CN114157201B - Torque pulsation suppression device and method for brushless doubly-fed motor direct-current power generation system - Google Patents

Torque pulsation suppression device and method for brushless doubly-fed motor direct-current power generation system Download PDF

Info

Publication number
CN114157201B
CN114157201B CN202111395371.0A CN202111395371A CN114157201B CN 114157201 B CN114157201 B CN 114157201B CN 202111395371 A CN202111395371 A CN 202111395371A CN 114157201 B CN114157201 B CN 114157201B
Authority
CN
China
Prior art keywords
current
reference value
axis
harmonic
coordinate system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202111395371.0A
Other languages
Chinese (zh)
Other versions
CN114157201A (en
Inventor
刘毅
张茂鑫
徐伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huazhong University of Science and Technology
Original Assignee
Huazhong University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huazhong University of Science and Technology filed Critical Huazhong University of Science and Technology
Priority to CN202111395371.0A priority Critical patent/CN114157201B/en
Publication of CN114157201A publication Critical patent/CN114157201A/en
Application granted granted Critical
Publication of CN114157201B publication Critical patent/CN114157201B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • 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
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/20—Estimation of torque
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention provides a torque pulsation suppression device and a method for a brushless doubly-fed motor direct-current power generation system, which belong to the technical field of brushless doubly-fed motor control, wherein the device comprises an MSC control system and a power winding harmonic current control system; the MSC control system is used for stabilizing the direct current bus voltage of the brushless doubly-fed motor direct current power generation system; and the harmonic current of the power winding is controlled by adopting a mode of controlling the harmonic current reference value compensation of the winding; the power winding harmonic current control system is connected to the power winding side of the brushless doubly-fed motor and is used for providing a control winding harmonic current reference value; the power winding of the brushless doubly-fed motor direct current power generation system is connected with a three-phase uncontrolled rectifier bridge; the control winding harmonic current reference value includes a control winding-5 th harmonic current reference value and a control winding 7 th harmonic current reference value. The invention reduces the torque pulsation of the brushless doubly-fed motor, thereby improving the service life of equipment.

