CN112039393A - Multi-phase permanent magnet synchronous generator system and MMC control method - Google Patents

Multi-phase permanent magnet synchronous generator system and MMC control method Download PDF

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CN112039393A
CN112039393A CN202010973852.4A CN202010973852A CN112039393A CN 112039393 A CN112039393 A CN 112039393A CN 202010973852 A CN202010973852 A CN 202010973852A CN 112039393 A CN112039393 A CN 112039393A
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pid controller
fractional order
order pid
mmc
current
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姚钢
周荔丹
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Shanghai Jiaotong University
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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
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/483—Converters with outputs that each can have more than two voltages levels
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/76—Power conversion electric or electronic aspects

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Abstract

A control method having a multiphase permanent magnet synchronous generator system and an MMC, the system comprising: divide fraction order PID controller of part equally to heterogeneous synchronous aerogenerator of permanent magnetism, MMC, rotational speed ring, electric current ring and MMC internal energy, wherein: the method comprises the following steps that a rotation speed sensor detects rotor position information theta of a generator, actual rotation angular speed omega of the generator is obtained through processing, the difference between the angular speed of the generator and a reference value of a rated rotation speed is used as a q-axis current loop reference signal of a synchronous generator through a controller of a fractional order PID, currents of d and q axes of a multiphase permanent magnet synchronous generator and harmonic currents are respectively connected with the fractional order PID controller in a control mode, and through coordinate transformation, upper and lower bridge arm voltages of an MMC are generated, wherein: and a fractional order PID controller is adopted in the MMC internal energy equal division control part. The invention can improve the quality of MMC output voltage and current waveform, reduce distortion rate and improve the speed regulation performance of the permanent magnet synchronous generator and the stability of a control system.

Description

Multi-phase permanent magnet synchronous generator system and MMC control method
Technical Field
The invention relates to a technology in the field of wind power generation, in particular to a power generation control method and a power generation control system with a multiphase permanent magnet synchronous wind power generator and a Modular Multilevel Converter (MMC).
Background
At present, wind power generation has the development trend requirements of high efficiency, low cost, low noise, high power quality, high stability and the like. With the gradual development of a wind power system composed of a multiphase permanent magnet synchronous wind power generator and an MMC, the requirements on the speed regulation performance and the control precision of the generator and the working performance of a rectifier are higher and higher. In the prior art, a wind driven generator system based on the combination of a multiphase permanent magnet synchronous motor and an MMC is controlled by adopting a PI controller or a PID controller. But the control precision is limited, and the response speed and the stability of the system are poor.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a multiphase permanent magnet synchronous generator system and a control method of an MMC, which can improve the quality of output voltage and current waveforms of the MMC, reduce distortion rate and improve the speed regulation performance of the permanent magnet synchronous generator and the stability of the control system.
The invention is realized by the following technical scheme:
the invention relates to a generator system with a multiphase permanent magnet synchronous wind driven generator and an MMC, which comprises: divide fractional order PID controller (FOPID) of part equally to heterogeneous permanent magnet synchronous wind power generator, MMC (many level of modularization transverter), rotational speed ring, electric current ring and MMC inside energy, wherein: the rotation speed sensor detects rotor position information theta of the generator and obtains an actual rotation angular speed omega of the generator through processing. The difference between the angular speed of the generator and the reference value of the rated rotating speed is used as a q-axis current loop reference signal of the synchronous generator through a fractional order PID controller, d-axis current, q-axis current and harmonic current of a multiphase permanent magnet synchronous generator are respectively connected with the fractional order PID controller in a control mode, and MMC upper and lower bridge arm voltages are generated through coordinate transformation, wherein: and a fractional order PID controller is adopted in the MMC internal energy equal division control part.
