CN109768746A - A kind of predictive-current control method under cascade brushless doubly-fed machine unbalanced load - Google Patents
A kind of predictive-current control method under cascade brushless doubly-fed machine unbalanced load Download PDFInfo
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Abstract
A kind of predictive-current control method under cascade brushless doubly-fed machine unbalanced load.This method obtains output voltage positive and negative order components on the basis of positive-negative sequence separates, positive sequence controls voltage output amplitude, negative sequence voltage is eliminated in negative phase-sequence control to be influenced, control winding current reference value is obtained accordingly, the control to system positive sequence negative phase-sequence is realized using predictive-current control on this basis, to can effectively inhibit the negative sequence voltage generated due to unbalanced load while reducing control algolithm complexity, security of system and stability are improved.
Description
Technical field
The invention belongs to motor control technology field, in particular to the unbalanced load controlling party of a kind of brushless dual-feed motor
Method.
Background technique
Cascade brushless doubly-fed machine (cascaded brushless doubly-fed generator, CBDFG) is due to adopting
The brush and slip ring of traditional brush motor are eliminated with special rotor winding structure, while having been taken into account and having been become needed for brush double feedback electric engine again
Frequency device only needs the advantages of slip times power capacity, and it is reliable to improve motor operation while reducing maintenance and operation cost
Property, therefore have broad application prospects in electricity generation system.
In Independent Power Generation application, the case where unbalanced load or nonlinear load, happens occasionally, each mutually negative in three-phase system
It carries distribution unevenness or load faulty all may cause laod unbalance situation.At this point, zero sequence (four-wire system) and negative sequence component exist
Flowing in system, on output impedance be zero ideal source without influence, but actual system all has output impedance, so as to cause
Output voltage waveforms are asymmetric.Similar to the harm of unbalanced power supply in the Shunt-connected Wind Power Generation System, these are uneven by shadow
The Generation Rate and power quality of acoustic system, or even endanger generator itself, as negative-sequence current cause induction machine torque, power with
Two times of system frequency oscillations, stator and rotor winding hot-spot will increase the mechanical loss of motor, and reduce system uses the longevity
Life.Therefore, influence of the unbalanced load to CBDFG electricity generation system need to be eliminated by suitable system control strategy, in part
When energy imbalance occurs for load, remaining load can obtain normal power supply, guarantee the stable operation of whole system energy.
Currently, doubly-fed generation system unbalanced load control has based on the double PI control of tradition, PR control, PIR control and pre-
Survey a few class methods such as current control.
Such as entitled " Control System for Unbalanced Operation of Stand-alone Doubly
Fed Induction Generators ", author R.Pena, source IEEE Transactions on Energy
The document of Conversion 22 (2), 2007:544-545 propose Compensation Strategies for double feedback electric engine independent operating system
The effective compensation to negative sequence voltage is realized by double -loop control.
Entitled " Improved predictive current control for unbalanced stand-alone
Doubly-fed induction generator-based wind power systems ", author V T.Phan, source IET
The document of Electric Power Application 5 (3), 2011:275-287, which are directed to, brush double feedback electric engine unbalanced load
It proposes predictive-current control scheme and inhibits negative sequence voltage, control performance is more excellent.
But cascade brushless doubly-fed machine on structure, characteristic, model with the presence of brush double feedback electric engine larger difference, and due to
Its physical characteristic of special structure and mathematical model are also increasingly complex, and tradition has brush double feedback electric engine unbalanced load control strategy not
It can directly continue to use.
Also there is document to be analyzed for cascade brushless doubly-fed machine unbalanced system, such as entitled " unbalanced load
Lower dual-stator brushless double-fed generator independent operating control strategy ", author Jiang Yunlei, source electrotechnics journal, 2017 (5):
The document of 998-1006 uses proportional integration resonant controller (PIR) and substitutes traditional proportional integration (PI) link, overcomes
The problem of gain deficiency, effectively inhibits negative sequence voltage, reaches preferable control effect.
Entitled " independent brushless double feed generator negative sequence voltage inhibits system under a kind of unbalanced load ", publication number
CN108448966A, the publication date Chinese patent application on the 24th of August in 2018, for brushless dual-feed motor independent operating negative phase-sequence electricity
Pressure uses control winding current compensation given value to eliminate negative sequence voltage components.
Compared to traditional PI and PIR controller, predicted current has dynamic response fast, and system bandwidth is unrestricted to be easy to number
The advantages that realization, for brushless dual-feed motor and its electricity generation system, there has been no research and propose cascade brushless doubly-fed machine needle at present
To predictive-current control strategy under unbalanced load；To guarantee entire Generation System Reliability when imbalance fault occurs for system
It need to be compensated using the negative sequence voltage of the complete paired systems of compensation policy.
