CN108599240A - The Wind turbines converter controller parameter tuning method of meter and small signal stability - Google Patents
The Wind turbines converter controller parameter tuning method of meter and small signal stability Download PDFInfo
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- CN108599240A CN108599240A CN201810396981.4A CN201810396981A CN108599240A CN 108599240 A CN108599240 A CN 108599240A CN 201810396981 A CN201810396981 A CN 201810396981A CN 108599240 A CN108599240 A CN 108599240A
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Classifications
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- H02J3/386—
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
- H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/76—Power conversion electric or electronic aspects
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Abstract
The present invention relates to Wind turbines converter controller parameter tuning method, the specially Wind turbines convertor controls parameter tuning method of meter and small signal stability, the specific steps are：It determines each controller parameter feasible region, generates small interference stability state matrix；Set maximum iteration asD；A group controller parameter is generated in feasible zone at random；Attitude conirol under rated wind speed；It is finely tuned less than controller parameter under rated wind speed；Examine small signal stability under full blast speed；Export the maximum controller parameter optimum results of small interference stability nargin.Using this method, Small signal stability analysis characteristic is based in parameter tuning, it is constraint and target with small interference stability nargin and characteristic root real part threshold value, the controller parameter adjusted is needed with correlation factor selection, influence of each controller parameter next to full blast condition to system small interference stability is analyzed, and then determines the controller parameter value for being suitable for full blast condition.
Description
Technical field
The present invention relates to convertor controls Parameters design, the specially Wind turbines of meter and small signal stability transformation
Device attitude conirol method.
Background technology
With the fast development of wind generating technology, installed capacity of wind-driven power is growing, and randomness and fluctuation are to electricity
It is adversely affected caused by Force system stability increasingly prominent.Contain PI links in wind turbine converter controller, system band can be given
Carry out new state variable so that the correlation between controller of fan parameter and power grid small interference stability is closer.
Currently, determining each parameter mainly from controller performance requirement itself when the transducer parameters design of wind turbine
Feasible region.Pertinent literature proposes pwm converter controller design method, and the calculating for giving converter controller parameter is public
Formula, controller parameter are mainly related to system damping ratio, middle bandwidth.According to existing converter controller parameter designing scheme,
Only consider control circuit internal control requirement, it is impossible to meet wind turbine under full blast condition it is grid-connected after power grid small interference stability is wanted
It asks.
Such as under the premise of ensuring the small interference stability of power grid, targetedly the convertor controls parameter of wind turbine is carried out whole
Surely urgent problem to be solved is had become.
Invention content
The present invention is to solve existing wind turbine convertor controls parameter designing scheme not considering that system small signal stability is wanted
The problem of asking, it is proposed that it is a kind of meter and small signal stability Wind turbines convertor controls parameter tuning method.Using the party
Method is based on Small signal stability analysis characteristic in parameter tuning, is constraint with small interference stability nargin and characteristic root real part threshold value
And target, the controller parameter adjusted is needed with correlation factor selection, it is small to system to each controller parameter under full blast condition dry
It disturbs stable influence to be analyzed, and then determines the controller parameter value for being suitable for full blast condition.The program is applicable to all classes
The Wind turbines and the attitude conirol under control strategy of type.
The present invention adopts the following technical scheme that realization：
The Wind turbines converter controller parameter tuning method of meter and small signal stability, includes the following steps：
S1：The full blast condition Small signal stability analysis model containing Wind turbines is established, determines state matrix A；According to converter
Performance requirement determines the feasible zone of each controller parameter of wind turbine according to PWM controller parameter tuning method；
S2：Iteration maximum times are set as D；
S3：Generate a group controller parameter at random in each controller parameter feasible zone；
S4：Attitude conirol under rated wind speed：Under rated wind speed, the characteristic root of state matrix A is calculated, and each
Correlation factor between a characteristic root and controller parameter, calculated characteristic root is abundant by the small interference stability of each characteristic root
Spend Yk=[- Re (λk)]-|Im(λk) | ascending sort, Re (λk) it is characterized root λkReal part, | Im (λk) | it is λkImaginary part it is absolute
Value；For according to the ith feature root λ after nargin ascending sorti, by its correlation factor between controller parameter according to exhausted
To value descending, then it is sequentially adjusted in correlation factor absolute value and is more than 0 corresponding controller parameter, controller parameter is enabled to increase △,
The characteristic root of solving state matrix A and for characteristic root λiIf characteristic root λiReal part increases, then step-length d=-△ is arranged, otherwise
Step-length d=△ are set；Controller parameter is adjusted according to step-length d in each controller parameter feasible region, if system margins valueIncrease, N is the exponent number of system, then continues to adjust the parameter according to step-length d, otherwise next according to step-length d adjustment
Controller parameter, controller parameter are directed to ith feature root λiIt is directed to again after the completion of adjustment next after nargin ascending sort
Characteristic root λi+1It is adjusted, if so that all characteristic root real parts are small after controller parameter is for the adjustment of all characteristic roots
In 0, then to S5, otherwise to S3；
S5：It is finely tuned less than controller parameter under rated wind speed：Since rated wind speed, reduce wind according to the step-length of S m/s
Speed is adjusted in each controller parameter less than after being adjusted to S4 under rated wind speed, until wind speed is less than incision wind speed：
Each it is less than under specified wind speed, the characteristic root of state matrix A is calculated, if there are unstable characteristic root λj(the real part of characteristic root
More than 0), under the wind speed, characteristic root presses small interference stability margin value ascending sort, and solves each unstable characteristic root and control
