual value is individually subtracted
D axis components IrdWith q axis components Irq, obtain the d axis component Δs I of the rotor current margin of errorrdWith q axis component Δs Irq；Respectively to turning
The d axis component Δs I of the electron current margin of errorrdWith q axis component Δs IrqPI regulations are carried out, obtain d axle sliding formwork values SdWith q axle sliding formwork values
Sq；
(3) according to described d axle sliding formwork values SdWith q axle sliding formwork values Sq, it is calculated sliding in synchronous speed rotation d-q coordinate systems
The switch controlled quentity controlled variable of mould control；According to the electrical quantity of collection and DFIG model parameters, calculate sliding in synchronous speed rotation d-q coordinate systems
The equivalent control amount of mould control；Switch control is added with equivalent control amount, obtains the sliding formwork in synchronous speed rotation d-q coordinate systems
Controlled quentity controlled variable；
(4) the d axis components that given stator current refers to are madeWith q axis componentsStator current actual value is individually subtracted
D axis components IsdWith q axis components Isq, respectively to the d axis component Δs I of stator current error amountsdWith q axis component Δs IsqRepeated
Control to adjust, obtain the Repetitive controller amount in synchronous speed rotation d-q coordinate systems；
(5) sliding-mode control law in synchronous speed rotation d-q coordinate systems is added with Repetitive controller amount, obtain synchronous speed rotation
Rotor voltage instruction in d-q coordinate systems；Park is carried out to component of the rotor voltage instruction in synchronous speed rotates d-q coordinate systems
Conversion, obtain rotor voltage and instruct the component in stationary rotor alpha-beta coordinate system；And then instructed according to rotor voltage quiet in rotor
Only the component in alpha-beta coordinate system obtains one group of pwm signal to be controlled to DFIG pusher side current transformers by SVPWM technical constructions
System.
In described step (1), stator magnetic linkage and rotor flux are calculated according to following formula and rotate d-q coordinates in synchronous speed
Component in system：
ψsd=LsIsd+LmIrd ψrd=LrIrd+LmIsd
ψsq=LsIsq+LmIrq ψrq=LrIrq+LmIsq
Wherein：ΨsdAnd ΨsqRespectively d axis component and q axle point of the stator magnetic linkage in synchronous speed rotates d-q coordinate systems
Amount, ΨrdAnd ΨrqRespectively d axis component and q axis component of the rotor flux in synchronous speed rotates d-q coordinate systems, IsdAnd IsqPoint
Not Wei threephase stator electric current synchronous speed rotate d-q coordinate systems in d axis components and q axis components, IrdAnd IrqRespectively three-phase turns
D axis component and q axis component of the electron current in synchronous speed rotates d-q coordinate systems, LsAnd LrRespectively DFIG stator inductance and turn
Sub- inductance, LmFor DFIG rotor mutual inductance.
In described step (2), the d axle sliding formwork values S in synchronous speed rotates d-q coordinate systems is calculated according to following formulad
With q axle sliding formwork values Sq：
Wherein：ΔIrdWith Δ IrqRespectively d axis component and q of the rotor current error in synchronous speed rotates d-q coordinate systems
Axis component, WithRespectively d axles rotor current reference quantity and the reference of q axles rotor current
Amount, IrdAnd IrqRespectively d axis component and q axis component of the three-phase rotor current in synchronous speed rotates d-q coordinate systems, kpIt is given
Proportionality coefficient, kiFor given integral coefficient, s is Laplace operator.
In described step (3), the switch controlled quentity controlled variable of sliding formwork control is calculated according to following formula：
ΔVd=kssat(Sd)+kiΔIrd
ΔVq=kssat(Sq)+kiΔIrq
Wherein：ΔVrdWith Δ VrqSwitch controlled quentity controlled variable respectively in sliding formwork control is in synchronous speed rotates d-q coordinate systems
D axis components and q axis components, sat are saturation function, ksFor given sliding formwork control coefficient.
