CN106451470B - The grid-side converter control method of double feedback electric engine when unbalanced source voltage - Google Patents
The grid-side converter control method of double feedback electric engine when unbalanced source voltage Download PDFInfo
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Abstract
The present invention relates to a kind of grid-side converter control methods of double feedback electric engine when unbalanced source voltage, according to the double current loop modulation of grid side converter in the case of unbalanced source voltage (GSC) inner ring, its positive-negative sequence model is established, and calculates the current on line side reference value under different control targets；Dissipation Hamilton (PCHD) model based on Port-Controlled has devised GSC Passive Shape Control device using interconnection and assignment of damping passive coherent locating (IDA-PBC) method；For electric current loop in controller, there are the uncertain factors such as Parameter Perturbation, interference, it joined the state observer based on internal model control (IMC) on the basis of Passive Shape Control, by pole-assignment optimized observer parameter, the compensation control to electric current is realized, so that electric current steady-sxtate wave motion becomes smaller.Compared with prior art, the present invention has many advantages, such as theoretical advanced, rapid dynamic response speed, strong robustness.
Description
Technical Field
The invention relates to a distributed power generation technology, in particular to a grid-side converter control method of a double-fed motor when the voltage of a power grid is unbalanced.
Background
Along with the increase of the influence of the wind turbine generator on the stability of the power system, the wind turbine generator is guaranteed not to run off the grid when the voltage of the power grid is unbalanced. Among the numerous wind generators, Doubly-fed asynchronous wind generators (DFIGs) are widely used because of their relatively low cost. The Rotor of the DFIG employs two PWM converters, namely a Rotor-Side Converter (RSC) and a Grid-Side Converter (GSC). Because the two converters are connected with the large capacitor through the middle direct current bus, the independent decoupling control of the network side can be realized through the network side converter, the control target of the network side is obtained, and the control quality is improved. In the 4 th phase of 2014, PCHD modeling and IDA-PB Control of a doubly-fed wind turbine grid-side converter in "power system automation" a document proposes that a passive-based Control (PBC) method of a Port-Controlled dissipative Hamilton with dispersion (PCHD) model is introduced according to a physical model of a doubly-fed motor. However, the passive control is established under the condition of neglecting the disturbance of inductance and resistance parameter in the line and the internal disturbance and the external disturbance of the rectifier, so the control effect of the pure interconnection and damping configuration passive control strategy on the grid-side converter can be influenced.
Disclosure of Invention
The invention provides a grid-side converter control method of a double-fed motor when the grid voltage is unbalanced, aiming at the problems of the passive control of a double-fed asynchronous wind driven generator, and the passive control strategy is adopted to reduce the influence of the unbalanced grid voltage on an RSC system, improve the through operation capability of the unbalanced grid voltage of the RSC system and simultaneously inhibit the adverse influence of uncertain factors such as system parameter perturbation and interference on the grid-side current.
The technical scheme of the invention is as follows: a control method of a grid-side converter of a double-fed motor during unbalanced grid voltage is characterized in that a rotor of the double-fed motor is controlled by a rotor-side converter and a grid-side converter, the two converters are connected with a large capacitor through a middle direct current bus, the grid-side converter is controlled by a PID voltage outer ring, a current inner ring adopts a control method that an IMO internal model observer and a passive controller are combined, and the control method specifically comprises the following steps: the output of the PID controller of the outer ring voltage loop is multiplied by the DC bus voltage to obtain an average active power component Pg0And the average reactive power component Qg0Calculating by 3 control targets to obtain reference value of current at inner ring current loop network sideInputting the data into a passive controller;
the instantaneous values of the voltage and the current on the network side are subjected to positive and negative sequence separation to obtain positive and negative sequence current values, and an inner ring current compensation quantity is calculated through an IMO inner model observer; after the instantaneous value of the current on the network side is subjected to positive and negative sequence separation, the obtained positive and negative sequence current value and the reference value of the current on the inner ring current loop network side are obtainedThe positive sequence components and the negative sequence components of the electromagnetic quantities are changed in respective coordinate systems by respectively controlling the positive sequence components and the negative sequence components in positive and negative synchronous rotating coordinate systems by the IMO internal model observer and the passive controller which are together fed into the passive controller and the current inner ringControlling the direct current quantity;
the 3 kinds of control targets are respectively 1) the input active power of the network side only contains direct current components; 2) the reactive power input by the network side only contains a direct current component; 3) the current input at the net side does not contain a negative sequence component.
