CN109524987B - Constant voltage control-based doubly-fed wind generator mutual inductance parameter identification method - Google Patents

Constant voltage control-based doubly-fed wind generator mutual inductance parameter identification method Download PDF

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CN109524987B
CN109524987B CN201811378887.2A CN201811378887A CN109524987B CN 109524987 B CN109524987 B CN 109524987B CN 201811378887 A CN201811378887 A CN 201811378887A CN 109524987 B CN109524987 B CN 109524987B
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voltage
mutual inductance
stator
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doubly
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田鹏
郝正航
李泽滔
曾实
何俊贤
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Guizhou University
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    • H02J3/386—
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/40—Synchronising a generator for connection to a network or to another generator
    • 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
    • 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
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    • 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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Abstract

The invention discloses a constant voltage control-based doubly-fed wind generator mutual inductance parameter identification method, which comprises the following steps: according to a mathematical model of the doubly-fed wind generator (a rotor adopts a motor convention and a stator adopts a generator convention), grid voltage and stator voltage are respectively oriented in the no-load grid-connected control process of the doubly-fed wind generator, and a voltage error signal is adjusted by adopting a constant voltage control method of the doubly-fed motor to identify accurate mutual inductance parameters; the identification process uses a PI controller to regulate the voltage error signal to control the q-axis exciting current reference signal. While realizing constant voltage control, the comparison signal c, the control output signal eta and the mutual inductance initial value L are utilizedm‑oThe mathematical relationship between identifies accurate mutual inductance values. And PI control can be removed after the mutual inductance parameter is identified, so that the control complexity of the system is reduced.

