CN113067371B - Subsynchronous oscillation suppression method for direct-drive permanent magnet wind turbine generator compensated by machine side converter - Google Patents
Subsynchronous oscillation suppression method for direct-drive permanent magnet wind turbine generator compensated by machine side converter Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
- H02J3/241—The oscillation concerning frequency
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
- H02J2300/20—The dispersed energy generation being of renewable origin
- H02J2300/28—The renewable source being wind energy
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- 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
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- 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
Abstract
A method for suppressing subsynchronous oscillation of a direct-drive permanent magnet wind turbine generator compensated by a machine side converter relates to the field of grid-connected control of direct-drive permanent magnet fan converters. The invention aims to solve the problem that a direct-drive permanent magnet wind turbine generator is easy to generate subsynchronous oscillation under the condition of weak power grid. The method for restraining the subsynchronous oscillation of the direct-drive permanent magnet wind turbine generator compensated by the machine side converter is carried out when the subsynchronous oscillation of the direct-drive permanent magnet wind turbine generator occurs, firstly, a subsynchronous oscillation compensation signal is generated after a voltage disturbance signal of a direct-current bus is filtered, and then, the subsynchronous oscillation compensation signal is fed back to the input end of a current loop of a control system of the machine side converter, so that the subsynchronous oscillation is restrained. The invention considers the influence of the oscillation of the direct-current bus voltage on the control of the machine side converter, and adds the disturbance compensation item to the current loop, thereby effectively inhibiting the subsynchronous oscillation of the direct-drive permanent magnet wind power converter system.
Description
Technical Field
The invention belongs to the technical field of direct-drive permanent magnet fan converter grid-connected control.
Background
Because renewable energy power generation is usually far away from a load center, the impedance of a power grid is not negligible, and the reliability of new energy power generation is seriously damaged by subsynchronous oscillation caused by the interaction of the dynamic process of each control link of the converter and the impedance of the power grid. In recent years, the problem of subsynchronous oscillation of the direct-drive permanent magnet wind turbine generator is more prominent, and the direct-drive permanent magnet wind turbine generator becomes a hotspot of current research.
The modeling and analyzing method of the direct-drive permanent magnet wind power generator converter generally adopts a method that a grid-side converter is modeled in detail, a machine side is simplified into a direct current source, and the improved control method for increasing the system stability proposed by the existing literature is almost the control method for the grid-connected converter. Although the above method is also applicable to wind power generation systems, there is a certain uncertainty due to the more complex wind power generation systems. And there is currently little correlation analysis to improve the control method for the machine side converter.
Disclosure of Invention
The invention provides a method for suppressing subsynchronous oscillation of a direct-drive permanent magnet wind turbine generator, which is compensated by a machine side converter, and aims to solve the problem that the direct-drive permanent magnet wind turbine generator is easy to generate subsynchronous oscillation under the condition of weak power grid.
The method for suppressing the subsynchronous oscillation of the direct-drive permanent magnet wind turbine generator compensated by the machine side converter is carried out when the subsynchronous oscillation of the direct-drive permanent magnet wind turbine generator occurs, and specifically comprises the following steps:
firstly, a DC bus voltage disturbance signal delta u dc Filtering to generate subsynchronous oscillation compensation signal H comp ，
Then, the subsynchronous oscillation compensation signal H comp And the feedback is fed back to the input end of a current loop of a machine side converter control system to realize the suppression of subsynchronous oscillation.
Further, a subsynchronous oscillation compensation signal H is generated according to the following formula comp ：
Wherein, Z o Is an open-loop impedance matrix of the permanent magnet synchronous motor,
is Z o The inverse of the matrix of (a) is,
S d and S q The d-axis and q-axis components of the machine-side converter switching function, respectively.
Further, the open-loop impedance matrix Z of the permanent magnet synchronous motor o Comprises the following steps:
wherein s is Laplace operator, L d And L q Respectively are d-axis and q-axis inductances of the permanent magnet synchronous motor, R is a stator resistance of the permanent magnet synchronous motor, omega e The rotor electrical angular velocity of the permanent magnet synchronous motor.
Further, Z o Inverse matrix of (2)
Comprises the following steps:
further, subsynchronous oscillation compensation signal H comp Including d-axis component
And q-axis component
Wherein s is Laplace operator, L d And L q Respectively are d-axis and q-axis inductances of the permanent magnet synchronous motor, R is a stator resistance of the permanent magnet synchronous motor, omega e The rotor electrical angular velocity of the permanent magnet synchronous motor.
