CN111865151A - Parameter-free prediction current control method for independent brushless doubly-fed induction generator - Google Patents

Parameter-free prediction current control method for independent brushless doubly-fed induction generator Download PDF

Info

Publication number
CN111865151A
CN111865151A CN202010849805.9A CN202010849805A CN111865151A CN 111865151 A CN111865151 A CN 111865151A CN 202010849805 A CN202010849805 A CN 202010849805A CN 111865151 A CN111865151 A CN 111865151A
Authority
CN
China
Prior art keywords
current
control winding
control
winding
voltage
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202010849805.9A
Other languages
Chinese (zh)
Other versions
CN111865151B (en
Inventor
刘毅
陈俊杰
徐伟
张杨生
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huazhong University of Science and Technology
Original Assignee
Huazhong University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huazhong University of Science and Technology filed Critical Huazhong University of Science and Technology
Priority to CN202010849805.9A priority Critical patent/CN111865151B/en
Publication of CN111865151A publication Critical patent/CN111865151A/en
Application granted granted Critical
Publication of CN111865151B publication Critical patent/CN111865151B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/28—Arrangements for controlling current
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • 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

Abstract

The invention discloses a parameter-free prediction current control method for an independent brushless doubly-fed induction generator, and belongs to the technical field of brushless doubly-fed induction generator control. The method comprises the following steps: monitoring the voltage and current information of the control winding at the first two moments and the current moment of the motor in real time, calculating the predicted current with delay compensation, determining the optimal switching state of a power electronic device in the control winding side converter through a cost function, and finally determining the duty ratio by using a single vector modulation algorithm to generate a reasonable and effective switching sequence so as to drive the control winding side converter to realize the real-time control of the control winding current. The control method predicts and controls the winding current through real-time motor state information, can effectively avoid dependence on motor parameters, is hardly influenced by motor parameter change in a control system, and is strong in robustness and more stable in operation.

