CN114337419B - Control method and system of permanent magnet wind generating set based on Harris eagle algorithm - Google Patents
Control method and system of permanent magnet wind generating set based on Harris eagle algorithm Download PDFInfo
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Abstract
The invention relates to a control method and a control system of a permanent magnet wind generating set based on a Harris eagle algorithm. The method comprises the steps of determining an objective function and parameters to be identified, introducing a Harris hawk algorithm to achieve optimal solution, outputting unknown parameters for identifying the permanent magnet synchronous motor, obtaining a value of the objective function according to the parameters identified by the Harris hawk algorithm, obtaining an output voltage value through PI control, PWM modulating the output voltage value to generate a driving signal, inputting the driving signal into a rectifier to rectify, and controlling the rotating speed of the permanent magnet synchronous motor according to the rectification result. The invention can realize the tracking of the maximum power point of wind power generation, and can solve the problem that the stator resistance, viscous friction coefficient, moment of inertia, inductance, permanent magnetic flux and load torque of the motor change to influence the control effect of the speed regulation system in the running process of the permanent magnet synchronous motor under the high-voltage high-power generation topology.
Description
Technical Field
The invention relates to the technical field of wind power generation, in particular to a control method and a system of a permanent magnet wind power generation unit based on a Harris eagle algorithm.
Background
Wind power generation is one of the most mature technology, the most large-scale development and commercial prospect power generation modes in the new energy development technology in the world nowadays, and is increasingly valued by all countries in the world and is widely developed and applied. Speed tracking and current tracking of a permanent magnet synchronous motor are important for simulation, design, evaluation, control and optimization of a permanent magnet wind generating set, so that the speed tracking and the current tracking of the permanent magnet synchronous motor are widely focused.
It is well known that intelligent group optimization algorithms utilize interaction between individuals in a group for optimization purposes by simulating the represented intelligent group behavior of various biological and non-biological systems in nature. These swarm intelligence algorithms are well known: ant colony algorithm, particle swarm algorithm, artificial bee colony algorithm, gray wolf algorithm, etc. However, none of these group intelligent algorithms can well achieve maximum power point tracking for wind power generation.
Therefore, how to design a control method and a system for a permanent magnet wind generating set based on a Harris eagle algorithm, which can realize the maximum power point tracking of wind power generation, becomes a technical problem to be solved in the field.
Disclosure of Invention
The invention aims to provide a control method and a system for a permanent magnet wind generating set based on a Harris eagle algorithm, which can realize maximum power point tracking of wind power generation.
In order to achieve the above object, the present invention provides the following solutions:
a control method of a permanent magnet wind generating set based on a Harris eagle algorithm comprises the following steps:
obtaining an optimal angular velocity given value of the permanent magnet synchronous motor and an actual angular velocity of the permanent magnet synchronous motor, wherein the optimal angular velocity given value is obtained according to a Betz theory;
the optimal angular velocity given value and the actual angular velocity are subjected to difference to obtain an angular velocity difference value;
obtaining a calculation formula of a torque current given value according to the angular velocity difference value so that the angular velocity difference value tends to 0, wherein the calculation formula of the torque current given value is a function related to parameters to be identified, and the parameters to be identified comprise moment of inertia, viscous friction coefficient, load torque and permanent magnet flux;
acquiring an actual current value of a permanent magnet synchronous motor;
performing coordinate system conversion on the actual current value to obtain an actual excitation current value and an actual torque current value;
constructing an objective function according to the actual torque current value and the torque current given value, wherein the objective function is the difference between the actual torque current value and the torque current given value;
constructing an adaptability function according to the objective function, wherein the adaptability function is a function related to parameters to be identified;
identifying the parameters to be identified by referring to a Harris eagle optimization algorithm;
obtaining the value of the objective function according to the identified parameters;
obtaining an excitation current difference according to an actual excitation current value and an excitation current given value, wherein the excitation current given value is 0;
performing first PI control on the value of the objective function to obtain a torque voltage value;
performing second PI control on the exciting current difference to obtain an exciting voltage value;
performing coordinate system conversion on the torque voltage value and the exciting voltage value to obtain an output voltage value;
PWM modulation is carried out on the output voltage value, and a driving signal is generated;
and inputting the driving signal into a rectifier to rectify, and controlling the rotating speed of the permanent magnet synchronous motor according to the rectification result.
Optionally, the output expression of the maximum output power of the betz theory is:
wherein P is ωmax For maximum output power lambda opt For optimal tip speed ratio, ρ is air density, C Pmax The wind energy utilization coefficient is that omega is the actual angular velocity, beta is the pitch angle, and R is the radius of the blade; when the wind speed is determined, the wind speed,v is wind speed.
