CN108322113B - Power balance control method for switched reluctance motor system - Google Patents
Power balance control method for switched reluctance motor system Download PDFInfo
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- CN108322113B CN108322113B CN201810125709.2A CN201810125709A CN108322113B CN 108322113 B CN108322113 B CN 108322113B CN 201810125709 A CN201810125709 A CN 201810125709A CN 108322113 B CN108322113 B CN 108322113B
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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
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05F—SYSTEMS FOR REGULATING ELECTRIC OR MAGNETIC VARIABLES
- G05F1/00—Automatic systems in which deviations of an electric quantity from one or more predetermined values are detected at the output of the system and fed back to a device within the system to restore the detected quantity to its predetermined value or values, i.e. retroactive systems
- G05F1/66—Regulating electric power
- G05F1/67—Regulating electric power to the maximum power available from a generator, e.g. from solar cell
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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
- H02P2101/00—Special adaptation of control arrangements for generators
- H02P2101/15—Special adaptation of control arrangements for generators for wind-driven turbines
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Abstract
The invention relates to a power balance control method of a switched reluctance motor system, which comprises the following steps: detecting the rotating speed of the motor, when the rotating speed is less than the load, carrying out maximum power tracking on the switched reluctance motor system, calculating the maximum power output by the system, and if the maximum power output by the system still cannot meet the power required by the load, transmitting power to the load by the energy storage device to maintain the stability of the direct-current bus voltage and the balance of the system power; when the rotating speed is higher than the load, the switched reluctance motor system carries out maximum power tracking, and if the output maximum power is higher than the power required by the load and the system has no energy storage device or the stored energy is full, bus voltage closed loop is carried out. The invention can quickly realize maximum wind energy capture when the bus voltage is in a safe range, improves the stability of the system under the condition of rotating speed change, has the capability of self-adjusting the bus voltage, ensures the power balance of the system and the stability of the bus voltage, and has good engineering application value.
Description
Technical Field
The invention relates to the field of switched reluctance motors, in particular to a power balance control method of a switched reluctance motor system.
Background
The switched reluctance motor has the characteristics of simple structure, flexible control, low manufacturing cost, good fault-tolerant performance and the like, and is successfully applied to a plurality of occasions, particularly severe environment occasions. At present, the main research direction for a switched reluctance motor system is maximum power tracking control and efficiency optimization control, and the following methods are specifically disclosed: 1. the constant impedance circuit is connected in parallel at two ends of the power converter, so that the maximum power tracking control is simpler; 2. establishing a switched reluctance motor model by utilizing flux linkage and torque data obtained by a finite element analysis method, and calculating an optimal turn-on angle and turn-off angle according to the maximum power corresponding to a given rotating speed so as to realize efficiency maximization; 3. the variable-step power disturbance tracking method is provided, a rotating speed measuring device does not need to be additionally arranged, a mechanical characteristic curve does not need to be measured in advance, decoupling control of the switched reluctance motor and the wind turbine is achieved, and a 10kW system is designed to be applied to an actual field. 4. The fuzzy control algorithm is adopted to effectively reduce the output voltage pulsation of the switched reluctance motor, and the variable step length algorithm is used to carry out maximum power tracking control, thereby accelerating the maximum power point searching process. No study on power balance control of switched reluctance motor systems is disclosed.
Disclosure of Invention
The invention aims to provide a power balance control method of a switched reluctance motor system, which is used for carrying out maximum power tracking control within a safe range when the bus voltage is in the safe range so as to realize high-efficiency utilization of electric energy; when the bus voltage is out of the safe range, the bus voltage is controlled in a closed loop mode, electric power is controlled reasonably, power balance is maintained, and the stability of the bus voltage is guaranteed.
In order to achieve the purpose, the invention adopts the following technical scheme:
a power balance control method for a switched reluctance motor system comprises the following steps:
detecting the rotating speed of the motor, when the rotating speed is less than the load, carrying out maximum power tracking on the switched reluctance motor system, calculating the maximum power output by the system, and if the maximum power output by the system still cannot meet the power required by the load, transmitting power to the load by the energy storage device to maintain the stability of the direct-current bus voltage and the balance of the system power;
when the rotating speed is higher than the load, the switched reluctance motor system carries out maximum power tracking, if the output maximum power is higher than the power required by the load and the system has no energy storage device or the energy storage is full, bus voltage is closed-loop, so that the bus voltage is in a safe range.
Further, when the rotating speed is higher than the load, the switched reluctance motor system performs maximum power tracking, and if the output maximum power is higher than the power required by the load and the system has no energy storage device or the stored energy is full, the bus voltage closed loop is realized by outputting a phase current chopping limit value after the difference value between the given voltage of the rotating speed of the motor and the actual rotating speed passes through a PI controller.
