CN108631358A - Method and apparatus are determined based on the directly driven wind-powered unit impedance of control hardware in loop - Google Patents
Method and apparatus are determined based on the directly driven wind-powered unit impedance of control hardware in loop Download PDFInfo
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Abstract
The present invention provides a kind of directly driven wind-powered unit impedances based on control hardware in loop to determine method and apparatus, first computer sim- ulation interface is always delayed, then the positive sequence impedance and negative sequence impedance of directly driven wind-powered unit are determined according to the current signal of the directly driven wind-powered unit net side current transformer built in advance delay transmission function and voltage signal delay transmission function, the positive sequence impedance and negative sequence impedance precision of obtained directly driven wind-powered unit are high, and realize that process is simple.The directly driven wind-powered unit impedance of the present invention determines that method can provide fundamental basis to the amendment of follow-up impedance scan result；Compared with off-line simulation mode, the flexible and convenient feature of simulation model scanning can be inherited and overcome off-line model that real controllers are ignored with equivalent error；Compared with impedance is surveyed, actual device controlling feature can be inherited, and high-power linear amplifier techniques can be reduced and realize difficulty, while being greatly reduced cost.
Description
Technical field
The present invention relates to new-energy grid-connected oscillation technology fields, and in particular to a kind of straight wind dispelling based on control hardware in loop
Motor group impedance determines method and apparatus.
Background technology
Currently, big to advise under the increasingly serious form of the global problems such as energy shortages, environmental pollution and climate warming
Mould, which develops and uses the regenerative resources such as wind, light, becomes the important selection of countries in the world energy strategy.However, with regenerative resource
Generator installation accounting increased dramatically, access synchronised grids weakens step by step, is just causing the stability features of electric system to occur deep
Variation, large-scale wind power play synchronization/supersynchronous oscillatory occurences frequently occur, and seriously affect the safe and stable operation of power grid.
The U.S., China, multinational secondary/supersynchronous oscillation for being all directed to its country's appearance respectively in Europe and harmonic oscillation etc. are practical
Problem has carried out preliminary research work, wherein the extensive new-energy grid-connected stability analysis based on impedance theory inhibits with oscillation
Method is just gradually known as a kind of effective ways by industry, becomes the research hotspot of academia.It shakes using impedance theory analysis
During swinging mechanism and formulating solution, how accurately to obtain new-energy grid-connected device impedance characteristic becomes the Successful utilization party
One of key factor of method.
Currently, the mode for obtaining directly driven wind-powered unit impedance includes mainly following several：1) based on the small of harmonic linearization
Signal impedance modeling method, this method are based on the data such as the detailed main circuit structure of grid-connecting apparatus, control block diagram and parameter, but
Above-mentioned data source becomes the main constraints for restricting impedance modeling in Practical Project；2) to grid-connecting apparatus off-line simulation model
Scanning obtain impedance characteristic, but simulation model with actual device compared with signal condition, sampling holding etc. there are simplification at
Reason, while control parameter needs too many levels to convert in practical controller, causes the directly driven wind-powered unit impedance precision obtained relatively low；
3) active injection method is used, i.e., is superimposed the harmonic voltage disturbance component of the different frequencys in the fundametal compoment of normal grid voltage,
And detection record is since the frequency harmonics component is to the influence data of grid-connected voltage and electric current in real time, finally by voltage and current
Data carry out fft analysis, its impedance operator under different frequency response are calculated, which is based on disturbance injection device
Measurement method can obtain the impedance of directly driven wind-powered unit, but realize that process is difficult, and of high cost, and which is still within small-power
The laboratory research stage.
