CN109038659A - DFIG grid side converter low voltage traversing control method based on state feedback linearization - Google Patents
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Abstract
The invention discloses a kind of DFIG grid side converter low voltage traversing control method based on state feedback linearization; it is proposed a kind of double-fed fan motor unit under Voltage Drop; for protecting the control strategy of wind power system and its unit, there is overcurrent and DC bus overvoltage in rear rotor-side after solving the problems, such as investment Voltage Drop；According to emulation and experimental result, this method has the advantage that the fault component that can effectively inhibit in transient process, the fluctuation of rotor-side electric current is inhibited under the falling of certain network voltage, it is able to maintain the basicly stable of DC bus-bar voltage, and there is good control performance, it ensure that the stability of wind-electricity integration system.
Description
Technical field
The present invention relates to Non-Linear Control Theory technical fields, more particularly to a kind of to be based on state feedback linearization
The DFIG grid side converter low voltage traversing control method of change.
Background technique
DFIG has the advantages that amplitude, phase and frequency is adjustable in wind-force because exciter converter capacity is small, low cost
It is widely applied in electricity generation system.But it is quite sensitive to falling for voltage due to the direct linked network of its stator side, pass through improvement
Control strategy realizes the LVRT operation of unit, and because not needing to increase hardware circuit, the advantages that economic performance is good receives extensive
Concern." doubly-fed wind turbine electromagnetic transition in the case of grid voltage sags in " the electrotechnics journal " of 26th phase in 2011
Process and control strategy " text describes when Voltage Drop can cause serious overcurrent and over-voltage to Wind turbines, when serious
The damage that wind power unit converter can even be caused causes the off-grid operation of Wind turbines.It can lead to during Voltage Drop
Optimal Control Strategy is crossed to improve the subnormal voltage operation ability of unit, guarantees the uninterrupted operation of unit.32nd phase in 2012
" dual-feed asynchronous wind power generator be incorporated into the power networks in several hot issues " text passes through analysis in " Proceedings of the CSEE "
The passivity of DFIG system model introduces and improves passive coherent locating strategy, improves the control performance of rotor current to answer
The case where small value of network voltage is fallen.
Corresponding control method is proposed for double-fed fan motor unit low voltage crossing problem currently, having some documents:
" the improvement vector control of DFIG under a kind of symmetric fault based on power grid in " industrial instrument and the automation equipment " of 3rd phase in 2014
System strategy " text using the vector control strategy of existing maturation, improves the calculation method of rotor-side fault current, improves and be
The dynamic steady-state characteristic of system；" pair of Crowbar resistance value and exit time are considered in " Automation of Electric Systems " of 34th phase in 2010
Feedback LVRT Capability of Wind Turbine Generator " text considers when network voltage substantially falls, and Wind turbines are frequently with input rotor side
Crowbar protective device, but Crowbar protective device making time it is too long can be shorted rotor windings, absorbed from power grid a large amount of
Reactive power, be degrading the failure environment at grid-connected place.Therefore the general of the correct making time of Crowbar protective device has been adjusted
The dynamic responding speed for optimizing whole system is read, but needs additional hardware circuit and control system, undoubtedly increases system
Cost and complexity；" double fed induction generators transient performance is accurately counted in " Automation of Electric Systems " of 38th phase in 2014
Calculate and Crowbar circuit parameter optimize " various elements of the text consideration motor in transient process, pass through and selects suitable calculating
Method, has calculated the calculation formula of stator and rotor electric current of doubly fed induction generator during Voltage Drop, and considers
Influence of the size of Crowbar resistance value to electric current, this method is accurate and is easily achieved, and required hardware resource is few, but algorithm is more
It is complicated.
Therefore, how to provide a kind of holding DC bus-bar voltage it is basicly stable, have good control performance and guarantee
The DFIG grid side converter low voltage traversing control method of the stability of wind-electricity integration system is that those skilled in the art need to solve
Certainly the problem of.
