CN109193773B - Method and device for controlling predicted power of double feeders - Google Patents

Method and device for controlling predicted power of double feeders Download PDF

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CN109193773B
CN109193773B CN201811149720.9A CN201811149720A CN109193773B CN 109193773 B CN109193773 B CN 109193773B CN 201811149720 A CN201811149720 A CN 201811149720A CN 109193773 B CN109193773 B CN 109193773B
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power
value
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CN109193773A (en
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张永昌
焦健
徐东林
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North China University of Technology
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    • H02J3/386—
    • 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
    • H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
    • H02P9/10—Control effected upon generator excitation circuit to reduce harmful effects of overloads or transients, e.g. sudden application of load, sudden removal of load, sudden change of load
    • H02P9/105—Control effected upon generator excitation circuit to reduce harmful effects of overloads or transients, e.g. sudden application of load, sudden removal of load, sudden change of load for increasing the stability
    • 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
    • H02P2101/00—Special adaptation of control arrangements for generators
    • H02P2101/15—Special adaptation of control arrangements for generators for wind-driven turbines
    • 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
    • Y02E10/76—Power conversion electric or electronic aspects

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  • Control Of Eletrric Generators (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a method and a device for controlling the predicted power of a double feeder, comprising the following steps: generating a traditional active power differential expression and an extended reactive power differential expression by combining a traditional active power expression and an extended reactive power expression with a double-fed motor mathematical model; discretizing the obtained differential expression by using a first-order Euler discrete method, and calculating a power value at the next moment according to the power value at the current moment; calculating a target rotor voltage vector reference value according to the obtained power value at the next moment by utilizing a dead-beat prediction power control method; and obtaining three voltage vectors required by the reference value of the target rotor voltage vector and action time thereof by utilizing a Space Vector Pulse Width Modulation (SVPWM) technology, and finally obtaining a driving signal for driving a switching tube of the inverter.

Description

Method and device for controlling predicted power of double feeders
Technical Field
The invention relates to the field of double-fed motor wind power generation, in particular to a double-fed motor predicted power control method and device.
Background
The traditional dual-feeder control is usually established on the basis of an ideal power grid, when an unbalanced fault occurs, the power grid can generate a negative sequence component, so that the negative sequence component appears in stator voltage, stator current and rotor current, the electromagnetic torque has large pulsation, and the power transmitted to the power grid is oscillated. Therefore, a high-performance control strategy of a doubly-fed motor under an unbalanced power grid needs to be researched to eliminate negative sequence current in a stator winding and a rotor winding or inhibit double-frequency fluctuation of active power and reactive power.
At present, many documents relate to a dual-feed machine control strategy under an unbalanced Power Grid, for example, a Direct Power Control (DPC) method of a dual-feed machine under an unbalanced Power Grid is proposed in a document of Direct Power control of double-Fed-Induction-Generator-Based Wind Turbines under an unbalanced Power Grid 2 of ieee transactions on Power Electronics 2010, Power compensation values under various control targets are obtained by derivation and are directly superposed with an original Power reference value, so that control targets of eliminating torque ripple and maintaining sine of stator current are realized, but steady-state performance of the method is limited by a switch vector hysteresis comparator, and Power fluctuation and current distortion are large.
Most methods in the existing documents solve the problem based on the traditional power theory, but the control method adopting the traditional power definition increases the complexity of the system when realizing the control target, and is not beneficial to implementation and application. An extended Instantaneous Reactive Power theory is proposed in a document Modeling and analysis of instant Active and Reactive Power for PWM AC/DC Converter ultra generalized unaided Network, volume 3, volume 21, 2006, of ieee transactions on Power Delivery, which specifically represents the dot product of current and voltage delay signals, and is more suitable for Power control under Unbalanced networks than the conventional Reactive Power definition. However, the application of the novel power definition in the field of the predictive control of the doubly-fed machine is still lacking, so as to simplify the control strategy of the doubly-fed machine under the unbalanced power grid and improve the steady-state performance of the doubly-fed machine.
Disclosure of Invention
In view of this, the present invention provides a method and an apparatus for controlling predicted power of a dual-feeder with simplified control system structure, so as to improve the steady-state performance of the control.