Optionally, a calculation formula of a torque current given value is obtained according to the angular velocity difference value, so that the angular velocity tracking is optimal, and the method specifically includes:
defining the angular velocity difference as a tracking error, wherein the calculation formula of the tracking error is as follows:
e＝ω ref -ω
where e is the tracking error, ω ref For an optimal angular velocity set point, ω is the actual angular velocity;
and deriving the tracking error to obtain a subsystem, wherein an equation of the subsystem is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,derivative for the optimum angular velocity setpoint, +.>Is the derivative of the actual angular velocity, J is the moment of inertia, B is the coefficient of viscous friction, T L For load torque, p is the pole pair number of the motor, < >>Is the permanent magnetic flux, i q Is a virtual control function;
constructing a Lyapunov function for the subsystem, wherein the Lyapunov function is as follows:
wherein V' is a Lyapunov function;
and deriving the Lyapunov function to obtain a derived Lyapunov function, wherein the derived Lyapunov function is as follows:
solving the value of a virtual control function according to the derived Lyapunov function;
let the torque current setpoint equal to the value of the virtual control function, the torque current setpoint being:
wherein, the liquid crystal display device comprises a liquid crystal display device,for a given torque current value, K is a rotational speed adjustment parameter.
Optionally, performing coordinate system conversion on the actual current value to obtain an actual excitation current value and an actual torque current value, which specifically include:
transforming an actual current value of a permanent magnet synchronous motor from a three-phase static coordinate system to a two-phase synchronous rotating coordinate system through a mathematical model, wherein the mathematical model is as follows:
wherein i is d I is the actual excitation current value q R' is the stator resistance, L is the armature inductance equivalent to the dq axis of the permanent magnet synchronous motor, B is the viscous friction coefficient, p is the pole pair number of the motor,is the flux of permanent magnet, ω is the actual angular velocity, J is the moment of inertia, T L U is the load torque d For the d-axis stator voltage component, U q Is the q-axis stator voltage component.
Optionally, the objective function is:
wherein f (i) q ω, x) is the function of the object,for the parameter to be identified, i q For the actual torque current value, p is the motor pole pair, < > and->Is the flux of permanent magnet, ω is the actual angular velocity, J is the moment of inertia, T L For load torque, B is viscous friction coefficient, +.>The derivative is the optimum angular velocity given value, K is the rotation speed adjusting parameter, and e is the tracking error.
Optionally, the fitness function is:
wherein F (x) is a fitness function, F (i) q ω, x) is an objective function, i q For the actual torque current value, ω is the actual angular velocity,for the parameters to be identified, J is moment of inertia, T L For load torque, B is viscous friction coefficient, +.>The flux is permanent magnetic flux, and N is the total number of measured data.
Optionally, the reference harris eagle optimization algorithm identifies the parameters to be identified, which specifically includes:
constructing an iteration formula for updating the population position, wherein the iteration formula is as follows:
wherein X (t+1) is the position vector of Harris eagle in the next iteration process, X rabbit (t) is the position of the prey, X (t) is the position vector of the current Harris eagle, X rand (t) is the position of randomly selected harris eagles in the current population, X m (t) is the individual mean position, LB is the lower limit of the variable, UB is the upper limit of the variable, r 1 ,r 2 ,r 3 ,r 4 The random numbers in (0, 1) respectively, q represents a random strategy, and the random numbers in (0, 1) are obtained;
determining the escaping energy of the hunting object according to the maximum iteration times and the initial state of the hunting object energy, wherein the escaping energy of the hunting object is as follows:
wherein E is the energy of hunting escape, E 0 The method is characterized in that the method is an initial state of prey energy, T is the current iteration number, and T is the maximum iteration number;
judging whether the |E| < 1 is true or not;
if yes, the positions of the harris eagles are updated in four cases, wherein the four cases are respectively: in the first case, r is more than or equal to 0.5 and |E| is more than or equal to 0.5; in the second case, r is more than or equal to 0.5 and |E| < 0.5; in the third case, r < 0.5 and |E| > 0.5; in the fourth case, r < 0.5 and |E| < 0.5; wherein r is the probability of prey escaping;
in the first case, the position of the harris eagle is updated according to the following formula:
X(t+1)＝ΔX(t)-E|JX rabbit (t)-X(t)|
ΔX(t)＝X rabbit (t)-X(t)
J`＝2(1-r 5 )
wherein DeltaX (t) is the difference between the optimal individual and the current individual, J' is the jump distance in the process of escaping from the prey, and r 5 Is a random number in (0, 1);
in the second case, the position of the harris eagle is updated according to the following formula:
X(t+1)＝X rabbit (t)-E|ΔX(t)|
in the third case, the position of the harris eagle is updated according to the following formula:
Y＝X rabbit (t)-E|JX rabbit (t)-X(t)|
Z＝Y+S*LF(D)
wherein F () is a fitness function, Y is a position of the Harris eagle entering a soft surrounding stage, Z is a position of the Harris eagle in a progressive rapid diving stage, D is a problem dimension, S is a D-dimensional random vector, LF is a Levy flight function, v and mu are random numbers in (0, 1), beta is a constant with a value of 1.5, and sigma is a standard deviation;
in the fourth case, the position of the harris eagle is updated according to the following formula:
Y`＝X rabbit (t)-E|JX rabbit (t)-X m (t)|
Z`＝Y`+S*LF(D)
wherein Y 'is the position of the Harris eagle entering the hard surrounding stage, and Z' is the position of the Harris eagle progressive rapid diving stage;
and obtaining the parameters to be identified according to the updated position of the Harris eagle.
