CN110311409B - Improved double-ring DFIG low voltage ride through control strategy under unbalanced voltage - Google Patents
Improved double-ring DFIG low voltage ride through control strategy under unbalanced voltage Download PDFInfo
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Abstract
In order to prevent the off-grid phenomenon of a wind turbine Generator caused by grid Voltage drop and realize Low Voltage Ride Through (Low Voltage Ride Through) operation of a Doubly-Fed Induction wind Generator (DFIG), an improved double-ring DFIG Low Voltage Ride Through control strategy under unbalanced Voltage is provided. According to the mathematical model and the control requirement of the network side converter, two control targets are designed and corresponding current instructions are deduced, and the flexibility of a voltage control link is improved by designing a BP neural network PID controller. In order to simplify the control structure, the current instruction value is converted into a two-phase static coordinate system, and a modified Proportional Resonance (PR) controller is combined to realize the simultaneous control of the positive sequence and the negative sequence of the current part. Therefore, an improved double-loop network side control system is constructed, and the problems that the direct current bus voltage fluctuation is overlarge in the low-voltage ride-through process and the alternating current side current contains negative sequence components are solved. The method is subjected to simulation verification at the end of the article, and the result proves the effectiveness and feasibility of the method.
Description
Technical Field
The invention relates to a control strategy, in particular to an improved double-ring DFIG low-voltage ride-through control strategy under unbalanced voltage.
Background
The DFIG has the characteristic of direct grid connection at the stator side, so that the DFIG is sensitive to the drop of the voltage of a power grid during the operation of a system. When the voltage drops, the DFIG unit generates a serious electromagnetic transient process, so that the problems of unstable current of the stator and the rotor side, large bus voltage and the like are caused. Therefore, the wind turbine must have low voltage ride through capability.
In order to realize low voltage ride through of a system under unbalanced voltage, a double synchronous rotating coordinate system control strategy is mostly adopted, and the basic principle of the control strategy based on positive and negative sequence double Proportion-integral-derivative (PID) is to represent electromagnetic quantity on a dq axis and then decouple the electromagnetic quantity. The strategy can effectively control the positive-sequence current and the negative-sequence current when the voltage is unbalanced, but the structure is complex, and the controller is inflexible, so that the robustness is poor, and the response is slow. In the literature, the state error quantity is written into a proportional plus fractional order integral form, so that a physical model can be better described, the control effect is considerable, but the fractional order integral algorithm is too complex, the calculation is complex, and the control effect of a negative sequence component is slow. The strategy provided by the double-fed induction wind driven generator grid-side converter low voltage ride through control strategy in the report of electrotechnical science can stabilize the direct current bus voltage when the voltage drops, can effectively improve the low voltage ride through capability, but does not analyze the low voltage ride through when the voltage drops in an unbalanced manner. The converter model simplification method in the wind power generation system in the renewable energy journal analyzes the DFIG under the condition of unbalanced grid voltage and the positive and negative sequence equivalent circuits of the grid-side converter, establishes mathematical models in various coordinate systems under the condition of unbalanced grid voltage, and provides visual information for the low-voltage ride through research of the grid side. The negative sequence component of the electromagnetic quantity is ignored by the traditional control strategy, so that the smaller unbalanced fluctuation can also cause larger negative sequence voltage and current, and the long-term operation of the wind turbine generator is not facilitated.
Disclosure of Invention
Aiming at the defects that the negative sequence component of the electromagnetic quantity is ignored in the traditional control strategy, the structure is complex, the controller is not flexible, and the response is slow, the invention provides an improved double-ring DFIG low voltage ride through control strategy under unbalanced voltage, and a network side control system provided by the controller of a voltage part and a current part is designed by calculating a current instruction, so that the control precision and the rapidity are improved, and the control structure is simplified. The control strategy can ensure that the fluctuation of the direct current bus voltage does not exceed the limit value and the alternating current side current does not contain negative sequence components when the voltage of a power grid drops, thereby completing the low voltage ride through task.