Further, the calculating the given voltage value of the motor rotating speed specifically comprises the following steps:
calculating a rotating speed disturbance quantity and judging a disturbance direction according to the output power at the front moment and the rear moment, if the output power is increased, applying the rotating speed disturbance quantity in the same direction, and if the output power is reduced, applying the rotating speed disturbance quantity in the opposite direction; and superposing the rotating speed disturbance quantity on the basis of the actual rotating speed of the motor at the previous moment, and outputting the rotating speed set value at the current moment.
Further, the rotation speed disturbance amount is calculated by using the following formula:
wherein Δ ω (t +1) represents the rotational speed disturbance amount at the time t + 1; λ represents a rotation speed disturbance quantity coefficient; p (t) represents electric power at time t; p (t-1) is the electric power at the time of t-1; ω (t) represents the actual rotational speed at time t; ω (t-1) represents the actual rotational speed at time t-1.
Further, the given value of the rotating speed is calculated by adopting the following formula:
wherein, ω (t +1)aimThe given value of the rotating speed at the moment of t +1 is shown; ω (t) represents the actual rotational speed at time t; Δ ω (t +1) represents the rotational speed disturbance amount at time t + 1; Δ P represents the difference in electric power between the two moments before and after the system.
Furthermore, the same PI controller is adopted by the control system for carrying out rotating speed closed loop and voltage closed loop, and proportion and integral parameters are selected according to the voltage value of the direct current bus, so that severe fluctuation of the system in the control strategy switching process is avoided.
According to the technical scheme, the power balance control method of the switched reluctance motor system combines maximum power tracking control and voltage closed-loop control, and realizes seamless switching of two control modes according to the voltage of the direct current bus. When the bus voltage Us is smaller than the threshold voltage U1, the switched reluctance motor system performs maximum power tracking control, and the phase current chopping limit value is adjusted in a rotating speed closed loop mode, so that the output power is increased rapidly; when the bus voltage Us is larger than the threshold voltage U2, the switched reluctance motor system performs bus voltage closed-loop control, and limits the output power of the system by adjusting the phase current chopping limit value, so that the direct-current bus voltage is in a safe range; when the bus voltage Us is between U1 and U2, the phase current chopping limit output by the control system remains unchanged. By the method, the maximum wind energy capture can be quickly realized when the bus voltage is in a safe range, the stability of the system under the condition of rotating speed change is improved, the capability of self-adjusting the bus voltage is realized, the power balance of the system and the stability of the bus voltage are ensured, and the method has good engineering application value.
Drawings
FIG. 1 is a switched reluctance motor system;
fig. 2 is a block diagram of a maximum power tracking control architecture;
FIG. 3 is a block diagram of a bus voltage closed loop control architecture;
fig. 4 is a block diagram of a switched reluctance motor system power balance control architecture.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in fig. 1, the switched reluctance motor system of the present embodiment mainly includes four parts, namely, a wind turbine, a switched reluctance motor with a three-phase 12/8 structure, a power converter with an asymmetric half-bridge structure, and a control system. The switched reluctance motor is used as a core component for electromechanical energy conversion, and input mechanical energy is converted into electric energy by a power converter and is output. The control system is the central part of the whole system, integrates feedback signals such as rotor position, voltage and current and the like and externally input commands, analyzes and processes the feedback signals and sends out control signals of a main switching device of the power converter, and time-sharing excitation and energy conversion of the system are realized.
As shown in fig. 2, a control system adopted in the power balance control method of the switched reluctance motor system of the present embodiment includes a power calculator, a maximum power tracking module MPPT, a rotation speed calculator, a hysteresis controller, an angular position controller, a power converter, and a position sensor, the output end of the power converter is connected with the control end of the motor SRG and the input end of the power calculator, the input end of the power converter is connected with the output end of the hysteresis controller, the input end of the hysteresis controller is connected with the output ends of the angle position controller and the PI controller, the output end of the power calculator is connected with the input end of the MPPT (maximum power tracking) module, the output end of the rotating speed calculator is connected with the input end of the MPPT module, the input end of the angle position controller is connected with the position sensor and the rotating speed calculator, and the position sensor is installed on the same shaft of the motor SRG.
The method specifically comprises the following steps: detecting the rotating speed of the motor, when the rotating speed is less than the load, carrying out maximum power tracking on the switched reluctance motor system, calculating the maximum power output by the system, and if the maximum power output by the system still cannot meet the power required by the load, transmitting power to the load by the energy storage device to maintain the stability of the direct-current bus voltage and the balance of the system power; when the rotating speed is higher than the load, the switched reluctance motor system carries out maximum power tracking, if the output maximum power is higher than the power required by the load and the system has no energy storage device or the energy storage is full, bus voltage is closed-loop, so that the bus voltage is in a safe range.
