CN116025515A - Full converter type fan parameter debugging method based on analytical inertia model - Google Patents
Full converter type fan parameter debugging method based on analytical inertia model Download PDFInfo
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Abstract
The invention provides a full converter type fan parameter debugging method based on an analytical inertia model, which comprises the following steps: s1: decomposing each control loop of the full converter type fan; s2: setting a dynamic equation of each control loop; s3: respectively constructing an analytical inertial model of a corresponding control mode according to a dynamic equation of each control loop; s4: respectively acquiring control modal characteristic roots of each control loop based on the analytical inertia model; s5: obtaining the relation between the controller parameters and the control mode damping coefficient and the control mode oscillation frequency respectively based on the control mode characteristic root; s6: and reversely deducting and adjusting the parameters of the controller according to the dynamic response requirement to finish the parameter debugging of the fan. The invention provides a full converter type fan parameter debugging method based on an analytical inertia model, which solves the problem that the current fan parameter debugging process is complex.
Description
Technical Field
The invention relates to the technical field of wind power, in particular to a full converter type fan parameter debugging method based on an analytical inertia model.
Background
At present, under the aim and the background that a novel power system mainly taking new energy sources is established vigorously in China, carbon reaches a peak before 2030 and carbon is neutralized before 2060, large-scale wind power generation is networked, and a serious challenge is brought to the stability of the power system, particularly the driving stability of a converter. Permanent magnet direct-drive fans gradually become main stream fans in the current wind market due to the excellent control performance of the permanent magnet direct-drive fans, and the permanent magnet direct-drive fans are already equipped on a large scale to newly built wind farms in various places. In order to realize grid connection of the permanent magnet direct drive fan, two converters, a synchronous phase-locked loop and other devices are needed, so that a control system of the permanent magnet direct drive fan is complex. The fan control parameters are key factors influencing the dynamic interaction of the fan power grid, and in the existing wind power plant accident, the system oscillation is more easily aggravated because of unreasonable fan parameter setting, the interaction process is worsened, and the driving stability of the converter is threatened. In practice, fan manufacturers often set uniform initial factory parameters for the same type of fans. For wind farm operators, the initial parameters of the controllers of the wind farm operators can not meet the actual operation requirements, and each controller needs to be debugged in field installation and debugging. Because of the multiple converters and controllers involved, the parameter tuning process is complex and often dependent on experience. The stability of dynamic performance in actual operation cannot be guaranteed by the results obtained through debugging, and the risk of resonance generated by modal interaction with an external power grid exists.
Disclosure of Invention
The invention provides a full converter type fan parameter debugging method based on an analytical inertia model, which aims to overcome the technical defect that the current fan parameter debugging process is complex.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a full converter type fan parameter debugging method based on an analytical inertia model comprises the following steps:
s1: decomposing each control loop of the full converter type fan;
s2: setting a dynamic equation of each control loop;
s3: respectively constructing an analytical inertial model of a corresponding control mode according to a dynamic equation of each control loop;
s4: respectively acquiring control modal characteristic roots of each control loop based on the analytical inertia model;
s5: obtaining the relation between the controller parameters and the control mode damping coefficient and the control mode oscillation frequency respectively based on the control mode characteristic root;
s6: and reversely deducting and adjusting the parameters of the controller according to the dynamic response requirement to finish the parameter debugging of the fan.
In the scheme, modeling decomposition is carried out on a typical control structure of grid connection of the full converter type fan, so that an open-loop mode of each control link of the fan is obtained, and further visual simulation of a dynamic control effect can be carried out. The method can directly solve the mode according to the requirements of a fan operator or a power grid on the dynamic performance of the fan, simultaneously obtain a plurality of controller parameters of the fan, is simple and efficient, and solves the problems of long time consumption, unstable dynamic performance and the like of conventional empirical debugging. In addition, based on the analytical inertia model, the method can effectively avoid the modal resonance problem caused by time scale coupling and modal interaction, and improves the driving stability of the converter of the full converter type fan.
Preferably, the full converter type fan comprises the following three parts: the permanent magnet synchronous generator is connected with the machine side converter, the direct current link is connected with the power grid side converter and the synchronous phase-locked loop.