The invention relates to a control method of the system, which comprises the following steps:
step 1) obtaining a rotation speed difference value, namely omega' ═ omega, according to a given rotation speed and a real-time rotation speedref- ω, wherein: omegarefIs a rated value of the rotating speed, and omega is an actual rotating speed value; the difference value of the rotating speed ring is controlled by a fractional order PID controller of the rotating speed ring to obtain q-axis electricityFlow reference value
Figure BDA0002685045030000011
Wherein: k is a radical ofp3Proportionality coefficient, k, of a fractional order PID controller for speed loop controli3Integral coefficient, k, of a fractional order PID controller for speed loop controld3The differential coefficient of the fractional order PID controller controlled by the rotating speed ring is shown, lambda is the integral order of the fractional order PID controller of the rotating speed ring, and mu is the differential parameter of the fractional order PID controller of the rotating speed ring.
Step 2) performing coordinate transformation according to the MMC output current to obtain q-axis current i of the multiphase permanent magnet synchronous wind driven generatorqThe control equation for the q-axis current is:
Figure BDA0002685045030000021
wherein: k is a radical ofp1Proportionality coefficient, k, of fractional order PID controller for q-axis current controli1Integral coefficient, k, of a fractional order PID controller for q-axis current controld1Differential coefficient, λ, for a fractional order PID controller for q-axis current control1Integral order, mu, of a fractional order PID controller for q-axis current control1And setting the q-axis current reference value of the multiphase permanent magnet synchronous wind driven generator as 0 for the differential parameter of the fractional order PID controller of the q-axis current.
Step 3) obtaining d-axis current i of the multiphase permanent magnet synchronous wind driven generator after coordinate transformation is carried out according to the MMC output currentdAnd the control equation adopted by the d-axis current is as follows:
Figure BDA0002685045030000022
wherein: k is a radical ofp2Scaling factor, k, for a fractional order PID controller for d-axis current controli2Integral coefficient, k, of a fractional order PID controller for d-axis current controld2Differential coefficient, λ, for a fractional order PID controller for d-axis current control2Integral order, mu, of a fractional order PID controller for d-axis current control2Is the differential parameter of a fractional order PID controller for d-axis current.
Step 4) carrying out coordinate transformation according to the MMC output current to obtain a multiphase permanent magnetSetting a current reference value of the harmonic current Z1 to be 0 by the harmonic current Z1 of the magnetic synchronization wind driven generator; the control equation adopted by the generator harmonic current Z1 is as follows:
Figure BDA0002685045030000023
wherein: k is a radical ofp4Proportionality coefficient, k, of fractional order PID controller controlled for harmonic current Z1i4Integral coefficient, k, of a fractional order PID controller controlled for harmonic current Z1d4Differential coefficient, λ, of fractional order PID controller controlled for harmonic current Z1Z1Integration order, μ, of a fractional order PID controller controlled for harmonic current Z1Z1Is the derivative parameter of the fractional order PID controller for the harmonic current Z1.
Step 5) carrying out coordinate transformation according to the MMC output current to obtain harmonic current Z2 of the multiphase permanent magnet synchronous wind driven generator, and setting the current reference value of the harmonic current Z2 as 0; the control equation adopted by the generator harmonic current Z2 is as follows:
Figure BDA0002685045030000024
wherein: k is a radical ofp5Proportionality coefficient, k, of fractional order PID controller controlled for harmonic current Z2i5Integral coefficient, k, of a fractional order PID controller controlled for harmonic current Z2d5Differential coefficient, λ, of fractional order PID controller controlled for harmonic current Z2Z2Integration order, μ, of a fractional order PID controller controlled for harmonic current Z2Z2Is the derivative parameter of the fractional order PID controller for the harmonic current Z2.
Step 6) obtaining a q-axis voltage value U of the multiphase permanent magnet synchronous wind driven generator through the fractional order PID controller controlled by the q-axis current in the step 2* qAnd 3, obtaining the d-axis voltage U of the multiphase permanent magnet synchronous wind driven generator through the fractional order PID controller controlled by the d-axis current in the step 3* dAnd the voltage value U of the harmonic subspace Z1 obtained by a fractional order PID controller of the harmonic current Z1 in the step 4* z1And 5, obtaining a voltage value U of a harmonic subspace Z2 through a fractional order PID controller of harmonic current Z2 in the step 5* z2Obtaining permanent magnet synchronous electricity through coordinate transformationThe machine modulates the pre-six-phase voltage.