Control system sampling bus voltage UsBus current idcSum phase current iabcIf the bus voltage U issLess than threshold voltage U1Then the system performs maximum power tracking control, and the control structure block diagram is shown in fig. 2. The maximum power tracking module calculates t time according to the formula (1)The system electric power P (t) is carved, and compared with the t-1 system electric power P (t-1), the t +1 rotating speed disturbance quantity delta omega (t +1) and the disturbance direction are given out, the calculation is carried out according to the formula (2), then the rotating speed disturbance quantity is superposed on the basis of the actual rotating speed to obtain the rotating speed given value omega (t +1) at the t +1 momentaim. After the difference value of the set rotating speed value and the actual rotating speed passes through the PI controller, the phase current chopping limit value i is output*. Phase current iabcPhase current chopping limit i*The comparison generates a hysteresis control signal. And the hysteresis control signal and the angle position signal phase and the phase of the hysteresis control signal and the angle position signal phase control the on and off of a main switch device of the power converter, so that the switched reluctance motor system can stably, accurately and quickly output the maximum power at the wind speed.
P(t)＝Udc×Idc (1)
In the formula (1), UdcRepresenting the DC bus voltage, IdcRepresenting the dc bus current.
In the formula (2), ω (t +1)aimThe given value of the rotating speed at the moment of t +1 is shown; ω (t) represents the actual rotational speed at time t; Δ ω (t +1) represents the rotational speed disturbance amount at time t + 1; Δ P represents a difference between electric powers at two moments before and after; lambda is a rotating speed disturbance quantity coefficient; p (t) represents electric power at time t; p (t-1) represents the electric power at time t-1; ω (t) represents the actual rotational speed at time t; ω (t-1) represents the actual rotational speed at time t-1.
When the bus voltage UsGreater than threshold voltage U2Then the system performs bus voltage closed loop control, and the control system diagram is shown in fig. 3. Bus voltage given U* dcAnd the actual voltage UdcIs subjected to PI control and then outputs a phase current chopping limit value i*. Phase current iabcPhase current chopping limit i*The comparison generates a hysteresis control signal. The hysteresis control signal and the angle position control signal phase and the phase control signal phase control the on and off of the main switch device of the power converter, thereby maintaining the power balance of the system and ensuring the stability of the bus voltage.
The power balance control method of the switched reluctance motor system organically combines maximum power tracking control and bus voltage closed-loop control, and realizes seamless switching of the two control modes according to the bus voltage, and a control structure block diagram of the method is shown in fig. 4. The power balance control method can enable the system to output the maximum power, realize the efficient utilization of wind energy, and simultaneously ensure the power balance of the system and the stability of bus voltage.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (4)
1. A power balance control method of a switched reluctance motor system is characterized by comprising the following steps:
detecting the rotating speed of the motor, when the rotating speed is less than the load, carrying out maximum power tracking on the switched reluctance motor system, calculating the maximum power output by the system, and if the maximum power output by the system still cannot meet the power required by the load, transmitting power to the load by the energy storage device to maintain the stability of the direct-current bus voltage and the balance of the system power;
when the rotating speed is higher than the load, the switched reluctance motor system carries out maximum power tracking, if the output maximum power is higher than the power required by the load and the system has no energy storage device or the energy storage is full, bus voltage closed loop is carried out to ensure that the bus voltage is within a safe range, when the rotating speed is higher than the load, the switched reluctance motor system carries out maximum power tracking, if the output maximum power is higher than the power required by the load and the system has no energy storage device or the energy storage is full, the bus voltage closed loop is realized by outputting a phase current chopping limit value after a difference value between the given voltage of the rotating speed of the motor and the actual rotating speed passes through a PI controller;
the method for calculating the given voltage value of the motor rotating speed specifically comprises the following steps:
calculating a rotating speed disturbance quantity and judging a disturbance direction according to the output power at the front moment and the rear moment, if the output power is increased, applying the rotating speed disturbance quantity in the same direction, and if the output power is reduced, applying the rotating speed disturbance quantity in the opposite direction; and superposing the rotating speed disturbance quantity on the basis of the actual rotating speed of the motor at the previous moment, and outputting the rotating speed set value at the current moment.
2. The switched reluctance motor system power balance control method of claim 1, wherein: the rotating speed disturbance quantity is calculated by adopting the following formula:
wherein Δ ω (t +1) represents the rotational speed disturbance amount at the time t + 1; λ represents a rotation speed disturbance quantity coefficient; p (t) represents electric power at time t; p (t-1) is the electric power at the time of t-1; ω (t) represents the actual rotational speed at time t; ω (t-1) represents the actual rotational speed at time t-1.
3. The switched reluctance motor system power balance control method of claim 1, wherein: the given rotating speed value is calculated by adopting the following formula:
wherein, ω (t +1)aimThe given value of the rotating speed at the moment of t +1 is shown; ω (t) represents the actual rotational speed at time t; Δ ω (t +1) represents the rotational speed disturbance amount at time t + 1; Δ P represents the difference in electric power between the two moments before and after the system.
4. The switched reluctance motor system power balance control method of claim 1, wherein: the control system adopts the same PI controller to carry out rotating speed closed loop and voltage closed loop, and selects proportional and integral parameters according to the voltage value of the direct current bus, so that severe system fluctuation in the control strategy switching process is avoided.
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