CN105720879B - A kind of novel doubly fed induction generator control method based on direct character control - Google Patents
A kind of novel doubly fed induction generator control method based on direct character control Download PDFInfo
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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Abstract
A kind of doubly fed induction generator control technology based on direct character control, includes the following links: 1. under rest frame doubly fed induction generator stator α axis, the voltage equation of β axis；2. the voltage equation listed by step 1, by stator α axis, the electric current and rotor α axis of β axis, the magnetic linkage of β axis lists corresponding state equation observer as state variable；3. designing Sliding-mode observer by step 2, the stator α axis of current state, the electric current and rotor α axis of β axis, the magnetic linkage of β axis are observed；4. obtaining PREDICTIVE CONTROL equation after the state equation sliding-model control of step 2, that is, predict the stator α axis of subsequent time, the electric current and rotor α axis of β axis, the magnetic linkage of β axis；5. the stator d axis that the electric current of β axis and given torque and given rotor flux calculate, q shaft current passes through characteristic equation together and solves stator α axis, the voltage of β axis, and is sent to SVPWM by the stator α axis of prediction.Present invention can apply to field of wind power generation.
Description
Technical field
The present invention relates to a kind of control methods of novel doubly fed induction generator based on direct character control, are suitable for wind-force
Electricity generation system etc. is using alternating current generator especially doubly fed induction generator as the field of control core.
Background technique
Currently, in field of wind power generation, it is most of that vector control is still based on to the control strategy of doubly fed induction generator
The control method of system, and the core of vector controlled is exactly tricyclic structure, i.e. revolving speed outer ring, in rotor flux outer ring and stator current
Ring, this just will unavoidably use pi regulator, however there is also some problems of itself for pi regulator, as bandwidth is inadequate, easy
Saturation etc..And the ways and means of some inhibition are had also been proposed for these problems, but in entire control method
Undoubtedly make system and structure increasingly complex.So in order to which the method for solving the problems, such as motor control strategy set forth above mainly has
Two classes: one kind is optimized to electric machine structure；Another kind of is to seek new control strategy to substitute Traditional control.First
Class method obtains the variation range of desired Magnetic circuit characters and ac-dc axis inductance parameters by changing the structure of motor,
This approach is needed using more advanced technique and technology, and cost will increase very much.Second class method is realized based on character control
Control to motor, such method structure is simple, while modern control theory is utilized, with regard in control means it is boosted very
It is more, it does not need to increase cost yet.And the thought of modern control theory is contained, and it is compared to traditional PI control, it can be very
The good some white Gaussian noises of elimination etc., keep the control of whole system more accurate.
Motor control is all based on digital control technology, and it is digital control include sampling, calculate, generate duty ratio and its
The links such as update, ideal control model are to calculate PWM duty cycle signal, and in real time in current time sample motor electric current
Update duty cycle signals.However, in systems in practice, the control model that may be implemented is to carry out current of electric in last moment to adopt
Sample, algorithm occupy certain time interval, calculate PWM duty cycle signal, finally update duty cycle signals in later moment in time.It is adopting
The advantages of current sample is carried out at the beginning of the sample period is to have more times to calculate control algolithm, and obtained electricity
Flow valuve is similar to the average current value of motor.However, inverter also needs another sampling period that duty cycle signals are converted to
The voltage of motor side, allowing for digital control middle actual time delay in this way is two periods.
Summary of the invention
The purpose of the present invention is to provide a kind of control method of novel doubly fed induction generator based on direct character control,
It, not only can be with fast lifting so as to be controlled based on modern control theory motor except traditional vector controlled
Response speed can also cause a series of problem such as parameter regulation difficulty using PI to avoid many places in Traditional control.