The passive controller is designed by adopting an interconnection and damping distribution passive control method on the basis of a port-controlled dissipative Hamilton PCHD model, and the design preconditions are as follows:
the energy increase synthesis of the system is always smaller than the energy dissipation sum of the system, namely the system is dissipative;
b, the system is dissipative and meets the requirements of strict passivity of input and strict passivity of output, and the system is strict passivity. The mathematical model for defining the grid-side converter is as follows:
Lgpqgp+Cgpqgp+Rgpqgp＝ugp
wherein,
wherein R isgIs the sum of the line impedance and the equivalent series resistance of the inductor, LgIs a filter inductor, omega is a synchronous angular velocity of a power grid,andthe network side voltage component, the network side converter alternating current side voltage component and the network side converter of the positive sequence component on the d axis and the q axis of the positive coordinate system respectivelyCurrent component on AC side of the current transformer;andthe method comprises the following steps that network side voltage components, network side converter alternating current side voltage components and network side converter alternating current side current components of negative sequence components on a d axis and a q axis of a negative-rotation coordinate system are obtained;
taking the energy function H of the systemgpComprises the following steps:
Lgpa positive definite symmetric matrix in the system energy function,
getAnd
the superscript T is the transposition, the superscript-1 is the inverse of the matrix, and the upper dotting is the derivation;
the PCHD model of the positive sequence of the power grid side is obtained as follows:
in the formula: j. the design is a squaregpIn order to be an interconnected matrix,is an antisymmetric matrix;in order to be a dissipative matrix,is a positive definite symmetric matrix;
in the same way, the PCHD model of the negative sequence component under the negative-to-synchronous rotation coordinate system is obtained as follows:
due to the conservation of the new interconnection matrix structure and the old interconnection matrix structure, the injected new interconnection matrix and the injected damping matrix are respectively as follows:
is the interconnection coefficient; r is1 gpAnd r2 gpThey are all non-negative numbers and are not simultaneously 0 for damping coefficient.
Aiming at the factors of parameter perturbation and interference uncertainty existing in a current loop in a controller, the IMO internal model observer is added with a state observer based on internal model control on the basis of passive control, and the observer parameters are optimized by a pole allocation method, so that the compensation control of the current is realized;
the mathematical model for rewriting the grid-side converter is as follows:
wherein, the interference term increased by the above formula can be expressed as:
no interference is detectable; Δ Lg＝Lg-Lg0，ΔRg＝Rg-Rg0Respectively, the actual parameter value L of the systemg、RgRated value L of filter inductanceg0Rated value R of equivalent series resistance of lineg0The deviation therebetween;
the invention has the beneficial effects that: the grid-side converter control method of the double-fed motor when the voltage of the power grid is unbalanced realizes compensation control on current, so that the steady-state fluctuation of the current is reduced. Compared with the prior art, the method has the advantages of advanced theory, high dynamic response speed, strong robustness and the like.
Drawings
FIG. 1 is a block diagram of a network-side converter according to the present invention;
FIG. 2 is a schematic block diagram of a grid-side converter control system under unbalanced voltage in accordance with the present invention;
FIG. 3 is a voltage waveform diagram of the DC bus under 3 control strategies according to the present invention;
FIG. 4-1 is a waveform of the net side current controlled by the PID controller of the present invention;
fig. 4-2 is a net side current wave diagram controlled by the PBC of the present invention;
4-3 are graphs of the IMO + PBC control strategy net side current waveforms of the present invention;
FIG. 5-1 is a waveform diagram of the network side active power under 3 control strategies according to the present invention;
FIG. 5-2 is a network side reactive power waveform diagram under 3 control strategies of the present invention;
FIG. 6 is a schematic diagram of the uncertainty estimated by the IMO observer of the present invention.
Detailed Description
The invention relates to a control strategy of a grid-side converter of a double-fed motor under the condition of unbalanced grid voltage. Firstly, according to current double-loop control of an inner ring of a network side converter under the condition of unbalanced network voltage, establishing a positive-negative sequence model of the current double-loop control, and calculating network side current reference values under different control targets; then, designing a GSC passive controller by adopting an interconnection and damping distribution passive control (IDA-PBC) method based on a port controlled dissipative Hamilton (PCHD) model; finally, aiming at uncertain factors such as parameter perturbation and interference existing in a current loop in the controller, a state observer based on Internal Model Control (IMC) is added on the basis of passive control, observer parameters are optimized by a pole allocation method, compensation control over current is achieved, and steady-state fluctuation of the current is reduced.
