CN107846041B - Differential optimization control method for direct-drive permanent magnet synchronous wind power generation system - Google Patents

Differential optimization control method for direct-drive permanent magnet synchronous wind power generation system Download PDF

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CN107846041B
CN107846041B CN201711122161.8A CN201711122161A CN107846041B CN 107846041 B CN107846041 B CN 107846041B CN 201711122161 A CN201711122161 A CN 201711122161A CN 107846041 B CN107846041 B CN 107846041B
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王环
曾国强
戴瑜兴
吴烈
李理敏
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Abstract

The invention discloses a differential optimization control method of a direct-drive permanent magnet synchronous wind power generation system, which adopts an electric energy control structure of back-to-back full-power current conversion, respectively establishes state space models of a machine side converter control system and a grid side converter control system, takes the product of the absolute value and time of tracking errors of a machine side current conversion control module and a grid side current conversion control module in the direct-drive permanent magnet synchronous wind power generation system and the weighted superposition of the total harmonic distortion of system output voltage waveforms as a fitness function for evaluating the control performance, designs a differential optimization control method based on real number coding, and realizes the optimization of PI controller parameters in the direct-drive permanent magnet synchronous wind power generation system. The control method can effectively improve the working efficiency and the power generation quality of the direct-drive permanent magnet synchronous wind power generation system, the energy conversion efficiency and the operation reliability of the wind turbine generator, and ensure that the direct-drive permanent magnet synchronous wind power generation system has shorter stabilization time, smaller steady-state error and stronger robustness when the power grid is disturbed.

Description

Differential optimization control method for direct-drive permanent magnet synchronous wind power generation system
Technical Field
The invention relates to the field of intelligent control technology of new energy power generation systems, in particular to a differential optimization control method of a direct-drive permanent magnet synchronous wind power generation system.
Background
A direct-drive Permanent Magnet synchronous generator (D-PMSG) omits a complex mechanical transmission mechanism, reduces the loss of a wind generating set by adopting full-power variable-current electric energy control, and improves the energy conversion efficiency and the operation reliability of the wind generating set. The power control strategy of the full-power converter has very critical influence on the operating characteristics and the power output quality of the D-PMSG. On the background that the capacity of a wind power access power grid is rapidly increased, a grid-connected direct-drive wind turbine generator set has strong fault resistance, and has strong robustness and certain anti-interference capability when the power grid is disturbed. Therefore, how to design an effective full-power grid-connected converter control system of the D-PMSG has important engineering application value.
The full-power grid-connected current conversion control strategy of the D-PMSG is a common organic side uncontrollable rectifier grid-connected side thyristor inversion control strategy, a machine side uncontrollable rectifier grid-connected side PWM voltage source type inversion control strategy, a machine side uncontrollable rectifier grid-connected Boost voltage source inversion control strategy, a back-to-back full-power current conversion control strategy and the like. The back-to-back full-power variable flow control strategy regulates and controls the rotating speed and the reactive power of the permanent magnet synchronous engine by adopting a machine side PWM rectification system to realize the tracking of the optimal power of wind energy; the intermediate direct-current voltage is stabilized by adopting a grid-side PWM inversion system, and the reactive power injected into the power grid is regulated and controlled. The back-to-back full-power variable flow control strategy is more flexible in control because both ends are PWM variable flow systems, but complexity and uncertainty of system optimization control are increased. The differential optimization control is used as a novel optimization control algorithm based on a cluster intelligent theory, the application research in the power system is late, and the method mainly focuses on the aspects of power grid planning, load economic distribution, optimal load flow calculation and the like. The research on how to design the DE optimization control method of the D-PMSG back-to-back full-power converter electric energy control system by setting a multi-objective weighting function so as to improve the working efficiency and the power generation quality of the wind power system under complex working conditions and uncertain factors is a well-recognized problem in the academic and scientific fields and the engineering application fields at home and abroad.