To achieve the goals above, the present invention adopts the following technical scheme: it is a kind of novel double based on direct character control
Control of Induction Motors method is presented, content needs following module the following steps are included: 1) for this control method: current sense
Device, position sensor, angular rate computing module, coordinate transformation module, unit time delay module, PREDICTIVE CONTROL module, stator d
Axis, q shaft current component id, iqGiven value computing module, doubly fed induction generator, Sliding-mode observer module, SVPWM is
Space vector pulse width modulation module, doubly fed induction generator character control module, speed regulator ASR；2) work of current sensor
With being threephase stator electric current i in the doubly fed induction generator that will test outsa, isb, iscAs input, send to coordinate transformation module,
Three-phase/two-phase (3s/2s) coordinate transform is carried out to three-phase current, output is the stator current components under two-phase stationary coordinate system
isα, isβ；3) the electrical angle θ of doubly fed induction generator rotor rotation is input in revolving speed computing module, and the purpose is to electrical angle θ
Derivation is carried out, speed feedback value ω is obtained；4) by coordinate transformation module output in tnThe stator current components i at-T momentsα,
isβ, tnThe stator voltage component u at-T momentsα, usβAnd speed feedback value ω this five variables send to sliding formwork and become as input
T is observed in structure observer modulenThe stator current components i at-T momentsα, isβ, rotor flux component ψrα, ψrβValue；5) will
Step (4) observes tnThe stator current components i at-T momentsα, isβ, rotor flux component ψrα, ψrβValue be sent into PREDICTIVE CONTROL mould
Block obtains tnThe stator current components i at momentsα, isβ, rotor flux component ψrα, ψrβValue；6) by given rotating speed ωcWith revolving speed
Value of feedback ω makees to obtain giving torque T by speed regulator ASR after differenceec, speed feedback value ω is passed through into revolving speed and magnetic linkage
Given rotor flux ψ is obtained after relation curvec, by given torque Tec, give rotor flux ψcAnd speed feedback value ω is sent into
Stator d axis, q shaft current component isd, isqGiven value computing module, output is isdAnd isqGiven value, be denoted as idc, iqc；
7) step (5) is predicted into tnThe stator current components i at momentsα, isβ, electrical angle θ and step (6) output stator d axis, q
The given value i of shaft current component id, iqdc, iqcAs input, send into doubly fed induction generator character control module, output is tn
The stator voltage component u at momentsα, usβ；8) by step (7) tnThe stator voltage component u at momentsα, usβPass through unit delay respectively
Module is delayed a T period, obtains tnThe stator voltage component u at-T momentsα, usβ, here it is t required for step (4)n-
The stator voltage component u at T momentsα, usβ；9) by step (7) calculated tnThe stator voltage component u at momentsα, usβAs defeated
Enter, send into SVPWM module, generate six road pwm signals, believes in this, as the gate-drive of the IGBT of three bridge arms of inverter
Number, to generate three-phase alternating voltage driving doubly fed induction generator work.
For several big cores of this control strategy, specific design method is as follows: (1) Design of Sliding Mode Observer method is such as
Under:
According to the stator α axis of the doubly fed induction generator under rest frame, the voltage equation of β axis, by stator current components
isα, isβ, rotor flux component ψrα, ψrβState equation is listed as state variable, and thus obtains the observer of sliding moding structure
(2) predictive equation is as follows:
According to the voltage equation of doubly fed induction generator, by isα+jisβ, ψrα+jψrβAs state variable, usα+jusβAs defeated
Enter variable column write state equation, is denoted as
X‘=AX+Bu, X=[isα+jisβ ψrα+jψrβ]T(i.e. the column vector that X is two rows one column), us=usα+jusβ
Characteristic value and its corresponding feature vector are asked to coefficient matrices A, corresponding characteristic value is λ1And λ2, corresponding spy
Sign vector is denoted as p1And p2, and enable
After carrying out sliding-model control to above-mentioned state equation, following equation is obtained:
X(tn)=PeΛTP-1X(tn-T)+PΛ-1(eΛT-I)P-1Bus(tn- T) (I is unit battle array, and T is the sampling time)
(3) character control equation
Equation both ends after above-mentioned sliding-model control are simultaneously multiplied by P-1, that is, have
P-1X(tn+T)=P-1PeΛTP-1X(tn)+P-1PΛ-1(eΛT-I)P-1Bus(tn),
U is found out after abbreviations(tn)
(4) by giving torque Tec(Tec< 0 in wind generator system) and given rotor flux ψcCalculate given value
idc, iqcValue.