Correlation factor between device parameter processed, for unstable characteristic root λj, it is sequentially adjusted in controller parameter according to correlation factor descending,
Controller parameter is enabled to increase △, the characteristic root of solving state matrix A and for the unstable characteristic root λjIf characteristic root λjReal part
Increase, then step-length d=- △ are set, otherwise step-length d=△ are set；It is adjusted according to step-length d in each controller parameter feasible region
Controller parameter, if system margins valueIncrease, then continues to adjust the parameter according to step-length d, otherwise according to step-length d
Next controller parameter is adjusted, controller parameter is directed to j-th of unstable characteristic root λjAdjustment after the completion of again be directed to nargin
Next unstable characteristic root λ after ascending sortj+1It is adjusted so that system margins increase, and the real part of all characteristic roots is equal
Less than zero；
S6：Examine small signal stability under full blast speed：According to the step-length of S m/s, verification whether full blast condition (including specified wind
The wind speed of speed, incision wind speed and the increments by S m/s between the two) under all characteristic roots to be satisfied by characteristic root real part steady
Determine threshold formula Re (λi)<C i=1,2 ..., N, wherein C are that negative exports each controller parameter value if meeting the requirements,
Otherwise, this group of control parameter value is stored, until S7, iterations add one；
S7：Judge whether iterations reach maximum value, if being less than D, until Step3；Otherwise, according to system margins valueThe small interference stability nargin under rated wind speed of D group controller parameter values is calculated, selects small interference stability nargin maximum
Controller parameter be adjust result.
Meter and the Wind turbines convertor controls parameter tuning method of small signal stability proposed by the present invention are to increase
Small interference stability nargin of uniting Y is optimization aim, is constraint with characteristic root real part stable threshold C, with controller parameter and characteristic root
Between correlation factor be ranking criteria.Control parameter is adjusted in rated wind speed so that power grid small interference stability nargin is maximum
Change, in other wind speed, controller parameter Adjusted Option is determined by related-factors analysis and stability margin so that controller is joined
Number can ensure power grid small interference stability under each wind speed, quickly obtain the feasible controller parameter value that full blast condition is stablized.
Specific implementation mode
The Wind turbines converter controller parameter tuning method of meter and small signal stability, includes the following steps：
S1：The full blast condition Small signal stability analysis model containing Wind turbines is established, determines state matrix A；According to converter
Performance requirement determines the feasible zone of each controller parameter of wind turbine according to PWM controller parameter tuning method；
S2：Iteration maximum times are set as D；
S3：Generate a group controller parameter at random in each controller parameter feasible zone；
S4：Attitude conirol under rated wind speed：Under rated wind speed, the characteristic root of state matrix A is calculated, and each
Correlation factor between a characteristic root and controller parameter, calculated characteristic root is abundant by the small interference stability of each characteristic root
Spend Yk=[- Re (λk)]-|Im(λk) | ascending sort, Re (λk) it is characterized root λkReal part, | Im (λk) | it is λkImaginary part it is absolute
Value；For according to the ith feature root λ after nargin ascending sorti, by its correlation factor between controller parameter according to exhausted
To value descending, then it is sequentially adjusted in correlation factor absolute value and is more than 0 corresponding controller parameter, controller parameter is enabled to increase △,
The characteristic root of solving state matrix A and for characteristic root λiIf characteristic root λiReal part increases, then step-length d=-△ is arranged, otherwise
Step-length d=△ are set；Controller parameter is adjusted according to step-length d in each controller parameter feasible region, if system margins valueIncrease, N is the exponent number of system, then continues to adjust the parameter according to step-length d, otherwise next according to step-length d adjustment
Controller parameter, controller parameter are directed to ith feature root λiIt is directed to again after the completion of adjustment next after nargin ascending sort
Characteristic root λi+1It is adjusted, if so that all characteristic root real parts are small after controller parameter is for the adjustment of all characteristic roots
In 0, then to S5, otherwise to S3；
S5：It is finely tuned less than controller parameter under rated wind speed：Since rated wind speed, reduce wind according to the step-length of Sm/s
Speed is adjusted in each controller parameter less than after being adjusted to S4 under rated wind speed, until wind speed is less than incision wind speed：
Each it is less than under specified wind speed, the characteristic root of state matrix A is calculated, if there are unstable characteristic root λj(the real part of characteristic root
More than 0), under the wind speed, characteristic root presses small interference stability margin value ascending sort, and solves each unstable characteristic root and control
Correlation factor between device parameter processed, for unstable characteristic root λj, it is sequentially adjusted in controller parameter according to correlation factor descending,
Controller parameter is enabled to increase △, the characteristic root of solving state matrix A and for the unstable characteristic root λjIf characteristic root λjReal part
Increase, then step-length d=- △ are set, otherwise step-length d=△ are set；It is adjusted according to step-length d in each controller parameter feasible region
Controller parameter, if system margins valueIncrease, then continues to adjust the parameter according to step-length d, otherwise according to step-length d
Next controller parameter is adjusted, controller parameter is directed to j-th of unstable characteristic root λjAdjustment after the completion of again be directed to nargin
Next unstable characteristic root λ after ascending sortj+1It is adjusted so that system margins increase, and the real part of all characteristic roots is equal
Less than zero；
S6：Examine small signal stability under full blast speed：According to the step-length of S m/s, verification whether all features under full blast condition
Root is satisfied by characteristic root real part stable threshold formula Re (λi)<C i=1,2 ..., N, wherein C are negative, if meeting the requirements,
Each controller parameter value is then exported, otherwise, stores this group of control parameter value, until S7, iterations add one；
S7：Judge whether iterations reach maximum value, if being less than D, until Step3；Otherwise, according to system margins valueThe small interference stability nargin under rated wind speed of D group controller parameter values is calculated, small interference stability nargin is selected
Maximum controller parameter is to adjust result.
