CN109039180A - The fractional order control method of double fed induction generators and network process - Google Patents

The fractional order control method of double fed induction generators and network process Download PDF

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CN109039180A
CN109039180A CN201810874974.0A CN201810874974A CN109039180A CN 109039180 A CN109039180 A CN 109039180A CN 201810874974 A CN201810874974 A CN 201810874974A CN 109039180 A CN109039180 A CN 109039180A
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fractional order
stator
fed induction
induction generators
fractional
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CN109039180B (en
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仲慧
王英杰
彭博纬
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Shandong University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
    • H02P9/007—Control circuits for doubly fed generators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/28—Stator flux based control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Eletrric Generators (AREA)

Abstract

The invention discloses the fractional order control methods of double fed induction generators and network process, comprising: construction motor control model constructs fractional order operator；For dual feedback wind power generation system, rationalization realization is carried out to fractional order operator using continuous transfer function method, i.e., by a Rational Transfer, makes it can effective simulation fractional order operator on amplitude-frequency characteristic and phase frequency feature；Establish fractional order PIλController: controlling motor control model, controls double fed induction generators idle grid connection process.Fractional order PIλStartup stage active power and reactive power can be effectively reduced in controller, and system is made smoothly to enter steady-state process, avoid power grid by large impact；Under short trouble state, using fractional order PIλControl method also can be to the concussion of the system of reduction.