And 7) inputting the six-phase voltage obtained in the step 6 before modulation into an MMC rectifier control part. Connecting the difference value between the mean value of the capacitance voltages of the upper and lower bridge arm sub-modules of i (i ═ A, B, … … N) phase and the reference value into a fractional order PID controller, wherein the MMC internal energy equipartition control equation is as follows:
Figure BDA0002685045030000031
Figure BDA0002685045030000032
is the average value of the capacitor voltage of the upper bridge arm submodule and the lower bridge arm submodule of the MMCcjFor its reference value, VAjiAnd the phase voltage of the control part is equally divided for the MMC energy. k is a radical ofpm1Proportionality coefficient, k, of a first fractional order PID controller for MMC internal energy equal division controlim1Integral coefficient, k, of a first fractional order PID controller for MMC internal energy equal division controldm1Differential coefficient, lambda, of a first fractional order PID controller for MMC internal energy equal division controlm1Integral order, mu, of a first fractional order PID controller for MMC internal energy equal division controlm1The differential parameter of a first fractional order PID controller for MMC internal energy equal division control is as follows:
Figure BDA0002685045030000033
wherein: k is a radical ofpm2Proportionality coefficient, k, of a second fractional order PID controller for MMC internal energy equal controlim2Integral coefficient, k, of a second fractional order PID controller for MMC internal energy equal division controldm2Differential coefficient, lambda, of a second fractional order PID controller for MMC internal energy equal division controlm2Integral order, mu, of a second fractional order PID controller for MMC internal energy equal division controlm2Differential parameter, i, of a second fractional order PID controller for MMC internal energy equal controlcirIs an MMC inner circulating current.
Technical effects
Compared with the prior art, the invention adopts fractional order PID controllers in harmonic components of the Z1 and Z2 subspaces of the generator and the MMC inside, further reduces the capacitance voltage of the MMC submodule and the harmonic content thereof, and simultaneously improves the bridge arm circulation of the MMC. According to the invention, the fractional order PID controller is adopted to replace the traditional PI controller and the traditional PID controller, so that the quality of the output voltage and current waveform of the MMC can be improved, the circulation current is reduced, and the speed regulation performance of the permanent magnet synchronous generator and the stability of a control system are improved.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic diagram of a fractional order PID controller of the present invention;
FIG. 3 is a diagram of a multi-phase MMC topology of the present invention;
FIG. 4 is a block diagram of a sub-module topology in the multi-phase MMC of the present invention;
FIG. 5 is a block diagram of MMC internal energy equipartition control according to the present invention;
FIG. 6 is a waveform diagram of electrical angular velocity of a generator under constant torque according to the present invention, using conventional PI control;
FIG. 7 is a voltage waveform diagram of the capacitor of the MMC sub-module under the condition of constant torque and by adopting the traditional PI control;
FIG. 8 is a waveform of MMC bridge arm ring current under constant torque, when the conventional PI control is adopted;
FIG. 9 is an analysis diagram of the voltage waveform of the capacitor of the MMC sub-module under the condition of constant torque and by adopting the traditional PI control;
FIG. 10 is a waveform of electrical angular velocity of a generator under constant torque using modified fractional order PID control according to the invention;
FIG. 11 is a graph of MMC sub-module capacitor voltage waveforms under constant torque with modified fractional order PID control according to the present invention;
FIG. 12 is a waveform of MMC bridge arm ring current under constant torque, using modified fractional order PID control in accordance with the present invention;
FIG. 13 is an analysis diagram of MMC sub-module capacitor voltage waveform under constant torque condition by using improved fractional order PID control.
