CN111865164A - Control method for permanent magnet semi-direct-drive wind turbine generator without position sensor - Google Patents

Control method for permanent magnet semi-direct-drive wind turbine generator without position sensor Download PDF

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CN111865164A
CN111865164A CN202010597806.9A CN202010597806A CN111865164A CN 111865164 A CN111865164 A CN 111865164A CN 202010597806 A CN202010597806 A CN 202010597806A CN 111865164 A CN111865164 A CN 111865164A
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permanent magnet
wind turbine
wind
mathematical model
speed
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孟克其劳
边丰硕
张占强
马剑龙
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Inner Mongolia University of Technology
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Inner Mongolia University of Technology
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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
    • 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
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/001—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using fuzzy control
    • 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
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • 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
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • 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
    • H02P9/009—Circuit arrangements for detecting rotor position
    • 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
    • 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
    • H02P2103/00—Controlling arrangements characterised by the type of generator
    • H02P2103/20—Controlling arrangements characterised by the type of generator of the synchronous type
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/09—Motor speed determination based on the current and/or voltage without using a tachogenerator or a physical encoder

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  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Fuzzy Systems (AREA)
  • Control Of Eletrric Generators (AREA)

Abstract

The invention discloses a position-sensor-free permanent magnet semi-direct-drive wind turbine generator control method, and relates to the field of wind power generation. The method comprises the following steps: the method comprises the following steps: collecting data to establish the following mathematical model about the wind turbine; step two: converting a mathematical model of the permanent magnet synchronous generator under a three-phase static reference coordinate system into the following mathematical model through Clark and park transformation; step three: establishing a sliding-mode observer; step four: and establishing a sliding mode controller. According to the invention, the novel approach law sliding mode speed controller is adopted to replace the traditional PI controller, so that the problems of difficult parameter setting, poor robustness and the like in the traditional PI control are effectively solved; in the environment with constantly changing wind speed, the wind turbine generator has stronger anti-interference performance, and can well keep the maximum power tracking performance of the wind turbine generator; by adopting the sliding mode controller based on the novel approach law, the anti-interference capability of the system is improved, the performance of the system is improved, buffeting can be well inhibited, and the approach speed in convergence is high.

Description

Control method for permanent magnet semi-direct-drive wind turbine generator without position sensor
Technical Field
The invention belongs to the technical field of wind power generation control, and particularly relates to a control method of a permanent magnet semi-direct-drive wind turbine generator system without a position sensor.
Background
In recent years, with the continuous development and progress of wind power technology, the capacity of a wind turbine generator is larger and larger. At present, the units are mainly divided into direct-drive permanent magnet wind turbine units and double-fed asynchronous wind turbine units. The direct-drive permanent magnet wind turbine generator has low failure rate, but has low rotation speed ratio, huge volume and difficult transportation and installation. The double-fed asynchronous wind generating set can adopt a high-speed generator with a small size, is convenient to transport and install, and has high failure rate. In order to solve the problem, the advantages of two sets are integrated, and the permanent magnet semi-direct drive wind turbine generator is produced. A primary gear box is adopted to connect the wind turbine and the permanent magnet synchronous generator, so that the rotating speed of the motor is increased, the volume and the weight are reduced, and the development trend of the wind turbine in the future is met. Because the rotating speed angle information of the rotor is needed in the control system of the permanent-magnet direct-drive wind turbine generator, and the position sensor is difficult to install and maintain, the position sensor-free method is adopted to obtain the rotor information. Common methods without a position sensor are mainly classified into a high-frequency signal injection method at a low speed, a sliding-mode observer method at a medium and high speed, a model reference adaptive method and an extended kalman filtering method. In a control system of a permanent magnet direct-drive wind turbine generator, a PI speed controller is usually adopted, but the traditional PI control is easily influenced by parameter change and external interference, the robustness is poor, and the performance of tracking the maximum power of wind energy is greatly influenced under the condition that the wind speed is constantly changed.