Summary of the invention
In view of the drawbacks of the prior art, it is an object of the invention to propose a kind of cascade brushless doubly-fed machine unbalanced load
Lower predictive-current control technology, it is intended to solve the problems, such as that system output voltage is unbalanced when imbalance fault occurs for system load.
To achieve the above object, the present invention provides a kind of cascade brushless doubly-fed machines in imbalance fault its respectively
DC component is obtained under positive-negative sequence coordinate system, predictive-current control is used to current inner loop under the control for eliminating negative sequence voltage,
The dead beat tracing control of circular current in completing.
The technical solution adopted by the present invention to solve the technical problems is: a kind of cascade brushless doubly-fed machine unbalanced load
Under predictive-current control method, comprising the following steps:
(1) it detects control winding three-phase phase current and obtains control winding electric current α after carrying out ABC/ α β coordinate transform to it
Axis component icαWith beta -axis component icβ；
It detects power winding three-phase phase current and obtains power winding current α axis point after carrying out ABC/ α β coordinate transform to it
Measure ipαWith beta -axis component ipβ；
Detection power winding three-phase line voltage is simultaneously translated into phase voltage, after carrying out ABC/ α β coordinate transform to phase voltage
Obtain power winding voltages α axis component upαWith beta -axis component upβ；
(2) by power winding current α axis component ipαWith beta -axis component ipβAnd power winding voltages α axis component upαWith β axis
Component upβα β/dq, which is carried out, through respective positive-negative sequence coordinate system respectively converts to obtain power winding forward-order current, voltage d axis component i+ pd+、u+ pd+, q axis component i+ pq+、u+ pq+And power winding negative-sequence current, voltage d axis component i- pd-、u- pd-, q axis component i- pq-、
u- pq-；
Similarly, by control winding electric current α axis component icαWith beta -axis component icβα is carried out through respective positive-negative sequence coordinate system respectively
β/dq converts to obtain control winding forward-order current d axis component i+ cd+, q axis component i+ cq+And negative-sequence current d axis component i- cd-, q axis component
i- cq-；
(3) by power winding positive sequence voltage dq axis component u+ pd+、u+ pq+Design positive sequence voltage outer ring PI controller keeps outer ring electric
Pressure output amplitude tracks the given u of output always* p, controller, which exports, is
By power winding voltages negative phase-sequence d axis component u- pd-D axis component PI controller is designed, d axis component u is made- pd-With constant 0
As system input via controller effect, to eliminate the d axis component of negative sequence voltage, controller output is
By power winding voltages negative phase-sequence q axis component u- pq-Q axis component PI controller is designed, q axis component u is made- pq-With constant 0
It exports to eliminate the q axis component of negative sequence voltage as system input via controller effect and is
(4) the d axis of the positive sequence voltage outer ring PI controller is exportedWith the d axis component of negative sequence voltage outer ring
The output of PI controllerIt is added and is used as current inner loop d axis controller given valueBy the positive sequence voltage outer ring PI controller
Q axis outputIt is exported with the q axis component PI controller of negative sequence voltage outer ringIt is added and is used as current inner loop q axis
Controller given value
(5) differential is carried out to control winding electric current according to motor mathematical model, discretization then is carried out to it and obtains small signal
Control relationship；After sampled signal Digital Discrete, obtaining control winding electric current is i+ cd(k), i+ cq(k), wherein k be control around
Group kth time sampled value；To ensure that control winding electric current can track its reference value always, realizes no error following, k sampling is instructed
As k+1 sampled value, i.e., The small signal control control obtained by motor is closed afterwards
It is that formula obtains control winding Voltage Reference instruction u* cdAnd u* cq；
(6) the control winding dq shaft voltage reference value u in the step (5) obtained by predicted current* cd、u* cqIt is converted through dq/ABC
Obtain the three-phase reference value of control winding voltage
(7) through obtaining the three-phase reference value of control winding voltageThree-phase driving signal is generated by SVPWM
Predictive-current control when realizing to converter to unbalanced load.