The invention also provides a control system of the permanent magnet wind generating set based on the Harris eagle algorithm, which comprises:
the angular velocity acquisition module is used for acquiring an optimal angular velocity given value of the permanent magnet synchronous motor and an actual angular velocity of the permanent magnet synchronous motor, wherein the optimal angular velocity given value is obtained according to the Betz theory;
the difference making module is used for making a difference between the optimal angular velocity given value and the actual angular velocity to obtain an angular velocity difference value;
the torque current given value formula acquisition module is used for obtaining a calculation formula of a torque current given value according to the angular velocity difference value so that the angular velocity difference value tends to 0, wherein the calculation formula of the torque current given value is a function related to parameters to be identified, and the parameters to be identified comprise moment of inertia, viscous friction coefficient, load torque and permanent magnet flux;
the actual current value acquisition module is used for acquiring the actual current value of the permanent magnet synchronous motor;
the first coordinate system conversion module is used for carrying out coordinate system conversion on the actual current value to obtain an actual excitation current value and an actual torque current value;
an objective function construction module, configured to construct an objective function according to the actual torque current value and the torque current given value, where the objective function is a difference between the actual torque current value and the torque current given value;
the fitness function construction module is used for constructing a fitness function according to the objective function, wherein the fitness function is a function related to parameters to be identified;
the parameter identification module is used for referring to a Harris eagle optimization algorithm to identify the parameters to be identified;
the objective function value calculation module is used for obtaining the value of the objective function according to the identified parameters;
the excitation current difference acquisition module is used for obtaining an excitation current difference according to the actual excitation current value and an excitation current given value, wherein the excitation current given value is 0;
the first PI control module is used for carrying out first PI control on the value of the objective function to obtain a torque voltage value;
the second PI control module is used for performing second PI control on the exciting current difference to obtain an exciting voltage value;
the second coordinate system conversion module is used for carrying out coordinate system conversion on the torque voltage value and the exciting voltage value to obtain an output voltage value;
the PWM modulation module is used for PWM modulating the output voltage value to generate a driving signal;
and the rectification module is used for inputting the driving signal into a rectifier to rectify, and controlling the rotating speed of the permanent magnet synchronous motor according to the rectification result.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a control method and a system of a permanent magnet wind generating set based on a Harris eagle algorithm, wherein the method comprises the following steps: obtaining an optimal angular velocity given value of the permanent magnet synchronous motor and an actual angular velocity of the permanent magnet synchronous motor, wherein the optimal angular velocity given value is obtained according to a Betz theory; the optimal angular velocity given value and the actual angular velocity are subjected to difference to obtain an angular velocity difference value; obtaining a calculation formula of a torque current given value according to the angular velocity difference value so that the angular velocity difference value tends to 0, wherein the calculation formula of the torque current given value is a function related to parameters to be identified, and the parameters to be identified comprise moment of inertia, viscous friction coefficient, load torque and permanent magnet flux; acquiring an actual current value of a permanent magnet synchronous motor; performing coordinate system conversion on the actual current value to obtain an actual excitation current value and an actual torque current value; constructing an objective function according to the actual torque current value and the torque current given value, wherein the objective function is the difference between the actual torque current value and the torque current given value; constructing an adaptability function according to the objective function, wherein the adaptability function is a function related to parameters to be identified; identifying the parameters to be identified by referring to a Harris eagle optimization algorithm; obtaining the value of the objective function according to the identified parameters; obtaining an excitation current difference according to an actual excitation current value and an excitation current given value, wherein the excitation current given value is 0; performing first PI control on the value of the objective function to obtain a torque voltage value; performing second PI control on the exciting current difference to obtain an exciting voltage value; performing coordinate system conversion on the torque voltage value and the exciting voltage value to obtain an output voltage value; PWM modulation is carried out on the output voltage value, and a driving signal is generated; and inputting the driving signal into a rectifier to rectify, and controlling the rotating speed of the permanent magnet synchronous motor according to the rectification result. The invention can realize the maximum power point tracking of wind power generation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a control method of a permanent magnet wind turbine generator set based on a Harris eagle algorithm provided in embodiment 1 of the present invention;
FIG. 2 is a flow chart of the Harris eagle algorithm;
FIG. 3 is a strategy result graph;
FIG. 4 is a schematic structural diagram of a control system of a permanent magnet wind turbine generator system based on the Harris eagle algorithm;
fig. 5 is a frame diagram of a control system of a permanent magnet wind turbine generator set based on the hawk algorithm provided in embodiment 2 of the invention.