Preferably, the control loop of the full converter fan comprises: the system comprises a fan rotating speed control loop, a fan side converter Q-axis current control loop, a fan side converter D-axis current control loop, a power grid side converter direct current voltage control loop, a power grid side converter D-axis current control loop, a power grid side converter reactive power control loop, a power grid side converter Q-axis current control loop and a phase-locked loop control loop.
Preferably, the dynamic equation of the fan speed control loop is:
wherein P is pm Mechanical power input for wind power, P pe To output active power H pr Is the inertia constant omega of the fan rotor prref For the angular velocity omega of the fan rotor pr Reference value, K of ppx And K pix For proportional integral parameters of each controller of the fan, x=1, 2, 6;
the dynamic equation of the current control loop of the Q axis of the fan-side converter is as follows:
wherein v is psq For stator winding direct-axis voltage, ψ psq Is the straight axis magnetic linkage of the fan, X pq I is the direct axis reactance of the stator winding psdref Is i psq Is a reference value of (2);
the dynamic equation of the fan-side converter D-axis current control loop is:
wherein R is ps To obtain the resistance of the stator winding, v psd For stator winding direct-axis voltage, ψ psd Is the direct axis flux linkage of the fan, omega 0 For reference angular velocity, X pd For stator winding direct axis reactance, ψ pm Flux linkage generated for permanent magnet, i psdref Is i psd Is a reference value of (2);
the dynamic equation of the direct-current voltage control loop of the power grid side converter is as follows:
wherein C is p Is a direct current capacitor, P ps For the active power output of the fan, P pc For active power input of grid-side converter, V pdcref Is V (V) pdc Is a reference value of (2);
the dynamic equation of the D-axis current control loop of the power grid side converter is as follows:
wherein V is pcd For the direct-axis output voltage of the grid-side converter, i pcd And i pcq V is the output current of the direct axis and the quadrature axis of the power grid side converter pd Direct axis voltage i being the point of common coupling pcdref Is i pcd Is a reference value of (2);
the dynamic equation of the reactive power control loop of the power grid side converter is as follows:
wherein Q is pref For reactive power Q p Is a reference value of (2);
the dynamic equation of the Q-axis current control loop of the power grid side converter is as follows:
wherein V is pcq Output voltage V for the quadrature axis of the grid-side converter pq Is the quadrature axis voltage at the point of common coupling, i pcqref Is i pcq Is a reference value of (2);
the dynamic equation of the phase-locked loop control loop is:
wherein K is ppll And K ipll Proportional and integral parameters, ω, of the phase-locked loop controller, respectively pllref To simulate the velocity omega pll Is included in the reference value of (2).
Preferably, step S4 specifically includes:
determining an equivalent inertia constant M and an equivalent synchronous torque coefficient K of a corresponding control loop based on the analytic inertia model S Equivalent damping torque coefficient K D According to M, K S And K D And solving to obtain the control mode characteristic root of the corresponding control loop.
Preferably, the formula for solving the control modality feature root is as follows:
M＝F 1 (cp)
K S ＝F 2 (cp,op)
K D ＝F 3 (cp,op)
wherein lambda is FOM For the control mode characteristic root of the corresponding control loop, F 1 (cp) is a function of fan parameters, F 2 (cp, op) and F 3 (cp, op) are different functions consisting of fan parameters and system operating conditions, respectively.
Preferably, the control mode characteristic root of the phase-locked loop control loop is:
wherein V is pcc0 For common access point voltage, K ipll And K ppll The integral parameter and the proportional parameter of the phase-locked loop controller are respectively.
Preferably, in step S5, the control mode damping coefficient and the control mode oscillation frequency are calculated according to the real part and the imaginary part of the control mode characteristic root, so as to obtain the relationship between the controller parameter and the control mode damping coefficient and the control mode oscillation frequency, respectively.
Preferably, the formulas for calculating the control mode damping coefficient and the control mode oscillation frequency are as follows:
f＝ω/2π
σ＝Re(λ FOM )
ω＝Im(λ FOM )
wherein, xi is the damping coefficient of the control mode, f is the oscillation frequency of the control mode, and sigma and omega are the characteristic roots lambda of the control mode respectively FOM Real and imaginary parts of (a) are provided.