Description

Parameter-free prediction current control method for independent brushless doubly-fed induction generator
Technical Field
The invention belongs to the technical field of brushless doubly-fed induction generator control, and particularly relates to a parameter-free prediction current control method of an independent brushless doubly-fed induction generator.
Background
The brushless double-fed induction generator is a new type AC induction motor, and contains two sets of stator windings with different pole pair numbers, and its rotor is specially designed, so that the rotating magnetic fields with different pole pair numbers produced by two sets of stator windings can indirectly interact with each other, and can implement energy transfer. Two sets of stator windings of the brushless doubly-fed motor are respectively called as a power winding and a control winding, and compared with the brush doubly-fed induction generator, the brushless doubly-fed induction generator cancels an electric brush and a slip ring, and has the advantages of simple structure and high reliability.
The brushless doubly-fed induction generator can realize variable-speed constant-frequency power generation, and has a simple and reliable structure, so that the brushless doubly-fed induction generator has remarkable application advantages in the fields of wind power generation, independent ship shaft power generation and the like. Usually, the wind power generator is connected to the grid during operation, and the control objective of the wind power system is to regulate the active power and the reactive power. However, the independent generator is not connected to the grid, and its output voltage needs to be directly controlled, so that the amplitude and frequency of the output voltage of the generator are kept constant when the rotation speed or the power load of the generator changes.
The brushless doubly-fed induction generator has the characteristics of an asynchronous motor during operation, and the control strategy of the asynchronous motor can be applied to the brushless doubly-fed induction generator after being improved. At present, scalar control, vector control, direct torque control and other classical control methods are applied to a brushless doubly-fed induction generator system, but the traditional control strategies have respective advantages and disadvantages. In order to further improve the system operation performance, domestic and foreign scholars develop researches on novel control strategies of the brushless doubly-fed induction generator. The predictive control is concerned by the advantages of intuitive concept, easy understanding, easy non-linearity of the system, fast dynamic response and the like.
The model prediction control method of the traditional independent brushless doubly-fed induction generator has a large number of motor parameters when calculating the prediction current, and has the following defects: (1) the system performance excessively depends on the model quality, and when the model quality is different from the actual motor, the system performance is greatly reduced; (2) the system performance excessively depends on the motor parameters, when the motor parameters change due to the outside world in the running process, the accuracy of the predicted current calculation is greatly reduced, the control system performance is greatly reduced, and even out of control can be caused; (3) the electromagnetic characteristics of the brushless doubly-fed induction generator are complex and part of the electromagnetic parameters may change during the operation of the motor. Therefore, in order to reduce the dependence on the system model and parameters, improve the parameter robustness of the system, and improve the operational reliability of the system, it is necessary to design a pre-control method which is applicable to the brushless doubly-fed induction generator and does not depend on the motor parameters.
Disclosure of Invention
Aiming at the defects or improvement requirements of the prior art, the invention provides a parameter-free prediction current control method of an independent brushless doubly-fed induction generator, and aims to solve the technical problem that the traditional model prediction control method of the independent brushless doubly-fed induction generator excessively depends on the quality of a model and parameters of a motor, so that the running reliability of a system is low.
In order to achieve the above object, the present invention provides a method for controlling a non-parametric prediction current of an independent brushless doubly-fed induction generator, comprising:
s1, acquiring a d-axis component reference value of a control winding current
Figure BDA0002644341090000021
Reference value of q-axis component
Figure BDA0002644341090000022
Set to 0 and calculate the reference angle of the control winding current vector
Figure BDA0002644341090000023
S2, obtaining three-phase current values i of three adjacent moments of the control winding2a(k)、i2a(k-1)、i2a(k-2)、i2b(k)、i2b(k-1)、i2b(k-2)、i2c(k)、i2c(k-1)、i2c(k-2) performing rotation coordinate transformation to obtain control under the corresponding time dq rotation coordinate systemCurrent i of the system winding2d(k)、i2q(k)、i2d(k-1)、i2q(k-1)、i2d(k-2)、i2q(k-2)；
S3, calculating a current change value and a voltage change value of two adjacent moments of the control winding under the dq rotation coordinate system:
Δi2d(k-2)＝i2d(k-1)-i2d(k-2)
Δi2d(k-1)＝i2d(k)-i2d(k-1)
Δi2q(k-2)＝i2q(k-1)-i2q(k-2)
Δi2q(k-1)＝i2q(k)-i2q(k-1)
s4, calculating a first intermediate variable M2dAnd a first intermediate variable M2q：
Figure BDA0002644341090000031
Figure BDA0002644341090000032
Within each sampling period, if | u2d(k-1)-u2dIf (k-2) | > 0.5 holds true, M is updated2d(ii) a If | u2d(k-1)-u2d(k-2)|≤0.5，M2dThen it needs to keep the same value as the last time, and calculate M in the same way2q(ii) a Wherein u is2d(k-1)、u2q(k-1)、u2d(k-2)、u2q(k-2) is a control winding voltage reference value;