Symbol description:
1. an angular velocity acquisition module; 2. a difference making module; 3. a torque current given value formula acquisition module; 4. the actual current value acquisition module; 5. a first coordinate system conversion module; 6. an objective function construction module; 7. the fitness function construction module; 8. a parameter identification module; 9. a objective function value calculation module; 10. an excitation current difference acquisition module; 11. a first PI control module; 12. a second PI control module; 13. a second coordinate system conversion module; 14. a PWM modulation module; 15. and a rectifying module.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a control method and a system for a permanent magnet wind generating set based on a Harris eagle algorithm, which can realize maximum power point tracking of wind power generation.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Example 1:
referring to fig. 1 and 4, the invention provides a control method of a permanent magnet wind generating set based on a hawk algorithm, which comprises the following steps:
s1: obtaining an optimal angular velocity given value of the permanent magnet synchronous motor and an actual angular velocity of the permanent magnet synchronous motor, wherein the optimal angular velocity given value is obtained according to a Betz theory;
s2: the optimal angular velocity given value and the actual angular velocity are subjected to difference to obtain an angular velocity difference value;
s3: obtaining a calculation formula of a torque current given value according to the angular velocity difference value so that the angular velocity difference value tends to 0, wherein the calculation formula of the torque current given value is a function related to parameters to be identified; the parameters to be identified comprise rotational inertia, viscous friction coefficient, load torque and permanent magnetic flux;
s4: acquiring an actual current value of a permanent magnet synchronous motor;
s5: performing coordinate system conversion on the actual current value to obtain an actual excitation current value and an actual torque current value, wherein the actual excitation current value is an actual reactive current value, and the actual torque current value is an actual active current value;
s6: constructing an objective function according to the actual torque current value and the torque current given value, wherein the objective function is the difference between the actual torque current value and the torque current given value;
s7: constructing an adaptability function according to the objective function, wherein the adaptability function is a function related to parameters to be identified; in this embodiment, the parameters to be identified include moment of inertia, viscous friction coefficient, load torque, and permanent magnetic flux;
s8: identifying the parameters to be identified by referring to a Harris eagle optimization algorithm;
s9: obtaining the value of the objective function according to the identified parameters;
s10: obtaining an excitation current difference according to an actual excitation current value and an excitation current given value, wherein the excitation current given value is 0;
s11: performing first PI control on the value of the objective function to obtain a torque voltage value;
s12: performing second PI control on the exciting current difference to obtain an exciting voltage value;
s13: performing coordinate system conversion on the torque voltage value and the exciting voltage value to obtain an output voltage value;
s14: PWM modulation is carried out on the output voltage value, and a driving signal is generated;
s15: and inputting the driving signal into a rectifier to rectify, and controlling the rotating speed of the permanent magnet synchronous motor according to the rectification result.
In step S1, the output expression of the maximum output power of the betz theory is:
wherein P is ωmax For maximum output power lambda opt For optimal tip speed ratio, ρ is air density, C Pmax The wind energy utilization coefficient is that omega is the actual angular velocity, beta is the pitch angle, and R is the radius of the blade; when the wind speed is determined, the wind speed,v is wind speed.
In step S3, a calculation formula of a torque current given value is obtained according to the angular velocity difference value, so that the angular velocity difference value tends to 0, and specifically includes:
s31: defining the angular velocity difference as a tracking error, wherein the calculation formula of the tracking error is as follows:
e＝ω ref -ω
where e is the tracking error, ω ref For an optimal angular velocity set point, ω is the actual angular velocity;
s32: and deriving the tracking error to obtain a subsystem, wherein an equation of the subsystem is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,derivative for the optimum angular velocity setpoint, +.>Is the derivative of the actual angular velocity, J is the moment of inertia, B is the coefficient of viscous friction, T L For load torque, p is the pole pair number of the motor, < >>Is the permanent magnetic flux, i q Is a virtual control function;
s33: constructing a Lyapunov function for the subsystem, wherein the Lyapunov function is as follows:
wherein V' is a Lyapunov function;
s34: and deriving the Lyapunov function to obtain a derived Lyapunov function, wherein the derived Lyapunov function is as follows:
s35: solving the value of a virtual control function according to the derived Lyapunov function;
s36: let the torque current setpoint equal to the value of the virtual control function, the torque current setpoint being:
wherein, the liquid crystal display device comprises a liquid crystal display device,for a given torque current value, K is a rotational speed adjustment parameter. When K is>At 0, the +>The aim of stable angular velocity tracking can be achieved.