Description

Torque pulsation suppression device and method for brushless doubly-fed motor direct-current power generation system
Technical Field
The invention belongs to the technical field of brushless doubly-fed motor control, and particularly relates to a torque pulsation suppression device and method for a brushless doubly-fed motor direct-current power generation system.
Background
The brushless double-fed motor is a new type AC induction motor, and includes two sets of stator windings with different pole pairs and one specially designed rotor for coupling the rotating magnetic fields with different pole pairs on the stator side. These two sets of stator windings are called a Power Winding (PW) and a Control Winding (CW) according to the amount of transmitted energy, respectively. Compared with the traditional brush double-fed induction generator, the brushless double-fed motor eliminates the electric brush and the slip ring, and has obvious application advantages in the fields of ship shaft belt power generation, wind power generation, hydroelectric power generation and the like by virtue of the characteristics of high reliability and the like.
Compared with the traditional alternating current power grid, the direct current power grid has the advantages of no reactive power flow, low loss, simple parallel connection process and the like. At present, wind energy, solar energy and other distributed renewable energy sources are combined into a direct-current micro-grid, so that a plurality of successful examples exist at home and abroad, and the integration of the wind energy, the solar energy and the like into the direct-current micro-grid has become a research hot spot. However, the brushless doubly-fed motor direct current power generation system PW is connected with the three-phase uncontrolled rectifier bridge, so obvious-5 th and 7 th harmonics are generated in the PW, the harmonics existing in the PW generally cause a certain degree of torque pulsation, the electromagnetic torque contains six and ten second harmonics, the service life of the motor is reduced due to long-term operation, and the torque pulsation must be restrained.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a torque pulsation suppression device and a torque pulsation suppression method for a brushless doubly-fed motor direct current power generation system, and aims to solve the problems that the motor vibration and noise are large and the service life of a motor rotating shaft is greatly shortened due to the fact that a three-phase uncontrolled rectifier bridge connected with a power winding is in existence.
In order to achieve the above object, in one aspect, the present invention provides a torque ripple suppression device for a brushless doubly-fed motor direct current power generation system, comprising: an MSC control system and a power winding harmonic current control system;
the MSC control system is connected to the control winding side of the brushless doubly-fed motor and used for stabilizing the direct-current bus voltage of the direct-current power generation system of the brushless doubly-fed motor; and the harmonic current of the power winding is controlled by adopting a mode of controlling the harmonic current reference value compensation of the winding;
the power winding harmonic current control system is connected to the power winding side of the brushless doubly-fed motor and is used for providing a control winding harmonic current reference value;
the power winding of the brushless doubly-fed motor direct-current power generation system is connected with a three-phase uncontrolled rectifier bridge; the control winding harmonic current reference value includes a control winding-5 th harmonic current reference value and a control winding 7 th harmonic current reference value.
Preferably, the power winding harmonic current control system comprises: a PW current separation module, a PW voltage separation module, a PW harmonic current reference value calculation module and a CW harmonic current reference value calculation module;
the PW voltage separation module is used for separating three-phase voltage u of static abc coordinate system of power winding pa 、u pb 、u pc Sequentially performing coordinate transformation, addition operation, generalized integral, positive sequence operation or negative sequence operation and coordinate transformation to obtain the actual voltage component under the positive sequence and fundamental frequency rotation coordinate system, -5 times rotation dq coordinate and 7 times rotation dq coordinate of the power winding side and />
The PW current extraction module is used for extracting three-phase current i of a static abc coordinate system of the power winding pa 、i pb 、i pc Sequentially performing coordinate transformation, addition operation, generalized integral, positive sequence operation or negative sequence operation and coordinate transformation to obtain the actual current component under the positive sequence and fundamental frequency rotation coordinate system, -5-time rotation dq coordinate and 7-time rotation dq coordinate of the power winding side and />
The PW harmonic current reference value calculation module is connected with the PW current separation module and the PW voltage separation module and is used for calculating a PW harmonic current reference value according to the current of the power supply and />Calculating PW harmonic current reference values of sixth harmonic and tenth harmonic of compensation torque>
The input end of the CW harmonic current reference value calculation module is connected with the PW harmonic current reference value calculation module and is used for connectingThe PI operation is sequentially carried out and then the coordinate transformation is carried out, and the control winding-5 and 7-order harmonic current reference values +.>
Preferably, the-5, 7 th harmonic current reference values of PW in positive sequence fundamental frequency rotation coordinate system are:
wherein , and />The d-axis-5 harmonic reference current component under the power winding-5 rotation coordinate system and the q-axis-5 harmonic reference current component under the power winding-5 rotation coordinate system are respectively; /> and />Respectively, a d-axis 7-order harmonic reference current component under a 7-order rotation coordinate system of the power winding and a d-axis 7-order harmonic reference current component under the 7-order rotation coordinate system of the power windingA q-axis 7 th harmonic reference current component; /> and />Respectively the d-axis and q-axis actual fundamental wave voltage components under the power winding positive sequence fundamental frequency rotation coordinate system; /> and />The d-axis and q-axis actual-5 harmonic voltage components under the power winding-5 rotation coordinate system are respectively; /> and />The actual 7-time harmonic voltage components of the d axis and the q axis under the 7-time rotation coordinate system of the power winding are respectively; /> and />The d-axis actual fundamental current component and the q-axis actual fundamental current component are respectively in a power winding positive sequence fundamental frequency rotation coordinate system; /> and />The d-axis and q-axis actual-5 harmonic current components under the power winding-5 rotation coordinate system are respectively; /> and />The actual 7-harmonic current components of the d-axis and q-axis in the 7-rotation coordinate system of the power winding are respectively.
Preferably, the CW harmonic current reference value calculating module includes a thirteenth adder, a fourteenth adder, a fifteenth adder, a sixteenth adder, a third PI controller, a fourth PI controller, a fifth PI controller, a sixth PI controller, a twelfth coordinate converter, and a thirteenth coordinate converter;
the output end of the thirteenth adder is connected with the input end of the third PI controller; the output end of the fourteenth adder is connected with the input end of the fourth PI controller; the output ends of the third PI controller and the fourth PI controller are connected with the input end of the twelfth coordinate converter; the output end of the fifteenth adder is connected with the input end of the fifth PI controller; the output end of the sixteenth adder is connected with the input end of the sixth PI controller; the output ends of the fifth PI controller and the sixth PI controller are connected with the input end of the thirteenth coordinate converter;
thirteenth, fourteenth, fifteenth and sixteenth adders are respectively used for performing and />Calculating;
the third PI controller, the fourth PI controller, the fifth PI controller and the sixth PI controller are respectively used for the pair of and />Performing proportional integral operation;