Step (1) specifically includes:
(11) control winding three-phase current i is detectedca、icb、icc, by Clark coordinate transform by control winding electric current from quiet
Control winding electric current α axis component i is only obtained under ABC coordinate transform to the static α β reference frame of two-phasecαWith beta -axis component icβ；
(12) power winding three-phase electric current i is detectedpa、ipb、ipc, by Clark coordinate transform by power winding current from quiet
Power winding current α axis component i is only obtained under ABC coordinate transform to the static α β reference frame of two-phasepαWith beta -axis component ipβ；
(13) power winding three-phase line voltage u is detectedpab、upbc、upca, phase voltage u is transformed to by line voltagepa、upb、
upc, power winding voltages are obtained under from static ABC coordinate transform to the static α β reference frame of two-phase by Clark coordinate transform
Power winding voltages α axis component upαWith beta -axis component upβ。
Step (2) specifically includes:
(21) by installing code-disc on rotor, the mechanical angular speed N of rotor is obtainedr, rotor angle speed is obtained according to this
Spend θr；
(22) according to power winding number of pole-pairs pp, control winding number of pole-pairs pc, power winding 100 π rad/ of electricity angular frequency
S and rotor machinery angular speed NrObtain control winding electric current angular frequencyc:
(23) 100 π rad/s input integral link of power winding angular frequency is obtained into power winding electricity angle, θp, simultaneously will
Control winding electric current angular frequencycInput integral link obtains control winding current angle
θc=θp-(pp+pc)θr
(24) by control winding biphase current icα、icβWith θcAs coordinate transform angle, by Park coordinate transform from static α
β coordinate be transformed into reference to after dq coordinate system control winding forward-order current d axis component i+ cd+With q axis component i+ cq+；
(25) by control winding biphase current icα、icβWith-θcAs coordinate transform angle, by Park coordinate transform from static
α β coordinate be transformed into reference to after dq coordinate system control winding negative-sequence current d axis component i- cd-With q axis component i- cq-；
(26) by power winding biphase current ipα、ipβWith θpAs coordinate transform angle, by Park coordinate transform from static α
β coordinate be transformed into reference to after dq coordinate system power winding forward-order current d axis component i+ pd+With q axis component i+ pq+；
(27) by power winding biphase current ipα、ipβWith-θpAs coordinate transform angle, by Park coordinate transform from static
α β coordinate be transformed into reference to after dq coordinate system power winding negative-sequence current d axis component i- pd-With q axis component i- pq-；
(28) by power winding two-phase voltage upα、upβWith θpAs coordinate transform angle, by Park coordinate transform from static α
β coordinate be transformed into reference to after dq coordinate system power winding positive sequence voltage d axis component u+ pd+With q axis component u+ pq+；
(29) by power winding two-phase voltage upα、upβWith-θpAs coordinate transform angle, by Park coordinate transform from static
α β coordinate be transformed into reference to after dq coordinate system power winding negative sequence voltage d axis component u- pd-With q axis component u- pq-；
Step (3) specifically includes:
(31) by power winding positive sequence voltage d axis component u+ pd+, q axis component u+ pq+Summation root mean square obtains power winding positive sequence
Voltage magnitude
The positive sequence voltage amplitude upMoment floating voltage amplitude given value u* p, outer ring controller, control are designed according to this
Device output is given as inner ring
(32) by power winding negative sequence voltage d axis component u- pd-With the difference (0-u of reference value 0- pd-) design d axis component PI
Controller, with u- pd-And constant 0 is inputted as controller, the output of controller outer ring is
(33) by power winding negative sequence voltage q axis component u- pq-With the difference (0-u of reference value 0- pq-) design q axis component PI
Controller, with u- pq-And constant 0 is inputted as controller, the output of controller outer ring is
Step (4) specifically includes:
(41) the d axis scale COEFFICIENT K of positive sequence voltage outer ring PI controller is setpdWith integral coefficient KidValue Kpd=Kpq=
2.5, Kid=Kiq=0.062, wherein Proportional coefficient KpdWith integral coefficient KidRule of thumb obtain；
(42) negative sequence voltage PI controller d axis scale COEFFICIENT K is setpd-With integral coefficient Kid-Value Kpd-=Kpq-=2.5,
Kid-=Kiq-=0.062, wherein Proportional coefficient Kpd-With integral coefficient Kid-Rule of thumb obtain；
(43) by power winding positive sequence voltage reference valueWith the difference of practical positive sequence voltage amplitudeThrough described
Positive sequence voltage outer ring PI controller is exported
By control winding electric current q axis reference valueWith q axis componentDifferenceInput q axis PI controller obtains
Obtain the output PI of q axis controllerq；
(44) by power winding negative sequence voltage d axis reference value 0 and practical negative sequence voltage d axis componentDifferenceIt is exported through the d axis component PI controller
(45) by power winding negative sequence voltage q axis reference value 0 and practical negative sequence voltage q axis componentDifferenceIt is exported through the q axis component PI controller
(46) the d axis of positive sequence voltage outer ring PI controller obtained by step (43), (44) is exportedWith the d axis point
Measure the output of PI controllerIt is added and is used as current inner loop d axis controller given valueBy positive sequence obtained by step (43), (45)
The q axis of outer voltage PI controller exportsIt is exported with the q axis component PI controllerIt is added and is used as current inner loop q
Axis controller given value
Step (5) specifically includes:
(51) according to motor mathematical model, control winding current expression is obtained:
Wherein, coefficientLsc、RscFor control winding induction reactance, impedance；Lspr、LscrFor PW, CW and RW it
Between leakage inductance；LrFor rotor windings self-induction；S is differential operator；
(52) applying step (2), (3) gained sampled result carry out sliding-model control, respectively control winding electric current icd
(k)、icq(k)；Power winding current ipd(k)、ipq(k)；Power winding voltages value upd(k)、upq(k)；
(53) step (52) discretization results are obtained into control winding current expression by motor mathematical model, finally finds out control
Winding current change rate processed
(54) control winding current value subtracts each other to obtain its control winding current variation value twice for sampling, for a control period
The interior no error following realized to control winding electric current, then this bat instruction are equal to next bat sampled value,
(55) control winding voltage given value can be obtained by, which being arranged with this, is
Step (7) specifically: by control winding electric current angular velocity omega in step (23)cIntegrate the angle, θ obtainedcBy u* cd、
u* cqThe three-phase reference value u of control winding voltage is obtained after Park inverse transformationca *、ucb *、ucc *, and it is sent to pulse width tune
Molding block obtains the switching drive signal of machine-side converter, with the signal driving transducer, it is made to export corresponding control winding
Three-phase phase voltage uca、ucb、ucc, realize the closed-loop control to system.