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a differential optimization control method of a direct-drive permanent magnet synchronous wind power generation system, which can effectively improve the working efficiency and the power generation quality of a D-PMSG (direct-drive permanent magnet synchronous wind power generation system) and the energy conversion efficiency and the operation reliability of a wind turbine generator set, and ensure that the D-PMSG has shorter stabilization time, smaller steady-state error and stronger robustness when a power grid is disturbed. The specific technical scheme is as follows:
a differential optimization control method of a direct-drive permanent magnet synchronous wind power generation system is characterized in that the system adopts a back-to-back full-power converter electric energy control structure, wherein a machine side converter controls the rotating speed and the output power of a generator, a grid side converter stabilizes the voltage of a direct current bus and controls the active power and the reactive power output by the power generation system; the method comprises the following steps:
(1) establishing a state space model of the grid-side converter system by adopting a modeling method described by a duty ratio function:
Figure BDA0001467595750000021
wherein, L is filter inductance, R is equivalent resistance of the filter inductance, C filter capacitance, ekIs the three-phase grid potential, ikFor three-phase output current, dkIs the duty ratio, udcIs a DC bus voltage, edIs a direct current electromotive force at the side of the direct current bus, RdThe equivalent resistance is the equivalent resistance of the direct current bus side;
(2) d and q synchronous rotating coordinate transformation is carried out on the formula (1), so that the state space model of the grid-side converter system is adjusted as follows:
Figure BDA0001467595750000022
wherein e isd、eqIs d-axis component and q-axis component i under two-phase synchronous rotating coordinate system of three-phase power grid electromotive forced、iqD and q axis components under a two-phase synchronous rotating coordinate system of output current of a grid-side converter systemd、dqD and q axis components under an equivalent switching function two-phase synchronous rotating coordinate system; omega is the three-phase grid voltage angular frequency.
(3) By modeling the machine side converter system under the two-phase synchronous rotating coordinate system, a voltage equation of the three-phase stator winding can be obtained:
Figure BDA0001467595750000023
wherein u issa、usb、usc-stator three-phase voltage，isa、isb、isc-stator three phase currents. RsWinding resistance of stator,. psia、ψb、ψc-stator winding flux per phase expressed as follows:
Figure BDA0001467595750000024
wherein L isaa、Lbb、LccFor the stator winding inductance per phase, Mab＝Mba、Mbc＝Mcb、Mac＝McaFor mutual inductance, ψ, between windings of each phasefa、ψfb、ψfcPermanent magnet flux linkage of each pole, represented as a three-phase winding:
Figure BDA0001467595750000031
wherein psifExciting a flux linkage for a permanent magnet;
(4) the state space equation of the machine side converter system is obtained according to the formulas (3), (4) and (5) as follows:
Figure BDA0001467595750000032
where p is a differential operator, LsIs the winding inductance of the stator. In the case of a three-phase system,
isa+isb+isc＝0 (7)
combining the equations (4) - (7), and further transforming the machine side converter system state space equation into:
Figure BDA0001467595750000033
wherein, ω iseIs the electrical angular velocity of the rotor;
(5) d and q synchronous rotating coordinate transformation is carried out on the formula (8), and finally, the state space model of the machine side converter system is adjusted as follows:
Figure BDA0001467595750000034
Figure BDA0001467595750000035
wherein u issd、usqIs d and q axis components i of a stator three-phase voltage two-phase synchronous rotating coordinate systemsd、isqD and q axis components psi under stator three-phase current two-phase synchronous rotating coordinate systemd、ψqD and q axis components of generator flux linkage, Ld、LqD, q-axis component, omega, of stator winding inductancesIs the generator angular velocity.