Detailed Description
As shown in fig. 1, the present embodiment relates to a generator system including a multiphase permanent magnet synchronous wind turbine and an MMC, including: the system comprises a multiphase permanent magnet synchronous wind driven generator rotating speed loop fractional order PID controller 1, a multiphase permanent magnet synchronous wind driven generator q-axis current loop fractional order PID controller 2, a multiphase permanent magnet synchronous wind driven generator d-axis current loop fractional order PID controller 3, a harmonic component Z1 subspace current loop fractional order PID controller 4, a harmonic component Z2 subspace current loop fractional order PID controller 5, an anti-coordinate conversion module 6, fractional order PID controllers 7 of an MMC upper and lower bridge arm capacitance voltage modulation and internal energy equalization part, an MMC rectifier 8, a multiphase permanent magnet synchronous wind driven generator PMSG9 for converting wind power into electric power and a coordinate conversion module 10, wherein: the multiphase permanent magnet synchronous wind driven generator rotating speed ring fractional order PID controller 1 calculates a q-axis current reference value i according to a given rotating speed rated value and a real-time rotating speed from a permanent magnet synchronous motor 9qrefThe coordinate conversion module 10 outputs a phase current i according to the generatorabc、idefCoordinate conversion is carried out to obtain q-axis current i and d-axis current i of the PMSG of the multiphase permanent magnet synchronous wind driven generatorq、idHarmonic current Z1, reference value i of Z2 currentZ1、iZ2Then further controlled by respective fractional order PID controllers to obtain
Figure BDA0002685045030000041
Figure BDA0002685045030000042
And then the coordinate conversion is carried out by an inverse coordinate conversion module 6 and the converted coordinate is output to an internal energy equal fractional order PID controller 7 of the MMC rectifier control part, thereby controlling the output of the MMC rectifier 8.
The MMC rectifier 8 outputs phase current and outputs d-axis current, q-axis current and harmonic current value of the current loop of the permanent magnet synchronous generator through the coordinate converter 10.
The number of the multiphase permanent magnet synchronous wind driven generators is 1, and the number of phases is 3n (n is 1,2, … … n); six phases are preferred in this embodiment.
The MMC rectifier 8 comprises 12 bridge arms, and each submodule is of a half-bridge structure formed by two IGBTs and a capacitor.
The d-axis current and the harmonic current Z1, Z2 of the multi-phase permanent magnet synchronous wind power generator PMSG are set to be 0.
Fig. 2 is a schematic diagram of a fractional order PID controller in the multiphase permanent magnet synchronous wind turbine and the MMC control method according to the present embodiment. Fractional calculus is an extension of classical integer calculus, the differential integration order of which can be any real or complex number as compared to integer calculus. The fractional order PID controller adopts an Oustaloup approximation method to approximate the fractional order transfer function into a continuous high-order integer order transfer function. It contains a proportional gain factor (K)P) Integral gain coefficient, differential gain coefficient, integral order and differential order, wherein: the integral gain coefficient and the integral order thereof are packaged as a module (K)I) The differential gain factor and its differential order are packaged as another module (K)D)。
As shown in fig. 3, the multiphase MMC topology structure diagram in the multiphase permanent magnet synchronous wind turbine and the MMC control method of the present embodiment includes: each phase of the MMC consists of an upper bridge arm and a lower bridge arm. Each bridge arm is formed by connecting N sub-modules SM with the same structure and a bridge arm inductor L with the same value in series, and N +1 level can be output. The bridge arm inductance L of the MMC can play a role in restraining alternating current output harmonic waves and can also play a role in restraining interphase circulating current. Each SM capacitor has a voltage value of VdWhen the voltage on the direct current side of the system is Udc, the requirement of U is metdc＝nVdBy changing the number n of the sub-modules, the power level and the output voltage level of the MMC can be efficiently improved. When the potential at the midpoint O on the DC side is zero, the potential at the point P is + UdcA potential at N point of-Udc/2。
Fig. 4 is a schematic view of a sub-module topology structure in a multi-phase MMC in the multi-phase permanent magnet synchronous wind turbine and the MMC control method according to this embodiment. The MMC submodule adopts a half-bridge structure. Two switching devices (IGBT) are connected with the capacitor in series, and output ports are led out from two ends of one IGBT. Each IGBT is in turn connected in anti-parallel with a diode to provide a freewheeling circuit for the current. The MMC direct current side voltage is formed by the combined action of the capacitors of the submodules.