Preferably, in the phase-locked loop control loop, the relationship between the controller parameter and the control mode damping coefficient and the control mode oscillation frequency is as follows:
compared with the prior art, the technical scheme of the invention has the beneficial effects that:
the invention provides a full converter type fan parameter debugging method based on an analytic inertia model, which is used for modeling and decomposing a typical control structure of grid connection of a full converter type fan to obtain an open-loop mode of each control link of the fan, so that visual simulation of dynamic control effects can be performed. The method can directly solve the mode according to the requirements of a fan operator or a power grid on the dynamic performance of the fan, simultaneously obtain a plurality of controller parameters of the fan, is simple and efficient, and solves the problems of long time consumption, unstable dynamic performance and the like of conventional empirical debugging. In addition, based on the analytical inertia model, the method can effectively avoid the modal resonance problem caused by time scale coupling and modal interaction, and improves the driving stability of the converter of the full converter type fan.
Drawings
FIG. 1 is a flow chart of the steps performed in the technical scheme of the invention;
FIG. 2 is a schematic diagram of a control loop of a full converter fan according to the present invention;
FIG. 3 is a schematic diagram of an analytical inertial model of a permanent magnet synchronous fan rotational speed control mode in the invention;
FIG. 4 is a schematic diagram of an analytical inertial model of a D-axis current control mode of the fan-side converter of the present invention;
FIG. 5 is a schematic diagram of an analytical inertial model of a current control mode of a fan-side converter Q-axis of the present invention;
fig. 6 is a schematic diagram of an analytical inertia model of a dc voltage control mode of the grid-side converter according to the present invention;
fig. 7 is a schematic diagram of an analytical inertia model of a D-axis current control mode of the grid-side converter according to the present invention;
fig. 8 is a schematic diagram of an analytical inertia model of a Q-axis current control mode of the grid-side converter according to the present invention;
fig. 9 is a schematic diagram of an analytical inertia model of a reactive power control mode of the grid-side converter according to the present invention;
FIG. 10 is a schematic diagram illustrating a derivation process of an analytical inertial model of a phase-locked loop control mode according to the present invention;
FIG. 11 is a schematic diagram showing the comparison of the feature root solved based on the analytical inertia model and the actual feature root in the present invention.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the present patent;
for the purpose of better illustrating the embodiments, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the actual product dimensions;
it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical scheme of the invention is further described below with reference to the accompanying drawings and examples.
Example 1
As shown in fig. 1, a method for debugging parameters of a full converter fan based on an analytical inertia model comprises the following steps:
s1: decomposing each control loop of the full converter type fan;
s2: setting a dynamic equation of each control loop;
s3: respectively constructing an analytical inertial model of a corresponding control mode according to a dynamic equation of each control loop;
s4: respectively acquiring control modal characteristic roots of each control loop based on the analytical inertia model;
s5: obtaining the relation between the controller parameters and the control mode damping coefficient and the control mode oscillation frequency respectively based on the control mode characteristic root;
s6: and reversely deducting and adjusting the parameters of the controller according to the dynamic response requirement to finish the parameter debugging of the fan.
In the specific implementation process, modeling decomposition is carried out on a typical control structure of grid connection of the full converter type fan, an open-loop mode of each control link of the fan is obtained, and further visual simulation of dynamic control effects can be carried out. The method can directly solve the mode according to the requirements of a fan operator or a power grid on the dynamic performance of the fan, simultaneously obtain a plurality of controller parameters of the fan, is simple and efficient, and solves the problems of long time consumption, unstable dynamic performance and the like of conventional empirical debugging. In addition, based on the analytical inertia model, the method can effectively avoid the modal resonance problem caused by time scale coupling and modal interaction, and improves the driving stability of the converter of the full converter type fan.
Example 2
A full converter type fan parameter debugging method based on an analytical inertia model comprises the following steps:
s1: decomposing each control loop of the full converter type fan;
more specifically, as shown in fig. 2, the full converter fan includes the following three parts: the permanent magnet synchronous generator is connected with the machine side converter, the direct current link is connected with the power grid side converter and the synchronous phase-locked loop.
More specifically, the control loop of the full converter fan includes: the system comprises a fan rotating speed control loop, a fan side converter Q-axis current control loop, a fan side converter D-axis current control loop, a power grid side converter direct current voltage control loop, a power grid side converter D-axis current control loop, a power grid side converter reactive power control loop, a power grid side converter Q-axis current control loop and a phase-locked loop control loop.
