CN110198050A - DFIG virtual synchronous control method based on the idle Collaborative Control of torque-under a kind of unbalanced power grid - Google Patents
DFIG virtual synchronous control method based on the idle Collaborative Control of torque-under a kind of unbalanced power grid Download PDFInfo
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- H02J3/386—
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- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/007—Control circuits for doubly fed generators
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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
- H02P2101/00—Special adaptation of control arrangements for generators
- H02P2101/15—Special adaptation of control arrangements for generators for wind-driven turbines
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/76—Power conversion electric or electronic aspects
Abstract
The invention discloses under a kind of unbalanced power grid based on the DFIG virtual synchronous control method of the idle Collaborative Control of torque-, it is on the basis of traditional DFIG virtual synchronous control method, the DFIG system under unbalanced power grid there are aiming at the problem that, the method that AC compensation voltage is added on the basis of using the control voltage generated in virtual synchronous controlling unit, using electromagnetic torque and reactive power as control object and according to different control target exploitation resonators pair secondly harmonic controls.The method of the present invention is under the premise of the main body control structure without changing virtual synchronous control, it can realize effective control to DFIG, realization balances and the stator current of sine, stator current are sinusoidal and active power is constant, stator current is sinusoidal and reactive power and electromagnetic torque control target and can flexibly be switched according to the requirement of real time of power grid to target is controlled for constant three kinds simultaneously；Control system of the present invention carries out real-time monitoring without frequency of the phaselocked loop to network voltage.
Description
Technical field
The invention belongs to motor control technology fields, and in particular to the idle collaboration of torque-is based under a kind of unbalanced power grid
The DFIG virtual synchronous control method of control.
Background technique
Modern wind electricity generation system mainly uses two kinds of types of double fed induction generators and magneto alternator, to improve
Generating efficiency is all made of the variable speed constant frequency generator method of operation.Wherein, at most, technology is most for double fed induction generators (DFIG) application
It is current mainstream model for maturation.DFIG Control system architecture is as shown in Figure 1, DFIG can be in the base of low capacity converter
Variable speed constant frequency control is realized on plinth, meanwhile, active and reactive decoupling control, the flexibility pair of this power control may be implemented
Power grid is highly beneficial.
With wind-powered electricity generation, the continuous improvement of the renewable energy power generations such as photovoltaic proportion in the power system makes power train
Power electronics feature of uniting is obvious.For DFIG, traditional vector current control mode based on synchronous pll due to
Phaselocked loop passively follows mains frequency, and wind power system is made not have inertial response ability, increases certainty with wind-powered electricity generation permeability
The inertia for weakening electric system, deteriorates its frequency dynamic, constitutes significant threat to the safe and stable operation of system.In order to improve
The equivalent inertia of power grid has scholar to propose for virtual synchronous control technology (VSG) to be applied on DFIG, and active-frequency loop is logical
The rotor motion for crossing simulation synchronous generator waves the frequency response characteristic of equation lifting system, and idle-Voltage loop simulation synchronizes
The excitation process of generator carries out Reactive-power control.This kind of mode has thoroughly overturned the original control structure of DFIG, works as mains frequency
When disturbing, frequency is provided for power grid using DFIG rotor machinery rotation function and is supported, double fed induction generators is made to have one
Fixed inertia characteristics.
It is not only electric due to needing to be in weak grid area mostly using the doubly-fed wind turbine of virtual synchronous control
The frequency of net can disturb frequent occurrence, due to uncompensated load etc. caused by the unbalanced phenomenon of three-phase power grid voltage also when
There is generation, for traditional virtual synchronously control, since its control bandwidth is insufficient (to the two of active power and reactive power
Double-frequency fluctuation component is almost without control action), therefore the distortion of DFIG stator current, active/reactive power is necessarily caused to be pulsed,
And a series of problems, such as electromagnetic torque oscillation, this will seriously affect the power quality and maneuverability that DFIG system is conveyed to power grid
Energy.Therefore, research is not how on the basis of changing virtual synchronous control technology excellent frequency response characteristic, to DFIG
It is effectively controlled under unbalanced electric grid voltage, the power quality or self-operating performance for conveying DFIG to power grid obtain
Improve, is of great significance for the further development of the DFIG control method with inertia characteristics.
