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 invention relates to the technical field of nonlinear control theory, in particular to a DFIG (doubly Fed Induction Generator) grid-side converter low-voltage ride-through control method based on state feedback linearization.
Background
The DFIG has the advantages of small capacity, low manufacturing cost, adjustable amplitude, phase and frequency and the like and is widely applied to a wind power generation system due to the fact that the excitation converter is small in capacity. However, the direct net hanging on the stator side is quite sensitive to voltage drop, the LVRT operation of the unit is realized by improving a control strategy, and the advantages of good economic performance and the like are widely concerned because a hardware circuit is not required to be added. In the 26 th statement of electrotechnical science in 2011, the electromagnetic transition process and control strategy of the doubly-fed wind generator under the condition of grid voltage drop introduces that when the voltage drop causes serious overcurrent and overvoltage to the wind turbine, even the damage of a converter of the wind turbine can be caused in the serious condition, and the off-grid operation of the wind turbine is caused. The low-voltage operation capacity of the unit can be improved through an optimized control strategy in the voltage dropping process, and the uninterrupted operation of the unit is ensured. In the 32 nd report of Chinese Motor engineering, 2012, several hotspot problems in grid-connected operation of a doubly-fed asynchronous wind driven generator, the passivity of a DFIG system model is analyzed, a passivity control strategy is introduced and improved, and the control performance of rotor current is improved to deal with the situation of grid voltage low value drop.
At present, some documents propose corresponding control methods for the low voltage ride through problem of the doubly-fed wind turbine generator: in the 3 rd period industrial instrument and automation device in 2014, the improved vector control strategy based on DFIG under the symmetrical fault of the power grid is the text, the existing mature vector control strategy is utilized, the calculation method of the fault current on the rotor side is improved, and the dynamic and steady-state characteristics of the system are improved; in the 'low voltage ride through of doubly-fed wind turbine generator considering Crowbar resistance and exit time' in 'power system automation' of 2010 34 th period, it is considered that when the voltage of a power grid drops greatly, a Crowbar protection device is usually adopted by the wind turbine generator on an input rotor side, but the Crowbar protection device is short-circuited with a rotor winding when the input time is too long, so that a large amount of reactive power is absorbed from the power grid, and the fault environment of a grid-connected part is deteriorated. Therefore, the concept of setting the correct input time of the Crowbar protection device optimizes the dynamic response speed of the whole system, but additional hardware circuits and control systems are needed, so that the cost and complexity of the system are increased undoubtedly; in the 38 th period in 2014, "accurate calculation of transient performance of a doubly-fed induction generator and optimization of Crowbar circuit parameters" in "power system automation", various elements of a motor in a transient process are considered, a calculation formula of stator and rotor currents of the doubly-fed induction motor in a voltage drop process is calculated by selecting a proper calculation method, and the influence of the Crowbar resistance on the currents is considered.
Therefore, how to provide a low voltage ride through control method for a DFIG grid-side converter, which maintains the basic stability of the dc bus voltage, has good control performance, and ensures the stability of a wind power grid-connected system, is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the invention provides a DFIG grid-side converter low voltage ride through control method based on state feedback linearization, and an affine nonlinear model of a doubly-fed induction wind generator grid-side converter is established; through controlling the selected objective function, a nonlinear state feedback expression of the system is deduced by adopting a state feedback linearization and coordinate transformation method, and a GSC low voltage ride through control strategy based on input and output feedback linearization is provided, so that linearization of the nonlinear system is realized, and the design of a relevant controller is completed.