S2: setting a dynamic equation of each control loop;
more specifically, the dynamic equation of the fan speed control loop is:
wherein P is pm Mechanical power input for wind power, P pe To output active power H pr Is the inertia constant omega of the fan rotor prref For the angular velocity omega of the fan rotor pr Reference value, K of ppx And K pix For proportional integral parameters of each controller of the fan, x=1, 2, 6;
the dynamic equation of the current control loop of the Q axis of the fan-side converter is as follows:
wherein v is psq For stator winding direct-axis voltage, ψ psq Is the straight axis magnetic linkage of the fan, X pq I is the direct axis reactance of the stator winding psdref Is i psq Is a reference value of (2);
the dynamic equation of the fan-side converter D-axis current control loop is:
wherein R is ps To obtain the resistance of the stator winding, v psd For stator winding direct-axis voltage, ψ psd Is the direct axis flux linkage of the fan, omega 0 For reference angular velocity, X pd For stator winding direct axis reactance, ψ pm Flux linkage generated for permanent magnet, i psdref Is i psd Is a reference value of (2);
the dynamic equation of the direct-current voltage control loop of the power grid side converter is as follows:
wherein C is p Is a direct current capacitor, P ps For the active power output of the fan, P pc For active power input of grid-side converter, V pdcref Is V (V) pdc Is a reference value of (2);
the dynamic equation of the D-axis current control loop of the power grid side converter is as follows:
wherein V is pcd For the direct-axis output voltage of the grid-side converter, i pcd And i pcq V is the output current of the direct axis and the quadrature axis of the power grid side converter pd Direct axis voltage i being the point of common coupling pcdref Is i pcd Is a reference value of (2);
the dynamic equation of the reactive power control loop of the power grid side converter is as follows:
wherein Q is pref For reactive power Q p Is a reference value of (2);
the dynamic equation of the Q-axis current control loop of the power grid side converter is as follows:
wherein V is pcq Output voltage V for the quadrature axis of the grid-side converter pq Is the quadrature axis voltage at the point of common coupling, i pcqref Is i pcq Is a reference value of (2);
the dynamic equation of the phase-locked loop control loop is:
wherein K is ppll And K ipll Proportional and integral parameters, ω, of the phase-locked loop controller, respectively pllref To simulate the velocity omega pll Is included in the reference value of (2).
S3: respectively constructing an analytical inertial model of a corresponding control mode according to a dynamic equation of each control loop;
s4: respectively acquiring control modal characteristic roots of each control loop based on the analytical inertia model;
s5: obtaining the relation between the controller parameters and the control mode damping coefficient and the control mode oscillation frequency respectively based on the control mode characteristic root;
s6: and reversely deducting and adjusting the parameters of the controller according to the dynamic response requirement to finish the parameter debugging of the fan.
Example 3
A full converter type fan parameter debugging method based on an analytical inertia model comprises the following steps:
s1: decomposing each control loop of the full converter type fan;
more specifically, the full converter type fan comprises the following three parts: the permanent magnet synchronous generator is connected with the machine side converter, the direct current link is connected with the power grid side converter and the synchronous phase-locked loop.
More specifically, the control loop of the full converter fan includes: the system comprises a fan rotating speed control loop, a fan side converter Q-axis current control loop, a fan side converter D-axis current control loop, a power grid side converter direct current voltage control loop, a power grid side converter D-axis current control loop, a power grid side converter reactive power control loop, a power grid side converter Q-axis current control loop and a phase-locked loop control loop.