Why the present invention uses this control plan method, mainly has the advantages that following: 1, by the present invention in that using feature
The method of control makes the control system of doubly fed induction generator more tend to digitize, the correctness for experiment results of being more convenient for.
2, the present invention compensates for numerically controlled delay, it is suppressed that torque harmonic wave, while increasing observer link and PREDICTIVE CONTROL link
It allows the more compact structure of whole system, more meets the accurate control to motor.3, the control system in the present invention is not using biography
Tricyclic (i.e. angular speed ring, rotor flux ring and electric current loop) control system of system only uses two ring of front and adds feature
Control collectively forms whole system, has lacked the pi regulator of one group of electric current loop, not only current response rate has been become faster, while
The problems such as avoiding pi regulator intrinsic saturation and difficult parameter regulation.4, the present invention not only to each step motor equation into
Row refinement, while having also contemplated many technical constraints and limitation, such as the compensation of dead time, it is possible to significantly subtract
The problem of few hyperharmonic lag.Control method of the invention can extend in all alternating current generator types, especially with wind-force
The systems applications such as power generation are more extensive.
Detailed description of the invention
Doubly fed induction generator control system overall structure block diagram of the Fig. 1 based on character control.
Specific embodiment
The present invention will be further described with example with reference to the accompanying drawing.
Fig. 1 is the doubly fed induction generator control system overall structure block diagram based on character control, which includes stator d, q
Shaft current given value calculates 1, doubly fed induction generator character control 2, doubly fed induction generator PREDICTIVE CONTROL 3, sliding moding structure observation
Device 4, coordinate transform 5, unit time delay module 6, SVPWM module 7, voltage source inverter 8, doubly fed induction generator 9, position sensing
Device 10, angular rate computing module 11, speed regulator ASR module 12.
The input terminal of position sensor 10 is extracted from the output end of doubly fed induction generator 9, angular rate computing module 11
Input terminal extracted from the output end of position sensor 10.Coordinate transformation module 5 is by the threephase stator of doubly fed induction generator
Electric current isa, isb, iscIt is transformed into isα, isβ, the input terminal of Sliding-mode observer module 4 has 5, is respectively from coordinate change
Change the mold two output i of block 5sα, isβ, two output u of unit time delay module 6sα(tn- T), usβ(tn- T) and electrical angle meter
Calculate the output end ω of module 11.The input terminal of doubly fed induction generator PREDICTIVE CONTROL module 3 has 7, is respectively from sliding formwork and becomes knot
4 output i of structure observer module 4sα(tn- T), isβ(tn- T), ψrα(tn- T), ψrβ(tn- T), two of unit time delay module 6
Export usα(tn- T), usβ(tn- T) and electric angle calculation module 11 output end ω.Speed regulator ASR module 12 it is defeated
There are two entering: given rotating speed ωcWith speed feedback value ω, output is given torque Tec.Stator d, q shaft current given value calculates
There are three the inputs of module 1, and one is given torque Tec, one is given rotor flux ψc, the other is electrical angle calculates mould
The output end ω of block 11.The input of doubly fed induction generator character control module 2 has 5, is stator d, q shaft current given value respectively
The output i of computing module 1dc, iqc, the output i of doubly fed induction generator PREDICTIVE CONTROL module 3sα(tn), isβ(tn) and position biography
The output θ of sensor 10.Two two output us of the input from doubly fed induction generator character control module 2 of SVPWM module 7sα
(tn), usβ(tn), while the input terminal of unit time delay module 6 is defeated from two of doubly fed induction generator character control module 2
U outsα(tn), usβ(tn)。
Wherein the core algorithm of doubly fed induction generator control system is characterized control, the three-phase current driving of inverter output
The rotation of motor, algorithm of the invention are that electric current and flux observer and PREDICTIVE CONTROL ring is added on the basis of character control
Section realizes breakthrough of the doubly fed induction generator on new control strategy.
