CN108678902B - The straight disturbance sensing control method for driving PMSM wind generator system MPPT - Google Patents
The straight disturbance sensing control method for driving PMSM wind generator system MPPT Download PDFInfo
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/0276—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor controlling rotor speed, e.g. variable speed
-
- 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
-
- 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
- Y02E10/72—Wind turbines with rotation axis in wind direction
Abstract
There are problems that parameter is difficult to adjust traditional PI D, the problem that various modified PID are computationally intensive, Ability of Resisting Disturbance is poor, there is high frequency buffeting and Active Disturbance Rejection Control (ADRC) there are calculation amounts the problems such as too big, gain parameter is excessive in sliding formwork control (SMC), the invention proposes " the straight disturbance sensing control methods for driving PMSM wind generator system MPPT ".Controller parameter of the invention has very big nargin, not only has the characteristics that calculation amount is small, control precision is high, Ability of Resisting Disturbance is strong, but also have globally asymptotically stable characteristic.Gain parameter of calming online is not especially needed yet when acute variation occurs for external environment, has overturned the control strategy of classical control theory and modern control theory completely.The present invention has great theory significance and application value to the control for realizing straight drive PMSM wind generator system MPPT.
Description
Technical field
Wind generator system, motor operation and control.
Background technique
Green energy resource one of of the wind energy as today's society most economic value, has obtained the common concern of countries in the world
With greatly develop.It is how reliable and effectively utilize with the continuous increase of permanent magnet direct-drive wind power generation system installed capacity
Wind energy becomes the research hotspot of wind generating technology.Complete machine enlargement and control technology intelligence are current wind generator systems
Two developing directions.MPPT maximum power point tracking (maximum power point tracking, MPPT) is Wind turbines complete machine
Control the technology being most widely used.It is controlled at present about MPPT maximum power point tracking, domestic and foreign scholars successively propose best leaf
Tip-speed ratio method, power signal feedback transmitter, search by hill climbing method, optimum torque method scheduling algorithm and related innovatory algorithm, but these are calculated
Method haves the defects that different degrees of in engineer application.In practical projects, most operating units are still using based on maximum power
The optimum torque method of curve applies unit using revolving speed according to group setup power curve (or discrete table is made) and controls
System, this control algolithm structure is simple, stable, high reliablity, is more suited to current large-scale wind electricity unit.But actual set
Correlation curve is not easy accurately to obtain, while outside environmental elements variation easily largely changes actual operation curve, leads to unit
Output power is affected, and efficiency of generating unit reduces.For this purpose, the task of top priority is to construct that a kind of structure is simple, parameter is calm holds
Easily, the tracing control new method that dynamic quality is good, Ability of Resisting Disturbance is strong.This method determines wind with optimum tip-speed ratio and wind speed
The expectation angular speed of machine, or determine by PMSM actual motion power the expectation angular speed of blower, by rotation speed of fan
Control obtain q axis instruction currentAnd then by current control link come acquisition instruction voltageWithTo realize
MPPT control.
Summary of the invention
Under rated wind speed, the expectation revolving speed of blower is determined according to optimum tip-speed ratio and wind speed first, or is passed through
The actual motion power (can calculate acquisition) of PMSM determines the expectation revolving speed of blower, is obtained by the control to rotation speed of fan
Q axis instruction currentAnd then by current control link come acquisition instruction voltageWithIt can will be same further according to anti-Park transformation
It walks under rotating coordinate systemWithTransform to the V under three-phase static coordinate systema、VbAnd Vc, and with Va、VbAnd VcMotivate SVPWM
Desired pulse-width signal is generated, drives it inverter to obtain peak power output from direct-driving type PMSM, thus
Realize the tracing control of maximum power point.
The outstanding advantage master of " a kind of straight disturbance sensing control method for driving PMSM wind generator system MPPT " of the invention
It include: that (1) has global asymptotic stability；(2) it is calm to exempt from parameter；(3) structure is simple, calculation amount is small, real-time is good；(4)
Fast response time, without buffet, the dynamic qualities such as Ability of Resisting Disturbance is strong.