Based on the above purpose, the method for controlling the predicted power of the dual feeder provided by the invention comprises the following steps:
generating a traditional active power differential expression and an extended reactive power differential expression by using a double-fed motor mathematical model for the traditional active power expression and the extended reactive power expression;
discretizing the obtained differential expression by using a first-order Euler discrete method, and calculating a power value at the next moment according to the power value at the current moment;
calculating a target rotor voltage vector reference value according to the obtained power value at the next moment by utilizing a dead-beat prediction power control method;
and obtaining three voltage vectors required by the reference value of the target rotor voltage vector and action time thereof by utilizing a Space Vector Pulse Width Modulation (SVPWM) technology, and finally obtaining a driving signal for driving a switching tube of the inverter.
Further, the expression of the traditional active power and the expression of the extended reactive power are generated into a differential expression of the traditional active power and a differential expression of the extended reactive power by using a mathematical model of the doubly-fed motor, and the steps include:
setting the sub-voltage to usStator current is is；
Let conventional active power be denoted as PsExtended reactive power is expressed as
Figure BDA0001817655530000021
According to a double-fed motor mathematical model, a traditional active power expression is defined as
Figure BDA0001817655530000022
The extended reactive power is expressed as
Figure BDA0001817655530000023
Wherein u'sFor the stator voltage after time delay 1/4T, "+" indicates the conjugate value of the variable;
combining a double-fed motor equation, and generating the traditional active power differential expression as
Figure BDA0001817655530000024
And the differential expression of the extended reactive power is
Figure BDA0001817655530000025
Wherein,
Figure BDA0001817655530000026
Lm，Ls，Lrare respectively mutual inductance, stator self-inductance and rotor self-inductance, Rs，RrAs stator and rotor resistances urIs the rotor side voltage, irAs rotor current value, ωs,ωr,ωslFor the synchronous speed, rotational speed and differential speed of the dual feeders at the present moment, #sFor the stator flux linkage values, r, s, m represent the rotor-side variable, the stator-side variable and the mutual inductance variable, respectively.
Further, the discretizing the obtained differential expression by using a first-order euler discretization method, and the calculating the power value at the next time from the power value at the current time includes:
discretizing the obtained traditional active power differential expression and the obtained expanded reactive power differential expression by using a first-order Euler discrete method to obtain an expression of a discrete method
Figure BDA0001817655530000031
And
Figure BDA0001817655530000032
where the superscript "k" is the value of the variable at the current time, the superscript "k + 1" is the value of the variable at the next time, TsA system control period;
by the formula:
Figure BDA0001817655530000033
Figure BDA0001817655530000034
and calculating the power value at the k +1 moment by using the obtained traditional active power differential expression, the obtained extended reactive power differential expression and the power value calculated at the k moment.
Further, the step of calculating the reference value of the target rotor voltage vector according to the obtained power value at the next time by using the method for power control by deadbeat prediction includes:
let the conventional active power reference value be expressed as
Figure BDA0001817655530000035
The extended reactive power reference value is expressed as
Figure BDA0001817655530000036
The target rotor voltage vector reference value is expressed as
Figure BDA0001817655530000037
Figure BDA0001817655530000038
By the formula:
Figure BDA0001817655530000039
defining the power value of the next moment as a power reference value;
according to the obtained discrete method expression, a power dead beat prediction control method is utilized, and the following formula is adopted:
Figure BDA00018176555300000310
a rotor-side reference voltage vector is calculated, wherein,
Figure BDA00018176555300000311
the subscript "dq" denotes the dq axis in the rotor coordinate system, the subscript "sd" denotes the value of the stator-side variable on the d axis of the rotor coordinate system, the subscript "sq" denotes the value of the stator-side variable on the q axis of the rotor coordinate system, the subscript "rd" denotes the value of the rotor-side variable on the d axis of the rotor coordinate system,the subscript "rq" represents the value of the rotor-side variable on the q-axis of the rotor coordinate system;
by the formula:
Figure BDA0001817655530000041
a target rotor voltage vector reference value is calculated.
Further, the target rotor voltage vector reference value is obtained by utilizing Space Vector Pulse Width Modulation (SVPWM) technology
Figure BDA0001817655530000042
Three voltage vectors v of0,v1,v2And time of action t thereof0,t1,t2And finally obtaining a driving signal for driving the inverter switching tube.