Summary of the invention
In view of above-mentioned, the present invention provides the DFIG based on the idle Collaborative Control of torque-under a kind of unbalanced power grid is virtual
Synchronisation control means.This method can be real on the basis of not changing virtual synchronous control method excellent frequency response characteristic
Under the conditions of existing unbalanced electric grid voltage DFIG threephase stator current balance type and sine, stator current be sinusoidal and active power is constant,
Stator current sine and reactive power and electromagnetic torque while constant three kinds of control targets simultaneously can be according to the requirement of real time of power grid
Control target is flexibly switched.
The technical solution adopted in the present invention is as follows: based on the idle Collaborative Control of torque-under a kind of unbalanced power grid
DFIG virtual synchronous control method, includes the following steps:
(1) the threephase stator voltage U of DFIG is acquiredsabc, threephase stator electric current IsabcAnd three-phase rotor current Irabc, and lead to
Cross the rotor electric angle frequencies omega that optical code disk detects and DFIG is calculatedrWith rotor position angle θr；
(2) respectively to the threephase stator voltage U collectedsabc, threephase stator electric current IsabcAnd three-phase rotor current Irabc
Clark transformation is carried out, correspondence obtains the stator voltage vector U under static alpha-beta coordinate systemsαβ, stator current vector IsαβAnd rotor
Current phasor Irαβ；
(3) according to stator voltage vector Usαβ, stator current vector IsαβAnd rotor current vector IrαβCalculate DFIG stator
The active-power P of lateral power grid outputs, reactive power QsAnd electromagnetic torque Te；
(4) according to active-power PsAnd reactive power QsIt is calculated by traditional virtual synchronously control link and determines control voltage
Amplitude UrAnd phase angle θs；
(5) to stator voltage vector UsαβAnd stator current vector IsαβIt carries out phase sequence and respectively obtains stator negative sequence voltage
Component Usα-、Usβ–And stator forward-order current component Isα+、Isβ+；
(6) stator negative sequence voltage components U is utilizedsα-、Usβ–And stator forward-order current component Isα+、Isβ+Calculate separately difference
Control the reference value of electromagnetic torque resonant ring under targetAnd the reference value of reactive power resonant ring
(7) according to the reference value of electromagnetic torque resonant ringAnd the reference value of reactive power resonant ringElectromagnetism is turned
Square TeAnd reactive power QsResonance control is carried out respectively, and correspondence obtains the d axis of rotor side inverter AC compensation voltage vector
ComponentWith q axis component
(8) to UrWithResult after being added andThe phase angle θ generated using virtual synchronous controlsIt carries out anti-
Park transformation, obtains the rotor side inverter modulation voltage reference vector under current control periodFinally utilize SVPWM
(space vector pulse width modulation) algorithm construction goes out one group of pwm signal and controls the machine-side converter of DFIG.
Further, in the step (2) according to following formula to threephase stator voltage Usabc, threephase stator electric current Isabc
And three-phase rotor current IrabcCarry out Clark transformation:
Wherein: UsαAnd UsβRespectively correspond stator voltage vector Usαβα axis component and beta -axis component, IsαAnd IsβIt respectively corresponds
Stator current vector Isαβα axis component and beta -axis component, IrαAnd IrβRespectively correspond rotor current vector Irαβα axis component and β
Axis component, Usa、Usb、UscRespectively threephase stator voltage UsabcThe phase voltage of corresponding A, B, C three-phase, Isa、Isb、IscRespectively three
Phase stator current IsabcThe phase current of corresponding A, B, C three-phase, Ira、Irb、IrcRespectively three-phase rotor current IrabcCorresponding A, B, C tri-
The phase current of phase.
Further, the active power of the lateral power grid output of DFIG stator is calculated by the following formula in the step (3)
Ps, reactive power QsAnd electromagnetic torque Te:
Wherein: UsαAnd UsβCorrespond to stator voltage vector Usαβα axis component and beta -axis component, IsαAnd IsβCorrespond to stator
Current phasor Isαβα axis component and beta -axis component, IrαAnd IrβCorrespond to rotor current vector Irαβα axis component and beta -axis component,
npFor the number of pole-pairs of DFIG, LmThe equivalent mutual inductance between stator and rotor.