Control winding voltage three-phase reference value uca *、ucb *、ucc *Are as follows:
The beneficial effects of the present invention are: contemplated above technical scheme through the invention, compared with prior art, due to
Using predictive-current control scheme, bandwidth is unrestricted, can complete track with zero error substantially, and system response is rapid.It is opposite simultaneously
Traditional cascade brushless doubly-fed machine PI and PIR control program, control structure is simple, is easy to Digital Realization, and stability height etc. is excellent
Gesture.
Detailed description of the invention
Fig. 1 is cascade brushless doubly-fed machine independent operating schematic diagram；
Fig. 2 is double synchronous positive-negative sequence phasor coordinate systems；
Fig. 3 is the schematic diagram of control winding electric current dq component under dq coordinate system；Wherein, (a) is that three phase static ABC coordinate arrives
The static α β transformation of two-phase；(b) dq coordinate system transformation is rotated for the static α β coordinate system of two-phase to positive-negative sequence two-phase；
Fig. 4 is the schematic diagram of power winding voltages, electric current dq component under dq coordinate system；Wherein, (a) is three phase static ABC
Coordinate is converted to the static α β of two-phase；(b) dq coordinate system transformation is rotated for the static α β coordinate system of two-phase to positive-negative sequence two-phase；
Fig. 5 is outer ring positive-negative sequence control system schematic diagram；Wherein, (a) positive sequence voltage outer loop control；It (b) is negative phase-sequence outer ring
Voltage control；
Fig. 6 is cascade brushless doubly-fed machine predictive-current control schematic diagram；
Fig. 7 is the whole control block diagram of the present invention；
Fig. 8 is that system operates normally waveform；
Fig. 9 runs waveform for no predictive-current control system；
Figure 10 is to have predictive-current control system to run waveform；
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The present invention provides the predictive-current control strategies of a set of cascade brushless doubly-fed machine to realize that threephase load occurs not
Still guarantee to export three-phase voltage balance when balancing fault, so that the voltage for making non-faulting load that there can be balance supplies.
To guarantee that the high quality loaded to non-faulting is powered, cascaded brushless doubly-fed generation system load imbalance fault is realized
When, the influence of negative sequence voltage is eliminated, the present invention is based on control plan is commonly used in cascade brushless doubly-fed machine Independent Power Generation operation study
Slightly, its DC component, positive sequence voltage outer loop control output voltage width are obtained under respective positive-negative sequence coordinate system when failure occurs
Negative sequence voltage is eliminated while value, generates current inner loop reference value, predictive-current control is used to current inner loop, completes given electricity
The dead beat tracing control of stream.This method can effectively eliminate the output voltage imbalance generated by laod unbalance, meet output
The requirement of the balance of voltage, improves system stability.