In order to achieve the purpose, the invention adopts the following technical scheme:
a DFIG grid-side converter low voltage ride through control method based on state feedback linearization is characterized in that the control method comprises the following steps:
s1, converting the GSC mathematical model into a coordinate system: for the GSC mathematical model converted into dq0 synchronous coordinate system, the d-axis of the synchronous rotating coordinate system is oriented to the grid voltage vector UsIn the method, a direct current bus voltage U with small fluctuation is adopteddcAnd a DC bus current idcrCalculating active power P output by rotor side converterrNamely: pr＝Udcidcr
And (3) obtaining a GSC mathematical model by sorting:
wherein u isgd、ugqD being GSC grid-connected point voltage respectivelyqAn axial component; i.e. igd、igqD being the AC side current respectivelyqAn axial component; c is a direct current bus capacitor; l isg、RgRespectively the inductance of each phase of incoming line reactor and the equivalent resistance of the circuit; u shapedcIs the DC side voltage of the converter; u. ofcd、ucqD being the voltage on the AC side respectivelyqAn axial component; omega1Is a synchronous rotational angular velocity; pg、PrThe active power output by the network side converter and the rotor side converter respectively;
s2, determining a target, and constructing an output equation:
according to the imitation type m-in m-out system,yi＝hi(x) (ii) a Setting the functional relationship between the feedback input u and the new reference input v as follows:
selecting a state variable x ═ x1x2]T＝[igdigq]TInput variable u ═ u1u2]T＝[ugdugq]TAnd taking a control target of the unit in low-voltage fault as a reference to construct an output equation:
in the formula, the state variableU is manifold N ═ RnThe last open set; u is an input variable; vector function f, gi∈Rndefined on U, m-dimensional input vector function U belonged to J, where J is an allowable control set, output vector function h (x) belonged to Y, and Y is a linear space formed by real-valued functions of p-dimension, αi(x)，βij(x) Are all defined in RnA scalar smoothing function on an open set; v ═ v1...vm]TSetting u and v as same dimension;
s3, coordinate transformation: and (3) carrying out coordinate transformation, and selecting:
the original system was converted to Brunovsky's standard form:
the relationship between the new controlled variable v and the original controlled variable u can be obtained as follows:
in the formula:
s4, control law expression: the linearized feedback u is found to be:
in the control law expression shown in S4, only v ═ v1v2]TIf the parameter is an unknown variable and the performance index function is to obtain an extreme value, the optimal control law is as follows: in the formula of-Kz, v represents an optimum control amount; k is the optimal feedback gain matrix, where K ═ BTP, P is Riccatladder matrix equation ATP+PA-PBP-1BTPositive definite symmetric solution of P + Q ═ 0; r and Q are respectively a weight factor matrix and a weight matrix. A new input quantity v is obtained by using a linear optimal control design method (LQR method) with quadratic performance indexes.
According to the technical scheme, compared with the prior art, the invention discloses a DFIG network side converter low voltage ride through control method based on state feedback linearization, when the voltage of a power grid drops, the traditional vector control can not quickly respond, the electromagnetic oscillation is violent, the control capability of active power and reactive power is weaker, and the low voltage ride through capability is limited; and the state feedback linear control can respond to the change of the voltage of the power grid more quickly, realize the quick adjustment of active power, reactive power and a middle direct current bus, weaken the electromagnetic oscillation, and have good dynamic performance, better stability and stronger system robustness.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a fundamental wave equivalent circuit diagram of a grid-side converter provided by the invention;
FIG. 2 is a block diagram illustrating nonlinear decoupling control of a GSC in accordance with the present invention;
FIG. 3 is a diagram of a simulation structure of 1.5MWDFIG provided by the present invention;
FIG. 4 is a graph of the grid voltage waveform under a fault condition provided by the present invention;
FIG. 5 is a graph of a stator current waveform under fault conditions provided by the present invention;
FIG. 6 is a graph of rotor current waveforms under a fault condition provided by the present invention;
fig. 7 is a waveform diagram of a dc bus voltage simulation with state feedback linearization and conventional vector control added according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a DFIG (distributed feedback group) grid-side converter low-voltage ride-through control method based on state feedback linearization, wherein a relevant controller is designed through a state feedback linearization control strategy of a GSC (global system controller), and a grid-side nonlinear controller can keep the basic stability of the voltage of a direct-current bus under a certain grid voltage drop and has good control performance and dynamic and static characteristics.