Invention content
For the directly driven wind-powered unit of current live actual motion, in order to overcome above-mentioned directly driven wind-powered machine in the prior art
Group impedance precision is relatively low, realizes process difficulty and deficiency of high cost, and the present invention provides a kind of straight drive based on control hardware in loop
Wind turbines impedance determines method and apparatus, first according to the controlling cycle computer sim- ulation interface of directly driven wind-powered unit net side current transformer
Total delay, then according to the current signal of the directly driven wind-powered unit net side current transformer built in advance delay transmission function and voltage letter
Number delay transmission function determines the positive sequence impedance and negative sequence impedance of directly driven wind-powered unit；The electricity of directly driven wind-powered unit net side current transformer
Stream signal delay transmission function and voltage signal delay transmission function are always delayed determination according to emulation interface, finally obtained straight drive
The positive sequence impedance and negative sequence impedance precision of Wind turbines are high, realize that process is simple, at low cost.
In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical scheme that：
On the one hand, the present invention provide it is a kind of based on control hardware in loop directly driven wind-powered unit impedance determine method, including：
It is always delayed according to the controlling cycle computer sim- ulation interface of directly driven wind-powered unit net side current transformer；
According to the current signal of the directly driven wind-powered unit net side current transformer built in advance delay transmission function and voltage signal
Delay transmission function determines the positive sequence impedance and negative sequence impedance of directly driven wind-powered unit；
Letter is transmitted in the current signal delay transmission function of the directly driven wind-powered unit net side current transformer and voltage signal delay
It is several to be always delayed determination according to emulation interface.
According to the controlling cycle of directly driven wind-powered unit net side current transformer, and emulation interface is calculated as follows and is always delayed：
Td=Td1+Td2
Wherein, TdIndicate that emulation interface is always delayed, Td1Indicate directly driven wind-powered unit net side current transformer controlling cycle, Td2It indicates
The hardware interface of real-time simulator is delayed.
Letter is transmitted in the current signal delay transmission function of the directly driven wind-powered unit net side current transformer and voltage signal delay
Number determines as the following formula：
Wherein, Gi(s) the current signal delay transmission function of directly driven wind-powered unit net side current transformer is indicated；Gv(s) indicate straight
The voltage signal delay transmission function of wind dispelling motor group net side current transformer；TdIndicate that emulation interface is always delayed；S indicates Laplce
Operator, and meetTsIndicate the simulation step length of control hardware in loop；ωdIndicate current signal conditioning cut-off
Angular frequency, and ωd=2 π fd, fdIndicate that current signal improves cutoff frequency.
Letter is transmitted according to the current signal of directly driven wind-powered unit net side current transformer delay transmission function and voltage signal delay
Number, and the positive sequence impedance and negative sequence impedance of directly driven wind-powered unit are determined as the following formula：
Wherein, Zp(s) positive sequence impedance of directly driven wind-powered unit, Z are indicatedn(s) negative sequence impedance of directly driven wind-powered unit, L are indicated
Indicate the equivalent filter inductance of directly driven wind-powered unit net side current transformer, VdcIndicate that the direct current of directly driven wind-powered unit net side current transformer is female
Line voltage, I1Indicate the grid-connected fundamental current amplitude of directly driven wind-powered unit net side current transformer, V1Indicate that directly driven wind-powered unit net side becomes
Flow the grid-connected fundamental voltage amplitude of device, φi1Indicate the grid-connected power-factor angle of directly driven wind-powered unit net side current transformer, ω1It indicates
The fundamental wave angular frequency of directly driven wind-powered unit net side current transformer, KfIndicate the feed-forward coefficients of directly driven wind-powered unit net side current transformer；
TPLL(s-jω1) and TPLL(s+jω1) indicate that the pll controller closed loop of directly driven wind-powered unit net side current transformer passes
Delivery function, andHPLL(s-jω1) and HPLL
(s+jω1) indicate the pll controller open-loop transfer function of directly driven wind-powered unit net side current transformer, and havekptTable
Show the proportionality coefficient of pll controller, kitIndicate the integral coefficient of pll controller；
Hi(s) the current controller transmission function of directly driven wind-powered unit net side current transformer is indicated, and
kpiIndicate the proportionality coefficient of current controller, kiiIndicate the integral coefficient of current controller.
