CN109347382B - Rotor position estimation method of permanent magnet direct-drive wind driven generator - Google Patents

Rotor position estimation method of permanent magnet direct-drive wind driven generator Download PDF

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CN109347382B
CN109347382B CN201811410850.3A CN201811410850A CN109347382B CN 109347382 B CN109347382 B CN 109347382B CN 201811410850 A CN201811410850 A CN 201811410850A CN 109347382 B CN109347382 B CN 109347382B
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rotor position
axis
permanent magnet
rotor
electromotive force
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CN109347382A (en
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邢作霞
王鸿毅
项尚
赵海川
崔家平
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Shenyang University of Technology
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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
    • H02P9/009—Circuit arrangements for detecting rotor position
    • 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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P21/26—Rotor 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
    • H02P2101/00—Special adaptation of control arrangements for generators
    • H02P2101/15—Special adaptation of control arrangements for generators for wind-driven turbines
    • 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
    • H02P2103/00—Controlling arrangements characterised by the type of generator
    • H02P2103/20—Controlling arrangements characterised by the type of generator of the synchronous type

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  • Power Engineering (AREA)
  • Control Of Eletrric Generators (AREA)

Abstract

A rotor position estimation method of a permanent magnet direct-drive wind driven generator comprises the steps of deforming a mathematical model of the permanent magnet synchronous wind driven generator under a synchronous rotation coordinate system, obtaining back electromotive force in unit time at fixed time intervals and sampling time, and preparing for subsequent discretization; aiming at the characteristics of the permanent magnet synchronous wind driven generator, the application provides a permanent magnet wind driven generator position estimation method based on IPS-PLL, the IPS-PLL can increase the accuracy of rotor position estimation, accelerate the response speed of a system, and replace the parameter setting process of a PI controller of SRF-PLL. The evaluation method is effective, the rotating speed error can be reduced by 1 time, and the position error is controlled below 0.03 rad. And the rotor position estimation remains accurate at multiple wind speeds. Robustness of control system performance may be enhanced.

Description

Rotor position estimation method of permanent magnet direct-drive wind driven generator
Technical Field
The invention relates to a rotor position estimation method of a permanent magnet direct-drive wind driven generator, which can realize accurate estimation of the rotor position of the permanent magnet wind driven generator. The method can be used for improving the maximum wind energy capture of a wind power generation system and realizing the accurate control of the machine side converter of the permanent magnet wind power generator.
Background
In the research of wind power generation, researchers at home and abroad are in a positive attitude for maintaining the output stability of a wind power generation system by partially abandoning wind. The maximum wind energy capture in the wind power generation system becomes an important influence factor which weakens the air abandon amount and can still maintain the output stability of the power system; and accurate machine side converter control can bring more stable direct current bus voltage, and this provides basic operator to wind power generation system follow-up active and reactive power calculation and the requirement of being incorporated into the power networks. Rotor position and rotor speed information of the permanent magnet wind turbine are obtained by sensors in maximum wind energy capture and accurate machine side converter control. The sensors are always unstable in the working environment of the wind turbine, and in recent years, the installed capacity of the offshore wind turbine is gradually increased, so that the installation of the sensors is more unfavorable for the maintenance of the offshore wind turbine.
Disclosure of Invention
The purpose of the invention is as follows:
the invention provides a rotor position estimation method of a permanent magnet direct-drive wind driven generator, which is used for solving the problem of low estimation precision of a position sensor-free rotor of the permanent magnet wind driven generator by setting an iterative optimization algorithm to accurately find rotor position information of the permanent magnet wind driven generator through flux linkage tracking of a rotor.