As shown in fig. 1, in a method for controlling a grid-side converter of a doubly-fed motor when a grid voltage is unbalanced according to an embodiment of the present invention, ua、ub、ucFor the mains voltage, va、vb、vcFor the AC side voltage, R, of the grid-side converter GSCgIs the sum of the line impedance and the equivalent series resistance of the inductor, LgIs a filter inductance, ia、ib、icFor GSC input current, C is the capacitance of the DC bus, udcIs the voltage of the DC bus iloadThe current flowing to RSC is on the net side. Network side converterThe control method is that the voltage outer ring still adopts PID control, and the current inner ring adopts the control strategy that the IMO internal model observer and PBC passive control are combined. The output of the PID controller of the outer ring voltage loop is multiplied by the DC bus voltage to obtain an average active power component Pg0And the average reactive power component Qg0Calculating by 3 control targets to obtain reference value of current at inner ring current loop network sideInput into the PBC passive controller. And (4) after the instantaneous values of the voltage and the current on the network side are subjected to positive and negative sequence separation, the obtained positive and negative sequence current values are calculated through an IMO internal model observer to obtain the inner ring current compensation quantity. After the instantaneous value of the current on the network side is subjected to positive and negative sequence separation, the obtained positive and negative sequence current value and the reference value of the current on the inner ring current loop network side are obtainedThe current inner ring is sent to a passive controller together, the IMO + PBC passive controller is adopted by the current inner ring, and the current inner ring respectively control respective positive sequence components and negative sequence components in a positive and negative double synchronous rotating coordinate System (SRF), so that the positive sequence components and the negative sequence components of the electromagnetic quantities are changed into direct current quantities in the respective coordinate system, and the control is convenient. The method comprises the following specific steps:
step S1: and establishing a positive-negative sequence model according to the current double-loop control of the inner ring of the converter under the condition of unbalanced network voltage, and calculating network side current reference values under different control targets.
The instantaneous power S transmitted to the grid-side converter by the power grid under the voltage unbalance is as follows:
in the formula: pg0Is the average active power component, Pg2sin、Pg2cosIs 2 frequency multiplication sine and cosine active power components; qg0Is the average reactive power component; qg2sin、Qg2cosIs 2 frequency multiplication sine and cosine reactive power components; theta is the angular displacement between the rotor a shaft and the stator three-phase winding reference axis A shaft in the coordinate system; and omega is the synchronous angular speed of the power grid.
The arrangement into a matrix form is:
(1) target 1: the network side input active power only contains a direct current component (P)g2sin＝Pg2cos＝0)
In the formula:respectively obtaining command current values of positive and negative sequence components on a d axis and a q axis of a positive and negative conversion coordinate system;andrespectively a grid side voltage component, a grid side converter alternating current side voltage component and a grid side converter alternating current side current component of the positive sequence component on a d axis and a q axis of a positive rotation coordinate system;andthe method comprises the following steps that network side voltage components, network side converter alternating current side voltage components and network side converter alternating current side current components of negative sequence components on a d axis and a q axis of a negative-rotation coordinate system are obtained; d3、D4Respectively as follows:
(2) target 2: the reactive power input at the network side contains only a direct current component (Q)g2sin＝Qg2cos＝0)
(3) The current input by the control target 3 net side does not contain a negative sequence component
Step S2: a GSC passive controller is designed based on a port-controlled dissipative Hamilton (PCHD) model by adopting an interconnection and damping distribution passive control (IDA-PBC) method, and the precondition is that:
1) the system energy growth integration is always smaller than the system energy dissipation sum, namely the system is dissipative;
2) the system is dissipative and satisfies that the input is strictly passive and the output is strictly passive, the system is strictly passive.
Each physical quantity in the system is reflected by energy change, and the physical quantity of the system is controlled as long as the energy of the system is controlled. The passive control theory is a nonlinear control theory starting from the energy of the system, is closer to a physical model of a double-fed motor than a traditional control strategy, and is beneficial to realizing the global stability of the system.
The mathematical model for defining the grid-side converter is as follows:
Lgpqgp+Cgpqgp+Rgpqgp＝ugp
wherein,
taking the energy function H of the systemgpComprises the following steps:
Lgpa positive definite symmetric matrix in the system energy function,
getAnd
the superscript T is the transpose, the superscript-1 is the inverse of the matrix, and the upper dotting is the derivation.
The available PCHD model of the positive sequence of the DFIG network side (power grid side) is as follows:
in the formula:Jgpin order to be an interconnected matrix,is an antisymmetric matrix;in order to be a dissipative matrix,is a positive definite symmetric matrix.