On the other hand, the present invention also provides it is a kind of based on control hardware in loop directly driven wind-powered unit impedance determining device,
Including：
Computing module, for being always delayed according to the controlling cycle computer sim- ulation interface of directly driven wind-powered unit net side current transformer；
First determining module is passed for being delayed according to the current signal of the directly driven wind-powered unit net side current transformer built in advance
Delivery function and voltage signal delay transmission function determine the positive sequence impedance and negative sequence impedance of directly driven wind-powered unit；
Letter is transmitted in the current signal delay transmission function of the directly driven wind-powered unit net side current transformer and voltage signal delay
It is several to be always delayed determination according to emulation interface.
The computing module is specifically used for：
According to the controlling cycle of directly driven wind-powered unit net side current transformer, and emulation interface is calculated as follows and is always delayed：
Td=Td1+Td2
Wherein, TdIndicate that emulation interface is always delayed, Td1Indicate directly driven wind-powered unit net side current transformer controlling cycle, Td2It indicates
The hardware interface of real-time simulator is delayed.
Described device further includes the second determining module, and second determining module is specifically used for：
It is always delayed according to emulation interface, and determines that the current signal delay of directly driven wind-powered unit net side current transformer passes as the following formula
Delivery function and voltage signal delay transmission function：
Wherein, Gi(s) the current signal delay transmission function of directly driven wind-powered unit net side current transformer is indicated；Gv(s) indicate straight
The voltage signal delay transmission function of wind dispelling motor group net side current transformer；S indicates Laplace operator, and meetsTsIndicate the simulation step length of control hardware in loop；ωdIndicate that current signal improves cut-off angular frequency, and ωd
=2 π fd, fdIndicate that current signal improves cutoff frequency.
First determining module is specifically used for：
Letter is transmitted according to the current signal of directly driven wind-powered unit net side current transformer delay transmission function and voltage signal delay
Number, and the positive sequence impedance and negative sequence impedance of directly driven wind-powered unit are determined as the following formula：
Wherein, Zp(s) positive sequence impedance of directly driven wind-powered unit, Z are indicatedn(s) negative sequence impedance of directly driven wind-powered unit, L are indicated
Indicate the equivalent filter inductance of directly driven wind-powered unit net side current transformer, VdcIndicate that the direct current of directly driven wind-powered unit net side current transformer is female
Line voltage, I1Indicate the grid-connected fundamental current amplitude of directly driven wind-powered unit net side current transformer, V1Indicate that directly driven wind-powered unit net side becomes
Flow the grid-connected fundamental voltage amplitude of device, φi1Indicate the grid-connected power-factor angle of directly driven wind-powered unit net side current transformer, ω1It indicates
The fundamental wave angular frequency of directly driven wind-powered unit net side current transformer, KfIndicate the feed-forward coefficients of directly driven wind-powered unit net side current transformer；
TPLL(s-jω1) and TPLL(s+jω1) indicate that the pll controller closed loop of directly driven wind-powered unit net side current transformer passes
Delivery function, andHPLL(s-jω1) and HPLL
(s+jω1) indicate the pll controller open-loop transfer function of directly driven wind-powered unit net side current transformer, and havekptTable
Show the proportionality coefficient of pll controller, kitIndicate the integral coefficient of pll controller；
Hi(s) the current controller transmission function of directly driven wind-powered unit net side current transformer is indicated, and
kpiIndicate the proportionality coefficient of current controller, kiiIndicate the integral coefficient of current controller.