In step S5, performing coordinate system conversion on the actual current value to obtain an actual excitation current value and an actual torque current value, which specifically includes:
converting an actual current value of a permanent magnet synchronous motor from a three-phase static coordinate system to a two-phase synchronous rotating coordinate system through a mathematical model, wherein the mathematical model is obtained by performing clark conversion and Park conversion:
wherein i is d I is the actual excitation current value q R' is the stator resistance, L is the armature inductance equivalent to the dq axis of the permanent magnet synchronous motor, B is the viscous friction coefficient, p is the pole pair number of the motor,is the flux of permanent magnet, ω is the actual angular velocity, J is the moment of inertia, T L U is the load torque d For the d-axis stator voltage component, U q Is the q-axis stator voltage component.
In step S6, the objective function is:
wherein f (i) q ω, x) is the function of the object,for the parameter to be identified, i q For the actual torque current value, p is the motor pole pair, < > and->Is the flux of permanent magnet, ω is the actual angular velocity, J is the moment of inertia, T L For load torque, B is viscous friction coefficient, +.>The derivative is the optimum angular velocity given value, K is the rotation speed adjusting parameter, and e is the tracking error.
In step S7, the fitness function is:
wherein F (x) is a fitness function, F (i) q ω, x) is an objective function, i q For the actual torque current value, ω is the actual angular velocity,for the parameters to be identified, J is moment of inertia, T L For load torque, B is viscous friction coefficient, +.>The flux is permanent magnetic flux, and N is the total number of measured data.
In step S8, the reference harris eagle optimization algorithm identifies the parameters to be identified, which specifically includes:
s91: constructing an iteration formula for updating the population position, wherein the iteration formula is as follows:
wherein X (t+1) is the position vector of Harris eagle in the next iteration process, X rabbit (t) is the position of the prey, X (t) is the position vector of the current Harris eagle, X rand (t) is the position of randomly selected harris eagles in the current population, X m (t) is the individual mean position, LB is the lower limit of the variable, UB is the upper limit of the variable, r 1 ，r 2 ，r 3 ，r 4 The random numbers in (0, 1) respectively, q represents a random strategy, and the random numbers in (0, 1) are obtained;
s92: determining the escaping energy of the hunting object according to the maximum iteration times and the initial state of the hunting object energy, wherein the escaping energy of the hunting object is as follows:
wherein E is the energy of hunting escape, E 0 The method is characterized in that the method is an initial state of prey energy, T is the current iteration number, and T is the maximum iteration number;
s93: judging whether the |E| < 1 is true or not;
if yes, the positions of the harris eagles are updated in four cases, wherein the four cases are respectively: in the first case, r is more than or equal to 0.5 and |E| is more than or equal to 0.5; in the second case, r is more than or equal to 0.5 and |E| < 0.5; in the third case, r < 0.5 and |E| > 0.5; in the fourth case, r < 0.5 and |E| < 0.5; wherein r is the probability of prey escaping;
in the first case, the position of the harris eagle is updated according to the following formula:
X(t+1)＝ΔX(t)-E|JX rabbit (t)-X(t)|
ΔX(t)＝X rabbit (t)-X(t)
J`＝2(1-r 5 )
wherein DeltaX (t) is the difference between the optimal individual and the current individual, J' is the jump distance in the process of escaping from the prey, and r 5 Is a random number in (0, 1);
in the second case, the position of the harris eagle is updated according to the following formula:
X(t+1)＝X rabbit (t)-E|ΔX(t)|
in the third case, the position of the harris eagle is updated according to the following formula:
Y＝X rabbit (t)-E|JX rabbit (t)-X(t)|
Z＝Y+S*LF(D)
wherein F () is a fitness function, Y is a position of the Harris eagle entering a soft surrounding stage, Z is a position of the Harris eagle in a progressive rapid diving stage, D is a problem dimension, S is a D-dimensional random vector, LF is a Levy flight function, v and mu are random numbers in (0, 1), beta is a constant with a value of 1.5, and sigma is a standard deviation;
in the fourth case, the position of the harris eagle is updated according to the following formula:
Y`＝X rabbit (t)-E|JX rabbit (t)-X m (t)|
Z`＝Y`+S*LF(D)
wherein Y 'is the position of the Harris eagle entering the hard surrounding stage, and Z' is the position of the Harris eagle progressive rapid diving stage;
and obtaining the parameters to be identified according to the updated position of the Harris eagle. A specific flow chart is shown in fig. 2.