In order to achieve the purpose, the invention adopts the following technical strategies:
an improved dual-ring DFIG low voltage ride through control strategy under unbalanced voltage, comprising the steps of:
s1, modeling a network side converter;
FIG. 1 is a topological structure diagram of a DFIG network side converter;
the power S of the grid-side converter from FIG. 1 is
In formula (1), P 0 、Q 0 Average active power and reactive power; p 2s 、Q 2s Is twice sine power; p is 2c 、Q 2c Is the active and reactive components of the double cosine. It can be seen that in addition to the active and reactive power, harmonics of both the active and reactive power are present in the power.
Wherein each partial component of power can be expressed as
S2, establishing two control targets for realizing bus voltage stabilization and negative sequence component inhibition in the low voltage ride through process, wherein the control targets are as follows, and the control target 1: the direct current voltage is stable and has no double frequency pulsation; control target 2: the alternating current has no negative sequence component; and calculating current command values under the control targets.
S3, designing a BP-PID controller and an improved PR controller to be combined to construct an improved double-ring structure; the outer loop is controlled by a BP neural network PID controller, and the inner loop part of the current is controlled by an improved proportional resonant PR controller.
And S4, verifying the effectiveness and feasibility of the method through simulation verification.
Further, in step S2, the current command value of the control target 1 is:
the current command value can be obtained according to the formula (3), wherein the positive and negative sequence current command values on the d-axis are as follows:
the positive and negative sequence current command values on the q axis are:
further, in step S2, the current command value of the control target 2 is:
the current command value of the control target 2 can be obtained from equation (6).
Wherein the shaft positive and negative sequence current command values of d are
The positive and negative sequence current command values on the q-axis are
Further, in step S3, the calculation process of the BP-PID controller is: the system uses command signals
Actual signal S x And the difference S (k) between the two is the input of the neural network; let the inputs of the input layer be: o j = x (j), wherein j =1,2,3, and
x(2)＝S x x (3) = S (K); through the calculation of each layer of neuron of the neural network, the output layer is obtained
Further, in step S3, the transfer function of the PR controller and the ideal proportional resonant controller is:
in the formula (10), k p Is a proportionality coefficient, k r Is a resonance coefficient, ω 0 Is the resonant frequency.
In order to enhance stability, a cut-off frequency term is added, and after the cut-off frequency is added, the PR controller not only has high gain, but also is not easily influenced by the frequency of the net side. Let the cut-off frequency be omega c Then the PR controller transfer function added to the cutoff frequency is:
the AC side equation can be obtained from the structure of the network side converter as
In formula (12), v gα 、vˊ gβ Is the PR output voltage.
The control equation for the current inner loop can be derived from equation (12) as
The invention has the advantages that the control precision and the rapidity are improved, the control structure is simplified, when the voltage of a power grid drops, the fluctuation of the direct current bus voltage does not exceed the limit value, the alternating current side current does not contain a negative sequence component, and the low voltage ride through task is completed.
Drawings
FIG. 1 is a diagram of a topology of a DFIG grid-side converter;
FIG. 2 is a schematic diagram of a BP-PID controller;
FIG. 3 is a schematic diagram of an improved dual closed loop control;
FIG. 4 is a plot of bus voltage for a conventional control strategy;
FIG. 5 is a current graph of the dq axis of a conventional control strategy;
FIG. 6 is a plot of bus voltage (control target 1) for an improved control strategy;
FIG. 7 is a graph of dq-axis current (control target 1) for an improved control strategy;
FIG. 8 is a graph of bus voltage (control objective 2) for an improved control strategy;
FIG. 9 is a graph of dq-axis current (control target 2) for an improved control strategy.
Detailed Description
The present invention will be further described with reference to the following embodiments.
An improved double-ring DFIG low voltage ride through control strategy under unbalanced voltage, wherein a specific control block diagram is shown in FIG. 3;
firstly, modeling is carried out on a network side converter: FIG. 1 is a topological structure diagram of a DFIG network side converter
The power S of the grid-side converter from FIG. 1 is
In the formula (1), P 0 、Q 0 Average active power and reactive power; p 2s 、Q 2s Is twice sine power; p 2c 、Q 2c The active and reactive components are the double cosine. It can be seen that in addition to the active and reactive power, harmonics of both the active and reactive power are present in the power.