(6) Combining formulas (2), (9) and (10) with a PI controller to obtain an electric energy control system of a back-to-back full-power converter in the direct-drive permanent magnet synchronous wind power generation system;
(7) and (5) carrying out differential optimization on the system obtained in the step (6), and setting the parameter values of the differential optimization: a variation factor F, a cross factor CR, a population scale M and a maximum iteration number G;
(8) randomly generating an initial population P ═ x of the variable of a PI controller of an electric energy control system for back-to-back full-power conversion in the real number coded direct-drive permanent magnet synchronous wind power generation meeting the constraint condition of a formula (11)1,x2,…,xpWherein the ith individual xiRepresenting a sequence of control deltas K to be optimizedp1i,Ki1i,Kp2i,Ki2i,Kp3i,Ki3i,Kp4i,Ki4iThe specific production process is as follows:
xij＝Δumin+randij(Δumax-Δumin),i＝1,2,...,p；j＝1,2,...,8 (11)
wherein, Δ uminAnd Δ umaxRespectively representing the lower and upper limits, rand, of the sequence of control incrementsijRepresents a set of random numbers generated between 0 and 1;
(9) for each individual x in the population P according to equation (11)i,i＝1,2,…,pPerforming an objective function fiAnd (4) calculating and evaluating, specifically as shown in formula (13), and setting the current minimum objective function value in the population as fbestSetting the corresponding individual as the current best solution Sbest；
Figure BDA0001467595750000041
Wherein e is1And e2Respectively representing the tracking errors of the machine side variable flow control module and the network side variable flow control module, T representing the system running time value, TminAnd TmaxRespectively representing the initial time and the end time of the operation of the three-phase inverter system, THD representing the harmonic distortion rate of the voltage waveform output by the direct-drive permanent magnet synchronous wind power generation system, w1And w2Represents a weight coefficient and satisfies w1+w2＝1；
(10) Performing mutation operation on the population, and randomly selecting 3 individuals x from the populationp1，xp2，xp3And i, p1, p2 and p3 are different from each other, and the specific mutation operations are as follows:
hij(t+1)＝xp1j(t)+F·(xp2j(t)-xp3j(t)) (13)
wherein h isij(t +1) temporarily storing the intermediate variable of the variant individual;
(11) in order to increase the diversity of interference parameter vectors, the population after mutation operation is subjected to cross operation, which specifically comprises the following steps:
Figure BDA0001467595750000042
wherein, randlijRepresenting a set of random numbers, v, generated between 0 and 1ij(t +1) is an intermediate variable of the individual after temporary storage of the crossover;
(12) to determine xi(t) whether it can be a member of the next generation, and obtaining an experimental vector v using the formula (12)i(t +1) and target vector xi(t) and comparing the values of the evaluation functions as follows:
Figure BDA0001467595750000051
(13) and (5) repeating the steps (9) to (12) until the system runs to the maximum iteration number G to obtain the optimal variable of the PI controller, so that the back-to-back full-power current transformation electric energy control system in the direct-drive permanent magnet synchronous wind power generation is controlled.
Compared with the prior art, the invention has the following beneficial effects:
by adopting the differential optimization control method of the D-PMSG back-to-back full-power conversion system, the working efficiency and the power generation quality of the D-PMSG, the energy conversion efficiency and the operation reliability of the wind turbine generator set can be effectively improved, and the D-PMSG is ensured to have shorter stabilization time, smaller steady-state error and stronger robustness when the power grid is disturbed.
Drawings
FIG. 1 is a structural block diagram of a direct-drive permanent magnet synchronous wind power generation system and a schematic diagram of DE optimization control principle;
FIG. 2 is a flow chart of an implementation process of the control method of the present invention;
FIG. 3 is a graph of the objective function value optimization process after the control method of the present invention is implemented;
FIG. 4 is a three-phase power output voltage waveform diagram of the D-PMSG implemented in the RT-LAB power real-time simulation platform.
Detailed Description
The following representative examples are intended to illustrate the invention, but are not intended to limit the scope of the invention described herein.
As shown in fig. 1 and 2, a differential optimization control method for a direct-drive permanent magnet synchronous wind power generation system adopts a back-to-back full-power converter electric energy control structure, wherein a machine-side converter controls the rotation speed and output power of a generator, a grid-side converter stabilizes the voltage of a direct-current bus, and controls the active power and reactive power output by the power generation system; the method comprises the following steps:
a differential optimization control method of a direct-drive permanent magnet synchronous wind power generation system is characterized in that the system adopts a back-to-back full-power converter electric energy control structure, wherein a machine side converter controls the rotating speed and the output power of a generator, a grid side converter stabilizes the voltage of a direct current bus and controls the active power and the reactive power output by the power generation system; the method comprises the following steps:
(1) establishing a state space model of the grid-side converter system by adopting a modeling method described by a duty ratio function:
Figure BDA0001467595750000061
wherein, L is filter inductance, R is equivalent resistance of the filter inductance, C filter capacitance, ekIs the three-phase grid potential, ikFor three-phase output current, dkIs the duty ratio, udcIs a DC bus voltage, edIs a direct current electromotive force at the side of the direct current bus, RdThe equivalent resistance is the equivalent resistance of the direct current bus side;
(2) d and q synchronous rotating coordinate transformation is carried out on the formula (1), so that the state space model of the grid-side converter system is adjusted as follows:
Figure BDA0001467595750000062
wherein e isd、eqIs d-axis component and q-axis component i under two-phase synchronous rotating coordinate system of three-phase power grid electromotive forced、iqD and q axis components under a two-phase synchronous rotating coordinate system of output current of a grid-side converter systemd、dqD and q axis components under an equivalent switching function two-phase synchronous rotating coordinate system; omega is the three-phase grid voltage angular frequency.