The first case is a soft enclosing strategy, the second case is a hard enclosing strategy, the third case is a soft enclosing strategy of progressive rapid diving, the fourth case is a hard enclosing strategy of progressive rapid diving, and a specific strategy result diagram is shown in fig. 3.
The invention can realize the tracking of the maximum power point of wind power generation, and can solve the problem that the stator resistance, viscous friction coefficient, moment of inertia, inductance, permanent magnetic flux and load torque of the motor change to influence the control effect of the speed regulation system in the running process of the permanent magnet synchronous motor under the high-voltage high-power generation topology.
Example 2:
referring to fig. 5, the invention further provides a control system of a permanent magnet wind generating set based on a harris eagle algorithm, which comprises:
the angular velocity obtaining module is used for obtaining an optimal angular velocity given value of the permanent magnet synchronous motor and an actual angular velocity of the permanent magnet synchronous motor, wherein the optimal angular velocity given value is obtained according to the Betz theory;
a difference making module 2, configured to make a difference between the optimal angular velocity given value and the actual angular velocity to obtain an angular velocity difference value;
a torque current given value formula obtaining module 3, configured to obtain a torque current given value calculation formula according to the angular velocity difference value, so that the angular velocity difference value tends to 0, where the torque current given value calculation formula is a function related to a parameter to be identified; the parameters to be identified comprise rotational inertia, viscous friction coefficient, load torque and permanent magnetic flux;
the actual current value acquisition module 4 is used for acquiring the actual current value of the permanent magnet synchronous motor;
the first coordinate system conversion module 5 is configured to perform coordinate system conversion on the actual current value to obtain an actual excitation current value and an actual torque current value, where the actual excitation current value is an actual reactive current value, and the actual torque current value is an actual active current value;
an objective function construction module 6, configured to construct an objective function according to the actual torque current value and the torque current given value, where the objective function is a difference value between the actual torque current value and the torque current given value;
an fitness function construction module 7, configured to construct a fitness function according to the objective function, where the fitness function is a function related to a parameter to be identified;
the parameter identification module 8 is used for referring to a Harris eagle optimization algorithm to identify the parameters to be identified;
an objective function value calculation module 9, configured to obtain a value of the objective function according to the identified parameter;
the exciting current difference acquisition module 10 is used for obtaining an exciting current difference according to an actual exciting current value and an exciting current given value, wherein the exciting current given value is 0;
the first PI control module 11 is configured to perform a first PI control on the value of the objective function to obtain a torque voltage value;
the second PI control module 12 is configured to perform a second PI control on the excitation current difference to obtain an excitation voltage value;
a second coordinate system conversion module 13, configured to perform coordinate system conversion on the torque voltage value and the excitation voltage value, so as to obtain an output voltage value;
a PWM modulation module 14, configured to PWM modulate the output voltage value, and generate a driving signal;
and the rectification module 15 is used for inputting the driving signal into a rectifier to rectify, and controlling the rotating speed of the permanent magnet synchronous motor according to the rectification result.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (8)
1. The control method of the permanent magnet wind generating set based on the Harris eagle algorithm is characterized by comprising the following steps of:
obtaining an optimal angular velocity given value of the permanent magnet synchronous generator and an actual angular velocity of the permanent magnet synchronous generator, wherein the optimal angular velocity given value is obtained according to a Betz theory;
the optimal angular velocity given value and the actual angular velocity are subjected to difference to obtain an angular velocity difference value;
obtaining a calculation formula of a torque current given value according to the angular velocity difference value so that the angular velocity difference value tends to 0, wherein the calculation formula of the torque current given value is a function related to parameters to be identified, and the parameters to be identified comprise moment of inertia, viscous friction coefficient, load torque and permanent magnet flux;
acquiring an actual current value of a permanent magnet synchronous generator;
performing coordinate system conversion on the actual current value to obtain an actual excitation current value and an actual torque current value;
constructing an objective function according to the actual torque current value and the torque current given value, wherein the objective function is the difference between the actual torque current value and the torque current given value;
constructing an adaptability function according to the objective function, wherein the adaptability function is a function related to parameters to be identified;
identifying the parameters to be identified by referring to a Harris eagle optimization algorithm by combining a fitness function;
obtaining the value of the objective function according to the identified parameters;
obtaining an excitation current difference according to an actual excitation current value and an excitation current given value, wherein the excitation current given value is 0;
performing first PI control on the value of the objective function to obtain a torque voltage value;
performing second PI control on the exciting current difference to obtain an exciting voltage value;
performing coordinate system conversion on the torque voltage value and the exciting voltage value to obtain an output voltage value;
PWM modulation is carried out on the output voltage value, and a driving signal is generated;
and inputting the driving signal into a rectifier to rectify, and controlling the rotating speed of the permanent magnet synchronous generator according to the rectification result.