Wherein each partial component of power can be expressed as
In order to realize the bus voltage stabilization and the negative sequence component inhibition in the low voltage ride through process, two control targets are established, wherein the control target 1: the direct current voltage is stable and has no double frequency pulsation; control target 2: the alternating current has no negative sequence component; and calculating current command values under the control targets.
The current command value of the control target 1 is:
the current command value can be obtained according to the equation (3), wherein the positive and negative sequence current command values on the d-axis are:
the positive and negative sequence current command values on the q axis are:
the current command value of the control target 2 is:
the current command value of the control target 2 can be obtained from equation (6).
Wherein d is the shaft positive and negative sequence current instruction value
The positive and negative sequence current command values on the q-axis are
Then designing a BP-PID controller and an improved PR controller to combine to construct an improved double-ring structure; the outer loop is controlled by a BP neural network PID controller, and the inner loop part of the current is controlled by an improved proportional resonant PR controller.
The calculation process of the BP-PID controller is as follows: the system uses command signals
Actual signal S x And the difference S (k) between the two is the input of the neural network; let the inputs of the input layer be: o j = x (j), wherein j =1,2,3, and
x(2)＝S x x (3) = S (K); through the calculation of each layer of neuron of the neural network, the output layer is obtained
PR controller the transfer function of an ideal proportional resonant controller is:
in the formula (10), k p Is a proportionality coefficient, k r Is the resonance coefficient, omega 0 Is the resonant frequency.
In order to enhance stability, a cut-off frequency term is added, and the PR controller not only has high gain but also is not easily influenced by the frequency of the net side after the cut-off frequency is added. Let the cut-off frequency be omega c Then the PR controller transfer function added to the cutoff frequency is:
from the structure of the grid-side converter, the AC-side equation can be obtained as
In formula (12), v gα 、vˊ gβ Is the PR output voltage.
The control equation for the inner loop of the current can be derived from equation (12) as
A network side converter model can be constructed through the steps, a network side control system provided by a controller of a voltage and current part is designed through calculating a current instruction, control accuracy and rapidity are improved, and a control structure is simplified. The control strategy can ensure that the fluctuation of the direct current bus voltage does not exceed the limit value and the alternating current side current does not contain negative sequence components when the voltage of a power grid drops, thereby completing the low voltage ride through task.
Simulation experiments and result analysis are as follows:
1. establishing a simulation model in the environment of MATLAB/Simulink, wherein the main parameters are as follows: the AC side line voltage is 690v, the equivalent resistance is 0.0003pu, the frequency is 50Hz, the inductance is 0.59pu, the DC filter capacitance is 10.01mF, the bus voltage is 1200v, and the A phase voltage drops to 70% under the set working condition.
2. As can be seen from a comparison between fig. 4 and fig. 6, under a condition of unbalanced grid voltage, when a conventional control strategy is adopted, the dc bus voltage has a relatively serious double-frequency fluctuation and a relatively large fluctuation amplitude, which is not favorable for the safe operation of the DFIG grid-connected system. Under the condition of controlling the target 1 in the improved control strategy, the direct-current side bus voltage is relatively stable, the fluctuation amplitude is obviously reduced, and double-frequency fluctuation of the bus voltage is effectively inhibited.
3. As can be seen from comparing fig. 5 and fig. 9, when the grid voltage is unbalanced, the ac side current on the dq axis has a large fluctuation in the conventional control strategy, which indicates that the ac side contains a large amount of negative sequence components, i.e., the ac side current is unbalanced, whereas in the case of the control target 2 in the improved control strategy, the fluctuation of the ac side current on the dq axis is substantially eliminated, which indicates that the ac side does not contain substantially negative sequence components, so that the ac side current is balanced.
