CN106452263A - A Sliding Mode Variable Structure Direct Power Control Method Based on DFIG Expanded Active Power in Unbalanced Grid - Google Patents

A Sliding Mode Variable Structure Direct Power Control Method Based on DFIG Expanded Active Power in Unbalanced Grid Download PDF

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CN106452263A
CN106452263A CN201611032917.5A CN201611032917A CN106452263A CN 106452263 A CN106452263 A CN 106452263A CN 201611032917 A CN201611032917 A CN 201611032917A CN 106452263 A CN106452263 A CN 106452263A
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CN106452263B (en
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孙丹
王霄鹤
蒋天龙
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Zhejiang University ZJU
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Abstract

The invention discloses an extended active power-based sliding mode variable structure direct power control (DPC) method for a DFIG in an unbalanced power grid. Extended active power is provided on the basis of a mathematical model of the DFIG in the unbalanced power grid, the extended active power and conventional reactive power are taken as control objects, a sliding mode variable structure algorithm and a DPC technology are combined, and an improved extended active power-based sliding mode variable structure DPC strategy is further provided. According to the method, the DFIG in the unbalanced power grid can be effectively controlled to obtain stable electromagnetic torque and reactive power as well as sinusoidal stator current on the premise of no positive and negative sequence separation of the voltage and current of the power grid; control can be systematically implemented simply without monitoring the frequency of the voltage of the power grid in real time by a phase-locked loop.

Description

Under a kind of unbalanced power grid, DFIG is direct based on the sliding moding structure expanding active power Poewr control method
Technical field
The invention belongs to motor control technology field is and in particular to DFIG is based on expansion wattful power under a kind of unbalanced power grid The sliding moding structure direct Power Control method of rate.
Background technology
Modern wind electricity generation system mainly adopts double fed induction generators and magneto alternator two types, for improving Generating efficiency, all using the variable speed constant frequency generator method of operation.Wherein, at most, technology is for double fed induction generators (DFIG) application For maturation, it is current mainstream model.DFIG system architecture, as shown in figure 1, DFIG can achieve that variable speed constant frequency controls, reduces conversion The capacity of device, also can achieve active, idle uneoupled control, and the flexibility of this Power Control is highly beneficial to electrical network.However, Under unbalanced power grid, because the stator side of DFIG and electrical network are joined directly together, the runnability of DFIG can be greatly affected, because This, research improvement control strategy under unbalanced power grid for the DFIG has great importance.
Vector controlled (VC) is all the main flow control strategy of dual feedback wind power generation system for a long time.VC passes through two PI controls Device processed carries out uneoupled control to active reactive electric current respectively, has excellent steady-state behaviour, but due to integral element exist delayed Effect, the dynamic property of VC is simultaneously not fully up to expectations.For improvement control strategy under unbalanced power grid for the VC, scholar is had to propose A kind of improvement strategy respectively positive- and negative-sequence currents being controlled using two groups of PI controllers.However, entering to voltage, electric current The detached process of row positive-negative sequence considerably increases the complexity of system, also can be to the control performance of system if separation is inaccurate Cause to have a strong impact on.In recent years, direct Power Control strategy (DPC) is more and more paid close attention to by people, and it is direct to power Effectively control and also more meet the requirement for wind generator system for the electrical network, have scholar to be directed to DPC under unbalanced power grid Application, it is proposed that a kind of power back-off measure, by adding different compensation in value and power reference, can realize difference respectively Control targe.However, the calculating process of power compensating value still needs and is just using voltage and current in this control strategy Negative sequence component.Resonant controller (R) has the characteristic of larger gain due to it to the variable of CF, in unbalanced power grid It is used widely in the research of lower improvement control strategy.In VC and DPC, have and mutually tied with R controller by PI controller Close, respectively DC component and two frequency multiplication flutter components are implemented to control, to realize the effective control of DFIG under unbalanced power grid.So And, in this control strategy, calculating of current reference value still needs the negative sequence component utilizing electric current.Can by above analysis Know, under numerous unbalanced power grid, the research of the improvement control strategy of DFIG is all intended to based on line voltage, electric current positive-negative sequence at present Detached, not only can increase the complexity of system, the accuracy for separation process also has larger dependence.Therefore, study How not need under the premise of line voltage, electric current positive-negative sequence are detached, to realize the effective control of DFIG, DFIG is being existed The development further of the improvement control strategy under unbalanced power grid is significant.