2. The control method of the permanent magnet wind power generator set based on the hawk algorithm according to claim 1, wherein the output expression of the maximum output power of the betz theory is:
wherein P is ωmax For maximum output power lambda opt For optimal tip speed ratio, ρ is air density, C Pmax The wind energy utilization coefficient is that omega is the actual angular velocity, beta is the pitch angle, and R is the radius of the blade; when the wind speed is determined, the wind speed,v is wind speed.
3. The control method of a permanent magnet wind power generator set based on the hawk algorithm according to claim 1, wherein a calculation formula of a torque current given value is obtained according to the angular velocity difference value so as to optimize the angular velocity tracking, and specifically comprises:
defining the angular velocity difference as a tracking error, wherein the calculation formula of the tracking error is as follows:
e＝ω ref -ω
where e is the tracking error, ω ref For an optimal angular velocity set point, ω is the actual angular velocity;
and deriving the tracking error to obtain a subsystem, wherein an equation of the subsystem is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,derivative for the optimum angular velocity setpoint, +.>Is the derivative of the actual angular velocity, J is the moment of inertia, B is the coefficient of viscous friction, T L For load torque, p is the pole pair number of the generator, < ->Is the permanent magnetic flux, i q Is a virtual control function;
constructing a Lyapunov function for the subsystem, wherein the Lyapunov function is as follows:
wherein V' is a Lyapunov function;
and deriving the Lyapunov function to obtain a derived Lyapunov function, wherein the derived Lyapunov function is as follows:
solving the value of a virtual control function according to the derived Lyapunov function;
let the torque current setpoint equal to the value of the virtual control function, the torque current setpoint being:
wherein, the liquid crystal display device comprises a liquid crystal display device,for a given torque current value, K is a rotational speed adjustment parameter.
4. The control method of the permanent magnet wind power generator set based on the hawk algorithm according to claim 1, wherein the coordinate system conversion is performed on the actual current value to obtain an actual excitation current value and an actual torque current value, and specifically comprises the following steps:
transforming an actual current value of the permanent magnet synchronous generator from a three-phase static coordinate system to a two-phase synchronous rotating coordinate system through a mathematical model, wherein the mathematical model is as follows:
wherein i is d I is the actual excitation current value q R' is the stator resistance, L is the armature inductance equivalent to the dq axis of the permanent magnet synchronous generator, B is the viscous friction coefficient, p is the pole pair number of the generator,is the flux of permanent magnet, ω is the actual angular velocity, J is the moment of inertia, T L U is the load torque d For the d-axis stator voltage component, U q Is the q-axis stator voltage component.
5. The control method of the permanent magnet wind power generator set based on the hawk algorithm according to claim 1, wherein the objective function is:
wherein f (i) q ω, x) is the function of the object,for the parameter to be identified, i q For the actual torque current value, p is the generator pole pair, < ->Is the flux of permanent magnet, ω is the actual angular velocity, J is the moment of inertia, T L For load torque, B is viscous friction coefficient, +.>The derivative is the optimum angular velocity given value, K is the rotation speed adjusting parameter, and e is the tracking error.
6. The control method of the permanent magnet wind power generator set based on the hawk algorithm according to claim 1, wherein the fitness function is:
wherein F (x) is a fitness function, F (i) q ω, x) is an objective function, i q For the actual torque current value, ω is the actual angular velocity,for the parameters to be identified, J is moment of inertia, T L For load torque, B is viscous friction coefficient, +.>And N is the total number of measured data quantity.
