CN112542973B - Control method of brushless double-fed induction motor under unbalanced power grid - Google Patents
Control method of brushless double-fed induction motor under unbalanced power grid Download PDFInfo
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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
- H02P21/22—Current control, e.g. using a current control loop
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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
- H02P21/141—Flux estimation
Abstract
Brushless double under unbalanced power gridA method of controlling an induction fed motor, comprising: (1) Collecting three-phase voltage and current of a power side stator and three-phase current of a control side stator under a static coordinate system; (2) Acquiring the amplitude, phase angle, frequency and flux linkage of a stator flux linkage at a power side; (3) Dividing the voltage, current and flux linkage vectors into positive and negative sequence components; (4) calculating a power side stator magnetic chain angle; (5) Establishing a two-phase synchronous rotating coordinate system, and converting the negative sequence component into a positive sequence reference coordinate for control; (6) Solving an expression of electromagnetic torque, reactive power and stator current at a control side; (7) Obtaining control-side stator currentqAn axis command signal; (8) obtaining a d-axis command signal of the stator current on the control side; (9) Obtaining a dq axis voltage component given value of stator voltage at a control side under a two-phase rotating coordinate system; (10) The output voltage of the inverter is applied to the motor control side stator. The invention has low parameter dependence and simple algorithm.
Description
Technical Field
The invention relates to motor control, in particular to a control method of a brushless double-fed induction motor under an unbalanced power grid.
Background
The brushless double-fed induction motor is used as a novel motor in recent years, inherits the advantages of a cage type induction motor, a winding type induction motor and an electrically excited synchronous motor, can realize multiple running modes such as self-starting, asynchronous, synchronous and double-fed, and has good starting characteristics and running performance. Compared with a common double-fed induction motor of a main current motor, the brushless double-fed induction motor has no electric brush and slip ring, so that the system cost is greatly reduced, the system stability is improved, the maintenance cost is saved, and the brushless double-fed induction motor becomes the direction of the future motor driving field. However, because the brushless double-fed induction motor has a special structure and comprises two stators and a rotor winding, the rotating magnetic potentials of the two sets of windings of the stators are coupled with the rotor winding, but only one stator can be controlled, so that the decoupling difficulty and the control difficulty of a system are increased.
The existing control schemes for the brushless doubly-fed induction motor mainly comprise scalar control, vector control, direct torque control, prediction control and the like. Wherein the power side stator flux linkage is substantially constant because the power side stator of a brushless doubly fed induction machine is typically directly connected to the grid, on the basis of which the control is typically based. The scalar control is used for verification at the beginning because of simple realization, but the steady-state performance and the dynamic performance are poor, so that the scalar control is difficult to be applied to occasions with sudden change of the rotating speed and high requirements on the dynamic performance of the system; for direct torque control, the direct torque control depends on motor parameters, the switching frequency is unstable, electromagnetic torque pulsation is caused, the low-speed performance is poor, and the requirement on an encoder is high. The predictive control is started to be used in the field of motor control in recent years, and although the advantages are obvious, the requirements on the converter are high, the program calculation time is long, and the method is not suitable for industrial occasions. In contrast, vector control can overcome the above disadvantages, and is also the most widely used control scheme at present.
At present, most of vector control aiming at a brushless doubly-fed induction motor is based on rotor magnetic field orientation and comprehensive flux linkage orientation, but the control scheme has a dq-axis current coupling phenomenon and cannot realize complete active and reactive decoupling of a system; in vector control based on a power side magnetic field, a three-loop control strategy with a speed loop as an outer loop and a power side stator current and a control side stator current as an inner loop can realize decoupling control, but the number of controllers is increased, the calculation of a feedforward term is complex, and the dependence on motor parameters is high; and the application of brushless double-fed induction motor is more and more extensive at present, not only confine to under normal operating condition, also be the key of considering to the control scheme under the unbalanced electric wire netting, but brushless double-fed induction motor's control is less under the unbalanced electric wire netting at present to mostly adopt two PWM converters to control brushless double-fed induction motor, adopt two PWM converters to control brushless double-fed induction motor algorithm complicacy, the calculated amount is big, and is big to the dependency of parameter.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects of the background technology and provide a control method of a brushless doubly-fed induction motor under an unbalanced power grid, which has low parameter dependency and simple algorithm and is suitable for the unbalanced power grid.
The invention solves the technical problem by adopting the technical scheme that the control method of the brushless double-fed induction motor under the unbalanced power grid comprises the following steps:
(1) Collecting three-phase voltage u of power side stator under static coordinate system pa 、u pb 、u pc And three-phase current i pa 、i pb 、i pc (ii) a Collecting three-phase current i of control side stator under static coordinate system ca 、i cb 、i cc ；
(2) Acquiring flux linkage amplitude | psi of the stator at the power side according to the relation between the voltage and the flux linkage p I, phase angle theta p Frequency omega p And flux linkage psi p ；
(3) Based on the principle of phase-locked loop under the unbalanced power grid, divide into positive sequence component and negative sequence component with voltage, current and flux linkage vector respectively, wherein: positive sequence voltage
Negative sequence voltage->
Positive sequence current->
Negative sequence voltage->
Positive sequence flux linkage->
Negative sequence flux linkage->
(4) Calculating flux linkage angle theta of power side stator c ；
(5) Establishing a two-phase synchronous rotating coordinate system, and converting the negative sequence component into a positive sequence reference coordinate system for control;
(6) Deducing a relational expression of the electromagnetic torque and the stator current at the control side and a relational expression of the reactive power and the stator current at the control side;
(7) Obtaining q-axis command signal of stator current on control side
(8) Obtaining d-axis command signal of stator current at control side
(9) Obtaining a dq axis voltage component given value u of the stator voltage at the control side under a two-phase rotating coordinate system cd * And u cq * ；
(10) And the output voltage of the converter is applied to the stator of the control side of the motor, so that the control of the electromagnetic torque and the reactive power of the power side of the motor is realized.
Further, in the step (4), a flux linkage angle θ of the power-side stator is calculated c The method comprises the following steps: measuring rotor speed n of an electric machine using an incremental encoder r And rotor position angle theta r And detecting the number of pole pairs P of the motor p According to the phase angle theta p Number of pole pairs P p Rotor position angle θ r Calculating flux linkage angle theta of power side stator c ，θ c ＝θ p -(P p +P c )θ r 。
Further, in the step (5), a two-phase synchronous rotating coordinate system is established, and the two-phase synchronous rotating coordinate system is to be used for calculating the rotation speed of the rotorThe method for controlling the conversion of the negative sequence component into the positive sequence reference coordinate system comprises the following steps: respectively by positive flux linkage angle theta of power-side stator c Negative sequence angle-theta of power side stator flux linkage c Establishing a two-phase synchronous rotation coordinate system for the orientation angle; will be the positive sequence component
Is positioned on the positive sequence magnetic chain side of the stator on the power side and is used for judging the negative sequence component>
And positioning the stator on the negative sequence magnetic chain side of the power side stator, simultaneously carrying out coordinate transformation on the actually measured three-phase voltage of the power side stator and the three-phase current of the control side stator to respectively obtain the voltage and the current under positive and negative sequence coordinates, and converting the negative sequence component into a positive sequence reference coordinate system for control according to a positive and negative sequence coordinate system conversion formula.
Further, in the step (6), a relational expression of the electromagnetic torque and the control-side stator current is:
wherein M is p For power-side stator mutual inductance, M c For controlling side stator mutual inductance, L r For rotor side self-inductance, L p For power-side stator self-inductance, P p Is the pole pair number, P, of the power-side stator c To control the number of pole pairs, i, of the side stator cq To control the q-axis component of the side stator current, | ψ p I is the flux linkage amplitude of the stator at the power side; the relational expression of the reactive power and the stator current at the control side is as follows: />
Wherein M is p For power-side stator mutual inductance, M c For controlling side stator mutual inductance, L r For rotor side self-inductance, L p For power side stator self-inductance, u pq Is the q-axis component, i, of the power-side stator voltage cd Is the d-axis component of the control side stator current.
Further, in the step (7), a control side stator is obtainedQ-axis command signal of current
The method comprises the following steps: />
Will give a rotation speed n r * Rotor speed n measured with incremental encoder r As an input to a speed regulator, the output of which is a given signal T of the electromagnetic torque ref * Obtaining a q-axis command signal of the positive sequence current of the stator at the control side through a relational expression of the electromagnetic torque and the stator current at the control side
Then a q-axis command signal which controls the positive sequence current of the stator is transmitted>
And a specific negative sequence reference current->
Adding the q-axis command signal which results in a control-side stator current>
Further, in the step (8), a d-axis command signal of the control-side stator current is obtained
The method comprises the following steps:
the deviation between the set value and the measured value of the power side reactive power is used as the input of a reactive power regulator, and the output of the reactive power regulator is used as the d-axis component of the positive sequence current of the stator at the control side
Then the d-axis component of the control-side stator positive sequence current is->
And a specific negative sequence reference current->
Adding the d-axis command signal to obtain the d-axis command signal->
Further, in the step (9), a dq axis voltage component given value u of the stator voltage on the control side in the two-phase rotation coordinate system is obtained cd * And u cq * The method comprises the following steps:
d-axis command signal for controlling stator current
q-axis command signal->
Respectively making difference comparison with measured current, and respectively feeding them into d-axis and q-axis current regulators so as to obtain the dq-axis voltage component given value u of stator voltage of control side under the condition of two-phase rotating coordinate system cd * And u cq * 。
Further, in the step (10), the output voltage of the inverter is applied to the stator on the control side of the motor, and the method for controlling the electromagnetic torque and the reactive power on the power side of the motor is implemented as follows:
u is to be cd * And u cq * At power side stator flux angle theta c And performing inverse transformation on the transformation angle to obtain a three-phase modulation voltage signal of the control side converter under a static coordinate system, generating a modulation signal by utilizing a carrier modulation or space vector modulation strategy, acting on the matrix converter through a driving circuit, and applying the output voltage of the converter to a motor control side stator to realize the control of the electromagnetic torque and the power side reactive power of the motor.
Compared with the prior art, the invention has the following advantages:
the invention aims at the defects that the existing control scheme of the brushless double-fed induction motor has complex decoupling and poor dynamic performance, cannot adapt to an unbalanced power grid and the like, adopts a power side stator flux linkage positive and negative sequence directional control algorithm, and utilizes a double closed loop cascade structure of a rotating speed, a reactive power outer loop and a current inner loop to realize the purpose of controlling a high-voltage motor by using a low-voltage frequency converter.
Drawings
Fig. 1 is a schematic diagram of a brushless doubly-fed induction motor driving system under an unbalanced power grid according to an embodiment of the present invention.
Fig. 2 is a vector control block diagram of the brushless doubly-fed induction motor driving system under the unbalanced network according to the embodiment of the present invention.
Fig. 3 is a structure diagram of a phase-locked loop of a brushless doubly-fed induction motor under an unbalanced network according to an embodiment of the present invention.
FIG. 4 is a waveform diagram of the stable operation speed at 600r/min of the brushless doubly-fed induction motor according to the embodiment of the invention.
Fig. 5 is a waveform diagram of electromagnetic torque, reactive power and active power in stable operation at 600r/min of the brushless doubly-fed induction machine of the embodiment of the invention.
FIG. 6 is a waveform diagram of the stable operation current at 600r/min of the brushless doubly-fed induction motor according to the embodiment of the invention.
FIG. 7 is a diagram of the rotating speed and current waveforms of the brushless doubly-fed induction motor according to the embodiment of the invention when the rotating speed is increased from 600r/min to 800 r/min.
Fig. 8 is a waveform diagram of electromagnetic torque, reactive power and active power when the rotating speed of the brushless doubly-fed induction motor of the embodiment of the invention is increased by 800r/min from 600 r/min.
Fig. 9 is a diagram of the rotational speed and current waveforms of the brushless doubly fed induction machine of the embodiment of the present invention when the torque is increased from 0n.m to 20n.m.
Fig. 10 is a waveform diagram of electromagnetic torque, reactive power and active power when the torque is increased by 20n.m in the brushless doubly-fed induction machine according to the embodiment of the present invention.
The variables in the text description and figures are as follows:
ψ,v,I,T e q represents flux linkage, voltage, current, electromagnetic torque, and reactive power, respectively;
R,L,M,L 1 respectively representing the resistance, self-inductance, mutual inductance and leakage inductance of the motor;
p represents the number of pole pairs of the motor;
θ p ,θ r ,θ c respectively representing the angles of the power side stator flux linkage, the rotor flux linkage and the control side stator flux linkage;
n r ,ω r respectively representing the rotating speed of the motor and the electrical angular frequency of the rotor;
subscripts p, c, r respectively denote a power-side stator winding, a control-side stator winding and a rotor winding of the brushless doubly-fed induction motor;
subscripts a, b, c respectively represent three-phase windings of the brushless doubly-fed induction machine;
subscripts pd, pq are respectively expressed as d-axis and q-axis components of the power side stator winding related electric quantity;
subscripts cd, cq represent d-axis and q-axis components of the control-side stator winding related electric quantity, respectively;
subscripts α, β denote an α axis and a β axis of the two-phase stationary coordinate system, respectively;
subscripts +, -respectively denote a reference coordinate system lying in positive and negative sequence;
superscript +, -representing positive and negative sequence components, respectively;
the superscript denotes a given reference value.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
Fig. 1 is a schematic diagram of a double-fed induction motor driving system under an unbalanced power grid, which mainly comprises a matrix converter, a brushless double-fed induction motor and a squirrel-cage induction motor speed regulating system. The power side stator winding 'PW' of the brushless doubly-fed induction motor is directly connected with a power grid, the control side stator winding 'CW' is connected with the output end of a power converter, and the input end of the power converter is connected with the power grid through an input filter. The squirrel-cage induction motor is coaxially connected with the brushless double-fed induction motor and used for providing load torque. The voltage and current signals of the stator winding at the control side and the stator winding at the power side, the mechanical rotating speed of the motor and the position angle of the rotor are measured by using the current and voltage sensors, and the expected stator voltage at the control side is output by controlling the matrix converter through a related control algorithm and a modulation algorithm, so that the control of the whole driving system is realized.
Fig. 2 is a vector control block diagram of a brushless doubly-fed induction motor driving system under an unbalanced power grid, which mainly includes a phase-locked loop, a reactive power observer, a rotation speed regulator, a reactive power regulator, a current regulator, a matrix converter and the like under the unbalanced power grid.
Fig. 3 shows a phase-locked loop and positive and negative sequence decomposition principle of a brushless doubly-fed induction motor driving system under an unbalanced power grid, wherein the phase-locked loop and positive and negative sequence decomposition principle comprises a filtering link, a positive sequence power angle acquisition link, a positive and negative sequence separation link and a link of converting a two-phase rotating coordinate system into a three-phase stationary coordinate system in an inverse manner.
The control method of the brushless doubly-fed induction motor under the unbalanced power grid comprises the following steps:
(1) Three-phase voltage u of power side stator under static coordinate system is acquired by using voltage sensor pa 、u pb 、u pc Acquiring three-phase current i of a power side stator in a static coordinate system by using a current sensor pa 、i pb 、i pc And three-phase current i of stator at control side under static coordinate system ca 、i cb 、i cc 。
(2) Obtaining flux linkage amplitude phi psi of the power side stator according to the relation between the voltage and the flux linkage p I, phase angle theta p Frequency omega p And flux linkage psi p 。
(3) Based on the principle of a phase-locked loop under an unbalanced power grid, voltage, current and flux linkage vectors are respectively divided into a positive sequence component and a negative sequence component, wherein: positive sequence voltage
Negative sequence voltage->
Positive sequence current->
Negative sequence voltage>
Positive sequence flux linkage->
Negative sequence linkage>
(4) Measuring rotor speed n of an electric machine using an incremental encoder r And rotor position angle theta r And detecting the number of pole pairs P of the motor p According to the phase angle theta p Number of pole pairs P p Rotor position angle θ r Calculating flux linkage angle theta of power side stator c ，θ c ＝θ p -(P p +P c )θ r 。
(5) Respectively by positive flux linkage angle theta of power-side stator c Negative power side stator flux linkage angle-theta c Establishing a two-phase synchronous rotation coordinate system for the orientation angle; will be the positive sequence component
Is positioned on the positive sequence magnetic chain side of the stator on the power side and is used for judging the negative sequence component>
Positioned at the power sideAnd on the negative sequence magnetic chain side of the stator, after the coordinate transformation is carried out on the actually measured three-phase voltage of the stator on the power side and the three-phase current of the stator on the control side, the voltage and the current under the positive and negative sequence coordinates are respectively obtained, and the negative sequence component is converted into the positive sequence reference coordinate system for control according to a positive and negative sequence coordinate system conversion formula.
(6) Ignoring the influence of the rotor resistance, a relational expression of the electromagnetic torque and the control side stator current and a relational expression of the reactive power and the control side stator current are deduced.
The relational expression of the electromagnetic torque and the control side stator current is as follows:
The relational expression of the reactive power and the stator current at the control side is as follows:
(7) Will give a given rotation speed n r * Rotor speed n measured with incremental encoder r As an input to a speed regulator, the output of which is a given signal T of the electromagnetic torque ref * Obtaining a q-axis command signal of the positive sequence current of the stator at the control side through a relational expression of the electromagnetic torque and the stator current at the control side
Then the q-axis command signal for controlling the positive sequence current of the stator is used for judging whether the current is greater than or equal to the reference value>
And a specific negative sequence reference current->
Adding the q-axis command signal which results in a control-side stator current>
(8) The deviation between the set value and the measured value of the power side reactive power is used as the input of a reactive power regulator, and the output of the reactive power regulator is used as the d-axis component of the positive sequence current of the stator at the control side
Then the d-axis component of the control-side stator positive sequence current is->
And a specific negative-sequence reference current>
Adding the d-axis command signal to obtain the d-axis command signal->
/>
(9) D-axis command signal for controlling stator current
q-axis command signal->
Respectively making difference comparison with measured current, and respectively feeding them into d-axis and q-axis current regulators so as to obtain stator voltage of control side under the condition of two-phase rotating coordinate systemGiven value u of the dq-axis voltage component of cd * And u cq * 。
(10) Will u cd * And u cq * At power side stator flux angle theta c And performing inverse transformation on the transformation angle to obtain a three-phase modulation voltage signal of the control side converter under a static coordinate system, generating a modulation signal by utilizing a carrier modulation or space vector modulation strategy, and acting on the matrix converter through a driving circuit, so that the output voltage of the converter is applied to a motor control side stator, and the control on the electromagnetic torque and the power side reactive power of the motor is realized.
The experimental results of the control method of the brushless doubly-fed induction motor under the unbalanced power grid are shown in fig. 4-10. The motor parameters are as follows: the rated power is 30kW; the number of pole pairs of the power side stator is 1; the number of pole pairs of the stator at the control side is 3; the power side stator resistance is 0.403 Ω; the stator resistance at the control side is 0.268 omega; the rotor resistance is 0.785 Ω; the power side stator inductance is 0.710H; the stator inductance at the control side is 0.0476H; the rotor inductance is 0.760H; the mutual inductance between the stator and the rotor at the power side is 0.706H; the mutual inductance between the stator and the rotor at the control side is 0.0462H; the motor inertia is 0.7kg.m 2 . FIG. 4 is an experimental waveform of a given rotation speed of 600r/min and a given reactive power of 0Var, which shows that both the rotation speed and the reactive power reach ideal values, and the stator current at the control side is basically stable. FIG. 7 is a waveform diagram of an experiment when the rotation speed is increased from 600r/min to 800/min, which shows that the rotor speed can track the given value well, and the rise time is 1s, which has good dynamic performance; during the transient state, the q-axis component of the stator current at the control side is increased for a short time to generate larger electromagnetic torque; thus, with the above control strategy, the brushless doubly fed induction machine can be smoothly switched from the sub-synchronous mode of operation to the super-synchronous mode of operation. Fig. 9 is an experimental waveform when the load torque increases from 0n.m to 20n.m with the reference rotation speed of 600r/min, at which the motor rotation speed and reactive power temporarily fluctuate, but a steady state is quickly reached, the control-side stator current q-axis component increases to compensate for the load torque, and the power-side active power increases.
The control method of the brushless double-fed induction motor under the unbalanced power grid is based on power side stator flux linkage orientation, utilizes a simplified mathematical model to establish a double closed loop cascade structure of a rotating speed and reactive power outer loop and a control side stator current inner loop, counteracts the influence of a current cross coupling term through feedforward control, and realizes the decoupling control of the speed and the reactive power of the brushless double-fed induction motor. Meanwhile, the invention adopts the design idea of the phase-locked loop and constructs the stator flux observer at the power side to acquire the information such as the amplitude, the frequency, the phase angle and the like of the stator flux so as to complete the coordinate transformation of the related electric quantity. The experimental result shows that the scheme can be suitable for the sub-synchronous, synchronous and super-synchronous operation modes of the brushless double-fed induction motor, and has good dynamic and static response. Meanwhile, the scheme is simple to realize, the problems of poor dynamic performance and incapability of quickly tracking the given rotating speed in the existing control are solved, and the possibility is provided for the industrial application of the brushless doubly-fed induction motor.
Various modifications and variations of the present invention may be made by those skilled in the art, and they are also within the scope of the present invention provided they are within the scope of the claims of the present invention and their equivalents.
What is not described in detail in the specification is prior art that is well known to those skilled in the art.
Claims (7)
1. A control method of a brushless doubly-fed induction motor under an unbalanced power grid is characterized by comprising the following steps: the method comprises the following steps:
(1) Collecting three-phase voltage u of power side stator under static coordinate system pa 、u pb 、u pc And three-phase current i pa 、i pb 、i pc (ii) a Collecting three-phase current i of stator at control side under static coordinate system ca 、i cb 、i cc ；
(2) Acquiring flux linkage amplitude | psi of the stator at the power side according to the relation between the voltage and the flux linkage p I, phase angle theta p Frequency omega p And flux linkage psi p ；
(3) Based on the principle of phase-locked loop under unbalanced power grid, voltage, current and flux linkage vectors are respectively divided into positive sequence components and negative sequence componentsA sequence component, wherein: positive sequence voltage
Negative sequence voltage->
Positive sequence current->
Negative sequence voltage->
Positive sequence flux linkage->
Negative sequence flux linkage->
(4) Calculating flux linkage angle theta of power side stator c ；
(5) Establishing a two-phase synchronous rotating coordinate system, and converting the negative sequence component into a positive sequence reference coordinate system for control;
(6) Deducing a relational expression of the electromagnetic torque and the stator current at the control side and a relational expression of the reactive power and the stator current at the control side;
(7) Obtaining q-axis command signal of stator current on control side
(8) Obtaining d-axis command signal of stator current on control side
(9) Obtaining control under a two-phase rotating coordinate systemDq-axis voltage component setpoint u of side stator voltage cd * And
u cq * ；
(10) Will u cd * And u cq * At power side stator flux angle θ c And performing inverse transformation on the transformation angle to obtain a three-phase modulation voltage signal of the control side converter under a static coordinate system, generating a modulation signal by utilizing a carrier modulation or space vector modulation strategy, acting on the matrix converter through a driving circuit, and applying the output voltage of the converter to a motor control side stator to realize the control of the electromagnetic torque and the power side reactive power of the motor.
2. The method of claim 1, wherein the method comprises the steps of: in the step (4), the flux linkage angle θ of the power-side stator is calculated c The method comprises the following steps: measuring rotor speed n of an electric machine using an incremental encoder r And rotor position angle theta r And detecting the number of pole pairs P of the motor p According to the phase angle theta p Number of pole pairs P p Rotor position angle theta r Calculating flux linkage angle theta of power side stator c Wherein: theta.theta. c ＝θ p -(P p +P c )θ r 。
3. The method for controlling a brushless doubly-fed induction machine under unbalanced network as claimed in claim 1 or 2, characterized in that: in the step (5), a two-phase synchronous rotating coordinate system is established, and the method for controlling by converting the negative sequence component into the positive sequence reference coordinate system is as follows: respectively according to the flux linkage positive sequence angle theta of the power side stator c Negative sequence angle-theta of power side stator flux linkage c Establishing a two-phase synchronous rotation coordinate system for the orientation angle; will be the positive sequence component
Is positioned on the positive sequence magnetic chain side of the stator on the power side and is used for judging the negative sequence component>
And the control side stator three-phase voltage and the control side stator three-phase current are subjected to coordinate transformation to respectively obtain the voltage and the current under a positive sequence coordinate and a negative sequence coordinate, and the negative sequence component is converted into a positive sequence reference coordinate system to be controlled according to a positive sequence coordinate system conversion formula.
4. A method for controlling a brushless doubly fed induction machine in an unbalanced network as in claim 1 or 2, characterized by: in the step (6), the relational expression of the electromagnetic torque and the control side stator current is as follows:
wherein M is p For power-side stator mutual inductance, M c For controlling side stator mutual inductance, L r For rotor side self-inductance, L p For power-side stator self-inductance, P p Is the pole pair number, P, of the power-side stator c To control the number of pole pairs, i, of the side stator cq To control the q-axis component of the side stator current, | ψ p I is the flux linkage amplitude of the stator at the power side; the relational expression of the reactive power and the stator current at the control side is
Wherein M is p For power-side stator mutual inductance, M c For controlling side stator mutual inductance, L r For rotor side self-inductance, L p For power side stator self-inductance, u pq Is the q-axis component of the power-side stator voltage, i cd Is the d-axis component of the control side stator current.
5. The method of claim 2, wherein the method comprises the steps of: in the step (7), a q-axis command signal of the stator current on the control side is obtained
The method comprises the following steps:
will give a rotation speed n r * Rotor speed n measured with incremental encoder r As an input to a speed regulator, the output of which is a given signal T of the electromagnetic torque ref * Obtaining a q-axis command signal of the positive sequence current of the stator at the control side through a relational expression of the electromagnetic torque and the stator current at the control side
Then q-axis command signal for controlling stator positive sequence current
And a specific negative-sequence reference current>
Adding the q-axis command signal to obtain a q-axis command signal->
6. The method of claim 5, wherein the method comprises the steps of: in the step (8), a d-axis command signal of the stator current on the control side is obtained
The method comprises the following steps:
the deviation between the given value and the measured value of the reactive power at the power side is used as the input of a reactive power regulator, and the output of the reactive power regulator is used as the d-axis component of the positive sequence current of the stator at the control side
Then the d-axis component of the control-side stator positive sequence current is->
And a specific negative sequence reference current->
Adding d-axis command signals which result in a control-side stator current>
7. The method of claim 6, wherein the method comprises the steps of: in the step (9), the dq axis voltage component set value u of the stator voltage at the control side under the two-phase rotating coordinate system is obtained cd * And u cq * The method comprises the following steps:
d-axis command signal for controlling stator current
q-axis command signal>
Respectively making difference comparison with measured current, and respectively feeding them into d-axis and q-axis current regulators so as to obtain the dq-axis voltage component given value u of stator voltage of control side under the condition of two-phase rotating coordinate system cd * And u cq * 。/>
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