The technical scheme is as follows:
a rotor position estimation method of a permanent magnet direct-drive wind driven generator is characterized by comprising the following steps: the method comprises the steps that a mathematical model of the permanent magnet synchronous wind driven generator under a synchronous rotation coordinate system is deformed, back electromotive force in unit time is obtained at fixed time intervals and sampling time, and preparation is made for subsequent discretization; by orienting the rotor field by back electromotive force e of dq axisdEquivalently, the initial error angle of the rotor position is analyzed, the reason of the error in the estimation of the rotor position of the permanent magnet wind driven generator and the reason of the error in the estimation method of the rotor position at the present stage are analyzed, and the compensation variable delta omega for eliminating the error is foundr(ii) a Designing an iteration function to compensate the position by the value delta phirDiscretizing, wherein the process replaces a PI setting process of a synchronous reference coordinate system phase-locked loop (SRF-PLL), and the estimated position infinitely approaches to the real rotor position through multiple iterations; iteration is carried out for 8 times while the estimation speed is ensured to obtain higher position estimation precision through calculation, simulation and experiment; designing cost function to separate the discrete compensation value delta phirSearching and optimizing, and finally extracting the best estimated position from 64 estimated rotor position angles of 8 iterations; the process replaces the PI setting process of the SRF-PLL, and the estimation precision is increased on the premise of ensuring the stable operation of the system.
Permanent magnet synchronous wind driven generator and machine side full-power back-to-back converterThe machine side converter is used for realizing maximum power tracking of the permanent magnet synchronous wind driven generator; by sampling the voltage uαβAnd current iαβObtaining dq axis voltage and current through coordinate transformation, calculating back electromotive force by a sliding mode observer, and estimating the rotating speed by an IPS-PLL method; through omegar＝npωmWill estimate the rotational speed
Figure BDA0001878439400000021
Converted into actual mechanical speed omegam(ii) a Then, a reference torque is calculated
Figure BDA0001878439400000022
Wherein constant kpIs the maximum wind energy capture coefficient; a control loop is formed by adjusting d-axis and q-axis currents of the PMSG, and a d-axis reference current id,refSet to 0, using the reference torque to calculate the q-axis current iq,refThe error between the actual value and the reference value of the d-axis and q-axis is processed by a PI controller to generate a reference voltage u of the dq-axisd,ref、uq,ref。
The iterative position optimizing method comprises the following steps: extracting voltage and current to obtain dq axis voltage and current through coordinate change: u. ofd、uq、iα、 iβObtaining d-axis counter electromotive force e by using dq-axis voltage and current signalsdDefinition of phirAnd
Figure BDA0001878439400000023
rotor flux linkage psi for actual and estimated rotor position angle, respectivelyfShould be aligned with the d-axisrAnd
Figure BDA0001878439400000024
the initial error between is delta phir；ΔφrSmaller, consider ed≈Δφr(ii) a Observing the d-axis component of the back electromotive force through SMO, and measuring the initial error delta phirPerforming compensation; will react with the counter electromotive force edEquivalent delta phirDiscretizing to obtain multiple different initial points in one time intervalInitial error delta phirThen using the designed cost function to reduce the initial error by delta phirAnd screening to obtain the optimal compensation value of the iteration.