Referring to fig. 1, a fundamental wave equivalent circuit diagram of a grid-side converter is shown; fig. 2 is a non-linear decoupling control block diagram of the GSC provided by the present invention, wherein the control system shown in the diagram adopts a double closed loop structure, and the feedback control amount includes two: firstly, reactive power; second, the direct-current voltage of output; the reactive power loop forces the input power to follow a given value, the output voltage loop can stabilize the output direct-current voltage, and PI is added to double loops at the same time, so that the stability of the control system is improved while steady-state static error is eliminated;
FIG. 3 is a diagram of a 1.5MWDFIG simulation architecture; FIG. 4 is a graph of grid voltage waveforms under fault; FIG. 5 is a diagram of a stator current waveform under fault; FIG. 6 is a diagram of rotor current waveforms under fault; FIG. 7 is a simulated waveform diagram of DC bus voltage with state feedback linearization and conventional vector control added.
The invention is further illustrated below with reference to the accompanying examples.
S1, GSC mathematical model conversion: under dq0 synchronous rotation coordinate system: the mathematical model of GSC is as follows:
in the formula ugd、ugqD being GSC grid-connected point voltage respectivelyqAn axial component; i.e. igd、igqD being the AC side current respectivelyqAn axial component; c is a direct current bus capacitor; l isg、RgRespectively the inductance of each phase of incoming line reactor and the equivalent resistance of the circuit; u shapedcIs the DC side voltage of the converter; u. ofcd、ucqD being the voltage on the AC side respectivelyqAn axial component; omega1Is a synchronous rotational angular velocity; pg、PrThe active power output by the network side converter and the rotor side converter respectively;
from the above formula, the DC bus voltage UdcReflects the fluctuation of active power and controls UdcIts active power can be controlled; to simplify the control algorithm, the d-axis of the synchronous rotating coordinate system is oriented to the grid voltage vector UsIt should be noted that, due to the switching characteristics of the converter, the rotor-side voltage contains a large amount of harmonic components, which results in P being calculated as an instantaneous valuerA large error is generated. So this embodiment PrThe calculation of (A) adopts a direct current voltage U with small fluctuationdcAnd a direct current idcrNamely: pr＝UdcidcrBringing it into the formula to obtain:
state feedback linearization: variable of stateOutput equation yi＝hi(x) (ii) a FalseLet the feedback input u be a function of the state x and the new reference input v:
in the formula: variable of stateU is manifold N ═ RnThe last open set; vector function f, gi∈Rnthe m-dimensional input vector function U belongs to J, J is an allowable control set, the output vector function h (x) belongs to Y, and Y is a linear space formed by real-valued functions of p dimensionsi(x)，βij(x) Are all defined in RnA scalar smoothing function on an open set; v ═ v1...vm]TSetting u and v as same dimension;
(1) for all x0X and all j is more than or equal to 1 and less than or equal to m, i is more than or equal to 1 and less than or equal to m, and k is more than or equal to 0 and less than or equal to rho in the fieldi-1, satisfying:
(2) where x is x0The lower m x m array of dots being non-singular
The relative order of the system is then said to be p1，ρ2，...，ρmAnd each of them piAnd output yi＝hi(x) Are in one-to-one correspondence. If the relative steps satisfy: ρ ═ ρ1+ρ2+...+ρmN, where n is the dimension of the state vector x, the system satisfies the requirement of state feedback linearization, and feedback linearization is realized.