Description

Constant voltage control-based doubly-fed wind generator mutual inductance parameter identification method
Technical Field
The invention relates to a constant voltage control-based doubly-fed wind generator mutual inductance parameter identification method.
Background
For flexible grid connection control and power decoupling control after grid connection, a control method based on vector orientation needs motor mutual inductance parameters to obtain an accurate inner ring current signal reference value, or a compensation control link is added to enable stator voltage to track upper power grid voltage. For the DFIG flexible grid-connected control with uncertain parameters, although the constant voltage control can be realized by using the traditional voltage compensation control, the power decoupling control switching has large jitter due to the lack of mutual inductance parameters or inaccurate mutual inductance parameters, and the stability of the control is influenced. To solve the problem of uncertain DFIG parameters, different parameter identification methods are proposed one after another. The method for calculating parameters based on the doubly-fed motor description equation does not need control identification, but needs to realize power control. The least square objective function estimation method based on the system equivalent model generally needs to short circuit the three-phase winding of the stator or drop the stator voltage, the algorithm is complex and the operation has certain danger. The parameter identification method based on the synovial observer requires that flux linkage is estimated first to identify the parameter. The adoption of the particle swarm optimization algorithm for identification also requires a stator three-phase short circuit condition. In addition, a matrix integral equation is solved to obtain an accurate solution, and the method is complex to calculate. Therefore, the doubly-fed wind generator mutual inductance parameter identification method which is simple in algorithm (control) and does not need additional identification conditions and processes is more suitable for practical application occasions.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method for identifying the mutual inductance parameters of the double-fed wind driven generator based on the constant voltage control is provided, harsh conditions such as stator short-circuit current and falling stator voltage do not need to be established, an identification process does not need to be established independently, accurate mutual inductance parameters can be obtained only by modifying a traditional constant voltage control structure, and the constant voltage control can be realized under the condition that phases are asynchronous.
The technical scheme adopted by the invention is as follows: a double-fed wind driven generator mutual inductance parameter identification method based on constant voltage control comprises the following steps: according to the mathematical model of the double-fed wind driven generator, the grid voltage and the stator voltage are respectively oriented in the no-load grid-connected control process of the double-fed wind driven generator, and the voltage error signal is adjusted by adopting a constant voltage control method of the double-fed motor to identify accurate mutual inductance parameters.
The mathematical model of the doubly-fed wind generator comprises a rotor and a stator, wherein the rotor adopts a motor convention and the stator adopts a generator convention, and the specific model comprises the following steps:
Figure BDA0001871423450000021
Figure BDA0001871423450000022
Figure BDA0001871423450000023
Figure BDA0001871423450000024
in the formula, vds，vqs，ids，iqsDq-axis components of stator voltage and current, respectively; v. ofdr，vqr，idr， iqrDq-axis components of rotor voltage and current, respectively; lambda [ alpha ]ds，λqs，λds，λqsDq-axis components of the stator and rotor flux linkage, respectively; rs，RrResistances of the stator and rotor, respectively; l isss，LrrSelf-inductance of the stator and rotor, respectively; l ismIs mutual inductance; omegas，ωrSynchronous angular velocity and rotor angular velocity, respectively.
The accurate mutual inductance parameter identified by adjusting the voltage error signal by adopting the constant voltage control method of the double-fed motor is as follows: when the voltage of the power grid and the voltage of the stator are respectively oriented, the voltage of the stator and the voltage of the power grid meet the following conditions:
Figure BDA0001871423450000025
in the formula of UgFor grid voltage amplitude (d-axis orientation), UsStator voltage amplitude (d-axis orientation), Lm-oIs an initial value of mutual inductance, Lm-rThe real value of mutual inductance. The comparison signal c is defined according to equation (5) as:
Figure BDA0001871423450000031
according to rotor current reference value
Figure BDA0001871423450000032
And (6) deducing an excitation q-axis current reference value iqr *Comprises the following steps:
Figure BDA0001871423450000033
in the formula, eta is the output signal of the controller according to the reference value of the rotor current
Figure BDA0001871423450000034
Obtaining mutual inductance identification value L by sum formula (7)m-iComprises the following steps:
Figure BDA0001871423450000035
in the formula (7) and the formula (8), η is not equal to 0 and the initial value is 1, so as to ensure the validity of the numerical calculation.
The mutual inductance parameter identification strategy selects to respectively carry out d-axis orientation on the voltage of a power grid and the voltage of a stator, can effectively control the voltage when phase errors exist, uses a PI (proportional integral) controller to regulate a voltage error signal to control a q-axis exciting current reference signal, and utilizes a comparison signal c, a control output signal eta and a mutual inductance initial value L to realize constant voltage controlm-oThe accurate mutual inductance value is identified through the mathematical relationship, PI control can be omitted after mutual inductance parameters are identified, and the control complexity of the system is reduced.
Has the advantages that: compared with the prior art, the invention respectively orients the voltage of the power grid and the voltage of the stator, simultaneously performs variable speed constant voltage control and mutual inductance parameter identification by using the voltage error signal, does not need to establish harsh conditions such as stator short-circuit current, stator voltage drop and the like, does not need to establish an identification process separately, obtains accurate mutual inductance parameters by only modifying the traditional constant voltage control structure, can also realize constant voltage control under the condition of asynchronous phases, can simultaneously realize accurate mutual inductance parameter identification and constant voltage control without synchronizing the phases of the stator voltage and the voltage of the power grid, and reduces the complexity of parameter identification.
Drawings
FIG. 1 is a block diagram of a mutual inductance parameter identification strategy;
FIG. 2 is a block diagram of mutual inductance parameter identification of a doubly-fed wind generator;
FIG. 3 is a voltage waveform and mutual inductance parameter identification curve when the mutual inductance initial value is 100 mH;
FIG. 4 is a voltage waveform and a mutual inductance parameter identification curve when the mutual inductance initial value is 40 mH.
Detailed Description
The invention is further described below with reference to the drawings and specific experimental examples.
A double-fed wind driven generator mutual inductance parameter identification method based on constant voltage control comprises the following steps: according to the mathematical model of the double-fed wind driven generator, the grid voltage and the stator voltage are respectively oriented in the no-load grid-connected control process of the double-fed wind driven generator, and the voltage error signal is adjusted by adopting a constant voltage control method of the double-fed motor to identify accurate mutual inductance parameters.
The mathematical model of the doubly-fed wind generator comprises a rotor and a stator, wherein the rotor adopts a motor convention and the stator adopts a generator convention, and the specific model comprises the following steps:
Figure BDA0001871423450000041
Figure BDA0001871423450000042
Figure BDA0001871423450000043
Figure BDA0001871423450000044
in the formula, vds，vqs，ids，iqsDq-axis components of stator voltage and current, respectively; v. ofdr，vqr，idr， iqrDq-axis components of rotor voltage and current, respectively; lambda [ alpha ]ds，λqs，λds，λqsDq-axis components of the stator and rotor flux linkage, respectively; rs，RrResistances of the stator and rotor, respectively; l isss，LrrSelf-inductance of the stator and rotor, respectively; l ismIs mutual inductance; omegas，ωrSynchronous angular velocity and rotor angular velocity, respectively.
The accurate mutual inductance parameter identified by adjusting the voltage error signal by adopting the constant voltage control method of the double-fed motor is as follows: when the voltage of the power grid and the voltage of the stator are respectively oriented, the voltage of the stator and the voltage of the power grid meet the following conditions:
Figure BDA0001871423450000051
in the formula of UgFor grid voltage amplitude (d-axis orientation), UsStator voltage amplitude (d-axis orientation), Lm-oIs an initial value of mutual inductance, Lm-rThe real value of mutual inductance. The comparison signal c is defined according to equation (5) as:
Figure BDA0001871423450000052
according to rotor current reference value
Figure BDA0001871423450000053
And (6) deducing an excitation q-axis current reference value iqr *Comprises the following steps:
Figure BDA0001871423450000054
in the formula, eta is the output signal of the controller according to the reference value of the rotor current
Figure BDA0001871423450000055
Obtaining mutual inductance identification value L by sum formula (7)m-iComprises the following steps:
Figure BDA0001871423450000056
in the formula (7) and the formula (8), η is not equal to 0 and the initial value is 1, so as to ensure the validity of the numerical calculation.
The mutual inductance parameter identification strategy is shown in figure 1, d-axis orientation is selected to be respectively carried out on the voltage of a power grid and the voltage of a stator, the voltage can be effectively controlled when phase errors exist, a PI (proportional-integral) controller is used for adjusting voltage error signals to control q-axis exciting current reference signals, and a comparison signal c, a control output signal eta and a mutual inductance initial value L are used for controlling constant voltage while a comparison signal c, a control output signal eta and a mutual inductance initial value L are usedm-oThe mathematical relationship between identifies accurate mutual inductance values. And PI control can be removed after the mutual inductance parameter is identified, so that the control complexity of the system is reduced.
Example 1: in the control block diagram shown in fig. 2, the number of pole pairs of the doubly-fed wind turbine is 3, the grid-connected voltage is 100V (line voltage), and the grid-connected power is 300W. A filter type excitation structure is adopted, the excitation direct current voltage is 50V, the power grid is controlled and simulated by an IPM (intelligent power control module), a three-phase asynchronous motor is used as a prime motor, and a rotary encoder is used for acquiring a rotor vector angle.
Fig. 3 shows a voltage waveform and a mutual inductance parameter identification curve when the initial value of the mutual inductance is 100mH during the mutual inductance parameter identification control period. Stator voltage control is accomplished within about 65ms, as is the mutual inductance parameter identification time. And under the condition that the phase of the stator voltage is ahead of the voltage of the power grid, the voltage waveform of the stator and the parameter identification curve change smoothly without impact, so that voltage tracking and mutual inductance parameter identification value L are realizedm-i＝52.8649mH。
Fig. 4 shows a voltage waveform and a mutual inductance parameter identification curve when the mutual inductance initial value is 40mH during the mutual inductance parameter identification control period. The stator voltage control and mutual inductance parameter identification time is about 55 ms. Under the condition of phase error, the voltage waveform and the parameter identification curve change smoothly without impact, the stator voltage tracks the upper power grid voltage, and the mutual inductance parameter identification value Lm-i52.8593 mH. The slightly different identification results of the two mutual inductance parameters are that the voltage amplitude is slightly jittered due to certain harmonic waves of the stator voltage of the doubly-fed motor. Stator electricity measured by a power quality analyzer (C.A8335) in the experimentThe THD is 0.8-1.2%, and the requirement of less than 5% is met. Therefore, the identification result is effective, and the stator voltage and the power grid voltage keep the same amplitude value according to the two experimental results, which shows the high accuracy of mutual inductance parameter identification.
And (4) experimental conclusion: the DFIG mutual inductance parameter identification method based on the constant voltage control only needs one controller, can simultaneously realize accurate identification of mutual inductance parameters and constant voltage control without synchronization of stator voltage phase and power grid voltage phase, and reduces complexity of parameter identification.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present invention, and therefore, the scope of the present invention should be determined by the scope of the claims.