The rotor position of the permanent magnet synchronous wind driven generator is dispersed into a set of a limited number of rotor positions in a sampling moment in an iteration mode, a plurality of back electromotive force signals are provided for a back electromotive force cost function in a sampling moment, and therefore the optimal rotating speed compensation term delta omega is obtainedr；
1) Method for discretizing rotor position
Through an optimization method of rotor position discretization, a permanent magnet synchronous wind driven generator is used as a basic mathematical model to carry out formula derivation and deformation in a synchronous rotating coordinate system, and u isd，uqAnd id，iqDq-axis components of stator voltage and current, Ld， LqIs the stator inductance of PMSG, ed、eqIs dq-axis counter electromotive force, RsIs the stator resistance of the PMSG; omegarFor the motor rotor speed, #fIs a rotor flux linkage; obtaining the back electromotive force e of the dq axis and the permanent magnet synchronous wind driven generatord、eqThe relationship between;
Figure BDA0001878439400000025
Figure BDA0001878439400000026
by setting k as the sampling time interval, TsIs the sampling time; the formula of the discretization back electromotive force calculation is as follows:
Figure BDA0001878439400000031
Figure BDA0001878439400000032
from e mentioned hereinbefored≈ΔφrWe will get Δ φrDiscretizing; to discretize the rotor position, two nested loops will be used, i (i e 0, 7)]) And j (j ∈ [0,7]]) (ii) a Iterating 8 times at each sampling moment to obtain 8 pieces of rotor position information, and finally obtaining 64 pieces of rotor position information; i.e. iαβ[k],uαβ[k]Is an observed value of voltage and current on the stator sidein,i[k]To define an initial rotor position angle, Δ φi[k]Is an iteration step length;
φri,j[k]＝φin,i[k]+(j-4)Δφi[k] (5)
Figure BDA0001878439400000033
2) design of inverse electromotive cost function
Using the discrete rotor position information, the d-axis component e of the back emf is calculated again by the sliding-mode observer using equation (3)di,jOptimizing the back electromotive force cost function; comparing the multiple back electromotive forces to obtain the optimal value g of the cost functionopt(ii) a The back electromotive force cost function is formulated to obtain the optimal rotation speed compensation term delta omegarEquivalent to finding the best rotor position among a limited number of rotor positions; selecting an optimal rotor position using the form of the cost function in the proposed iterative position-optimizing phase-locked loop; gi,jFor 64 iterated transforms Δ ωrThe compensation term of (2) is equivalent to that 64 times of PI setting are carried out at one sampling moment; using back electromotive force cost function to obtain goptConversion to the compensation term Δ ωrThe Δ ωrFor optimal delta omega based on FPS-PLL algorithmr；
Figure BDA0001878439400000034
gopt＝min{g1,0[k]，g1,1[k]Lg7,7[k]} (9)
1) In the step, an iterative position optimization algorithm is adopted, and when the sliding mode observer at the first sampling moment extracts the first back electromotive force ed1,0Then the extracted e isd1,0Is converted into phi by a cost functionr1,0Assuming an initial
Figure BDA0001878439400000035
And g isi，j[k]＜gin[k](ii) a The first iteration i is started with 0 according to equation (6),
Figure BDA0001878439400000036
and brought in (5) will result in eight discrete rotor positions
Figure BDA0001878439400000041
Using these rotor positions phiri，j[k]Calculating the back electromotive force e of the d-axis component by the sliding mode observer againdi,j[k]Obtaining the back electromotive force e by optimizing the cost functiond1,2Obtaining the rotor position phiin,1[k]Continuing to iterate, and so on; finally, 8 iterations are carried out, 8 pieces of rotor position information are obtained in each iteration, namely the optimal rotor position angle phi is found from 64 pieces of position informationr,opt[k](ii) a If the position calculated from the first iteration is
Figure BDA0001878439400000042
For the second iteration of the outer loop, there is i ═ 1 and
Figure BDA0001878439400000043
carry over again (5), will produce 8 new rotor positions;
Figure BDA0001878439400000044
the advantages and effects are as follows:
the invention provides a rotor position estimation method of a permanent magnet direct-drive wind driven generator, which is based on an iterative position optimizing phase-locked loop (IPS-PLL). an iterative function is set by extracting the rotor position at a certain moment, so that the extracted rotor position angle is discretized; a cost function for assisting in screening and optimizing is designed, and the purpose is to screen and optimize discrete rotor position angles to obtain accurate rotor position information. Each iteration can obtain 8 position information, and two nested loops are designed to be i (i E [0,7]) and j (j E [0,7]), respectively. The purpose is to perform 8 iterations on the rotor positions obtained at each time interval, which is equivalent to dispersing 64 pieces of position information from each rotor position, and extracting the optimal position angle from the position information. The invention can obtain relatively accurate rotor position information on the premise of ensuring the estimated speed. Therefore, the high rotor position estimation precision of the permanent magnet wind driven generator without the position sensor is realized.