S2: setting a dynamic equation of each control loop;
in actual implementation, voltages, currents, reactance, flux linkage, intermediate state variables and the like are selected as model state variables, and a dynamic equation of each control loop is obtained according to the law followed by the elements;
more specifically, the dynamic equation of the fan speed control loop is:
wherein P is pm Mechanical power input for wind power, P pe To output active power H pr Is the inertia constant omega of the fan rotor prref For the angular velocity omega of the fan rotor pr Reference value, K of ppx And K pix For proportional integral parameters of each controller of the fan, x=1, 2, 6;
the dynamic equation of the current control loop of the Q axis of the fan-side converter is as follows:
wherein v is psq For stator winding direct-axis voltage, ψ psq Is the straight axis magnetic linkage of the fan, X pq I is the direct axis reactance of the stator winding psdref Is i psq Is a reference value of (2);
the dynamic equation of the fan-side converter D-axis current control loop is:
wherein R is ps The resistance of the stator winding is obtained,v psd for stator winding direct-axis voltage, ψ psd Is the direct axis flux linkage of the fan, omega 0 For reference angular velocity, X pd For stator winding direct axis reactance, ψ pm Flux linkage generated for permanent magnet, i psdref Is i psd Is a reference value of (2);
the dynamic equation of the direct-current voltage control loop of the power grid side converter is as follows:
wherein C is p Is a direct current capacitor, P ps For the active power output of the fan, P pc For active power input of grid-side converter, V pdcref Is V (V) pdc Is a reference value of (2);
the dynamic equation of the D-axis current control loop of the power grid side converter is as follows:
wherein V is pcd For the direct-axis output voltage of the grid-side converter, i pcd And i pcq V is the output current of the direct axis and the quadrature axis of the power grid side converter pd Direct axis voltage i being the point of common coupling pcdref Is i pcd Is a reference value of (2);
the dynamic equation of the reactive power control loop of the power grid side converter is as follows:
wherein Q is pref For reactive power Q p Is a reference value of (2);
the dynamic equation of the Q-axis current control loop of the power grid side converter is as follows:
wherein V is pcq Output voltage V for the quadrature axis of the grid-side converter pq Is the quadrature axis voltage at the point of common coupling, i pcqref Is i pcq Is a reference value of (2);
the dynamic equation of the phase-locked loop control loop is:
wherein K is ppll And K ipll Proportional and integral parameters, ω, of the phase-locked loop controller, respectively pllref To simulate the velocity omega pll Is included in the reference value of (2).
S3: respectively constructing an analytical inertial model of a corresponding control mode according to a dynamic equation of each control loop;
an analytical inertial model diagram of the permanent magnet synchronous fan rotational speed control mode is shown in fig. 3.
Wherein M is equivalent inertia constant, K S For synchronisation coefficient, K D Is the damping coefficient.
A schematic diagram of an analytical inertia model of the fan-side converter D-axis current control is shown in fig. 4.
Wherein M is equivalent inertia constant, K S For synchronisation coefficient, K D Is the damping coefficient.
Fig. 5 shows a schematic diagram of an analytical inertia model of the fan-side converter Q-axis current control mode.
Wherein M is equal toEffective inertia constant, K S For synchronisation coefficient, K D Is the damping coefficient.
Fig. 6 shows a schematic diagram of an analytical inertia model of a dc voltage control mode of the grid-side converter.
Wherein M is equivalent inertia constant, K S For synchronisation coefficient, K D Is the damping coefficient.
An analytical inertial model diagram of the D-axis current control mode of the grid-side converter is shown in fig. 7.
Wherein M is equivalent inertia constant, K S For synchronisation coefficient, K D Is the damping coefficient.
An analytical inertia model schematic diagram of the Q-axis current control mode of the grid-side converter is shown in fig. 8.
Wherein M is equivalent inertia constant, K S For synchronisation coefficient, K D Is the damping coefficient.
The schematic diagram of the analytical inertia model of the reactive power control mode of the grid-side converter is shown in fig. 9.
The open loop characteristic value is as follows:
a schematic diagram of the derivation process of the analytical inertia model of the phase-locked loop control mode is shown in FIG. 10.
Wherein M is equivalent inertia constant, K S For synchronisation coefficient, K D Is the damping coefficient.
In practical implementation, firstly, the key state variables affecting the dynamic state of a specific control loop are identified, taking a phase-locked loop control loop as an example, and the key state variables of the phase-locked loop mode are as follows: Δx pll And delta theta pll The method comprises the steps of carrying out a first treatment on the surface of the According to the dynamic equation of the phase-locked loop control loop, the control mode connection is patterned, the natural oscillation loop of the control loop is constructed, the patterning process is shown in fig. 10, and (f) in fig. 10 is an analytical inertia model of the phase-locked loop control mode. As shown in fig. 3-9, other participating variables, and their associated parameters, are also derived in addition to the natural oscillation loop.
S4: respectively acquiring control modal characteristic roots of each control loop based on the analytical inertia model;
more specifically, step S4 specifically includes:
determining equivalent (or virtual) inertia constant M and equivalent synchronous torque coefficient K of corresponding control loop based on analytical inertia model S Equivalent damping torque coefficient K D According to M, K S And K D And solving to obtain the control mode characteristic root of the corresponding control loop.