Specific steps are as follows:
(1) control winding three-phase current i is detectedca、icb、icc, as shown in Fig. 3 (a), will be controlled by Clark coordinate transform
Winding current obtains control winding electric current α axis component i under from static ABC coordinate transform to the static α β reference frame of two-phasecαWith β axis
Component icβ；
(2) power winding three-phase electric current i is detectedpa、ipb、ipc, as shown in Fig. 4 (a), by Clark coordinate transform by power
Winding current obtains power winding current α axis component i under from static ABC coordinate transform to the static α β reference frame of two-phasepαWith β axis
Component ipβ；
(3) power winding three-phase line voltage u is detectedpab、upbc、upca, as shown in Fig. 4 (a), phase is transformed to by line voltage
Voltage upa、upb、upc, power winding voltages are joined from static ABC coordinate transform to the static α β of two-phase by Clark coordinate transform
It examines and obtains power winding voltages α axis component u under coordinate systempαWith beta -axis component upβ；
(4) by installing code-disc on rotor, the mechanical angular velocity vector Ω of rotor is obtainedm, rotor angle speed is obtained according to this
Spend θr；
(5) according to power winding number of pole-pairs pp, control winding number of pole-pairs pc, power winding 100 π rad/s of electricity angular frequency
With rotor machinery angular velocity vector ΩmObtain control winding electric current angular frequencyc:
(6) power winding angular frequency input integral link is obtained into power winding electricity angle, θp, while control winding is electric
Flow angular frequencycInput integral link obtains control winding current angle θc；
θc=θp-(pp+pc)θr
(7) by control winding biphase current i in step (1)cα、icβWith θcAs coordinate transform angle, as shown in Fig. 3 (b), lead to
Cross Park coordinate transform from static α β coordinate be transformed into reference to after dq coordinate system control winding forward-order current d axis component i+ cd+With
Q axis component i+ cq+；
(8) by control winding biphase current i in step (1)cα、icβWith-θcAs coordinate transform angle, as shown in Fig. 3 (b),
By Park coordinate transform from static α β coordinate be transformed into reference to after dq coordinate system control winding negative-sequence current d axis component i- cd-
With q axis component i- cq-；
(9) by power winding biphase current i in step (2)pα、ipβWith θpAs coordinate transform angle, as shown in Fig. 4 (b), lead to
Cross Park coordinate transform from static α β coordinate be transformed into reference to after dq coordinate system power winding forward-order current d axis component i+ pd+With
Q axis component i+ pq+；
(10) by power winding biphase current i in step (2)pα、ipβWith-θpAs coordinate transform angle, as shown in Fig. 4 (b),
By Park coordinate transform from static α β coordinate be transformed into reference to after dq coordinate system power winding negative-sequence current d axis component i- pd-
With q axis component i- pq-；
(11) by power winding two-phase voltage u in step (3)pα、upβWith θpAs coordinate transform angle, as shown in Fig. 4 (b),
By Park coordinate transform from static α β coordinate be transformed into reference to after dq coordinate system power winding positive sequence voltage d axis component u+ pd+
With q axis component u+ pq+；
(12) by power winding two-phase voltage u in step (3)pα、upβWith-θpAs coordinate transform angle, as shown in Fig. 4 (b),
By Park coordinate transform from static α β coordinate be transformed into reference to after dq coordinate system power winding negative sequence voltage d axis component u- pd-
With q axis component u- pq-；
(13) by gained power winding positive sequence voltage d axis component u in step (11)+ pd+, q axis component u+ pq+Summation root mean square
Obtain power winding positive sequence voltage amplitude up；
To guarantee that power generation output voltage amplitude is constant, positive sequence voltage control outer ring, which takes, carves floating voltage amplitude given value u* p, outer ring controller output is given as inner ring, as shown in Fig. 5 (a)；
(14) by power winding negative sequence voltage d axis component u in step (12)- pd-With the difference (0-u of reference value 0- pd-) design
D axis component PI controller；
(15) by power winding negative sequence voltage q axis component u in step (12)- pq-With the difference (0-u of reference value 0- pq-) design
Q axis component PI controller, as shown in Fig. 5 (b)；
(16) the d axis scale COEFFICIENT K of positive sequence voltage outer ring PI controller is setpdWith integral coefficient KidValue Kpd=Kpq=
2.5, Kid=Kiq=0.062, wherein Proportional coefficient KpdWith integral coefficient KidIt rule of thumb obtains, as shown in Fig. 5 (b)；
(17) negative sequence voltage d axis PI controller Proportional coefficient K is setpd-With integral coefficient Kid-Value Kpd-=Kpq-=2.5,
Kid-=Kiq-=0.062, wherein Proportional coefficient Kpd-With integral coefficient Kid-Rule of thumb obtain；
(18) by power winding positive sequence voltage reference value u* pWith the difference of practical positive sequence voltage amplitudeThrough positive sequence
Outer voltage PI controller is exported
By control winding electric current q axis reference valueWith q axis componentDifferenceIt inputs q axis PI controller and obtains q
The output PI of axis controllerq；
(19) by power winding negative sequence voltage d axis reference value 0 and practical negative sequence voltage d axis component u- pd-DifferenceIt is exported through d axis component PI controller
(20) by power winding negative sequence voltage q axis reference value 0 and practical negative sequence voltage q axis component u- pq-DifferenceIt is exported through q axis component PI controller
(21) according to motor mathematical model, control winding current expression is obtained,
Wherein,For coefficient；Lsc、RscFor control winding induction reactance, impedance；Lspr,Lscr- PW, CW and RW
Between leakage inductance；LrFor rotor windings self-induction；S is differential operator.