Summary of the invention
In view of this, the present invention provides a kind of DFIG grid side converter low voltage crossing based on state feedback linearization
Control method establishes the Affine nonlinear model of grid side converter of double-feed induction wind driven generator；By controlling selected mesh
Scalar functions, the method for adoption status feedback linearization and coordinate transform derive the Based on Nonlinear State Feedback expression formula of system, and
Thus it proposes a kind of GSC low voltage crossing control strategy based on input and output feedback linearization, realizes nonlinear system
Linearize and complete the design of related controller.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of DFIG grid side converter low voltage traversing control method based on state feedback linearization, which is characterized in that
The control method includes:
S1, GSC mathematical model convert coordinate system:, will be same for the GSC mathematical model being transformed under dq0 synchronous coordinate system
The d axis of step rotating coordinate system is oriented to network voltage vector UsOn, using the lesser DC bus-bar voltage U of fluctuationdcWith direct current mother
Line current idcrCalculate the active-power P of rotor-side converter outputr, it may be assumed that Pr=Udcidcr
Arrangement obtains the mathematical model of GSC:
Wherein, ugd、ugqThe respectively d of GSC grid entry point voltageqAxis component；igd、igqThe respectively d of ac-side currentqAxis
Component；C is dc-link capacitance；Lg、RgThe inductance of respectively every phase reactor and the equivalent resistance of route；UdcFor transformation
The DC voltage of device；ucd、ucqRespectively exchange the d of side voltageqAxis component；ω1For synchronous rotary angular speed；Pg、PrRespectively
The active power of net side and the output of rotor-side converter；
S2, it determines target, constructs output equation:
Enter m according to Affine Incentive m and go out system,yi=hi(x)；If feed back input u and newly with reference to defeated
Enter the functional relation of v:
Choose state variable x=[x1x2]T=[igdigq]T, input variable u=[u1u2] T=[ugdugq]T, with unit low
Control target when voltage failure is reference, constructs output equation:
In formula, state variableU is manifold N=RnA upper opener；U is input variable；Vector function f, gi
∈Rn, it is defined on U；M dimensional input vector function u ∈ J, J are to allow domination set, and output vector function h (x) ∈ Y, Y are p dimensions
The linear space of real-valued function composition；αi(x), βij(x) all it is defined in RnScalar smooth function in one opener；V=
[v1...vm]TIt is new reference input, and sets u and v with dimension；
S3, coordinate transform: being coordinately transformed, selection:
Convert original system to the canonical form of Brunovsky:
The relationship of new control amount v and former control amount u can be obtained are as follows:
In formula:
S4, control law expression formula: Linearization Feedback u is acquired are as follows:
In control law expression formula shown in S4, only v=[v1v2]TIt is known variables, performance index function is made to obtain pole
It is worth, then optimal control law are as follows: in v=-Kz formula, v indicates optimum control amount；K is Optimal Feedback gain matrix, wherein K=BTP, P
For multitude's card echelon matrices equation ATP+PA-PBP-1BTThe positive definite symmetric solution of P+Q=0；R and Q is respectively weight factor matrix and weight
Matrix.New input quantity v is obtained using the linear optimal contro8 design method (LQR method) with quadratic performance index.
It can be seen via above technical scheme that compared with prior art, the present disclosure provides one kind based on based on shape
The DFIG grid side converter low voltage traversing control method of state feedback linearization, when network voltage falls, conventional vector
Control cannot be responded quickly, and electromagnetic viscosimeter is violent, and active and reactive power control ability is weaker, and low voltage ride-through capability is limited；
And state feedback linearization control then can faster response network voltage variation, realize active and reactive and intermediate dc bus
It quickly adjusts, weakens electromagnetic viscosimeter, dynamic property is good, and stability is also preferable, and the robustness of system is stronger.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 attached drawing is grid side converter Fundamental Wave Equivalent Circuit figure provided by the invention；
Fig. 2 attached drawing is the Nonlinear Decoupling control block diagram of GSC provided by the invention；
Fig. 3 attached drawing is 1.5MWDFIG simulation architecture figure provided by the invention；
Fig. 4 attached drawing is the grid voltage waveform figure under failure provided by the invention；
Fig. 5 attached drawing is the stator current waveforms figure under failure provided by the invention；
Fig. 6 attached drawing is failure lower rotor part current waveform figure provided by the invention；
Fig. 7 attached drawing is that the DC bus-bar voltage of addition state feedback linearization provided by the invention and conventional vector control is imitative
True waveform diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It is worn the embodiment of the invention discloses a kind of based on the DFIG grid side converter low-voltage based on state feedback linearization
More control method passes through the state feedback linearization control strategy of GSC and devises related controller, net side gamma controller
Be able to maintain the basicly stable of DC bus-bar voltage under certain grid voltage sags, and have good control performance and
Dynamic and static characteristic.