More specifically, the formula for solving the control modality feature root is as follows:
M＝F 1 (cp)
K S ＝F 2 (cp,op)
K D ＝F 3 (cp,op)
wherein lambda is FOM For the control mode characteristic root of the corresponding control loop, F 1 (cp) is a function of fan parameters, F 2 (cp, op) and F 3 (cp, op) are different functions consisting of fan parameters and system operating conditions, respectively.
In a specific implementation process, the comparison situation of the control modal feature root and the actual feature root solved based on the analytical inertia model is shown in table 1 and fig. 11.
TABLE 1
More specifically, the control mode characteristic root of the phase-locked loop control loop is:
wherein V is pcc0 For common access point voltage, K ipll And K ppll The integral parameter and the proportional parameter of the phase-locked loop controller are respectively.
S5: obtaining the relation between the controller parameters and the control mode damping coefficient and the control mode oscillation frequency respectively based on the control mode characteristic root;
more specifically, in step S5, the control mode damping coefficient and the control mode oscillation frequency are calculated according to the real part and the imaginary part of the control mode characteristic root, so as to obtain the relationship between the controller parameter and the control mode damping coefficient and the control mode oscillation frequency, respectively.
More specifically, the formulas for calculating the control mode damping coefficient and the control mode oscillation frequency are as follows:
f＝ω/2π
σ＝Re(λ FOM )
ω＝Im(λ FOM )
wherein, xi is the damping coefficient of the control mode, f is the oscillation frequency of the control mode, sigma andomega is the control mode characteristic root lambda respectively FOM Real and imaginary parts of (a) are provided.
More specifically, in the pll control loop, the relationship between the controller parameter and the control mode damping coefficient, and the control mode oscillation frequency is as follows:
s6: and reversely deducting and adjusting the parameters of the controller according to the dynamic response requirement to finish the parameter debugging of the fan.
In the concrete implementation process, according to
Setting integral parameter K of phase-locked loop controller ipll And a proportional parameter K ppll The damping coefficient of the phase-locked loop control mode can be increased, and the stability margin of the phase-locked loop control mode can be improved. And similarly, other controller parameters are checked and adjusted in sequence by adopting the same flow, so that the control modes of the fan are optimized, the stability margin of the fan system is obviously improved, and the anti-interference capability of the fan system is enhanced.
It is to be understood that the above examples of the present invention are provided by way of illustration only and not by way of limitation of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (10)
1. A full converter type fan parameter debugging method based on an analytical inertia model is characterized by comprising the following steps:
s1: decomposing each control loop of the full converter type fan;
s2: setting a dynamic equation of each control loop;
s3: respectively constructing an analytical inertial model of a corresponding control mode according to a dynamic equation of each control loop;
s4: respectively acquiring control modal characteristic roots of each control loop based on the analytical inertia model;
s5: obtaining the relation between the controller parameters and the control mode damping coefficient and the control mode oscillation frequency respectively based on the control mode characteristic root;
s6: and reversely deducting and adjusting the parameters of the controller according to the dynamic response requirement to finish the parameter debugging of the fan.
2. The method for debugging parameters of a full converter fan based on an analytical inertia model according to claim 1, wherein the full converter fan comprises the following three parts: the permanent magnet synchronous generator is connected with the machine side converter, the direct current link is connected with the power grid side converter and the synchronous phase-locked loop.
3. The method for debugging parameters of a full converter fan based on an analytical inertia model according to claim 2, wherein the control loop of the full converter fan comprises: the system comprises a fan rotating speed control loop, a fan side converter Q-axis current control loop, a fan side converter D-axis current control loop, a power grid side converter direct current voltage control loop, a power grid side converter D-axis current control loop, a power grid side converter reactive power control loop, a power grid side converter Q-axis current control loop and a phase-locked loop control loop.