the twelfth coordinate transformation module is used for obtaining d-axis components of the control winding-5 th harmonic current reference value under positive sequence fundamental frequency rotation coordinatesAnd q-axis component of-5 th harmonic current reference value of CW at positive sequence fundamental frequency rotation coordinate +.>
The thirteenth coordinate transformation module is used for obtaining d-axis component of the control winding 7 th harmonic current reference value under positive sequence fundamental frequency rotation coordinatesAnd q-axis component of control winding 7 th harmonic current reference value under positive sequence fundamental frequency rotation coordinate +.>
Preferably, the MSC control system comprises a direct current bus voltage control module, a CW total current calculation module, a CW current control module, a first coordinate transformation module, a first SVPWM generator, a second coordinate transformation module and a CW transformation angle calculation module;
the output end of the direct current bus voltage control module is connected with the CW total current calculation module and is used for calculating the reference value according to the direct current bus voltageAnd a DC bus voltage feedback value U dc Acquiring d-axis fundamental wave current reference value +.>
The output end of the CW total current calculation module is connected with the input end of the CW current control module and is used for outputting the d-axis fundamental current reference value of the CW generated by the DC bus voltage control moduleAdding the reference value of the harmonic current of the-5 th and 7 th times of the control winding generated by the CW harmonic current reference value calculation module to generate a CW total current reference value;
the output end of the CW current control module is connected with the first coordinate transformation module; for performing the control winding total current reference value obtained by the CW total current calculation module and the control winding current actual value obtained by the second coordinate transformation moduleAndcalculating, namely performing proportional integral resonance operation on the obtained difference value to obtain a CWdq coordinate system voltage reference value +.>And
the output end of the first coordinate transformation module is connected with the first SVPWM generator; for referencing CWdq coordinate system voltage and />Alpha-axis component reference value transformed into CW in two-phase stationary coordinate system>And beta-axis component reference value->
The output end of the second coordinate transformation module is connected with a CW current control module for outputting a phase current i of CW under an abc coordinate system ca B-phase current i cb And c-phase current i cc D-axis component i of CW current transformed into dq coordinate system cd And q-axis component i cq ；
The CW transformation angle calculation module is used for obtaining a transformation reference angle according to the measured angular frequency of the rotor winding and the given PW angular frequency;
the first SVPWM generator is used for reference value of alpha-axis component based on CW under two-phase static coordinate systemAnd beta-axis component reference value->And generating PWM signals required by the MSC, and further stabilizing the DC bus voltage of the brushless doubly-fed motor DC power generation system.
In another aspect, the present invention provides a method for suppressing torque ripple in a brushless doubly-fed motor dc power generation system, comprising the steps of:
under the condition of stable DC bus voltage, controlling the harmonic current of the power winding by adopting a control winding harmonic current reference value compensation mode;
the power winding of the brushless doubly-fed motor direct-current power generation system is connected with a three-phase uncontrolled rectifier bridge; the control winding harmonic current reference value includes a control winding-5 th harmonic current reference value and a control winding 7 th harmonic current reference value.
Preferably, the method for acquiring the CW harmonic current reference value comprises the following steps: three-phase voltage u of static abc coordinate system of P pair power winding pa 、u pb 、u pc Sequentially performing coordinate transformation, addition operation, generalized integral, positive sequence operation or negative sequence operation and coordinate transformation to obtain the actual voltage component under the positive sequence and fundamental frequency rotation coordinate system, the 5-time rotation dq coordinate and the 7-time rotation dq coordinate of the power winding side and />
For three-phase current i of static abc coordinate system of power winding pa 、i pb 、i pc Sequentially performing coordinate transformation, addition operation, generalized integral, positive sequence operation or negative sequence operation and coordinate transformation to obtain the actual current component under the positive sequence and fundamental frequency rotation coordinate system, -5-time rotation dq coordinate and 7-time rotation dq coordinate of the power winding side and />
According to and />Calculating PW harmonic current reference values of sixth harmonic and tenth harmonic of compensation torque>
Will beThe PI operation is sequentially carried out and then the coordinate transformation is carried out, thus obtaining the-5 and 7-order harmonic current reference values of CW under the positive sequence fundamental frequency rotation coordinate system>
Preferably, the-5, 7 th harmonic current reference values of PW in positive sequence fundamental frequency rotation coordinate system are:
wherein , and />The d-axis-5 harmonic reference current component under the power winding-5 rotation coordinate system and the q-axis-5 harmonic reference current component under the power winding-5 rotation coordinate system are respectively; /> and />The d-axis 7-order harmonic reference current component under the 7-order rotation coordinate system of the power winding and the q-axis 7-order harmonic reference current component under the 7-order rotation coordinate system of the power winding are respectively obtained; /> and />Respectively the d-axis and q-axis actual fundamental wave voltage components under the power winding positive sequence fundamental frequency rotation coordinate system; /> and />The d-axis and q-axis actual-5 harmonic voltage components under the power winding-5 rotation coordinate system are respectively; /> and />The actual 7-time harmonic voltage components of the d axis and the q axis under the 7-time rotation coordinate system of the power winding are respectively; /> and />The d-axis actual fundamental current component and the q-axis actual fundamental current component are respectively in a power winding positive sequence fundamental frequency rotation coordinate system; /> and />The d-axis and q-axis actual-5 harmonic current components under the power winding-5 rotation coordinate system are respectively; /> and />The actual 7-harmonic current components of the d-axis and q-axis in the 7-rotation coordinate system of the power winding are respectively.
Preferably, the method for obtaining the stable direct current bus voltage comprises the following steps:
according to the reference value of the DC bus voltageAnd a DC bus voltage feedback value U dc Acquiring d-axis fundamental wave current reference value +.>
D-axis fundamental current reference value of CWWith control windings-5 th and 7 th harmonic current referencesAdding and generating a control winding total current reference value;
the a-phase current i of the control winding under the abc coordinate system ca B-phase current i cb And c-phase current i cc Conversion to the actual value i of the control winding current in the dq coordinate system cd and icq ；
The total current reference value of the control winding and the actual current value of the control winding are processed and />Calculating, namely performing proportional integral resonance operation on the obtained difference value to obtain a voltage reference value +.> and />
Reference value of CW voltage in dq coordinate system and />Alpha-axis component reference value transformed into CW in two-phase stationary coordinate system>And beta-axis component reference value->
Alpha-axis component reference value based on CW in two-phase stationary coordinate systemAnd beta-axis component reference value->And generating PWM signals required by the MSC, and further stabilizing the DC bus voltage of the brushless doubly-fed motor DC power generation system.
In general, the above technical solutions conceived by the present invention have the following beneficial effects compared with the prior art:
the invention provides a method for suppressing the direct current power generation torque pulsation of a brushless doubly-fed motor, which aims to ensure that the torque pulsation is reduced as much as possible by a control method without adding an additional filter device, and prolong the service life of the brushless doubly-fed motor so as to realize the normal operation of the brushless doubly-fed motor under the direct current power generation working condition of a single transformer. More specifically, the invention utilizes an MSC control system, adopts control winding harmonic current reference values (CW-5 th and 7 th current harmonic components) to compensate the control winding fundamental current reference values, and further controls the harmonic current of the power winding; so that the torque ripple of the brushless doubly-fed motor is reduced, thereby improving the life of the apparatus.
Drawings
Fig. 1 is a schematic diagram of a torque ripple suppression method of a brushless doubly-fed motor dc power generation system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a dc bus voltage control module according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a CW total current calculation module according to an embodiment of the invention;
fig. 4 is a schematic structural diagram of a CW current control module according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a PW voltage separation and phase-locked loop module according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a PW current separation module according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a CW harmonic current reference value calculation module according to an embodiment of the invention;
fig. 8 is a schematic structural diagram of a PW harmonic current reference calculation module according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The following explains the concept related to the present invention:
abc coordinate system: the three-phase symmetrical static winding corresponds to the alternating current motor and is provided with three coordinate axes of an a axis, a b axis and a c axis which are intersected at an original point, wherein the three coordinate axes are in space static and mutually different 120 degrees and are symmetrically distributed, and the three coordinate axes are the a axis, the b axis and the c axis in sequence according to the clockwise direction;
two-phase stationary coordinate system: the two-phase orthogonal stationary windings correspond to the virtual two-phase orthogonal stationary windings of the alternating current motor, are provided with two coordinate axes of an alpha axis and a beta axis which are intersected at an original point, wherein the two coordinate axes are stationary in space and mutually different by 90 degrees, and the two coordinate axes are the alpha axis and the beta axis in sequence according to the anticlockwise direction;
positive-sequence fundamental frequency dq rotation coordinate system: has two coordinate axes of d axis and q axis intersecting with the origin, the two coordinate axes are mutually different by 90 degrees (in anticlockwise direction, the d axis and the q axis are in turn) at an angular velocity omega p Rotating counterclockwise; wherein omega p A rotational angular velocity which is a fundamental component of the PW voltage;
negative five rotations dq coordinate system: has two coordinate axes of d axis and q axis intersecting with the origin, the two coordinate axes are mutually different by 90 degrees (in anticlockwise direction, the d axis and the q axis are in turn) at an angular velocity of-5 omega p Rotating clockwise;
seven rotations dq coordinate system: having two coordinate axes of d-axis and q-axis intersecting at origin, the two coordinate axes being mutually different by 90 degrees (d-axis and q-axis in order in counterclockwise direction) at an angular velocity of 7ω p Rotating counterclockwise;
in the invention, the alpha axis and the a axis are coincident;
in the invention, if the dq coordinate system where the electric quantity is located is not indicated at the upper right corner, the coordinate system is defaulted to a positive-sequence fundamental frequency rotation coordinate system: dq coordinate system;
the p of the lower right corner of the electric quantity represents the power winding side, dq and alpha beta respectively represent a two-phase rotating coordinate system and a two-phase static coordinate system, and the numbers represent harmonic frequencies; the number in the upper right corner represents the number of times the coordinate system is rotated, "+" represents the reference value, and "-" above the variable represents the conjugate of the variable;
fundamental component: the fundamental component refers to a component whose component frequency is the same as the nominal frequency;
harmonic components: harmonic components refer to components whose component frequencies are integer multiples of the nominal frequency;
PI controller: the PI controller is in the form of wherein ,kp Is a proportional gain, k i The control method comprises the steps that (1) proportional operation and integral operation given by a PI controller are sequentially carried out on deviation between a reference value and a feedback value of a control target, and then the proportional operation and integral operation results are added to form a control quantity to control a controlled object; k (k) p K i The debugging method of (1) is as follows:
first, let k i Set to 0 and then gradually increase k p Until the control target is overshot, k p No longer changes; then gradually increase k i Until the adjustment time of the control target reaches the user's demand.
PIR controller: the first PIR controller and the second PIR controller in the invention are in the form of wherein ,kp Is a proportional gain, k i To integrate gain, k r For resonance gain omega c For cut-off frequency (typically 5-20 rad/s), ω n For the resonance frequency (generally set according to the frequency of the harmonic signal), s is a laplace operator, and the deviation between the reference value and the feedback value of the control target is sequentially subjected to proportional operation, integral operation and resonance operation given by the PIR controller; then, adding the results of the proportional operation, the integral operation and the resonance operation to form a control quantity, and controlling the controlled object; k (k) p ，k i K r The debugging method of (1) is as follows:
1. first, let k r Set to 0, debug k according to the debug method of PI controller p and ki Parameters: first, let k i Set to 0 and then gradually increase k p Until the control target is overshot, k p No longer changes; then gradually increase k i Until the adjustment time of the control target reaches the requirement of the user;
2. guarantee k p and ki The parameters are unchanged, resonance debugging signals are added, and k is changed r Parameters: first, let k i Set to 0 and then gradually increase k r Until the resonant signal tracking effect reaches the user's requirement;
SVPWM generator: the first SVPWM generator in the present invention belongs to this column. The ideal flux linkage circle of the stator of the three-phase symmetrical motor is used as a reference standard when the three-phase symmetrical sine wave voltage is used for supplying power, and different switching modes of the three-phase inverter are used for proper switching, so that PWM waves are formed, and the accurate flux linkage circle is tracked by the formed actual flux linkage vector.
The physical meanings involved in the invention are as follows:
examples
As shown in fig. 1, a control block diagram of a torque ripple suppression method of a brushless doubly-fed motor direct current power generation system includes the steps of:
adopting an MSC (control winding side converter) control system of a motor side converter to stabilize the voltage of a direct current bus; meanwhile, a CW harmonic current reference value compensation mode is adopted to control the harmonic current of the power winding; the brushless doubly-fed motor PW is connected with a three-phase uncontrolled rectifier bridge, so that obvious-5 times and 7 times of harmonic waves are generated in PW voltage and current; the CW harmonic current reference values include a-5 th harmonic current reference value of CW and a 7 th harmonic current reference value of CW;
specifically, the MSC control system comprises a direct current bus voltage control module, a CW total current calculation module, a CW current control module, a first coordinate transformation module, a first SVPWM generator, a second coordinate transformation module and a CW transformation angle calculation module;
the power winding harmonic current control system comprises: a PW current separation module, a PW voltage separation module, a PW harmonic current reference value calculation module and a CW harmonic current reference value calculation module;