Disclosure of Invention
The invention aims to provide a position sensor-free permanent magnet semi-direct-drive wind generating set control method, a traditional PI controller is replaced by a novel approach law sliding mode speed controller, and the problems that parameters are not easy to set, robustness is poor and the like in the traditional PI controller are effectively solved; in the environment with constantly changing wind speed, the wind turbine generator has stronger anti-interference performance, and can well keep the maximum power tracking performance of the wind turbine generator; by adopting the sliding mode controller based on the novel approach law, the anti-interference capability of the system is improved, the performance of the system is improved, buffeting can be well inhibited, and the approach speed in convergence is high.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a control method of a permanent magnet semi-direct-drive wind turbine generator without a position sensor, which comprises the following steps:
the method comprises the following steps: establishing mathematical model of wind turbine
The collected data establishes the following mathematical model for the wind turbine, wherein,
the mechanical power Pm absorbed by the wind wheel is represented by the following formula:
Figure BDA0002558001030000021
the tip speed ratio is the ratio of the wind wheel tip speed of the wind turbine generator to the wind speed:
Figure BDA0002558001030000022
the pneumatic torque on the wind turbine generator is the ratio of mechanical power absorbed by the wind turbine to real-time rotating speed:
Figure BDA0002558001030000023
The permanent magnet semi-direct drive wind turbine generator set is provided with a speed-increasing gear box between a generator and a wind wheel, and the transformation ratio of the gear box is k;
in the above formula, PmThe mechanical power absorbed by the wind turbine is rho air density, R is wind wheel radius, v is wind speed, and Cp is wind energy utilizationThe coefficient, lambda is the tip speed ratio, beta is the pitch angle, Ta is the pneumatic torque, and omega is the wind wheel rotation speed;
according to the statistical principle, the wind energy utilization coefficient Cp of the permanent magnet semi-direct-drive wind driven generator is defined as follows:
Figure BDA0002558001030000031
Figure BDA0002558001030000032
since in an MPPT system the pitch angle is 0, the simplified resulting wind energy utilization coefficient Cp is related to the tip speed ratio λ by the following equation:
Figure BDA0002558001030000033
step two: establishing mathematical model of permanent magnet synchronous motor
Converting a mathematical model of the permanent magnet synchronous generator under a three-phase static reference frame into the following mathematical model through Clark and park transformation:
Figure BDA0002558001030000034
Figure BDA0002558001030000035
eα＝-ψfωrsinθ；
eβ＝ψfωrcosθ；
Figure BDA0002558001030000036
Figure BDA0002558001030000037
wherein, i in the above formulaα、iβFor stator currents in stationary two-phase coordinate systems alpha, beta, RsIs stator resistance, uα、uβIs the stator voltage L under a stationary two-phase coordinate system alpha, betasIs stator winding inductance, eα、eβIs back electromotive force psi under static two-phase coordinate system alpha, betafIs the permanent magnet flux linkage, theta is the electrical angle of the rotor, omegarIs the angular velocity of the motor rotor, and J is the moment of inertia;
Step three: establishing sliding mode observer
Replacing a traditional sign switch function with a saturation function, wherein the mathematical expression of the saturation function G (x) is as follows:
G(x)＝k2e|x|tanh(x)；
Figure BDA0002558001030000041
k2a sliding mode gain coefficient which is the change of the novel sliding mode observer; x is the error between the observed value and the actual value of the current;
the mathematical model of the sliding mode observer is calculated by the saturation function G (x) and is as follows:
Figure BDA0002558001030000042
Figure BDA0002558001030000043
wherein, in the above formula
Figure BDA0002558001030000044
Is an estimate of the current in a stationary two-phase coordinate system,
Figure BDA0002558001030000045
the estimated value of the voltage under the static two-phase coordinate system is obtained;
when the estimated value of the current is equal to the actual value of the current, the back electromotive force in the two-phase stationary coordinate system can be obtained as follows:
Figure BDA0002558001030000046
Figure BDA0002558001030000047
the back emf in the two-phase stationary frame thus obtained contains the position information of the motor rotor:
Figure BDA0002558001030000048
Figure BDA0002558001030000049
wherein, thetaeIs the electrical angle of the rotor; omegaeIs the electrical angular velocity of the rotor;
step four: sliding mode establishing controller
Defining the state variables in the permanent magnet synchronous motor as follows:
Figure BDA0002558001030000051
Figure BDA0002558001030000052
Figure RE-GDA0002689626760000053
adopting an integral slip form surface, and defining the slip form surface as follows:
Figure BDA0002558001030000054
wherein c is greater than 0, e ═ ωref-ω，λoutAn optimal tip speed ratio; e is the error between the rated motor rotation speed and the actual motor rotation speed;
wherein, the novel exponential approximation law is defined as:
Figure BDA0002558001030000055
Figure BDA0002558001030000056
substituting the formula to obtain:
Figure BDA0002558001030000057
the q-axis reference current is obtained as:
Figure RE-GDA0002689626760000057
furthermore, in the second step, three phases of the stator winding are assumed to be symmetrically distributed and electromagnetically symmetrical, iron loss is neglected, a magnetic circuit is not saturated, and the influence of factors such as temperature on a permanent magnet flux linkage is neglected; under the ideal condition, the mathematical model of the permanent magnet synchronous generator under the three-phase static reference frame is converted through Clark and park transformation to obtain the mathematical model of the permanent magnet synchronous generator.
Further, in the third step, before the rotor position angle arc tangent is calculated, the obtained back electromotive force under the two-phase stationary coordinate system is processed by a low-pass filter.
The invention has the following beneficial effects:
according to the invention, the novel approach law sliding mode speed controller is adopted to replace the traditional PI controller, so that the problems of difficult parameter setting, poor robustness and the like in the traditional PI control are effectively solved; in the environment with constantly changing wind speed, the wind turbine generator has stronger anti-interference performance, and can well keep the maximum power tracking performance of the wind turbine generator; by adopting the sliding mode controller based on the novel approach law, the anti-interference capability of the system is improved, the performance of the system is improved, buffeting can be well inhibited, and the approach speed in convergence is high.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is an overall block diagram of a control system proposed by the present invention;
FIG. 2 is a system block diagram of a sliding-mode observer;
FIG. 3 is a comparison diagram of simulation results of a conventional approach law sliding mode controller and a novel approach law sliding mode controller;
FIG. 4 is a graph of simulated wind speed variation;
FIG. 5 is a comparison of the estimated rotational speed calculated by the sliding mode observer and the actual rotational speed;
FIG. 6 is a comparison graph of wind energy utilization coefficient Cp under two control modes of PI control and sliding mode controller;
FIG. 7 is a comparison graph of the rotation speed under two control modes of PI control and sliding mode controller.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-7, the present invention is a control method for a permanent magnet semi-direct-drive wind turbine without a position sensor, comprising the following steps:
the method comprises the following steps: establishing mathematical model of wind turbine
The collected data establishes the following mathematical model for the wind turbine, wherein,
the mechanical power Pm absorbed by the wind wheel is represented by the following formula:
Figure BDA0002558001030000071
the tip speed ratio is the ratio of the wind wheel tip speed of the wind turbine generator to the wind speed:
Figure BDA0002558001030000072
the pneumatic torque on the wind turbine generator is the ratio of mechanical power absorbed by the wind turbine to real-time rotating speed:
Figure BDA0002558001030000081
the permanent magnet semi-direct drive wind turbine generator set is provided with a speed-increasing gear box between a generator and a wind wheel, and the transformation ratio of the gear box is k;