s5, calculating predicted current values of d and q axes of the control winding with delay compensation
Figure BDA0002644341090000033
And
Figure BDA0002644341090000034
Figure BDA0002644341090000035
Figure BDA0002644341090000036
in the formula, the subscript sw ═ i represents the ith switching state of the power electronic device in the control winding side converter, and i ∈ {0,1,2, … 6,7 }; u. of2d(k+1)sw＝iAnd u2q(k+1)sw＝iD and q axis components of a control winding voltage vector corresponding to the ith switch state;
s6, selecting a proper voltage vector to minimize the cost function, and taking the screened voltage vector as a voltage reference value of the control winding at the next moment;
and S7, transmitting a power electronic device switching sequence corresponding to the control winding voltage reference value to the control winding side converter to generate the required control winding current.
Further, the step of obtaining the d-axis component reference value of the control winding current in step S1
Figure BDA0002644341090000037
The method specifically comprises the following steps:
converting the sampled three-phase voltages of the control windings a, b and c into a static alpha beta coordinate system through Clark; taking the arithmetic square root of the alpha and beta components and filtering to obtain the actual voltage value of the power winding; the actual value of the voltage of the power winding is differed from the given value, and the current change value delta i of the control winding is obtained through calculation of a PI (proportional integral) controller2d(ii) a Will be Δ i2dAdding the reference value to the no-load exciting current, and processing the sum by an amplitude limiter to obtain a reference value for controlling the d-axis component of the winding current
Figure BDA0002644341090000041
Further, the step of calculating the reference angle of the control winding current vector in step S1
Figure BDA0002644341090000042
The method specifically comprises the following steps:
calculating a reference angle for a control winding current vector
Figure BDA0002644341090000043
Determining the rotor position angle through a motor encoder and carrying out differential processing to obtain the angular velocity omega of the motor rotorrFiltering out high frequency noise by a low pass filter, and filtering out high frequency noise by a low pass filter
Figure BDA0002644341090000044
Calculating the electrical angular velocity of the current vector of the control winding
Figure BDA0002644341090000045
Finally, obtaining a reference angle through integral operation
Figure BDA0002644341090000046
Figure BDA0002644341090000047
Electric angular velocity, p, representing the current vector of the power winding1、p2The number of power winding pole pairs and the number of control winding pole pairs are respectively represented.
Further, in step S2, obtaining three-phase current values i at three adjacent moments of the control winding2a(k)、i2a(k-1)、i2a(k-2)、i2b(k)、i2b(k-1)、i2b(k-2)、i2c(k)、i2c(k-1)、i2c(k-2), the specific implementation process is as follows:
c, controlling the phase a and phase b current values i of the winding at the moment k2a(k)、i2b(k) And the control winding current values i at the time points k-1 and k-2 stored in the controller2a(k-1)、i2a(k-2)、i2b(k-1)、i2b(k-2) substituting the following formula to calculate the c-phase current of the control winding at the time of k, k-1 and k-2:
i2c(k)＝-(i2a(k)+i2b(k))
i2c(k-1)＝-(i2a(k-1)+i2b(k-1))
i2c(k-2)＝-(i2a(k-2)+i2b(k-2))。
further, in step S2, the rotating coordinate transformation specifically includes:
the currents of the a phase, the b phase and the c phase of the control winding at the moments k, k-1 and k-2 are transformed into the current i of the control winding at the corresponding moment dq coordinate system through the following rotating coordinate transformation2d(k)、i2q(k)、i2d(k-1)、i2q(k-1)、i2d(k-2)、i2q(k-2)：
Figure BDA0002644341090000051
Figure BDA0002644341090000052
Figure BDA0002644341090000053
Further, step S6 specifically includes:
respectively calculating the predicted current value and the cost function when 8 voltage vectors act independently, and screening out a voltage vector which enables the cost function to be minimum as a reference voltage vector for controlling the k +1 moment of the winding side converter
Figure BDA0002644341090000054
And
Figure BDA0002644341090000055
further, the cost function expression is:
Figure BDA0002644341090000056
further, step S7 specifically includes:
the reference voltage vector obtained in step S6
Figure BDA0002644341090000057
And
Figure BDA0002644341090000058
carrying out inverse Park transformation to obtain the component of the reference voltage vector under the static alpha beta coordinate system
Figure BDA0002644341090000059
And
Figure BDA00026443410900000510
Figure BDA00026443410900000511
will be provided with
Figure BDA00026443410900000512
And
Figure BDA00026443410900000513
inputting the input into a PWM generator to generate an optimized power electronic device switching sequence for controlling the winding side converter;
sending the power electronics switching sequence to a control winding side converter to generate a desired control winding current.
In general, the above technical solutions contemplated by the present invention can achieve the following advantageous effects compared to the prior art.
The invention provides a parameter-free prediction current control method of an independent brushless doubly-fed induction generator, and the method replaces the traditional control winding current loop using a PI controller to control an independent brushless doubly-fed power generation system. The method adopts the motor state information of the first two moments to replace system parameters to accurately predict the motor control winding current, and the prediction current expression does not contain motor parameters, thereby effectively avoiding the problems that the system performance excessively depends on the system models and parameters and the like in the traditional model prediction control. Therefore, by adopting the motor control system, under different working conditions, the stable generating voltage is kept, the winding current is controlled to quickly and accurately track the reference value, the dynamic response performance is high, the excellent characteristics of the traditional predictive control are kept, the influence caused by the change of the motor parameters is avoided, and the robustness of coping with the change of the motor parameters is high.