In conclusion, aiming at the characteristics of the permanent magnet synchronous wind driven generator, the position estimation method of the permanent magnet wind driven generator based on the IPS-PLL is provided, the accuracy of rotor position estimation can be increased, the response speed of a system is accelerated, and the parameter setting process of a PI controller of the SRF-PLL is replaced. The evaluation method is effective, the rotating speed error can be reduced by 1 time, and the position error is controlled below 0.03 rad. And the rotor position estimation remains accurate at multiple wind speeds. Robustness of control system performance may be enhanced.
Drawings
FIG. 1: system structure diagram of permanent magnet direct-drive wind driven generator rotor position estimation method based on IPS-PLL
FIG. 2: dq-axis rotor magnetic field orientation vector diagram
FIG. 3: iterative position optimizing phase-locked loop control block diagram
FIG. 4: iterative process flow diagram for position-optimizing a phase-locked loop
FIG. 5: iterative position optimizing phase-locked loop rotor position estimation method
The specific implementation mode is as follows:
the permanent magnet synchronous wind driven generator is connected with a machine side full-power back-to-back converter, the machine side converter is connected with a power grid through a direct current bus, and the machine side converter is connected with the machine sideThe converter is used for realizing Maximum Power Point Tracking (MPPT) of the permanent magnet synchronous wind driven generator. By sampling the voltage uαβAnd current iαβAnd (3) obtaining dq axis voltage and current through coordinate transformation, calculating back electromotive force by a sliding mode observer, and estimating the rotating speed by an IPS-PLL method. Through omegar＝npωmWill estimate the rotational speed
Figure BDA0001878439400000051
Converted into actual mechanical speed omegam. Then, a reference torque is calculated
Figure BDA0001878439400000052
Wherein constant kpIs the maximum wind energy capture coefficient. A control loop is formed by adjusting d-axis and q-axis currents of the PMSG, and a d-axis reference current id,refSet to 0, using the reference torque to calculate the q-axis current iq,refThe error between the actual value and the reference value of the d-axis and q-axis is processed by a PI controller to generate a reference voltage u of the dq-axisd,ref、uq,ref. The base FPS-PLL control scheme is shown in figure 1.
The idea of iterative position optimization comes from model prediction control, and the general idea is as follows: extracting voltage and current to obtain dq axis voltage and current through coordinate change: u. ofd、uq、iα、iβObtaining d-axis counter electromotive force e by using dq-axis voltage and current signalsd. The vector diagram of the rotor flux linkage in the rotating coordinate system is shown in FIG. 1, where φrAnd
Figure BDA0001878439400000053
rotor flux linkage psi for actual and estimated rotor position angle, respectivelyfShould be aligned with the d-axisrAnd
Figure BDA0001878439400000054
the initial error therebetween is delta phir。ΔφrSmaller, it can be considered that ed≈Δφr. Due to back electromotive force edHas certain harmonic component, and is subjected to primary PI setting to obtain delta phirIs not optimalThe value is obtained. Further, the back electromotive force d-axis component is observed through the SMO, and the initial error delta phi is obtainedrCompensation is performed. Will react with the counter electromotive force edEquivalent delta phirDiscretizing to obtain multiple different initial errors delta phi in one time intervalrThen using the designed cost function to reduce the initial error by delta phirAnd screening to obtain the optimal compensation value of the iteration. The process is a complete iteration process of the iterative position optimization idea. The compensation value obtained by 8 times of same iteration modes is optimal through calculation and experiments, and the influence on the response time of the system is avoided.