Further, the amplitude U of virtual synchronous control output voltage is determined in the step (4) according to the following formularWith
Phase angle θs:
θs(k+1)=∫ [ωs(k+1)-ωr(k)]dt
Wherein: Ur(k+1) and θsIt (k+1) is respectively kth+1 amplitude for controlling virtual synchronous control output voltage in the period
And phase angle, ωs(k) and ωs(k+1) be respectively k-th of control period and kth+1 control the period in DFIG stator electric angle
Frequency, ωrIt (k) is the rotor electric angle frequency of DFIG in k-th of control period, Ps(k) and QsIt (k) is respectively k-th of control period
The active power and reactive power instantaneous value of the middle lateral power grid output of DFIG stator, PrefAnd QrefRespectively DFIG stator is laterally electric
Net the active power reference value and reactive power reference qref of output, ω1For power grid electric angle frequency, D and J are respectively DFIG virtually same
The damped coefficient and virtual rotation inertia set in step control, K are the adjustment factor of setting, and t is the time and t=kT, T are control
The size in period, k are the natural number greater than 0.
Further, stator negative sequence voltage components U is calculated according to the following formula in the step (5)sα-、Usβ–And stator
Forward-order current component Isα+、Isβ+:
Wherein: Usα-、Usβ–The respectively α axis component and beta -axis component of stator negative sequence voltage components, Isα+、I sβ+It is respectively fixed
The α axis component and beta -axis component of sub- forward-order current component, T0For the primitive period.
Further, the reference value of electromagnetic torque resonant ring is calculated in the step (6) by following formulaAnd it is idle
The reference value of power resonance ring
When controlling target is threephase stator current balance type and sine:
When controlling target is that stator current is sinusoidal and active power is constant:
When controlling target is sinusoidal stator current and reactive power and electromagnetic torque constant simultaneously:
Wherein:The respectively reference value of electromagnetic torque resonant ring and the reference value of reactive power resonant ring,
Usα-、Usβ–The respectively α axis component and beta -axis component of stator negative sequence voltage components, Isα+、Isβ+Respectively stator forward-order current component
α axis component and beta -axis component, u, v be positive integer, npFor the number of pole-pairs of DFIG, ω1For power grid electric angle frequency.
Further, it is calculated according to the following formula in the step (7) and determines rotor side inverter AC compensation voltage arrow
The d axis component of amountWith q axis component
Wherein: TSOGIIt (s) is the transmission function of resonant controller,
The transmission function TSOGI(s) expression formula is as follows:
Wherein: ωcFor the cutoff frequency of resonant controller, krFor the resonance coefficient of resonant controller, ω0For resonator
Resonance frequency, and ω0=4 π f1, f1For mains frequency, s is Laplace operator.
Further, in the step (8) according to following formula to UrWithThe sum of andCarry out anti-Park
Transformation:
Wherein:WithRespectively rotor side inverter modulation voltage reference vectorα axis component and β axis point
Amount,WithThe respectively d axis component and q axis component of rotor side inverter AC compensation voltage vector, UrAnd θsPoint
Not Wei virtual synchronous control output voltage amplitude and phase angle.
The present invention is on the basis of traditional double fed induction generators virtual synchronous control method, under unbalanced power grid
The problem of stator current is uneven, active/reactive power pulsation and electromagnetic torque vibrate of doubly fed induction generator output, adopt
Rotor side inverter exchange is added on the basis of the rotor side inverter reference voltage that virtual synchronous controlling unit generates to mend
The method for repaying voltage, using electromagnetic torque and reactive power as control object according to different control target exploitation resonators pair
Secondly harmonic is controlled, so propose it is a kind of suitable for unbalanced power grid based on the idle Collaborative Control of torque-
DFIG virtual synchronous control method.Premise of the method for the present invention in the main body control structure without changing traditional virtual synchronously control
Under, so that it may it realizes effective control to DFIG under unbalanced power grid, realizes stator current, the stator current of balance and sine
Sinusoidal and active power is constant, stator current is sinusoidal and reactive power and electromagnetic torque constant three kinds of control targets and can be with simultaneously
Control target is flexibly switched according to the requirement of real time of power grid；Control system of the present invention is without phaselocked loop to network voltage
Frequency carries out real-time monitoring.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of DFIG control system.