Compared with the immediate prior art, technical solution provided by the invention has the advantages that：
Directly driven wind-powered unit impedance provided by the invention based on control hardware in loop determines in method, first according to straight wind dispelling
The controlling cycle computer sim- ulation interface of motor group net side current transformer is always delayed, then according to the directly driven wind-powered machine networking built in advance
The current signal delay transmission function and voltage signal delay transmission function of side current transformer determine the positive sequence resistance of directly driven wind-powered unit
Anti- and negative sequence impedance；Letter is transmitted in the current signal delay transmission function of directly driven wind-powered unit net side current transformer and voltage signal delay
Several to be always delayed determination according to emulation interface, the positive sequence impedance and negative sequence impedance precision of finally obtained directly driven wind-powered unit are high, real
Existing process is simple, at low cost；
It is provided by the invention based on control hardware in loop directly driven wind-powered unit impedance determining device include computing module and
First determining module, computing module according to the controlling cycle computer sim- ulation interface of directly driven wind-powered unit net side current transformer for always prolonging
When, the first determining module is used for the current signal delay transmission function according to the directly driven wind-powered unit net side current transformer built in advance
Determine that the positive sequence impedance and negative sequence impedance of directly driven wind-powered unit, directly driven wind-powered unit net side become with voltage signal delay transmission function
The current signal delay transmission function and voltage signal delay transmission function of stream device are always delayed determination according to emulation interface, obtain
The positive sequence impedance and negative sequence impedance precision of directly driven wind-powered unit are high, and realize that process is simple, at low cost；
The present invention is based on the directly driven wind-powered unit impedance of control hardware in loop, to determine that method may be implemented in embedding in simulation object
Enter real controllers, not only the interface features such as stick signal filtering, conditioning, delay, but also source code operation control characteristic can be embodied, and
Impedance method of determination based on the control directly driven wind-powered unit of hardware in loop is not necessarily to the control block diagram and control parameter that controller is related to,
Using controller as " gray box " processing, clear controller external interface is only needed, and swept between off-line simulation model impedance
Retouch and disturb the effective means between injection device impedance actual measurement；
The present invention is based on the directly driven wind-powered unit impedances of control hardware in loop to determine that method can be to follow-up impedance scan result
Amendment provide fundamental basis；
Technical solution provided by the invention can inherit the flexible and convenient of simulation model scanning compared with off-line simulation mode
Feature, and can overcome off-line model that real controllers are ignored with equivalent error；Compared with impedance is surveyed, true dress can be inherited
Controlling feature is set, and high-power linear amplifier techniques can be reduced and realize difficulty, while being greatly reduced cost.
Description of the drawings
Fig. 1 is to determine method flow diagram based on the directly driven wind-powered unit impedance of control hardware in loop in the embodiment of the present invention.
Specific implementation mode
Invention is further described in detail below in conjunction with the accompanying drawings.
Control hardware in loop (control-hardware-in-the-loop, CHIL) model of directly driven wind-powered unit includes
Following sections：
Real-time simulation platform：Including CPU and FPGA；The operation step-length of FPGA real-time simulation platforms therein is ns ranks,
It is mainly responsible for the small step-length real-time resolving of model, OP5607 emulation platforms are used in the embodiment of the present invention.CPU therein is put down in real time
Platform operation step-length is 10~100us, while as the communication interface and real-time data memory of host computer and FPGA platform, the present invention
OP5600 emulation platforms are used in embodiment.Communication between CPU and FPGA is using the PCIe protocol using high speed, with host computer
Using common ICP/IP protocol.
Controller：For the controller of the directly driven wind-powered unit of live actual motion, it is based on above-mentioned CHIL modeling and simulatings principle,
To realize the CHIL real-time simulations of Wind turbines, following both sides information is needed：On the one hand it is opened up for the main circuit of Wind turbines
Information is flutterred, is on the other hand the interface message of Wind turbines controller.
Main circuit topology information therein is the information that simulation modeling needs, so as to building of preparing in real-time simulation and
Simulates blower fan object, interface message therein are then the information that the object in emulator is interacted with actual controller, including
Voltage, electric current, the state of switch and PWM control information.