Drawings
FIG. 1 is a flow chart of a method for controlling a current without parameter prediction according to an embodiment of the present invention;
FIG. 2 is a control schematic block diagram of a parameter-free predictive current control method according to an embodiment of the present invention;
fig. 3 is a block diagram of a non-parametric predictive current algorithm provided by an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention provides a parameter-free predicted current control method for an independent brushless doubly-fed induction generator, which replaces a traditional PI current control loop at a control winding side in a control system of the independent brushless doubly-fed induction generator to realize the control of the control winding current, and does not need any motor parameter when calculating the predicted current of the control winding. Referring to fig. 1,2 and 3, the method comprises the steps of:
s1, acquiring a d-axis component reference value of a control winding current
Figure BDA0002644341090000061
Reference value of q-axis component
Figure BDA0002644341090000062
Set to 0 and calculate the reference angle of the control winding current vector
Figure BDA0002644341090000071
Step S1 specifically includes:
as shown in fig. 2Obtaining a reference value for controlling the d-axis component of the winding current
Figure BDA0002644341090000072
Converting the sampled three-phase voltages of the control windings a, b and c into a static alpha beta coordinate system through Clark; taking the arithmetic square root of alpha and beta components and filtering to obtain the actual value U of the power winding voltage1(ii) a The actual value and the given value of the voltage of the power winding are compared
Figure BDA0002644341090000073
Making difference, and calculating to obtain a control winding current change value delta i through a PI (proportional integral) controller2d(ii) a Will be Δ i2dAdding the reference value to the no-load exciting current, and processing the sum by an amplitude limiter to obtain a reference value for controlling the d-axis component of the winding current
Figure BDA0002644341090000074
The reference value calculated according to the steps has higher accuracy and fewer harmonic waves, and lays a foundation for further accurately controlling the current;
calculating a reference angle for a control winding current vector
Figure BDA0002644341090000075
Determining the rotor position angle through a motor encoder and carrying out differential processing to obtain the angular velocity omega of the motor rotorrFiltering out high frequency noise by a low pass filter, and filtering out high frequency noise by a low pass filter
Figure BDA0002644341090000076
Calculating the electrical angular velocity of the current vector of the control winding
Figure BDA0002644341090000077
Finally, obtaining a reference angle through integral operation
Figure BDA0002644341090000078
Figure BDA0002644341090000079
Electric angular velocity, p, representing the current vector of the power winding1、p2The number of power winding pole pairs and the number of control winding pole pairs are respectively represented.
S2, obtaining three-phase current values i of three adjacent moments of the control winding2a(k)、i2a(k-1)、i2a(k-2)、i2b(k)、i2b(k-1)、i2b(k-2)、i2c(k)、i2c(k-1)、i2c(k-2) performing rotation coordinate transformation to obtain control winding current i under corresponding time dq rotation coordinate system2d(k)、i2q(k)、i2d(k-1)、i2q(k-1)、i2d(k-2)、i2q(k-2)；
Obtaining three-phase current values i of three adjacent moments of a control winding2a(k)、i2a(k-1)、i2a(k-2)、i2b(k)、i2b(k-1)、i2b(k-2)、i2c(k)、i2c(k-1)、i2c(k-2), the specific implementation process is as follows: c, controlling the phase a and phase b current values i of the winding at the moment k2a(k)、i2b(k) And the control winding current values i at the time points k-1 and k-2 stored in the controller2a(k-1)、i2a(k-2)、i2b(k-1)、i2b(k-2) substituting the following formula to calculate the c-phase current of the control winding at the time of k, k-1 and k-2:
i2c(k)＝-(i2a(k)+i2b(k))
i2c(k-1)＝-(i2a(k-1)+i2b(k-1))
i2c(k-2)＝-(i2a(k-2)+i2b(k-2))
the currents of the a phase, the b phase and the c phase of the control winding at the moments k, k-1 and k-2 are transformed into the current i of the control winding at the corresponding moment dq coordinate system through the following rotating coordinate transformation2d(k)、i2q(k)、i2d(k-1)、i2q(k-1)、i2d(k-2)、i2q(k-2)：
Figure BDA0002644341090000081
Figure BDA0002644341090000085
Figure BDA0002644341090000082
S3, calculating a current change value and a voltage change value of two adjacent moments of the control winding under the dq rotation coordinate system; the obtained current values of the control winding at the k, k-1 and k-2 moments are subtracted by two to obtain the current change values of the control winding at the k-1 moment and the k-2 moment respectively, as shown in the following formula:
Δi2d(k-2)＝i2d(k-1)-i2d(k-2)
Δi2d(k-1)＝i2d(k)-i2d(k-1)
Δi2q(k-2)＝i2q(k-1)-i2q(k-2)
Δi2q(k-1)＝i2q(k)-i2q(k-1)
s4, calculating a first intermediate variable M according to the following formula2dAnd a first intermediate variable M2q；
Figure BDA0002644341090000083
Figure BDA0002644341090000084
Within each sampling period, if | u2d(k-1)-u2dIf (k-2) | > 0.5 holds, M is calculated according to the above formula2d(ii) a If | u2d(k-1)-u2d(k-2)|≤0.5，M2dThen it needs to keep the same value as the last time, and calculate M in the same way2q；u2d(k-1)、u2q(k-1)、u2d(k-2)、u2q(k-2) is a control winding voltage reference value;