Fig. 2 is the system realization principle schematic diagram of control method of the present invention.
Fig. 3 is single-phase in network voltage for the present invention is based on the DFIG virtual synchronous control systems of the idle Collaborative Control of torque-
Fall steady-state response waveform when realizing threephase stator current balance type and this sinusoidal control target under 30% unbalanced power grid
The frequency analysis figure of figure and A phase stator and rotor current；Wherein, UsabcFor threephase stator voltage, IsabcFor threephase stator electric current,
IrabcFor three-phase rotor current, PsFor active power, QsFor reactive power, TeFor electromagnetic torque.
Fig. 4 is single-phase in network voltage for the present invention is based on the DFIG virtual synchronous control systems of the idle Collaborative Control of torque-
Fall steady-state response when realizing that stator current is sinusoidal under 30% unbalanced power grid and constant this control target of active power
The frequency analysis figure of waveform diagram and A phase stator and rotor current；Wherein, UsabcFor threephase stator voltage, IsabcFor threephase stator electricity
Stream, IrabcFor three-phase rotor current, PsFor active power, QsFor reactive power, TeFor electromagnetic torque.
Fig. 5 is single-phase in network voltage for the present invention is based on the DFIG virtual synchronous control systems of the idle Collaborative Control of torque-
Fall realization stator current sine and reactive power and electromagnetic torque while this constant control mesh under 30% unbalanced power grid
The frequency analysis figure of steady-state response waveform diagram and A phase stator and rotor current when mark；Wherein, UsabcFor threephase stator voltage, Isabc
For threephase stator electric current, IrabcFor three-phase rotor current, PsFor active power, QsFor reactive power, TeFor electromagnetic torque.
Specific embodiment
In order to more specifically describe the present invention, with reference to the accompanying drawing and specific embodiment is to technical solution of the present invention
It is described in detail.
The present invention is based on the systems of the DFIG virtual synchronous of the idle Collaborative Control of torque-control to realize as shown in Fig. 2, system
DFIG1 including a 2MW, the voltage source type converter 2 being connected with DFIG rotor windings, for detecting DFIG stator three-phase electricity
The voltage sensor 3 of pressure, the current Hall sensor 4 for detecting DFIG stator three-phase current, for detecting DFIG rotor three
The current Hall sensor 5 of phase current, the optical code disk 6 for detecting DFIG rotor position angle, the differentiator 7 for obtaining generating unit speed
And realize the control loop that DFIG output active and reactive power is adjusted.Control loop is by feedback signal treatment channel and forward direction
Control channel constitute, wherein feedback signal treatment channel include for obtain the stator voltage in stator two-phase stationary coordinate system,
The three-phase of stator current and rotor current vector signal/two-phase static coordinate conversion module 8, power and torque calculation module 9；
Forward direction control channel includes virtual synchronous control computing module 10, phase sequence extraction module 11, torque-is idle reference value computing module
12, resonance control module 13, inverter control voltage synthesis module 14, anti-Park coordinate transformation module 15, SVPWM signal generate
Module 16.
As shown in Fig. 2, the DFIG virtual synchronous control method the present invention is based on the idle Collaborative Control of torque-includes following step
It is rapid:
(1) DFIG threephase stator voltage signal U is acquired using three voltage hall sensors 3sabc, suddenly using three-phase current
You acquire threephase stator current signal I by sensor 4sabc, three-phase rotor current signal is acquired using three-phase current Hall sensor 5
Irabc；
(2) rotor position of DFIG is detected using optical code disk 6r, rotor angular frequency is calculated using differentiator 7r；
(3) the threephase stator voltage signal U that will be collectedsabc, threephase stator current signal IsabcAnd three-phase rotor electricity
Flow signal IrabcThrough three-phase/two-phase static coordinate conversion module 8, the stator voltage vector U under stator coordinate is obtainedsαβ, stator
Current phasor IsαβAnd rotor current vector Irαβ；By taking stator voltage as an example, converted from three phase static to two-phase static coordinate
Expression formula are as follows:
(4) the stator voltage vector U that will be collectedsαβ, stator current vector IsαβAnd rotor current vector IrαβPass through
Power and torque calculation module 9 calculate the active-power P of stator side outputs, reactive power QsAnd DFIG electromagnetic torque Te, meter
Calculate formula are as follows:
(5) active-power P that will be calculated by power and torque calculation module 9s, reactive power QsWith power given value
Pref、QrefIt inputs virtual synchronous and controls computing module 10, obtain the amplitude U of three-phase rotor voltagerWith slip electrical angle θs, wherein
The amplitude U of three-phase rotor voltagerIt is rotor side inverter Voltage Reference under the synchronous rotating frame of rotor voltage orientation
The d axis component U of valuerd, and rotor side inverter voltage reference value q axis component UrqIt is 0.The amplitude U of three-phase rotor voltagerAnd slip
Electrical angle θsCalculation expression it is as follows:
θs(k+1)=∫ [ωs(k+1)-ωr(k)]dt
From the above equation, we can see that according to the active and reactive power signal P of current control periods(k)、Qs(k) and DFIG stator is electric
Angular frequencys(k) corresponding in the error signal of respective reference value, next control period three-phase rotor voltage can be calculated
Amplitude Ur(k+1) and stator electric angle frequencies omegas(k+1), by ωs(k+1) the current control and being calculated by differentiator 7
The rotor electric angle frequencies omega in periodr(k) subtract each other slip angular frequency required for available next control period, it is accumulated
Dividing can be obtained slip electrical angle θs(k+1)。
(6) to the stator voltage vector U under the rest frame obtained by three-phase/two-phase static coordinate conversion module 8sαβ
And stator current vector IsαβStator negative sequence voltage components U is obtained by phase sequence extraction module 11sα-、Usβ–And stator positive sequence
Current component Isα+、I sβ+, specific formula for calculation is as follows:
(7) stator negative sequence voltage components U is obtained using phase sequence extraction module 11sα-、U sβ–And stator forward-order current component
Isα+、Isβ+The ginseng of electromagnetic torque resonant ring under different control targets is calculated separately by the idle reference value computing module 12 of torque-
Examine valueAnd the reference value of reactive power resonant ringIts specific formula for calculation is as follows:
When controlling target is threephase stator current balance type and sine:
When controlling target is that stator current is sinusoidal and active power is constant:
When controlling target is sinusoidal stator current and reactive power and electromagnetic torque constant simultaneously:
(8) reference value for the electromagnetic torque resonant ring being calculated according to the idle reference value computing module 12 of torque-With
And the reference value of reactive power resonant ringThe electromagnetism that power and torque calculation module 9 are obtained using resonance control module 13
Torque TeWith reactive power QsResonance control is carried out respectively, and output obtains the d axis point of rotor side inverter AC compensation voltage vector
AmountWith q axis componentIts specific formula for calculation is as follows:
Wherein, the transmission function of Second Order Generalized Integrator are as follows:
(9) under conditions of rotor voltage orients, the control voltage amplitude of the virtual synchronous control output of computing module 10 is utilized
Value UrAnd the d axis component of the rotor side inverter AC compensation voltage vector obtained by resonance control module 13With q axis
ComponentRotor side inverter final under synchronous rotating frame is obtained by inverter control voltage synthesis module 14
Voltage reference valueIts specific formula for calculation is as follows:
(10) rotor-side inversion final under the synchronous rotating frame for exporting inverter control voltage synthesis module 14
Device voltage reference valueRotor reference coordinate system is transformed to by anti-Park coordinate transformation module 15, is obtained under rotor coordinate
Rotor side inverter voltage reference valueAnti- Park coordinate transform calculation formula are as follows:
(11) willReference value of the value as SVPWM signal generator module 16, modulation obtains the transformation of DFIG rotor-side
The switching signal S of devicea、Sb、Sc；
(12) the switching signal S that will be obtaineda、Sb、ScBy drive module driving switch device, realize idle based on torque-
The DFIG virtual synchronous of Collaborative Control controls.