Error is will produce due to calculating directly driven wind-powered unit impedance in the case where controlling hardware in loop environment, the present invention is implemented
The directly driven wind-powered unit impedance based on control hardware in loop that example provides determines method particular flow sheet as shown in Figure 1, specific mistake
Journey is as follows：
S101：It is always delayed according to the controlling cycle computer sim- ulation interface of directly driven wind-powered unit net side current transformer；
S102：According to the current signal of the directly driven wind-powered unit net side current transformer built in advance delay transmission function and voltage
Signal delay transmission function determines the positive sequence impedance and negative sequence impedance of directly driven wind-powered unit；
Letter is transmitted in the current signal delay transmission function of the directly driven wind-powered unit net side current transformer and voltage signal delay
It is several to be always delayed determination according to emulation interface.
In above-mentioned S101, according to the controlling cycle of directly driven wind-powered unit net side current transformer, and emulation interface is calculated as follows
Total delay：
Td=Td1+Td2
Wherein, TdIndicate that emulation interface is always delayed, Td1Indicate directly driven wind-powered unit net side current transformer controlling cycle, Td2It indicates
The hardware interface of real-time simulator is delayed.
In above-mentioned S102, the current signal delay transmission function of directly driven wind-powered unit net side current transformer and voltage signal delay
Transmission function determines as the following formula：
Wherein, Gi(s) the current signal delay transmission function of directly driven wind-powered unit net side current transformer is indicated；Gv(s) indicate straight
The voltage signal delay transmission function of wind dispelling motor group net side current transformer；S indicates Laplace operator, and meetsTsIndicate the simulation step length of control hardware in loop；ωdIndicate that current signal improves cut-off angular frequency, and ωd
=2 π fd, fdIndicate that current signal improves cutoff frequency.
In above-mentioned S103, according to the current signal of directly driven wind-powered unit net side current transformer delay transmission function and voltage signal
Be delayed transmission function, and determines the positive sequence impedance and negative sequence impedance of directly driven wind-powered unit as the following formula：
Wherein, Zp(s) positive sequence impedance of directly driven wind-powered unit, Z are indicatedn(s) negative sequence impedance of directly driven wind-powered unit, L are indicated
Indicate the equivalent filter inductance of directly driven wind-powered unit net side current transformer, VdcIndicate that the direct current of directly driven wind-powered unit net side current transformer is female
Line voltage, I1Indicate the grid-connected fundamental current amplitude of directly driven wind-powered unit net side current transformer, V1Indicate that directly driven wind-powered unit net side becomes
Flow the grid-connected fundamental voltage amplitude of device, φi1Indicate the grid-connected power-factor angle of directly driven wind-powered unit net side current transformer, ω1It indicates
The fundamental wave angular frequency of directly driven wind-powered unit net side current transformer, KfIndicate the feed-forward coefficients of directly driven wind-powered unit net side current transformer；
TPLL(s-jω1) and TPLL(s+jω1) indicate that the pll controller closed loop of directly driven wind-powered unit net side current transformer passes
Delivery function, andHPLL(s-jω1) and HPLL
(s+jω1) indicate the pll controller open-loop transfer function of directly driven wind-powered unit net side current transformer, and havekptTable
Show the proportionality coefficient of pll controller, kitIndicate the integral coefficient of pll controller；
Hi(s) the current controller transmission function of directly driven wind-powered unit net side current transformer is indicated, and
kpiIndicate the proportionality coefficient of current controller, kiiIndicate the integral coefficient of current controller.
Based on same inventive concept, the embodiment of the present invention also provides a kind of directly driven wind-powered unit based on control hardware in loop
Impedance determining device, including computing module, the first determining module, introduce the function of above-mentioned module separately below：
Computing module therein, for total according to the controlling cycle computer sim- ulation interface of directly driven wind-powered unit net side current transformer
Delay；
First determining module therein, for the current signal according to the directly driven wind-powered unit net side current transformer built in advance
Delay transmission function and voltage signal delay transmission function determine the positive sequence impedance and negative sequence impedance of directly driven wind-powered unit；
The current signal delay transmission function and voltage signal delay transmission function root of directly driven wind-powered unit net side current transformer
It is always delayed determination according to emulation interface.