Content of the invention
In view of above-mentioned, the invention provides under a kind of unbalanced power grid, DFIG is based on the sliding moding structure expanding active power Direct Power Control method, the positive-negative sequence without line voltage, electric current separates, and control structure very simple, can be in injustice Stable electromagnetic torque, reactive power and sinusoidal stator current is realized under weighing apparatus electrical network.
A kind of sliding moding structure direct Power Control method based on expansion active power for the DFIG under unbalanced power grid, including Following steps:
(1) gather the threephase stator voltage U of DFIGsabcWith threephase stator electric current Isabc, and DFIG is calculated by detection Rotor angular frequencyrWith rotor position angle θr
(2) respectively to described threephase stator voltage UsabcWith threephase stator electric current IsabcCarry out Clark conversion, correspondence obtains Stator voltage vector U under static alpha-beta coordinate systemsαβWith stator current vector Isαβ;And then by described stator voltage vector UsαβStagnant In a quarter cycle afterwards, obtain delayed stator voltage vector U'sαβ
(3) to described stator voltage vector UsαβIt is integrated, obtain stator magnetic linkage vector ψsαβ
(4) according to stator voltage vector Usαβ, delayed stator voltage vector U'sαβWith stator current vector IsαβCalculate The expansion active-power P of DFIG stator outputs newAnd reactive power Qs
(5) by described expansion active-power Ps newAnd reactive power QsCarry out sliding moding structure direct Power Control, from And it is calculated the modulation voltage vector U of DFIGrαβ
(6) utilize rotor position angle θ to described modulation voltage vector UrαβCarry out Park conversion, obtain rotor reference coordinate Modulation voltage vector U under systemrdq, and then using SVPWM (space vector pulse width modulation) algorithm construction go out one group of pwm signal with The machine-side converter of DFIG is controlled.
According to following formula to threephase stator voltage U in described step (2)sabcWith threephase stator electric current IsabcCarry out Clark Conversion:
Wherein:UAnd UCorrespond to stator voltage vector Usαβα axle component and beta -axis component, IAnd ICorrespond to stator Current phasor Isαβα axle component and beta -axis component, Usa、Usb、UscIt is respectively threephase stator voltage UsabcOn corresponding A, B, C three-phase Phase voltage, Isa、Isb、IscIt is respectively threephase stator electric current IsabcPhase current on corresponding A, B, C three-phase.
According to following formula to stator voltage vector U in described step (3)sαβIt is integrated:
Wherein:ψAnd ψCorrespond to stator magnetic linkage vector ψsαβα axle component and beta -axis component, U(τ) and U(τ) corresponding For τ moment stator voltage vector Usαβα axle component and beta -axis component, t be system operation duration.
Calculate the expansion active-power P of DFIG stator output by below equation in described step (4)s newAnd reactive power Qs
Wherein:UAnd UCorrespond to stator voltage vector Usαβα axle component and beta -axis component, IAnd ICorrespond to stator Current phasor Isαβα axle component and beta -axis component, U'And U'Correspond to delayed stator voltage vector U'sαβα axle component And beta -axis component.
It is based on below equation to expansion active-power P in described step (5)s newAnd reactive power QsCarry out sliding moding structure Direct Power Control:
Wherein:UAnd UCorrespond to modulation voltage vector Urαβα axle component and beta -axis component, UAnd UCorrespond to stator Voltage vector Usαβα axle component and beta -axis component, IAnd ICorrespond to stator current vector Isαβα axle component and beta -axis component, U'And U'Correspond to delayed stator voltage vector U'sαβα axle component and beta -axis component, ψAnd ψCorrespond to stator magnetic linkage Vector ψsαβα axle component and beta -axis component, KpAnd KqCorrespond to extend the integral adjustment ginseng that active power and reactive power give Number, KpsAnd KqsCorrespond to extend the switch function regulation parameter that active power and reactive power give, LmRotor mutual inductance for DFIG, LrAnd LsIt is respectively inductor rotor and the stator inductance of DFIG,And QsrefIt is respectively given Expansion active power reference value and reactive power reference qref, ep(τ) and eq(τ) corresponding to the τ moment extends active power and idle The error amount of power, ω1For the angular frequency of line voltage, j=1 or 2, λjThe boundary value giving for switch function, t transports for system Row duration.
