CN113541190B - Model prediction rotor current control method for low voltage ride through of double-fed wind power plant - Google Patents

Model prediction rotor current control method for low voltage ride through of double-fed wind power plant Download PDF

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CN113541190B
CN113541190B CN202110825475.4A CN202110825475A CN113541190B CN 113541190 B CN113541190 B CN 113541190B CN 202110825475 A CN202110825475 A CN 202110825475A CN 113541190 B CN113541190 B CN 113541190B
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rotor
doubly
stator
fed
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CN113541190A (en
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聂永辉
刘天宇
孙斌
高磊
赵妍
王鹤
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Northeast Electric Power University
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Northeast Dianli University
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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
    • H02J3/381—Dispersed generators
    • 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
    • H02J3/12—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load
    • 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
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
    • H02P9/007—Control circuits for doubly fed generators
    • 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
    • H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
    • H02J2203/10—Power transmission or distribution systems management focussing at grid-level, e.g. load flow analysis, node profile computation, meshed network optimisation, active network management or spinning reserve management
    • 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
    • H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
    • H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2101/00—Special adaptation of control arrangements for generators
    • H02P2101/15—Special adaptation of control arrangements for generators for wind-driven turbines
    • 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

Abstract

The invention discloses a model prediction rotor current control method for low voltage ride through of a doubly-fed wind power plant, which aims at the problems that parameters are fixed in the low voltage ride through process, the method cannot adapt to changeable power grid conditions and larger control deviation can be generated in the low voltage ride through process of the doubly-fed wind power plant in the current control method for a rotor side converter of a doubly-fed wind turbine, and the model prediction rotor current control low voltage ride through prediction model, the model prediction rotor current control low voltage ride through optimization model and the dynamic voltage restorer design are built according to the basic principle of a doubly-fed wind turbine, so that the coordination effect is realized in the whole low voltage ride through process of the doubly-fed wind power plant. The low-voltage ride through capability of the double-fed wind power plant can be obviously enhanced, and the method has the advantages of being scientific and reasonable, strong in applicability, good in effect and the like.

Description

Model prediction rotor current control method for low voltage ride through of double-fed wind power plant
Technical Field
The invention relates to the field of low voltage ride through control of a double-fed wind power plant, in particular to a model prediction rotor current control method for low voltage ride through of the double-fed wind power plant.
Background
With the great improvement of the installed capacity of wind power, the control of a wind power plant and the influence of the control on the safety and stability of a power grid become important research contents. The double-fed induction wind generator is one of main types of current wind generating sets. When the voltage of a power grid suddenly drops, the direct current component generated at the stator side of the doubly-fed wind turbine cuts a rotor winding, which may cause the rotor current to be out of limit, the direct current bus overvoltage causes the wind turbine to be disconnected and damages a large number of power electronic devices in a wind power generation system, so that the problem of low voltage ride through of the doubly-fed wind power plant causes continuous research and exploration of technicians in the field.
During the low voltage ride through of the doubly-fed wind farm, the control target is to enable the doubly-fed wind farm to operate without grid disconnection in the low voltage ride through process and provide reactive support for a power grid. The control strategy widely applied at present is Proportional Integral (PI) control, and although the control mode can realize no-static-error tracking in a steady state, the control mode has a poor effect on severe faults. Compared with the PI control strategy, the improved control strategies improve the low-voltage ride through capability of the doubly-fed wind power plant to a certain extent, but still cannot adapt to variable power grid conditions, so that the problem of control lag exists, and control deviation can be generated in the low-voltage ride through process of the doubly-fed wind power plant. So far, no literature report and practical application of the model predictive rotor current control (MP-RCC) method for the low voltage ride through of the doubly-fed wind farm are found.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a model prediction rotor current control method for low voltage ride through of a double-fed wind power plant, which is scientific, reasonable, high in applicability and good in effect.
The purpose of the invention is realized by the following technical scheme: a model prediction rotor current control method for doubly-fed wind power plant low voltage ride through is characterized by comprising the following steps:
1) State space mathematical model for establishing doubly-fed induction wind driven generator of doubly-fed wind power plant
The model prediction rotor current control is provided to control the doubly-fed wind power plant, a state space mathematical model of a doubly-fed induction wind driven generator of the doubly-fed wind power plant needs to be established, a wind energy conversion system is connected into a doubly-fed motor to serve as the doubly-fed induction wind driven generator, therefore, the wind speed needs to be converted into the mechanical torque of the doubly-fed motor through the aerodynamic expression of a doubly-fed fan,
Figure BDA0003173633750000011
in the formula: t is a unit of m Is a mechanical torque; ρ is the air density; r is the radius of the impeller; v is the wind speed; c t In order to be the torque coefficient of the motor,
the motion equation of the doubly-fed fan is as follows:
Figure BDA0003173633750000021
in the formula: n is a radical of an alkyl radical p The number of pole pairs of the motor is shown; j is moment of inertia; d is a damping torque coefficient; k is the torsional elastic torque coefficient; omega r Is the rotor rotational angular velocity; theta r Is the rotor spatial position angle; t is e Is electromagnetic torque, and the expression is as follows:
T e ＝n p L m (i qs i dr -i ds i qr ) (3)
in the formula: l is m Representing the mutual inductance of the stator and the rotor; i all right angle ds ,i dr ,i qs ,i qr Respectively represent d-axis and q-axis currents of the stator and the rotor,
under synchronous speed, the voltage equation of the stator and the rotor of the motor is as follows:
Figure BDA0003173633750000022
in the formula: u. of s And u r Respectively representing the voltages of the stator and the rotor of the motor; r s And R r Respectively representing the resistance of the stator and the rotor of the motor under a rotating coordinate system; i.e. i s And i r Respectively representing the current of the stator and the rotor of the motor; psi s Phi and phi r Respectively showing flux linkages of the stator and the rotor; omega s Representing the synchronous rotational electrical angular velocity; omega m Representing the electrical angular speed of rotation of the generator;
the flux linkage equation is:
Figure BDA0003173633750000023
in the formula: l is s Representing a stator inductance of the electrical machine; l is a radical of an alcohol r Representing the rotor inductance;
substituting the flux linkage equation into a voltage equation, carrying out dq decomposition on the current component of the stator and the rotor of the doubly-fed motor, and obtaining after the decomposition:
Figure BDA0003173633750000024
Figure BDA0003173633750000025
Figure BDA0003173633750000026
Figure BDA0003173633750000027
in the formula: v. of ds ,v qs ,v dr ,v qr Respectively representing the d and q axis voltages of the stator and the rotor;
2) Low voltage ride through prediction model for predicting rotor current control by building model
Selecting d and q axis currents and rotor rotation angles of the stator and the rotorVelocity [ i ] dr ,i qr ,i ds ,i qs ,ω r ] T As a state variable; voltage [ v ] of d, q axis of rotor dr ,v qr ] T As a control variable; voltage [ v ] of stator d, q axis ds ,v qs ] T As a disturbance variable; the output variable is set as d and q axis current [ i ] of the rotor dr ,i qr ] T And carrying out linearization processing on the state space model of the double-fed induction motor through Taylor expansion to obtain a linearization state space expression of the double-fed induction motor as follows:
Figure BDA0003173633750000031
discretizing the linearized state space expression by applying forward Euler, and establishing a prediction model between the input and the output of the doubly-fed induction motor as follows:
Figure BDA0003173633750000032
in the formula, A, B, C and D are coefficient matrixes; x (k), delta u (k), delta d (k) and y (k) are respectively a state variable, a control variable, a disturbance variable and an output variable at the moment of k; x (k + 1) is a state variable updated at the moment of k + 1;
3) Low voltage ride through optimization model for predicting rotor current control by building model
When the doubly-fed wind turbine generator is subjected to model prediction rotor current control, the control target is to minimize the deviation between the rotor current of the wind turbine generator and a reference value thereof and the control cost, and the reference value of the rotor current is in the low-voltage ride-through period
Figure BDA0003173633750000033
Is of formula (15):
Figure BDA0003173633750000034
in the formula: l is ls And L' lr Individual watchIndicating leakage inductance of a stator and a rotor of the doubly-fed fan;
Figure BDA0003173633750000035
and
Figure BDA0003173633750000036
respectively representing the negative sequence of the stator flux linkage and a direct current component;
the objective function of model predictive rotor current control is:
Figure BDA0003173633750000037
in the formula: q represents a weight matrix of the control output; r represents a weight matrix of the control input; y is ref A reference trace representing the output variable.
The constraint conditions include:
and the current of the dq shaft of the stator and the rotor is limited at the upper limit:
Figure BDA0003173633750000038
in the formula:
Figure BDA0003173633750000039
respectively representing the lower limit value and the upper limit value of the d-axis current and the q-axis current of the stator and the rotor;
and under the voltage of the dq shaft of the stator and the rotor, the upper limit is restricted:
Figure BDA0003173633750000041
in the formula:
Figure BDA0003173633750000042
respectively representing the lower limit value and the upper limit value of the d-axis voltage and the q-axis voltage of the stator and the rotor;
and (3) restraining the rotor dq axis voltage climbing limit value:
Figure BDA0003173633750000043
in the formula, E dr And E qr Respectively representing the constraint limit values of the d-axis voltage climbing amplitude and the q-axis voltage climbing amplitude of the rotor;
during solving, the target function shown in the formula (13) is converted into an open-loop optimization problem, a quadprog function is called in Matlab, solving is carried out through quadratic programming, meanwhile, future prediction information can be substituted into a prediction model shown in the formula (11) in advance, a rotor current prediction value at the next moment is corrected according to actually measured rotor current, the rotor current prediction value at the moment k +2 is corrected through the difference between the prediction value at the moment k +1 and the actual value at the moment k +1, and errors are compensated in real time, so that feedback correction is carried out;
4) Dynamic voltage restorer design
The method comprises the steps that a DVR device is introduced to a power grid side, and the power grid fault is isolated by compensating the terminal voltage of the power grid, so that the fault ride-through capability of a wind turbine generator is improved, wherein the DVR is composed of 3 single-phase full-bridge structures, the output voltage of the DVR is 0 under the normal operation condition, and when the voltage of the power grid drops, an alternating current voltage needing to be compensated is output by a converter and is injected into the power grid through a transformer after being filtered by an LC;
in order to improve the performance of the voltage compensation of the DVR and reduce the compensation cost, proper DVR main circuit parameters need to be selected, and the rated power of the DVR is expressed as:
Figure BDA0003173633750000044
in the formula: p DFIG Representing rated power of the double-fed fan; u shape 1 Indicating line voltage under normal operating conditions; u shape 2 The voltage of the line when the voltage of the power grid drops is represented;
the DVR generates compensation voltage through dc bus voltage inversion, so the peak value relation between the dc bus voltage and the required compensation voltage is:
Figure BDA0003173633750000045
in the formula: u. of dc The voltage of a direct current bus of the DVR;
Figure BDA0003173633750000046
the peak value of the required compensation voltage;
in order to restore the compensated voltage to the steady state value before the voltage drop, the reference value of the DVR compensation voltage is determined:
Figure BDA0003173633750000047
in the formula (I), the compound is shown in the specification,
Figure BDA0003173633750000048
representing a grid voltage reference; u. of g Representing the actual grid voltage;
the DVR is controlled by the PR controller under a static coordinate system, static-error-free adjustment of the alternating current signal is realized, and therefore the control target of quickly and accurately compensating the voltage drop of the power grid is achieved.
The invention discloses a model prediction rotor current control method for low voltage ride through of a double-fed wind power plant, which comprises the steps of firstly establishing a state space mathematical model of a double-fed induction wind driven generator of the double-fed wind power plant, designing a controller (MP-RCC) for model prediction rotor current control (MP-RCC) on the rotor side of a double-fed fan on the basis of the state space mathematical model, applying rotor current control to the double-fed wind driven generator under the normal operation condition and during the low voltage ride through, finally introducing DVR (dynamic voltage restorer) on the power grid side, compensating the voltage drop of the power grid, stabilizing the terminal voltage, and coordinating with the model prediction rotor current control to act on the whole process of low voltage ride through of the wind power plant.
Compared with the closest prior art, the model prediction rotor current control method for the low voltage ride through of the doubly-fed wind farm has the further beneficial effects that:
1) The model predictive rotor current control can solve the optimization problem of multiple targets simultaneously and can clearly handle input and output constraints. Meanwhile, the model prediction rotor current control does not make a decision only on the current time section, but considers future prediction information, and optimal control is performed based on overall performance in a future time window;
2) The method has the advantages that the machine terminal voltage is compensated by means of the DVR during the low voltage ride through of the double-fed wind power plant, the defects that a double-fed fan runs out of control and absorbs reactive power from a power grid to perform excitation due to Crowbar starting, the reactive power shortage of a system is increased, and the running state of the power grid is further worsened are overcome, the method can be coordinated with model prediction rotor current control to act on the whole low voltage ride through process of the double-fed wind power plant to limit current and stabilize voltage, and therefore the low voltage ride through capability of the double-fed wind power plant is improved.
3) The effectiveness of the model prediction rotor current control method for the low voltage ride through of the doubly-fed wind power plant is verified through simulation analysis results. The control method can keep the rotor current and the direct current bus voltage stable in the low voltage ride through process, enables the double-fed wind power plant to stably output active power and reactive power, obviously improves the operation stability of the double-fed wind turbine generator during the low voltage ride through process, and is scientific and reasonable, strong in applicability and good in effect.
Drawings
Fig. 1 is a structural diagram of a doubly-fed wind power grid-connected system provided by the invention;
FIG. 2 is a design block diagram of a rotor-side converter control system of a doubly-fed wind turbine provided by the invention;
FIG. 3 is a block diagram of a DVR provided by the invention;
FIG. 4 is a diagram showing the effect of rotor current control when wind speed is stable under PI + Crowbar control;
FIG. 5 is a diagram showing the effect of rotor current control when wind speed is stable under MP-RCC + Crowbar control;
FIG. 6 is a diagram showing the effect of rotor current control when wind speed is stable under the control of MP-RCC + DVR;
FIG. 7 is a diagram illustrating the effect of DC bus voltage control when wind speed is stable according to the present invention;
FIG. 8 is a diagram illustrating the effect of active power control when wind speed is stable according to the present invention;
FIG. 9 is a diagram illustrating the reactive power control effect when the wind speed is stable according to the present invention;
FIG. 10 is a diagram showing the effect of terminal voltage control when the wind speed is stabilized under PI + Crowbar control;
FIG. 11 is a diagram showing the effect of terminal voltage control when the wind speed is stabilized under MP-RCC + Crowbar control;
FIG. 12 is a diagram showing the terminal voltage control effect when the wind speed is stabilized under the control of MP-RCC + DVR;
FIG. 13 is a diagram showing the effect of rotor current control when the wind speed rapidly fluctuates, using PI + Crowbar control;
FIG. 14 is a diagram showing the effect of rotor current control when the wind speed rapidly fluctuates, when MP-RCC + Crowbar control is adopted;
FIG. 15 is a diagram showing the effect of rotor current control when the wind speed rapidly fluctuates, under the control of MP-RCC + DVR;
FIG. 16 is a diagram illustrating the effect of DC bus voltage control during rapid fluctuation of wind speed according to the present invention;
FIG. 17 is a diagram illustrating the effect of active power control during rapid fluctuation of wind speed according to the present invention;
FIG. 18 is a diagram illustrating the effect of reactive power control during rapid fluctuations in wind speed provided by the present invention;
FIG. 19 is a graph showing the effect of terminal voltage control when the wind speed rapidly fluctuates, using PI + Crowbar control;
FIG. 20 is a graph showing the terminal voltage control effect when the wind speed rapidly fluctuates, when MP-RCC + Crowbar control is adopted;
FIG. 21 is a diagram showing the terminal voltage control effect when the wind speed rapidly fluctuates, when MP-RCC + DVR is adopted for control;
Detailed Description
The technical solution provided by the present invention will be described in detail by way of specific embodiments in conjunction with the accompanying drawings of the specification.
Aiming at the defects of the prior art, the invention provides a model prediction rotor current control method for low voltage ride through of a double-fed wind power plant, which comprises the steps of firstly establishing a state space mathematical model of a double-fed induction wind driven generator of the double-fed wind power plant, designing a controller (MP-RCC) for model prediction rotor current control (MP-RCC) at the rotor side of a double-fed fan on the basis, and applying rotor current control to the double-fed wind driven generator set under the normal operation condition and during the low voltage ride through period; and finally, introducing a DVR at the side of the power grid to compensate the voltage drop of the power grid, stabilizing the voltage at the generator end, and coordinating with the model to predict the rotor current to act on the whole process of low voltage ride through of the wind power plant. According to the technical scheme provided by the invention, the respective performances of the MP-RCC controller and the DVR can be integrated in the low-voltage ride-through period of the double-fed wind turbine generator, and the fault ride-through capability of the double-fed wind turbine generator is obviously enhanced.
As shown in fig. 1 and fig. 2, the model prediction rotor current control method for the low voltage ride through of the doubly-fed wind farm of the present invention includes the following steps:
1) State space mathematical model for establishing doubly-fed induction wind driven generator of doubly-fed wind power plant
The model prediction rotor current control is provided to control the doubly-fed wind power plant, a state space mathematical model of a doubly-fed induction wind driven generator of the doubly-fed wind power plant needs to be established, a wind energy conversion system is connected into a doubly-fed motor to serve as the doubly-fed induction wind driven generator, therefore, the wind speed needs to be converted into the mechanical torque of the doubly-fed motor through the aerodynamic expression of a doubly-fed fan,
Figure BDA0003173633750000071
in the formula: t is m Is a mechanical torque; ρ is the air density; r is the radius of the impeller; v is the wind speed; c t Is a torque coefficient.
The motion equation of the doubly-fed fan is as follows:
Figure BDA0003173633750000072
in the formula: n is p The number of pole pairs of the motor is shown; j is moment of inertia; d is a damping torque coefficient; k is the torsional elastic torque coefficient; omega r Is the rotor rotational angular velocity; theta.theta. r Is the rotor spatial position angle; t is e The expression is electromagnetic torque:
T e ＝n p L m (i qs i dr -i ds i qr ) (3)
in the formula: l is a radical of an alcohol m Representing the mutual inductance of the stator and the rotor; i.e. i ds ,i dr ,i qs ,i qr Respectively represent d and q-axis currents of the stator and the rotor,
under synchronous speed, the voltage equation of the stator and the rotor of the motor is as follows:
Figure BDA0003173633750000073
in the formula: u. of s And u r Respectively representing the voltages of the stator and the rotor of the motor; r s And R r Respectively representing the resistance of the stator and the rotor of the motor under a rotating coordinate system; i all right angle s And i r Respectively representing the current of the stator and the rotor of the motor; psi s And psi r Respectively showing flux linkages of the stator and the rotor; omega s Representing the synchronous rotational electrical angular velocity; omega m Representing the electrical angular speed of rotation of the generator;
the flux linkage equation is:
Figure BDA0003173633750000074
in the formula: l is s Representing a stator inductance of the electrical machine; l is r Representing the rotor inductance;
substituting the flux linkage equation into a voltage equation, carrying out dq decomposition on the current component of the stator and the rotor of the doubly-fed motor, and obtaining the following after the decomposition:
Figure BDA0003173633750000075
Figure BDA0003173633750000076
Figure BDA0003173633750000077
Figure BDA0003173633750000078
in the formula: v. of ds ,v qs ,v dr ,v qr The voltages of d and q axes of the stator and rotor are shown.
2) Low voltage ride through prediction model for predicting rotor current control by building model
The Model Predictive Control (MPC) is a closed-loop optimization control method based on a model, mainly comprises three parts of a prediction model, rolling optimization and feedback correction, can effectively deal with the uncertain influence in a system, and is widely applied in industrial processes. The core idea of model prediction control is a rolling time domain idea, which is mainly embodied in the following parts:
1) And at the current k moment, predicting based on the mathematical model and the actual state at the historical moment to obtain a prediction sequence of the future k + Np time period.
2) An optimal control sequence in a future k + Nc period is obtained by solving an optimization problem in consideration of a control target and a constraint condition, and a first value of the obtained control sequence is applied to an actual control system.
3) At time k +1, the above process is repeated, again using the data at the historical time.
The model predictive control comprises a quadratic programming problem, and in order to solve the problem, a nonlinear mathematical model of an actual controlled object needs to be linearized and discretized so as to be applied to the control system. Aiming at the technical problems to be solved in the field, the invention constructs a model predictive rotor current control (MP-RCC).
When the model prediction rotor current control is applied to the low voltage ride through control process of the doubly-fed wind power plant, d-axis current and q-axis current and rotor rotation angular speed [ i ] are selected dr ,i qr ,i ds ,i qs ,ω r ] T As a state variable; voltage [ v ] of d, q axis of rotor dr ,v qr ] T As a control variable; voltage [ v ] of stator d, q axis ds ,v qs ] T As a disturbance variable; the output variable is set as d and q axis current [ i ] of the rotor dr ,i qr ] T And carrying out linearization processing on the state space model of the double-fed induction motor through Taylor expansion to obtain a linearization state space expression of the double-fed induction motor as follows:
Figure BDA0003173633750000081
discretizing the linearized state space expression by applying forward Euler, and establishing a prediction model between the input and the output of the doubly-fed induction motor as follows:
Figure BDA0003173633750000082
in the formula, A, B, C and D are coefficient matrixes; x (k), delta u (k), delta d (k) and y (k) are respectively a state variable, a control variable, a disturbance variable and an output variable at the moment k; and x (k + 1) is the state variable updated at the time of k + 1.
3) Low-voltage ride through optimization model for predicting rotor current control by building model
When the doubly-fed wind turbine generator is subjected to model prediction rotor current control, the control target is to minimize the deviation between the rotor current of the wind turbine generator and a reference value thereof and the control cost, and the reference value of the rotor current is in the low-voltage ride-through period
Figure BDA0003173633750000083
Is represented by formula (15):
Figure BDA0003173633750000084
in the formula: l is ls And L' lr Respectively representing leakage inductance of a stator and a rotor of the double-fed fan;
Figure BDA0003173633750000091
and with
Figure BDA0003173633750000092
Representing the negative stator flux linkage sequence and the dc component, respectively.
The objective function of model predictive rotor current control is:
Figure BDA0003173633750000093
in the formula: q represents a weight matrix of the control output; r represents a weight matrix of the control input; y is ref A reference trace representing the output variable.
The constraint conditions include:
and the current of the dq shaft of the stator and the rotor is limited at the upper limit:
Figure BDA0003173633750000094
in the formula:
Figure BDA0003173633750000095
respectively representing the lower limit value and the upper limit value of the d-axis current and the q-axis current of the stator and the rotor;
and under the dq shaft voltage of the stator and the rotor, the upper limit is restricted:
Figure BDA0003173633750000096
in the formula:
Figure BDA0003173633750000097
respectively representing the lower limit value and the upper limit value of the d-axis voltage and the q-axis voltage of the stator and the rotor;
and (3) restraining the rotor dq axis voltage climbing limit value:
Figure BDA0003173633750000098
in the formula, E dr And E qr And respectively representing the constraint limit values of the d-axis and q-axis voltage climbing amplitude of the rotor.
During solving, the target function shown in the formula (13) is converted into an open-loop optimization problem, a quadprog function is called in Matlab, solving is carried out through quadratic programming, meanwhile, future prediction information can be substituted into a prediction model shown in the formula (11) in advance, a rotor current prediction value at the next moment is corrected according to actually measured rotor current, the rotor current prediction value at the moment k +2 is corrected through the difference between the prediction value at the moment k +1 and the actual value at the moment k +1, errors are compensated in real time, and accordingly feedback correction is carried out.
4) Dynamic voltage restorer design
The Crowbar protection circuit widely applied at present can short circuit a rotor side converter when the voltage of a power grid drops seriously, and bypass the fault current of a rotor to assist in realizing the low voltage ride through of a wind turbine generator. However, during Crowbar commissioning, the control acting on the rotor-side converter fails, and the doubly-fed wind turbine needs to absorb reactive power from the power grid for excitation, which may adversely affect the low-voltage ride through. Therefore, the DVR is introduced to the power grid side for voltage compensation, the power grid fault is isolated, and the terminal voltage is compensated, so that the fault ride-through capability of the wind turbine generator is improved. DVR consists of 3 single-phase full-bridge structures. Under the normal operation condition, the output voltage of the DVR is 0, when the voltage of a power grid drops, the converter outputs alternating current voltage needing compensation, the alternating current voltage is injected into the power grid through the transformer after being filtered by the LC, the terminal voltage of the double-fed fan is stabilized, and the structure of the DVR is shown in figure 3.
In order to improve the performance of the DVR voltage compensation and reduce the compensation cost, proper DVR main circuit parameters need to be selected. The rated power of the DVR is expressed as:
Figure BDA0003173633750000101
in the formula: p DFIG Representing rated power of the double-fed fan; u shape 1 Representing line voltage under normal operating conditions; u shape 2 Representing the line voltage at which the grid has a voltage sag.
The DVR generates compensation voltage through dc bus voltage inversion, so the peak value relation between the dc bus voltage and the required compensation voltage is:
Figure BDA0003173633750000102
in the formula: u. u dc Is the DVR DC bus voltage;
Figure BDA0003173633750000103
is the peak value of the required compensation voltage.
In order to restore the compensated voltage to the steady state value before the voltage drop, the reference value of the DVR compensation voltage is determined:
Figure BDA0003173633750000104
in the formula (I), the compound is shown in the specification,
Figure BDA0003173633750000105
representing a grid voltage reference; u. u g Representing the actual grid voltage.
According to the invention, the DVR is controlled by the PR controller under the static coordinate system, and static-error-free adjustment of the alternating current signal is realized, so that the control target of quickly and accurately compensating the voltage drop of the power grid is achieved.
Examples
The invention is further explained in detail through a double-fed wind power grid-connected system, and the following two conditions in the low-voltage ride-through process of the double-fed wind power plant are analyzed:
1) And when the wind speed is stable, observing the effectiveness of the coordination action of a model prediction rotor current control (MP-RCC) strategy and a DVR (digital video recorder) protection circuit on voltage drop when external factors are unchanged.
2) When the wind speed rapidly fluctuates, the effect of coping with interference in the whole low-voltage ride-through process by adopting the MP-RCC is observed when large-scale disturbance exists in the outside.
In simulation, parameters of the MP-RCC and the traditional PI control strategy are compared under the two conditions, so that the MP-RCC mode has a better effect. Meanwhile, in order to compare the control effects of the MP-RCC and PI control strategies in the low-voltage ride-through process, the Crowbar protection circuit is designed, and the Crowbar protection circuit is started when the rotor current or the direct-current bus voltage is out of limit, so that the two control modes and the Crowbar coordinate to act on the low-voltage ride-through process of the double-fed wind power plant. In a selectable resistance range, the Crowbar protection circuit sets several resistance values of 0.1 (pu), 0.2 (pu), 0.5 (pu) and 1.0 (pu) for Crowbar, and the simulation is respectively carried out to compare the action effect of the Crowbar protection circuit under different resistance values when the Crowbar protection circuit passes through the double-fed wind power plant at low voltage, and the result is shown in table 1. As can be seen from table 1, when the selected Crowbar resistance value is 0.2 (pu), the peak value of the dc bus voltage is small, and the low voltage ride through and recovery conditions of the doubly-fed wind farm are stable, so the Crowbar resistance value of 0.2 (pu) is adopted in the example analysis.
TABLE 1 Effect of different Crowbar resistance values
Figure BDA0003173633750000111
FIGS. 4-6 are closed-loop response curves of the rotor current of the doubly-fed fan respectively controlled by PI + Crowbar, MP-RCC + DVR when the wind speed is stable; fig. 7-9 are closed loop response curves for dc bus voltage, active and reactive power, respectively; fig. 10-12 are closed-loop response curves of terminal voltage under three control modes, respectively. In fig. 4-7, the MP-RCC controller reduces the oscillation amplitude by reducing the dc bus voltage overshoot by suppressing the rotor current when Crowbar is active. However, at the moment when the Crowbar protection circuit is put into operation due to voltage drop, rotor currents under the control of the MP-RCC and the PI generate huge fluctuation, and therefore system instability is caused. And the DVR can provide voltage compensation at the voltage drop moment and stabilize the terminal voltage, so that under the MP-RCC control strategy, the rotor current of the double-fed fan introduced into the DVR keeps stable in the low-voltage ride-through period, thereby ensuring that the voltage of a direct-current bus is kept basically unchanged near a rated value 1150V.
Meanwhile, for a wind turbine generator with low voltage ride through, the grid voltage needs to be supported through dynamic reactive power injection, and the stability of the wind power plant after system failure is ensured. As can be seen from fig. 8-9, under the action of the Crowbar protection circuit, the double-fed wind turbine controlled by the MP-RCC has a smaller active power drop amplitude, and can inject more reactive power into the grid to help raise the terminal voltage. Under the compensation of the DVR, the doubly-fed fan adopting the MP-RCC strategy can compensate the terminal voltage greatly by injecting a small amount of reactive power to maintain the terminal voltage at a value near the rated value, so that in fig. 12, the terminal voltage of the doubly-fed fan under the coordination action of the MP-RCC and the DVR is rapidly recovered to be stable after the terminal voltage fluctuates at the initial moment of voltage drop.
In a practical wind power system, the wind speed is usually not always stable, but fluctuates constantly. Therefore, under the condition of rapid fluctuation of the wind speed, the analysis of the low voltage ride through process of the doubly-fed wind turbine is particularly important. In order to verify the capacity of the doubly-fed wind turbine for coping with voltage drop when the wind speed rapidly fluctuates, the invention sets the rapid fluctuation of the wind speed between 8.5m/s and 11m/s, and observes the change condition of each parameter during the low-voltage ride-through of the doubly-fed wind power plant under the condition.
FIGS. 13-15 are closed-loop response curves of the rotor current of the doubly-fed wind turbine respectively controlled by PI + Crowbar, MP-RCC + DVR when the wind speed rapidly fluctuates; 16-18 are closed loop response curves for dc bus voltage, active and reactive power, respectively; fig. 19-21 are closed-loop response curves of terminal voltage under three control modes, respectively. As can be seen from fig. 13 to fig. 16, it is obvious that, due to the rapid change of the wind speed, when a Crowbar protection circuit is used, rotor currents under three control strategies all generate more severe fluctuation than when the wind speed is stable, and continuous prediction and correction of future time output are performed by virtue of the MP-RCC. After the voltage of the power grid is recovered to be stable, the Crowbar protection circuit is started again due to the fact that the rotor current and the direct-current bus voltage are rapidly changed under the PI control, the MP-RCC strategy can stabilize the rotor current and the direct-current bus voltage, and adjustment through Crowbar is not needed again, so that the activation time and the on-off times of the Crowbar protection circuit can be shortened, and the transient stability of the system is improved. And compared with the Crowbar protection measure, when the DVR is introduced, the MP-RCC controls the doubly-fed wind turbine in the whole low-voltage ride-through period, so that the oscillation amplitude of the rotor current in the low-voltage ride-through period is smaller, the direct-current bus voltage can be basically kept stable, and larger oscillation is not generated due to rapid fluctuation of the wind speed.
In fig. 17-fig. 21, the fluctuation of the active power output by the doubly-fed wind turbine is increased by the rapid change of the wind speed, and the active power drop amplitude under the MP-RCC is small between 5s and 5.625s, and the doubly-fed wind turbine can be controlled to inject reactive power into the grid better to support the grid voltage. After the voltage of the power grid is recovered, the Crowbar is started, so that the active power and the reactive power under the PI control fluctuate greatly, and under the MP-RCC strategy, the Crowbar is not started after the voltage of the power grid is recovered, so that the active power and the reactive power are stably recovered. And the DVR can effectively compensate the system voltage in the low voltage ride through process, and the MP-RCC takes effect in the whole low voltage ride through process, so that the active power and the reactive power of the double-fed fan and the voltage of the machine end can be kept relatively stable in the low voltage ride through process.
Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can make modifications and equivalents to the embodiments of the present invention without departing from the spirit and scope of the present invention, which is set forth in the claims of the present application.

Claims (1)

1. A model prediction rotor current control method for doubly-fed wind power plant low voltage ride through is characterized by comprising the following steps:
1) State space mathematical model for establishing doubly-fed induction wind driven generator of doubly-fed wind power plant
The model prediction rotor current control is provided to control the doubly-fed wind power plant, a state space mathematical model of a doubly-fed induction wind driven generator of the doubly-fed wind power plant needs to be established, a wind energy conversion system is connected into a doubly-fed motor to serve as the doubly-fed induction wind driven generator, therefore, the wind speed needs to be converted into the mechanical torque of the doubly-fed motor through the aerodynamic expression of a doubly-fed fan,
Figure FDA0003796287500000011
in the formula: t is m Is a mechanical torque; ρ is the air density; r is the radius of the impeller; v is the wind speed; c t In order to be the torque coefficient of the motor,
the motion equation of the doubly-fed fan is as follows:
Figure FDA0003796287500000012
in the formula: n is a radical of an alkyl radical p The number of pole pairs of the motor is shown; j is rotational inertia; d is a damping torque coefficient; k is the torsional elastic torque coefficient; omega r Is the rotor rotational angular velocity; theta r Is the rotor spatial position angle; t is e The expression is electromagnetic torque:
T e ＝n p L m (i qs i dr -i ds i qr ) (3)
in the formula: l is m Representing the mutual inductance of the stator and the rotor; i all right angle ds ,i dr ,i qs ,i qr Electricity representing d and q axes of stator and rotor, respectivelyThe flow of the stream(s),
under synchronous speed, the voltage equation of the stator and the rotor of the motor is as follows:
Figure FDA0003796287500000013
in the formula: u. u s And u r Respectively representing the voltages of the stator and the rotor of the motor; r s And R r Respectively representing the resistance of the stator and the rotor of the motor under a rotating coordinate system; i all right angle s And i r Respectively representing the current of the stator and the rotor of the motor; psi s And psi r Respectively showing flux linkages of the stator and the rotor; omega s Representing the synchronous rotational electrical angular velocity; omega m Representing the electrical angular speed of rotation of the generator;
the flux linkage equation is:
Figure FDA0003796287500000014
in the formula: l is s Representing a stator inductance of the electrical machine; l is a radical of an alcohol r Representing the rotor inductance;
substituting the flux linkage equation into a voltage equation, carrying out dq decomposition on the current component of the stator and the rotor of the doubly-fed motor, and obtaining after the decomposition:
Figure FDA0003796287500000015
Figure FDA0003796287500000021
Figure FDA0003796287500000022
Figure FDA0003796287500000023
in the formula: v. of ds ,v qs ,v dr ,v qr Respectively representing the d and q axis voltages of the stator and the rotor;
2) Low voltage ride through prediction model for predicting rotor current control by building model
Selecting d and q axis currents of the stator and the rotor and the rotation angular velocity [ i ] of the rotor dr ,i qr ,i ds ,i qs ,ω r ] T As a state variable; voltage [ v ] of d, q axis of rotor dr ,v qr ] T As a control variable; voltage [ v ] of stator d, q axis ds ,v qs ] T As a disturbance variable; the output variable is set as the d and q axis current [ i ] of the rotor dr ,i qr ] T And carrying out linearization processing on the state space model of the double-fed induction motor through Taylor expansion to obtain a linearization state space expression of the double-fed induction motor as follows:
Figure FDA0003796287500000024
discretizing the linearized state space expression by applying forward Euler, and establishing a prediction model between the input and the output of the doubly-fed induction motor as follows:
Figure FDA0003796287500000025
in the formula, A, B, C and D are coefficient matrixes; x (k), delta u (k), delta d (k) and y (k) are respectively a state variable, a control variable, a disturbance variable and an output variable at the moment k; x (k + 1) is a state variable updated at the moment of k + 1;
3) Low voltage ride through optimization model for predicting rotor current control by building model
When the doubly-fed wind turbine generator is subjected to model prediction rotor current control, the control target is to minimize the deviation between the rotor current of the wind turbine generator and a reference value thereof and the control cost, and the reference value of the rotor current is in the low-voltage ride-through period
Figure FDA0003796287500000026
Is represented by formula (12):
Figure FDA0003796287500000027
in the formula: l is a radical of an alcohol ls And L' lr Respectively representing leakage inductance of a stator and a rotor of the doubly-fed fan;
Figure FDA0003796287500000028
and
Figure FDA0003796287500000029
respectively representing the negative sequence of the stator flux linkage and a direct current component;
the objective function for model-predicted rotor current control is:
Figure FDA00037962875000000210
in the formula: q represents a weight matrix of the control outputs; r represents a weight matrix of the control input; y is ref A reference trajectory representing an output variable;
the constraint conditions include:
and (3) current and upper limit constraint of the dq axes of the stator and the rotor:
Figure FDA0003796287500000031
in the formula:
Figure FDA0003796287500000032
respectively representing the lower limit value and the upper limit value of the d-axis current and the q-axis current of the stator and the rotor;
and under the dq shaft voltage of the stator and the rotor, the upper limit is restricted:
Figure FDA0003796287500000033
in the formula:
Figure FDA0003796287500000034
respectively representing the lower limit value and the upper limit value of the d-axis voltage and the q-axis voltage of the stator and the rotor;
and (3) limiting the voltage climbing limit of the dq axis of the rotor:
Figure FDA0003796287500000035
in the formula, E dr And E qr Respectively representing the constraint limit values of the voltage climbing amplitude of the d axis and the q axis of the rotor;
during solving, the target function shown in the formula (13) is converted into an open-loop optimization problem, a quadprog function is called in Matlab, solving is carried out through quadratic programming, meanwhile, future prediction information is substituted into a prediction model shown in the formula (11) in advance, a rotor current prediction value at the next moment is corrected according to actually measured rotor current, the rotor current prediction value at the moment k +2 is corrected through the difference between the prediction value at the moment k +1 and the actual value at the moment k +1, errors are compensated in real time, and accordingly feedback correction is carried out;
4) Dynamic voltage restorer design
The method comprises the steps that a DVR device is introduced to a power grid side, and the power grid fault is isolated by compensating the terminal voltage of the power grid, so that the fault ride-through capability of a wind turbine generator is improved, wherein the DVR is composed of 3 single-phase full-bridge structures, the output voltage of the DVR is 0 under the normal operation condition, and when the voltage of the power grid drops, an alternating current voltage needing to be compensated is output by a converter and is injected into the power grid through a transformer after being filtered by an LC;
in order to improve the performance of the voltage compensation of the DVR and reduce the compensation cost, proper DVR main circuit parameters need to be selected, and the rated power of the DVR is expressed as:
Figure FDA0003796287500000036
in the formula: p is DFIG Representing rated power of the double-fed fan; u shape 1 Representing line voltage under normal operating conditions; u shape 2 The voltage of the line when the voltage of the power grid drops is represented;
the DVR generates compensation voltage through dc bus voltage inversion, so the peak value relation between the dc bus voltage and the required compensation voltage is:
Figure FDA0003796287500000041
in the formula: u. of dc Is the DVR DC bus voltage;
Figure FDA0003796287500000042
peak value of the required compensation voltage;
in order to restore the compensated voltage to the steady state value before the voltage drop, the reference value of the DVR compensation voltage is determined:
Figure FDA0003796287500000043
in the formula (I), the compound is shown in the specification,
Figure FDA0003796287500000044
representing a grid voltage reference; u. of g Representing the actual grid voltage;
the DVR is controlled by the PR controller under a static coordinate system, static-error-free adjustment of the alternating current signal is realized, and therefore the control target of quickly and accurately compensating the voltage drop of the power grid is achieved.
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