Selection is defined at x0Set of coordinate transformation functions of the domain:
s2, determining a target, and constructing an output equation:
according to the imitation type m-in m-out system,yi＝hi(x) (ii) a Setting the functional relationship between the feedback input u and the new reference input v as follows:
selecting a state variable x ═ x1x2]T＝[igdigq]TInput variable u ═ u1u2]T＝[ugdugq]TAnd taking a control target of the unit in low-voltage fault as a reference to construct an output equation:
refining the affine system:
wherein f (x) ═ f1f2]T＝[(-Rg/Lg)igd+ω1igq+ugd/Lg-(Rg/Lg)igq-ω1igd]T，g1＝[-1/Lg0]T，g2＝[0-1/Lg]T；
Then, the linearization conditions were verified:
a matrix can be obtained:
where the rank is equal to the order n of the system, vector field: d ═ g1(x)g2(x)adfg1(x)adfg2(x)]Are true.
And S3, performing coordinate transformation and selecting:
the original system was converted to Brunovsky's standard form: z is v
The relationship between the new controlled variable v and the original controlled variable u can be obtained as follows:
in the formula:
s4, obtaining u as:
in the control law expression shown in S4, only v ═ v1v2]TIf the performance index function is not determined, and the performance index function is to obtain an extreme value, the optimal control law is as follows: in the formula of-Kz, v represents an optimum control amount; k is the optimal feedback gain matrix, where K ═ BTP, P is Riccatladder matrix equation ATP+PA-PBP-1BTPositive definite symmetric solution of P + Q ═ 0; r and Q are respectively a weight factor matrix and a weight matrix. A new input quantity v is obtained by using a linear optimal control design method (LQR method) with quadratic performance indexes.
Building a system simulation model by utilizing Matlab/simulink simulation software, wherein simulation parameters are as follows: the main parameters of the DFIG are as follows: rated voltage U of statorN690V stator rated power Ps1.5MW, stator voltage frequency f150Hz, 2.1m omega stator and rotor resistance and L stator leakage inductanceIS55.8 muH, rotor leakage inductance LIr44.65 muH, stator and rotor mutual inductance Lm1.73 mH; the grid-side converter parameters are as follows: AC side inductor Lg5 mH; AC side resistor Rg0.02 Ω; the direct current side capacitance C is 470 μ F; DC side resistor R040 Ω; peak value of grid voltage Egd50V; DC voltage Udc120V; switching frequency fs＝10kHz。
Fig. 3, 4 and 5 are waveforms of stator voltage, current and rotor current under fault; when a low voltage fault occurs, the voltage of the power grid is set to drop within 1.5s, the voltage returns to normal within 1.7s, the duration time is 0.2s, and the voltage after the drop is 0.8 Us; when voltage drop fault occurs, sudden drop of the voltage of the stator can be caused, corresponding electromagnetic torque can be reduced according to the voltage drop depth, but the input mechanical torque of the wind turbine is unchanged, namely the wind speed is unchanged, so omega is omegarWill increase due to the mismatch in electromagnetic power; the voltage of a direct current bus of the wind turbine generator without any protection control strategy is rapidly increased, and the voltage close to 1600V can cause damage to a power device switching device of the converter.
The voltage waveform of the direct current bus shown in the figure 6 can be compared with two curves in the figure, and after the feedback linear control strategy is added, compared with the traditional vector control strategy, active power output is reduced during voltage swell, reactive power output is inductive reactive power required by a power grid, and the rising amplitude of the voltage of the direct current bus is obviously reduced after the control strategy is added, so that the quality of the output voltage waveform is good.