in the above formula, PmFor the mechanical power absorbed by the wind turbine, rho is the air density, R is the radius of the wind wheel, v is the wind speed, Cp is the wind energy utilization coefficient, lambda is the tip speed ratio, beta is the pitch angle, Ta is the pneumatic torque, and omega is the rotational speed of the wind wheel;
according to the statistical principle, the wind energy utilization coefficient Cp of the permanent magnet semi-direct-drive wind driven generator is defined as follows:
Figure BDA0002558001030000082
Figure BDA0002558001030000083
since in an MPPT system the pitch angle is 0, the simplified resulting wind energy utilization coefficient Cp is related to the tip speed ratio λ by the following equation:
Figure BDA0002558001030000084
step two: establishing mathematical model of permanent magnet synchronous motor
Converting a mathematical model of the permanent magnet synchronous generator under a three-phase static reference frame into the following mathematical model through Clark and park transformation:
Figure BDA0002558001030000085
Figure BDA0002558001030000086
eα＝-ψfωrsinθ；
eβ＝ψfωrcosθ；
Figure BDA0002558001030000091
Figure BDA0002558001030000092
Wherein, i in the above formulaα、iβFor stator currents in stationary two-phase coordinate systems alpha, beta, RsIs stator resistance, uα、uβIs the stator voltage L under a stationary two-phase coordinate system alpha, betasIs stator winding inductance, eα、eβIs back electromotive force psi under static two-phase coordinate system alpha, betafIs the permanent magnet flux linkage, theta is the electrical angle of the rotor, omegarIs the angular velocity of the motor rotor, and J is the moment of inertia;
step three: establishing sliding mode observer
Replacing a traditional sign switch function with a saturation function, wherein the mathematical expression of the saturation function G (x) is as follows:
G(x)＝k2e|x|tanh(x)；
Figure BDA0002558001030000093
k2a sliding mode gain coefficient which is the change of the novel sliding mode observer; x is the error between the observed value and the actual value of the current;
the mathematical model of the sliding mode observer is calculated by the saturation function G (x) and is as follows:
Figure BDA0002558001030000094
Figure BDA0002558001030000095
wherein, in the above formula
Figure BDA0002558001030000096
Is an estimate of the current in a stationary two-phase coordinate system,
Figure BDA0002558001030000097
the estimated value of the voltage under the static two-phase coordinate system is obtained;
when the estimated value of the current is equal to the actual value of the current, the back electromotive force in the two-phase stationary coordinate system can be obtained as follows:
Figure BDA0002558001030000101
Figure BDA0002558001030000102
the back emf in the two-phase stationary frame thus obtained contains the position information of the motor rotor:
Figure BDA0002558001030000103
Figure BDA0002558001030000104
wherein, thetaeIs the electrical angle of the rotor; omegaeBeing rotorsElectrical angular velocity;
Step four: sliding mode establishing controller
Defining the state variables in the permanent magnet synchronous motor as follows:
Figure BDA0002558001030000105
Figure BDA0002558001030000106
Figure RE-GDA0002689626760000107
adopting an integral slip form surface, and defining the slip form surface as follows:
Figure BDA0002558001030000108
wherein c is greater than 0, e ═ ωref-ω，λoutAn optimal tip speed ratio; e is the error between the rated motor rotation speed and the actual motor rotation speed;
wherein, the novel exponential approximation law is defined as:
Figure BDA0002558001030000109
Figure BDA0002558001030000111
substituting the formula to obtain:
Figure BDA0002558001030000112
the q-axis reference current is obtained as:
Figure RE-GDA0002689626760000113
furthermore, in the second step, three phases of the stator winding are assumed to be symmetrically distributed and electromagnetically symmetrical, iron loss is neglected, a magnetic circuit is not saturated, and the influence of factors such as temperature on a permanent magnet flux linkage is neglected; under the ideal condition, the mathematical model of the permanent magnet synchronous generator under the three-phase static reference frame is converted through Clark and park transformation to obtain the mathematical model of the permanent magnet synchronous generator.
As shown in fig. 2, in the third step, before the rotor position arc tangent is calculated, the back electromotive force in the obtained two-phase stationary coordinate system is processed by a low-pass filter.