(3) By modeling the machine side converter system under the two-phase synchronous rotating coordinate system, a voltage equation of the three-phase stator winding can be obtained:
Figure BDA0001467595750000063
wherein u issa、usb、uscStator three-phase voltage isa、isb、isc-stator three phase currents. RsWinding resistance of stator,. psia、ψb、ψc-stator winding flux per phase expressed as follows:
Figure BDA0001467595750000064
wherein L isaa、Lbb、LccFor the stator winding inductance per phase, Mab＝Mba、Mbc＝Mcb、Mac＝McaFor mutual inductance, ψ, between windings of each phasefa、ψfb、ψfcPermanent magnet flux linkage of each pole, represented as a three-phase winding:
Figure BDA0001467595750000071
wherein psifExciting a flux linkage for a permanent magnet;
(4) the state space equation of the machine side converter system is obtained according to the formulas (3), (4) and (5) as follows:
Figure BDA0001467595750000072
where p is a differential operator, LsIs the winding inductance of the stator. In the case of a three-phase system,
isa+isb+isc＝0 (7)
combining the equations (4) - (7), and further transforming the machine side converter system state space equation into:
Figure BDA0001467595750000073
wherein, ω iseIs the electrical angular velocity of the rotor;
(5) d and q synchronous rotating coordinate transformation is carried out on the formula (8), and finally, the state space model of the machine side converter system is adjusted as follows:
Figure BDA0001467595750000074
Figure BDA0001467595750000075
wherein u issd、usqIs d and q axis components i of a stator three-phase voltage two-phase synchronous rotating coordinate systemsd、isqD and q axis components psi under stator three-phase current two-phase synchronous rotating coordinate systemd、ψqD and q axis components of generator flux linkage, Ld、LqD, q-axis component, omega, of stator winding inductancesIs the generator angular velocity.
(6) Combining formulas (2), (9) and (10) with a PI controller to obtain an electric energy control system of a back-to-back full-power converter in the direct-drive permanent magnet synchronous wind power generation system;
(7) and (5) carrying out differential optimization on the system obtained in the step (6), and setting the parameter values of the differential optimization: a variation factor F, a cross factor CR, a population scale M and a maximum iteration number G;
(8) randomly generating an initial population P ═ x of the variable of a PI controller of an electric energy control system for back-to-back full-power conversion in the real number coded direct-drive permanent magnet synchronous wind power generation meeting the constraint condition of a formula (11)1,x2,…,xpWherein the ith individual xiRepresenting a sequence of control deltas K to be optimizedp1i,Ki1i,Kp2i,Ki2i,Kp3i,Ki3i,Kp4i,Ki4iThe specific production process is as follows:
xij＝Δumin+randij(Δumax-Δumin),i＝1,2,...,p；j＝1,2,...,8 (11)
wherein, Δ uminAnd Δ umaxRespectively representing the lower and upper limits, rand, of the sequence of control incrementsijRepresents a set of random numbers generated between 0 and 1;
(9) for each individual in the population P according to equation (11)xiI 1,2, …, p performs the objective function fiAnd (4) calculating and evaluating, specifically as shown in formula (13), and setting the current minimum objective function value in the population as fbestSetting the corresponding individual as the current best solution Sbest；
Figure BDA0001467595750000081
Wherein e is1And e2Respectively representing the tracking errors of the machine side variable flow control module and the network side variable flow control module, T representing the system running time value, TminAnd TmaxRespectively representing the initial time and the end time of the operation of the three-phase inverter system, THD representing the harmonic distortion rate of the voltage waveform output by the direct-drive permanent magnet synchronous wind power generation system, w1And w2Represents a weight coefficient and satisfies w1+w2＝1；
(10) Performing mutation operation on the population, and randomly selecting 3 individuals x from the populationp1，xp2，xp3And i, p1, p2 and p3 are different from each other, and the specific mutation operations are as follows:
hij(t+1)＝xp1j(t)+F·(xp2j(t)-xp3j(t)) (13)
wherein h isij(t +1) temporarily storing the intermediate variable of the variant individual;