Above-mentioned computing module is calculated as follows emulation and connects according to the controlling cycle of directly driven wind-powered unit net side current transformer
The total delay of mouth：
Td=Td1+Td2
Wherein, TdIndicate that emulation interface is always delayed, Td1Indicate directly driven wind-powered unit net side current transformer controlling cycle, Td2It indicates
The hardware interface of real-time simulator is delayed.
Device further includes the second determining module, and the second determining module is specifically used for：
It is always delayed according to emulation interface, and determines that the current signal delay of directly driven wind-powered unit net side current transformer passes as the following formula
Delivery function and voltage signal delay transmission function：
Wherein, Gi(s) the current signal delay transmission function of directly driven wind-powered unit net side current transformer is indicated；Gv(s) indicate straight
The voltage signal delay transmission function of wind dispelling motor group net side current transformer；S indicates Laplace operator, and meetsTsIndicate the simulation step length of control hardware in loop；ωdIndicate that current signal improves cut-off angular frequency, and ωd
=2 π fd, fdIndicate that current signal improves cutoff frequency.
The first above-mentioned determining module according to the current signal of directly driven wind-powered unit net side current transformer be delayed transmission function and
Voltage signal delay transmission function, and the positive sequence impedance and negative sequence impedance of directly driven wind-powered unit are determined as the following formula：
Wherein, Zp(s) positive sequence impedance of directly driven wind-powered unit, Z are indicatedn(s) negative sequence impedance of directly driven wind-powered unit, L are indicated
Indicate the equivalent filter inductance of directly driven wind-powered unit net side current transformer, VdcIndicate that the direct current of directly driven wind-powered unit net side current transformer is female
Line voltage, I1Indicate the grid-connected fundamental current amplitude of directly driven wind-powered unit net side current transformer, V1Indicate that directly driven wind-powered unit net side becomes
Flow the grid-connected fundamental voltage amplitude of device, φi1Indicate the grid-connected power-factor angle of directly driven wind-powered unit net side current transformer, ω1It indicates
The fundamental wave angular frequency of directly driven wind-powered unit net side current transformer, KfIndicate the feed-forward coefficients of directly driven wind-powered unit net side current transformer；
TPLL(s-jω1) and TPLL(s+jω1) indicate that the pll controller closed loop of directly driven wind-powered unit net side current transformer passes
Delivery function, andHPLL(s-jω1) and HPLL
(s+jω1) indicate the pll controller open-loop transfer function of directly driven wind-powered unit net side current transformer, and havekptTable
Show the proportionality coefficient of pll controller, kitIndicate the integral coefficient of pll controller；
Hi(s) the current controller transmission function of directly driven wind-powered unit net side current transformer is indicated, and
kpiIndicate the proportionality coefficient of current controller, kiiIndicate the integral coefficient of current controller.
For convenience of description, each section of apparatus described above is divided into various modules with function or unit describes respectively.
Certainly, each module or the function of unit can be realized in same or multiple softwares or hardware when implementing the application.
It should be understood by those skilled in the art that, embodiments herein can be provided as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, the application can be used in one or more wherein include computer usable program code computer
The computer program production implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The application is with reference to method, the flow of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
Instruct the processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine so that the instruction executed by computer or the processor of other programmable data processing devices is generated for real
The device for the function of being specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Finally it should be noted that：The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof, institute
The those of ordinary skill in category field with reference to above-described embodiment still can to the present invention specific implementation mode modify or
Equivalent replacement, these are applying for this pending hair without departing from any modification of spirit and scope of the invention or equivalent replacement
Within bright claims.