the PW voltage separation module is used for separating three-phase voltage u of static abc coordinate system of power winding pa 、u pb 、u pc Sequentially performing coordinate transformation, addition operation, generalized integral, positive sequence operation or negative sequence operation and coordinate transformation to obtain the actual voltage component under the positive sequence and fundamental frequency rotation coordinate system, -5 times rotation dq coordinate and 7 times rotation dq coordinate of the power winding sideAnd
the PW current extraction module is used for extracting three-phase current i of a static abc coordinate system of the power winding pa 、i pb 、i pc Sequentially performing coordinate transformation, addition operation, generalized integral, positive sequence operation or negative sequence operation and coordinate transformation to obtain the actual current component under the positive sequence and fundamental frequency rotation coordinate system, -5-time rotation dq coordinate and 7-time rotation dq coordinate of the power winding side and />
The PW harmonic current reference value calculation module is connected with the PW current separation module and the PW voltage separation module and is used for calculating a PW harmonic current reference value according to the current of the power supply and />Calculating PW harmonic current reference values of sixth harmonic and tenth harmonic of compensation torque>
The input end of the CW harmonic current reference value calculation module is connected with the PW harmonic current reference value calculation module and is used for connectingThe PI operation is sequentially carried out and then the coordinate transformation is carried out, thus obtaining the-5 and 7-order harmonic current reference values of CW under the positive sequence fundamental frequency rotation coordinate system>
The output end of the direct current bus voltage control module is connected with the CW total current calculation module and is used for calculating the reference value according to the direct current bus voltageAnd a DC bus voltage feedback value U dc Acquiring d-axis fundamental wave current reference value +.>
The CW total current calculation module is used for adding the CW fundamental wave current reference value generated by the direct current bus voltage control module and the-5 th and 7 th harmonic current reference values of the CW generated by the CW harmonic current reference value calculation module to generate a CW total current reference value;
the output end of the CW current control module is connected with the first coordinate transformation module; for performing control winding current reference value obtained by the CW total current calculation module and control winding current actual value obtained by the second coordinate transformation moduleAndcalculating, namely performing proportional integral resonance operation on the obtained difference value to obtain a CWdq coordinate system voltage reference value +.>And
the output end of the first coordinate transformation module is connected with the first SVPWM generator; for referencing CWdq coordinate system voltage and />Alpha-axis component reference value transformed into CW in two-phase stationary coordinate system>And beta-axis component reference value->The specific transformation formula is as follows:
the output end of the second coordinate transformation module is connected with the CW currentA control module for inputting CW a-phase current i in abc coordinate system ca B-phase current i cb And c-phase current i cc D-axis component i of CW current transformed into dq coordinate system cd And q-axis component i cq The method comprises the steps of carrying out a first treatment on the surface of the The transformation formula is specifically as follows:
wherein the reference angle theta is changed c The phase of the fundamental wave component of the PW voltage output by the PW voltage extraction module is calculated, and the calculation formula is omega c ＝(p p +p c )ω r -ω p The method comprises the steps of carrying out a first treatment on the surface of the For omega c Integral operation is carried out to obtain theta c ；
wherein ,ωr Angular frequency for rotor windings; omega p Angular frequency for the power winding; p is p p and pc The pole pair number of the power winding and the pole pair number of the control winding are respectively; omega c To control the angular frequency of the windings.
Specifically, as shown in fig. 2, the dc bus voltage control module includes a first adder and a first PI controller; the first adder is used for comparing the DC bus voltage reference valueAnd a DC bus voltage feedback value u dc Making a difference; the first PI controller is used for +.>The proportional-integral operation is performed to output d-axis fundamental current reference value +.>
Specifically, as shown in fig. 3, the CW total current calculation module includes a second adder for adding the CW total current to the CW total current and />Go->Calculating to obtain d-axis total current reference value +.>The third adder is used for adding-> and />Go->Calculating to obtain the q-axis total current reference value +.>
Specifically, as shown in fig. 4, the CW current control module includes a fourth adder, a fifth adder, a first PIR controller, and a second PIR controller; a fourth adder for adding the d-axis current reference value of CWAnd the actual current value i cd Subtraction is carried outA fifth adder for adding the q-axis current reference value +.>And the actual current value i cq Minus->The obtained difference value is subjected to proportional integral resonance operation through a first PIR controller and a second PIR controller respectively to obtain the dq coordinate of CWReference value-> and />Sending the first coordinate into a first coordinate transformation module; />
Specifically, as shown in fig. 5, the PW voltage separation module includes a third coordinate converter, a sixth adder, a seventh adder, an eighth adder, a first second-order generalized integrator, a second-order generalized integrator, a third second-order generalized integrator, a first positive sequence operator, a first negative sequence operator, a second positive sequence operator, a fourth coordinate converter, a fifth coordinate converter, a sixth coordinate converter, a seventh coordinate converter, a first magnitude operator, a first divider, a second PI controller, a ninth adder, and a first integrator;
three-phase voltage u of static abc coordinate system of power winding pa 、u pb 、u pc Changing to a two-phase stationary alpha beta coordinate system voltage u by a third coordinate transformer pα and upβ The method comprises the steps of carrying out a first treatment on the surface of the The actual voltage of the power winding under the static coordinate system is subtracted by a sixth adder, a seventh adder and an eighth adder pαβ -u pαβ5f -u pαβ7f 、u pαβ -u pαβ1f -u pαβ7f and upαβ -u pαβ5f -u pαβ1f( wherein ,upαβ1f The power winding voltage is + -1 time component of the power winding voltage under an alpha beta coordinate system; u (u) pαβ5f The harmonic component is the power winding voltage + -5 times of harmonic component under an alpha beta coordinate system; u (u) pαβ7f For the power winding voltage + -7 times harmonic component under the alpha beta coordinate system, the obtained difference value is sent to a first second-order generalized integrator, a second-order generalized integrator and a third second-order generalized integrator to carry out 90-degree phase shift, and the transfer function is as follows:
wherein ,uf (s) is a value of the input signal after filtering; u(s) is an input signal; k is a damping coefficient;is the resonant frequency; s is a Law transform symbol, and the value of s is jω; qu f (s) is u f (s) a value of 90 degrees hysteresis;
obtaining u pαβ1f 、qu pαβ1f 、u pαβ5f 、qu pαβ5f 、u pαβ7f and qupαβ7f Will u pαβ1f and qupαβ1f Sending the calculated u into a first positive sequence calculator to obtain u pαβ1 The method comprises the steps of carrying out a first treatment on the surface of the Will u pαβ5f and qupαβ5f Sending the result to a first negative sequence arithmetic unit to obtain u pαβ5 ；u pαβ7f and qupαβ7f Obtaining u by feeding into a second positive sequence arithmetic unit pαβ7 . The operation rule is as follows:
wherein ,is the positive voltage sequence component of the alpha axis; />Is the positive voltage sequence component of the beta axis; />A negative sequence component of voltage being the alpha axis; />A negative sequence component of voltage being the beta axis; q is a 90 degree phase shift;