(11) in order to increase the diversity of interference parameter vectors, the population after mutation operation is subjected to cross operation, which specifically comprises the following steps:
Figure BDA0001467595750000082
wherein, randlijRepresenting a set of random numbers, v, generated between 0 and 1ij(t +1) is an intermediate variable of the individual after temporary storage of the crossover;
(12) to determine xi(t) whether it can be a member of the next generation, and obtaining an experimental vector v using the formula (12)i(t +1) and target vector xi(t) evaluating the values of the functions, comparing them, and performing the specific operationThe following were used:
Figure BDA0001467595750000091
(13) and (5) repeating the steps (9) to (12) until the system runs to the maximum iteration number G to obtain the optimal variable of the PI controller, so that the back-to-back full-power current transformation electric energy control system in the direct-drive permanent magnet synchronous wind power generation is controlled.
The optimization process curve of the objective function value after the control method is implemented is shown in fig. 3, the three-phase power output voltage waveform of the real-time simulation platform of the RT-LAB power of the D-PMSG after the control method is implemented is shown in fig. 4, and as can be seen from the graph, the differential optimization method has strong global convergence capability and robustness, and after the differential optimization calculation is adopted to carry out optimization control on the electric energy control system of the back-to-back full-power converter in the D-PMSG, the three-phase power output of the system is stable, and the electric energy quality is high.

Claims (1)

1. A differential optimization control method of a direct-drive permanent magnet synchronous wind power generation system is characterized in that the system adopts a back-to-back full-power converter electric energy control structure, wherein a machine side converter controls the rotating speed and the output power of a generator, a grid side converter stabilizes the voltage of a direct current bus and controls the active power and the reactive power output by the power generation system; the method comprises the following steps:
(1) establishing a state space model of the grid-side converter system by adopting a modeling method described by a duty ratio function:
Figure FDA0002386290260000011
wherein, L is filter inductance, R is equivalent resistance of filter inductance, C filter capacitance, epsilonkIs the three-phase grid potential, ikFor three-phase output current, dkIs the duty ratio, udcIs a DC bus voltage, εdIs a direct current electromotive force at the side of the direct current bus, RdThe equivalent resistance is the equivalent resistance of the direct current bus side;
(2) d and q synchronous rotating coordinate transformation is carried out on the formula (1), so that the state space model of the grid-side converter system is adjusted as follows:
Figure FDA0002386290260000012
wherein e isd、eqIs d-axis component and q-axis component i under two-phase synchronous rotating coordinate system of three-phase power grid electromotive forced、iqD and q axis components under a two-phase synchronous rotating coordinate system of output current of a grid-side converter systemd、dqD and q axis components under an equivalent switching function two-phase synchronous rotating coordinate system; omega is the angular frequency of the three-phase power grid voltage;
(3) by modeling the machine side converter system under the two-phase synchronous rotating coordinate system, a voltage equation of the three-phase stator winding can be obtained:
Figure FDA0002386290260000013
wherein u issa、usb、uscStator three-phase voltage isa、isb、isc-stator three phase currents; rsWinding resistance of stator,. psia、ψb、ψc-stator winding flux per phase expressed as follows:
Figure FDA0002386290260000021
wherein L isaa、Lbb、LccFor the stator winding inductance per phase, Mab＝Mba、Mbc＝Mcb、Mac＝McaFor mutual inductance, ψ, between windings of each phasefa、ψfb、ψfcPermanent magnet flux linkage of each pole, represented as a three-phase winding:
Figure FDA0002386290260000022
wherein psifExciting a flux linkage for a permanent magnet;
(4) the state space equation of the machine side converter system is obtained according to the formulas (3), (4) and (5) as follows:
Figure FDA0002386290260000023
wherein D is a differential operator, LsIs the winding inductance of the stator; in the case of a three-phase system,