Claims (1)
1. the Wind turbines converter controller parameter tuning method of meter and small signal stability, it is characterised in that including following step
Suddenly：
S1：The full blast condition Small signal stability analysis model containing Wind turbines is established, determines state matrix A；According to transducer performance
It is required that according to PWM controller parameter tuning method, the feasible zone of each controller parameter of wind turbine is determined；
S2：Iteration maximum times are set as D；
S3：Generate a group controller parameter at random in each controller parameter feasible zone；
S4：Attitude conirol under rated wind speed：Under rated wind speed, the characteristic root of state matrix A and each feature are calculated
Calculated characteristic root is pressed the small interference stability nargin Y of each characteristic root by the correlation factor between root and controller parameterk=
[-Re(λk)]-|Im(λk) | ascending sort, Re (λk) it is characterized root λkReal part, | Im (λk) | it is λkImaginary part absolute value；For
According to the ith feature root λ after nargin ascending sorti, its correlation factor between controller parameter is dropped according to absolute value
Then sequence is sequentially adjusted in correlation factor absolute value and is more than 0 corresponding controller parameter, controller parameter is enabled to increase △, solves shape
The characteristic root of state matrix A and for characteristic root λiIf characteristic root λiReal part increases, then step-length d=-△ is arranged, otherwise setting step
Long d=△；Controller parameter is adjusted according to step-length d in each controller parameter feasible region, if system margins valueIncrease, N is the exponent number of system, then continues to adjust the parameter according to step-length d, otherwise next according to step-length d adjustment
A controller parameter, controller parameter are directed to ith feature root λi+1It is directed to again after the completion of adjustment next after nargin ascending sort
A characteristic root λiIt is adjusted, if so that all characteristic root real parts are small after controller parameter is for the adjustment of all characteristic roots
In 0, then to S5, otherwise to S3；
S5：It is finely tuned less than controller parameter under rated wind speed：Since rated wind speed, reduce wind speed according to the step-length of S m/s,
Each controller parameter less than after being adjusted to S4 under rated wind speed is adjusted, until wind speed is less than incision wind speed：Each
Less than under specified wind speed, the characteristic root of state matrix A is calculated, if there are unstable characteristic root λj(real part of characteristic root is more than
0), under the wind speed, characteristic root presses small interference stability margin value ascending sort, and solves each unstable characteristic root and controller
Correlation factor between parameter, for unstable characteristic root λj, it is sequentially adjusted in controller parameter according to correlation factor descending, enables control
Device parameter processed increases △, the characteristic root of solving state matrix A and for the unstable characteristic root λjIf characteristic root λjReal part increases,
Step-length d=- △ are then set, otherwise step-length d=△ are set；According to step-length d adjustment controls in each controller parameter feasible region
Device parameter, if system margins valueIncrease, then continues to adjust the parameter according to step-length d, otherwise be adjusted according to step-length d
Next controller parameter, controller parameter are directed to j-th of unstable characteristic root λjAdjustment after the completion of again be directed to nargin ascending order
Next unstable characteristic root λ after sequencej+1It is adjusted so that system margins increase, and the real part of all characteristic roots is respectively less than
Zero；
S6：Examine small signal stability under full blast speed：According to the step-length of S m/s, whether all characteristic roots are equal under full blast condition for verification
Meet characteristic root real part stable threshold formula Re (λi)<C i=1,2 ..., N, wherein C are that negative exports if meeting the requirements
Otherwise each controller parameter value stores this group of control parameter value, until S7, iterations add one；
S7：Judge whether iterations reach maximum value, if being less than D, until Step3；Otherwise, according to system margins valueThe small interference stability nargin under rated wind speed of D group controller parameter values is calculated, small interference stability nargin is selected
Maximum controller parameter is to adjust result.
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