Detailed description of the invention
Fig. 1 it is expected rotating-speed tracking differentiator (Tracking Differentiator, TDm)
Fig. 2 der Geschwindigkeitkreis disturbance observer DOm
Fig. 3 disturbs sensing controller (Disturbance Perception Controller, DPC), and (a) der Geschwindigkeitkreis is disturbed
Dynamic sensing controller (DPCm), (b) d axis stator current ring disturbance sensing controller (DPCd), (c) q axis stator current ring disturbs
Sensing controller (DPCq)
Fig. 4 directly drives PMSM wind power generating set MPPT disturbance sensing controller (MPPT-DPC)
Fig. 5 directly drives PMSM wind power generating set MPPT control system schematic diagram
When Fig. 6 7m/s wind speed, the straight PMSM wind power generating set MPPT that drives controls simulation result, and the control of (a) rotating-speed tracking is bent
Line, (b) q axis stator current iqChange curve, (c) wind energy conversion system output torque TmWith generator electromagnetic torque TeChange curve, (d)
Power coefficient CpCurve
Fig. 7 is at the 2.5s moment, and when wind speed is down to 6m/s by 7m/s, PMSM wind power generating set MPPT controls simulation result,
(a) rotating-speed tracking controlling curve, (b) q axis stator current iqChange curve, (c) wind energy conversion system output torque TmTurn with generator electromagnetism
Square TeChange curve, (d) power coefficient CpCurve
Fig. 8, there are when the extreme case of wind speed mutation, directly drives PMSM wind power generating set in specified random wind speed
The control simulation result of MPPT, the random wind speed curve of (a) wind speed mutation, (b) rotating-speed tracking controlling curve, (c) q axis stator electricity
Flow iqChange curve, (d) wind energy conversion system output torque and generator electromagnetic torque change curve, (e) power coefficient curve
Specific embodiment
1. the acquisition methods of wind energy conversion system expectation revolving speed
(1) wind energy conversion system output characteristics
Wind energy conversion system output mechanical energy be
Pm=0.5 ρ π R2Cpv3 (1)
Cp=0.5176 (116/ β -0.4 θ -5) exp (- 21/ β)+0.0068 λ (2)
In formula, PmIt is the power of wind energy conversion system；CpIt is power coefficient；λ is tip speed ratio；θ is propeller pitch angle；V is wind speed.
Defining tip speed ratio λ is
In formula, ωmFor wind mill rotor revolving speed (rad/s)；R is pneumatic equipment bladess radius.
By formula (2) it is found that CpIt is the nonlinear function about λ and θ, under rated wind speed, usually makes θ=0, therefore, CpOnly
It is related with λ.By calculating it is found that working as λ=λoptWhen=8.1, Cp=Cpmax=0.488.At this point, the maximum power that wind energy conversion system obtains
Are as follows:
Pmax=0.5 ρ π R2Cpmaxv3 (5)
It is defined by the tip speed ratio of formula (4) it is found that in optimal tip speed ratio λ=λoptWhen=8.1, the expectation of wind energy conversion system turns
Speed are as follows:
Therefore, theoretically, wind energy conversion system maximum output machine torque TmFor
Or
(2) direct-driving type PMSM wind power system MPPT is controlled
When wind generator system is run, need to control wind energy conversion system revolving speed, i.e., as electromagnetic torque Te, machine torque Tm
With viscous friction torque B ωmMeet condition: Tm-Te-BωmWhen=0, wind power system enters stable state.Ignoring viscous friction torque
BωmWhen, wind energy conversion system expectation revolving speed may be defined as
Wherein,And
Te=1.5pniq[id(Ld-Lq)+ψf](10)
At synchronous rotating frame d-q, the mathematical model of PMSM are as follows:
The physical significance of each parameter: ud、uqIt is the d-q axis component of stator voltage respectively；id、iqIt is stator current respectively
D-q axis component；Ld、LqIt is d-q axle inductance component (H) respectively；RsIt is stator resistance；ψfIt is rotor permanent magnet magnetic linkage (Wb)；ωmIt is
The mechanical angular speed (rad/s) of blower, and the angular rate ω of motoreFor ωe=pnωm；pnIt is number of pole-pairs；TmIt is blower torque
(Nm)；B is damped coefficient (Nms)；J is rotary inertia (kgm2)。
By formula (10) and formula (11) it is found that direct-driving type PMSM wind power generating set is the typical non-linear strong coupling of MIMO
Close object.Wherein udAnd uqIt is the control input quantity of system, T respectivelymIt is external wind energy disturbance input；id、iqAnd ωmIt is respectively
The state output of system.For the ease of theory analysis, constant parameter is defined are as follows: b0=-1.5pnψf/ J and Correlative Perturbation component point
Not are as follows: d1=(pnLqiqωm-Rsid)/Ld, d2=-(pnLdidωm+pnψfωm+Rsiq)/Lq, d3=[Tm-Bωm-1.5pnid
(Ld-Lq)]/J, system (11) then may be defined as perturbed system:
Wherein, | d1|<∞、|d2|<∞、|d3|<∞。
In view of the quantity of state of PMSM is there are measurement error, thus disturbance component d1、d2And d3There are uncertainties, therefore,
How effectively control, exactly core of the invention technology are applied to perturbed system (12), i.e. the disturbance of MPPT perceives control technology.