According to following formula to modulation voltage vector U in described step (6)rαβCarry out Park conversion:
Wherein:UAnd UCorrespond to modulation voltage vector Urαβα axle component and beta -axis component, UrdAnd UrqCorrespond to modulate Voltage vector UrdqD axle component and q axle component.
It is proposed that a kind of active power of expansion on the basis of the present invention is DFIG Mathematical Modeling under unbalanced power grid, And using the active power of this expansion and traditional reactive power as control object, by sliding-mode variable structure algorithm and DPC technology Combine, and then propose a kind of improved sliding moding structure direct Power Control strategy based on expansion active power;This Bright method is under the premise of detached without line voltage electric current positive-negative sequence it is possible to realize DFIG effective under unbalanced power grid Control, obtain the stator current of stable electromagnetic torque and reactive power and sine;Control system of the present invention realizes extremely letter List is it is not necessary to phaselocked loop carries out real-time monitoring to the frequency of line voltage.
The expansion Power Theory proposing in the present invention, not only can be tied with sliding moding structure direct Power Control strategy phase Close, can also be combined the improvement control strategy being formed under unbalanced power grid with multiple direct Power Control strategies.It controls thinks Want that there is relatively broad applicability.
Brief description
Fig. 1 is the structural representation of DFIG system.
Fig. 2 is that the system of control method of the present invention realizes principle schematic.
Fig. 3 is the DFIG sliding moding structure direct Power Control system based on expansion active power for the present invention in stator voltage The unidirectional steady-state response oscillogram fallen under 50% unbalanced power grid;Wherein, UsabcFor threephase stator voltage, IsabcFor three-phase Stator current, IrabcFor three-phase rotor current, P is active power, and Q is reactive power, and Te is electromagnetic torque.
Fig. 4 is the DFIG sliding moding structure direct Power Control system based on expansion active power for the present invention in stator voltage The unidirectional spectrum analysis figure falling the stator A phase current under 50% unbalanced power grid.
Specific embodiment
In order to more specifically describe the present invention, below in conjunction with the accompanying drawings and specific embodiment is to technical scheme It is described in detail.
The system based on the DFIG sliding moding structure direct Power Control method expanding active power for the present invention realizes such as Fig. 2 Shown, DFIG1 that system includes a 2kW, the voltage source type converter 2 being connected with DFIG rotor windings, it is used for detecting DFIG The voltage sensor 3 of stator three-phase voltage, for detecting the current Hall sensor 4 of DFIG stator three-phase current, be used for detecting The encoder 12 of DFIG rotor position angle, obtain generating unit speed differentiator 11 and realize DFIG export active, reactive power The control loop adjusting.Control loop is by feeding back signal processing channel and forward direction control passage is constituted, wherein forward direction control passage Including SVPWM signal generator 5, Sliding mode variable structure control computing module 6, two-phase static/rotating coordinate transformation module 13;Feedback Signal processing channel include for obtain the stator voltage in stator two-phase rest frame, stator current vector signal three Phase/two-phase static coordinate conversion module 7, delayed stator voltage computing module 8, power computation module 9, flux linkage calculation module 10.