In summary, according to the DFIG grid-side converter low voltage ride through control method based on state feedback linearization provided by the invention, regarding the problem that the double-fed wind turbine generator has stator side overcurrent and overvoltage in the voltage drop fault, the nonlinear state feedback expression of the system is derived by controlling the selected objective function and adopting the methods of state feedback linearization and coordinate transformation, and thus, a grid-side converter low voltage ride through control strategy based on input and output feedback linearization is provided, the linearization of the nonlinear system is realized, and the design of a relevant controller is completed; the simulation result verifies the effectiveness of the method, the grid-side nonlinear controller inhibits the fluctuation of the current at the rotor side under the condition that a certain grid voltage drops, the basic stability of the direct-current bus voltage can be kept, the method has good control performance, the stability of a wind power grid-connected system is ensured, and the method has high engineering practical value.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (3)
1. A DFIG grid-side converter low voltage ride through control method based on state feedback linearization is characterized in that the control method comprises the following steps:
s1, converting the GSC mathematical model into a coordinate system: for the GSC mathematical model converted into dq0 synchronous coordinate system, the d-axis of the synchronous rotating coordinate system is oriented to the grid voltage vector UsIn the method, a direct current bus voltage U with small fluctuation is adopteddcAnd a DC bus current idcrCalculating active power P output by rotor side converterrNamely: pr＝Udcidcr
And (3) obtaining a GSC mathematical model by sorting:
wherein u isgd、ugqDq axis components of the GSC grid-connected point voltages respectively; i.e. igd、igqDq-axis components of the ac side current, respectively; c is a direct current bus capacitor; l isg、RgRespectively the inductance of each phase of incoming line reactor and the equivalent resistance of the circuit; u shapedcIs the DC side voltage of the converter; u. ofcd、ucqDq-axis components of the ac side voltage, respectively; omega1Is a synchronous rotational angular velocity; pg、PrThe active power output by the network side converter and the rotor side converter respectively;
s2, determining a target, and constructing an output equation:
according to the imitation type m-in m-out system,yi＝hi(x) (ii) a Setting the functional relationship between the feedback input u and the new reference input v as follows:
selecting a state variable x ═ x1x2]T＝[igdigq]TInput variable u ═ u1u2]T＝[ugdugq]TAnd taking a control target of the unit in low-voltage fault as a reference to construct an output equation:
in the formula, the state variableU is manifold N ═ RnLast set of opening(ii) a u is an input variable; vector function f, gi∈Rndefined on U, m-dimensional input vector function U belonged to J, where J is an allowable control set, output vector function h (x) belonged to Y, and Y is a linear space formed by real-valued functions of p-dimension, αi(x)，βij(x) Are all defined in RnA scalar smoothing function on an open set; v ═ v1...vm]TSetting u and v as same dimension;
s3, coordinate transformation: is defined in x0Set of coordinate transformation functions of the domain:
the selection of the one or more of the components,
the original system was converted to Brunovsky's standard form:
the relationship between the new controlled variable v and the original controlled variable u is obtained as follows:
in the formula:
wherein,a set of coordinate transformation functions;
s4, control law expression: the linearized feedback u is found to be:
2. the DFIG grid-side converter low voltage ride through control method based on state feedback linearization of claim 1, characterized in that an affine system is refined:
wherein f (x) ═ f1f2]T＝[(-Rg/Lg)igd+ω1igq+ugd/Lg-(Rg/Lg)igq-ω1igd]T，g1＝[-1/Lg0]T，g2＝[0 -1/Lg]T；
Then, the linearization conditions were verified:
a matrix can be obtained:
where the rank is equal to the order n of the system and the vector field D ═ g1(x) g2(x) adfg1(x) adfg2(x)]Are true.
3. The DFIG grid-side converter low voltage ride through control method based on state feedback linearization of claim 1, wherein v ═ v [ v ] in the step S41v2]TFor unknown variables, to make the performance refer toAnd obtaining an extreme value from the standard function, wherein the optimal control law is as follows:
v＝-Kz
wherein v represents an optimum control amount; k is the optimal feedback gain matrix, where K ═ BTP, P is Riccatladder matrix equation ATP+PA-PBR-1BTPositive definite symmetric solution of P + Q ═ 0; r and Q are respectively a weight factor matrix and a weight matrix;
and obtaining a new input quantity v by using a linear optimal control design method with quadratic performance indexes.
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Application publication date: 20181218 |