Fig. 5 is a block diagram illustrating an MMC internal energy sharing control in the multiphase permanent magnet synchronous wind turbine and the MMC control method according to this embodiment. In the operation process of the MMC, the energy distribution imbalance among all phase bridge arms can generate interphase circulating current only in the MMC current converter, the main frequency doubling property is achieved, and the negative sequence property is achieved. Where i represents each submodule (i ═ 1,2, … … M). Circulation icirjThe current is superposed in the bridge arm current, so that the system loss is increased, and the use safety of a power device and the bridge arm inductance is influenced. In order to limit the circulating current, the difference value between the average value of the capacitor voltages of the j (j ═ a, B, … … N) phase upper and lower bridge arm sub-modules and the reference value needs to be accessed to a fractional order PID controller for voltage control. And then, adding inner loop current control, and further controlling through another fractional order PID controller, so as to optimize energy distribution among the MMC bridge arms.
In order to verify the optimized control performance of the fractional order PID, a system simulation model consisting of a six-phase permanent magnet synchronous motor and an MMC is built by utilizing Matlab/Simulink software, and a fractional order PID controller is introduced at the rotating speed side of a generator, the d-axis and q-axis current closed-loop control side of a generator stator, an MMC internal energy sharing module and the harmonic component control positions of Z1 and Z2 subspaces.
As shown in fig. 6, the waveform of the electrical angular velocity of the generator is shown when the conventional PI control is adopted under the constant torque condition in the present embodiment. The angular speed of the motor is 300 rad/s.
As shown in fig. 7, a voltage waveform diagram of the MMC submodule capacitor under constant torque is shown in the present embodiment, when the conventional PI control is adopted. At the moment, the fluctuation range of the capacitance voltage of the MMC sub-module is 198.67V to 201.28V.
As shown in fig. 8, this embodiment is an MMC bridge arm circulating current waveform diagram under the constant torque condition and using the conventional PI control. At the moment, the MMC bridge arm circulating current fluctuation range from-8.51A to 1.72A.
As shown in fig. 9, a graph of the capacitance voltage waveform of the MMC submodule under the constant torque condition in the conventional PI control is shown. At this time, the MMC sub-module capacitor voltage THD is 1.39%.
As shown in fig. 10, the electrical angular velocity waveform of the generator is shown in the present embodiment when the modified fractional order PID control is adopted under the constant torque condition. At this time, the angular velocity of the motor is 300 rad/s.
As shown in fig. 11, the MMC submodule capacitor voltage waveform is plotted under constant torque with the modified fractional PID control for this embodiment. At the moment, the fluctuation range of the capacitance voltage of the MMC sub-module is 199.08V to 200.92V.
As shown in fig. 12, the MMC bridge arm circulating current waveform is shown in this embodiment when the modified fractional-order PID control is adopted under the constant torque condition. At the moment, the circulation current fluctuation range of the MMC bridge arm is-8.01A to 0.93A.
As shown in fig. 13, the MMC submodule capacitor voltage waveform analysis chart is shown for the present embodiment under constant torque condition, when the modified fractional order PID control is adopted. At this time, the MMC sub-module capacitor voltage THD is 0.32%.
Specific simulation experiment comparison shows that under the condition of constant torque output, when the system adopts fractional order PID control, the voltage waveform of the capacitance of the MMC sub-module is improved, and the amplitude and harmonic distortion rate are reduced. Meanwhile, the MMC bridge arm circulation is reduced, and the circulation waveform is further improved.
Compared with the prior art, the method can improve the quality of the output voltage and current waveform of the MMC, reduce the distortion rate and improve the stability of a system consisting of the six-phase permanent magnet synchronous motor and the MMC.
The foregoing detailed description can be modified in various ways by those skilled in the art without departing from the principle and spirit of the embodiment, which is not limited by the scope of the claims, but is limited by the embodiments.