Similarly, the PCHD model of the negative sequence component under the negative-to-synchronous rotation coordinate system can be obtained as follows:
due to the conservation of the new interconnection matrix structure and the old interconnection matrix structure, the injected new interconnection matrix and the injected damping matrix are respectively as follows:
is the interconnection coefficient; r is1 gpAnd r2 gpThe damping coefficients are all non-negative numbers which are not 0 at the same time, and the value principle is as follows: the controller is simple in structure as much as possible under the condition that the system is passive.
Step S3: aiming at uncertain factors such as parameter perturbation and interference existing in a current loop in a controller, a state observer based on Internal Model Control (IMC) is added on the basis of passive control, observer parameters are optimized by a pole allocation method, compensation control on current is realized, and steady-state fluctuation of the current is reduced;
the mathematical model for rewriting the grid-side converter is as follows:
wherein, the interference term increased by the above formula can be expressed as:
no interference is detectable; Δ Lg＝Lg-Lg0，ΔRg＝Rg-Rg0Respectively, the actual parameter value L of the systemg、RgRated value L of filter inductanceg0Rated value R of equivalent series resistance of lineg0The deviation therebetween.
The feasibility of the DFIG network side converter positive and negative sequence control method based on the combination of IMO and PBC is subjected to simulation research in an MATLAB/Simulink simulation platform. The system simulation parameter values are as follows: the values of main parameters of the DFIG of the doubly-fed motor are shown in a table 1; the Internal Model Observer (IMO) parameters were: Δ Rg＝0.2δRg0，ΔLg＝0.2δLg0，εq＝εd5 δ, (where δ is the 0 mean and the amplitude is ± 1.0 evenly distributed random noise); the structure of the controller is further simplified on the basis of meeting the strict passivity of the system, and the following steps are selected: damping coefficientInterconnection coefficient J12＝J11＝J220; the PID control parameters of the outer ring voltage ring are as follows: k is a radical ofp＝0.05，ki＝25，kd0; the given unbalanced voltage is 10% drop of phase a.
TABLE 1
In order to illustrate the superiority of the method, PID control with completely the same parameters is adopted for the outer loop voltage loop of the GSC, but the control, PBC passive control and traditional PID control 3 methods proposed herein are respectively adopted for the inner loop current loop of the GSC for simulation comparison, and 3 different control targets are realized in different periods, wherein:
1) t is 0-0.2 s: operating according to a control target 1 to eliminate the frequency multiplication of the network side active power 2;
2) t is 0.2-0.4 s: operating according to the control target 2 to eliminate the frequency multiplication of the network side reactive power 2;
3) t is 0.4-0.6 s: and operating under the control target 3 to eliminate the negative sequence component of the current on the grid side. The specific experimental effects are as follows:
fig. 3 is a dc bus voltage waveform under 3 control strategies. As can be seen from the figure, under the condition of voltage imbalance, when the control target 1 is selected, under the traditional PID control strategy, the direct current bus voltage of the DFIG reaches a stable value at 0.05s, but is stable at 0.01s under the passive control and the control strategy of the text; under the control targets 2 and 3, compared with the traditional PID control and PBC passive control, the control strategy has the advantages of small oscillation and smoother waveform. Therefore, the control strategy provided by the invention has the advantages of higher dynamic response speed and stronger interference resistance.
Fig. 4-1, 4-2, 4-3 are current waveforms on the net side under 3 control strategies. According to the figure, under the control target 1, the traditional PID control strategy is adopted, the overshoot of the network side current value is large within 0-0.05 s, the converter is easily saturated, and the passive control and the text control strategy are not overshot; when the target 2 is controlled, the effects of the 3 control strategies are similar; in the control target 3, under the traditional PID control strategy, the grid side current reaches relative balance at 0.5s, and the passive control is balanced with the control strategy provided by the text at 0.4s, but the phase a current in the passive control strategy still slightly falls off relative to the phase b and the phase c. Thus, the control strategy presented herein has significant advantages in dynamic response speed and stability.
Fig. 5 shows the network side power waveform under 3 control strategies. Table 2 is a table of the ratio of the active and reactive 2-fold harmonic ripple components to the average power when 3 control strategies are employed under 3 different control objectives. As can be seen from fig. 5-1, 5-2 and table 2, at control targets 1, 2, 3, the control strategy proposed herein has less active, reactive settling time, overshoot and harmonic content than the conventional PID control, PBC control. Thus, the network-side power of the control strategy proposed herein is superior in control performance to the first two control strategies.