Referring to Fig. 3, under the DFIG virtual synchronous control method the present invention is based on the idle Collaborative Control of torque-, this implementation
Mode control system stator voltage is single-phase fall 30% unbalanced power grid under, when control target be threephase stator current balance type
And when sinusoidal, the total relative harmonic content of DFIG stator current is 0.90%, under conditions of error allows, meets target call.
Referring to fig. 4, under the DFIG virtual synchronous control method the present invention is based on the idle Collaborative Control of torque-, this implementation
Mode control system stator voltage is single-phase fall 30% unbalanced power grid under, when control target is that stator current is sinusoidal and have
When function power invariability, DFIG stator current sine, total relative harmonic content constant, pulse free for 0.93% and DFIG active power,
Meet target call.
Referring to Fig. 5, under the DFIG virtual synchronous control method the present invention is based on the idle Collaborative Control of torque-, this implementation
Mode control system stator voltage is single-phase fall 30% unbalanced power grid under, when control target is that stator current is sinusoidal and nothing
When function power and electromagnetic torque constant simultaneously, DFIG stator current sine, total relative harmonic content are that 0.86% and DFIG electromagnetism turns
Square and reactive power is constant simultaneously, pulse free, meets target call.
In conclusion the present invention is based on the DFIG virtual synchronous control methods of the idle Collaborative Control of torque-without changing
Under the premise of the control structure of traditional virtual synchronously control, so that it may realize effective control to DFIG under unbalanced power grid,
Realize that stator current, the stator current of balance and sine are sinusoidal and active power is constant, stator current is sinusoidal and reactive power and
Electromagnetic torque while constant three kinds of control target；Control system of the present invention does not need phaselocked loop and carries out in fact to the frequency of network voltage
When monitor.
The above-mentioned description to embodiment is for that can understand and apply the invention convenient for those skilled in the art.
Person skilled in the art obviously easily can make various modifications to above-described embodiment, and described herein general
Principle is applied in other embodiments without having to go through creative labor.Therefore, the present invention is not limited to the above embodiments, ability
Field technique personnel announcement according to the present invention, the improvement made for the present invention and modification all should be in protection scope of the present invention
Within.
Claims (9)
1. based on the DFIG virtual synchronous control method of the idle Collaborative Control of torque-under a kind of unbalanced power grid, which is characterized in that
Include the following steps:
(1) the threephase stator voltage U of DFIG is acquiredsabc, threephase stator electric current IsabcAnd three-phase rotor current Irabc, pass through light code
Disk detects and the rotor electric angle frequencies omega of DFIG is calculatedrWith rotor position angle θr；
(2) respectively to the threephase stator voltage U collectedsabc, threephase stator electric current IsabcAnd three-phase rotor current IrabcIt carries out
Clark transformation, correspondence obtain the stator voltage vector U under static alpha-beta coordinate systemsαβ, stator current vector IsαβAnd rotor current
Vector Irαβ；
(3) according to stator voltage vector Usαβ, stator current vector IsαβAnd rotor current vector IrαβIt is lateral to calculate DFIG stator
The active-power P of power grid outputs, reactive power QsAnd electromagnetic torque Te；
(4) according to active-power PsAnd reactive power QsThe amplitude U for determining control voltage is calculated by virtual synchronous controlling unitr
And phase angle θs；
(5) to stator voltage vector UsαβAnd stator current vector IsαβIt carries out phase sequence and respectively obtains stator negative sequence voltage components
Usα-、Usβ–And stator forward-order current component Isα+、Isβ+；
(6) stator negative sequence voltage components U is utilizedsα-、Usβ–And stator forward-order current component Isα+、Isβ+Calculate separately different controls
The reference value of electromagnetic torque resonant ring under targetAnd the reference value of reactive power resonant ring
(7) according to the reference value of electromagnetic torque resonant ringAnd the reference value of reactive power resonant ringTo electromagnetic torque Te
And reactive power QsResonance control, and the corresponding d axis for obtaining rotor side inverter AC compensation voltage vector point are carried out respectively
AmountWith q axis component
(8) to UrWithThe sum of andThe phase angle θ generated using virtual synchronous controlsAnti- Park transformation is carried out, is obtained
To rotor side inverter modulation voltage reference vectorAnd then go out one group of pwm signal to DFIG using SVPWM algorithm construction
Machine-side converter controlled.