It is grid side converter Fundamental Wave Equivalent Circuit figure referring to attached drawing 1；Attached drawing 2 is the nonlinear solution of GSC provided by the invention
Coupling control block diagram, control system shown in figure use double circle structure, and there are two feedback control amount: first is that reactive power；Two
It is the DC voltage of output；It is given that reactive power ring forces input power to follow, and output-voltage loop can stablize the direct current of output
Voltage, while bicyclic additional PI, to reach the stability for also increasing control system while eliminating stable state static difference；
Attached drawing 3 is 1.5MWDFIG simulation architecture figure；Attached drawing 4 is the grid voltage waveform figure under failure；Attached drawing 5 is failure
Under stator current waveforms figure；Attached drawing 6 is failure lower rotor part current waveform figure；Attached drawing 7 is that state feedback linearization is added and passes
The DC bus-bar voltage simulation waveform for vector controlled of uniting.
Below in conjunction with figure embodiment, the present invention is further described.
The conversion of S1, GSC mathematical model: under dq0 synchronous rotating frame: the mathematical model of GSC is as follows:
In formula, ugd、ugqThe respectively d of GSC grid entry point voltageqAxis component；igd、igqThe respectively d of ac-side currentqAxis
Component；C is dc-link capacitance；Lg、RgThe inductance of respectively every phase reactor and the equivalent resistance of route；UdcFor transformation
The DC voltage of device；ucd、ucqRespectively exchange the d of side voltageqAxis component；ω1For synchronous rotary angular speed；Pg、PrRespectively
The active power of net side and the output of rotor-side converter；
From the above equation, we can see that DC bus-bar voltage UdcThe fluctuation for reflecting active power, by controlling UdcIt can be controlled
Active power；For simplified control algorithm, the d axis of synchronous rotating frame is oriented to network voltage vector UsOn, it needs to refer to
Out, due to the switching characteristic of converter, a large amount of harmonic components are contained in rotor-side voltage, this will lead in terms of instantaneous value
Obtained PrGenerate biggish error.So the present embodiment PrCalculating using fluctuating lesser DC voltage UdcAnd direct current
Flow idcr, it may be assumed that Pr=UdcidcrAbove formula is carried it into, is obtained:
State feedback linearization: state variableOutput equation yi=hi(x)；Assuming that feedback is defeated
Enter the function that u is state x and new reference input v:
In formula: state variableU is manifold N=RnA upper opener；Vector function f, gi∈Rn, it is defined on U
On；M dimensional input vector function u ∈ J, J are to allow domination set, and output vector function h (x) ∈ Y, Y are the real-valued function compositions of p dimension
Linear space.αi(x), βij(x) all it is defined in RnScalar smooth function in one opener；V=[v1...vm]TIt is newly to refer to
Input, and u and v are set with dimension；
(1) to all x0The x in field and all 1≤j≤m, 1≤i≤m, 0≤k≤ρi- 1, meet:
(2) in x=x0Point, m × m battle array below is nonsingular
Then the Relative order of system is referred to as ρ1, ρ2..., ρm, and each ρ thereiniWith output yi=hiIt (x) is to correspond
's.If meeting between each Relative order: ρ=ρ1+ρ2+...+ρm=n, wherein n is the dimension of state vector x, then system meets state
The necessary and sufficient condition of feedback linearization realizes feedback linearization.