2. Nonlinear Tracking Differentiator (Tracking Differentiator, TD)
When wind speed occurs to change at random under rated wind speed, in order to realize the MPPT maximum power point tracking of wind energy, it is desirable that wind
The expectation revolving speed of machine is enable to respond quickly, in other words, it is desirable that the expectation revolving speed of blower can follow the variation of wind speed and change.By
In the physical quantity that the expectation revolving speed of blower is a time-varying, and to rotation speed of fan apply control when also need to obtain desired revolving speed
Differential information.In view of that can not know the concrete mathematical model of blower expectation revolving speed, therefore, it is difficult to be obtained by conventional method
It must it is expected the differential information of revolving speed.For this purpose, the present invention obtains the tracking letter of blower expectation revolving speed using Nonlinear Tracking Differentiator technology
Number and its differential signal, on the one hand can effectively solve the problems, such as blower expectation revolving speed differential information be difficult to obtain, another party
Face can also effectively solve that there are the contradictions between rapidity and overshoot in control process.The specific method is as follows:
(1) Nonlinear Tracking Differentiator technology
If blower expectation angular speed isAnd v1And v2It is respectivelyTracking signal and differential signal, definition tracking miss
Difference isThen corresponding Nonlinear Tracking Differentiator (TDm) model are as follows:
Wherein, zv> 0 is the gain coefficient of TDm, such as Fig. 1.
(2) Nonlinear Tracking Differentiator stability analysis
The expectation acceleration bounded of the hypothesis wind energy conversion system of theorem 1.:Then and if only if zvWhen > 0, it is expected that revolving speed with
Track differentiator (13) is globally asymptotically stable.
It proves: according to rotating-speed tracking errorAnd (13) are combined, it can obtain:Cause
This has
IfLars is taken to convert formula (14), i.e.,
:
It considers: V2(s)=sV1(s)、Therefore,It substitutes into
Formula (15), arranges:I.e.
Since system (16) is one in desired tach signalThe lower error dynamics system of excitation, according to signal and
System complex frequency domain analysis theories are it is found that work as zvWhen > 0, error dynamics system (16) be it is globally asymptotically stable, therefore, as long asThen have:Accordingly, it is desirable to which rotating-speed tracking differentiator (13) is globally asymptotically stable.ByIt is found that having as t → ∞:Such as Fig. 1.
The estimation of 3 der Geschwindigkeitkreis state of disturbance
(1) der Geschwindigkeitkreis state observer
Use z31And z32To estimate rotational speed omega respectivelymWith disturbance d3.If observation error are as follows: ezm=z31-ωm, then accordingly
Disturbance observer DOm are as follows:
Wherein, zo> 0, to realize z31≈ωm、z32≈d3, such as Fig. 2.
(2) der Geschwindigkeitkreis state observer stability analysis
Theorem 2. assumes der Geschwindigkeitkreis state of disturbance bounded: | d3|<∞, then when zo>0, disturbance observer (17)
It is globally asymptotically stable.