Claims (8)
1. a kind of directly driven wind-powered unit impedance based on control hardware in loop determines method, which is characterized in that including：
It is always delayed according to the controlling cycle computer sim- ulation interface of directly driven wind-powered unit net side current transformer；
According to the current signal of the directly driven wind-powered unit net side current transformer built in advance delay transmission function and voltage signal delay
Transmission function determines the positive sequence impedance and negative sequence impedance of directly driven wind-powered unit；
The current signal delay transmission function and voltage signal delay transmission function root of the directly driven wind-powered unit net side current transformer
It is always delayed determination according to emulation interface.
2. the directly driven wind-powered unit impedance according to claim 1 based on control hardware in loop determines that method, feature exist
According to the controlling cycle of directly driven wind-powered unit net side current transformer, and emulation interface being calculated as follows and is always delayed：
Td=Td1+Td2
Wherein, TdIndicate that emulation interface is always delayed, Td1Indicate directly driven wind-powered unit net side current transformer controlling cycle, Td2Indicate real-time
The hardware interface of emulator is delayed.
3. the directly driven wind-powered unit impedance according to claim 1 based on control hardware in loop determines that method, feature exist
In the current signal delay transmission function and voltage signal delay transmission function of the directly driven wind-powered unit net side current transformer are pressed
Formula determines：
Wherein, Gi(s) the current signal delay transmission function of directly driven wind-powered unit net side current transformer is indicated；Gv(s) straight wind dispelling is indicated
The voltage signal delay transmission function of motor group net side current transformer；TdIndicate that emulation interface is always delayed；S indicates that Laplce calculates
Son, and meetTsIndicate the simulation step length of control hardware in loop；ωdIndicate that current signal improves angle of cut-off
Frequency, and ωd=2 π fd, fdIndicate that current signal improves cutoff frequency.
4. the directly driven wind-powered unit impedance according to claim 3 based on control hardware in loop determines that method, feature exist
In, according to the current signal of directly driven wind-powered unit net side current transformer delay transmission function and voltage signal delay transmission function, and
The positive sequence impedance and negative sequence impedance of directly driven wind-powered unit are determined as the following formula：
Wherein, Zp(s) positive sequence impedance of directly driven wind-powered unit, Z are indicatedn(s) indicate that the negative sequence impedance of directly driven wind-powered unit, L indicate
The equivalent filter inductance of directly driven wind-powered unit net side current transformer, VdcIndicate the DC bus electricity of directly driven wind-powered unit net side current transformer
Pressure, I1Indicate the grid-connected fundamental current amplitude of directly driven wind-powered unit net side current transformer, V1Indicate directly driven wind-powered unit net side current transformer
Grid-connected fundamental voltage amplitude, φi1Indicate the grid-connected power-factor angle of directly driven wind-powered unit net side current transformer, ω1It indicates straight to drive
The fundamental wave angular frequency of Wind turbines net side current transformer, KfIndicate the feed-forward coefficients of directly driven wind-powered unit net side current transformer；
TPLL(s-jω1) and TPLL(s+jω1) indicate that the pll controller closed loop of directly driven wind-powered unit net side current transformer transmits letter
Number, andHPLL(s-jω1) and HPLL(s+j
ω1) indicate the pll controller open-loop transfer function of directly driven wind-powered unit net side current transformer, and havekptTable
Show the proportionality coefficient of pll controller, kitIndicate the integral coefficient of pll controller；
Hi(s) the current controller transmission function of directly driven wind-powered unit net side current transformer is indicated, andkpiIt indicates
The proportionality coefficient of current controller, kiiIndicate the integral coefficient of current controller.
5. a kind of directly driven wind-powered unit impedance determining device based on control hardware in loop, which is characterized in that including：
Computing module, for being always delayed according to the controlling cycle computer sim- ulation interface of directly driven wind-powered unit net side current transformer；
First determining module, for transmitting letter according to the current signal delay of the directly driven wind-powered unit net side current transformer built in advance
Number and voltage signal delay transmission function determine the positive sequence impedance and negative sequence impedance of directly driven wind-powered unit；
The current signal delay transmission function and voltage signal delay transmission function root of the directly driven wind-powered unit net side current transformer
It is always delayed determination according to emulation interface.