The rotor position of the permanent magnet synchronous wind driven generator is dispersed into a set of a limited number of rotor positions in a sampling moment in an iteration mode, a plurality of back electromotive force signals are provided for a back electromotive force cost function in a sampling moment, and therefore the optimal rotating speed compensation term delta omega is obtainedr。
1) Method for discretizing rotor position
The method is characterized in that formula derivation and deformation are carried out by using a permanent magnet synchronous wind driven generator as a basic mathematical model under a synchronous rotating coordinate system through an optimization method of rotor position discretization, and u isd，uqAnd id，iqDq-axis components of stator voltage and current, Ld，LqIs the stator inductance of PMSG, ed、eqIs dq-axis counter electromotive force, RsIs the stator resistance of the PMSG. OmegarFor the motor rotor speed, #fIs the rotor flux linkage. Obtaining the back electromotive force e of the dq axis and the permanent magnet synchronous wind driven generatord、eqThe relationship between them.
Figure BDA0001878439400000055
Figure BDA0001878439400000056
By setting k as the sampling time interval, TsIs at the time of samplingAnd (3) removing the solvent. The formula of the discretization back electromotive force calculation is as follows:
Figure BDA0001878439400000057
Figure BDA0001878439400000061
from e mentioned hereinbefored≈ΔφrWe will get Δ φrDiscretization is performed. The aim is to discretize the rotor position at a certain moment into a finite set of position information. To discretize the rotor position, two nested loops will be used, i (i e 0, 7)]) And j (j ∈ [0,7]]). 8 rotor position information are iterated each time after 8 iterations at each sampling moment, and finally 64 rotor position information can be obtained. i.e. iαβ[k],uαβ[k]Is an observed value of voltage and current on the stator sidein,i[k]To define an initial rotor position angle, Δ φi[k]Is the iteration step size.
φri,j[k]＝φin,i[k]+(j-4)Δφi[k] (5)
Figure BDA0001878439400000062
The proposed iterative position optimisation algorithm is explained below, where the sliding-mode observer extracts the first back-emf e at the first sampling instantd1,0Then the extracted e isd1,0Is converted into phi by a cost functionr1,0Assuming an initial
Figure BDA0001878439400000063
And g isi，j[k]＜gin[k]. The first iteration i is started with 0 according to equation (6),
Figure BDA0001878439400000064
and brought in (5) will result in eight discrete rotor positions
Figure BDA0001878439400000065
Using these rotor positions phiri，j[k]Calculating the back electromotive force e of the d-axis component by the sliding mode observer againdi,j[k]Obtaining the back electromotive force e by optimizing the cost functiond1,2The rotor position phi can be obtainedin,1[k]And continuing to iterate, and so on. Finally, 8 iterations are carried out, 8 pieces of rotor position information are obtained in each iteration, namely the optimal rotor position angle phi is found from 64 pieces of position informationr,opt[k]. Assume that the position calculated from the first iteration is
Figure BDA0001878439400000066
For the second iteration of the outer loop, there is i ═ 1 and
Figure BDA0001878439400000067
bringing in (5) again will result in 8 new rotor positions. Therefore, the accuracy based on the iterative algorithm increases as the number of iterations increases, eventually converging to the optimal rotor position. Assuming n is the number of iterations, i e [0,7] we choose here]Thus, after 8 iterations (i.e., when i equals 7), the rotor position information will be estimated with an accuracy of 0.003 rad. The rotor position estimated by the iterative position optimizing phase-locked loop is high in accuracy.