(22) formula in discretization step (21), obtaining control winding current changing rate is,
(23) control winding current value subtracts each other to obtain its control winding current variation value twice for sampling, for a control period
The interior no error following realized to control winding electric current, then this bat instruction are equal to next bat sampled value, as shown in fig. 6,
(24) control winding voltage given value can be obtained by, which being arranged with this, is,
(25) by control winding electric current angular velocity omega in step (33)cIntegrate the angle, θ obtainedcBy u* cd、u* cqIt is anti-through Park
The three-phase reference value u of control winding voltage is obtained after transformationca *、ucb *、ucc *, and it is sent to Pulse width modulation module, it obtains
The switching drive signal of machine-side converter makes it export corresponding control winding three-phase phase voltage with the signal driving transducer
uca、ucb、ucc, realize the closed-loop control to system, as shown in Figure 7.
(26) control winding voltage three-phase reference value uca *、ucb *、ucc *Are as follows:
Wherein, u* cd、u* cqRespectively through control winding voltage d axis component obtained by step (6) and q axis component, θcFor step
(6) gained control winding angle in.
A kind of cascade brushless doubly-fed machine electricity generation system predictive-current control method proposed by the present invention, compared with prior art
It has the advantages that
(1) this method is fully considered is simplified using predictive-current control in digital domain analysis using digital control advantage
The influence of discretization etc. after Common Controller design；
(2) predictive-current control that this method uses is without traditional controller because positive-negative sequence control target need to separately design control
Device processed, adaptability with higher reduce control complexity；
(3) predictive-current control that this method uses, can be complete within a control period because not there is system bandwidth limitation
The tracking of paired systems reference value, greatly improves response speed.
It can to sum up obtain, system can be made to lead to when laod unbalance failure occurs using predictive-current control method of the present invention
It crosses inner ring predictive-current control and effectively, quickly eliminates negative sequence voltage influence, effectively raise the safety and stability of system,
The high-performance power supply for realizing the load of system non-faulting has great adaptability.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (8)
1. a kind of predictive-current control method under cascade brushless doubly-fed machine unbalanced load, it is characterised in that:
The following steps are included:
(1) it detects control winding three-phase phase current and obtains control winding electric current α axis point after carrying out ABC/ α β coordinate transform to it
Measure icαWith beta -axis component icβ；
It detects power winding three-phase phase current and obtains power winding current α axis component i after carrying out ABC/ α β coordinate transform to itpα
With beta -axis component ipβ；
Detection power winding three-phase line voltage is simultaneously translated into phase voltage, obtains after carrying out ABC/ α β coordinate transform to phase voltage
Power winding voltages α axis component upαWith beta -axis component upβ；
(2) by power winding current α axis component ipαWith beta -axis component ipβAnd power winding voltages α axis component upαAnd beta -axis component
upβα β/dq, which is carried out, through respective positive-negative sequence coordinate system respectively converts to obtain power winding forward-order current, voltage d axis component i+ pd+、u+ pd+, q axis component i+ pq+、u+ pq+And power winding negative-sequence current, voltage d axis component i- pd-、u- pd-, q axis component i- pq-、u- pq-；
Similarly, by control winding electric current α axis component icαWith beta -axis component icβα β/dq is carried out through respective positive-negative sequence coordinate system respectively
Convert to obtain control winding forward-order current d axis component i+ cd+, q axis component i+ cq+And negative-sequence current d axis component i- cd-, q axis component i- cq-；
(3) by power winding positive sequence voltage dq axis component u+ pd+、u+ pq+Design positive sequence voltage outer ring PI controller keeps outer loop voltag defeated
Amplitude tracks the given u of output always out* p, controller output is i+* cd+、i+* cq+；By power winding voltages negative phase-sequence d axis component u- pd-
D axis component PI controller is designed, d axis component u is made- pd-With constant 0 as system input via controller effect, to eliminate negative phase-sequence electricity
The d axis component of pressure, controller output are i-* cd-；
By power winding voltages negative phase-sequence q axis component u- pq-Q axis component PI controller is designed, q axis component u is made- pq-With 0 conduct of constant
System inputs via controller effect, to eliminate the q axis component of negative sequence voltage, exports as i-* cq-；
(4) the d axis of the positive sequence voltage outer ring PI controller is exported into i+* cd+It is controlled with the d axis component PI of negative sequence voltage outer ring
Device processed exports i-* cd-It is added and is used as current inner loop d axis controller given value i+* cd；By the q of the positive sequence voltage outer ring PI controller
Axis exports i+* cq+I is exported with the q axis component PI controller of negative sequence voltage outer ring-* cq-It is added and is controlled as current inner loop q axis
Device given value i+* cq；
(5) differential is carried out to control winding electric current according to motor mathematical model, discretization is then carried out to it and obtains small signal control
Relational expression；After sampled signal Digital Discrete, obtaining control winding electric current is i+ cd(k), i+ cq(k), wherein k is control winding the
K sampled value；To ensure that control winding electric current can track its reference value always, realizes no error following, k sampling is instructed into conduct
K+1 sampled value, i.e.,The small signal obtained by motor controls control relationship afterwards
It obtains control winding Voltage Reference and instructs u* cdAnd u* cq；
(6) the control winding dq shaft voltage reference value u in the step (5) obtained by predicted current* cd、u* cqIt converts and obtains through dq/ABC
The three-phase reference value of control winding voltage
(7) through obtaining the three-phase reference value of control winding voltageThree-phase driving signal is generated to transformation by SVPWM
Device realizes predictive-current control when to unbalanced load.