Selection is defined on x0The coordinate transform collection of functions in field:
S2, it determines target, constructs output equation:
Enter m according to Affine Incentive m and go out system,yi=hi(x)；If feed back input u and newly with reference to defeated
Enter the functional relation of v:
Choose state variable x=[x1x2]T=[igdigq]T, input variable u=[u1u2]T=[ugdugq]T, with unit low
Control target when voltage failure is reference, constructs output equation:
Affine Systems are refined:
Wherein, f (x)=[f1f2]T=[(- Rg/Lg)igd+ω1igq+ugd/Lg-(Rg/Lg)igq-ω1igd]T, g1=[- 1/Lg
0]T, g2=[0-1/Lg]T；
Then, linearization condition is verified:
Available matrix:
Wherein order is equal to the order n of the system, vector field: D=[g1(x)g2(x)adfg1(x)adfg2It (x)] is to sum.
S3, it is coordinately transformed, selects:
Convert original system to the canonical form of Brunovsky: z=v
The relationship of new control amount v and former control amount u can be obtained are as follows:
In formula:
S4, u is acquired are as follows:
In control law expression formula shown in S4, only v=[v1v2]TBe it is undetermined, to make performance index function obtain pole
It is worth, then optimal control law are as follows: in v=-Kz formula, v indicates optimum control amount；K is Optimal Feedback gain matrix, wherein K=BTP, P
For multitude's card echelon matrices equation ATP+PA-PBP-1BTThe positive definite symmetric solution of P+Q=0；R and Q is respectively weight factor matrix and weight
Matrix.New input quantity v is obtained using the linear optimal contro8 design method (LQR method) with quadratic performance index.
System simulation model is built using Matlab/simulink simulation software, simulation parameter: wherein DFIG major parameter
It is as follows: stator voltage rating UN=690V, stator rated power Ps=1.5MW, stator voltage frequency f1=50Hz, stator and rotor electricity
Hinder R=2.1m Ω, stator leakage inductance LIS=55.8 μ H, rotor leakage inductance LIr=44.65 μ H, stator and rotor mutual inductance Lm=1.73mH；Net side
Transducer parameters are as follows: Inductor Lg=5mH；Exchange side resistance Rg=0.02 Ω；DC bus capacitor C=470 μ F；Direct current
Side resistance R0=40 Ω；Network voltage peak Egd=50V；DC voltage Udc=120V；Switching frequency fs=10kHz.
Attached drawing 3, attached drawing 4 and attached drawing 5 are stator voltage, electric current and the rotor current waveform under failure；Low-voltage occurs
Failure, setting network voltage fall in 1.5s, restore normal when 1.7s, duration 0.2s, and the voltage after falling is
0.8Us；When Voltage Drop failure occurs, the rapid drawdown of stator terminal voltage can be caused, corresponding electromagnetic torque can also fall according to voltage
Fall depth and reduce, but wind energy conversion system input machine torque be it is constant, that is, wind speed be it is constant, so ωrIt can be because of electricity
The mismatch of magnetic power and increase；The Wind turbines of any protection control strategy are not added, DC bus-bar voltage is increased rapidly, connect
The voltage of nearly 1600V is likely to result in the damage of the power device switching device of current transformer.
The DC bus-bar voltage waveform of attached drawing 6, two curves, which are can be found that, in comparison diagram is added the modified feedback linearization control
After strategy, compared with conventional vector control strategy, during voltage swells, active power output is reduced, and idle power output is needed for power grid
Inductive reactive power, DC bus-bar voltage due to be added control strategy after, ascensional range obviously slows down, so that output voltage waveforms matter
Amount is good.