Claims (3)

1. A generator system with multiphase permanent magnet synchronous wind driven generator and MMC is characterized by comprising: divide fraction order PID controller of part equally to heterogeneous synchronous aerogenerator of permanent magnetism, MMC, rotational speed ring, electric current ring and MMC internal energy, wherein: the method comprises the following steps that a rotation speed sensor detects rotor position information theta of a generator, actual rotation angular speed omega of the generator is obtained through processing, the difference between the angular speed of the generator and a reference value of a rated rotation speed is used as a q-axis current loop reference signal of a synchronous generator through a controller of a fractional order PID, currents of d and q axes of a multiphase permanent magnet synchronous generator and harmonic currents are respectively connected with the fractional order PID controller in a control mode, and through coordinate transformation, upper and lower bridge arm voltages of an MMC are generated, wherein: and a fractional order PID controller is adopted in the MMC internal energy equal division control part.
2. The generator system of claim 1, further comprising: the system comprises a multiphase permanent magnet synchronous wind driven generator rotating speed loop fractional order PID controller, a multiphase permanent magnet synchronous wind driven generator q-axis current loop fractional order PID controller, a multiphase permanent magnet synchronous wind driven generator d-axis current loop fractional order PID controller, a harmonic component Z1 subspace current loop fractional order PID controller, a harmonic component Z2 subspace current loop fractional order PID controller, an inverse coordinate conversion module, fractional order PID controllers of an MMC upper and lower bridge arm capacitance voltage modulation and internal energy equalization part, an MMC rectifier, a multiphase permanent magnet synchronous wind driven generator PMSG for converting wind power into electric power, and a coordinate conversion module, wherein: the multiphase permanent magnet synchronous wind driven generator rotating speed ring fractional order PID controller calculates a q-axis current reference value i according to a given rotating speed rated value and a real-time rotating speed from a permanent magnet synchronous motorqrefThe coordinate conversion module outputs phase current i according to the generatorabc、idefCoordinate conversion is carried out to obtain d-axis and q-axis currents i of the PMSG of the multiphase permanent magnet synchronous wind driven generatord、iqHarmonic current Z1, reference value i of Z2 currentZ1、iZ2Then further controlled by respective fractional order PID controllers to obtain
Figure FDA0002685045020000011
And then the output is output to a fractional order PID controller after coordinate conversion is carried out by an inverse coordinate conversion module, so that the output quantity of the MMC rectifier is modulated.
3. A control method of a system according to claim 1 or 2, comprising:
step 1) obtaining a rotation speed difference value, namely omega' ═ omega, according to a given rotation speed and a real-time rotation speedref- ω, wherein: omegarefIs a rated value of the rotating speed, and omega is an actual rotating speed value; the difference value of the rotating speed ring is controlled by a fractional order PID controller of the rotating speed ring to obtain a q-axis current reference value
Figure FDA0002685045020000012
Wherein: k is a radical ofp3Proportionality coefficient, k, of a fractional order PID controller for speed loop controli3Integral coefficient, k, of a fractional order PID controller for speed loop controld3The differential coefficient of a fractional order PID controller controlled by a rotating speed ring is adopted, lambda is the integral order of the fractional order PID controller of the rotating speed ring, and mu is the differential parameter of the fractional order PID controller of the rotating speed ring;
step 2) performing coordinate transformation according to the MMC output current to obtain a q axis of the multiphase permanent magnet synchronous wind driven generator, wherein a control equation adopted by the q axis current is as follows:
Figure FDA0002685045020000021
wherein: k is a radical ofp1Proportionality coefficient, k, of fractional order PID controller for q-axis current controli1Integral coefficient, k, of a fractional order PID controller for q-axis current controld1Differential coefficient, λ, for a fractional order PID controller for q-axis current control1Integral order, mu, of a fractional order PID controller for q-axis current control1Setting a q-axis current reference value of the multiphase permanent magnet synchronous wind driven generator as 0 for a differential parameter of a fractional order PID controller of the q-axis current;
and step 3) performing coordinate transformation according to the MMC output current to obtain d-axis current of the multiphase permanent magnet synchronous wind driven generator, wherein the d-axis current adopts a control equation as follows:
Figure FDA0002685045020000022
wherein: k is a radical ofp2For d-axis current controlProportional coefficient, k, of a fractional order PID controlleri2Integral coefficient, k, of a fractional order PID controller for d-axis current controld2Differential coefficient, λ, for a fractional order PID controller for d-axis current control2Integral order, mu, of a fractional order PID controller for d-axis current control2A differential parameter of a fractional order PID controller for d-axis current;
step 4) carrying out coordinate transformation according to the MMC output current to obtain harmonic current Z1 of the multiphase permanent magnet synchronous wind driven generator, and setting the current reference value of the harmonic current Z1 as 0; the control equation adopted by the generator harmonic current Z1 is as follows:
Figure FDA0002685045020000023
wherein: k is a radical ofp4Proportionality coefficient, k, of fractional order PID controller controlled for harmonic current Z1i4Integral coefficient, k, of a fractional order PID controller controlled for harmonic current Z1d4Differential coefficient, λ, of fractional order PID controller controlled for harmonic current Z1Z1Integration order, μ, of a fractional order PID controller controlled for harmonic current Z1Z1A derivative parameter of a fractional order PID controller for harmonic current Z1;
step 5) carrying out coordinate transformation according to the MMC output current to obtain harmonic current Z2 of the multiphase permanent magnet synchronous wind driven generator, and setting the current reference value of the harmonic current Z2 as 0; the control equation adopted by the generator harmonic current Z2 is as follows:
Figure FDA0002685045020000024
wherein: k is a radical ofp5Proportionality coefficient, k, of fractional order PID controller controlled for harmonic current Z2i5Integral coefficient, k, of a fractional order PID controller controlled for harmonic current Z2d5Differential coefficient, λ, of fractional order PID controller controlled for harmonic current Z2Z2Integration order, μ, of a fractional order PID controller controlled for harmonic current Z2Z2A derivative parameter of a fractional order PID controller for harmonic current Z2;
step 6) obtaining the q-axis of the multiphase permanent magnet synchronous wind driven generator by the fractional order PID controller subjected to the q-axis current control in the step 2Voltage value U* qAnd 3, obtaining the d-axis voltage U of the multiphase permanent magnet synchronous wind driven generator through the fractional order PID controller controlled by the d-axis current in the step 3* dAnd the voltage value U of the harmonic subspace Z1 obtained by a fractional order PID controller of the harmonic current Z1 in the step 4* z1And 5, obtaining a voltage value U of a harmonic subspace Z2 through a fractional order PID controller of harmonic current Z2 in the step 5* z2Obtaining six-phase voltage before modulation of the permanent magnet synchronous motor through coordinate transformation;
step 7) inputting the six-phase voltage obtained in the step 6 before modulation into an MMC rectifier control part, and accessing the difference value between the average value of the capacitance voltages of the upper and lower bridge arm sub-modules of the i (i ═ A, B, … … N) phase and the reference value into a fractional order PID controller, wherein the MMC internal energy equipartition control equation is as follows:
Figure FDA0002685045020000031
Figure FDA0002685045020000032
is the average value of the capacitor voltage of the upper bridge arm submodule and the lower bridge arm submodule of the MMCcjFor its reference value, VAjiThe phase voltage k of the control part is equally divided for MMC energypm1Proportionality coefficient, k, of a first fractional order PID controller for MMC internal energy equal division controlim1Integral coefficient, k, of a first fractional order PID controller for MMC internal energy equal division controldm1Differential coefficient, lambda, of a first fractional order PID controller for MMC internal energy equal division controlm1Integral order, mu, of a first fractional order PID controller for MMC internal energy equal division controlm1The differential parameter of a first fractional order PID controller for MMC internal energy equal division control is as follows:
Figure FDA0002685045020000033
wherein: k is a radical ofpm2Proportionality coefficient, k, of a second fractional order PID controller for MMC internal energy equal controlim2Integral coefficient, k, of a second fractional order PID controller for MMC internal energy equal division controldm2Differential coefficient, lambda, of a second fractional order PID controller for MMC internal energy equal division controlm2Integral order, mu, of a second fractional order PID controller for MMC internal energy equal division controlm2Differential parameter, i, of a second fractional order PID controller for MMC internal energy equal controlcirIs an MMC inner circulating current.
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