Description

The fractional order control method of double fed induction generators and network process
Technical field
The present invention relates to control technology fields, more particularly to the fractional order control side of double fed induction generators and network process Method.
Background technique
For double fed induction generators (DFIG) because its frequency control is flexible, regulation performance is good, has preferable dynamically and steady Step response, the advantages that active and idle decoupling control may be implemented and be widely used in variable-speed constant-frequency wind power generation system and ship In oceangoing ship electric system.Control to double fed induction generators is realized by the control to rotor AC excitation converter.It is double The stator and rotor system for presenting induction machine is a strongly coupled system, in order to realize decoupling control, often using stator magnetic linkage oriented Vector control method, of ac is decomposed into active and idle, and is controlled it respectively using two close cycles pi regulator.
PI control is still most common control method in doubly-fed generation control system, have structure is simple, it is convenient to realize, The advantages that wide adaptability, but the control method is the control method based on accurate model, after the operating condition of controlled device changes, Its control performance can also decline therewith.Consider to contain more complicated dynamic part, doubly-fed generation system actually becomes one Nonlinear multivariable systems, at this point, using traditional PI control system, bad dynamic performance, overshoot be big and anti-interference ability The disadvantages of weak, is just more prominent.
For the deficiency of conventional PI control, the improvement project that domestic and foreign literature is related to mainly has:
1, RBF neural on-line tuning PID controller parameter, processing system parameter uncertainty and external disturbance are utilized Influence to control performance, but need more historical data and training process is longer.
2, a kind of integral sliding mode control strategy neural network based is proposed, demonstrating this method has relatively by force disturbance Robustness, have good grid-connected performance, however the chattering phenomenon that sliding mode control strategy has not can solve but.
3, the novel excitation control strategy of a kind of variable parameter PI and neural network coordinated control is proposed, control effect is disobeyed Rely the parameter of system, there is good dynamic regulation and online decoupling ability, but on-line parameter adjusting has computationally intensive, adjusting to have The disadvantages of lag.
4, the Speedless sensor double fed induction generators control technology based on model reference adaptive is had studied, and this is controlled Thinking processed lacks the design method of system and control precision is relatively low.
In motor field, fractional order pi controller is applied in permanent-magnet synchronous electricity generation system by some scholars Maximum power tracing demonstrates fractional order PI controller with faster response speed and higher power output performance.Or it is The excitation system of magneto alternator designs a kind of Fractional Order PID Controller, and has carried out parameter optimization with particle swarm algorithm. And rarely has for the PI of double fed induction generators control improvement and appear in the newspapers.
Summary of the invention
In order to solve the deficiencies in the prior art, the present invention provides the fractional order controls of double fed induction generators and network process Method increases it and controls dimension present invention introduces adjustable integral order λ.Effectively weaken under grid-connected transient process and fault disturbance Power of motor concussion, have certain development potentiality and application value.
The fractional order control method of double fed induction generators and network process, comprising:
Construct motor control model, the model be based on synchronous rotating frame foundation, by voltage equation, flux linkage equations and Electromagnetic torque equation composition；
Building fractional order operator: theoretical basis is defined as with Grunwald-Letnikov fractional calculus, determines and divides Number rank differential calculation algorithm finds out the approximation of function value differential for fractional order differential computational algorithm and proves that it calculates essence Degree calculates it according to the definition of Grunwald-Letnikov fractional calculus and goes out Fractional Derivative；
For dual feedback wind power generation system, rationalization realization is carried out to fractional order operator using continuous transfer function method, I.e. by a Rational Transfer, make it can effective simulation fractional order operator on amplitude-frequency characteristic and phase frequency feature；
Establish fractional order PIλController: controlling motor control model, controls double fed induction generators idle grid connection Process.
Further preferred technical solution, fractional order PIλFractional order integration item I in controllerλBy improving Oustaloup Filtering algorithm obtains.
Further preferred technical solution constructs fractional order operator using Oustaloup filtering algorithm is improved.
Further preferred technical solution, mathematical model of the double fed induction generators based on synchronous rotating frame:
Voltage equation:
Wherein, ωsFor slip angular velocity；ωs=ω1-ωr, uds: stator voltage d axis component, uqs: stator voltage q axis point Amount, udr: rotor voltage d axis component, uqr: rotor voltage q axis component, ids: stator current d axis component, iqs: stator current q axis point Amount, idr: rotor current d axis component, iqr: rotor current q axis component, Rs: stator side resistance, Rr: rotor side resistance, Ψqs: stator Magnetic linkage q axis component, Ψds: stator magnetic linkage d axis component, Ψqr: rotor flux q axis component, Ψdr: rotor flux d axis component, p: micro- Divide symbol.
Flux linkage equations:
Electromagnetic torque equation:
Te=npLm(idsiqr-iqsidr) (3)。
Further preferred technical solution, the startup stage of double-fed wind power generator group need to carry out idle grid connection control, Motor is set steadily to cut power grid, it is desirable that each electrical component amplitude is small as far as possible.Stator current components are when generator zero load 0, i.e. ids=iqs=0, the unloaded mathematical model of double fed induction generators is as follows:
Te=0 (6)
In formula, T0- generator no-load torque.