the u is obtained pαβ1 、u pαβ-1 、u pαβ5 、u pαβ7 Are all quantities in a two-phase stationary αβ coordinate system and are therefore transformed by coordinate transformation to the corresponding sub-dq rotational coordinate system. Will u pαβ1 Transformed to a positive-sequence fundamental frequency rotation coordinate system by a fifth coordinate transformerWill u pαβ5 Transformed to-5 rotation coordinate system by six coordinate transformer, transformed to +.>Will u pαβ7 Transformed to 7-rotation coordinate system by seven-coordinate transformer, transformed to +.>
In order to obtain the power winding transformation angle, a phase-locked loop module must be added. The phase-locked loop is an improved phase-locked loop technology, and u is obtained pαβ1 Coordinate transformation is performed by a fourth coordinate operator, transforming angle theta p Namely, the first divider is specially arranged to prevent the influence of the voltage amplitude on the phase-locked loop so that the quantity entering the second PI controller is irrelevant to the amplitude, and the voltage can be tracked through the link so as to obtain the coordinate transformation angle theta of the power winding p 。
Specifically, as shown in fig. 6, the PW current separation module includes an eighth coordinate converter, a tenth adder, an eleventh adder, a twelfth adder, a fourth second-order generalized integrator, a fifth second-order generalized integrator, a sixth second-order generalized integrator, a third positive-sequence operator, a fourth positive-sequence operator, a second negative-sequence operator, a ninth coordinate converter, a tenth coordinate converter, and an eleventh coordinate converter;
three-phase current i of static abc coordinate system of power winding pa 、i pb 、i pc Current i through a ninth coordinate transformer into a two-phase stationary alpha beta coordinate system pα and ipβ The voltage is subtracted by a tenth adder, an eleventh adder and a twelfth adder pαβ -i pαβ5f -i pαβ7f 、i pαβ -i pαβ1f -i pαβ7f 、i pαβ -i pαβ5f -i pαβ1f( wherein ,ipαβ1f The power winding current is + -1 time component of the power winding current under an alpha beta coordinate system; i.e pαβ5f The power winding current is + -5 times component under alpha beta coordinate system; i.e pαβ7f For the power winding current + -7 times component under the alpha beta coordinate system, the obtained difference value is sent into a fourth-order generalized integrator, a fifth-order generalized integrator and a sixth-order generalized integrator to carry out 90-degree phase shift, and the transfer function is as follows:
wherein ,if (s) is a value of the input signal after filtering; i(s) is an input signal; d(s) is a transfer function; q(s) is a transfer function; qi f (s) is a compound of formula I f (s) values differing by 90 degrees;
obtaining i pαβ1f 、qi pαβ1f 、i pαβ5f 、qi pαβ5f 、i pαβ7f 、qi pαβ7f Will i pαβ1f and qipαβ1f Sending the i to a third positive sequence calculator for calculation to obtain i pαβ1 The method comprises the steps of carrying out a first treatment on the surface of the Will i pαβ5f and qipαβ5f Sending the result to a second negative sequence arithmetic unit to obtain i pαβ-5 ；i pαβ7f and qipαβ7f Get i sent to fourth positive sequence arithmetic unit pαβ7 The method comprises the steps of carrying out a first treatment on the surface of the The operation rule is as follows:
wherein ,is the positive sequence component of the current on the alpha axis; />Is the positive current sequence component of the beta axis; />A negative sequence component of current for the alpha axis; />A negative sequence component of current being beta axis; q is a 90 degree phase shift;
obtained i pαβ1 、i pαβ-5 、i pαβ7 Are all quantities in a two-phase stationary alpha beta coordinate system, so that the two-phase stationary alpha beta coordinate system is transformed into corresponding dq rotation coordinate systems through coordinate transformation; will i pαβ1 Transformed to a positive-sequence fundamental frequency rotation coordinate system by a ninth coordinate transformerWill i pαβ-5 Transformed to-5 rotation coordinate system by ten-coordinate transformer, transformed to +.>Will i pαβ7 Transformed to 7-rotation coordinate system by eleven-coordinate transformer, transformed to +.>
Specifically, as shown in fig. 7, the CW harmonic current reference value calculating module includes a thirteenth adder, a fourteenth adder, a fifteenth adder, a sixteenth adder, a third PI controller, a fourth PI controller, a fifth PI controller, a sixth PI controller, a twelfth coordinate converter, and a thirteenth coordinate converter;
thirteenth, fourteenth, fifteenth and sixteenth adders are respectively used for performing and />Calculating; the third PI controller, the fourth PI controller, the fifth PI controller and the sixth PI controller are respectively used for the +.> and />Performing proportional integral operation; the twelfth coordinate transformation module is used for obtaining d-axis component of-5 harmonic current reference value of CW under positive sequence fundamental frequency rotation coordinate>And q-axis component of-5 th harmonic current reference value of CW at positive sequence fundamental frequency rotation coordinate +.>The thirteenth coordinate transformation module is used for obtaining d-axis component of 7 th harmonic current reference value of CW under positive sequence fundamental frequency rotation coordinate +.>Q-axis component of 7 th harmonic current reference value of CW at positive sequence fundamental frequency rotation coordinate +.>The basis of the coordinate transformation is as follows:
wherein ,the value of the-5 th harmonic component of the electric quantity under a positive sequence fundamental frequency rotation coordinate system; />The value of-5 times harmonic wave of the electric quantity under-5 times rotation coordinate system; />The value of 7 th harmonic of the electric quantity under a positive sequence fundamental frequency rotation coordinate system; />The value of the 7 th harmonic component of the electric quantity in a 7 th rotation coordinate system;
as shown in FIG. 8, the PW harmonic current reference calculation module obtains PW harmonic current reference values for the sixth and tenth harmonic of the compensation torqueThe calculation principle of (2) is as follows:
neglecting rotor resistance, CW flux and current are expressed as PW flux and current as follows:
ψ c ＝L c I c +L cr I r
the control winding electromagnetic torque portion can be expressed as
Order theObtaining the product
Due toSo that
The torque sixth harmonic can be expressed as
The tenth harmonic of the torque consisting of-5 th and 7 th harmonics can be expressed as
/>
wherein ,pp The pole pair number of the power winding is; p is p c For controlling the pole pair number of the winding;conjugation of PW positive sequence fundamental frequency flux linkage vector under positive sequence fundamental frequency rotation coordinate system; />Is the conjugation of the-5 th harmonic flux linkage vector of PW under the-5 th rotation coordinate system;the conjugate of the 7 th harmonic flux linkage vector of PW in the 7 th rotation coordinate system; />The value of PW positive sequence fundamental frequency current vector under the positive sequence fundamental frequency rotation coordinate system; />Is the value of the-5 th harmonic current vector of PW in the-5 th rotation coordinate system; />The 7 th harmonic current vector of PW is the value of the 7 th harmonic current vector under the 7 th rotation coordinate system; />Conjugation of PW positive sequence fundamental frequency voltage vector under positive sequence fundamental frequency rotation coordinate system; />The conjugation of the-5 th harmonic voltage vector of PW under the-5 th rotation coordinate system; />The conjugation of 7 th harmonic voltage vector of PW under 7 th rotation coordinate system; e is cos (6ω) p t), f is sin (6ω) p t); x is cos (12 omega) p t), y is sin (12ω) p t)；
To achieve torque ripple suppression needs to be satisfied
Order the
Thus (2)
/>
In summary, compared with the prior art, the invention has the following advantages:
the invention provides a method for suppressing the direct current power generation torque pulsation of a brushless doubly-fed motor, which aims to ensure that the torque pulsation is reduced as much as possible by a control method without adding an additional filter device, and prolong the service life of the brushless doubly-fed motor so as to realize the normal operation of the brushless doubly-fed motor under the direct current power generation working condition of a single transformer. More specifically, the invention utilizes an MSC control system, adopts control winding harmonic current reference values (CW-5 th and 7 th current harmonic components) to compensate the control winding fundamental current reference values, and further controls the harmonic current of the power winding; so that the torque ripple of the brushless doubly-fed motor is reduced, thereby improving the life of the apparatus.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims (6)