Figure BDA0001878439400000068
2) Design of inverse electromotive cost function
The purpose of the back emf cost function is to optimize a limited amount of position information. Using the discrete rotor position information, the d-axis component e of the back EMF can be calculated again by the sliding-mode observer using equation (3)di,jWill be optimized by the back emf cost function. Comparing the multiple back electromotive forces to obtain the optimal value g of the cost functionopt. The back electromotive force cost function is formulated to obtain the optimal rotation speed compensation term delta omegarEquivalent to in a finite numberThe best rotor position is found among the target rotor positions. This form of cost function is employed in the proposed iterative position-optimizing phase-locked loop to select the optimal rotor position. gi,jFor 64 iterated transforms Δ ωrSo we are equivalent to making 64 PI-turns at one sampling instant. Using back electromotive force cost function to obtain goptConversion to the compensation term Δ ωrThe Δ ωrFor optimal delta omega based on FPS-PLL algorithmr。
Figure BDA0001878439400000071
gopt＝min{g1,0[k]，g1,1[k]Lg7,7[k]} (9)。

Claims (4)

1. A rotor position estimation method of a permanent magnet direct-drive wind driven generator is characterized by comprising the following steps: the method comprises the steps that a mathematical model of the permanent magnet synchronous wind driven generator under a synchronous rotation coordinate system is deformed, back electromotive force in unit time is obtained at fixed time intervals and sampling time, and preparation is made for subsequent discretization; by orienting the rotor field by back electromotive force e of dq axisdEquivalently, the initial error angle of the rotor position is analyzed, the reason of the error in the estimation of the rotor position of the permanent magnet wind driven generator and the reason of the error in the estimation method of the rotor position at the present stage are analyzed, and the compensation variable delta omega for eliminating the error is foundr(ii) a Designing an iteration function to compensate the position by the value delta phirDiscretizing, wherein the process replaces a PI (proportional integral) setting process of a synchronous reference coordinate system phase-locked loop, and the estimated position infinitely approaches to the real rotor position through multiple iterations; iteration is carried out for 8 times while the estimation speed is ensured to obtain higher position estimation precision through calculation, simulation and experiment; designing cost function to separate the discrete compensation value delta phirSearching and optimizing, and finally extracting the best estimated position from 64 estimated rotor position angles of 8 iterations;
the iterative position optimizing method comprises the following steps: extracting voltage and current to obtain dq axis voltage,Current: u. ofd、uq、iα、iβObtaining d-axis counter electromotive force e by using dq-axis voltage and current signalsdDefinition of phirAnd
Figure FDA0003527629990000011
rotor flux linkage psi for actual and estimated rotor position angle, respectivelyfShould be aligned with the d-axisrAnd
Figure FDA0003527629990000012
the initial error between is delta phir；ΔφrSmaller, consider ed≈Δφr(ii) a Observing the d-axis component of the back electromotive force through SMO, and measuring the initial error delta phirPerforming compensation; will react with the counter electromotive force edEquivalent delta phirDiscretizing to obtain multiple different initial errors delta phi in one time intervalrThen using the designed cost function to reduce the initial error by delta phirAnd screening to obtain the optimal compensation value of the iteration.
2. The method for estimating the rotor position of the direct-drive permanent magnet wind power generator according to claim 1, wherein the method comprises the following steps: the permanent magnet synchronous wind power generator is connected with the machine side full-power back-to-back converter, the machine side converter is connected with a power grid through a direct current bus and the power grid side converter, and the machine side converter is used for realizing the maximum power tracking of the permanent magnet synchronous wind power generator; by sampling the voltage uαβAnd current iαβObtaining dq axis voltage and current through coordinate transformation, calculating back electromotive force by a sliding mode observer, and estimating the rotating speed by an IPS-PLL method; through omegar＝npωmWill estimate the rotational speed
Figure FDA0003527629990000013
Converted into actual mechanical speed omegam(ii) a Then, a reference torque is calculated
Figure FDA0003527629990000014