Claims (2)

1. A double-fed wind driven generator mutual inductance parameter identification method based on constant voltage control is characterized by comprising the following steps: the method comprises the following steps: according to a mathematical model of the doubly-fed wind driven generator, the grid voltage and the stator voltage are respectively oriented in the no-load grid-connected control process of the doubly-fed wind driven generator, the voltage error signal is adjusted by adopting a constant voltage control method of the doubly-fed motor to identify an accurate mutual inductance parameter, and the method for identifying the mutual inductance parameter comprises the following steps: when the voltage of the power grid and the voltage of the stator are respectively oriented, the voltage of the stator and the voltage of the power grid meet the following conditions:
Figure FDA0003252883290000011
in the formula of UgGrid voltage amplitude, U, oriented for d-axissStator voltage amplitude, L, oriented for d-axism-oIs an initial value of mutual inductance, Lm-rFor the true value of the mutual inductance, the comparison signal c is defined according to equation (5) as:
Figure FDA0003252883290000012
according to rotor current reference value
Figure FDA0003252883290000013
And (6) deducing an excitation q-axis current reference value iqr *Comprises the following steps:
Figure FDA0003252883290000014
in the formula, eta is the output signal of the controller according to the reference value of the rotor current
Figure FDA0003252883290000015
Obtaining mutual inductance identification value L by sum formula (7)m-iComprises the following steps:
Figure FDA0003252883290000016
in the formulae (7) and (8), η is not equal to 0 and the initial value is 1.
2. The constant voltage control-based doubly-fed wind generator mutual inductance parameter identification method according to claim 1, characterized in that: the mathematical model of the doubly-fed wind generator comprises a rotor and a stator, wherein the rotor adopts a motor convention and the stator adopts a generator convention, and the specific model comprises the following steps:
Figure FDA0003252883290000021
Figure FDA0003252883290000022
Figure FDA0003252883290000023
Figure FDA0003252883290000024
in the formula, vds、vqs、idsAnd iqsDq-axis components of stator voltage and current, respectively; v. ofdr、vqr、idrAnd iqrDq-axis components of rotor voltage and current, respectively; lambda [ alpha ]ds、λqs、λdrAnd λqrDq-axis components of the stator and rotor flux linkage, respectively; rsAnd RrResistances of the stator and rotor, respectively; l isssAnd LrrSelf-inductance of the stator and rotor, respectively; l ismIs mutual inductance; omegasAnd ωrSynchronous angular velocity and rotor angular velocity, respectively.
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