6. the directly driven wind-powered unit impedance determining device according to claim 5 based on control hardware in loop, feature exist
In the computing module is specifically used for：
According to the controlling cycle of directly driven wind-powered unit net side current transformer, and emulation interface is calculated as follows and is always delayed：
Td=Td1+Td2
Wherein, TdIndicate that emulation interface is always delayed, Td1Indicate directly driven wind-powered unit net side current transformer controlling cycle, Td2Indicate real-time
The hardware interface of emulator is delayed.
7. the directly driven wind-powered unit impedance determining device according to claim 5 based on control hardware in loop, feature exist
In described device further includes the second determining module, and second determining module is specifically used for：
It is always delayed according to emulation interface, and determines that letter is transmitted in the current signal delay of directly driven wind-powered unit net side current transformer as the following formula
Number and voltage signal delay transmission function：
Wherein, Gi(s) the current signal delay transmission function of directly driven wind-powered unit net side current transformer is indicated；Gv(s) straight wind dispelling is indicated
The voltage signal delay transmission function of motor group net side current transformer；TdIndicate that emulation interface is always delayed；S indicates that Laplce calculates
Son, and meetTsIndicate the simulation step length of control hardware in loop；ωdIndicate that current signal improves angle of cut-off
Frequency, and ωd=2 π fd, fdIndicate that current signal improves cutoff frequency.
8. the directly driven wind-powered unit impedance determining device according to claim 7 based on control hardware in loop, feature exist
In first determining module is specifically used for：
According to the current signal of directly driven wind-powered unit net side current transformer delay transmission function and voltage signal delay transmission function, and
The positive sequence impedance and negative sequence impedance of directly driven wind-powered unit are determined as the following formula：
Wherein, Zp(s) positive sequence impedance of directly driven wind-powered unit, Z are indicatedn(s) indicate that the negative sequence impedance of directly driven wind-powered unit, L indicate
The equivalent filter inductance of directly driven wind-powered unit net side current transformer, VdcIndicate the DC bus electricity of directly driven wind-powered unit net side current transformer
Pressure, I1Indicate the grid-connected fundamental current amplitude of directly driven wind-powered unit net side current transformer, V1Indicate directly driven wind-powered unit net side current transformer
Grid-connected fundamental voltage amplitude, φi1Indicate the grid-connected power-factor angle of directly driven wind-powered unit net side current transformer, ω1It indicates straight to drive
The fundamental wave angular frequency of Wind turbines net side current transformer, KfIndicate the feed-forward coefficients of directly driven wind-powered unit net side current transformer；
TPLL(s-jω1) and TPLL(s+jω1) indicate that the pll controller closed loop of directly driven wind-powered unit net side current transformer transmits letter
Number, andHPLL(s-jω1) and HPLL(s+j
ω1) indicate the pll controller open-loop transfer function of directly driven wind-powered unit net side current transformer, and havekptTable
Show the proportionality coefficient of pll controller, kitIndicate the integral coefficient of pll controller；
Hi(s) the current controller transmission function of directly driven wind-powered unit net side current transformer is indicated, andkpiIt indicates
The proportionality coefficient of current controller, kiiIndicate the integral coefficient of current controller.
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Address after: 100192 Beijing city Haidian District Qinghe small Camp Road No. 15 Applicant after: CHINA ELECTRIC POWER RESEARCH INSTITUTE Co.,Ltd. Applicant after: STATE GRID CORPORATION OF CHINA Applicant after: STATE GRID SHAANXI ELECTRIC POWER Research Institute Address before: 100192 Beijing city Haidian District Qinghe small Camp Road No. 15 Applicant before: CHINA ELECTRIC POWER RESEARCH INSTITUTE Co.,Ltd. Applicant before: State Grid Corporation of China Applicant before: STATE GRID SHAANXI ELECTRIC POWER Research Institute |
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Application publication date: 20181009 |