It proves: according to the 3rd formula of formula (17) and formula (12), state observation error system can be obtained are as follows:
IfIt takes Lars to convert and arrange formula (19), obtains
Disturbance observation error system shown in formula (20) is one in state of disturbance d3Excitation under observation error power
System, if state of disturbance bounded: | d3|<∞, then when zo>0, error system (20) is asymptotically stable in the large
, andThus disturbance observer (17) is globally asymptotically stable.
The disturbance sensing controller (Disturbance Perception Controller, MPPT-DPC) of 4.MPPT is set
Meter
For the straight control problem for driving PMSM Wind turbines, if outer ring is revolving speed control, inner ring is current control, and usually
Set the expectation electric current of inner ring d axis as zero, i.e.,
(1) der Geschwindigkeitkreis disturbance sensing controller (DPCm) design
If directly driving PMSM wind power system actual machine angular speed is ωm, since blower expectation angular speed is a time-varying object
Reason amount, therefore, the present invention is using TD to desired angular speedIt is tracked and obtains corresponding differential information, i.e., Therefore, blower angular speed tracing control error may be expressed as:
em=v1-z31 (21)
According to the 3rd formula of system (12), then there is the differential signal of tracking error are as follows:
Obviously, formula (22) be a first-order perturbation error system (Disturbance Error dynamics System,
DEDS).With the quantity of state i of the 3rd formula in perturbed system (12)qThe virtual controlling amount of (q shaft current) as revolving speed controlling unit is
Make DEDS asymptotically stable in the large, defines q shaft current iqExpectation instructionAre as follows:
Wherein, zm>0、zo> 0,ezm=z31-ωm.Der Geschwindigkeitkreis disturbs sensing controller (DPCm), such as
Fig. 3 (a).
Due toWithRespectively PMSM inner ring current control link provides d-q shaft current expectation instruction and is therefore
Design inner ring current controller has established theoretical basis, is described below respectively:
(2) d shaft current ring disturbance sensing controller (DPCd) design
If inner ring d shaft current tracing control error are as follows:In conjunction with the 1st formula of system (12),
The then differential signal of error are as follows:
Define d shaft current ring disturbance sensing controller (d axis command voltage) are as follows:
Wherein, zd> 0,D shaft current ring disturbs sensing controller (DPCd), such as Fig. 3 (b).
(3) q shaft current ring disturbance sensing controller (DPCq) design
If inner ring q shaft current tracing control error are as follows:
In conjunction with the 2nd formula of system (12), then the differential signal of error are as follows:
Define q shaft current ring disturbance sensing controller (q axis command voltage) are as follows:
Wherein, zq> 0,Q shaft current ring disturbs sensing controller (DPCq), such as Fig. 3 (c).
TDm, DPCm, DPCd and DPCq are integrated to the straight drive PMSM wind power generating set MPPT to be formed disturbance perception
Controller (MPPT-DPC), such as Fig. 4.
5. disturbance perception stability analysis of control system
In order to guarantee directly to drive the stability of PMSM wind power control system, it is desirable that der Geschwindigkeitkreis disturbs sensing controller (DPCm), d
It is all stable that shaft current ring, which disturbs sensing controller (DPCd) and q shaft current ring disturbance sensing controller (DPCq),.Below
The stability for disturbing sensing controller to three respectively carries out theory analysis.
(1) d shaft current ring disturbs sensing controller (DPCd) stability analysis
Theorem 3. assumes disturbance d1Bounded: | d1| < ∞, then and if only if zdWhen > 0, d shaft current ring shown in formula (25) is disturbed
Dynamic sensing controller (DPCd):
It is globally asymptotically stable.Wherein, tracing control error ed=-id、LdIt is d axle inductance point
Amount.
It proves: willAgitation error system (DES) shown in substitution formula (24) to get:
IfIt considersLars is taken to convert and arrange formula (29),
Then
Formula (30) is one by disturbing d1The error dynamics system of excitation.Obviously, as long as | d1| < ∞, then and if only if zd
When > 0, error dynamics system (30) is globally asymptotically stable, it may be assumed thatTherefore, the electricity of d axis shown in formula (25)
Flow disturbance sensing controller (DPCd) be it is globally asymptotically stable, card finish.