In conclusion a kind of DFIG grid side converter low voltage crossing based on state feedback linearization provided by the invention
There is the problem of stator side overcurrent and over-voltage with regard to double-fed fan motor unit in Voltage Drop failure in control method, is selected by control
Fixed objective function, the method for adoption status feedback linearization and coordinate transform derive the Based on Nonlinear State Feedback table of system
It up to formula, and thus proposes a kind of grid side converter low voltage crossing control strategy based on input and output feedback linearization, realizes
Linearization of nonlinear system and the design for completing related controller；Simulation results show the validity of mentioned method,
Net side gamma controller inhibits the fluctuation of rotor-side electric current under the falling of certain network voltage, is able to maintain DC bus
Voltage it is basicly stable, and have good control performance, ensure that the stability of wind-electricity integration system, engineering with higher
Practical value.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (3)
1. a kind of DFIG grid side converter low voltage traversing control method based on state feedback linearization, which is characterized in that institute
Stating control method includes:
S1, GSC mathematical model convert coordinate system: for the GSC mathematical model being transformed under dq0 synchronous coordinate system, revolving synchronous
The d axis for turning coordinate system is oriented to network voltage vector UsOn, using the lesser DC bus-bar voltage U of fluctuationdcWith DC bus electricity
Flow idcrCalculate the active-power P of rotor-side converter outputr, it may be assumed that Pr=Udcidcr
Arrangement obtains the mathematical model of GSC:
Wherein, ugd、ugqThe respectively dq axis component of GSC grid entry point voltage；igd、igqThe respectively dq axis component of ac-side current；
C is dc-link capacitance；Lg、RgThe inductance of respectively every phase reactor and the equivalent resistance of route；UdcFor converter
DC voltage；ucd、ucqRespectively exchange the dq axis component of side voltage；ω1For synchronous rotary angular speed；Pg、PrRespectively net
The active power of side and the output of rotor-side converter；
S2, it determines target, constructs output equation:
Enter m according to Affine Incentive m and go out system,yi=hi(x)；If feed back input u's and new reference input v
Functional relation:
Choose state variable x=[x1x2]T=[igdigq]T, input variable u=[u1u2]T=[ugdugq]T, with unit in low-voltage
Control target when failure is reference, constructs output equation:
In formula, state variableU is manifold N=RnA upper opener；U is input variable；Vector function f, gi∈Rn,
It is defined on U；M dimensional input vector function u ∈ J, J are to allow domination set, and output vector function h (x) ∈ Y, Y are the real values of p dimension
The linear space of function composition；αi(x), βij(x) all it is defined in RnScalar smooth function in one opener；V=[v1...vm]T
It is new reference input, and sets u and v with dimension；
S3, coordinate transform: it is defined on x0The coordinate transform collection of functions in field:
Selection,
Convert original system to the canonical form of Brunovsky:
Obtain the relationship of new control amount v and former control amount u are as follows:
In formula:
Wherein,For coordinate transform collection of functions；
S4, control law expression formula: Linearization Feedback u is acquired are as follows:
2. the DFIG grid side converter low voltage crossing controlling party according to claim 1 based on state feedback linearization
Method, which is characterized in that refine Affine Incentive system:
Wherein, f (x)=[f1f2]T=[(- Rg/Lg)igd+ω1igq+ugd/Lg-(Rg/Lg)igq-ω1igd]T, g1=[- 1/Lg 0
]T, g2=[0-1/Lg]T；
Then, linearization condition is verified:
Available matrix:
Wherein, order is equal to the order n, vector field D=[g of the system1(x) g2(x) adfg1(x) adfg2It (x)] is to sum.
3. the DFIG grid side converter low voltage crossing controlling party according to claim 1 based on state feedback linearization
Method, which is characterized in that v=[v in the step S41v2]TFor known variables, performance index function to be made to obtain extreme value, then it is optimal
Control law are as follows:
V=-Kz
In formula, v indicates optimum control amount；K is Optimal Feedback gain matrix, wherein K=BTP, P are multitude's card echelon matrices equation ATP+
PA-PBR-1BTThe positive definite symmetric solution of P+Q=0；R and Q is respectively weight factor matrix and weight matrix；
New input quantity v is obtained using the linear optimal contro8 design method with quadratic performance index.
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Application publication date: 20181218 |