As shown in Fig. 2 DFIG sliding formwork direct Power Control method of the present invention comprises the following steps:
(1) three voltage hall sensors 3 are utilized to gather DFIG threephase stator voltage signal Usabc;Using three-phase current suddenly You are sensor 4 collection threephase stator current signal Isabc
(2) encoder 12 is adopted to detect the rotor position of DFIGr, then calculate rotor angular frequency through differentiator 11r
(3) by the threephase stator collecting voltage signal UsabcWith threephase stator current signal IsabcArrive through static three-phase Two-phase coordinate transformation module 7, obtains the stator voltage vector U under stator coordinatesαβWith stator current vector Isαβ;With stator electricity As a example pressure, from static three-phase, the expression formula to two-phase coordinate transform is:
(4) by the stator voltage vector collecting UsαβThrough delayed stator voltage computing module 8, by its delayed four In/mono- cycle, obtain delayed stator voltage vector U'sαβ
(5) by the stator voltage vector collecting UsαβThrough flux linkage calculation module 10, obtain stator magnetic linkage vector ψsαβ, magnetic The computing formula of chain is:
(6) by the stator voltage vector collecting Usαβ, stator current vector IsαβWith delayed stator voltage vector U'sαβCalculate expansion active power, the reactive power signals of stator output by rotor-side power computation module 9Qs, have Work(, reactive power calculate formula:
(7) the expansion active power that will be exported to electrical network according to the stator that step (4) obtain, reactive power Ps new、QsWith give Fixed stator expands active power, reactive power reference qrefQsrefAnd stator voltage vector Usαβ, delayed stator voltage arrow Amount U'sαβ, stator current vector Isαβ, stator magnetic linkage vector ψsαβ, line voltage angular frequency1With rotor angular frequencyrIt is input to Sliding moding structure power control module 6, is calculated the modulation voltage vector U of DFIGrαβ
The Computing Principle of sliding moding structure direct Power Control module 6 is as follows:
7.1 control targes are that stator is active, reactive power follows its reference value, and that is, power error is zero, and therefore definition is slided Die face is:
S=[S1S2]T
Wherein, KpAnd KqIt is respectively extension active power and reactive power integral adjustment parameter, and Kp>0、Kq>0, epAnd eq It is respectively extension active power and reactive power error, that is,:
Work as ep、eqGo to zero, you can realize control targe.
7.2, in order that the state of system levels off to sliding-mode surface, can construct Lyapunov function as follows:
The derived function of this Lyapunov function can be calculated as follows:
Wherein, can be obtained by formula in 7.1:
7.3 can expand active and reactive power rate of change by DFIG Mathematical Modeling is:
7.4 bring formula in 7.3 into 7.2 obtains:
Wherein:
From Lyapunov stability, when W is more than or equal to zero and its derivative is less than zero, system tends towards stability.
The 7.5 following relational expressions of structure:
Wherein:KpsAnd KqsIt is respectively the switch function regulation parameter expanding active power and reactive power, and Kps>0、Kqs> 0, sgn (S1) and sgn (S2) it is the switch function expanding active power and reactive power:
Wherein, λjFor the boundary value of this switch function, j=1,2.
The equation is brought into equation in 7.4 obtain:
Can ensure that the derivative of W is less than zero, system stability.
(8) by modulation voltage vector UrαβBy two-phase static/rotating coordinate transformation module 13 transforms to rotor reference coordinate System, obtains Urdq, the computing formula from two-phase rest frame to two-phase rotating coordinate system is:
(9) by UrdqValue as SVPWM signal generator module 5 reference value, modulation obtain DFIG rotor side converter Switching signal Sa、Sb、Sc
(10) by switching signal S obtaininga、Sb、ScThrough drive module driving switch device, realize active based on expanding The sliding moding structure direct Power Control of power.
Referring to Fig. 3, under the DFIG sliding moding structure direct Power Control method based on expansion active power for the present invention, this Embodiment control system under the unidirectional unbalanced power grid falling 50% of stator voltage, put down by reactive power and electromagnetic torque waveform Surely;Stator three-phase current waveform is sinusoidal, and overall control effect is very good.
Referring to Fig. 4 it can be seen that the present invention based on expand active power DFIG sliding moding structure direct Power Control Under method, Stator Current Harmonic under the unidirectional unbalanced power grid falling 50% of stator voltage for the present embodiment control system contains Amount THD very little.
In sum, the present invention is based on expanding the DFIG sliding moding structure direct Power Control method of active power need not It is possible to realize effective control under unbalanced power grid for the DFIG under the premise of line voltage electric current positive-negative sequence is detached, put down Steady electromagnetic torque and the stator current of reactive power and sine;Control structure of the present invention extremely simple it is not necessary to phaselocked loop Real-time monitoring is carried out to the frequency of line voltage.