The first embodiment is as follows: the example is a comparative test of the novel approach law and the traditional exponential approach law; wherein, the traditional exponential approach law is:
Figure BDA0002558001030000114
substituting the formula to obtain:
Figure BDA0002558001030000115
the novel approach law provided by the invention is compared with the traditional exponential approach law by adopting a classical system, and the performances of the two approach laws are verified:
Figure BDA0002558001030000116
Where c is 10, the tracking error is:
Figure BDA0002558001030000117
wherein xdFor a given target signal, xd＝sint；
Figure BDA0002558001030000121
S is the approach law. At this time, the sliding mode controller has the expression:
Figure BDA0002558001030000122
two approximation rule parameters are shown in the following table:
Figure BDA0002558001030000123
simulating the classical system by a conventional index approach law sliding mode controller and a novel approach law sliding mode controller in Matlab/Simulink, wherein the result is shown in FIG. 3; from simulation results, the sliding mode control based on the novel approach law can well restrain buffeting and is high in approach speed in convergence compared with the traditional exponential approach law.
Example two: the stability analysis is carried out on the designed novel approach law sliding mode speed controller by utilizing the Lyapunov function, and the Lyapunov function is defined firstly:
Figure BDA0002558001030000124
Figure BDA0002558001030000125
Figure BDA0002558001030000126
from the above formula, it can be seen that V(s) is positive,
Figure BDA0002558001030000127
the sliding mode controller is negative, so that stability can be achieved by adopting the designed novel sliding mode controller, and the system is ensured to enter a sliding mode state.
Example three: simulating MPPT control in the permanent magnet semi-direct-drive wind turbine generator system by using MATLAB/simulink; the MPPT adopts a control method of optimal tip speed ratio by adopting a control mode of id being 0; the parameters are that the radius R of the wind wheel is 5m, and the air density rho is 1.25kg/m 3The permanent magnet flux phi f is 0.192 Wb, and the stator resistance Rs is 0085 Ω, gearbox ratio k 40, Ld 0.95mH, p 4, and rotational inertia J0.008 kg.m2The simulation time is 5 s; the overall block diagram of the system is shown in FIG. 1; wherein, the wind speed data adopted by the simulation is shown in figure 4;
the results are given below: the comparison of the estimated rotational speed and the actual rotational speed is shown in fig. 5; according to the simulation result, the estimated rotating speed of the permanent magnet synchronous motor is close to the actual rotating speed, and the rotor information of the wind turbine generator can be well estimated by the novel sliding mode observer.
Example four: simulating MPPT control in a permanent magnet semi-direct-drive wind turbine generator system by adopting MATLAB/simulink, wherein the control method respectively adopts the control method provided by the application and a traditional PI control method; the results are given below: the wind energy utilization coefficient Cp under the two control modes is shown in figure 6; speed reduction pairs for both control modes are shown in FIG. 7; according to simulation results, compared with the traditional PI, the sliding mode speed controller of the novel approximation rule has good anti-interference performance and good dynamic and static performance when the speed changes.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims (3)

1. A control method of a permanent magnet semi-direct-drive wind generating set without a position sensor is characterized by comprising the following steps:
the method comprises the following steps: establishing mathematical model of wind turbine
The collected data establishes the following mathematical model for the wind turbine, wherein,
the mechanical power Pm absorbed by the wind wheel is represented by the following formula:
Figure RE-FDA0002689626750000011
the tip speed ratio is the ratio of the wind wheel tip speed of the wind turbine generator to the wind speed:
Figure RE-FDA0002689626750000012
the pneumatic torque on the wind turbine generator is the ratio of mechanical power absorbed by the wind wheel to real-time rotating speed:
Figure RE-FDA0002689626750000013
the permanent magnet semi-direct drive wind turbine generator set is provided with a speed-increasing gear box between a generator and a wind wheel, and the transformation ratio of the gear box is k;
In the above formula, PmFor the mechanical power absorbed by the wind turbine, rho is the air density, R is the radius of the wind wheel, v is the wind speed, Cp is the wind energy utilization coefficient, lambda is the tip speed ratio, beta is the pitch angle, Ta is the pneumatic torque, and omega is the rotational speed of the wind wheel;