2. the DFIG virtual synchronous under unbalanced power grid according to claim 1 based on the idle Collaborative Control of torque-controls
Method, it is characterised in that: according to following formula to threephase stator voltage U in the step (2)sabc, threephase stator electric current IsabcAnd
Three-phase rotor current IrabcCarry out Clark transformation:
Wherein: UsαAnd UsβRespectively correspond stator voltage vector Usαβα axis component and beta -axis component, IsαAnd IsβRespectively correspond stator
Current phasor Isαβα axis component and beta -axis component, IrαAnd IrβRespectively correspond rotor current vector Irαβα axis component and β axis point
Amount, Usa、Usb、UscRespectively threephase stator voltage UsabcThe phase voltage of corresponding A, B, C three-phase, Isa、Isb、IscRespectively three-phase is fixed
Electron current IsabcThe phase current of corresponding A, B, C three-phase, Ira、Irb、IrcRespectively three-phase rotor current IrabcCorresponding A, B, C three-phase
Phase current.
3. the DFIG virtual synchronous under unbalanced power grid according to claim 1 based on the idle Collaborative Control of torque-controls
Method, it is characterised in that: the active power of the lateral power grid output of DFIG stator is calculated by the following formula in the step (3)
Ps, reactive power QsAnd electromagnetic torque Te:
Wherein: UsαAnd UsβCorrespond to stator voltage vector Usαβα axis component and beta -axis component, IsαAnd IsβCorrespond to stator current
Vector Isαβα axis component and beta -axis component, IrαAnd IrβCorrespond to rotor current vector Irαβα axis component and beta -axis component, npFor
The number of pole-pairs of DFIG, LmThe equivalent mutual inductance between stator and rotor.
4. the DFIG virtual synchronous under unbalanced power grid according to claim 1 based on the idle Collaborative Control of torque-controls
Method, it is characterised in that: determine the amplitude U of virtual synchronous control output voltage in the step (4) according to the following formularAnd phase
Parallactic angle θs:
θs(k+1)=∫ [ωs(k+1)-ωr(k)]dt
Wherein: Ur(k+1) and θsIt (k+1) is respectively kth+1 amplitude and phase for controlling virtual synchronous control output voltage in the period
Parallactic angle, ωs(k) and ωs(k+1) be respectively k-th of control period and kth+1 control the period in DFIG stator electric angle frequency,
ωrIt (k) is the rotor electric angle frequency of DFIG in k-th of control period, Ps(k) and QsIt (k) is respectively in k-th of control period
The active power and reactive power instantaneous value of the lateral power grid output of DFIG stator, PrefAnd QrefThe respectively lateral power grid of DFIG stator
The active power reference value and reactive power reference qref of output, ω1For power grid electric angle frequency, D and J are respectively DFIG virtual synchronous
The damped coefficient and virtual rotation inertia set in control, K are the adjustment factor of setting, and t is the time and t=kT, T are control week
The size of phase, k are the natural number greater than 0.
5. the DFIG virtual synchronous under unbalanced power grid according to claim 1 based on the idle Collaborative Control of torque-controls
Method, it is characterised in that: calculate stator negative sequence voltage components U according to the following formula in the step (5)sα-、Usβ–And stator
Forward-order current component Isα+、Isβ+:
Wherein: Usα-、Usβ–The respectively α axis component and beta -axis component of stator negative sequence voltage components, Isα+、Isβ+Respectively stator is being just
The α axis component and beta -axis component of sequence current component, UsαAnd UsβCorrespond to stator voltage vector Usαβα axis component and beta -axis component,
IsαAnd IsβCorrespond to stator current vector Isαβα axis component and beta -axis component, T0For the primitive period.