(2) q shaft current ring disturbs sensing controller (DPCq) stability analysis
The differential bounded of the hypothesis q axis expectation electric current of theorem 4.:And disturbance d2Bounded: | d2| < ∞, then when and only
As gain parameter zqWhen > 0, q shaft current ring shown in formula (28) disturbs sensing controller (DPCq):
It is globally asymptotically stable.
Wherein,LqIt is q axle inductance component.
It proves: willAgitation error system (DES) shown in substitution formula (27) to get:
IfIfThen haveIt sets againIt considersTake Lars to convert and arrange formula (31), then
Formula (32) is one by Bounded PerturbationsThe error dynamics system of excitation.Obviously, as long as|d2| < ∞,
To haveThen and if only if zqWhen > 0, error dynamics system (32) is globally asymptotically stable, it may be assumed thatTherefore, the disturbance of q shaft current ring shown in formula (28) sensing controller (DPCq) is globally asymptotically stable, card
Finish.
(3) der Geschwindigkeitkreis disturbs sensing controller (DPCm) stability analysis
Theorem 5. is assumed|d2| < ∞, then and if only if zmWhen > 0, the disturbance perception control of der Geschwindigkeitkreis shown in formula (23)
Device (DPCm) processed:
It is globally asymptotically stable.Wherein, em=v1-z31、v1It is blower expectation angular speed's
Track signal, v2It isDifferential tracking information, z32It is to disturbance d3State estimation, i.e. z32≈d3。
It proves: due to the quantity of state i of the 3rd formula in perturbed system (12)q(q shaft current) is as the virtual of revolving speed controlling unit
The target of control amount, control is to make q shaft current iqTrack desired instruction currentIf by theorem 4 it is found thatWith |
d2| < ∞, then and if only if zqWhen > 0, it is that Global Asymptotic is steady that q shaft current ring shown in formula (28), which disturbs sensing controller (DPCq),
Fixed, it may be assumed thatTherefore, byIt is found that as t → ∞,Disturbance perceptual error system shown in formula (22) is substituted into, i.e.,
:
If the original state of speed error are as follows: em(0) ≠ 0, the then solution of formula (33) are as follows:
And
Obviously, as long as|d2| < ∞, then and if only if zmWhen > 0,AndShow
Speed error can approach origin from the initial point being arbitrarily not zero, i.e.,And zmIt is bigger, revolving speed
The speed of error from the initial point approach origin being arbitrarily not zero is then faster, therefore, the disturbance perception of der Geschwindigkeitkreis shown in formula (23)
Controller (DPCm) be it is globally asymptotically stable, card finish.
6. directly driving the calm method of PMSM wind-powered electricity generation MPPT control system gain parameter
It not only include der Geschwindigkeitkreis disturbance sensing controller (DPCm) and electricity due to directly driving PMSM wind-powered electricity generation MPPT control system
It flows ring and disturbs sensing controller DPCd and DPCq, but also including the function parts such as Nonlinear Tracking Differentiator and der Geschwindigkeitkreis disturbance observer
Part, therefore be related to 5 gain parameters in total and need to calm.Although 1~theorem of theorem 5 demonstrates respectively: working as zvWhen > 0, it is expected that turning
The Nonlinear Tracking Differentiator of speed is globally asymptotically stable；Work as zoWhen > 0, der Geschwindigkeitkreis disturbance observer is globally asymptotically stable；When | di
| < ∞ (i=1,2,3), and zd>0、zq>0、zmWhen > 0, current loop controller and revolving speed ring controller are all asymptotically stable in the larges
, this shows that the related gain parameter of the invention patent has very big adjusting nargin.However, in addition to guaranteeing asymptotically stable in the large
Other than property, also require Nonlinear Tracking Differentiator, disturbance observer and current loop controller and revolving speed ring controller that all there is fast sound
Answer speed and high tracking accuracy or high accuracy of observation or high tracing control precision.Therefore, relevant 5 parameter requests
The value in optimized scope, it is too small to reduce response speed, it can then cause very much oscillatory occurences greatly.If h is integration step, correlation increases
Beneficial parameter tuning is as follows:
(1)zd=zq=zm=zc, wherein 700≤zc≤1000；
(2)100≤zv≤500；
(3)zo=1/ (2h).