2. the predictive-current control method under cascade brushless doubly-fed machine unbalanced load according to claim 1, special
Sign is: step (1) specifically includes:
(11) control winding three-phase current i is detectedca、icb、icc, by Clark coordinate transform by control winding electric current from static
Control winding electric current α axis component i is obtained under ABC coordinate transform to the static α β reference frame of two-phasecαWith beta -axis component icβ；
(12) power winding three-phase electric current i is detectedpa、ipb、ipc, by Clark coordinate transform by power winding current from static
Power winding current α axis component i is obtained under ABC coordinate transform to the static α β reference frame of two-phasepαWith beta -axis component ipβ；
(13) power winding three-phase line voltage u is detectedpab、upbc、upca, phase voltage u is transformed to by line voltagepa、upb、upc, lead to
It crosses Clark coordinate transform power winding voltages are obtained into power under from static ABC coordinate transform to the static α β reference frame of two-phase
Winding voltage α axis component upαWith beta -axis component upβ。
3. the predictive-current control method under cascade brushless doubly-fed machine unbalanced load according to claim 1, special
Sign is: step (2) specifically includes:
(21) by installing code-disc on rotor, the mechanical angular speed N of rotor is obtainedr, rotor velocity θ is obtained according to thisr；
(22) according to power winding number of pole-pairs pp, control winding number of pole-pairs pc, power winding 100 π rad/s of electricity angular frequency and
Rotor machinery angular speed NrObtain control winding electric current angular frequencyc:
(23) 100 π rad/s input integral link of power winding angular frequency is obtained into power winding electricity angle, θp, while will control around
Group electric current angular frequencycInput integral link obtains control winding current angle
θc=θp-(pp+pc)θr
(24) by control winding biphase current icα、icβWith θcAs coordinate transform angle, sat by Park coordinate transform from static α β
Mark be transformed into reference to after dq coordinate system control winding forward-order current d axis component i+ cd+With q axis component i+ cq+；
(25) by control winding biphase current icα、icβWith-θcAs coordinate transform angle, sat by Park coordinate transform from static α β
Mark be transformed into reference to after dq coordinate system control winding negative-sequence current d axis component i- cd-With q axis component i- cq-；
(26) by power winding biphase current ipα、ipβWith θpAs coordinate transform angle, sat by Park coordinate transform from static α β
Mark be transformed into reference to after dq coordinate system power winding forward-order current d axis component i+ pd+With q axis component i+ pq+；
(27) by power winding biphase current ipα、ipβWith-θpAs coordinate transform angle, sat by Park coordinate transform from static α β
Mark be transformed into reference to after dq coordinate system power winding negative-sequence current d axis component i- pd-With q axis component i- pq-；
(28) by power winding two-phase voltage upα、upβWith θpAs coordinate transform angle, sat by Park coordinate transform from static α β
Mark be transformed into reference to after dq coordinate system power winding positive sequence voltage d axis component u+ pd+With q axis component u+ pq+；
(29) by power winding two-phase voltage upα、upβWith-θpAs coordinate transform angle, sat by Park coordinate transform from static α β
Mark be transformed into reference to after dq coordinate system power winding negative sequence voltage d axis component u- pd-With q axis component u- pq-。
4. the predictive-current control method under cascade brushless doubly-fed machine unbalanced load according to claim 1, special
Sign is: step (3) specifically includes:
(31) by power winding positive sequence voltage d axis component u+ pd+, q axis component u+ pq+Summation root mean square obtains power winding positive sequence voltage
Amplitude
The positive sequence voltage amplitude upMoment floating voltage amplitude given value u* p, outer ring controller is designed according to this, controller is defeated
I is given as inner ring out+* cd+、i+* cq+；
(32) by power winding negative sequence voltage d axis component u- pd-With the difference (0-u of reference value 0- pd-) design d axis component PI control
Device, with u- pd-And constant 0 is inputted as controller, the output of controller outer ring is i-* cd-；
(33) by power winding negative sequence voltage q axis component u- pq-With the difference (0-u of reference value 0- pq-) design q axis component PI control
Device, with u- pq-And constant 0 is inputted as controller, the output of controller outer ring is i-* cq-。
5. the predictive-current control method under cascade brushless doubly-fed machine unbalanced load according to claim 1, special
Sign is: step (4) specifically includes:
(41) the d axis scale COEFFICIENT K of positive sequence voltage outer ring PI controller is setpdWith integral coefficient KidValue Kpd=Kpq=2.5,
Kid=Kiq=0.062, wherein Proportional coefficient KpdWith integral coefficient KidRule of thumb obtain；
(42) negative sequence voltage PI controller d axis scale COEFFICIENT K is setpd-With integral coefficient Kid-Value Kpd-=Kpq-=2.5, Kid-
=Kiq-=0.062, wherein Proportional coefficient Kpd-With integral coefficient Kid-Rule of thumb obtain；
(43) by power winding positive sequence voltage reference valueWith the difference of practical positive sequence voltage amplitudeThrough the positive sequence
Outer voltage PI controller is exported
By control winding electric current q axis reference valueWith q axis componentDifferenceIt inputs q axis PI controller and obtains q axis
The output PI of controllerq；
(44) by power winding negative sequence voltage d axis reference value 0 and practical negative sequence voltage d axis componentDifference
It is exported through the d axis component PI controller
(45) by power winding negative sequence voltage q axis reference value 0 and practical negative sequence voltage q axis componentDifference
It is exported through the q axis component PI controller
(46) the d axis of positive sequence voltage outer ring PI controller obtained by step (43), (44) is exported into i+* cd+It is controlled with the d axis component PI
Device processed exports i-* cd-It is added and is used as current inner loop d axis controller given value i+* cd；It will be outside positive sequence voltage obtained by step (43), (45)
The q axis of ring PI controller exports i+* cq+I is exported with the q axis component PI controller-* cq-It is added and is controlled as current inner loop q axis
Device given value i+* cq。
6. the predictive-current control method under cascade brushless doubly-fed machine unbalanced load according to claim 1, special
Sign is: step (5) specifically includes:
(51) according to motor mathematical model, control winding current expression is obtained:
Wherein, coefficientLsc、RscFor control winding induction reactance, impedance；Lspr、LscrBetween PW, CW and RW
Leakage inductance；LrFor rotor windings self-induction；S is differential operator；
(52) applying step (2), (3) gained sampled result carry out sliding-model control, respectively control winding electric current icd(k)、icq
(k)；Power winding current ipd(k)、ipq(k)；Power winding voltages value upd(k)、upq(k)；
(53) step (52) discretization results are obtained into control winding current expression by motor mathematical model, finally find out control around
Group current changing rate
(54) control winding current value subtracts each other to obtain its control winding current variation value twice for sampling, is real within a control period
Now to the no error following of control winding electric current, then this bat instruction is equal to next bat sampled value,
(55) control winding voltage given value can be obtained by, which being arranged with this, is
7. the predictive-current control method under cascade brushless doubly-fed machine unbalanced load according to claim 3, special
Sign is: step (7) specifically: by control winding electric current angular velocity omega in step (23)cIntegrate the angle, θ obtainedcBy u* cd、
u* cqThe three-phase reference value u of control winding voltage is obtained after Park inverse transformationca *、ucb *、ucc *, and it is sent to pulse width tune
Molding block obtains the switching drive signal of machine-side converter, with the signal driving transducer, it is made to export corresponding control winding
Three-phase phase voltage uca、ucb、ucc, realize the closed-loop control to system.
8. the predictive-current control method under cascade brushless doubly-fed machine unbalanced load according to claim 1, special
Sign is: control winding voltage three-phase reference value uca *、ucb *、ucc *Are as follows:
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| CN112542973A (en) * | 2020-12-03 | 2021-03-23 | 湖南航天磁电有限责任公司 | Control method of brushless double-fed induction motor under unbalanced power grid |
| CN114172213A (en) * | 2021-11-24 | 2022-03-11 | 上海空间电源研究所 | Power control method of brushless double-fed motor |
| CN114172196A (en) * | 2021-11-24 | 2022-03-11 | 上海空间电源研究所 | Brushless doubly-fed motor grid-connected instant impact current analysis method |
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