CN112821736A - Method, system and medium for suppressing harmonic waves of machine side converter of disc type counter-rotating permanent magnet hydroelectric generator - Google Patents
Method, system and medium for suppressing harmonic waves of machine side converter of disc type counter-rotating permanent magnet hydroelectric generator Download PDFInfo
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- 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
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Abstract
The invention discloses a method, a system and a medium for suppressing harmonic waves of a machine side converter of a disc type contra-rotating permanent magnet hydroelectric generatord *And d-axis response current idDifference of (1), q-axis given current iq *And q-axis response current iqThe difference and the rotation speed omega are respectively input into a PI and a resonance controller to obtain d and q axis given voltages ud *And uq *And generating a modulation switching signal, and inputting the modulation switching signal into a two-level converter of the machine side converter to suppress the harmonic of the machine side converter. The invention can restrain the specified sub-current harmonic wave of the machine side converter of the disc type contra-rotating permanent magnet hydroelectric generator, thereby eliminating the stator current harmonic wave, improving the output current waveform, preventing the harmonic wave from increasing the loss and the torque ripple of the permanent magnet hydroelectric generator, effectively improving the efficiency of the hydroelectric generator set and prolonging the service life of the permanent magnet hydroelectric generator.
Description
Technical Field
The invention relates to a machine side converter harmonic suppression technology of a hydroelectric generator, in particular to a machine side converter harmonic suppression method, a system and a medium of a disc type contra-rotating permanent magnet hydroelectric generator, which are used for realizing harmonic suppression of the machine side converter of the disc type contra-rotating permanent magnet hydroelectric generator.
Background
The electric energy generated by small micro hydropower stations in rural areas of China reaches 2500 hundred million kilowatt hours, the installed capacity is large, and the green energy reserve which can be developed and utilized is large. About 4.7 thousands of small hydropower stations in the whole country need 13 thousands of units, and the output value exceeds 400 million yuan. But the small hydropower technology in rural areas of China falls behind at present, and the power generation efficiency is lower. In order to reduce the power generation cost and create the high-efficiency utilization of ecological protection water resources, the novel power generation technology is continuously applied to small and micro hydraulic power generation.
The two rotors of the double-rotor disc type counter-rotating permanent magnet generator can mutually utilize eddy currents as power, so that high efficiency and energy conservation are realized, and meanwhile, the rotating torque can be mutually offset, and side rolling is effectively avoided. This new type of permanent magnet generator has begun to be used in wind power generation and hydroelectric power generation. However, the application of the new generator still faces a plurality of difficulties. On the one hand, theoretical research aiming at a hydroelectric power generation system by scholars at home and abroad currently mainly focuses on the traditional single-rotor permanent magnet generator. Because the structure of the double-rotor disk type counter-rotating permanent magnet generator is obviously different from that of the traditional permanent magnet generator, the traditional method is difficult to effectively improve the efficiency of the double-rotor disk type counter-rotating permanent magnet generator. On the other hand, the special structure of the double-rotor disc type counter-rotating permanent magnet generator is applied to the small and micro water turbine generator side PWM converter, the switching frequency is low, and the harmonic content of input and output currents is high. A large amount of harmonics causes increased losses (mainly copper and iron losses) and torque ripple in the machine, which reduces the efficiency of the hydro-generator set and also severely affects the life of the generator. Therefore, how to achieve harmonic suppression of the machine-side converter for the disc-type counter-rotating permanent magnet hydroelectric generator becomes a key technical problem to be solved urgently.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: aiming at the problems in the prior art, the invention provides a method, a system and a medium for inhibiting harmonic waves of a machine side converter of a disc type contra-rotating permanent magnet hydroelectric generator.
In order to solve the technical problems, the invention adopts the technical scheme that:
a method for suppressing harmonic waves of a machine side converter of a disc type counter-rotating permanent magnet hydroelectric generator comprises the following steps:
1) collecting stator current i of disc type counter-rotating permanent magnet synchronous motorabcObtaining d and q axis response current idAnd iq(ii) a Collecting rotor position angle theta1And theta2Selecting rotor position angle theta1And theta2The position angle theta of the rotor which can stably run can be obtained, and the rotating speed omega is obtained;
2) d-axis is given current id *And d-axis response current idDifference of (1), q-axis given current iq *And q-axis response current iqThe difference and the rotation speed omega are respectively input into a PI and a resonance controller to obtain d and q axis given voltages ud *And uq *；
3) According to d and q axes, a given voltage ud *And uq *A modulation switching signal is generated and input to a two-level converter of the machine side converter to suppress machine side converter harmonics.