7. direct-driving type PMSM wind power control system emulation experiment and analysis
In order to verify the validity of the present invention " the straight disturbance sensing control method for driving PMSM wind generator system MPPT ", into
The following emulation experiment of row.Straight to drive PMSM wind power generating set MPPT control system schematic diagram, such as Fig. 5 has ignored in emulation experiment
The influence of PWM inverter.Related simulated conditions are provided that
(1) three-phase PMSM relevant parameter
pn=40, Ld=Lq=5mH, Rs=0.01 Ω, ψf=0.175Wb, J=0.05kgm2, B=0.008Nms；
(2) blower relevant parameter
Blade radius R=5m, atmospheric density ρ=1.29kg/m3, propeller pitch angle β=0；
(3) disturbance perception control system relevant parameter
If integration step h=1/4000, takes zd=zq=zm=850；zv=300；zo=1/ (2h).
When 1. wind speed of example is 7m/s, magneto alternator rotational speed omegam, quadrature axis current iq, wind energy conversion system output torque TmWith
Generator electromagnetic torque Te, power coefficient CpEqual curves such as Fig. 6.Fig. 6 shows control method of the invention not only in response to speed
Degree is fast, and steady-state tracking precision is high, and wind energy conversion system maximal wind-energy usage factor CpmaxReach 0.483.
Example 2. at the 2.5s moment, wind speed by 7m/s bust to 6m/s when, magneto alternator rotational speed omegam, quadrature axis electricity
Flow iq, wind energy conversion system output torque TmWith generator electromagnetic torque Te, power coefficient CpEqual curves such as Fig. 7.The further table of Fig. 7
Bright, control method of the invention not only fast response time, steady-state tracking precision is high, and wind energy conversion system maximal wind-energy usage factor
CpmaxReach 0.483 or so.Fig. 7 demonstrates MPPT control method of the invention in the extreme case of wind speed mutation, has fast
The tracking performance of speed and very high tracking accuracy.
Example 3. is under specified random wind speed and extreme case there are wind speed mutation, random wind speed v, permanent-magnet synchronous hair
Motor speed ωm, quadrature axis current iq, wind energy conversion system output torque TmWith generator electromagnetic torque Te, power coefficient CpEqual curves
Such as Fig. 8.Fig. 8 further demonstrates that, control method of the invention not only fast response time, steady-state tracking precision is high, and wind energy conversion system
Maximal wind-energy usage factor CpmaxIt can reach 0.478~0.488.Fig. 8 demonstrates MPPT control method of the invention in RANDOM WIND
Under the extreme case of speed mutation, there is quick tracking performance and very high tracking accuracy.
8. conclusion
PID controller, sliding mode controller (SMC) based on cybernetics strategy (eliminating error based on error) and from anti-
Disturbing controller (ADRC) is the current control big mainstream controller of engineering field widely used three.However, conventional PID controllers
Gain parameter changes with the variation of work condition state, lacks Ability of Resisting Disturbance, thus there are parameter quelling difficulties；And sliding formwork control
The strong Ability of Resisting Disturbance of device (SMC) processed is exchanged for by the dynamic quality of sacrificial system, thus in Ability of Resisting Disturbance and high
There are implacable contradictions between frequency buffeting；Automatic disturbance rejection controller (ADRC) although have stronger Ability of Resisting Disturbance, however,
The parameter that controller is related to is more, and certain nonlinear smoothing functions there is a problem of computationally intensive.Disturbance of the invention perceives control
Device (DPC) processed has concentrated the respective advantage of three big mainstream controllers, not only has fast response time, control precision height, robust steady
Qualitative feature good, Ability of Resisting Disturbance is strong, and controller architecture is simple, calculation amount is small, gain parameter has very big adjusting
Nargin, and under the extreme case that work condition state mutates, it does not need to calm to gain parameter again yet.Three realities
Example simulation result show under the operating conditions of entirely different wind speed, the identical disturbance sensing controller of gain parameter
(DPC) the straight effective control for driving PMSM wind generator system MPPT is realized, thus demonstrates the correct of theory analysis of the present invention
Property.