In another aspect, the present invention further provides a dual feeder prediction power control apparatus, including:
the system comprises a bidirectional direct current source, a double-fed motor, a recyclable power grid simulator, a voltage and current sampling circuit, a DSP controller and a driving circuit;
the voltage and current sampling circuit respectively collects direct-current bus voltage, double-phase voltage at the stator side of the double-fed motor, double-phase current at the stator side of the double-fed motor and double-phase current at the rotor side by using a voltage Hall sensor and a current Hall sensor, and a sampling signal enters the DSP controller after passing through the signal conditioning circuit and is converted into a digital signal;
the DSP controller completes the double-fed motor flexible power control method, outputs six switching pulses, and then obtains driving signals of six switching tubes of the inverter after passing through the driving circuit.
From the above, the control method and the control device for the prediction power of the double-feeder provided by the invention can eliminate the double-frequency fluctuation of the active power and the extended reactive power without calculating an extra power compensation value by adopting the control method defined by the extended reactive power, and realize that the sine of the stator current is not distorted, thereby simplifying the structure of a control system and obviously improving the steady-state performance of the control; under a balanced power grid, the effect of the expanded reactive power adopted by the method is the same as that of the traditional active power, and the method for controlling the predicted power of the double-feeder is completely suitable for controlling under the balanced power grid; the steady-state performance of the control is further improved by adopting a space vector pulse width modulation technology.
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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 some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of an embodiment of a method for predictive power control of a dual feeder according to the present invention;
FIG. 2 is a schematic block diagram of a dual-feeder predictive power control method according to the present invention;
FIG. 3 is a schematic diagram of a hardware structure of a dual feeder prediction power control apparatus according to the present invention;
FIG. 4 is a steady state simulation waveform of one embodiment of extended reactive power based dual feeder predictive power control in an unbalanced power grid;
FIG. 5 is a steady state experimental waveform of an embodiment of extended reactive power based dual feeder predictive power control for unbalanced networks;
fig. 6 is the THD of the stator one phase current in the steady state experimental waveform shown in fig. 5.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings.
As shown in fig. 1, a flowchart of an embodiment of a method for predicting power of a dual feeder according to the present invention includes:
step 101, generating a traditional active power differential expression and an extended reactive power differential expression for the traditional active power expression and the extended reactive power expression by using a double-fed motor mathematical model, wherein the steps comprise:
setting the sub-voltage to usStator current is is；
Let conventional active power be denoted as PsExtended reactive power is expressed as
Figure BDA0001817655530000051
According to a double-fed motor mathematical model, a traditional active power expression is defined as
Figure BDA0001817655530000052
The extended reactive power is expressed as
Figure BDA0001817655530000053
Wherein ". sup" denotes the conjugate value of the variable, u'sStator voltage after time delay 1/4T;
based on the above formula, in combination with the double-fed motor equation, the traditional active power differential expression is generated as follows:
Figure BDA0001817655530000054
the differential expression for generating the extended reactive power is as follows:
Figure BDA0001817655530000055
wherein,
Figure BDA0001817655530000056
Lm，Ls，Lrfor mutual inductance, stator self-inductance and rotor self-inductance, Rs，RrAs stator and rotor resistances urIs the rotor side voltage, irAs rotor current value, ωs,ωr,ωslFor the synchronous speed, rotational speed and differential speed of the dual feeders at the present moment, #sFor the stator flux linkage values, r, s, m represent the rotor-side variables, the stator-side variables and the mutual inductance variables, respectively.
Step 102, discretizing the differential expression obtained in step 101 by adopting a first-order Euler discretization method, and calculating a power value at the next moment K +1 according to the current power value at the moment K, wherein the method comprises the following steps:
discretizing the obtained traditional active power differential expression and the obtained expanded reactive power differential expression by using a first-order Euler discrete method, wherein the obtained discrete method has the expression as follows:
Figure BDA0001817655530000061
and
Figure BDA0001817655530000062
where the superscript "k" is the value of the variable at the current time, the superscript "k + 1" is the value of the variable at the next time, TsA system control period;
and calculating the power value at the k +1 moment by using the obtained differential expression and the power value calculated at the k moment, wherein the power value expression at the k +1 moment is as follows:
Figure BDA0001817655530000063
Figure BDA0001817655530000064
step 103, calculating a target rotor voltage vector reference value according to the power value of the next moment obtained in step 102 by using a deadbeat predictive power control method, comprising:
let the conventional active power reference value be expressed as
Figure BDA0001817655530000065
The extended reactive power reference value is expressed as
Figure BDA0001817655530000066
The target rotor voltage vector reference value is expressed as
Figure BDA0001817655530000067
Directly defining the power value at the moment K +1 as a power reference value by using the obtained power expression after first-order Euler dispersion and a power dead beat prediction control method to obtain a rotor side reference voltage vector, wherein the formulas are respectively as follows:
Figure BDA0001817655530000068
Figure BDA0001817655530000069
Figure BDA00018176555300000610
wherein,
Figure BDA00018176555300000611
subscript "dq" denotes the dq axis in the rotor coordinate system, subscript "sd" denotes the value of the stator side variable on the d axis of the rotor coordinate system, subscript "sq" denotes the value of the stator side variable on the q axis of the rotor coordinate system, subscript "rd" denotes the value of the rotor side variable on the d axis of the rotor coordinate system, and subscript "rq" denotes the value of the rotor side variable on the q axis of the rotor coordinate system;
by the formula:
Figure BDA0001817655530000071
a target rotor voltage vector reference value is calculated.