Claims (6)

1.一种不平衡电网下DFIG基于拓展有功功率的滑模变结构直接功率控制方法,包括如下步骤:1. DFIG is based on the sliding mode variable structure direct power control method of expanding active power under a kind of unbalanced grid, comprises the following steps: (1)采集DFIG的三相定子电压Usabc和三相定子电流Isabc,并通过检测计算得到DFIG的转子角频率ωr和转子位置角θr(1) Collect the three-phase stator voltage U sabc and the three-phase stator current I sabc of DFIG, and obtain the rotor angular frequency ω r and rotor position angle θ r of DFIG through detection and calculation; (2)分别对所述三相定子电压Usabc和三相定子电流Isabc进行Clark变换,对应得到静止α-β坐标系下的定子电压矢量Usαβ和定子电流矢量Isαβ;进而将所述定子电压矢量Usαβ滞后四分之一周期,得到滞后的定子电压矢量U'sαβ(2) Perform Clark transformation on the three-phase stator voltage U sabc and the three-phase stator current I sabc respectively, correspondingly obtain the stator voltage vector U sαβ and the stator current vector I sαβ under the static α-β coordinate system; The stator voltage vector U sαβ is delayed by a quarter cycle, and the lagged stator voltage vector U' sαβ is obtained ; (3)对所述定子电压矢量Usαβ进行积分,得到定子磁链矢量ψsαβ(3) integrating the stator voltage vector U sαβ to obtain the stator flux vector ψ sαβ ; (4)根据定子电压矢量Usαβ、滞后的定子电压矢量U'sαβ和定子电流矢量Isαβ计算出DFIG定子输出的拓展有功功率Ps new和无功功率Qs(4) Calculate the extended active power P s new and reactive power Q s output by the DFIG stator according to the stator voltage vector U sαβ , the lagging stator voltage vector U' sαβ and the stator current vector I sαβ ; (5)通过对所述拓展有功功率Ps new和无功功率Qs进行滑模变结构直接功率控制,从而计算得到DFIG的调制电压矢量Urαβ(5) By performing sliding mode variable structure direct power control on the expanded active power P s new and reactive power Q s , the modulated voltage vector U rαβ of DFIG is calculated; (6)利用转子位置角θ对所述调制电压矢量Urαβ进行Park变换,得到转子参考坐标系下的调制电压矢量Urdq,进而利用SVPWM算法构造出一组PWM信号以对DFIG的机侧变换器进行控制。(6) Use the rotor position angle θ to perform Park transformation on the modulation voltage vector U rαβ to obtain the modulation voltage vector U rdq in the rotor reference coordinate system, and then use the SVPWM algorithm to construct a set of PWM signals to transform the machine side of DFIG device to control. 2.根据权利要求1所述的滑模变结构直接功率控制方法,其特征在于:所述步骤(2)中根据以下算式对三相定子电压Usabc和三相定子电流Isabc进行Clark变换:2. sliding mode variable structure direct power control method according to claim 1, is characterized in that: in described step (2), according to following formula, three-phase stator voltage U sabc and three-phase stator current I sabc carry out Clark transformation: Uu sthe s &alpha;&alpha; Uu sthe s &beta;&beta; == 22 33 11 -- 11 22 -- 11 22 00 33 22 -- 33 22 Uu sthe s aa Uu sthe s bb Uu sthe s cc II sthe s &alpha;&alpha; II sthe s &beta;&beta; == 22 33 11 -- 11 22 -- 11 22 00 33 22 -- 33 22 II sthe s aa II sthe s bb II sthe s cc 其中:U和U对应为定子电压矢量Usαβ的α轴分量和β轴分量,I和I对应为定子电流矢量Isαβ的α轴分量和β轴分量,Usa、Usb、Usc分别为三相定子电压Usabc对应A、B、C三相上的相电压,Isa、Isb、Isc分别为三相定子电流Isabc对应A、B、C三相上的相电流。Among them: U and U correspond to the α-axis component and β-axis component of the stator voltage vector U sαβ , I and I correspond to the α-axis component and β-axis component of the stator current vector I sαβ , U sa , U sb , U sc is the three-phase stator voltage U sabc corresponding to the phase voltage on the three phases A, B, and C, I sa , I sb , and I sc are the three-phase stator current I sabc corresponding to the phases on the three phases A, B, and C current. 