The present invention has important theoretical and practical significance to the MPPT control for realizing direct-driving type PMSM.
Claims (1)
1. a kind of straight disturbance sensing control method for driving PMSM wind generator system MPPT, which comprises the steps of:
1) since blower it is expected angular speedIt is a time-varying physical quantity, therefore, using Nonlinear Tracking Differentiator TDm to wind energy conversion system revolving speed
The expectation angular speed of ringIt is tracked and obtains corresponding differential information, it may be assumed that
Wherein, v1It is blower expectation angular speedTracking signal, v2It is blower expectation angular speedDifferential track signal；
2) using disturbance observer Dom to the actual angular speed ω of wind energy conversion system der GeschwindigkeitkreismWith unknown disturbance d3State estimation is carried out,
The estimated value of acquisition is respectively as follows:
z31≈ωm, z32≈d3
Wherein, z31It is der Geschwindigkeitkreis actual angular speed ωmEstimated value, z32It is der Geschwindigkeitkreis unknown disturbance d3Estimated value；
1) and 2) 3) according to, if blower angular speed tracking error are as follows: em=v1-z31, define the expectation instruction of q shaft current are as follows:
Wherein, zm> 0 is the gain of der Geschwindigkeitkreis disturbance sensing controller DPCm, zo=1/ (2h) is der Geschwindigkeitkreis disturbance observer Dom
Gain, and h is integration step,It is angular speed tracking error emIntegral, ezm=z31-ωmIt is that der Geschwindigkeitkreis is disturbed
The evaluated error of observer Dom, b0=-1.5pnψf/ J is der Geschwindigkeitkreis q shaft current iqAmplification coefficient, and pn, J and ψfRespectively
It is number of pole-pairs, rotary inertia and the rotor permanent magnet magnetic linkage of PMSM；
4) according to the expectation instruction for 3) obtaining q shaft currentAfterwards, q shaft current tracking error is established are as follows:Define q axis
The disturbance sensing controller DPCq of electric current loop are as follows:
Wherein,It is the output of q shaft current ring disturbance sensing controller DPCq, iqIt is q axis actual current, zq> 0 is that q shaft current is disturbed
The gain of dynamic sensing controller DPCq, eq0It is eqIntegral, LqIt is q axle inductance component；
5) according to d shaft current desired valueD shaft current tracking error can be established are as follows: ed=-id, define the disturbance of d shaft current ring
Sensing controller DPCd are as follows:
Wherein,It is the output of d shaft current ring disturbance sensing controller DPCd, idIt is d axis actual current, zd> 0 is that d shaft current is disturbed
The gain of dynamic sensing controller DPCd, ed0It is edIntegral, LdIt is d axle inductance component；
4) and 5) 6) by obtaining the command voltage of q axis and d axis respectivelyWithAfterwards, synchronous rotary can be sat according to anti-Park transformation
Under mark systemWithTransform to the V under three-phase static coordinate systema、VbAnd Vc, and with Va、VbAnd VcSVPWM is motivated to generate expectation
Pulse-width signal；
7) after by 6) obtaining the desired pulse width modulated signal that SVPWM is generated, inverter is driven it so as to from direct-driving type PMSM
Peak power output is obtained, to realize the disturbance sensing control method of direct-driving type PMSM wind power system MPPT.
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| CN110985289B (en) * | 2019-12-04 | 2021-01-01 | 浙江大学 | SVR and SMC based MPPT method with preset performance for wind turbine generator |
| CN111399383A (en) * | 2020-04-09 | 2020-07-10 | 云南电网有限责任公司电力科学研究院 | ACS algorithm-based PID parameter setting method for permanent magnet synchronous generator |
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| CN102969968A (en) * | 2012-11-15 | 2013-03-13 | 西安理工大学 | Permanent magnet synchronous motor control method |
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