6. the DFIG virtual synchronous under unbalanced power grid according to claim 1 based on the idle Collaborative Control of torque-controls
Method, it is characterised in that: calculate the reference value of electromagnetic torque resonant ring in the step (6) according to the following formulaAnd nothing
The reference value of function power resonance ring
When controlling target is threephase stator current balance type and sine:
When controlling target is that stator current is sinusoidal and active power is constant:
When controlling target is sinusoidal stator current and reactive power and electromagnetic torque constant simultaneously:
Wherein:The respectively reference value of electromagnetic torque resonant ring and the reference value of reactive power resonant ring, Usα-、
Usβ–The respectively α axis component and beta -axis component of stator negative sequence voltage components, Isα+、Isβ+The respectively α of stator forward-order current component
Axis component and beta -axis component, u, v are positive integer, npFor the number of pole-pairs of DFIG, ω1For power grid electric angle frequency.
7. the DFIG virtual synchronous under unbalanced power grid according to claim 1 based on the idle Collaborative Control of torque-controls
Method, it is characterised in that: calculated according to the following formula in the step (7) and determine rotor side inverter AC compensation voltage vector
D axis componentWith q axis component
Wherein: TSOGIIt (s) is the transmission function of resonant controller.
8. the DFIG virtual synchronous under unbalanced power grid according to claim 7 based on the idle Collaborative Control of torque-controls
Method, it is characterised in that: the transmission function TSOGI(s) expression formula is as follows:
Wherein: ωcFor the cutoff frequency of resonant controller, krFor the resonance coefficient of resonant controller, ω0For the resonance of resonator
Frequency, and ω0=4 π f1, f1For mains frequency, s is Laplace operator.
9. the DFIG virtual synchronous under unbalanced power grid according to claim 1 based on the idle Collaborative Control of torque-controls
Method, it is characterised in that: according to following formula to U in the step (8)rWithThe sum of andCarry out anti-Park change
It changes:
Wherein:WithRespectively rotor side inverter modulation voltage reference vectorα axis component and beta -axis component,WithThe respectively d axis component and q axis component of rotor side inverter AC compensation voltage vector, UrAnd θsRespectively
Virtual synchronous controls amplitude and the phase angle of output voltage.
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| CN110880766A (en) * | 2019-11-26 | 2020-03-13 | 国网辽宁省电力有限公司本溪供电公司 | Voltage drop compensation device and method based on unified power quality controller |
| CN111404190A (en) * | 2020-04-19 | 2020-07-10 | 中国电建集团华东勘测设计研究院有限公司 | Control method and system for enhancing power output capability of MMC converter station under power grid fault |
| CN111725837A (en) * | 2020-06-18 | 2020-09-29 | 浙江大学 | Low voltage ride through method and device for DFIG virtual synchronous machine, electronic equipment and medium |
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| CN106452263A (en) * | 2016-11-15 | 2017-02-22 | 浙江大学 | Extended active power-based sliding mode variable structure direct power control (DPC) method for DFIG in unbalanced power grid |
| CN108448643A (en) * | 2018-04-26 | 2018-08-24 | 浙江大学 | The virtual synchronous machine motor synchronizing based on current resonance is incorporated into the power networks control method under unbalanced power grid |
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| CN106452263A (en) * | 2016-11-15 | 2017-02-22 | 浙江大学 | Extended active power-based sliding mode variable structure direct power control (DPC) method for DFIG in unbalanced power grid |
| CN108448643A (en) * | 2018-04-26 | 2018-08-24 | 浙江大学 | The virtual synchronous machine motor synchronizing based on current resonance is incorporated into the power networks control method under unbalanced power grid |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110880766A (en) * | 2019-11-26 | 2020-03-13 | 国网辽宁省电力有限公司本溪供电公司 | Voltage drop compensation device and method based on unified power quality controller |
| CN111404190A (en) * | 2020-04-19 | 2020-07-10 | 中国电建集团华东勘测设计研究院有限公司 | Control method and system for enhancing power output capability of MMC converter station under power grid fault |
| CN111404190B (en) * | 2020-04-19 | 2021-09-03 | 中国电建集团华东勘测设计研究院有限公司 | Control method and system for enhancing power output capability of MMC converter station under power grid fault |
| CN111725837A (en) * | 2020-06-18 | 2020-09-29 | 浙江大学 | Low voltage ride through method and device for DFIG virtual synchronous machine, electronic equipment and medium |
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