isa+isb+isc＝0 (7)
combining the equations (4) - (7), and further transforming the machine side converter system state space equation into:
Figure FDA0002386290260000024
wherein, ω iseIs the electrical angular velocity of the rotor;
(5) d and q synchronous rotating coordinate transformation is carried out on the formula (8), and finally, the state space model of the machine side converter system is adjusted as follows:
Figure FDA0002386290260000025
Figure FDA0002386290260000031
wherein u issd、usqIs d and q axis components i of a stator three-phase voltage two-phase synchronous rotating coordinate systemsd、isqIs d-axis component and q-axis component psi of stator three-phase current two-phase synchronous rotating coordinate systemd、ψqIs the d and q axis components of the generator flux linkage, Ld、LqD, q-axis components, omega, of stator winding inductancesIs the generator angular velocity;
(6) combining formulas (2), (9) and (10) with a PI controller to obtain an electric energy control system of a back-to-back full-power converter in the direct-drive permanent magnet synchronous wind power generation system;
(7) and (5) carrying out differential optimization on the system obtained in the step (6), and setting the parameter values of the differential optimization: a variation factor F, a cross factor CR, a population scale M and a maximum iteration number G;
(8) randomly generating an initial population P ═ x of the variable of the PI controller of the electric energy control system of the back-to-back full-power conversion in the real number coded direct-drive permanent magnet synchronous wind power generation system which meets the constraint condition of the formula (11)1,x2,…,xpWherein the ith individual xiRepresenting a sequence of control deltas K to be optimizedp1i,Ki1i,Kp2i,Ki2i,Kp3i,Ki3i,Kp4i,Ki4iThe specific production process is as follows:
xij＝Δumin+randij(Δumax-Δumin),i＝1,2,...,p；j＝1,2,...,8 (11)
wherein, Δ uminAnd Δ umaxRespectively representing the lower and upper limits, rand, of the sequence of control incrementsijRepresents a set of random numbers generated between 0 and 1;
(9) for each individual x in the population P according to equation (12)iI 1,2, …, p performs the objective function fiCalculating and evaluating, and setting the current minimum objective function value in the population as fbestSetting the corresponding individual as the current best solution Sbest；
Figure FDA0002386290260000032
Wherein e is1And e2Respectively representing the tracking errors of a machine side variable flow control module and a network side variable flow control module, tau representing the running time value of the system, TminAnd TmaxRespectively representing the initial time and the termination time of the operation of a grid-side converter system, THD representing the harmonic distortion rate of the voltage waveform output by the direct-drive permanent magnet synchronous wind power generation system, w1And w2Represents a weight coefficient and satisfies w1+w2＝1；
(10) Performing mutation operation on the population, and randomly selecting 3 individuals x from the populationp1，xp2，xp3And i, p1, p2 and p3 are different from each other, and the specific mutation operations are as follows:
hij(t+1)＝xp1j(t)+F·(xp2j(t)-xp3j(t)) (13)
wherein h isij(t +1) temporarily storing the intermediate variable of the variant individual;
(11) in order to increase the diversity of interference parameter vectors, the population after mutation operation is subjected to cross operation, which specifically comprises the following steps:
Figure FDA0002386290260000041
wherein, randlijRepresenting a set of random numbers, v, generated between 0 and 1ij(t +1) is an intermediate variable of the individual after temporary storage of the crossover;
(12) to determine xi(t) whether it can be a member of the next generation, and obtaining an experimental vector v using the formula (12)i(t +1) and target vector xi(t) and comparing the values of the evaluation functions as follows:
Figure FDA0002386290260000042
(13) and (5) repeating the steps (9) to (12) until the system runs to the maximum iteration number G to obtain the optimal variable of the PI controller, so that the back-to-back full-power current transformation electric energy control system in the direct-drive permanent magnet synchronous wind power generation system is controlled.
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