1. A brushless doubly-fed motor direct current power generation system torque ripple suppression device, wherein the brushless doubly-fed motor includes a power winding PW and a control winding CW, comprising: an MSC control system and a power winding harmonic current control system;
the MSC control system is connected to the control winding side of the brushless doubly-fed motor and used for stabilizing the direct-current bus voltage of the direct-current power generation system of the brushless doubly-fed motor; and the harmonic current of the power winding is controlled by adopting a mode of controlling the harmonic current reference value compensation of the winding;
the power winding harmonic current control system is connected to the power winding side of the brushless doubly-fed motor and is used for providing a control winding harmonic current reference value;
the power winding of the brushless doubly-fed motor direct-current power generation system is connected with a three-phase uncontrolled rectifier bridge; the control winding harmonic current reference value comprises a control winding-5 th harmonic current reference value and a control winding 7 th harmonic current reference value;
the power winding harmonic current control system comprises: a PW current separation module, a PW voltage separation module, a PW harmonic current reference value calculation module and a CW harmonic current reference value calculation module;
the PW voltage separation module is used for standing a power windingThree-phase voltage>、/>、/>Sequentially performing coordinate transformation, addition operation, generalized integral, positive sequence operation or negative sequence operation and coordinate transformation to obtain positive sequence and fundamental frequency rotation coordinate system at power winding side, -5 times rotation->Coordinate and 7 rotations->Actual voltage component in coordinates +.>、/> and />；
The PW current separation module is used for standing a power windingThree-phase current of coordinate system->、/>、/>Sequentially performing coordinate transformation, addition operation, generalized integral, positive sequence operation or negative sequence operation and coordinate transformation to obtain positive sequence and fundamental frequency rotation coordinate system at power winding side, -5 times rotation->Coordinate and 7 rotations->Actual current component in coordinates +.>、/>And；
the PW harmonic current reference value calculation module is connected with the PW current separation module and the PW voltage separation module and is used for calculating the PW harmonic current reference value according to the following conditions、/>、/>、/>、/> and />Calculating PW harmonic current reference value of compensation torque sixth and tenth harmonic>、/>、/>、/>；
The input end of the CW harmonic current reference value calculation module is connected with the PW harmonic current reference value calculation module and is used for connecting、/>、/>、/>The PI operation is sequentially carried out and then the coordinate transformation is carried out, and the control winding-5 and 7-order harmonic current reference values +.>、/>、/>、/>；
The-5 and 7-order harmonic current reference values of PW under the positive sequence fundamental frequency rotation coordinate system are as follows:
wherein , and />The d-axis-5 harmonic reference current component under the power winding-5 rotation coordinate system and the q-axis-5 harmonic reference current component under the power winding-5 rotation coordinate system are respectively; /> and />The d-axis 7-order harmonic reference current component under the 7-order rotation coordinate system of the power winding and the q-axis 7-order harmonic reference current component under the 7-order rotation coordinate system of the power winding are respectively obtained; /> and />Respectively the d-axis and q-axis actual fundamental wave voltage components under the power winding positive sequence fundamental frequency rotation coordinate system; /> and />The d-axis and q-axis actual-5 harmonic voltage components under the power winding-5 rotation coordinate system are respectively; /> and />The actual 7-time harmonic voltage components of the d axis and the q axis under the 7-time rotation coordinate system of the power winding are respectively; /> and />The d-axis actual fundamental current component and the q-axis actual fundamental current component are respectively in a power winding positive sequence fundamental frequency rotation coordinate system; />Andthe d-axis and q-axis actual-5 harmonic current components under the power winding-5 rotation coordinate system are respectively; /> and />The actual 7-time harmonic current components of the d axis and the q axis under the 7-time rotation coordinate system of the power winding are respectively;
the MSC control system comprises a direct current bus voltage control module, a CW total current calculation module, a CW current control module, a first coordinate transformation module, a first SVPWM generator, a second coordinate transformation module and a CW transformation angle calculation module;
the output end of the direct current bus voltage control moduleIs connected with a CW total current calculation module for calculating a reference value according to the voltage of the DC busAnd DC bus voltage feedback value->Obtaining CWdShaft fundamental current reference value->；
The output end of the CW total current calculation module is connected with the input end of the CW current control module and is used for connecting the CW generated by the DC bus voltage control moduledShaft fundamental current reference valueAdding the-5 th harmonic current reference value and the 7 th harmonic current reference value of the CW generated by the CW harmonic current reference value calculation module to generate a CW total current reference value;
the output end of the CW current control module is connected with the first coordinate transformation module; for performing the control winding total current reference value obtained by the CW total current calculation module and the control winding current actual value obtained by the second coordinate transformation moduleAndcalculating, namely performing proportional integral resonance operation on the obtained difference value to obtain CW +>Coordinate system voltage reference value->And；
the output end of the first coordinate transformation module is connected with a first SVPWM generator; for CWCoordinate system voltage reference value-> and />Converted into CW under two-phase stationary coordinate systemαAxis component reference value->Andβaxis component reference value->；
The output end of the second coordinate transformation module is connected with a CW current control module for controlling the currentCW in coordinate systemaPhase current->、bPhase current->Andcphase current->Is changed into->CW current in coordinate systemdAxis component->Andqaxis component->；
The CW transformation angle calculation module is used for obtaining a transformation reference angle according to the measured angular frequency of the rotor winding and the given PW angular frequency;
the first SVPWM generator is used for CW based on a two-phase stationary coordinate systemαAxis component reference valueAndβaxis component reference value->And generating PWM signals required by the MSC, and further stabilizing the DC bus voltage of the brushless doubly-fed motor DC power generation system.
2. The brushless doubly-fed motor direct current generation system torque ripple suppression device according to claim 1, wherein the CW harmonic current reference value calculation module includes a thirteenth adder, a fourteenth adder, a fifteenth adder, a sixteenth adder, a third PI controller, a fourth PI controller, a fifth PI controller, a sixth PI controller, a twelfth coordinate converter, and a thirteenth coordinate converter;
the output end of the thirteenth adder is connected with the input end of the third PI controller; the output end of the fourteenth adder is connected with the input end of the fourth PI controller; the output ends of the third PI controller and the fourth PI controller are connected with the input end of the twelfth coordinate converter; the output end of the fifteenth adder is connected with the input end of the fifth PI controller; the output end of the sixteenth adder is connected with the input end of the sixth PI controller; the output ends of the fifth PI controller and the sixth PI controller are connected with the input end of the thirteenth coordinate converter;
the thirteenth adder, the fourteenth adder, the fifteenth adder and the sixteenth adder are respectively used for carrying out、/>、/> and />Calculating;
the third PI controller, the fourth PI controller, the fifth PI controller and the sixth PI controller are respectively used for controlling、/>、/> and />Performing proportional integral operation;
the twelfth coordinate converter is used for obtaining the-5 th harmonic current reference value of the CW under the positive sequence fundamental frequency rotation coordinateAxis component->And-5 th harmonic current reference value of CW at positive sequence fundamental frequency rotation coordinates>Axis component->；
The thirteenth coordinate converter is used for obtaining the 7 th harmonic current reference value of the CW under the positive sequence fundamental frequency rotation coordinateAxis component->And +.7 harmonic current reference of CW at positive sequence fundamental frequency rotation coordinates>Axis component->。
3. A brushless doubly-fed motor direct current power generation system torque ripple suppression method based on the brushless doubly-fed motor direct current power generation system torque ripple suppression device according to claim 1, characterized by comprising the steps of:
under the condition of stable DC bus voltage, controlling the harmonic current of the power winding by adopting a control winding harmonic current reference value compensation mode;
the power winding of the brushless doubly-fed motor direct-current power generation system is connected with a three-phase uncontrolled rectifier bridge; the control winding harmonic current reference includes a-5 th harmonic current reference of CW and a 7 th harmonic current reference of CW.
4. A method of suppressing torque ripple in a brushless doubly fed motor direct current power generation system as claimed in claim 3, wherein the method of obtaining a CW harmonic current reference value comprises the steps of:
stationary for power windingsThree-phase voltage>、/>、/>Sequentially performing coordinate transformation, addition operation, generalized integral, positive sequence operation or negative sequence operation and coordinate transformation to obtain positive sequence and fundamental frequency rotation coordinate system at power winding side, -5 times rotation->Coordinate and 7 rotations->Actual voltage component in coordinates +.>、/> and />；
Stationary for power windingsThree-phase current of coordinate system->、/>、/>Sequentially performing coordinate transformation, addition operation, generalized integral, positive sequence operation or negative sequence operation and coordinate transformation to obtain positive sequence base frequency rotation coordinate system, -5 times of rotation at power winding sideCoordinate and 7 rotations->Actual current component in coordinates +.>、/> and />；
According to、/>、/>、/>、/> and />Calculating PW harmonic current reference value of compensation torque sixth and tenth harmonic>、/>、/>、/>；
Will be、/>、/>、/>The PI operation is sequentially carried out and then the coordinate transformation is carried out, thus obtaining the-5 and 7-order harmonic current reference values of CW under the positive sequence fundamental frequency rotation coordinate system>、/>、/>、/>。
5. The method for suppressing torque ripple in a brushless doubly-fed machine direct current power generation system according to claim 4, wherein the reference values of harmonic currents of-5 and 7 times of PW in the positive sequence and fundamental frequency rotation coordinate system are as follows:
wherein , and />Respectively power winding-5 times of rotationA d-axis-5 harmonic reference current component in a coordinate system and a q-axis-5 harmonic reference current component in a power winding-5 rotation coordinate system; /> and />The d-axis 7-order harmonic reference current component under the 7-order rotation coordinate system of the power winding and the q-axis 7-order harmonic reference current component under the 7-order rotation coordinate system of the power winding are respectively obtained; /> and />Respectively the d-axis and q-axis actual fundamental wave voltage components under the power winding positive sequence fundamental frequency rotation coordinate system; /> and />The d-axis and q-axis actual-5 harmonic voltage components under the power winding-5 rotation coordinate system are respectively; /> and />The actual 7-time harmonic voltage components of the d axis and the q axis under the 7-time rotation coordinate system of the power winding are respectively; /> and />The d-axis actual fundamental current component and the q-axis actual fundamental current component are respectively in a power winding positive sequence fundamental frequency rotation coordinate system; />Andthe d-axis and q-axis actual-5 harmonic current components under the power winding-5 rotation coordinate system are respectively; /> and />The actual 7-harmonic current components of the d-axis and q-axis in the 7-rotation coordinate system of the power winding are respectively.
6. The method for suppressing torque ripple of a brushless doubly-fed motor-generator system as claimed in any one of claims 3 to 5, wherein the method for obtaining a stable dc bus voltage comprises the steps of:
according to the reference value of the DC bus voltageAnd DC bus voltage feedback value->Obtaining CWdShaft fundamental current reference value->；
Will CWdShaft fundamental current reference valueAdding the total current reference value with the control winding-5 times and 7 times harmonic current reference values to generate a control winding total current reference value;
will beControl windings in a coordinate systemaPhase current->、bPhase current->Andcphase current->Is changed into->Control winding current actual value +.> and />；
The total current reference value of the control winding and the actual current value of the control winding are processed and />Calculating, namely performing proportional integral resonance operation on the obtained difference value to obtain a control winding +.>Coordinate system voltage reference value-> and />；
CW is atReference value of voltage in coordinate system-> and />Converted into CW under two-phase stationary coordinate systemαAxis component reference value->Andβaxis component reference value->；
Based on CW in two-phase stationary coordinate systemαAxis component reference valueAndβaxis component reference value->And generating PWM signals required by the MSC, and further stabilizing the DC bus voltage of the brushless doubly-fed motor DC power generation system.
CN202111395371.0A 2021-11-23 2021-11-23 Torque pulsation suppression device and method for brushless doubly-fed motor direct-current power generation system Active CN114157201B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111395371.0A CN114157201B (en) 2021-11-23 2021-11-23 Torque pulsation suppression device and method for brushless doubly-fed motor direct-current power generation system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111395371.0A CN114157201B (en) 2021-11-23 2021-11-23 Torque pulsation suppression device and method for brushless doubly-fed motor direct-current power generation system