7. The method for controlling the permanent magnet wind power generator set based on the harris eagle algorithm according to claim 1, wherein the referencing harris eagle optimization algorithm identifies the parameters to be identified, and specifically comprises:
constructing an iteration formula for updating the population position, wherein the iteration formula is as follows:
wherein X (t+1) is the position vector of Harris eagle in the next iteration process, X rabbit (t) is the position of the prey, X (t) is the position vector of the current Harris eagle, X rand (t) is the position of randomly selected harris eagles in the current population, X m (t) is the individual mean position, LB is the lower limit of the variable, UB is the upper limit of the variable, r 1 ,r 2 ,r 3 ,r 4 Respectively the random numbers in (0, 1), q represents a random strategy, the random numbers in (0, 1), N is the total number of measured data quantity, and X i (t) is the location of the individual;
determining the escaping energy of the hunting object according to the maximum iteration times and the initial state of the hunting object energy, wherein the escaping energy of the hunting object is as follows:
wherein E is the energy of hunting escape, E 0 The method is characterized in that the method is an initial state of prey energy, T is the current iteration number, and T is the maximum iteration number;
judging whether the |E| < 1 is true or not;
if yes, the positions of the harris eagles are updated in four cases, wherein the four cases are respectively: in the first case, r is more than or equal to 0.5 and |E| is more than or equal to 0.5; in the second case, r is more than or equal to 0.5 and |E| < 0.5; in the third case, r < 0.5 and |E| > 0.5; in the fourth case, r < 0.5 and |E| < 0.5; wherein r is the probability of prey escaping;
in the first case, the position of the harris eagle is updated according to the following formula:
X(t+1)＝ΔX(t)-E|JX rabbit (t)-X(t)|
ΔX(t)＝X rabbit (t)-X(t)
J`＝2(1-r 5 )
wherein DeltaX (t) is the difference between the optimal individual and the current individual, J' is the jump distance in the process of escaping from the prey, and r 5 Is a random number in (0, 1);
in the second case, the position of the harris eagle is updated according to the following formula:
X(t+1)＝X rabbit (t)-E|ΔX(t)|
in the third case, the position of the harris eagle is updated according to the following formula:
Y＝X rabbit (t)-E|JX rabbit (t)-X(t)|
Z＝Y+S*LF(D)
wherein F () is a fitness function, Y is a position of the Harris eagle entering a soft surrounding stage, Z is a position of the Harris eagle in a progressive rapid diving stage, D is a problem dimension, S is a D-dimensional random vector, LF is a Levy flight function, v and mu are random numbers in (0, 1), beta is a constant with a value of 1.5, and sigma is a standard deviation;
in the fourth case, the position of the harris eagle is updated according to the following formula:
Y`＝X rabbit (t)-E|JX rabbit (t)-X m (t)|
Z`＝Y`+S*LF(D)
wherein Y 'is the position of the Harris eagle entering the hard surrounding stage, and Z' is the position of the Harris eagle progressive rapid diving stage;
and obtaining the parameters to be identified according to the updated position of the Harris eagle.
8. Control system based on haustilago algorithm permanent magnet wind generating set, characterized by comprising:
the angular velocity acquisition module is used for acquiring an optimal angular velocity given value of the permanent magnet synchronous generator and an actual angular velocity of the permanent magnet synchronous generator, wherein the optimal angular velocity given value is obtained according to the Betz theory;
the difference making module is used for making a difference between the optimal angular velocity given value and the actual angular velocity to obtain an angular velocity difference value;
a torque current given value formula obtaining module, configured to obtain a calculation formula of a torque current given value according to the angular velocity difference value, so that the angular velocity difference value tends to 0, where the calculation formula of the torque current given value is a function related to a parameter to be identified; the parameters to be identified comprise rotational inertia, viscous friction coefficient, load torque and permanent magnetic flux;
the actual current value acquisition module is used for acquiring the actual current value of the permanent magnet synchronous generator;
the first coordinate system conversion module is used for carrying out coordinate system conversion on the actual current value to obtain an actual excitation current value and an actual torque current value;
an objective function construction module, configured to construct an objective function according to the actual torque current value and the torque current given value, where the objective function is a difference value between the actual torque current value and the torque current given value;
the fitness function construction module is used for constructing a fitness function according to the objective function, wherein the fitness function is a function related to parameters to be identified;
the parameter identification module is used for identifying the parameters to be identified by referring to a Harriset hawk optimization algorithm in combination with a fitness function;
the objective function value calculation module is used for obtaining the value of the objective function according to the identified parameters;
the excitation current difference acquisition module is used for obtaining an excitation current difference according to the actual excitation current value and an excitation current given value, wherein the excitation current given value is 0;
the first PI control module is used for performing first PI conversion on the value of the objective function to obtain a torque voltage value;
the second PI control module is used for performing second PI conversion on the exciting current difference to obtain an exciting voltage value;
the second coordinate system conversion module is used for carrying out coordinate system conversion on the torque voltage value and the exciting voltage value to obtain an output voltage value;
the PWM modulation module is used for PWM modulating the output voltage value to generate a driving signal;
and the rectification module is used for inputting the driving signal into a rectifier to rectify, and controlling the rotating speed of the permanent magnet synchronous generator according to the rectification result.
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