104, obtaining the reference value of the target rotor voltage vector according to the step 103
Figure BDA0001817655530000072
Obtaining a synthetic target rotor voltage vector reference value by adopting a Space Vector Pulse Width Modulation (SVPWM) technology
Figure BDA0001817655530000073
Three voltage vectors v required0,v1,v2And their action time t0,t1,t2；
And obtaining a driving signal for driving the inverter switch tube according to the three voltage vectors obtained in the step 104 and the action time thereof.
According to the double-feeder prediction power control method and device provided by the invention, the control method defined by the expanded reactive power is adopted, double-frequency fluctuation of active power and expanded reactive power can be eliminated without calculating an additional power compensation value, the sine of the stator current is not distorted, the structure of a control system is simplified, and the steady-state performance of control is obviously improved.
Under a balanced power grid, the effect of the expanded reactive power adopted by the method is the same as that of the traditional active power, and the method for controlling the predicted power of the double-feeder is completely suitable for controlling under the balanced power grid; the steady-state performance of the control is further improved by adopting a space vector pulse width modulation technology.
As shown in fig. 2, the schematic block diagram of the dual-fed motor prediction power control method provided by the present invention includes a dual-fed motor 201, a delay unit 202, a power calculation unit 203, a voltage calculation unit 204, and a space vector modulation module 205.
The delay unit delays the stator voltage by 1/4 cycles, the power calculation unit calculates the power value in step 102, and the voltage calculation unit calculates the target rotor voltage vector reference value in step 103.
On the other hand, the dual feeder prediction power control apparatus provided by the present invention, as shown in fig. 3, includes:
the system comprises a recyclable power grid simulator 301, a bidirectional direct current source 303, a double-fed motor 201, a voltage and current sampling circuit 304, a DSP controller 305 and a driving circuit 306;
the voltage and current sampling circuit respectively collects direct-current bus voltage, double-phase voltage at the stator side of the double-fed motor, double-phase current at the stator side of the double-fed motor and double-phase current at the rotor side by using a voltage Hall sensor and a current Hall sensor, and a sampling signal enters the DSP controller after passing through the signal conditioning circuit and is converted into a digital signal;
the DSP controller is used for finishing the control method provided by the steps 101-104, outputting six paths of switching pulses, and then obtaining driving signals of six switching tubes of the inverter after passing through a driving circuit.
The effectiveness of the dual-feeder prediction power control method provided by the invention is obtained by analyzing the current THD results in the simulation waveform shown in figure 4, the experimental waveform shown in figure 5 and the experimental waveform shown in figure 6. The simulation waveforms shown in fig. 4 are steady-state simulation waveforms of a double-feeder predictive power control (DPC-SVM) based on a space vector modulation method and an improved (DPC-SVM) method adopting an extended instantaneous power theory under the condition of an unbalanced power grid, and the sampling frequencies of both methods in the simulation are 10 kHz. The simulation waveforms are stator side active power, stator side reactive power, stator current, rotor current and grid voltage from top to bottom in sequence. The control objective in fig. 4(a) is to eliminate the double frequency fluctuation of the conventional active power and the conventional reactive power, wherein two reactive powers are simultaneously shown in the reactive power channel of fig. 4(a), wherein the conventional reactive power eliminates the double frequency fluctuation, and under the control objective, the novel reactive power still has the double frequency waveform. The control objective in fig. 4(b) is to eliminate the double frequency ripple of the conventional active power and the novel reactive power, and in the reactive power channel in fig. 4(b), the double frequency ripple of the novel reactive power is eliminated, and the double frequency ripple of the conventional reactive power exists. As shown in fig. 4(a) and 4(b), when the power grid is balanced, the reactive power under both power theories is kept constant, and the DPC-SVM based on the novel reactive power can ensure sinusoidal but asymmetric stator current, constant active power and extended reactive power when the voltage of the power grid drops asymmetrically. Although the traditional active power and the traditional reactive power can also be kept constant in the traditional DPC-SVM, the stator current can be seriously distorted, and the pollution can be caused to the power grid.