In conclusion the novel doubly fed induction generator control method proposed by the invention based on direct character control can be with
Quickly and effectively making the harmonic content of inverter output current reduces, and the method for the present invention gets rid of the control of motor conventional vector, mentions
Go out the motor control strategy based on character control, so as to complete the inhibition of current harmonics, and then completes the suppression of torque harmonic wave
System, this method can use character control algorithm to realize control to motor, in feature control under the premise of not modifying hardware
Electric current and flux observer are increased in system and joined PREDICTIVE CONTROL, and the torque harmonic wave and electromagnetic noise of industrial motor are asked
Topic has inhibiting effect.
Claims (2)
1. a kind of novel doubly fed induction generator control method based on direct character control, mainly comprises the steps that
1) this control method is executed by following module: current sensor, position sensor, angular rate computing module, and coordinate becomes
Change the mold block, unit time delay module, PREDICTIVE CONTROL module, stator d axis, q shaft current component id, iqGiven value computing module, double-fed
Induction machine, Sliding-mode observer module, SVPWM, that is, space vector pulse width modulation module, doubly fed induction generator feature control
Molding block, speed regulator ASR；The input terminal of position sensor is extracted from the output end of doubly fed induction generator, angular rate
The input terminal of computing module is extracted from the output end of position sensor, and coordinate transformation module is by the three-phase of doubly fed induction generator
Stator current isa, isb, iscIt is transformed into isα, isβ, the input terminal of Sliding-mode observer module has 5, is respectively from seat
Mark two output i of conversion modulesα, isβ, two output u of unit time delay modulesα(tn- T), usβ(tn- T) and electrical angle
The input terminal of the output end ω of computing module, doubly fed induction generator PREDICTIVE CONTROL module have 7, are respectively from sliding moding structure
4 output i of observer modulesα(tn- T), isβ(tn- T), ψrα(tn- T), ψrβ(tn- T), two outputs of unit time delay module
usα(tn- T), usβ(tn- T) and electric angle calculation module output end ω, there are two the inputs of speed regulator ASR module:
Given rotating speed ωcWith speed feedback value ω, output is given torque Tec, stator d, q shaft current given value computing module it is defeated
There are three entering, one is given torque Tec, one is given rotor flux ψc, the other is the output end of electric angle calculation module
The input of ω, doubly fed induction generator character control module have 5, are the defeated of stator d, q shaft current given value computing module respectively
I outdc, iqc, the output i of doubly fed induction generator PREDICTIVE CONTROL modulesα(tn), isβ(tn) and position sensor output θ,
Two two output us of the input from doubly fed induction generator character control module of SVPWM modulesα(tn), usβ(tn), while it is single
Two output us of the input terminal of position time delay module from doubly fed induction generator character control modulesα(tn), usβ(tn)；
2) threephase stator electric current i in the doubly fed induction generator that current sensor will test outa, ib, icAs input, send to coordinate
In conversion module, three-phase/two-phase (3s/2s) coordinate transform is carried out to three-phase current, output is determined under two-phase stationary coordinate system
Electron current component isα, isβ；
3) the electrical angle θ of doubly fed induction generator rotor rotation is input in revolving speed computing module, is carried out derivation to electrical angle θ, is obtained
To speed feedback value ω；
4) by coordinate transformation module output in tnThe stator current components i at-T momentsα, isβ, tnThe stator voltage at-T moment point
Measure usα, usβAnd speed feedback value ω this five variables send into Sliding-mode observer module and observe as input
tnThe stator current components i at-T momentsα, isβ, rotor flux component ψrα, ψrβValue；