Wherein constant iskpIs the maximum wind energy capture coefficient; a control loop is formed by adjusting d-axis and q-axis currents of the PMSG, and a d-axis reference current id,refSet to 0, using the reference torque to calculate the q-axis current iq,refThe error between the actual value and the reference value of the d-axis and q-axis is processed by a PI controller to generate a reference voltage u of the dq-axisd,ref、uq,ref。
3. The method for estimating the rotor position of the direct-drive permanent magnet wind power generator according to claim 1, wherein the method comprises the following steps: the rotor position of the permanent magnet synchronous wind driven generator is dispersed into a set of a limited number of rotor positions in a sampling moment in an iteration mode, a plurality of back electromotive force signals are provided for a back electromotive force cost function in a sampling moment, and therefore the optimal rotating speed compensation term delta omega is obtainedr；
1) Method for discretizing rotor position
Through an optimization method of rotor position discretization, a permanent magnet synchronous wind driven generator is used as a basic mathematical model to carry out formula derivation and deformation in a synchronous rotating coordinate system, and u isd，uqAnd id，iqDq-axis components of stator voltage and current, Ld，LqIs the stator inductance of PMSG, ed、eqIs dq-axis counter electromotive force, RsIs the stator resistance of the PMSG; omegarFor the motor rotor speed, #fIs a rotor flux linkage; obtaining the back electromotive force e of the dq axis and the permanent magnet synchronous wind driven generatord、eqThe relationship between;
Figure FDA0003527629990000021
Figure FDA0003527629990000022
by setting k as the sampling time interval, TsIs the sampling time; the formula of the discretization back electromotive force calculation is as follows:
Figure FDA0003527629990000023
Figure FDA0003527629990000024
from e mentioned hereinbefored≈ΔφrThe obtained delta phirDiscretizing; to discretize the rotor position, two nested loops will be used, i (i e 0, 7)]) And j (j ∈ [0,7]]) (ii) a Iterating 8 times at each sampling moment to obtain 8 pieces of rotor position information, and finally obtaining 64 pieces of rotor position information; i all right angleαβ[k],uαβ[k]Is an observed value of voltage and current on the stator sidein,i[k]To define an initial rotor position angle, Δ φi[k]Is an iteration step length;
φri,j[k]＝φin,i[k]+(j-4)Δφi[k] (5)
Figure FDA0003527629990000031
2) design of inverse electromotive cost function
Using the discrete rotor position information, the d-axis component e of the back emf is calculated again by the sliding-mode observer using equation (3)di,jOptimizing the back electromotive force cost function; comparing the multiple back electromotive forces to obtain the optimal value g of the cost functionopt(ii) a The back electromotive force cost function is formulated to obtain the optimal rotation speed compensation term delta omegarEquivalent to finding the best rotor position among a limited number of rotor positions; selecting an optimal rotor position using a cost function of this form in the proposed iterative position-optimizing phase-locked loop; gi,jFor 64 iterated transforms Δ ωrThe compensation term of (2) is equivalent to that 64 times of PI setting are carried out at one sampling moment; using back emf cost functionNumber g to be obtainedoptConversion to the compensation term Δ ωrThe Δ ωrFor optimal delta omega based on FPS-PLL algorithmr；
Figure FDA0003527629990000032
gopt＝min{g1,0[k]，g1,1[k]…g7,7[k]} (9)。
4. The method for estimating the rotor position of the direct-drive permanent magnet wind power generator as claimed in claim 3, wherein: 1) in the step, an iterative position optimization algorithm is adopted, and when the sliding mode observer at the first sampling moment extracts the first back electromotive force ed1,0Then the extracted e isd1,0Is converted into phi by a cost functionr1,0Assuming an initial
Figure FDA0003527629990000033
And g isi，j[k]＜gin[k](ii) a The first iteration i is started with 0 according to equation (6),
Figure FDA0003527629990000034
and brought in (5) will result in eight discrete rotor positions
Figure FDA0003527629990000035
Figure FDA0003527629990000036
Using these rotor positions phiri，j[k]Calculating the back electromotive force e of the d-axis component by the sliding mode observer againdi,j[k]Obtaining the back electromotive force e by optimizing the cost functiond1,2Obtaining the rotor position phiin,1[k]Continuing to iterate, and so on; finally, 8 iterations are carried out, 8 pieces of rotor position information are obtained in each iteration, namely the optimal rotor position angle phi is found from 64 pieces of position informationr,opt[k](ii) a If from the firstThe position calculated by the sub-iteration is
Figure FDA0003527629990000037
For the second iteration of the outer loop, there is i ═ 1 and
Figure FDA0003527629990000038
carry over again (5), will produce 8 new rotor positions;
Figure FDA0003527629990000041
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