Further preferred technical solution ignores the motor model reduced equation of motor stator resistance are as follows:
Further preferred technical solution, the definition of Grunwald-Letnikov fractional calculus:
Further preferred technical solution, fractional order differential computational algorithm are as follows:
In formula,For the multinomial coefficient of function, it is assumed that step-length h is sufficiently small, can directly find out function number according to (12) Be worth differential approximation, and can prove its computational accuracy be o (h), when the function expression of f (t) determines, can directly by Formula (11) calculates it and goes out Fractional Derivative.
Further preferred technical solution, PIλController function are as follows:
Wherein, λ is integral order.
Further preferred technical solution, PIλController controlling step are as follows: the stator and rotor voltage electricity of detection motor first Stream, then be coordinately transformed, calculate stator magnetic linkage Ψ1, stator active-power P and reactive power Q；Pass through actual needs It sets stator active power instruction P* and reactive power instructs Q*, be compared, gained difference passes through fractional order PIλAdjuster obtains Active component to stator current instructs iqs* i is instructed with reactive componentds*, current inner loop control is subsequently entered.
Compared with prior art, the beneficial effects of the present invention are:
(1) fractional order PI is usedλController can make the control system of dual feedback wind power generation system have flexible reply Nonlinear Control object can reinforce the robustness in dynamic process.
(2) fractional order PIλStartup stage active power and reactive power can be effectively reduced in controller, make system smoothly into Enter steady-state process, avoids power grid by large impact；Under short trouble state, using fractional order PIλControl method also can be right The concussion of reduction system.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is double PWM code converters；
Fig. 2 is power outer ring PI λ control block diagram；
Fig. 3 is doubly fed induction generator RSC control structure model；
Active power under Fig. 4 integer rank and fractional order；
Reactive power under Fig. 5 integer rank and fractional order；
Fig. 6 is the active power concussion under three phase short circuit fault state.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
In a kind of typical embodiment of the application, step of the invention are as follows:
(1) motor control model is constructed
Double fed induction generators carry out AC excitation using double pwm converters, are referred to as net side pwm converter (GSC) With rotor-side pwm converter (RSC).As shown in Figure 1, from circuit structure, GSC and RSC are decoupled and mutual by DC bus It is independent, it is possible to study the mathematical model and control strategy of net side and rotor-side respectively.
GSC has the effect that the waveform that may insure input current close to sine, can guarantee lower using GSC Harmonic content and satisfactory power factor, provide system power factor control method；Input current is controlled to ensure direct current The stabilization of busbar voltage.
The control target of RSC is to provide exciting current for rotor, with adjust stator side output reactive power and The active power that motor speed or motor output are controlled by control DFIG rotor current, torque current, realizes maximum with this The variable speed constant frequency operation of wind energy tracking.
This scheme fractional order PIλRotor-side power control of the controller application in double-fed asynchronous Control of Induction Motors strategy Outer ring makes grid-connected dynamic process have better robustness, so, this modeling focuses on RSC and idle grid connection control.
Since the active power and reactive power and rotor d, q shaft current component of motor output are closely related, rotor D, q component of electric current are exactly main control target.
Mathematical model of the double fed induction generators based on synchronous rotating frame is as follows:
Voltage equation:
Wherein, ωsFor slip angular velocity；ωs=ω1-ωr, uds: stator voltage d axis component, uqs: stator voltage q axis point Amount, udr: rotor voltage d axis component, uqr: rotor voltage q axis component, ids: stator current d axis component, iqs: stator current q axis point Amount, idr: rotor current d axis component, iqr: rotor current q axis component, Rs: stator side resistance, Rr: rotor side resistance, Ψqs: stator Magnetic linkage q axis component, Ψds: stator magnetic linkage d axis component, Ψqr: rotor flux q axis component, Ψdr: rotor flux d axis component, p: micro- Divide symbol.
Flux linkage equations:
Ls: stator self inductance, Lr: rotor self-induction, Lm: mutual inductance.
Electromagnetic torque equation:
Te=npLm(idsiqr-iqsidr) (3)
Te: electromagnetic torque, np: number of pole-pairs.
The startup stage of double-fed wind power generator group needs to carry out idle grid connection control, so that motor is steadily cut power grid, Ask each electrical component amplitude small as far as possible.Stator current components are 0 when generator zero load, i.e. ids=iqs=0, DFIG's Unloaded mathematical model is as follows:
Te=0 (6)
In formula, T0- generator no-load torque.
Since this vector controlled is stator magnetic linkage oriented, and under power frequency, Stator resistance voltage dropping is far below reactance pressure drop and motor Counter electromotive force, therefore motor stator resistance can be ignored in calculating.
It is as follows reduced equation can be obtained as a result:
The basic principle of DFIG idle grid connection control can be determined by (8)~(10).After double-fed generator is connected to the grid, electricity Machine is substantially carried out active and idle adjustment.
(2) fractional order operator and rationalization are realized
For accurate, fractional calculus should be known as " non-integral order " integral.The order of fractional calculus can be point Number form formula can theoretically extend to plural number or even irrational number order, but at present to the phase of Complex Order and irrational number rank calculus It is very few to close research, not yet progress engineer application, it is general that only the application of fractional order is inquired into rational scope.
This embodiment example is defined as theoretical basis with Grunwald-Letnikov fractional calculus:
Progress fractional order rationalization, which is defined, based on this determines fractional order differential computational algorithm according to formula (11) are as follows:
In formula,For the multinomial coefficient of function.Assuming that step-length h is sufficiently small, function number can be directly found out according to (12) It is worth the approximation of differential, and can proves that its computational accuracy is o (h).When the function expression of f (t) determines, can directly by Formula (11) calculates it and goes out Fractional Derivative.
Since dual feedback wind power generation system is close coupling, a nonlinear system, it is difficult to obtain its accurate function representation Formula.For dual feedback wind power generation system, rationalization realization is carried out to fractional order operator using continuous transfer function method, that is, is passed through One Rational Transfer makes it can effective simulation fractional order operator on amplitude-frequency characteristic and phase frequency feature.
This embodiment example constructs fractional order operator using Oustaloup filtering algorithm is improved:
Above-mentioned fractional order operator is the prior art, and theoretical basis is derived from the Series of Papers of Oustaloup.
By convention, weighting parameters value b=10, d=9.The zero pole point of above-mentioned fractional order differential operator and gain can be by Following formula calculates:
To guarantee algorithm stability, generally chooses its cutoff frequency and parameter N is respectively [0.01,100] and N=4.
(3) fractional order PIλController (with this fractional order control device, to blower, simultaneously pessimistic concurrency control is controlled)
Fractional Order PID Controller can be denoted as PIλDμ.After introducing differential, integral order μ and λ in fractional order control device, expand Adjustable parameter has been filled, its setting range is made to become larger, controll plant can be controlled for greater flexibility.PIλDμTransmission function are as follows:
Due to PIλDμThe differential term of control is substantially carried out the correction of lead and lag, this is not needed in cutting-in control Correction, thus simplify and use PIλController, control block diagram are as shown in Figure 2.Fractional order integration item IλBy being improved in step (2) Oustaloup filtering algorithm is realized.
PIλController function are as follows:
Wherein, λ is integral order.
Whole system uses double-closed-loop control structure --- power outer ring and current inner loop.Determining, turning for motor is detected first Sub- voltage and current, then be coordinately transformed, calculate stator magnetic linkage Ψ1, stator active-power P and reactive power Q；Pass through Actual needs setting stator active power instruction P* and reactive power instruct Q*, are compared, gained difference passes through fractional order PIλ Adjuster obtains the active component instruction i of stator currentqs* i is instructed with reactive componentds*, current inner loop control is subsequently entered.
Detailed RSC Controlling model is constructed, fractional order control theory is applied to double by Simulink block diagram as shown in attached drawing 3 Influence generator idle grid connection process is presented, its robustness is enhanced.
The PI controller of rotor-side power control outer loop in double-fed asynchronous Control of Induction Motors strategy, introduces adjustable product Itemize order λ, increases it and controls dimension, is designed as fractional order control device.The non-linear control of the reply for keeping the control system more flexible Object processed, and effectively weaken the concussion of the power of motor under grid-connected transient process and fault disturbance.
Simulating, verifying
The application is under MATLAB/simulink platform, building doubly fed induction generator and pessimistic concurrency control, RSC control structure Model such as Fig. 3.It is tested by emulation experiment, obtains that the results are shown in Table 1:
Grid-connected situation under the different orders of table 1
Comprehensive Correlation, final to determine that fractional order control selects order for 0.8 rank, to generator system and network process carries out Emulation, active power and reactive power are as shown in Figure 4, Figure 5.
Fig. 4 be it is grid-connected during active power figure use fractional order PI as seen from the figureλControl, although completely into The time of stable state is slightly above integer rank PIλControl, but fractional order control starts to tend towards stability in 0.17s, and integer rank PI control then just terminates oscillation on large scale in 0.46s, initially enters stable state.Integer rank PIλThe lower concussion peak value section of control for [- 4.47 × 106,6.25 × 106], fractional order PIλPeak value section under control is far below this, and only [- 3.11 × 106,2.43 ×106].To make system more smoothly enter normal operating conditions, reduce the impact of Parallel Operation on Power System.
Fig. 5 be it is grid-connected during reactive power figure.Integer rank and fractional order reactive power PIλIdle function under control Rate state is consistent with active power.Use fractional order PIλWhen control, integer rank PI is used completely into the time ratio of stable stateλControl Slightly extend, but concussion peak-fall is significant, had decreased to from [- 4.77 × 106,8.41 × 106] [- 1.018 × 104, 7.55×106]。
Fig. 6 is shown in systematic steady state operation, and three phase short circuit fault, the wattful power under two kinds of controller actions occurs Rate shakes situation.
As shown in fig. 6, integer rank PIλActive concussion section under control is [- 1.349 × 106,3.352 × 106], Fractional order PIλUnder control, concussion section becomes [- 1.349 × 106,3.352 × 106].Thus it proves, using fractional order control, It can effectively inhibit to shake.
The application is directed to traditional double fed induction generators rotor-side and generallys use two close cycles PQ decoupling control, power outer ring institute PI controller, which exists, controls the disadvantages of coarse, overshoot is larger, affects the dynamic property of double feedback electric engine.Herein by score Rank theory is combined with PI control control technology, is introduced the adjustable order of integral term, is increased control dimension, improve double-fed The control performance of induction machine has simultaneously carried out the research of grid-connected and short-circuit simulation.Simulation result shows: being controlled using fractional order PI Startup stage active and idle concussion can be effectively reduced in system, and system is made smoothly to enter steady-state process；In short trouble state Under, it also can be to the concussion of the system of reduction using fractional order PI control method.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.

Claims (10)

1. the fractional order control method of double fed induction generators and network process, characterized in that include:
Motor control model is constructed, the model is established based on synchronous rotating frame, by voltage equation, flux linkage equations and electromagnetism Torque equation composition；
Building fractional order operator: theoretical basis is defined as with Grunwald-Letnikov fractional calculus, determines fractional order Differential calculation algorithm finds out the approximation of function value differential for fractional order differential computational algorithm and proves its computational accuracy, It, which is calculated, according to the definition of Grunwald-Letnikov fractional calculus goes out Fractional Derivative；
For dual feedback wind power generation system, rationalization realization is carried out to fractional order operator using continuous transfer function method, i.e., it is logical A Rational Transfer is crossed, makes it can effective simulation fractional order operator on amplitude-frequency characteristic and phase frequency feature；
Establish fractional order PIλController: controlling motor control model, controls double fed induction generators idle grid connection process.
2. the fractional order control method of double fed induction generators as described in claim 1 and network process, characterized in that fractional order PIλFractional order integration item I in controllerλIt is obtained by improving Oustaloup filtering algorithm.
3. the fractional order control method of double fed induction generators as described in claim 1 and network process, characterized in that use and change Fractional order operator is constructed into Oustaloup filtering algorithm.
4. the fractional order control method of double fed induction generators as described in claim 1 and network process, characterized in that double-fed sense Answer mathematical model of the generator based on synchronous rotating frame:
Voltage equation:
Wherein, ωsFor slip angular velocity；ωs=ω1-ωr, uds: stator voltage d axis component, uqs: stator voltage q axis component, udr: rotor voltage d axis component, uqr: rotor voltage q axis component, ids: stator current d axis component, iqs: stator current q axis component, idr: rotor current d axis component, iqr: rotor current q axis component, Rs: stator side resistance, Rr: rotor side resistance, Ψqs: stator magnet Chain q axis component, Ψds: stator magnetic linkage d axis component, Ψqr: rotor flux q axis component, Ψdr: rotor flux d axis component, p: differential Symbol.
5. the fractional order control method of double fed induction generators as claimed in claim 4 and network process, characterized in that magnetic linkage side Journey:
6. the fractional order control method of double fed induction generators as claimed in claim 4 and network process, characterized in that electromagnetism turns Moment equation:
Te=npLm(idsiqr-iqsidr) (3)。
7. the fractional order control method of double fed induction generators as claimed in claim 4 and network process, characterized in that double-fed wind The startup stage of power generator group needs to carry out idle grid connection control, motor is made steadily to cut power grid, it is desirable that each electrical component vibration Width is small as far as possible, and stator current components are 0 when generator zero load, i.e. ids=iqs=0, the zero load of double fed induction generators Mathematical model is as follows:
Te=0 (6)
In formula, T0- generator no-load torque.
8. the fractional order control method of double fed induction generators as claimed in claim 6 and network process, characterized in that ignore electricity The motor model reduced equation of machine stator resistance are as follows:
9. the fractional order control method of double fed induction generators as described in claim 1 and network process, characterized in that The definition of Grunwald-Letnikov fractional calculus:
Fractional order differential computational algorithm are as follows:
In formula,For the multinomial coefficient of function, it is assumed that step-length h is sufficiently small, and it is micro- directly to find out function value according to (12) The approximation divided, and can prove that its computational accuracy is that o (h) can be directly by formula when the function expression of f (t) determines (11) it calculates it and goes out Fractional Derivative.
10. the fractional order control method of double fed induction generators as described in claim 1 and network process, characterized in that PIλControl Device function processed are as follows:
Wherein, λ is integral order；
PIλController controlling step are as follows: detect the stator and rotor voltage and current of motor first, then be coordinately transformed, calculated Stator magnetic linkage Ψ out1, stator active-power P and reactive power Q；P* and nothing are instructed by actual needs setting stator active power Function power instruction Q*, is compared, and gained difference passes through fractional order PIλAdjuster obtains the active component instruction of stator current iqs* i is instructed with reactive componentds*, current inner loop control is subsequently entered.
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CN111239518A (en) * 2020-01-21 2020-06-05 山东大学 Transformer fault detection method and system based on fractional order model
CN112072693A (en) * 2020-07-15 2020-12-11 广西大学 High-dimensional multi-fractional order optimization method for controlling high-dimensional multi-fractional order double-fed fan
CN112072693B (en) * 2020-07-15 2023-06-23 广西大学 High-dimensional multi-fractional order optimization method for high-dimensional multi-fractional order doubly-fed fan control
CN112650051A (en) * 2020-11-30 2021-04-13 清华大学 Anticipated dynamic setting method of generalized two-degree-of-freedom PID controller

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