s5, controlling the d and q axes of the winding to predict the current value according to the following formula with delay compensation
Figure BDA0002644341090000091
And
Figure BDA0002644341090000092
Figure BDA0002644341090000093
Figure BDA0002644341090000094
in the formula, the subscript sw ═ i represents the ith switching state of the power electronic device in the control winding side converter, and i ∈ {0,1,2, … 6,7 }; u. of2d(k+1)sw＝iAnd u2q(k+1)sw＝iD and q axis components of a control winding voltage vector corresponding to the ith switch state;
s6, selecting a proper voltage vector to minimize the cost function, and taking the screened voltage vector as a voltage reference value of the control winding at the next moment;
step S6 specifically includes: respectively calculating the predicted current value and the cost function when 8 voltage vectors act independently, and screening out a voltage vector which enables the cost function to be minimum as a reference voltage vector for controlling the k +1 moment of the winding side converter
Figure BDA0002644341090000095
And
Figure BDA0002644341090000096
when different voltage vectors act independently, the arithmetic square sum of the component differences of d and q axes of the predicted current value and the reference value of the control winding current is used as a cost function, and the expression is as follows:
Figure BDA0002644341090000097
and S7, transmitting a power electronic device switching sequence corresponding to the control winding voltage reference value to the control winding side converter to generate the required control winding current.
Step S7 specifically includes: will step withReference voltage vector obtained in step S6
Figure BDA0002644341090000098
And
Figure BDA0002644341090000099
carrying out inverse Park transformation to obtain the component of the reference voltage vector under the static alpha beta coordinate system
Figure BDA00026443410900000910
And
Figure BDA00026443410900000911
Figure BDA0002644341090000101
will be provided with
Figure BDA0002644341090000102
And
Figure BDA0002644341090000103
inputting the input into a PWM generator to generate an optimized power electronic device switching sequence for controlling the winding side converter; the power electronics switching sequence is sent to the control winding side converter to generate the required control winding current.
For the sake of reasonable explanation of the above steps, the following describes the derivation of an improved non-parametric predictive current expression:
according to the prior literature, the prediction current expression of the model prediction control method of the brushless doubly-fed induction generator is (1).
Figure BDA0002644341090000104
Figure BDA0002644341090000105
Wherein u, i, Ψ are voltages,Current and flux linkage, ω angular velocity, R, L and p winding resistance, inductance and pole pair number, respectively, subscripts 1,2 and r representing power winding, control winding and rotor parameters, respectively, d and q representing d-axis and q-axis components, respectively, TsFor the sampling period, k represents the kth time, σ2、D2dAnd D2qAre all intermediate variables;
taking d-axis current derivation as an example, according to equations (1) and (2), the current change value at the k time can be obtained as:
Figure BDA0002644341090000111
according to equation (3), the current change values at k-1 and k-2 can be respectively expressed as:
Figure BDA0002644341090000112
Figure BDA0002644341090000113
by subtracting the formulae (4) and (5), it can be obtained:
Figure BDA0002644341090000114
when equation (2) is substituted for equation (6), the difference between the current change values at two adjacent time points can be expressed as:
Figure BDA0002644341090000115
wherein
Figure BDA0002644341090000116
In general, A can be known through simulation and experimental verification2Δi2d(k-2)、A1Δi1dThe value of (k-2) is less than Deltau2d10% of the value of (k-2), so the latter two terms can be ignored approximately. Thereby obtaining the result that,
Figure BDA0002644341090000117
further comprises
Figure BDA0002644341090000118
Equation (6) can therefore be simplified to:
Figure BDA0002644341090000121
definition M2d＝Ts/σ2Then M is2dCan be prepared from
Figure BDA0002644341090000122
Is calculated to obtain M2dSubstitution of formula (4) can yield:
Figure BDA0002644341090000123
from equation (9), the current change values at the time k and k +1 can be inferred as:
Figure BDA0002644341090000124
Figure BDA0002644341090000125
where the subscript "sw ═ i" (i ∈ {0,1, … 6,7}) indicates that the switching state of the power device is one of eight possible switching states.
Therefore, the predicted current values at the time k +1 and the time k +2 including the delay compensation are:
Figure BDA0002644341090000126
Figure BDA0002644341090000127
here, the subscript "sw ═ indicates that the switching state at time k is.
From the foregoing, it can be seen that
Figure BDA0002644341090000128
And
Figure BDA0002644341090000129
the approximate relationship of (c). Formula (13) can be rewritten as in combination formula (9):
Figure BDA00026443410900001210
similarly, the q-axis predicted current expression can be derived as:
Figure BDA0002644341090000131
in addition, the cost function of the non-parameter prediction current control is the same as that of the traditional prediction control:
g＝[i2dref-i2d(k+1)]2+[i2qref-i2q(k+1)]2(16)
the deduction shows that when the control method provided by the invention is used for solving the predicted current, the used data are the current, voltage and other state information of the motor, and no motor parameter is used, so that the dependence on the motor parameter is effectively avoided, and the parameter robustness of the system is improved.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (8)