3.根据权利要求1所述的滑模变结构直接功率控制方法,其特征在于:所述步骤(3)中根据以下算式对定子电压矢量Usαβ进行积分:3. the sliding mode variable structure direct power control method according to claim 1, is characterized in that: in described step (3), stator voltage vector U s α β is integrated according to following formula: &psi;&psi; sthe s &alpha;&alpha; == &Integral;&Integral; 00 tt Uu sthe s &alpha;&alpha; (( &tau;&tau; )) dd &tau;&tau; &psi;&psi; sthe s &beta;&beta; == &Integral;&Integral; 00 tt Uu sthe s &beta;&beta; (( &tau;&tau; )) dd &tau;&tau; 其中:ψ和ψ对应为定子磁链矢量ψsαβ的α轴分量和β轴分量,U(τ)和U(τ)对应为τ时刻定子电压矢量Usαβ的α轴分量和β轴分量,t为系统运行时长。Among them: ψ and ψ correspond to the α-axis component and β-axis component of the stator flux vector ψ sαβ , U (τ) and U (τ) correspond to the α-axis component and β of the stator voltage vector U sαβ at time τ axis component, and t is the running time of the system. 4.根据权利要求1所述的滑模变结构直接功率控制方法,其特征在于:所述步骤(4)中通过以下公式计算DFIG定子输出的拓展有功功率Ps new和无功功率Qs4. the sliding mode variable structure direct power control method according to claim 1, is characterized in that: in the described step (4), calculate the expanded active power P s new and the reactive power Q s of DFIG stator output by following formula: PP sthe s nno ee ww == 33 22 &lsqb;&lsqb; Uu &prime;&prime; sthe s &alpha;&alpha; II sthe s &beta;&beta; -- Uu &prime;&prime; sthe s &beta;&beta; II sthe s &alpha;&alpha; &rsqb;&rsqb; QQ sthe s == -- 33 22 &lsqb;&lsqb; Uu sthe s &alpha;&alpha; II sthe s &beta;&beta; -- Uu sthe s &beta;&beta; II sthe s &alpha;&alpha; &rsqb;&rsqb; 其中:U和U对应为定子电压矢量Usαβ的α轴分量和β轴分量,I和I对应为定子电流矢量Isαβ的α轴分量和β轴分量,U'和U'对应为滞后的定子电压矢量U'sαβ的α轴分量和β轴分量。Among them: U and U correspond to the α-axis component and β-axis component of the stator voltage vector U sαβ , I and I correspond to the α-axis component and β-axis component of the stator current vector I sαβ , U' and U' corresponds to the α-axis component and β-axis component of the delayed stator voltage vector U' sαβ . 5.根据权利要求1所述的滑模变结构直接功率控制方法,其特征在于:所述步骤(5)中基于以下方程对拓展有功功率Ps new和无功功率Qs进行滑模变结构直接功率控制:5. the sliding mode variable structure direct power control method according to claim 1, is characterized in that: in the described step (5), carry out sliding mode variable structure to expanding active power P s new and reactive power Q s based on following equation Direct Power Control: Uu == -- DD. -- 11 {{ GG ++ KK pp sthe s 00 00 KK qq sthe s sgnsgn (( SS 11 )) sgnsgn (( SS 22 )) }} Uu == Uu rr &alpha;&alpha; Uu rr &beta;&beta; DD. == 33 22 &sigma;&sigma; &prime;&prime; LL mm -- Uu &prime;&prime; sthe s &beta;&beta; Uu &prime;&prime; sthe s &alpha;&alpha; Uu sthe s &beta;&beta; -- Uu sthe s &alpha;&alpha; GG == -- 33 LL rr 22 &sigma;&sigma; &prime;&prime; LL mm 22 Uu sthe s &beta;&beta; Uu &prime;&prime; sthe s &alpha;&alpha; -- Uu sthe s &alpha;&alpha; Uu &prime;&prime; sthe s &beta;&beta; 00 ++ 33 LL rr &omega;&omega; rr 22 &sigma;&sigma; &prime;&prime; LL mm 22 &psi;&psi; sthe s &beta;&beta; Uu &prime;&prime; sthe s &alpha;&alpha; -- &psi;&psi; sthe s &alpha;&alpha; Uu &prime;&prime; sthe s &beta;&beta; &psi;&psi; sthe s &alpha;&alpha; Uu sthe s &beta;&beta; -- &psi;&psi; sthe s &beta;&beta; Uu sthe s &alpha;&alpha; -- -- &omega;&omega; 11 QQ sthe s -- 33 // 22 &omega;&omega; rr (( Uu &prime;&prime; sthe s &alpha;&alpha; II sthe s &beta;&beta; -- Uu &prime;&prime; sthe s &beta;&beta; II sthe s &alpha;&alpha; )) &omega;&omega; 11 PP sthe s nno ee ww ++ 33 // 22 &omega;&omega; rr (( Uu sthe s &alpha;&alpha; II sthe s &alpha;&alpha; ++ Uu sthe s &beta;&beta; II sthe s &beta;&beta; )) ++ KK pp ee pp KK qq ee qq ee pp == PP sthe s rr ee ff nno ee ww -- PP sthe s nno ee ww ee qq == QQ sthe s rr ee ff -- QQ sthe s SS 11 == ee pp ++ KK pp &Integral;&Integral; 00 tt ee pp (( &tau;&tau; )) dd &tau;&tau; SS 22 == ee qq ++ KK qq &Integral;&Integral; 00 tt ee qq (( &tau;&tau; )) dd &tau;&tau; sgnsgn (( SS jj )) == 11 ,, SS jj >> &lambda;&lambda; jj SS jj &lambda;&lambda; jj ,, || SS jj || &le;&le; &lambda;&lambda; jj -- 11 ,, SS jj << -- &lambda;&lambda; jj 其中:U和U对应为调制电压矢量Urαβ的α轴分量和β轴分量,U和U对应为定子电压矢量Usαβ的α轴分量和β轴分量,I和I对应为定子电流矢量Isαβ的α轴分量和β轴分量,U'和U'对应为滞后的定子电压矢量U'sαβ的α轴分量和β轴分量,ψ和ψ对应为定子磁链矢量ψsαβ的α轴分量和β轴分量,Kp和Kq对应为扩展有功功率和无功功率给定的积分调节参数,Kps和Kqs对应为扩展有功功率和无功功率给定的开关函数调节参数,Lm为DFIG的定转子互感,Lr和Ls分别为DFIG的转子电感和定子电感,和Qsref分别为给定的拓展有功功率参考值和无功功率参考值,ep(τ)和eq(τ)对应为τ时刻扩展有功功率和无功功率的误差值,ω1为电网电压的角频率,j=1或2,λj为开关函数给定的边界值,t为系统运行时长。Among them: U and U correspond to the α-axis component and β-axis component of the modulation voltage vector U rαβ , U and U correspond to the α-axis component and β-axis component of the stator voltage vector U sαβ , and I and I correspond to is the α-axis component and β-axis component of the stator current vector I sαβ , U' and U' correspond to the α-axis component and β-axis component of the lagging stator voltage vector U' sαβ , and ψ and ψ correspond to the stator magnetic The α-axis component and β-axis component of the chain vector ψ sαβ , K p and K q correspond to the integral adjustment parameters of the extended active power and reactive power, and K ps and K qs correspond to the extended active power and reactive power given The switching function of the adjustment parameter, L m is the stator-rotor mutual inductance of DFIG, L r and L s are the rotor inductance and stator inductance of DFIG respectively, and Q sref are the given extended active power reference value and reactive power reference value respectively, e p (τ) and e q (τ) correspond to the error values of extended active power and reactive power at time τ, and ω 1 is the power grid The angular frequency of the voltage, j = 1 or 2, λ j is the boundary value given by the switching function, and t is the operating time of the system. 6.根据权利要求1所述的滑模变结构直接功率控制方法,其特征在于:所述步骤(6)中根据以下算式对调制电压矢量Urαβ进行Park变换:6. sliding mode variable structure direct power control method according to claim 1, is characterized in that: in described step (6), according to following formula, modulating voltage vector U r α β is carried out Park transformation: Uu rr dd Uu rr qq == cos&theta;cos&theta; rr sin&theta;sin&theta; rr -- sin&theta;sin&theta; rr cos&theta;cos&theta; rr Uu rr &alpha;&alpha; Uu rr &beta;&beta; 其中:U和U对应为调制电压矢量Urαβ的α轴分量和β轴分量,Urd和Urq对应为调制电压矢量Urdq的d轴分量和q轴分量。Among them: U and U correspond to the α-axis component and β-axis component of the modulation voltage vector U rαβ , U rd and U rq correspond to the d-axis component and q-axis component of the modulation voltage vector U rdq .
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