Fig. 5 shows steady-state experimental waveforms of the conventional DPC-SVM and the improved DPC-SVM method using the extended instantaneous power theory under unbalanced grid conditions. The waveform is from top to bottom in proper order for traditional active power, traditional reactive power, novel reactive power, stator current waveform and rotor current waveform. Similar to the simulation diagram, the double frequency ripple of the conventional active power in the reactive power channel of fig. 5(a) is eliminated, the novel double frequency ripple of the active power in fig. 5(b) is eliminated and the stator current is sinusoidal. The sampling frequency of the control algorithm in the experiment was 10 kHz. And the voltage of the power grid is kept balanced within 0-0.1s, and the voltage of the A phase falls to 70% of the original voltage amplitude at the time of 0.1 s. Through analysis and comparison, the experimental result and the simulation result can correspond to each other one by one, and the sinusoidal but asymmetric stator current, the constant active power and the extended reactive power can be obtained by adopting the extended reactive power.
Fig. 6 shows two DPC-SVM current harmonic analyses based on different power theories in an unbalanced power network, wherein fig. 6(a) shows a one-phase stator current spectrum of a conventional DPC-SVM method, and fig. 6(b) shows a one-phase stator current spectrum of an improved DPC-SVM method defined based on extended reactive power. It can be seen that the stator current using DPC-SVM is distorted more seriously, and the current THD is higher, especially 3 th harmonic, resulting in the a-phase stator current similar to the triangular wave in fig. 6 (a). After the definition of the extended reactive power is introduced, the harmonic waves of the stator current are suppressed, the overall THD is obviously reduced, and the three-phase stator current in the graph 6(b) can keep sine.
Through the analysis of the simulation waveform, the experimental waveform and the experimental result, the method of expanding the instantaneous power theory can realize the constancy of the sine and the power of the stator current under the condition of not superposing any power compensation value, and is more suitable for the high-performance control of the double-fed motor under the unbalanced power grid.
Therefore, the control method and the device for the dual-feeder prediction power provided by the invention can eliminate double-frequency fluctuation of active power and expanded reactive power without calculating an additional power compensation value by adopting the control method defined by the expanded reactive power, realize no sinusoidal distortion of stator current, simplify the structure of a control system and obviously improve the steady-state performance of control; under a balanced power grid, the effect of the expanded reactive power adopted by the method is the same as that of the traditional active power, and the method for controlling the predicted power of the double-feeder is completely suitable for controlling under the balanced power grid; the steady-state performance of the control is further improved by adopting a space vector pulse width modulation technology.
The apparatus of the foregoing embodiment is used to implement the corresponding method in the foregoing embodiment, and has the beneficial effects of the corresponding method embodiment, which are not described herein again.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the idea of the invention, also features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity.
In addition, well known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown within the provided figures for simplicity of illustration and discussion, and so as not to obscure the invention. Furthermore, devices may be shown in block diagram form in order to avoid obscuring the invention, and also in view of the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the present invention is to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the invention, it should be apparent to one skilled in the art that the invention can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.
While the present invention has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic ram (dram)) may use the discussed embodiments.