4. Comparing fig. 7 and fig. 8, it can be seen that, when the control target 1 is in the state of fluctuation on the ac side current on the dq axis, it means that the negative sequence component on the ac side in the control target 1 cannot be completely eliminated, and when the control target 2 is in the state of double frequency fluctuation on the dc bus voltage, it means that the double frequency fluctuation on the dc bus in the control target 2 cannot be completely eliminated.
According to the improved double-ring DFIG low-voltage ride-through control strategy under unbalanced voltage, the controllers of the voltage part and the current part are designed by calculating the current instruction, and the control structure is simplified while the control accuracy and the rapidity are improved by the provided network side control system. The control strategy can ensure that the fluctuation of the direct current bus voltage does not exceed the limit value and the alternating current side current does not contain negative sequence components when the voltage of a power grid drops, thereby completing the low voltage ride through task. Simulation results prove that the method can effectively slow down the double-frequency fluctuation of the bus voltage and restrain the negative sequence component of the current under the working condition that the voltage of the power grid is unbalanced and falls, the control process is simpler, the robustness is stronger, and the low-voltage ride through capability of the DFIG is effectively improved.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention.
Claims (4)
1. An improved dual-ring DFIG low voltage ride through control strategy under unbalanced voltage is characterized by comprising the following steps:
s1, modeling a network side converter;
establishing a DFIG network side converter model with the power S of the network side converter being
In formula (1), P 0 、Q 0 Average active power and reactive power; p 2s 、Q 2s Is twice sine power; p is 2c 、Q 2c The power is the active and reactive components of the double cosine, and therefore, in addition to the active and reactive power, harmonic waves of the active and reactive power also exist in the power;
wherein each partial component of power can be expressed as
S2, establishing two control targets for realizing bus voltage stabilization and negative sequence component inhibition in the low voltage ride through process, wherein the control targets are as follows, and the control target 1: the direct current voltage is stable without double frequency pulsation; control target 2: the alternating current side current has no negative sequence component; simultaneously calculating current instruction values under each control target;
s3, designing a BP-PID controller and an improved PR controller to be combined to construct an improved double-ring structure; the outer ring is controlled by a BP neural network PID controller, and the inner ring part of the current is controlled by an improved proportional resonance PR controller;
wherein, the calculation process of the PR controller is as follows:
transfer function of ideal proportional resonant controller:
in the formula (10), k p Is a proportionality coefficient, k r Is the resonance coefficient, omega 0 Is the resonant frequency;
in order to enhance stability, a cut-off frequency term is added, and after the cut-off frequency is added, the PR controller not only has high gain, but also is not easily influenced by the frequency of the network side, so that the cut-off frequency is omega c Then the PR controller transfer function added to the cutoff frequency is:
the AC side equation can be obtained from the structure of the network side converter as
In the formula (12), the reaction mixture is,
indicating a PR output voltage command value;
the control equation for the current inner loop can be derived from equation (12) as
And S4, verifying the effectiveness and feasibility of the method through simulation verification.
2. The under-unbalanced-voltage improved dual-loop DFIG low-voltage-ride-through control strategy according to claim 1, wherein in step S2: the current command value of the control target 1 is:
the current command value can be obtained according to the formula (3), wherein the positive and negative sequence current command values on the d-axis are as follows:
the positive and negative sequence current command values on the q axis are:
3. the under-unbalanced-voltage improved dual-loop DFIG low-voltage-ride-through control strategy as claimed in claim 1, wherein in step S2, the current command value of the control target 2 is:
the current command value of the control target 2 can be obtained from the equation (6);
wherein the shaft positive and negative sequence current command values of d are
The positive and negative sequence current command values on the q-axis are
4. The strategy according to claim 1, wherein in step S3, the calculation process of the BP-PID controller is: the system uses command signals
Actual signal S x And the difference S (k) between the two is the input of the neural network; let the inputs of the input layer be: o j = x (j), wherein j =1,2,3, and
by pairsThe neuron of each layer of the neural network calculates to obtain an output layer of
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