TABLE 2
FIG. 6 shows the estimated uncertainty values obtained by the IMO observerAndas can be seen from fig. 6, the IMO observer compensates the estimated value to the current loop by estimating the uncertainty of the GSC system, and the PBC passive observerThe control strategies are combined, so that the reaction speed is increased, and the current ripple and the steady-state error of the voltage of the direct-current bus are reduced. Therefore, the simulation result shows that the IMO observer can well realize current compensation and suppress current ripples.
Claims (3)
1. The utility model provides a grid side converter control method of double-fed motor when grid voltage is unbalanced, double-fed motor's rotor adopts two converters of rotor side converter and net side converter control, and two converters are connected through middle direct current bus and big electric capacity, its characterized in that, net side converter control adopts PID voltage outer loop control, and the control method that the interior mould observer of current adopted IMO and passive controller to combine together specifically includes: the output of the PID controller of the outer ring voltage loop is multiplied by the DC bus voltage to obtain an average active power component Pg0And the average reactive power component Qg0Calculating by 3 control targets to obtain reference value of current at inner ring current loop network sideInputting the data into a passive controller;
the instantaneous values of the voltage and the current on the network side are subjected to positive and negative sequence separation to obtain positive and negative sequence current values, and an inner ring current compensation quantity is calculated through an IMO inner model observer; after the instantaneous value of the current on the network side is subjected to positive and negative sequence separation, the obtained positive and negative sequence current value and the reference value of the current on the inner ring current loop network side are obtainedThe positive sequence components and the negative sequence components of the electromagnetic quantities are respectively controlled in a positive synchronous rotating coordinate system and a negative synchronous rotating coordinate system, so that the positive sequence components and the negative sequence components of the electromagnetic quantities are changed into direct current quantities in the respective coordinate systems for control;
the 3 kinds of control targets are respectively 1) the input active power of the network side only contains direct current components; 2) the reactive power input by the network side only contains a direct current component; 3) the current input at the net side does not contain a negative sequence component.
2. The grid-side converter control method of the doubly-fed machine when the grid voltage is unbalanced according to claim 1, characterized in that the passive controller is designed by adopting an interconnection and damping distribution passivity control method on the basis of a port-controlled dissipative hamilton PCHD model, and the design precondition is that:
the energy increase synthesis of the system is always smaller than the energy dissipation sum of the system, namely the system is dissipative;
b, the system is dissipative and meets the requirements of strict passive input and strict passive output, the system is strict passive, and the mathematical model of the grid-side converter is defined as follows:
Lgpqgp+Cgpqgp+Rgpqgp＝ugp
wherein,
wherein R isgIs the sum of the line impedance and the equivalent series resistance of the inductor, LgIs a filter inductor, omega is a synchronous angular velocity of a power grid,andrespectively a grid side voltage component, a grid side converter alternating current side voltage component and a grid side converter alternating current side current component of the positive sequence component on a d axis and a q axis of a positive rotation coordinate system;andthe method comprises the following steps that network side voltage components, network side converter alternating current side voltage components and network side converter alternating current side current components of negative sequence components on a d axis and a q axis of a negative-rotation coordinate system are obtained;
taking the energy function H of the systemgpComprises the following steps:
Lgpa positive definite symmetric matrix in the system energy function,
getAnd
the superscript T is the transposition, the superscript-1 is the inverse of the matrix, and the upper dotting is the derivation;
the PCHD model of the positive sequence of the power grid side is obtained as follows:
in the formula: j. the design is a squaregpIn order to be an interconnected matrix,is an antisymmetric matrix;in order to be a dissipative matrix,is a positive definite symmetric matrix;
in the same way, the PCHD model of the negative sequence component under the negative-to-synchronous rotation coordinate system is obtained as follows:
due to the conservation of the new interconnection matrix structure and the old interconnection matrix structure, the injected new interconnection matrix and the injected damping matrix are respectively as follows:
to be interconnectedA coefficient;andthey are all non-negative numbers and are not simultaneously 0 for damping coefficient.
3. The grid-side converter control method of the doubly-fed machine when the grid voltage is unbalanced according to claim 2, characterized in that the IMO internal model observer adds a state observer based on internal model control on the basis of passive control aiming at the parameter perturbation and interference uncertain factors existing in a current loop in a controller, and realizes compensation control on current by optimizing the observer parameters by a pole allocation method;
the mathematical model for rewriting the grid-side converter is as follows:
wherein, the interference term increased by the above formula can be expressed as:
no interference is detectable; Δ Lg＝Lg-Lg0，ΔRg＝Rg-Rg0Respectively, the actual parameter value L of the systemg、RgRated value L of filter inductanceg0Rated value R of equivalent series resistance of lineg0The deviation therebetween;
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