5) step (4) is observed into tnThe stator current components i at-T momentsα, isβ, rotor flux component ψrα, ψrβValue be sent into it is pre-
It surveys control module and obtains tnThe stator current components i at momentsα, isβ, rotor flux component ψrα, ψrβValue；
6) by given rotating speed ωcMake to obtain giving torque T by speed regulator ASR after difference with speed feedback value ωec, will turn
Fast value of feedback ω is by obtaining given rotor flux ψ after revolving speed and magnetic linkage relation curvec, by given torque Tec, give stator-rotator magnetic
Chain ψcAnd speed feedback value ω is sent into stator d axis, q shaft current component isd, isqGiven value computing module, output is isd
And isqGiven value, be denoted as idc, iqc；
7) step (5) is predicted into tnThe stator current components i at momentsα, isβ, electrical angle θ and step (6) output stator d
Axis, q shaft current component id, iqGiven value idc, iqcIt as input, send into doubly fed induction generator character control module, exports
It is tnThe stator voltage component u at momentsα, usβ；
8) by step (7) tnThe stator voltage component u at momentsα, usβPass through unit delay modules respectively, that is, be delayed a T period,
Obtain tnThe stator voltage component u at-T momentsα, usβ, here it is t required for step (4)nThe stator voltage component at-T moment
usα, usβ；
9) by step (7) calculated tnThe stator voltage component u at momentsα, usβIt as input, send into SVPWM module, generates
Six road pwm signals, in this, as the gate electrode drive signals of the IGBT of three bridge arms of inverter, to generate three-phase alternating voltage driving
Doubly fed induction generator work.
2. a kind of novel doubly fed induction generator control method based on direct character control as claimed in claim 1, master
Want to be characterized in that: (1) Design of Sliding Mode Observer method is as follows:
According to the stator α axis of the doubly fed induction generator under rest frame, the voltage equation of β axis, by stator current components isα,
isβ, rotor flux component ψrα, ψrβState equation is listed as state variable, and thus obtains the observer of sliding moding structure；
(2) predictive equation is as follows:
According to the voltage equation of doubly fed induction generator, by isα+jisβ, ψrα+jψrβAs state variable, usα+jusβBecome as input
Column write state equation is measured, is denoted as
X '=AX+Bu, X=[isα+jisβψrα+jψrβ] T, i.e. X is the column vector of two rows one column, us=usα+jusβ
Characteristic value and its corresponding feature vector are asked to coefficient matrices A, corresponding characteristic value is λ1And λ2, corresponding feature to
Amount is denoted as p1And p2, and enable
After carrying out sliding-model control to above-mentioned state equation, following equation is obtained:
X(tn)=PeΛTP-1X(tn-T)+PΛ-1(eΛT-I)P-1Bus(tn- T), I is unit battle array, and T is the sampling time；
(3) character control equation
Equation both ends after above-mentioned sliding-model control are simultaneously multiplied by P-1, that is, have
P-1X(tn+ T)=P-1PeΛTP-1X(tn)+P-1PΛ-1(eΛT-I)P-1Bus(tn),
U is found out after abbreviations(tn)；
(4) by giving torque TecGiven value i is calculated with given rotor flux ψ cdc, iqcValue.
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| CN108023519B (en) * | 2017-11-01 | 2019-08-09 | 青岛中加特变频电机有限公司 | A kind of AC asynchronous motor synovial membrane structure changes Direct Torque Control based on artificial bee colony parameter optimization |
| CN109546910B (en) * | 2018-11-09 | 2020-09-25 | 山东科技大学 | Motor model calculation method, motor model control method, motor model calculation device, induction motor control device and induction motor |
| CN110048653B (en) * | 2019-05-22 | 2020-08-21 | 河南科技大学 | Sliding mode variable structure MRAS rotating speed identification method of bearingless asynchronous motor |
| CN110649846B (en) * | 2019-09-29 | 2021-06-15 | 湖南科技大学 | Doubly-fed induction generator fault detection method based on sliding-mode observer |
| CN111697897A (en) * | 2020-05-28 | 2020-09-22 | 上海大郡动力控制技术有限公司 | Motor controller dead time compensation method based on predicted current |
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