4. The method for debugging parameters of a full converter fan based on an analytical inertia model according to claim 3, wherein a dynamic equation of a fan rotation speed control loop is:
wherein P is pm Mechanical power input for wind power, P pe Is the delivery ofOutput active power, H pr Is the inertia constant omega of the fan rotor prref For the angular velocity omega of the fan rotor pr Reference value, K of ppx And K pix For proportional integral parameters of each controller of the fan, x=1, 2, 6;
the dynamic equation of the current control loop of the Q axis of the fan-side converter is as follows:
wherein v is psq For stator winding direct-axis voltage, ψ psq Is the straight axis magnetic linkage of the fan, X pq I is the direct axis reactance of the stator winding psdref Is i psq Is a reference value of (2);
the dynamic equation of the fan-side converter D-axis current control loop is:
wherein R is ps To obtain the resistance of the stator winding, v psd For stator winding direct-axis voltage, ψ psd Is the direct axis flux linkage of the fan, omega 0 For reference angular velocity, X pd For stator winding direct axis reactance, ψ pm Flux linkage generated for permanent magnet, i psdref Is i psd Is a reference value of (2);
the dynamic equation of the direct-current voltage control loop of the power grid side converter is as follows:
wherein C is p Is a direct current capacitor, P ps For the active power output of the fan, P pc For active power input of grid-side converter, V pdcref Is V (V) pdc Is a reference value of (2);
the dynamic equation of the D-axis current control loop of the power grid side converter is as follows:
wherein V is pcd For the direct-axis output voltage of the grid-side converter, i pcd And i pcq V is the output current of the direct axis and the quadrature axis of the power grid side converter pd Direct axis voltage i being the point of common coupling pcdref Is i pcd Is a reference value of (2);
the dynamic equation of the reactive power control loop of the power grid side converter is as follows:
wherein Q is pref For reactive power Q p Is a reference value of (2);
the dynamic equation of the Q-axis current control loop of the power grid side converter is as follows:
wherein V is pcq Output voltage V for the quadrature axis of the grid-side converter pq Is the quadrature axis voltage at the point of common coupling, i pcqref Is i pcq Is a reference value of (2);
the dynamic equation of the phase-locked loop control loop is:
wherein K is ppll And K ipll Proportional and integral parameters, ω, of the phase-locked loop controller, respectively pllref To simulate the velocity omega pll Is included in the reference value of (2).
5. The method for debugging parameters of a full converter fan based on an analytical inertia model according to claim 1, wherein step S4 is specifically:
determining an equivalent inertia constant M and an equivalent synchronous torque coefficient K of a corresponding control loop based on the analytic inertia model S Equivalent damping torque coefficient K D According to M, K S And K D And solving to obtain the control mode characteristic root of the corresponding control loop.
6. The method for debugging parameters of a full converter fan based on an analytical inertia model according to claim 5, wherein a formula for solving a control mode characteristic root is as follows:
M＝F 1 (cp)
K S ＝F 2 (cp,op)
K D ＝F 3 (cp,op)
wherein lambda is FOM For the control mode characteristic root of the corresponding control loop, F 1 (cp) is a function of fan parameters, F 2 (cp, op) and F 3 (cp, op) are different functions consisting of fan parameters and system operating conditions, respectively.
7. The method for debugging parameters of a full converter fan based on an analytical inertia model according to claim 6, wherein the control mode characteristic root of the phase-locked loop control loop is as follows:
wherein V is pcc0 For common access point voltage, K ipll And K ppll The integral parameter and the proportional parameter of the phase-locked loop controller are respectively.
8. The method for debugging parameters of a full converter fan based on an analytical inertia model according to claim 1, wherein in step S5, a control mode damping coefficient and a control mode oscillation frequency are calculated according to a real part and an imaginary part of a control mode characteristic root, respectively, so as to obtain a relationship between the controller parameters and the control mode damping coefficient and the control mode oscillation frequency, respectively.
9. The method for debugging parameters of a full converter fan based on an analytical inertia model according to claim 8, wherein the formulas for calculating the control modal damping coefficient and the control modal oscillation frequency are as follows:
f＝ω/2π
σ＝Re(λ FOM )
ω＝Im(λ FOM )
wherein, xi is the damping coefficient of the control mode, f is the oscillation frequency of the control mode, and sigma and omega are the characteristic roots lambda of the control mode respectively FOM Real and imaginary parts of (a) are provided.
10. The method for debugging parameters of a full converter fan based on an analytical inertia model according to claim 9, wherein in a phase-locked loop control loop, the relationship between the controller parameters and the control modal damping coefficient and the control modal oscillation frequency is as follows:
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