according to the statistical principle, the wind energy utilization coefficient Cp of the permanent magnet semi-direct-drive wind driven generator is defined as follows:
Figure RE-FDA0002689626750000014
Figure RE-FDA0002689626750000015
since in an MPPT system the pitch angle is 0, the simplified resulting wind energy utilization coefficient Cp is related to the tip speed ratio λ by the following equation:
Figure RE-FDA0002689626750000021
step two: establishing mathematical model of permanent magnet synchronous motor
Converting a mathematical model of the permanent magnet synchronous generator under a three-phase static reference frame into the following mathematical model through Clark and park transformation:
Figure RE-FDA0002689626750000022
Figure RE-FDA0002689626750000023
eα＝-ψfωrsinθ；
eβ＝ψfωrcosθ；
Figure RE-FDA0002689626750000024
Figure RE-FDA0002689626750000025
wherein, i in the above formulaα、iβFor stator currents in stationary two-phase coordinate systems alpha, beta, RsIs stator resistance, uα、uβIs the stator voltage L under a stationary two-phase coordinate system alpha, betasIs stator winding inductance, eα、eβIs back electromotive force psi under static two-phase coordinate system alpha, betafIs the permanent magnet flux linkage, theta is the electrical angle of the rotor, omegarIs the angular velocity of the motor rotor, and J is the moment of inertia;
step three: establishing sliding mode observer
Replacing a traditional sign switch function with a saturation function, wherein the mathematical expression of the saturation function G (x) is as follows:
G(x)＝k2e|x|tanh(x)；
Figure RE-FDA0002689626750000031
k2A sliding mode gain coefficient which is the change of the novel sliding mode observer; x is the error between the observed value and the actual value of the current;
the mathematical model of the sliding mode observer is calculated by the saturation function G (x) and is as follows:
Figure RE-FDA0002689626750000032
Figure RE-FDA0002689626750000033
wherein, in the above formula
Figure RE-FDA0002689626750000034
Is an estimate of the current in a stationary two-phase coordinate system,
Figure RE-FDA0002689626750000035
the estimated value of the voltage under the static two-phase coordinate system is obtained;
when the estimated value of the current is equal to the actual value of the current, the back electromotive force in the two-phase stationary coordinate system can be obtained as follows:
Figure RE-FDA0002689626750000036
Figure RE-FDA0002689626750000037
the back emf in the two-phase stationary frame thus obtained contains the position information of the motor rotor:
Figure RE-FDA0002689626750000038
Figure RE-FDA0002689626750000039
wherein, thetaeIs the electrical angle of the rotor; omegaeIs the electrical angular velocity of the rotor;
step four: sliding mode establishing controller
Defining the state variables in the permanent magnet synchronous motor as follows:
Figure RE-FDA00026896267500000310
Figure RE-FDA0002689626750000041
Figure RE-FDA0002689626750000042
adopting an integral slip form surface, and defining the slip form surface as follows:
Figure RE-FDA0002689626750000043
wherein c is greater than 0, e ═ ωref-ω，λoutAn optimal tip speed ratio; e is the error between the rated motor speed and the actual motor speed;
wherein, the novel exponential approximation law is defined as:
Figure RE-FDA0002689626750000044
Figure RE-FDA0002689626750000045
substituting the formula to obtain:
Figure RE-FDA0002689626750000046
the q-axis reference current is obtained as:
Figure RE-FDA0002689626750000047
2. the control method of the position-sensorless permanent magnet semi-direct-drive wind generating set according to claim 1, wherein in the second step, three-phase symmetrical distribution of stator windings is assumed, electromagnetic symmetry is achieved, iron loss is ignored, a magnetic circuit is not saturated, and the influence of factors such as temperature on a permanent magnet flux linkage is ignored; under the ideal condition, the mathematical model of the permanent magnet synchronous generator under the three-phase static reference coordinate system is converted through Clark and park transformation to obtain the mathematical model of the permanent magnet synchronous generator.
3. The control method of the position-sensorless permanent magnet semi-direct-drive wind turbine generator system according to claim 1, wherein in the third step, before the rotor position arc tangent is calculated, the back electromotive force of the obtained two-phase stationary coordinate system is subjected to low-pass filter processing.
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