The embodiments of the invention are intended to embrace all such alternatives, modifications and variances that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements and the like that may be made without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims (5)

1. A dual feeder prediction power control method is characterized by comprising the following steps:
generating a traditional active power differential expression and an extended reactive power differential expression by combining a traditional active power expression and an extended reactive power expression with a double-fed motor mathematical model;
discretizing the obtained differential expression by using a first-order Euler discrete method, and calculating a power value at the next moment according to the power value at the current moment;
calculating a target rotor voltage vector reference value according to the obtained power value at the next moment by utilizing a dead-beat prediction power control method;
obtaining three voltage vectors required by the reference value of the target rotor voltage vector and action time thereof by using a Space Vector Pulse Width Modulation (SVPWM) technology, and finally obtaining a driving signal for driving a switching tube of the inverter;
the expression of the traditional active power and the expression of the extended reactive power are used for generating a traditional active power differential expression and an extended reactive power differential expression by utilizing a double-fed motor mathematical model, and the steps comprise:
setting the sub-voltage to usStator current is is；
Let conventional active power be denoted as PsExtended reactive power is expressed as
Figure FDA0002449694730000011
According to a double-fed motor mathematical model, a traditional active power expression is defined as
Figure FDA0002449694730000012
The extended reactive power is expressed as
Figure FDA0002449694730000013
Wherein u'sFor the stator voltage after time delay 1/4T, "+" indicates the conjugate value of the variable;
combining a double-fed motor equation, and generating the traditional active power differential expression as
Figure FDA0002449694730000014
And the extended reactive power differential expression is
Figure FDA0002449694730000015
Wherein,
Figure FDA0002449694730000016
Lm，Ls，Lrare respectively mutual inductance, stator self-inductance and rotor self-inductance, Rs，RrAs stator and rotor resistances urIs the rotor side voltage, irIs the rotor current value; omegas,ωr,ωslSynchronous speed, rotational speed and slip speed of the dual-feeder at the current moment, psisFor the stator flux linkage values, r, s, m represent the rotor-side variables, the stator-side variables and the mutual inductance variables, respectively.
2. The dual-feeder prediction power control method according to claim 1, wherein the discretizing the obtained differential expression by a first-order euler discretization method, and the calculating the next-time power value from the current-time power value comprises:
discretizing the obtained traditional active power differential expression and the obtained expanded reactive power differential expression by using a first-order Euler discrete method to obtain an expression of a discrete method
Figure FDA0002449694730000021
And
Figure FDA0002449694730000022
where the superscript "k" is the value of the variable at the current time, the superscript "k + 1" is the value of the variable at the next time, TsFor system controlA period;
by the formula:
Figure FDA0002449694730000023
Figure FDA0002449694730000024
and calculating the power value at the k +1 moment by using the obtained traditional active power differential expression, the obtained extended reactive power differential expression and the power value calculated at the k moment.
3. The dual-feeder prediction power control method according to claim 2, wherein the step of calculating the reference value of the target rotor voltage vector according to the next-time power value obtained by the method of power control using dead-beat prediction comprises:
let the conventional active power reference value be expressed as
Figure FDA0002449694730000025
The extended reactive power reference value is expressed as
Figure FDA0002449694730000026
The target rotor voltage vector reference value is expressed as
Figure FDA0002449694730000027
By the formula:
Figure FDA0002449694730000028
defining the power value of the next moment as a power reference value;
according to the obtained discrete method expression, a power dead beat prediction control method is utilized, and the following formula is adopted:
Figure FDA0002449694730000029
a rotor-side reference voltage vector is calculated, wherein,
Figure FDA00024496947300000210
the subscript "dq" denotes the dq axis in the rotor coordinate system;
by the formula:
Figure FDA00024496947300000211
a target rotor voltage vector reference value is calculated.
4. The dual-feeder predicted power control method according to claim 3, wherein the target rotor voltage vector reference value synthesized by Space Vector Pulse Width Modulation (SVPWM) is used
Figure FDA0002449694730000031
Three voltage vectors v of0,v1,v2And time of action t thereof0,t1,t2And finally obtaining a driving signal for driving the inverter switching tube.
5. A dual feeder predictive power control apparatus, comprising:
the system comprises a bidirectional direct current source, a double-fed motor, a recyclable power grid simulator, a voltage and current sampling circuit, a DSP controller and a driving circuit;
the voltage and current sampling circuit respectively collects direct-current bus voltage, double-phase voltage at the stator side of the double-fed motor, double-phase current at the stator side of the double-fed motor and double-phase current at the rotor side by using a voltage Hall sensor and a current Hall sensor, and a sampling signal enters the DSP controller after passing through the signal conditioning circuit and is converted into a digital signal;
the DSP controller completes the double-fed motor flexible power control method of any one of claims 1 to 4, outputs six switching pulses, and then obtains driving signals of six switching tubes of the inverter after passing through a driving circuit.
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