The equivalent control amount of sliding formwork control is calculated according to following formula：
Wherein：Vd_eqAnd Vq_eqD of the equivalent control amount in synchronous speed rotates d-q coordinate systems respectively in sliding formwork control
Axis component and q axis components；ΨsdAnd ΨsqRespectively d axis component and q axle of the stator magnetic linkage in synchronous speed rotates d-q coordinate systems
Component；IsdAnd IsqRespectively d axis component and q axis component of the threephase stator electric current in synchronous speed rotates d-q coordinate systems, UsdWith
UsqRespectively d axis component and q axis component of the threephase stator voltage in synchronous speed rotates d-q coordinate systems；ωslFor slip angle speed
Degree；LsAnd LrRespectively DFIG stator inductance and inductor rotor, LmFor DFIG rotor mutual inductance；σ=1-Lm 2/(Ls Lr),
For leakage inductance coefficient.
Switch controlled quentity controlled variable is added with equivalent control amount, obtains d of the synovial membrane controlled quentity controlled variable in synchronous speed rotates d-q coordinate systems
Axis component Vdˊ and q axis components Vqˊ：
Vd'=Δ Vd+Vd_eq
Vq'=Δ Vq+Vq_eq
In described step (4), Repetitive controller amount is calculated according to following formula：
Wherein：Vdˊ ˊ and Vqˊ ˊ are respectively d axis component and q axle point of the Repetitive controller amount in synchronous speed rotates d-q coordinate systems
Amount；ΔIsdWith Δ IsqRespectively d axis component and q axis component of the stator current error in synchronous speed rotates d-q coordinate systems, WithThe respectively d axles and q axis components of stator harmonic current reference quantity,IsdAnd IsqRespectively d axis component and q axle point of the threephase stator electric current in synchronous speed rotates d-q coordinate systems
Amount；krFor given Repetitive controller coefficient；kfTo improve the given coefficient of Repetitive controller stability；S is Laplace operator；T=
0.01。
The present invention refers to without carrying out complicated positive-negative sequence and harmonic component extraction without complicated rotor current is carried out
Value calculates, and can greatly reduce control delay, the rapidity and stability of strengthening system.The present invention uses rotor current and stator
Current double closed-loop controls；Wherein rotor current closed loop uses sliding formwork control technology, ensures the quick dynamic response capability of system；It is fixed
Electron current closed loop uses Repetitive Control Technique so that and system obtains the rejection ability to any order harmonic components of stator current,
The Stator Current Harmonic component as caused by any order harmonic components in line voltage can be eliminated.Therefore it is able to ensure that humorous at any time
Sinusoidal stator output current is kept under ripple pollution power grid environment, so as to effectively improve DFIG under actual electric network voltage conditions
Control performance is run, to meet that harmonic injection as defined in professional standard limits, it is ensured that the quality of power supply and the stability of power system
And safety.
Compared to traditional control method, shared software space is reduced, possesses stronger dynamic regulation ability, it is most heavy
Want, the harmonic component caused by any subharmonic of line voltage in stator current can be eliminated, be more applicable for distorting
The unpredicted actual electric network of situation.
Therefore the inventive method is used to realize DFIG electricity generation systems under the conditions of the line voltage that any subharmonic pollutes
Strengthen control targe, effectively improve the output quality of power supply under such generator actual electric network.The inventive method is also suitable simultaneously
In the three-phase inversion dress of other all kinds of form PWM controls formed using HF switch self-turn-off device in addition to DFIG blower fans
Put effective control of the dynamoelectric machine converter plant in the electric power regulator drive of composition.
Brief description of the drawings
Fig. 1 is principle schematic of the tradition based on specified 5 times and the control method of 7 subharmonic.
Fig. 2 is the principle schematic of control method of the present invention.
Fig. 3 (a) is to be distorted in power network containing 5%5 times and 5%7 subharmonic, and 5 times and 7 subharmonic controlling parties are specified using tradition
DFIG simulation waveform under method.
Fig. 3 (b) is to be distorted in power network containing 5%7 times and 5%13 subharmonic, using under the specified subharmonic control method of tradition
DFIG simulation waveform.
Fig. 3 (c) is to be distorted in power network containing 5%17 times and 5%19 subharmonic, using under the specified subharmonic control method of tradition
DFIG simulation waveform.
Fig. 4 (a) is to be distorted in power network containing 10%5 times and 10%7 subharmonic, is imitated using DFIG under control method of the present invention
True oscillogram.
Fig. 4 (b) is to be distorted in power network containing 10%7 times and 10%13 subharmonic, using DFIG under control method of the present invention
Simulation waveform.
Fig. 4 (c) is to be distorted in power network containing 10%17 times and 10%19 subharmonic, using DFIG under control method of the present invention
Simulation waveform.
Embodiment
In order to more specifically describe the present invention, below in conjunction with the accompanying drawings and embodiment is to DFIG controlling parties of the present invention
Method is described in detail.
In the present embodiment, the parameter of electric machine for the DFIG to be controlled is as shown in table 1：
Table 1
As shown in Fig. 2 a kind of DFIG control methods based on sliding formwork+repetition, comprise the following steps：
(1) DFIG threephase stator voltage U is gathered using Hall voltage sensor 1sa~Usc, sensed using Hall current
Device 2 gathers DFIG threephase stator electric current Isa~IscWith three-phase rotor current Ira~Irc；Turning for DFIG is detected using encoder 3
Fast ω and rotor position angle θr；
First, using Parke conversion modules 4 according to below equation respectively to threephase stator voltage Usa~UscDetermine with three-phase
Electron current Isa~IscParke conversion is carried out, obtains d axis component U of the threephase stator voltage in synchronous speed rotates d-q coordinate systemssd
With q axis components UsqAnd d axis component I of the threephase stator electric current in synchronous speed rotates d-q coordinate systemssdWith q axis components Isq；
The transformation matrix of Parke conversion is as follows：
Wherein：θ is the instantaneous electrical angle of three-phase primary voltage.
Similarly, using Parke conversion modules 5 to three-phase rotor current Ira~IrcParke is carried out to convert to obtain three-phase rotor
D axis component I of the electric current in synchronous speed rotates d-q coordinate systemsrdWith q axis components Irq；The transformation matrix of Parke conversion is as follows：
Wherein：The angle of Parke conversion is slippage angle, θsl=θ-θr。
Then, stator magnetic linkage and rotor flux is calculated according to following formula using flux linkage calculation module 6 to rotate in synchronous speed
Component in d-q coordinate systems：
ψsd=LsIsd+LmIrd ψrd=LrIrd+LmIsd
ψsq=LsIsq+LmIrq ψrq=LrIrq+LmIsq
Wherein：ΨsdAnd ΨsqRespectively d axis component and q axle point of the stator magnetic linkage in synchronous speed rotates d-q coordinate systems
Amount, ΨrdAnd ΨrqRespectively d axis component and q axis component of the rotor flux in synchronous speed rotates d-q coordinate systems, LsAnd LrRespectively
For DFIG stator inductance and inductor rotor, LmFor DFIG rotor mutual inductance.In present embodiment, Ls=2.5773mH, Lr=
2.5834mH Lm=2.5mH.
(2) the d axle sliding formwork values S in synchronous speed rotates d-q coordinate systems is calculated according to following formuladWith q axle sliding formwork values Sq：
Wherein：ΔIrdWith Δ IrqRespectively d axis component and q of the rotor current error in synchronous speed rotates d-q coordinate systems
Axis component, WithRespectively d axles rotor current reference quantity and the reference of q axles rotor current
Amount, IrdAnd IrqRespectively d axis component and q axis component of the three-phase rotor current in synchronous speed rotates d-q coordinate systems, kpIt is given
Proportionality coefficient, kiFor given integral coefficient, s is Laplace operator.
(3) the switch controlled quentity controlled variable of sliding formwork control is calculated according to following formula：
ΔVd=kssat(Sd)+kiΔIrd
ΔVq=kssat(Sq)+kiΔIrq
Wherein：ΔVrdWith Δ VrqSwitch controlled quentity controlled variable respectively in sliding formwork control is in synchronous speed rotates d-q coordinate systems
D axis components and q axis components, sat are saturation function, ksFor given sliding formwork control coefficient.
The equivalent control amount of sliding formwork control is calculated according to following formula：
Wherein：Vd_eqAnd Vq_eqD of the equivalent control amount in synchronous speed rotates d-q coordinate systems respectively in sliding formwork control
Axis component and q axis components；ΨsdAnd ΨsqRespectively d axis component and q axle of the stator magnetic linkage in synchronous speed rotates d-q coordinate systems
Component；IsdAnd IsqRespectively d axis component and q axis component of the threephase stator electric current in synchronous speed rotates d-q coordinate systems, UsdWith
UsqRespectively d axis component and q axis component of the threephase stator voltage in synchronous speed rotates d-q coordinate systems；ω sl are slip angle speed
Degree；LsAnd LrRespectively DFIG stator inductance and inductor rotor, LmFor DFIG rotor mutual inductance；σ=1-Lm 2/(Ls Lr),
For leakage inductance coefficient.
Switch controlled quentity controlled variable is added with equivalent control amount, obtains d of the synovial membrane controlled quentity controlled variable in synchronous speed rotates d-q coordinate systems
Axis component Vdˊ and q axis components Vqˊ：
Vd'=Δ Vd+Vd_eq
Vq'=Δ Vq+Vq_eq
(4) Repetitive controller amount is calculated according to following formula：
Wherein：Vdˊ ˊ and Vqˊ ˊ are respectively d axis component and q axle point of the Repetitive controller amount in synchronous speed rotates d-q coordinate systems
Amount；ΔIsdWith Δ IsqRespectively d axis component and q axis component of the stator current error in synchronous speed rotates d-q coordinate systems, WithThe respectively d axles and q axis components of stator harmonic current reference quantity,IsdAnd IsqRespectively d axis component and q axle point of the threephase stator electric current in synchronous speed rotates d-q coordinate systems
Amount；krFor given Repetitive controller coefficient；kfTo improve the given coefficient of Repetitive controller stability；S is Laplace operator；T=
0.01。
(5) synchronous speed is rotated to the dq axis components of the sliding-mode control law in d-q coordinate systems and the dq axles point of Repetitive controller amount
Amount is separately summed, and obtains the rotor voltage instruction in synchronous speed rotation d-q coordinate systems；
Vrd=Vd′+Vd″
Vrq=Vq′+Vq″
Wherein：VrdAnd VrqRespectively d axis component and q axle point of the rotor voltage instruction in synchronous speed rotates d-q coordinate systems
Amount；
The component in synchronous speed rotates d-q coordinate systems is instructed to carry out to rotor voltage using Parker inverse transform blocks 7
Park inverse transformations, obtain rotor voltage and instruct the component in stationary rotor alpha-beta coordinate system；The transformation matrix of Parke inverse transformations
It is as follows：
And then the component V in stationary rotor alpha-beta coordinate system is instructed according to rotor voltagerα~Vrβ, modulated using SVPWM
Module 8 obtains one group of pwm signal S by SVPWM technical constructionsa~ScWith to the device for power switching in DFIG pusher sides current transformer 9
Carry out switch control.
We emulate to the DFIG that the specified subharmonic control method of tradition and present embodiment is respectively adopted below,
Specific simulation result is as follows：
Subharmonic control method is specified using tradition, eliminates adverse effect of the specific subharmonic to DFIG of power network.It is signified
It is 5 times and 7 subharmonic to determine subharmonic, and it is sinusoidal to eliminate DFIG stator currents to control purpose.In Fig. 3 (a), line voltage contains
10%5 times and the distortion of 10%7 subharmonic voltages, using traditional specified subharmonic control method, by 5 times and 7 subharmonic voltages
5 times of caused DFIG stator currents and 7 subharmonic are eliminated.In Fig. 3 (b), power network is humorous containing 10%7 times and 10%13 times
Wave voltage distorts, and using traditional specified subharmonic control method, eliminates the stator electricity as caused by specifying time 7 subharmonic voltages
7 subharmonic are flowed, are not eliminated yet with the subharmonic current of stator 13 caused by the subharmonic of power network 13.In Fig. 3 (c), electricity
Net is containing 10%17 times and the distortion of 10%19 subharmonic voltages, because 17 times and 19 subharmonic are not in specified subharmonic control range
Interior, traditional specified subharmonic control method can not eliminate as caused by 17 times and 19 subharmonic voltages stator current 17 times and 19
Subharmonic.As can be seen here, using traditional specified subharmonic control method, the specific subharmonic that can only eliminate power network is fixed to exporting
The distortion effects of electron current, and when power network has other subharmonic and polluted, other subharmonic caused by it still have.
Using present embodiment under the conditions of any subharmonic distortion of power network, the harmonic component of DFIG stator currents is able to
Effectively suppress.In Fig. 4 (a), line voltage distorts containing 10%5 times and 10%7 subharmonic voltages, by 5 times and 7 subharmonic voltages
Caused stator current 5 times and 7 subharmonic are eliminated.In Fig. 4 (b), power network is containing 10%7 times and 10%13 subharmonic electricity
Distortion is pressed, 7 times of stator current and 13 subharmonic are also eliminated.In Fig. 4 (c), power network contains 10%17 times and 10%19
Subharmonic voltage distorts, and causes stator current 17 times by 17 times and 19 subharmonic voltages and 19 subharmonic are also basically eliminated.By
This is visible, and any order harmonic components of stator current caused by any subharmonic of power network can be eliminated using present embodiment.
Therefore, present embodiment improves runnability of the system under any subharmonic, not only increases system dynamic
Performance, also improve runnability of the system under any subharmonic.
Claims (6)
1. a kind of DFIG control methods based on sliding formwork+repetition, comprise the following steps：
(1) DFIG threephase stator voltage, threephase stator electric current, three-phase rotor current, rotating speed and rotor position angle, root are gathered
DFIG threephase stator voltage, threephase stator electric current, three-phase rotor current, stator is determined by coordinate transform according to rotor position angle
The component of magnetic linkage and rotor flux in synchronous speed rotates d-q coordinate systems；
(2) the d axis components of given rotor current reference value are madeWith q axis componentsThe d axles of rotor current actual value are individually subtracted
Component IrdWith q axis components Irq, obtain the d axis component Δs I of the rotor current margin of errorrdWith q axis component Δs Irq；Respectively to rotor electricity
The d axis component Δs I of stream error amountrdWith q axis component Δs IrqPI regulations are carried out, obtain d axle sliding formwork values SdWith q axle sliding formwork values Sq；
(3) according to described d axle sliding formwork values SdWith q axle sliding formwork values Sq, sliding formwork control in synchronous speed rotation d-q coordinate systems is calculated
The switch controlled quentity controlled variable of system；According to the electrical quantity of collection and DFIG model parameters, sliding formwork control in synchronous speed rotation d-q coordinate systems is calculated
The equivalent control amount of system；Switch control is added with equivalent control amount, obtains the sliding formwork control in synchronous speed rotation d-q coordinate systems
Amount；
(4) the d axis components that given stator current refers to are madeWith q axis componentsThe d axles point of stator current actual value are individually subtracted
Measure IsdWith q axis components Isq, respectively to the d axis component Δs I of stator current error amountsdWith q axis component Δs IsqCarry out Repetitive controller tune
Section, obtain the Repetitive controller amount in synchronous speed rotation d-q coordinate systems；
(5) sliding-mode control law in synchronous speed rotation d-q coordinate systems is added with Repetitive controller amount, obtain synchronous speed rotation d-q
Rotor voltage instruction in coordinate system；Park changes are carried out to component of the rotor voltage instruction in synchronous speed rotates d-q coordinate systems
Change, obtain rotor voltage and instruct the component in stationary rotor alpha-beta coordinate system；And then instructed according to rotor voltage in stationary rotor
Component in alpha-beta coordinate system obtains one group of pwm signal to be controlled to DFIG pusher side current transformers by SVPWM technical constructions.
A kind of 2. DFIG control methods based on sliding formwork+repetition according to claim 1, it is characterised in that：According to following
Formula calculates the component of stator magnetic linkage and rotor flux in synchronous speed rotates d-q coordinate systems：
ψsd=LsIsd+LmIrd ψrd=LrIrd+LmIsd
ψsq=LsIsq+LmIrq ψrq=LrIrq+LmIsq
Wherein：ΨsdAnd ΨsqRespectively d axis component and q axis component of the stator magnetic linkage in synchronous speed rotates d-q coordinate systems, Ψrd
And ΨrqRespectively d axis component and q axis component of the rotor flux in synchronous speed rotates d-q coordinate systems, IsdAnd IsqRespectively three
D axis component and q axis component of the phase stator current in synchronous speed rotates d-q coordinate systems, IrdAnd IrqRespectively three-phase rotor current
D axis components and q axis components in synchronous speed rotates d-q coordinate systems, LsAnd LrRespectively DFIG stator inductance and rotor electricity
Sense, LmFor DFIG rotor mutual inductance.
A kind of 3. DFIG control methods based on sliding formwork+repetition according to claim 1, it is characterised in that：Described step
Suddenly in (2), the d axle sliding formwork values S in synchronous speed rotates d-q coordinate systems is calculated according to following formuladWith q axle sliding formwork values Sq：
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Wherein：ΔIrdWith Δ IrqRespectively d axis component and q axle point of the rotor current error in synchronous speed rotates d-q coordinate systems
Amount, WithRespectively d axles rotor current reference quantity and q axle rotor current reference quantities, Ird
And IrqRespectively d axis component and q axis component of the three-phase rotor current in synchronous speed rotates d-q coordinate systems, kpFor given ratio
Example coefficient, kiFor given integral coefficient, s is Laplace operator.
A kind of 4. DFIG control methods based on sliding formwork+repetition according to claim 1, it is characterised in that：Described step
Suddenly in (3), the switch controlled quentity controlled variable of sliding formwork control is calculated according to following formula：
ΔVd=kssat(Sd)+kiΔIrd
ΔVq=kssat(Sq)+kiΔIrq
Wherein：ΔVdWith Δ VqD axle point of the switch controlled quentity controlled variable in synchronous speed rotates d-q coordinate systems respectively in sliding formwork control
Amount and q axis components, sat are saturation function, ksFor given sliding formwork control coefficient, kiFor given integral coefficient.
A kind of 5. DFIG control methods based on sliding formwork+repetition according to claim 1, it is characterised in that：Described step
Suddenly in (3), the equivalent control amount of sliding formwork control is calculated according to following formula：
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Wherein：Vd_eqAnd Vq_eqD axle point of the equivalent control amount in synchronous speed rotates d-q coordinate systems respectively in sliding formwork control
Amount and q axis components；ΨsdAnd ΨsqRespectively d axis component and q axis component of the stator magnetic linkage in synchronous speed rotates d-q coordinate systems；
IrdAnd IrqRespectively d axis component and q axis component of the threephase stator electric current in synchronous speed rotates d-q coordinate systems, UsdAnd UsqRespectively
For d axis component and q axis component of the threephase stator voltage in synchronous speed rotates d-q coordinate systems；ωslFor slip angular velocity；LsWith
LrRespectively DFIG stator inductance and inductor rotor, LmFor DFIG rotor mutual inductance；σ=1-Lm 2/(Ls Lr), it is leakage inductance system
Number；
Switch controlled quentity controlled variable is added with equivalent control amount, obtains d axle point of the sliding-mode control law in synchronous speed rotates d-q coordinate systems
Measure Vdˊ and q axis components Vqˊ：
Vd'=Δ Vd+Vd_eq
Vq'=Δ Vq+Vq_eq。
A kind of 6. DFIG control methods based on sliding formwork+repetition according to claim 1, it is characterised in that：Described step
Suddenly in (4), Repetitive controller amount is calculated according to following formula：
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Wherein：Vd" and Vq" it is respectively d axis component and q axis component of the Repetitive controller amount in synchronous speed rotates d-q coordinate systems；Δ
IsdWith Δ IsqRespectively d axis component and q axis component of the stator current error in synchronous speed rotates d-q coordinate systems, WithThe d axles and q axis components of respectively given stator current reference,IsdAnd IsqRespectively d axis component and q axle point of the threephase stator electric current in synchronous speed rotates d-q coordinate systems
Amount；krFor given Repetitive controller coefficient；kfTo improve the given coefficient of Repetitive controller stability；S is Laplace operator；T=
0.01。
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