Optionally, collecting stator current i of the disc type counter-rotating permanent magnet synchronous motor in step 1)abcTo obtaind. q-axis response current idAnd iqThe detailed steps comprise: obtaining a, b and c phase response current i of disc type counter-rotating permanent magnet hydroelectric generatora、ib、icThe phases a, b and c are responded to a current ia、ib、icObtaining d and q axis response current i through coordinate transformationdAnd iq。
Optionally, the rotor position angle θ is selected in step 1)1And theta2The detailed steps of the rotor position angle θ for stable operation include: calculating rotor position angle theta1And theta2The difference between θ'; if the difference value theta' is less than or equal to a preset threshold value alpha, selecting the rotor position angle theta1As a rotor position angle θ; otherwise, the rotor position angle theta is selected2As the rotor position angle theta.
Alternatively, the step 1) of obtaining the rotation speed ω is to obtain the rotation speed ω by differentiating the rotor position angle θ with respect to the time t.
Optionally, the transfer function of the PI and the resonance controller in step 2) is as follows:
in the above formula, G(s) represents the value of the transfer function, s is the input quantity, KpIs a proportionality coefficient, KiIs an integral coefficient, f is a harmonic order, Kf1、Kf5、Kf7Is the 1, 5, 7 major harmonic resonance gain coefficient, fcFor the cut-off frequency, ω is the rotational speed.
Optionally, step 3) comprises:
3.1) setting d and q axes to a voltage ud *And uq *Obtaining given voltages u of alpha and beta axes through coordinate transformationα *And uβ *；
3.2) setting the alpha and beta axes to a voltage uα *And uβ *Generating a modulation switch signal through an SVPWM module, and inputting the modulation switch signal into a two-level converter of a machine side converter to inhibit the machine side converterAnd (4) harmonic waves.
In addition, the invention also provides a machine side converter harmonic suppression system of the disc type counter-rotating permanent magnet hydroelectric generator, which comprises:
a collecting and calculating program unit for collecting the stator current i of the disc type counter-rotating permanent magnet synchronous motorabcObtaining d and q axis response current idAnd iq(ii) a Collecting rotor position angle theta1And theta2Selecting rotor position angle theta1And theta2The position angle theta of the rotor which can stably run can be obtained, and the rotating speed omega is obtained;
a given voltage calculation program unit for setting d-axis given current id *And d-axis response current idDifference of (1), q-axis given current iq *And q-axis response current iqThe difference and the rotation speed omega are respectively input into a PI and a resonance controller to obtain d and q axis given voltages ud *And uq *；
A modulation switch signal generation program unit for setting the voltage u according to the d and q axesd *And uq *A modulation switching signal is generated and input to a two-level converter of the machine side converter to suppress machine side converter harmonics.
Furthermore, the invention also provides a machine side converter harmonic suppression system of a disc-type contra-rotating permanent magnet hydroelectric generator, comprising a computer device, characterized in that the computer device is programmed or configured to execute the steps of the machine side converter harmonic suppression method of the disc-type contra-rotating permanent magnet hydroelectric generator.
In addition, the invention also provides a control system of a disc type contra-rotating permanent magnet hydroelectric generator, which is characterized by comprising a disc type contra-rotating permanent magnet hydroelectric generator, a machine side converter and a control device, wherein the disc type contra-rotating permanent magnet hydroelectric generator is of a single-stator and double-rotor structure, the machine side converter consists of a two-level converter, the alternating current side of the two-level converter is correspondingly connected with the disc type contra-rotating permanent magnet hydroelectric generator, and the direct current side of the two-level converter is connected with a capacitor, the control device is programmed or configured to execute the steps of the harmonic suppression method of the machine side converter of the disc type contra-rotating permanent magnet hydroelectric generator,
furthermore, the present invention also provides a computer readable storage medium characterized in that the computer readable storage medium has stored thereon a computer program programmed or configured to execute the method of side converter harmonic suppression of a disc-counter-rotating permanent magnet hydroelectric generator.