1. A parameter-free prediction current control method for an independent brushless doubly-fed induction generator is characterized by comprising the following steps:
s1, acquiring a d-axis component reference value of a control winding current
Figure FDA0002644341080000011
Reference value of q-axis component
Figure FDA0002644341080000012
Set to 0 and calculate the reference angle of the control winding current vector
Figure FDA0002644341080000013
S2, obtaining three-phase current values i of three adjacent moments of the control winding2a(k)、i2a(k-1)、i2a(k-2)、i2b(k)、i2b(k-1)、i2b(k-2)、i2c(k)、i2c(k-1)、i2c(k-2) performing rotation coordinate transformation to obtain control winding current i under corresponding time dq rotation coordinate system2d(k)、i2q(k)、i2d(k-1)、i2q(k-1)、i2d(k-2)、i2q(k-2)；
S3, calculating a current change value and a voltage change value of two adjacent moments of the control winding under the dq rotation coordinate system:
Δi2d(k-2)＝i2d(k-1)-i2d(k-2)
Δi2d(k-1)＝i2d(k)-i2d(k-1)
Δi2q(k-2)＝i2q(k-1)-i2q(k-2)
Δi2q(k-1)＝i2q(k)-i2q(k-1)
s4, calculating a first intermediate variable M2dAnd a first intermediate variable M2q：
Figure FDA0002644341080000014
Figure FDA0002644341080000015
At each sampling instant in each sampling period, if | u2d(k-1)-u2dIf (k-2) | > 0.5 holds true, M is updated2d(ii) a Such asFruit | u2d(k-1)-u2d(k-2)|≤0.5，M2dThen it needs to keep the same value as the last time, and calculate M in the same way2q(ii) a Wherein u is2d(k-1)、u2q(k-1)、u2d(k-2)、u2q(k-2) is a voltage reference value of the control winding at the corresponding moment;
s5, calculating predicted current values of d and q axes of the control winding with delay compensation
Figure FDA0002644341080000016
And
Figure FDA0002644341080000017
Figure FDA0002644341080000021
Figure FDA0002644341080000022
in the formula, the subscript sw ═ i represents the ith switching state of the power electronic device in the control winding side converter, and i ∈ {0,1,2, … 6,7 }; u. of2d(k+1)sw＝iAnd u2q(k+1)sw＝iD and q axis components of a control winding voltage vector corresponding to the ith switch state;
s6, selecting a proper voltage vector to minimize the cost function, and taking the screened voltage vector as a voltage reference value of the control winding at the next moment;
and S7, transmitting a power electronic device switching sequence corresponding to the control winding voltage reference value to the control winding side converter to generate the required control winding current.
2. The method according to claim 1, wherein the reference value of d-axis component of the control winding current is obtained in step S1
Figure FDA0002644341080000023
The method specifically comprises the following steps:
converting the sampled three-phase voltages of the control windings a, b and c into a static alpha beta coordinate system through Clark; taking the arithmetic square root of the alpha and beta components and filtering to obtain the actual voltage value of the power winding; the actual value of the voltage of the power winding is differed from the given value, and the current change value delta i of the control winding is obtained through calculation of a PI (proportional integral) controller2d(ii) a Will be Δ i2dAdding the reference value to the no-load exciting current, and processing the sum by an amplitude limiter to obtain a reference value for controlling the d-axis component of the winding current
Figure FDA0002644341080000024
3. The method of claim 1, wherein the step of calculating the reference angle of the control winding current vector in step S1 is performed by using a method of controlling the current vector of the independent brushless doubly-fed induction generator without parameter prediction
Figure FDA0002644341080000025
The method specifically comprises the following steps:
calculating a reference angle for a control winding current vector
Figure FDA0002644341080000026
Determining the rotor position angle through a motor encoder and carrying out differential processing to obtain the angular velocity omega of the motor rotorrFiltering out high frequency noise by a low pass filter, and filtering out high frequency noise by a low pass filter
Figure FDA0002644341080000027
Calculating the electrical angular velocity of the current vector of the control winding
Figure FDA0002644341080000028
Finally, obtaining a reference angle through integral operation
Figure FDA0002644341080000031
Wherein the content of the first and second substances,
Figure FDA0002644341080000032
electric angular velocity, p, representing the current vector of the power winding1、p2The number of power winding pole pairs and the number of control winding pole pairs are respectively represented.
4. The method according to claim 1, wherein the step S2 of obtaining three-phase current values i at three adjacent moments of the control winding is performed2a(k)、i2a(k-1)、i2a(k-2)、i2b(k)、i2b(k-1)、i2b(k-2)、i2c(k)、i2c(k-1)、i2c(k-2), the specific implementation process is as follows:
c, controlling the phase a and phase b current values i of the winding at the moment k2a(k)、i2b(k) And the control winding current values i at the time points k-1 and k-2 stored in the controller2a(k-1)、i2a(k-2)、i2b(k-1)、i2b(k-2) substituting the following formula to calculate the c-phase current of the control winding at the time of k, k-1 and k-2:
i2c(k)＝-(i2a(k)+i2b(k))
i2c(k-1)＝-(i2a(k-1)+i2b(k-1))
i2c(k-2)＝-(i2a(k-2)+i2b(k-2))。
5. the method for controlling the current of an independent brushless doubly-fed induction generator without parameter prediction as claimed in claim 1 or 4, wherein the step S2 is specifically performed by the following steps:
the currents of the a phase, the b phase and the c phase of the control winding at the moments k, k-1 and k-2 are transformed into the current i of the control winding at the corresponding moment dq coordinate system through the following rotating coordinate transformation2d(k)、i2q(k)、i2d(k-1)、i2q(k-1)、i2d(k-2)、i2q(k-2)：
Figure FDA0002644341080000033
Figure FDA0002644341080000034
Figure FDA0002644341080000035
6. The method for the parameter-free predictive current control of the independent brushless doubly-fed induction generator according to any one of the claims 1 to 5, wherein the step S6 specifically comprises:
respectively calculating the predicted current value and the cost function when 8 voltage vectors act independently, and screening out a voltage vector which enables the cost function to be minimum as a reference voltage vector for controlling the k +1 moment of the winding side converter
Figure FDA0002644341080000041
And
Figure FDA0002644341080000042
7. the method of claim 6, wherein the cost function expression is as follows:
Figure FDA0002644341080000043
8. the method for the parameter-free predictive current control of the independent brushless doubly-fed induction generator according to any one of the claims 1 to 7, wherein the step S7 specifically comprises:
the reference voltage vector obtained in step S6
Figure FDA0002644341080000044
And
Figure FDA0002644341080000045
carrying out inverse Park transformation to obtain the component of the reference voltage vector under the static alpha beta coordinate system
Figure FDA0002644341080000046
And
Figure FDA0002644341080000047
Figure FDA0002644341080000048
will be provided with
Figure FDA0002644341080000049
And
Figure FDA00026443410800000410
inputting the input into a PWM generator to generate an optimized power electronic device switching sequence for controlling the winding side converter;
sending the power electronics switching sequence to a control winding side converter to generate a desired control winding current.
CN202010849805.9A 2020-08-21 2020-08-21 Parameter-free prediction current control method for independent brushless doubly-fed induction generator Active CN111865151B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010849805.9A CN111865151B (en) 2020-08-21 2020-08-21 Parameter-free prediction current control method for independent brushless doubly-fed induction generator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010849805.9A CN111865151B (en) 2020-08-21 2020-08-21 Parameter-free prediction current control method for independent brushless doubly-fed induction generator