Publications (2)

Publication Number Publication Date
CN114157201A CN114157201A (en) 2022-03-08
CN114157201B true CN114157201B (en) 2023-10-03

Family

ID=80457141

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111395371.0A Active CN114157201B (en) 2021-11-23 2021-11-23 Torque pulsation suppression device and method for brushless doubly-fed motor direct-current power generation system

Country Status (1)

Country Link
CN (1) CN114157201B (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108321843A (en) * 2018-03-15 2018-07-24 重庆大学 The control method of dual feedback wind power generation system under harmonic voltage
CN108448969A (en) * 2018-03-14 2018-08-24 华中科技大学 The control system of independent brushless double feed generator under a kind of nonlinear load
CN108471263A (en) * 2018-03-28 2018-08-31 华中科技大学 The exciter control system of brushless dual-feed motor Independent Power Generation under a kind of nonlinear load
CN112865637A (en) * 2021-01-25 2021-05-28 华中科技大学 Torque ripple suppression device and method for brushless double-fed independent power generation system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108448969A (en) * 2018-03-14 2018-08-24 华中科技大学 The control system of independent brushless double feed generator under a kind of nonlinear load
CN108321843A (en) * 2018-03-15 2018-07-24 重庆大学 The control method of dual feedback wind power generation system under harmonic voltage
CN108471263A (en) * 2018-03-28 2018-08-31 华中科技大学 The exciter control system of brushless dual-feed motor Independent Power Generation under a kind of nonlinear load
CN112865637A (en) * 2021-01-25 2021-05-28 华中科技大学 Torque ripple suppression device and method for brushless double-fed independent power generation system

Also Published As

Publication number Publication date
CN114157201A (en) 2022-03-08

Similar Documents

Publication Publication Date Title
US9252601B2 (en) Method for controlling a power converter in a wind turbine generator
CN103441726B (en) Based on the double three-phase permanent-magnetic motor vector control method of ratio resonant regulator
CN101895118B (en) Method for suppressing harmonics of power network current of variable-speed constant-frequency doubly-fed wind power generator system
Song et al. Sinusoidal output current implementation of DFIG using repetitive control under a generalized harmonic power grid with frequency deviation
CN103731079A (en) Permanent magnet motor system with shared bus structure and open winding and control method for suppressing zero-sequence current
CN108471263B (en) The exciter control system of brushless dual-feed motor Independent Power Generation under a kind of nonlinear load
CN107124126B (en) Phase-loop-free current control method and device for doubly-fed induction generator
CN108448966B (en) Negative sequence voltage suppression system of independent brushless doubly-fed generator under unbalanced load
CN108988725B (en) Permanent magnet synchronous motor current harmonic suppression system and method adopting improved complex vector PI controller
CN110460106B (en) DFIG virtual synchronization control method and system under unbalanced power grid
CN103117699A (en) Control method based on dual-vector resonance adjusting double-fed asynchronous wind driven generator
CN112737441A (en) Control method of permanent magnet auxiliary synchronous reluctance motor
Meng et al. A sub-synchronous oscillation suppression strategy for doubly fed wind power generation system
CN109412478B (en) Power droop control method of brushless doubly-fed motor
CN109066735B (en) Double-fed wind power generation system under unbalanced grid voltage and control method thereof
CN114400703A (en) Phase locking method for improving stability of grid-connected system under weak grid condition
CN106452235B (en) Brushless dual-feed motor stand alone generating system excitation control method under asymmetric load
CN112865637B (en) Torque ripple suppression device and method for brushless double-fed independent power generation system
CN112217238A (en) Brushless doubly-fed generator system and control method thereof
CN114157201B (en) Torque pulsation suppression device and method for brushless doubly-fed motor direct-current power generation system
Lee et al. An improved control method for a DFIG in a wind turbine under an unbalanced grid voltage condition
Abosh et al. Current control of permanent magnet synchronous machine with asymmetric phases
CN115987162A (en) BDFIG-DC system harmonic copper loss minimization control device and method
Chandran et al. Power quality improvement for PMSG based isolated small hydro system feeding three-phase 4-wire unbalanced nonlinear loads
Kumar et al. A Robust Rotor Flux Based S-PLL for Permanent Magnet Synchronous Generator

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant