CN113541542A - Motor rotating speed calculation method and device for doubly-fed generator - Google Patents

Motor rotating speed calculation method and device for doubly-fed generator Download PDF

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Publication number
CN113541542A
CN113541542A CN202010305666.3A CN202010305666A CN113541542A CN 113541542 A CN113541542 A CN 113541542A CN 202010305666 A CN202010305666 A CN 202010305666A CN 113541542 A CN113541542 A CN 113541542A
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stator
doubly
position angle
rotor
voltage
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CN113541542B (en
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徐凤星
何亚屏
佘岳
成正林
张少云
黄敏
陈元初
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Zhuzhou CRRC Times Electric Co Ltd
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Zhuzhou CRRC Times Electric Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • 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
    • 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
    • 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
    • H02P9/009—Circuit arrangements for detecting rotor position
    • 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

Abstract

The invention provides a motor rotating speed calculation method for a doubly-fed generator, which comprises the following steps: real-time detection of the network voltage uabcStator voltage usabcStator current isabcRotor current irabcDetecting a feedback signal of the stator contactor in real time, and judging whether the feedback signal is true or not; if the feedback signal is true, obtaining a rotor position angle of the doubly-fed generator by a speed calculation method based on stator voltage model reference self-adaption; if the feedback signal is not true, the grid voltage unevenness is smaller than or equal to a first threshold value, and the slip is smaller than or equal to a second threshold value, obtaining the rotor position angle of the doubly-fed generator by a speed calculation method based on the rotor current model reference self-adaption, otherwise, obtaining the rotor position angle of the doubly-fed generator by a speed calculation method of a low-speed shaft of a complete machine gearbox;and selecting the rotor position angle obtained by calculation as a control variable of the doubly-fed generator. The invention solves the engineering difficult problems of network voltage fault, and inaccurate estimation of the rotating speed of the double-fed motor and the position angle of the generator when crowbar is conducted.

Description

Motor rotating speed calculation method and device for doubly-fed generator
Technical Field
The invention relates to the technical field of doubly-fed generator control, in particular to a method and a device for calculating the rotating speed of a motor of a doubly-fed generator.
Background
Wind power generation is one of the most potential renewable energy technologies as an environment-friendly power generation mode which has no pollution and utilizes renewable resources. Has become a hot spot and a key point of competitive development of countries in the world, and has wide market prospect. In recent years, Doubly Fed Induction Generators (DFIGs) have been widely used in wind power generation systems.
In the prior art, the estimation of the rotating speed and the position angle of the doubly-fed generator when the network voltage fault and the crowbar circuit are conducted belongs to a big problem, and in order to solve the problems that the fault rate of a coder of the doubly-fed generator is high, the cost of the whole machine is reduced, and the wind resource utilization rate of the whole machine is improved, the rotating speed of the doubly-fed generator needs to be estimated more efficiently and more accurately.
Therefore, the invention provides a method and a device for calculating the rotating speed of a motor of a doubly-fed generator.
Disclosure of Invention
In order to solve the above problems, the present invention provides a method for calculating a motor rotation speed of a doubly-fed generator, wherein the method comprises the following steps:
real-time detection of the network voltage uabcStator voltage usabcStator current isabcRotor current irabcDetecting a feedback signal of the stator contactor in real time, and judging whether the feedback signal is true or not;
if the feedback signal is true, calculating to obtain a rotor position angle of the doubly-fed generator by a speed calculation method based on stator voltage model reference self-adaption;
if the feedback signal is not true, the grid voltage unevenness is smaller than or equal to a first threshold value, and the slip is smaller than or equal to a second threshold value, calculating to obtain a rotor position angle of the doubly-fed generator by a speed calculation method based on a rotor current model reference self-adaption, otherwise, calculating to obtain the rotor position angle of the doubly-fed generator by a speed calculation method of a complete machine gearbox low-speed shaft;
and selecting the rotor position angle obtained by calculation as a control variable of the doubly-fed generator.
According to one embodiment of the invention, the method further comprises:
to the network voltage uabcPerforming abc/dq conversion to obtain d and q axis components u of the grid voltageld、ulqObtaining the angular velocity omega of the power grid after the phase-locked loop1And grid location information theta1；
For the stator voltage usabcPerforming abc/dq conversion to obtain stator voltage d and q axis components usd、usq；
For the stator current isabcPerforming abc/dq conversion to obtain d and q axis components i of the stator currentsd、isq；
For the rotor current irabcPerforming abc/dq conversion to obtain d and q axis components i of rotor currentrd、irq。
According to an embodiment of the invention, the step of calculating the rotor position angle of the doubly-fed generator by using a speed calculation method based on stator voltage model reference self-adaptation specifically comprises the following steps:
establishing a stator voltage self-adaptive model and a stator voltage reference model which contain the rotating speed information of the doubly-fed generator;
using said statorOutputting the rotation difference angular speed omega through an adaptive device according to the voltage adaptive model and the difference value output by the stator voltage reference modelΔThe integral is used to obtain the rotation difference angle thetaΔ。
According to one embodiment of the invention, the stator voltage adaptation model is as follows:
usd＝Rsisd-ω1Lsisq-ω1Lmirq
wherein R issDenotes the stator resistance, LsIndicating stator leakage inductance, LmRepresenting the winding mutual inductance.
According to an embodiment of the invention, the step of calculating the rotor position angle of the doubly-fed generator by using a speed calculation method based on a rotor current model reference self-adaptation specifically comprises the following steps:
stator voltage usa、usb、uscTransforming the three-phase coordinate system to a two-phase static coordinate system by Clark to obtain usα、usβ；
Stator current isa、isb、iscTransforming the three-phase coordinate system to a two-phase static coordinate system by Clark to obtain isα、isβ；
Will rotor current ira、irb、ircTransforming the three-phase coordinate system to a two-phase static coordinate system by Clark to obtain irα、irβ。
According to one embodiment of the present invention, u is calculated by the following formulasα、usβ、isα、isβ、irα、irβ：
Figure BDA0002455703170000021
Figure BDA0002455703170000031
Figure BDA0002455703170000032
Wherein u issa、usb、uscRepresenting the stator voltage u in a three-phase coordinate systemsα、usβRepresenting the stator voltage in a two-phase stationary frame, isa、isb、iscRepresenting stator current i in a three-phase coordinate systemsα、isβRepresenting stator currents in a two-phase stationary frame, ira、irb、ircRepresenting the rotor current i in a three-phase coordinate systemrα、irβRotor currents in a two-phase stationary frame.
According to one embodiment of the invention, based on the voltage model stator flux linkage and the current model stator flux linkage, the error function and the rotating speed estimation formula are combined to calculate the rotating speed estimation value, and then the rotor position angle is calculated.
According to one embodiment of the invention, the voltage model stator flux linkage is as follows:
Figure BDA0002455703170000033
the current model stator flux linkage is as follows:
Figure BDA0002455703170000034
the error function is as follows:
Figure BDA0002455703170000035
the formula for estimating the rotation speed is as follows:
Figure BDA0002455703170000036
the rotor angle is calculated as follows:
Figure BDA0002455703170000037
Figure BDA0002455703170000038
wherein psisα、ψsβRepresenting stator voltage flux linkage component, RsThe resistance of the stator is represented by,
Figure BDA0002455703170000039
representing the stator current flux linkage component, LsIndicating stator leakage inductance, LmRepresenting the mutual inductance of the windings, irα′、irβ' means passing rotor position angle
Figure BDA0002455703170000041
Rotor current component epsilon obtained by transformation under two-phase static coordinate systemψsThe flux linkage error is represented by a flux linkage error,
Figure BDA0002455703170000042
representing the angular speed, k, of the rotorpDenotes the proportionality coefficient, kiThe value of the integral coefficient is represented by,
Figure BDA0002455703170000043
representing the rotor position angle.
According to an embodiment of the invention, the step of calculating the rotor position angle of the doubly-fed generator by using the speed calculation method of the low-speed shaft of the complete machine gearbox specifically comprises the following steps:
detecting the rotational speed omega of a low-speed shaft of a gearbox2And obtaining a rotor position angle after an integral link, and taking the rotor position angle as the rotor position angle of the doubly-fed generator.
According to another aspect of the present invention, there is also provided a motor speed calculation apparatus for a doubly-fed generator, the apparatus comprising:
a determination module for detecting the grid voltage u in real timeabcStator voltage usabcStator current isabcRotor current irabcDetecting a feedback signal of the stator contactor in real time, and judging whether the feedback signal is true or not;
the first calculation module is used for calculating a rotor position angle of the doubly-fed generator by a speed calculation method based on stator voltage model reference self-adaption if the feedback signal is true;
the second calculation module is used for calculating to obtain a rotor position angle of the doubly-fed generator by a speed calculation method based on a rotor current model reference self-adaption if the feedback signal is not true, the grid voltage unevenness is less than or equal to a first threshold value and the slip is less than or equal to a second threshold value, or calculating to obtain the rotor position angle of the doubly-fed generator by a speed calculation method of a complete machine gearbox low-speed shaft;
and the control module is used for selecting the calculated rotor position angle as a control variable of the doubly-fed generator.
The method and the device for calculating the rotating speed of the motor of the doubly-fed generator estimate the speed of the doubly-fed motor by using the rotating speed signal of the low or high speed shaft of the fan gearbox; judging the position angle of the generator rotor by adopting the unevenness of the network pressure; judging the position angle of the generator rotor by adopting a feedback signal of the stator contactor; and judging the position angle of the rotor of the generator by adopting the slip of the generator. The invention solves the engineering problem of inaccurate estimation of the rotating speed of the double-fed motor and the position angle of the generator when the network voltage fails and crowbar is conducted.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 shows a flow chart of a motor speed calculation method for a doubly-fed generator according to an embodiment of the invention;
FIG. 2 is a logic control diagram of a motor speed calculation method for a doubly-fed generator according to an embodiment of the invention;
FIG. 3 is a schematic diagram illustrating a method for model-based adaptive calculation of a low-speed shaft speed signal and a stator voltage of a gearbox according to an embodiment of the invention;
FIG. 4 is a schematic diagram illustrating a method for model-based adaptive calculation of a low-speed shaft speed signal and a rotor current of a gearbox according to an embodiment of the invention;
FIG. 5 shows a control schematic of a motor speed calculation system for a doubly fed generator according to an embodiment of the invention; and
fig. 6 shows a block diagram of a structure of a motor speed calculation device for a doubly-fed generator according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
Fig. 1 shows a flow chart of a method for calculating the motor speed for a doubly-fed generator according to an embodiment of the invention.
Referring to fig. 1, in step S101, the grid voltage u is detected in real timeabcStator voltage usabcStator current isabcRotor current irabcAnd detecting the feedback signal of the stator contactor in real time and judging whether the feedback signal is true or not.
Referring to fig. 1, in step S102, if the feedback signal is true, the rotor position angle of the doubly-fed generator is calculated by a speed calculation method based on stator voltage model reference adaptation.
As shown in fig. 1, in step S103, if the feedback signal is not true, and the grid voltage unevenness is less than or equal to the first threshold and the slip is less than or equal to the second threshold, the rotor position angle of the doubly-fed generator is calculated by referring to the adaptive speed calculation method based on the rotor current model, otherwise, the rotor position angle of the doubly-fed generator is calculated by using the speed calculation method of the complete machine gearbox low-speed shaft.
In one embodiment, the rotational speed ω of the low speed shaft of the gearbox is detected2And obtaining a rotor position angle after an integral link, and using the rotor position angle as the rotor position angle of the doubly-fed generator.
As shown in fig. 1, in step S104, the calculated rotor position angle is selected as the control variable of the doubly fed generator.
The specific logic diagram is as shown in fig. 2, firstly, whether a feedback signal of a stator contactor is true is judged, if the feedback signal is true, a generator rotor position angle calculated by a speed calculation method based on a stator voltage model reference model self-adaptation is selected as a control generator variable, otherwise, a gearbox low-speed shaft rotation speed signal is selected and then integrated as a control generator variable, or a generator rotor position angle calculated by a speed calculation method based on a rotor current model reference self-adaptation is selected as a control generator variable;
and then further judging according to the power grid unbalance and the generator slip, if the grid voltage unbalance sigma is greater than 0.5 or the slip s is greater than 0.4, selecting a low-speed shaft rotating speed signal of the gearbox and integrating the rotating speed signal as a control generator variable, and selecting a generator rotor position angle calculated by a reference self-adaptive speed calculation method based on a rotor current model as the control generator variable.
In one embodiment, the grid voltage u is measuredabcPerforming abc/dq conversion to obtain d and q axis components u of the grid voltageld、ulqObtaining the angular velocity omega of the power grid after the phase-locked loop1And grid location information theta1(ii) a To stator voltage usabcPerforming abc/dq conversion to obtain stator voltage d and q axis components usd、usq(ii) a For stator current isabcPerforming abc/dq conversion to obtain d and q axis components i of the stator currentsd、isq(ii) a For rotor current irabcPerforming abc/dq conversion to obtain d and q axis components of rotor currentird、irq。
FIG. 3 is a schematic diagram illustrating a principle of a model reference adaptive calculation method for a low-speed shaft rotation speed signal and a stator voltage of a gearbox according to an embodiment of the invention.
The mathematical model of the DFIG under the synchronous rotation d, q coordinate system can be expressed as:
the flux linkage equation:
Figure BDA0002455703170000061
voltage equation:
Figure BDA0002455703170000062
wherein R issStator resistance, RrRotor resistance usd、usqStator voltages d, q-axis components, isd、isqStator current d, q-axis component, urd、urqD and q-axis components, i, of the rotor voltage, respectivelyrq、irdD and q axis components of rotor current, LmMutual inductance of motor windings, LsLeakage inductance of generator stator, LrGenerator rotor leakage inductance, omegasSynchronous angular velocity, omega, of the grid1Angular frequency of the grid, psisd、ψsqThe d and q axis components of the stator flux linkage, psirq、ψrdThe d and q axis components of the rotor flux linkage are provided.
The voltage equation of the stator of the doubly-fed motor can be known by the two equations:
usd＝Rsisd-ω1Lsisq-ω1Lmirq
the above equation is taken as an adaptive model containing rotating speed information, and meanwhile, the stator voltage d-axis component directly acquired by the controllerusd *As a reference model. The main idea of the stator voltage reference model self-adaptive MRAS is to use an equation without unknown parameters as a reference model and to contain parameters to be estimatedThe equation of numbers acts as an adaptive model, both models having the same physically meaningful output. The two models work simultaneously, and the parameters to be estimated are adjusted in real time through the self-adaptive controller by utilizing the difference value output by the two models, so that the self-adaptive model and the reference model keep dynamic consistency. So the slip angular velocity omegaΔSlip angle θ for adaptive controller outputΔIs the integral of slip angular velocity.
As shown in FIG. 3, isd、isqIs the d, q axis component of the stator current, omega1For the angular frequency, i, of the mains voltagerqIs the q-axis component of the rotor current. RsIs the stator resistance of a doubly-fed machine, LsIs the sum of mutual inductance and leakage inductance of the stator, LmIs the mutual inductance of the motor,
Figure BDA0002455703170000071
for stator voltage d-axis component, PIR is proportional resonant controller, omegarFor estimated angular speed, omega, of the generator rotor2At the speed of rotation, theta, of the low-speed shaft of the gearboxrIs the generator rotor position angle.
Specifically, firstly, a stator voltage adaptive model and a stator voltage reference model which contain the rotating speed information of the doubly-fed generator are established; then, the difference value output by the stator voltage adaptive model and the stator voltage reference model is utilized to output the slip angular velocity omega through an adaptive deviceΔThe integral is used to obtain the rotation difference angle thetaΔ。
The stator voltage adaptive model is as follows:
usd＝Rsisd-ω1Lsisq-ω1Lmirq
wherein R issDenotes the stator resistance, LsIndicating stator leakage inductance, LmRepresenting the winding mutual inductance.
FIG. 4 is a schematic diagram illustrating a principle of a model reference adaptive calculation method for a low-speed shaft rotation speed signal and a rotor current of a gearbox according to an embodiment of the invention. As shown in FIG. 4, usIs the stator voltage, isIs stator current, irIs the rotor current.
Firstly, the stator voltage u is adjustedsa、usb、uscTransforming the three-phase coordinate system to a two-phase static coordinate system by Clark to obtain usα、usβ(ii) a Stator current isa、isb、iscTransforming the three-phase coordinate system to a two-phase static coordinate system by Clark to obtain isα、isβ(ii) a Will rotor current ira、irb、ircTransforming the three-phase coordinate system to a two-phase static coordinate system by Clark to obtain irα、irβ。
Specifically, u is calculated by the following formulasα、usβ、isα、isβ、irα、irβ：
Figure BDA0002455703170000081
Figure BDA0002455703170000082
Figure BDA0002455703170000083
Wherein u issa、usb、uscRepresenting the stator voltage u in a three-phase coordinate systemsα、usβRepresenting the stator voltage in a two-phase stationary frame, isa、isb、iscRepresenting stator current i in a three-phase coordinate systemsα、isβRepresenting stator currents in a two-phase stationary frame, ira、irb、ircRepresenting the rotor current i in a three-phase coordinate systemrα、irβRotor currents in a two-phase stationary frame.
In one embodiment, based on the voltage model stator flux linkage and the current model stator flux linkage, the estimated rotation speed value is calculated by combining an error function and a rotation speed estimation formula, and then the position angle of the rotor is calculated.
Specifically, the voltage model stator flux linkage is as follows:
Figure BDA0002455703170000084
the current model stator flux linkage is as follows:
Figure BDA0002455703170000085
the error function is as follows:
Figure BDA0002455703170000086
the formula for estimating the rotation speed is as follows:
Figure BDA0002455703170000087
the rotor angle is calculated as follows:
Figure BDA0002455703170000088
Figure BDA0002455703170000091
wherein psisα、ψsβRepresenting stator voltage flux linkage component, RsThe resistance of the stator is represented by,
Figure BDA0002455703170000092
representing the stator current flux linkage component, LsIndicating stator leakage inductance, LmRepresenting the mutual inductance of the windings, irα′、irβ' means passing rotor position angle
Figure BDA0002455703170000093
Rotor current component epsilon obtained by transformation under two-phase static coordinate systemψsThe flux linkage error is represented by a flux linkage error,
Figure BDA0002455703170000094
representing the angular speed, k, of the rotorpDenotes the proportionality coefficient, kiThe value of the integral coefficient is represented by,
Figure BDA0002455703170000095
indicating the rotor position angle.
FIG. 5 shows a control schematic diagram of a motor speed calculation system for a doubly fed generator according to an embodiment of the invention.
The invention provides a double-fed motor rotating speed estimation method based on a low-rotating-speed shaft rotating speed signal of a fan gear box and a resonance controller, and the double-fed motor rotating speed estimation method is applied to practical engineering. The system mainly comprises the following parts: the system comprises a grid-side converter LCONV, a machine-side converter GCONV, a grid-side filter LC1, a machine-side high-frequency filter LC2, a stator contactor K1, a grid-side contactor K3, a pre-charging contactor K2, a doubly-fed generator DFIG, a gear box GEARBOX, BLADEs BLADE and a wind turbine box transformer T1; since the control system does not relate to grid-side converter control, it is not described herein.
The controller detects the voltage of the power grid in real time, and the d and q components u of the voltage of the power grid are obtained through abc/dq conversionld、ulqThen obtaining the angular velocity omega of the power grid through a phase-locked loop PLL1And grid location information theta1(ii) a Detecting stator voltage usabcObtaining stator voltage d and q components u through abc/dq conversionsd、usq(ii) a Detecting stator current isabcObtaining stator current d, q component i through abc/dq conversionsd、isq；ω2In order to detect the rotating speed signal of the low-speed shaft of the gear box, the position information theta of the low-speed shaft is obtained through an integral link4；
Detecting three-phase rotor current irabcObtaining the components i of the rotor currents d and q through abc/dq conversionrd、irq(ii) a Adaptively calculating rotor using stator voltage reference modelSub-position information theta2The specific method is shown in figure 3; adaptive computation of rotor position information theta using a rotor current reference model3The specific method is shown in figure 4; rotor position information theta used for control is selected in real time by applying double-fed motor rotor position angle judgment logicrThe specific method is shown in figure 2.
To obtain thetarAfter as rotor current abc/dq conversion and command voltage urd、urqDq/abc transformation of (1); rotor current ird、irqAnd instruction value
Figure BDA0002455703170000096
Obtaining a command voltage u through a proportional resonant controllerrd、urqSending to a module SVPWM space vector modulation to obtain six driving signals s1、s2、s3、s4、s5、s6And the machine side converter is driven to realize the grid-connected power generation of the double-fed motor.
Fig. 6 shows a block diagram of a structure of a motor speed calculation device for a doubly-fed generator according to an embodiment of the invention. As shown in fig. 6, the computing apparatus 600 includes a determining module 601, a first calculating module 602, a second calculating module 603, and a control module 604.
The judgment module 601 is used for detecting the voltage u of the power grid in real timeabcStator voltage usabcStator current isabcRotor current irabcAnd detecting the feedback signal of the stator contactor in real time and judging whether the feedback signal is true or not.
The first calculation module 602 is configured to calculate a rotor position angle of the doubly-fed generator by using a speed calculation method based on a stator voltage model reference adaptation if the feedback signal is true.
The second calculating module 603 is configured to calculate a rotor position angle of the doubly-fed generator by using a speed calculating method based on a rotor current model reference self-adaptation if the feedback signal is not true, and the grid voltage unevenness is less than or equal to a first threshold and the slip is less than or equal to a second threshold, and otherwise, calculate the rotor position angle of the doubly-fed generator by using a speed calculating method of a low-speed shaft of a complete machine gearbox.
The control module 604 is configured to select the calculated rotor position angle as a control variable of the doubly fed generator.
In conclusion, the method and the device for calculating the rotating speed of the motor of the doubly-fed generator provided by the invention use the rotating speed signal of the low or high speed shaft of the gearbox of the fan to estimate the speed of the doubly-fed motor; judging the position angle of the generator rotor by adopting the unevenness of the network pressure; judging the position angle of the generator rotor by adopting a feedback signal of the stator contactor; and judging the position angle of the rotor of the generator by adopting the slip of the generator. The invention solves the engineering problem of inaccurate estimation of the rotating speed of the double-fed motor and the position angle of the generator when the network voltage fails and crowbar is conducted.
It is to be understood that the disclosed embodiments of the invention are not limited to the particular structures, process steps, or materials disclosed herein but are extended to equivalents thereof as would be understood by those ordinarily skilled in the relevant arts. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting.
Reference in the specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. Thus, the appearances of the phrase "one embodiment" or "an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. A method for calculating the rotational speed of a motor for a doubly-fed generator, the method comprising the steps of:
real-time detection of the network voltage uabcStator voltage usabcStator current isabcRotor current irabcDetecting a feedback signal of the stator contactor in real time, and judging whether the feedback signal is true or not;
if the feedback signal is true, calculating to obtain a rotor position angle of the doubly-fed generator by a speed calculation method based on stator voltage model reference self-adaption;
if the feedback signal is not true, the grid voltage unevenness is smaller than or equal to a first threshold value, and the slip is smaller than or equal to a second threshold value, calculating to obtain a rotor position angle of the doubly-fed generator by a speed calculation method based on a rotor current model reference self-adaption, otherwise, calculating to obtain the rotor position angle of the doubly-fed generator by a speed calculation method of a complete machine gearbox low-speed shaft;
and selecting the rotor position angle obtained by calculation as a control variable of the doubly-fed generator.
2. The method of claim 1, further comprising:
to the network voltage uabcPerforming abc/dq conversion to obtain d and q axis components u of the grid voltageld、ulqObtaining the angular velocity omega of the power grid after the phase-locked loop1And grid location information theta1；
For the stator voltage usabcPerforming abc/dq conversion to obtain stator voltage d and q axis components usd、usq；
For the stator current isabcPerforming abc/dq conversion to obtain d and q axis components i of the stator currentsd、isq；
For the rotor current irabcPerforming abc/dq conversion to obtain d and q axis components i of rotor currentrd、irq。
3. The method according to claim 2, wherein the step of calculating the rotor position angle of the doubly-fed generator by the speed calculation method based on the stator voltage model reference adaptation specifically comprises the following steps:
establishing a stator voltage self-adaptive model and a stator voltage reference model which contain the rotating speed information of the doubly-fed generator;
outputting a slip angular velocity omega through an adaptive device by utilizing the stator voltage adaptive model and the difference value output by the stator voltage reference modelΔThe integral is used to obtain the rotation difference angle thetaΔ。
4. The method of claim 3, wherein the stator voltage adaptation model is as follows:
usd＝Rsisd-ω1Lsisq-ω1Lmirq
wherein R issDenotes the stator resistance, LsIndicating stator leakage inductance, LmRepresenting the winding mutual inductance.
5. The method according to claim 1, wherein the step of calculating the rotor position angle of the doubly-fed generator by a speed calculation method based on a rotor current model reference adaptation specifically comprises the following steps:
stator voltage usa、usb、uscTransforming the three-phase coordinate system to a two-phase static coordinate system by Clark to obtain usα、usβ；
Stator current isa、isb、iscTransforming the three-phase coordinate system to a two-phase static coordinate system by Clark to obtain isα、isβ；
Will rotor current ira、irb、ircTransforming the three-phase coordinate system to a two-phase static coordinate system by Clark to obtain irα、irβ。
6. The method of claim 5, wherein u is calculated by the following formulasα、usβ、isα、isβ、irα、irβ：
Figure FDA0002455703160000021
Figure FDA0002455703160000022
Figure FDA0002455703160000023
Wherein u issa、usb、uscRepresenting the stator voltage u in a three-phase coordinate systemsα、usβRepresenting the stator voltage in a two-phase stationary frame, isa、isb、iscRepresenting stator current i in a three-phase coordinate systemsα、isβRepresenting stator currents in a two-phase stationary frame, ira、irb、ircRepresenting the rotor current i in a three-phase coordinate systemrα、irβRotor currents in a two-phase stationary frame.
7. The method according to any one of claims 5 or 6, wherein the rotor position angle is calculated based on the voltage model stator flux linkage, the current model stator flux linkage, and an error function and a rotation speed estimation formula to obtain a rotation speed estimation value.
8. The method of claim 7, wherein the voltage model stator flux linkage is as follows:
Figure FDA0002455703160000031
the current model stator flux linkage is as follows:
Figure FDA0002455703160000032
the error function is as follows:
Figure FDA0002455703160000033
the formula for estimating the rotation speed is as follows:
Figure FDA0002455703160000034
the rotor angle is calculated as follows:
Figure FDA0002455703160000035
Figure FDA0002455703160000036
wherein psisα、ψsβRepresenting stator voltage flux linkage component, RsThe resistance of the stator is represented by,
Figure FDA0002455703160000037
representing the stator current flux linkage component, LsIndicating stator leakage inductance, LmRepresenting the mutual inductance of the windings, irα′、irβ' means passing rotor position angle
Figure FDA0002455703160000038
Rotor current component epsilon obtained by transformation under two-phase static coordinate systemψsThe flux linkage error is represented by a flux linkage error,
Figure FDA0002455703160000039
representing the angular speed, k, of the rotorpTo indicate the ratioCoefficient, kiThe value of the integral coefficient is represented by,
Figure FDA00024557031600000310
representing the rotor position angle.
9. The method of claim 1, wherein the step of calculating the rotor position angle of the doubly-fed generator by using the speed calculation method of the low-speed shaft of the complete machine gearbox specifically comprises the following steps:
detecting the rotational speed omega of a low-speed shaft of a gearbox2And obtaining a rotor position angle after an integral link, and taking the rotor position angle as the rotor position angle of the doubly-fed generator.
10. A motor speed calculation apparatus for a doubly-fed generator, the apparatus comprising:
a determination module for detecting the grid voltage u in real timeabcStator voltage usabcStator current isabcRotor current irabcDetecting a feedback signal of the stator contactor in real time, and judging whether the feedback signal is true or not;
the first calculation module is used for calculating a rotor position angle of the doubly-fed generator by a speed calculation method based on stator voltage model reference self-adaption if the feedback signal is true;
the second calculation module is used for calculating to obtain a rotor position angle of the doubly-fed generator by a speed calculation method based on a rotor current model reference self-adaption if the feedback signal is not true, the grid voltage unevenness is less than or equal to a first threshold value and the slip is less than or equal to a second threshold value, or calculating to obtain the rotor position angle of the doubly-fed generator by a speed calculation method of a complete machine gearbox low-speed shaft;
and the control module is used for selecting the calculated rotor position angle as a control variable of the doubly-fed generator.
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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101272118A (en) * 2008-04-07 2008-09-24 国网南京自动化研究院 Grid type double-feedback aerogenerator rotor position detecting method
CN103633915A (en) * 2013-11-06 2014-03-12 天津瑞能电气有限公司 Rotor angular frequency and rotor position angle estimation method for permanent magnet synchronous generator
CN108206657A (en) * 2016-12-19 2018-06-26 维谛技术有限公司 The detection method and equipment of generator amature mechanical angle
CN110971166A (en) * 2019-12-06 2020-04-07 长沙奥托自动化技术有限公司 Method for acquiring rotor position of permanent magnet synchronous generator and control system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101272118A (en) * 2008-04-07 2008-09-24 国网南京自动化研究院 Grid type double-feedback aerogenerator rotor position detecting method
CN103633915A (en) * 2013-11-06 2014-03-12 天津瑞能电气有限公司 Rotor angular frequency and rotor position angle estimation method for permanent magnet synchronous generator
CN108206657A (en) * 2016-12-19 2018-06-26 维谛技术有限公司 The detection method and equipment of generator amature mechanical angle
CN110971166A (en) * 2019-12-06 2020-04-07 长沙奥托自动化技术有限公司 Method for acquiring rotor position of permanent magnet synchronous generator and control system

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