Compared with the prior art, the invention has the following advantages: the harmonic suppression method of the machine side converter of the disc type contra-rotating permanent magnet hydroelectric generator sets the d axis to the current id *And d-axis response current idDifference of (1), q-axis given current iq *And q-axis response current iqThe difference and the rotation speed omega are respectively input into a PI and a resonance controller to obtain d and q axis given voltages ud *And uq *The method can perform appointed sub-current harmonic suppression on the machine side converter of the disc type contra-rotating permanent magnet hydroelectric generator, thereby eliminating stator current harmonic, improving output current waveform, preventing the harmonic from increasing the loss and torque pulsation of the permanent magnet hydroelectric generator, effectively improving the efficiency of the hydroelectric generator set and prolonging the service life of the permanent magnet hydroelectric generator.
Drawings
FIG. 1 is a schematic diagram of a method according to an embodiment of the present invention.
FIG. 2 is a control schematic diagram of a method according to an embodiment of the present invention.
Fig. 3 is an overall schematic diagram of a disc type counter-rotating permanent magnet hydroelectric generator control system in the embodiment of the invention.
Detailed Description
The present invention is further illustrated by the following examples, but it should not be construed that the scope of the above-described subject matter is limited to the following examples. Various alterations and modifications can be made without departing from the spirit of the invention as described above, and all such alterations and modifications are intended to be included within the scope of the invention, as defined by the appended claims.
As shown in fig. 1, the implementation steps of the method for suppressing the harmonic wave of the machine side converter of the disk-type counter-rotating permanent magnet hydroelectric generator according to the embodiment include:
1) collecting stator current i of disc type counter-rotating permanent magnet synchronous motorabcObtaining d and q axis response current idAnd iq(ii) a Collecting rotor position angle theta1And theta2Selecting rotor position angle theta1And theta2The position angle theta of the rotor which can stably run can be obtained, and the rotating speed omega is obtained;
2) d-axis is given current id *And d-axis response current idDifference of (1), q-axis given current iq *And q-axis response current iqThe difference and the rotation speed omega are respectively input into a PI and a resonance controller to obtain d and q axis given voltages ud *And uq *；
3) According to d and q axes, a given voltage ud *And uq *A modulation switching signal is generated and input to a two-level converter of the machine side converter to suppress machine side converter harmonics.
In this embodiment, the stator current i of the disc-type counter-rotating permanent magnet synchronous motor is collected in the step 1)abcObtaining d and q axis response current idAnd iqThe detailed steps comprise: obtaining a, b and c phase response current i of disc type counter-rotating permanent magnet hydroelectric generatora、ib、icThe phases a, b and c are responded to a current ia、ib、icObtaining d and q axis response current i through coordinate transformationdAnd iq。
In this embodiment, the rotor position angle θ is selected in step 1)1And theta2The detailed steps of the rotor position angle θ for stable operation include: calculating rotor position angle theta1And theta2The difference between θ'; if the difference value theta' is less than or equal to a preset threshold value alpha, selecting the rotor position angle theta1As a rotor position angle θ; otherwise, the rotor position angle theta is selected2As the rotor position angle theta. In this embodiment, the rotor position angle θ is collected in step 1)1And theta2Selecting rotor position angle theta1And theta2The rotor position angle theta capable of stably operating and the rotation speed omega are obtained by a rotor position angle dynamic selector 1 in the graph 1.
As shown in fig. 2, the transfer function between PI and the resonant controller in step 2) of this embodiment is shown as follows:
in the above formula, G(s) represents the value of the transfer function, s is the input quantity, KpIs a proportionality coefficient, KiIs an integral coefficient, f is a harmonic order, Kf1、Kf5、Kf7Is the 1, 5, 7 major harmonic resonance gain coefficient, fcFor the cut-off frequency, ω is the rotational speed.
In this embodiment, d and q axes give voltage ud *And uq *The calculation of (d) is performed by the PI and resonance controller 2. See FIG. 2, Δ idSetting the current i for d-axisd *And d-axis response current idA difference of (a) iqGiving current i to q-axisq *And q-axis response current iqThe difference of (a). The transfer function of a conventional PI controller is Kp+KiThe traditional PI controller can only adjust direct current signals under d and q coordinate systems to realize the control of the generator, and can not realize the steady state adjustment of alternating current signals under the d and q coordinate systems, so that the harmonic suppression of the machine side converter can not be realized. In this embodiment, the transfer function between the PI and the resonance controller in step 2) is:
the three-phase harmonic suppression device is provided with 3 main resonance controllers, and can realize steady-state adjustment of different alternating current signals under d and q coordinate systems, so that multiple harmonic suppression can be realized. In this embodiment, the transfer function between the PI and the resonance controller in step 2) can not only adjust the dc signals in the d and q coordinate systems to control the generator, but also suppress the specified subharmonic of the machine-side converter, thereby reducing the loss caused by the harmonic.
In this embodiment, step 3) includes:
3.1) setting d and q axes to a voltage ud *And uq *Obtaining given voltages u of alpha and beta axes through coordinate transformationα *And uβ *；
3.2) setting the alpha and beta axes to a voltage uα *And uβ *And generating a modulation switching signal through an SVPWM module, and inputting the modulation switching signal into a two-level converter of the machine side converter to suppress harmonic waves of the machine side converter.
In addition, the present embodiment further provides a machine-side converter harmonic suppression system of a disc-type counter-rotating permanent magnet hydroelectric generator, including:
a collecting and calculating program unit for collecting the stator current i of the disc type counter-rotating permanent magnet synchronous motorabcObtaining d and q axis response current idAnd iq(ii) a Collecting rotor position angle theta1And theta2Selecting rotor position angle theta1And theta2The position angle theta of the rotor which can stably run can be obtained, and the rotating speed omega is obtained;
a given voltage calculation program unit for setting d-axis given current id *And d-axis response current idDifference of (1), q-axis given current iq *And q-axis response current iqThe difference and the rotation speed omega are respectively input into a PI and a resonance controller to obtain d and q axis given voltages ud *And uq *；
A modulation switch signal generation program unit for setting the voltage u according to the d and q axesd *And uq *A modulation switching signal is generated and input to a two-level converter of the machine side converter to suppress machine side converter harmonics.
Furthermore, the present embodiment also provides a machine side converter harmonic suppression system of a disc-type counter-rotating permanent magnet hydroelectric generator, comprising a computer device programmed or configured to perform the steps of the aforementioned machine side converter harmonic suppression method of a disc-type counter-rotating permanent magnet hydroelectric generator.
As shown in fig. 3, the present embodiment further provides a disc-type counter-rotating permanent magnet hydroelectric generator control system, which includes a disc-type counter-rotating permanent magnet hydroelectric generator 4, a machine-side converter 3, and a control device, where the disc-type counter-rotating permanent magnet hydroelectric generator 4 is a disc-type counter-rotating permanent magnet hydroelectric generator with a single-stator and double-rotor structure, the machine-side converter 3 is composed of a two-level converter, an ac side 3 of the two-level converter is correspondingly connected to the disc-type counter-rotating permanent magnet hydroelectric generator 4, and a dc side of the two-level converter is connected to a capacitor, and the control device is programmed or configured to execute the steps of the method for. Referring to fig. 3, the control device includes a rotor position angle dynamic selector 1, a PI and resonance controller 2, a module for collecting stator current, and a computer. The disc type counter-rotating permanent magnet hydroelectric generator with the single-stator and double-rotor structure is of an existing motor structure and comprises one set of stator winding and stator iron core and two sets of rotors (rotor #1 and rotor #2), wherein the two sets of rotors (rotor #1 and rotor #2) share the same set of stator winding and stator iron core, and the rotors consist of rotor iron cores and permanent magnets. The two rotors of the disc type counter-rotating permanent magnet hydroelectric generator with the single-stator and double-rotor structure can mutually utilize eddy currents as power to realize high efficiency and energy conservation, and can simultaneously mutually offset rotating torque to effectively avoid side rolling.
Furthermore, the present embodiment also provides a computer-readable storage medium having stored thereon a computer program programmed or configured to execute the aforementioned side converter harmonic suppression method of a disc-contra-rotating permanent magnet hydroelectric generator.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (10)
1. A method for suppressing harmonic waves of a machine side converter of a disc type counter-rotating permanent magnet hydroelectric generator is characterized by comprising the following steps:
1) collecting stator current i of disc type counter-rotating permanent magnet synchronous motorabcObtaining d and q axis response current idAnd iq(ii) a Collecting rotor position angle theta1And theta2Selecting rotor position angle theta1And theta2The position angle theta of the rotor which can stably run can be obtained, and the rotating speed omega is obtained;
2) d-axis is given current id *And d-axis response current idDifference of (1), q-axis given current iq *And q-axis response current iqThe difference and the rotation speed omega are respectively input into a PI and a resonance controller to obtain d and q axis given voltages ud *And uq *；
3) According to d and q axes, a given voltage ud *And uq *A modulation switching signal is generated and input to a two-level converter of the machine side converter to suppress machine side converter harmonics.
2. The method for suppressing the harmonic waves of the machine side converter of the disc-type counter-rotating permanent magnet hydroelectric generator according to claim 1, wherein the stator current i of the disc-type counter-rotating permanent magnet synchronous motor is collected in the step 1)abcObtaining d and q axis response current idAnd iqThe detailed steps comprise: obtaining a, b and c phase response current i of disc type counter-rotating permanent magnet hydroelectric generatora、ib、icThe phases a, b and c are responded to a current ia、ib、icObtaining d and q axis response current i through coordinate transformationdAnd iq。
3. The machine side converter harmonic suppression method of a disc counter-rotating permanent magnet hydroelectric generator according to claim 1, wherein the rotor position angle θ selected in step 1) is1And theta2The detailed steps of the rotor position angle θ for stable operation include: calculating rotor position angle theta1And theta2The difference between θ'; if the difference value theta' is less than or equal to a preset threshold value alpha, selecting the rotor position angle theta1As a rotor position angle θ; otherwise, the rotor position angle theta is selected2As the rotor position angle theta.
4. The method for suppressing the harmonic of the machine-side converter of the disc-type counter-rotating permanent magnet hydroelectric generator according to claim 1, wherein the step 1) of obtaining the rotation speed ω is a step of differentiating the rotor position angle θ with respect to the time t to obtain the rotation speed ω.
5. The method for suppressing the harmonic waves of the machine side converter of the disc-type counter-rotating permanent magnet hydroelectric generator according to claim 1, wherein the transfer function of the PI and the resonance controller in the step 2) is as follows:
in the above formula, G(s) represents the value of the transfer function, s is the input quantity, KpIs a proportionality coefficient, KiIs an integral coefficient, f is a harmonic order, Kf1、Kf5、Kf7Is the 1, 5, 7 major harmonic resonance gain coefficient, fcFor the cut-off frequency, ω is the rotational speed.
6. The machine side converter harmonic suppression method of a disc counter-rotating permanent magnet hydroelectric generator according to claim 1, wherein step 3) comprises:
3.1) setting d and q axes to a voltage ud *And uq *Obtaining given voltages u of alpha and beta axes through coordinate transformationα *And uβ *；
3.2) setting the alpha and beta axes to a voltage uα *And uβ *And generating a modulation switching signal through an SVPWM module, and inputting the modulation switching signal into a two-level converter of the machine side converter to suppress harmonic waves of the machine side converter.
7. A machine side converter harmonic suppression system of a disc counter-rotating permanent magnet hydroelectric generator is characterized by comprising:
a collecting and calculating program unit for collecting the stator current i of the disc type counter-rotating permanent magnet synchronous motorabcObtaining d and q axis response current idAnd iq(ii) a Collecting rotor position angle theta1And theta2Selecting rotor position angle theta1And theta2The position angle theta of the rotor which can stably run can be obtained, and the rotating speed omega is obtained;
a given voltage calculation program unit for setting d-axis given current id *And d-axis response current idDifference of (1), q-axis given current iq *And q-axis response current iqThe difference and the rotation speed omega are respectively input into a PI and a resonance controller to obtain d and q axis given voltages ud *And uq *；
A modulation switch signal generation program unit for setting the voltage u according to the d and q axesd *And uq *A modulation switching signal is generated and input to a two-level converter of the machine side converter to suppress machine side converter harmonics.
8. A side converter harmonic suppression system of a disc counter-rotating permanent magnet hydro-generator comprising a computer device, characterized in that the computer device is programmed or configured to perform the steps of the side converter harmonic suppression method of a disc counter-rotating permanent magnet hydro-generator according to any of the claims 1 to 6.
9. A disc-type counter-rotating permanent magnet hydroelectric generator control system is characterized by comprising a disc-type counter-rotating permanent magnet hydroelectric generator, a machine side converter and a control device, wherein the disc-type counter-rotating permanent magnet hydroelectric generator is of a single-stator double-rotor structure, the machine side converter is composed of two-level converters, the alternating current sides of the two-level converters are correspondingly connected with the disc-type counter-rotating permanent magnet hydroelectric generator, the direct current sides of the two-level converters are connected with a capacitor, and the control device is programmed or configured to execute the steps of the machine side converter harmonic suppression method of the disc-type counter-rotating permanent magnet hydroelectric generator according to any one of claims 1-6.
10. A computer readable storage medium having stored thereon a computer program programmed or configured to perform the method of side converter harmonic suppression of a disc-contra-rotating permanent magnet hydro-generator according to any of claims 1 to 6.
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