Publications (2)

Publication Number Publication Date
CN111865151A true CN111865151A (en) 2020-10-30
CN111865151B CN111865151B (en) 2022-02-15

Family

ID=72969954

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010849805.9A Active CN111865151B (en) 2020-08-21 2020-08-21 Parameter-free prediction current control method for independent brushless doubly-fed induction generator

Country Status (1)

Country Link
CN (1) CN111865151B (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030052643A1 (en) * 2001-09-14 2003-03-20 Sweo Edwin A. Brushless doubly-fed induction machine control
GB201104988D0 (en) * 2011-03-25 2011-05-11 Logan Thomas G Improvement of the controller performance of a brushless doubly fed machine (BDFM)
CN104579083A (en) * 2013-10-22 2015-04-29 珠海格力电器股份有限公司 Method and system for vector control of permanent magnet synchronous motor
CN107317532A (en) * 2017-06-26 2017-11-03 华中科技大学 Permagnetic synchronous motor predictive-current control method and system based on sliding formwork
CN108448971A (en) * 2018-03-27 2018-08-24 华中科技大学 A kind of control system and model prediction current control method of brushless double feed generator
CN108880384A (en) * 2018-06-27 2018-11-23 中南大学 A kind of the modulation pattern forecast Control Algorithm and system of brushless double feed induction machine
CN111200382A (en) * 2020-01-10 2020-05-26 西安理工大学 Dead-beat prediction control method for non-cascaded permanent magnet synchronous motor