Further, the actual value u of the direct-current bus voltage is collected in the direct-drive permanent magnet wind turbine generator dc And the steady state value U of the DC bus voltage dc Extracting the DC bus voltage disturbance signal delta u according to the following formula dc ：
Δu dc ＝u dc -U dc 。
Further, the following steps are executed before the sub-synchronous oscillation of the direct-drive permanent magnet wind turbine generator set occurs:
step 101: collecting voltage signals, current signals and direct current bus voltage signals of grid-connected points of a direct-drive permanent magnet wind turbine converter,
step 102: judging whether subsynchronous oscillation occurs in the direct-drive permanent magnet wind turbine generator, if so, judging the voltage disturbance signal delta u of the direct-current bus dc Filtering is carried out, otherwise, the step 101 is returned.
Further, in step 102, whether subsynchronous oscillation occurs in the direct-drive permanent magnet wind turbine generator is judged by using a FastICA-MP algorithm.
Further, subsynchronous oscillation compensation signal H comp D-axis and q-axis modulation voltages of a current loop after being fed back to a machine side converter control system
The expression is as follows:
wherein, K ii And K pi Respectively an integral parameter and a proportional parameter of a current loop PI controller of the machine side converter,
and
respectively set values of d-axis and q-axis currents of the machine side converter, i d And i q Are d-axis current actual values and q-axis current actual values of the permanent magnet synchronous motor respectively,
is a permanent magnet flux linkage of a permanent magnet synchronous motor.
Further, a PI control matrix G of a current loop of a machine side converter control system ci Comprises the following steps:
further, decoupling matrix G of current loop of machine side converter control system dec Comprises the following steps:
wherein, U dc The voltage steady state value of the direct current bus is obtained.
The method for suppressing the subsynchronous oscillation of the direct-drive permanent magnet fan converter based on the machine side converter compensation under the weak grid is mainly characterized in that a machine side control system is analyzed, the influence of the oscillation of the direct current bus voltage on the control of the machine side converter is considered, the disturbance transmission path of the machine side converter is analyzed, and a disturbance compensation item is added to a current loop, so that the subsynchronous oscillation of the direct-drive permanent magnet wind power converter system is effectively suppressed. The invention can inhibit the subsynchronous oscillation only by the additional branch circuit under the condition of not changing the original basic control characteristic of the system; the control method is simple, extra equipment and control cost are not needed, and meanwhile, a hardware control loop of the direct-drive wind turbine generator is not needed to be improved, so that the method is convenient to implement.
Drawings
FIG. 1 is a direct drive permanent magnet wind turbine converter topology and control block diagram, wherein Z grid As impedance of the grid, e a 、e b 、e c The voltages of the grid-connected points a, b and c, i ag 、i bg 、i cg Phase currents of a, b, C of the network-side converter, respectively, C filter And L filter Respectively filter inductance and capacitance, i dc A direct current i output from the machine side a 、i b 、i c The phase currents of a, b and c of the permanent magnet synchronous motor are u a 、u b 、u c A, b and c phase voltages of the permanent magnet synchronous motor respectively, u dg And u qg Voltages of d-axis and q-axis of the grid-connected point, i dg And i qg D-axis and q-axis currents, theta, of the network-side converter, respectively PLL For phase-locked loop to lock the angle, theta e Is the rotor electrical angle, omega m Mechanical angular velocity, p, of the rotor of an electric machine n Is the number of pole pairs, k, of the motor ppll And k ipll Proportional and integral parameters, T, respectively, of a phase-locked loop PI controller abc/dq For a coordinate transformation matrix of a three-phase stationary coordinate system (abc) to a two-phase rotating coordinate system (dq), T dq/αβ A coordinate transformation matrix from a two-phase rotating coordinate system to a two-phase static coordinate system (alpha beta);
FIG. 2 is a diagram of a machine side small signal model, where k =1/U dc ；
FIG. 3 is a model diagram of a machine side small signal with disturbance path marked and compensation term added;
FIG. 4 is a schematic diagram of the control principle of the machine-side converter after adding the compensation signal;
fig. 5 is a flowchart of a method for suppressing sub-synchronous oscillation of a direct-drive permanent magnet wind turbine generator compensated by a machine side converter according to a specific embodiment.
Detailed Description
The first embodiment is as follows: the present embodiment is specifically described with reference to fig. 1 to 5. Referring to fig. 1, the lower corner mark "g" is used to distinguish the net side and machine side variables, the machine side d-axis is reactive and the net side q-axis is reactive.
The method for suppressing the subsynchronous oscillation of the direct-drive permanent magnet wind turbine generator compensated by the machine side converter specifically comprises the following steps:
step 101: collecting voltage signals, current signals and direct current bus voltage signals of grid-connected points of a direct-drive permanent magnet wind turbine converter.
Step 102: and (4) judging whether the direct-drive permanent magnet wind turbine generator generates subsynchronous oscillation by utilizing a FastICA-MP algorithm, if so, executing the step 103, otherwise, returning to the step 101.
Step 103: collecting actual value u of direct-current bus voltage in direct-drive permanent magnet wind turbine generator dc And the steady state value U of the DC bus voltage dc Extracting the DC bus voltage disturbance signal delta u according to the following formula dc ：
Δu dc ＝u dc -U dc 。
Step 104: for DC bus voltage disturbance signal delta u dc Filtering to generate subsynchronous oscillation compensation signal H comp ，
Wherein, the first and the second end of the pipe are connected with each other,
S d and S q The d-axis and q-axis components of the machine side converter switching function, respectively.
Permanent magnet synchronous motor open loop impedance matrix Z o Comprises the following steps:
where s is the Laplace operator, L d And L q Respectively are d-axis and q-axis inductances of the permanent magnet synchronous motor, R is a stator resistance of the permanent magnet synchronous motor, omega e The rotor electrical angular velocity of the permanent magnet synchronous motor.
Z o Inverse matrix of
Comprises the following steps:
subsynchronous oscillation compensation signal H comp Including d-axis component
And q-axis component
Where s is the Laplace operator, L d And L q Respectively d-axis and q-axis inductances of the permanent magnet synchronous motor, R is a stator resistance of the permanent magnet synchronous motor, omega e The rotor electrical angular velocity of the permanent magnet synchronous motor.
Thus, the above formula
Can be unfolded as follows:
step 105: compensating signal H for subsynchronous oscillation comp And the feedback is fed back to the input end of a current loop of a machine side converter control system to realize the suppression of subsynchronous oscillation.
Subsynchronous oscillation compensation signal H comp After the voltage is fed back to a machine side converter control system, the d-axis and q-axis modulation voltages of a current loop
The expression is as follows:
wherein, K ii And K pi Respectively an integral parameter and a proportional parameter of a current loop PI controller of the machine side converter,
and
respectively set values of d-axis current and q-axis current of the machine side converter, i d And i q Are d-axis current actual values and q-axis current actual values of the permanent magnet synchronous motor respectively,
is a permanent magnet flux linkage of a permanent magnet synchronous motor.
The specific principle of the embodiment is as follows:
firstly, d-axis and q-axis voltages of a permanent magnet synchronous motor dq coordinate system are given:
because the actual megawatt-level fan has large moment of inertia and slow rotating speed, the control speed of the rotating speed outer ring is much slower than that of the current inner ring, so that the rotating speed is considered to be constant in a short time, namely delta omega e =0. It is therefore possible to write a small signal version of the voltage equation:
the above formula is subjected to Laplace transformation to obtain:
the formula after the Laplace transformation is further organized into a matrix form:
is provided with
As shown in FIG. 2, namely
Using k =1/U dc Is a multiple of the reduction of the reference voltage during PWM modulation, T del Is a unit of sampling time, H del To consider the delayed transfer matrix, there are:
PI control matrix G of current loop of machine side converter control system ci Comprises the following steps:
decoupling matrix G of current loop of machine side converter control system dec Comprises the following steps:
the disturbance transmission path of the DC bus voltage to the machine-side controller is analyzed as shown by a dashed line box in FIG. 3, and the compensation signal is
In the embodiment, the oscillation of the direct-current bus voltage influences the control system of the machine side converter, a disturbance transmission path is found out in the embodiment, and a compensation signal corresponding to the direct-current voltage disturbance is introduced into the machine side controller to be fed back to the control system as shown in fig. 3, so that the subsynchronous oscillation of the system is suppressed, and the stability of the system is improved. The implementation mode does not change the original basic control characteristics of the system, and only suppresses the subsynchronous oscillation by the additional branch.
Claims (11)
1. The method for suppressing the subsynchronous oscillation of the direct-drive permanent magnet wind turbine generator compensated by the machine side converter is characterized by being carried out when the subsynchronous oscillation of the direct-drive permanent magnet wind turbine generator occurs, and specifically comprises the following steps:
firstly, the DC bus voltage disturbance signal Deltau is measured dc Filtering to generate subsynchronous oscillation compensation signal H comp ，
Then, the subsynchronous oscillation compensation signal H comp The feedback is fed back to the input end of a current loop of a machine side converter control system to realize the suppression of subsynchronous oscillation;
generating a subsynchronous oscillation compensation signal H according to comp ：
Wherein, Z o Is an open-loop impedance matrix of the permanent magnet synchronous motor,
is Z o The inverse of the matrix of (a) is,
S d and S q The d-axis and q-axis components of the machine side converter switching function, respectively.
2. The method for suppressing the subsynchronous oscillation of the direct-drive permanent magnet wind turbine generator compensated by the machine side converter according to claim 1, wherein the open-loop impedance matrix Z of the permanent magnet synchronous motor o Comprises the following steps:
where s is the Laplace operator, L d And L q Respectively d-axis and q-axis inductances of the permanent magnet synchronous motor, R is a stator resistance of the permanent magnet synchronous motor, omega e The rotor electrical angular velocity of the permanent magnet synchronous motor.
3. The machine side converter compensated direct-drive permanent magnet wind turbine generator subsynchronous oscillation suppression method of claim 2, characterized in that Z o Inverse matrix of
Comprises the following steps:
4. the method for suppressing the subsynchronous oscillation of the direct-drive permanent magnet wind turbine generator compensated by the machine side converter according to claim 1, wherein the subsynchronous oscillation compensation signal H is comp Including d-axis component
And q-axis component
Wherein s is Laplace operator, L d And L q Respectively d-axis and q-axis inductances of the permanent magnet synchronous motor, R is a stator resistance of the permanent magnet synchronous motor, omega e The rotor electrical angular velocity of the permanent magnet synchronous motor.
5. The machine side converter compensated direct-drive permanent magnet wind turbine generator subsynchronous oscillation suppression method as claimed in claim 1, wherein a direct-current bus voltage disturbance signal delta u is extracted from the direct-drive permanent magnet wind turbine generator dc 。 
6. The method for suppressing the subsynchronous oscillation of the direct-drive permanent magnet wind turbine generator compensated by the machine side converter according to claim 5, wherein the actual value u of the direct-current bus voltage is collected in the direct-drive permanent magnet wind turbine generator dc And the steady state value U of the DC bus voltage dc Extracting the DC bus voltage disturbance signal delta u according to the following formula dc ：
Δu dc ＝u dc -U dc 。
7. The method for suppressing the subsynchronous oscillation of the direct-drive permanent magnet wind turbine generator compensated by the machine side converter according to claim 1 or 5, wherein the following steps are performed before the subsynchronous oscillation of the direct-drive permanent magnet wind turbine generator occurs:
step 101: collecting voltage signals, current signals and direct current bus voltage signals of grid-connected points of a direct-drive permanent magnet wind turbine converter,
step 102: judging whether subsynchronous oscillation occurs in the direct-drive permanent magnet wind turbine generator, if so, judging the voltage disturbance signal delta u of the direct-current bus dc Filtering is carried out, otherwise, the step 101 is returned.
8. The method for suppressing the subsynchronous oscillation of the direct-drive permanent magnet wind turbine generator compensated by the machine side converter as recited in claim 7, wherein in the step 102, the fast ica-MP algorithm is used to determine whether the subsynchronous oscillation of the direct-drive permanent magnet wind turbine generator occurs.
9. The method for suppressing the subsynchronous oscillation of the direct-drive permanent magnet wind turbine generator compensated by the machine side converter according to claim 4, wherein the subsynchronous oscillation compensation signal H is comp D-axis and q-axis modulation voltages of the current loop after being fed back to the control system of the machine side converter
The expression is as follows:
wherein, K ii And K pi Respectively an integral parameter and a proportional parameter of a current loop PI controller of the machine side converter,
and
respectively set values of d-axis and q-axis currents of the machine side converter, i d And i q Are d-axis current actual values and q-axis current actual values of the permanent magnet synchronous motor respectively,
is a permanent magnet flux linkage of a permanent magnet synchronous motor.
10. The method for suppressing the subsynchronous oscillation of the direct-drive permanent magnet wind turbine generator compensated by the machine side converter as recited in claim 9, wherein the PI control matrix G of the current loop of the machine side converter control system ci Comprises the following steps:
11. the method for suppressing the subsynchronous oscillation of the direct-drive permanent magnet wind turbine generator compensated by the machine side converter as recited in claim 10, wherein a decoupling matrix G of a current loop of a machine side converter control system dec Comprises the following steps:
wherein, U dc And the voltage is a steady-state value of the direct-current bus voltage.
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