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030052643A1 (en) * 2001-09-14 2003-03-20 Sweo Edwin A. Brushless doubly-fed induction machine control
GB201104988D0 (en) * 2011-03-25 2011-05-11 Logan Thomas G Improvement of the controller performance of a brushless doubly fed machine (BDFM)
CN104579083A (en) * 2013-10-22 2015-04-29 珠海格力电器股份有限公司 Method and system for vector control of permanent magnet synchronous motor
CN107317532A (en) * 2017-06-26 2017-11-03 华中科技大学 Permagnetic synchronous motor predictive-current control method and system based on sliding formwork
CN108448971A (en) * 2018-03-27 2018-08-24 华中科技大学 A kind of control system and model prediction current control method of brushless double feed generator
CN108880384A (en) * 2018-06-27 2018-11-23 中南大学 A kind of the modulation pattern forecast Control Algorithm and system of brushless double feed induction machine
CN111200382A (en) * 2020-01-10 2020-05-26 西安理工大学 Dead-beat prediction control method for non-cascaded permanent magnet synchronous motor

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
WEI XU ET AL.: "Model predictive current control of brushless doubly-fed machine for stand-alone power generation system", 《IECON 2017 - 43RD ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY》 *
张爱玲 等: "基于转矩预测控制的无刷双馈电机直接转矩控制系统", 《电机与控制学报》 *

Also Published As

Publication number Publication date
CN111865151B (en) 2022-02-15

Similar Documents

Publication Publication Date Title
CN109560736B (en) Permanent magnet synchronous motor control method based on second-order terminal sliding mode
CN209844868U (en) Dead beat current prediction control system of permanent magnet synchronous motor
CN108631672B (en) Permanent magnet synchronous motor prediction flux linkage control method considering optimal duty ratio modulation
CN108377117B (en) Permanent magnet synchronous motor composite current control system and method based on predictive control
CN107994826A (en) A kind of full order observer senseless control system based on error weighting
CN112701968B (en) Method for improving prediction control robustness performance of permanent magnet synchronous motor model
CN108880384B (en) Modulation model prediction control method and system of brushless doubly-fed induction motor
Dyanamina et al. Adaptive neuro fuzzy inference system based decoupled control for neutral point clamped multi level inverter fed induction motor drive
CN110086383B (en) Model prediction control method and device for twelve-phase driving system
KR101758004B1 (en) Rotary machine controller
CN109687524B (en) Multi-target model prediction control method of double-fed wind generating set
CN105720879A (en) Direct characteristic control based novel double-fed induction motor control method
CN108448971B (en) Control system of brushless doubly-fed generator and model prediction current control method
Ting et al. Nonlinear backstepping control of SynRM drive systems using reformed recurrent Hermite polynomial neural networks with adaptive law and error estimated law
CN114665512A (en) Prediction control device and method for grid-connected inverter without alternating-current voltage sensor
Lee et al. Speed-sensorless DTC-SVM for matrix converter drives with simple nonlinearity compensation
Bozorgi et al. Improved model predictive current control of permanent magnet synchronous machines with fuzzy based duty cycle control
CN112039386A (en) Fuzzy quasi-proportional resonance-based torque ripple suppression method for permanent magnet synchronous motor
CN111162710A (en) Torque ripple suppression method for permanent magnet hub motor
CN111865151B (en) Parameter-free prediction current control method for independent brushless doubly-fed induction generator
CN113726240A (en) Permanent magnet synchronous motor control method and system based on second-order active disturbance rejection control
CN111181460A (en) Dynamic current prediction control method, system and medium for single-stator double-rotor disc type counter-rotating permanent magnet synchronous motor
CN115833690A (en) Six-phase permanent magnet synchronous motor parameter-free model prediction current control system and method
CN114301361B (en) Control method of electrolytic capacitor-free permanent magnet synchronous motor driving system based on bus current control
CN112523945B (en) Active disturbance rejection nonlinear control method for maximum wind energy capture of double-fed wind turbine

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant