CN117526799B - Dynamic control method of electric excitation doubly salient generator based on excitation current feedforward - Google Patents
Dynamic control method of electric excitation doubly salient generator based on excitation current feedforward Download PDFInfo
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- 230000009467 reduction Effects 0.000 claims description 2
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
- H02P21/16—Estimation of constants, e.g. the rotor time constant
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/14—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field
- H02P9/26—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field using discharge tubes or semiconductor devices
- H02P9/30—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field using discharge tubes or semiconductor devices using semiconductor devices
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Abstract
The application discloses a dynamic control method of an electro-magnetic doubly salient generator based on excitation current feedforward, which relates to the field of electro-magnetic doubly salient generators, and is characterized in that a target conduction angle value is determined based on the change condition of the operation working condition of the electro-magnetic doubly salient generator, a switching tube of a main power converter is controlled to be on-off based on the target conduction angle value, a given excitation current value is determined based on the target conduction angle value, and the given excitation current value is fed forward to an excitation current inner loop to control the on-off of the switching tube in the excitation power converter. According to the application, the difference between the output voltage value after the change of the operation working condition and the given voltage value is minimized by changing the conduction angle value, and the cooperative control is realized by feeding the given excitation current value forward to the excitation current inner ring, so that the dynamic response time is reduced, and the dynamic control performance of the electrically excited doubly salient generator is effectively improved.
Description
Technical Field
The application relates to the field of electro-magnetic doubly salient generators, in particular to a dynamic control method of an electro-magnetic doubly salient generator based on exciting current feedforward.
Background
The stator and the rotor of the electric excitation doubly salient generator are of salient tooth slot structures, the stator is provided with concentrated winding armature windings, the stator slots are embedded with exciting windings, and the rotor is free of windings, so that the electric excitation doubly salient generator has the advantages of simple structure, flexible control and good fault tolerance performance, and has wide application prospects in the fields of aviation, wind power and the like. The traditional electro-magnetic doubly salient generator uses an uncontrolled rectifying power generation system formed by six diodes, and has the advantages of simple structure and low cost. However, the output voltage can be regulated only through exciting current, and the traditional exciting current inner ring has the inherent problem of large time constant, so that the dynamic performance is poor, and the quick response can not be realized when the working condition is changed.
Disclosure of Invention
Aiming at the technical problem and technical requirement of poor dynamic performance of the traditional electro-magnetic doubly salient generator, the inventor provides a dynamic control method of the electro-magnetic doubly salient generator based on exciting current feedforward, and the technical scheme of the application is as follows:
According to the change condition of the operation working condition of the electro-magnetic doubly salient generator, a target conduction angle value theta c which enables the difference between the output voltage value and a given voltage value U ref to be minimum under the condition that the current exciting current actual value i f of the electro-magnetic doubly salient generator is kept unchanged under the current working condition is determined, and a given exciting current value i fc when the electro-magnetic doubly salient generator reaches the given voltage value U ref at the target conduction angle value theta c under the current working condition is determined.
And controlling the on-off of a switching tube in the main power converter according to the target conduction angle value theta c, feeding a given excitation current value i fc forward to an excitation current inner loop to determine an excitation current reference value i fref, and controlling the on-off of the switching tube in the excitation power converter by utilizing the excitation current inner loop according to the excitation current reference value i fref and the excitation current actual value i f.
The further technical scheme is that determining the conduction angle value theta c comprises:
when the condition that the loading or the rotation speed is reduced under the operation working condition of the electro-magnetic doubly-salient generator is determined, determining that the target conduction angle value theta c is the maximum conduction angle theta max under the current working condition, and calculating the maximum conduction angle theta max under the current working condition according to a preset estimation formula by utilizing the rotor rotation speed n and the load value R of the electro-magnetic doubly-salient generator under the current working condition.
And when the condition that the load shedding or the rotating speed rising occurs in the operation working condition of the electro-magnetic doubly salient generator is determined, determining that the target conduction angle value theta c is 0.
The further technical scheme is that the dynamic control method of the electrically excited doubly salient generator further comprises the following steps:
and determining the change condition of the operation working condition of the electro-magnetic doubly salient generator based on the rotor rotating speed n, the load value R and the exciting current actual value i f of the electro-magnetic doubly salient generator under the current working condition.
The further technical scheme is that the method for determining the change condition of the operation condition of the electro-magnetic doubly salient generator comprises the following steps:
And estimating the output voltage range of the electrically-excited doubly-salient generator under the current working condition based on the rotor rotating speed n, the load value R and the exciting current actual value i f of the electrically-excited doubly-salient generator under the current working condition.
And determining the change condition of the operation condition of the electro-magnetic doubly salient generator according to the deviation degree of the output voltage range of the electro-magnetic doubly salient generator under the current condition relative to the given voltage value U ref.
The further technical scheme is that the method for determining the change condition of the operation condition of the electro-magnetic doubly salient generator comprises the following steps:
When the maximum value U max of the output voltage range of the electric excitation doubly salient generator under the current working condition is smaller than the given voltage value U ref and U ref-Umax≥δ1, the condition that the running working condition of the electric excitation doubly salient generator is loaded or the rotating speed is reduced is determined.
When the minimum value U min of the output voltage range of the electric excitation doubly salient generator under the current working condition is larger than a given voltage value U ref and U min-Uref≥δ2, determining that the condition of load shedding or rotating speed rising occurs in the operation working condition of the electric excitation doubly salient generator;
Wherein δ 1 and δ 2 are two thresholds, respectively.
The further technical scheme is that the estimation of the output voltage range of the electrically excited doubly salient generator under the current working condition based on the rotor rotating speed n, the load value R and the exciting current actual value i f of the electrically excited doubly salient generator under the current working condition comprises the following steps:
Calculating a first decoupling coefficient Z uf_max according to a first fitting formula by using the rotor rotating speed n and the load value R of the electro-magnetic doubly salient generator under the current working condition, and calculating a second decoupling coefficient Z uf_0 according to a second fitting formula by using the rotor rotating speed n and the load value R of the electro-magnetic doubly salient generator under the current working condition; and determining the output voltage range of the electrically excited doubly salient generator under the current working condition as [ i f×Zuf_0,if×Zuf_max ].
The further technical scheme is that determining a given excitation current value i fc when the electric excitation doubly salient generator reaches a given voltage value U ref at a target conduction angle value theta c under the current working condition comprises:
When the conduction angle value theta c＝θmax is reached, determining i fc＝Uref/Zuf_max, wherein Z uf_max is a first decoupling coefficient calculated by using the rotor rotating speed n and the load value R of the electrically excited doubly salient generator under the current working condition according to a first fitting formula.
When the conduction angle value θ c =0, determining i fc＝Uref/Zuf_0, wherein Z uf_0 is a second decoupling coefficient calculated according to a first fitting formula by using the rotor rotating speed n and the load value R of the electrically excited doubly salient generator under the current working condition.
The technical proposal is that,
Zuf_max＝-0.002058R2-7.638×10-5R·n-13.81+0.832R+0.01503n。
Zuf_0＝-21.94+0.4752R+0.03579n-0.004091R2+0.0002274R·n-0.09n2。
The technical proposal is that,
θmax＝-11.74+0.5232R+0.03119n-0.002191R2+0.011134R·n-0.34n2。
The further technical scheme is that the step of feeding the given exciting current value i fc forward to the exciting current inner loop to determine the exciting current reference value i fref comprises the following steps:
Inputting a difference value U ref-Udc between a given voltage value U ref and an output voltage U dc of the electro-magnetic doubly salient generator under the current working condition into a voltage PI regulator to obtain an excitation current error value i e; the excitation current reference value i fref＝ifc+ie is determined.
The beneficial technical effects of the application are as follows:
According to the dynamic control method of the electro-magnetic doubly salient generator, the target conduction angle value is determined based on the change condition of the operation condition of the electro-magnetic doubly salient generator, and the on-off control of the switching tube of the main power converter is performed based on the target conduction angle value. The difference between the output voltage value after the working condition change and the given voltage value is minimum by changing the conduction angle value, so that the dynamic response time is reduced, and the dynamic control performance of the electrically excited doubly salient generator is effectively improved.
The application also determines the given excitation current value based on the target conduction angle value, and feeds the given excitation current value forward to the excitation current inner loop to control the on-off of a switch tube in the excitation power converter, so as to cooperatively control the electric excitation doubly salient generator, and enable the output voltage value to reach the given voltage value quickly and accurately.
According to the application, the control of the conduction angle value and the exciting current actual value to the output voltage value is decoupled by designing the decoupling coefficient, so that the decoupling coefficient can be obtained according to the rotor rotating speed and the load fitting under the current working condition under the condition that the exciting current actual value is unchanged, and the output voltage range and the given exciting current value are calculated, so that the main power converter and the exciting power converter are correspondingly controlled.
Drawings
FIG. 1 is a control block diagram of a method for dynamic control of an electrically excited doubly salient generator in accordance with one embodiment of the present application.
Fig. 2 is a circuit diagram of an electrically excited doubly salient generator system in one embodiment of the present application.
Fig. 3 is an external graph of the output voltage of an electrically excited doubly salient generator in accordance with an embodiment of the present application as the operating conditions change.
Fig. 4 is a graph of three-phase mutual inductance curves of an electro-magnetic doubly salient generator and on logic of a switching tube in a main power converter according to an embodiment of the present application.
Fig. 5 is a schematic diagram of loading simulation results of an output voltage-exciting current dual closed loop fixed conduction angle control strategy according to an embodiment of the present application.
FIG. 6 is a diagram illustrating loading simulation results of a minimum excitation current trajectory tracking strategy in one embodiment of the application.
FIG. 7 is a schematic diagram of loading simulation results of an excitation current feedforward control strategy in an embodiment of the application.
FIG. 8 is a schematic diagram of load shedding simulation results of an output voltage-exciting current dual closed loop fixed conduction angle control strategy according to an embodiment of the present application.
FIG. 9 is a schematic diagram of load shedding simulation results of a minimum excitation current trajectory tracking strategy according to an embodiment of the present application.
FIG. 10 is a graphical representation of load shedding simulation results of an excitation current feed-forward control strategy in accordance with one embodiment of the present application.
Detailed Description
The following describes the embodiments of the present application further with reference to the drawings.
As shown in fig. 1, the dynamic control method of the electro-magnetic doubly salient generator based on exciting current feedforward of the application comprises the following steps:
According to the change condition of the operation working condition of the electro-magnetic doubly salient generator, a target conduction angle value theta c which enables the difference between the output voltage value and a given voltage value U ref to be minimum under the condition that the current exciting current actual value i f of the electro-magnetic doubly salient generator is kept unchanged under the current working condition is determined, and a given exciting current value i fc when the electro-magnetic doubly salient generator reaches the given voltage value U ref at the target conduction angle value theta c under the current working condition is determined.
And controlling the on-off of a switching tube in the main power converter according to the target conduction angle value theta c, feeding a given excitation current value i fc forward to an excitation current inner loop to determine an excitation current reference value i fref, and controlling the on-off of the switching tube in the excitation power converter by utilizing the excitation current inner loop according to the excitation current reference value i fref and the excitation current actual value i f.
According to the scheme, the difference between the output voltage value after the working condition change and the given voltage value U ref is minimized by changing the conduction angle value, so that the dynamic response time is reduced, and the switching tube in the excitation power converter is controlled by feeding the given excitation current value forward to the excitation current inner ring, so that the electric excitation doubly salient generator is cooperatively controlled, and the dynamic control performance of the electric excitation doubly salient generator is effectively improved.
In order to more clearly describe the dynamic control method of the electro-magnetic doubly salient generator of the present application, another embodiment of the present application will be described in detail with reference to the accompanying drawings.
In this embodiment, A, B, C three-phase armature windings of the electrically-excited doubly-salient generator are connected to the main power converter, and the excitation windings are connected to the excitation power converter. As shown in fig. 2, the main power converter includes three sets of legs connected in parallel; each group of bridge arm comprises two switching tubes, and each switching tube is connected in anti-parallel with a diode; the middle point of the bridge arm where the first switching tube T 1 and the fourth switching tube T 4 are is connected with an A-phase armature winding, the middle point of the bridge arm where the third switching tube T 3 and the sixth switching tube T 6 are connected with a B-phase armature winding, the middle point of the bridge arm where the fifth switching tube T 5 and the second switching tube T 2 are connected with a C-phase armature winding, and the three-phase armature windings are connected in a star mode. The two ends of the direct current side output of the main power converter are connected with the load energy storage capacitor C and the load R in parallel. The exciting power converter comprises an asymmetric half-bridge circuit, a capacitor and a power supply U f which are connected in parallel; each group of bridge arms of the asymmetric half-bridge circuit comprises a switching tube and a diode which are connected in series, and each switching tube is connected in anti-parallel with one diode; the middle points of two groups of bridge arms of the asymmetric half-bridge circuit are respectively connected with two ends of the exciting winding.
In this embodiment, the dynamic control method of the electro-magnetic doubly salient generator includes:
1. According to the change condition of the operation working condition of the electro-magnetic doubly salient generator, a target conduction angle value theta c which enables the difference between the output voltage value and a given voltage value U ref to be minimum under the condition that the current excitation current actual value i f of the electro-magnetic doubly salient generator is kept unchanged under the current working condition is determined.
(1) And determining the change condition of the operation working condition of the electro-magnetic doubly salient generator based on the rotor rotating speed n, the load value R and the exciting current actual value i f of the electro-magnetic doubly salient generator under the current working condition.
In the embodiment, the output voltage range of the electrically excited doubly salient generator under the current working condition is estimated based on the rotor rotating speed n, the load value R and the exciting current actual value i f of the electrically excited doubly salient generator under the current working condition; and determining the change condition of the operation condition of the electro-magnetic doubly salient generator according to the deviation degree of the output voltage range of the electro-magnetic doubly salient generator under the current condition relative to the given voltage value U ref.
For example, when the maximum value U max of the output voltage range of the electrically excited doubly salient generator under the current working condition is smaller than the given voltage value U ref and U ref-Umax≥δ1, determining that the operating condition of the electrically excited doubly salient generator has loading or reduced rotation speed; when the minimum value U min of the output voltage range of the electric excitation doubly salient generator under the current working condition is larger than a given voltage value U ref and U min-Uref≥δ2, determining that the condition of load shedding or rotating speed rising occurs in the operation working condition of the electric excitation doubly salient generator; wherein δ 1 and δ 2 are two thresholds, respectively.
The output voltage value is influenced by the control quantity exciting current actual value i f and the target conduction angle value theta c at the same time, and when the operation condition of the electro-magnetic doubly salient generator is unchanged, the maximum conduction angle theta max is not influenced by the exciting current actual value i f. Based on the principle, the application designs a first decoupling coefficient Z uf_max and a second decoupling coefficient Z uf_0, and the decoupling coefficient is obtained by dividing the output voltage value in experimental data by the exciting current actual value i f, so that the influence of the exciting current actual value i f on the output voltage value is removed, and the first decoupling coefficient Z uf_max and the second decoupling coefficient Z uf_0 are obtained by utilizing the rotor rotating speed n and the load value R of the electrically excited doubly salient generator under the current working condition through nonlinear fitting.
In this embodiment, estimating the output voltage range of the electrically excited doubly salient generator under the current working condition includes: calculating a first decoupling coefficient Z uf_max according to a first fitting formula by using the rotor rotating speed n and the load value R of the electro-magnetic doubly salient generator under the current working condition, and calculating a second decoupling coefficient Z uf_0 according to a second fitting formula by using the rotor rotating speed n and the load value R of the electro-magnetic doubly salient generator under the current working condition; and determining the output voltage range of the electrically excited doubly salient generator under the current working condition as [ i f×Zuf_0,if×Zuf_max ].
In one embodiment, the first fitting equation is:
Zuf_max＝-0.002058R2-7.638×10-5R·n-13.81+0.832R+0.01503n。
in one embodiment, the second fitting formula is:
Zuf_0＝-21.94+0.4752R+0.03579n-0.004091R2+0.0002274R·n-0.09n2。
(2) And determining a target conduction angle value theta c according to the change condition of the operation condition of the electrically excited doubly salient generator.
A) When the condition that the loading or the rotation speed is reduced under the operation working condition of the electro-magnetic doubly-salient generator is determined, determining that the target conduction angle value theta c is the maximum conduction angle theta max under the current working condition, and calculating the maximum conduction angle theta max under the current working condition according to a preset estimation formula by utilizing the rotor rotation speed n and the load value R of the electro-magnetic doubly-salient generator under the current working condition.
Maximum conduction angle theta max corresponds to the maximum output voltage when the actual value of exciting current is kept unchanged under the current working condition, and the sector corresponding to A, C-phase armature winding is taken as an example, and an output voltage formula is adoptedIt is known that the output voltage formula is in differential relation with the conduction angle θ c, and that there is a maximum value to maximize the output voltage according to the continuous differentiable theorem. As shown in fig. 3, the curve of the output voltage with the change of the conduction angle is a curve with a convex characteristic, so that a maximum conduction angle θ max exists under each working condition. Where L af is the mutual inductance of the a-phase armature winding, L a is the self inductance of the a-phase armature winding, L c is the self inductance of the C-phase armature winding, ω is the rotational angular velocity of the electro-magnetic doubly salient generator, i a is the a-phase current, and r is the internal resistance of each phase armature winding.
In one embodiment, the predetermined estimation formula for calculating the maximum conduction angle θ max from the rotor speed n and the load value R under the current working condition is:
θmax＝-11.74+0.5232R+0.03119n-0.002191R2+0.011134R·n-0.34n2。
As shown in fig. 3, when the rotor speed of the electrically-excited doubly-salient generator is changed from n 0 to n 1 and the load value is changed from R 0 to R 1, the output voltage curve in which the actual value of the excitation current remains unchanged is changed from L1 to L2. Since the maximum value U max of the output voltage range under the current working condition is smaller than the given voltage value U ref and U ref-Umax＝ΔU1,ΔU1≥δ1, the condition that the load or the rotation speed is reduced under the running working condition is determined, and the target conduction angle value θ c is determined to be the maximum conduction angle θ max under the current working condition. If the electric excitation doubly salient generator works at the point S 0 before the working condition changes, the target conduction angle value theta c is changed to be the maximum conduction angle theta max after the working condition changes, and the electric excitation doubly salient generator works at the point Y 1, if the output voltage value of the current working condition reaches the given voltage value U ref, the output voltage value required to be changed is delta U 1, and the actual value required to be changed is delta f1. If the traditional scheme of not changing the conduction angle value is adopted, the electric excitation doubly salient generator works at the Y 0 point after the working condition is changed, if the output voltage value of the current working condition reaches the given voltage value U ref, the output voltage value required to be changed is delta U 2, the actual value of the exciting current required to be changed is delta f2, and as can be seen by combining the diagram, the delta U 2>ΔU1,Δf2>Δf1 has the minimum difference value between the output voltage value and the given voltage value U ref when the loading or the rotation speed reduction occurs in the working condition, thereby achieving the fastest dynamic response.
B) And when the condition that the load shedding or the rotating speed rising occurs in the operation working condition of the electro-magnetic doubly salient generator is determined, determining that the target conduction angle value theta c is 0.
As shown in fig. 3, when the rotor speed of the electrically-excited doubly-salient generator is changed from n 0 to n 2 and the load value is changed from R 0 to R 2, the output voltage curve in which the actual value of the excitation current remains unchanged is changed from L1 to L3. Since the minimum value U min of the output voltage range under the current working condition is greater than the given voltage value U ref and U min-Uref＝ΔU4,ΔU4≥δ2, the condition that the load shedding or the rotation speed increase occurs in the operation working condition is determined, and the target conduction angle value θ c is determined to be 0. If the electric excitation doubly salient generator works at the point S 0 before the working condition changes and the target conduction angle value theta c is changed to 0 after the working condition changes, and the electric excitation doubly salient generator works at the point W 1, the output voltage value of the current working condition reaches the given voltage value U ref, the output voltage value required to be changed is delta U 4, and the actual value required to be changed is delta f4. If the traditional scheme of not changing the conduction angle value is adopted, the electric excitation doubly salient generator works at the point W 0 after the working condition is changed, if the output voltage value of the current working condition reaches the given voltage value U ref, the output voltage value required to be changed is delta U 3, the actual value of the exciting current required to be changed is delta f3, and the delta U 3>ΔU4,Δf3>Δf4 is combined with the diagram, so that the difference value between the output voltage value and the given voltage value U ref is minimum when the load shedding or the rotating speed rising occurs in the working condition in the technical scheme of the application, the changed actual value of the exciting current is also minimum, thereby achieving the fastest dynamic response.
2. And determining a given excitation current value i fc when the electrically excited doubly salient generator reaches a given voltage value U ref at a target conduction angle value theta c under the current working condition.
When the conduction angle value theta c＝θmax is over, determining i fc＝Uref/Zuf_max, wherein Z uf_max is a first decoupling coefficient calculated by using the rotor rotating speed n and the load value R of the electrically excited doubly salient generator under the current working condition according to a first fitting formula;
When the conduction angle value θ c =0, determining i fc＝Uref/Zuf_0, wherein Z uf_0 is a second decoupling coefficient calculated according to a first fitting formula by using the rotor rotating speed n and the load value R of the electrically excited doubly salient generator under the current working condition.
3. And controlling the on-off of a switching tube in the main power converter according to the target conduction angle value theta c.
In this embodiment, 360 ° is used as the rotor electric angle period, and the rotor electric angle period is equally divided into three sectors for control, each sector corresponds to two-phase armature windings, the two-phase armature windings are respectively located in an inductance rising area and an inductance falling area, the armature winding located in the inductance rising area is conducted to an upper tube of a corresponding bridge arm, and the phase winding located in the inductance falling area is conducted to a lower tube of the corresponding bridge arm.
The three-phase mutual inductance curve of the electro-magnetic doubly salient generator is shown in fig. 4, when the rotor electrical angle is in the interval of 0-120 degrees, the A-phase armature winding is positioned in the inductance rising area and has forward induction action potential, and the C-phase winding is positioned in the inductance falling area and has reverse induction action potential; when the rotor electrical angle is within the range of 120-240 degrees, the B-phase armature winding is positioned in the inductance rising area and has forward induced electromotive force, and the A-phase winding is positioned in the inductance falling area and has reverse induced electromotive force; when the rotor electrical angle is in the interval of 240-360 degrees, the C-phase armature winding has forward induced electromotive force in the inductance rising area, and the B-phase winding has reverse induced electromotive force in the inductance falling area. In fig. 4, L af is the mutual inductance between the a-phase armature winding and the exciting winding, L bf is the mutual inductance between the B-phase armature winding and the exciting winding, L cf is the mutual inductance between the C-phase armature winding and the exciting winding, e af is the induced electromotive force between the a-phase armature winding and the exciting winding, e bf is the induced electromotive force between the B-phase armature winding and the exciting winding, and e cf is the induced electromotive force between the C-phase armature winding and the exciting winding.
After the target conduction angle value theta c is determined, the current electric angle theta of the rotor is combined to control the on-off of a switching tube in the main power converter. As shown in FIG. 4, when the rotor electrical angle is within the interval of 0-theta c, the first switching tube T 1 and the second switching tube T 2 are conducted, and the rest switching tubes are disconnected; when the rotor electric angle is in the interval of 120-120 degrees+theta c, the third switching tube T 3 and the fourth switching tube T 4 are conducted, and the other switching tubes are disconnected; when the rotor electric angle is in the interval of 240-240 DEG+theta c, the fifth switching tube T 5 and the sixth switching tube T 6 are conducted, and the rest switching tubes are disconnected; when the rotor electrical angle is in other intervals, all switching tubes are turned off.
4. And feeding the given exciting current value i fc forward to an exciting current inner loop to determine an exciting current reference value i fref, and controlling the on-off of a switching tube in the exciting power converter by using the exciting current inner loop according to the exciting current reference value i fref and the exciting current actual value i f.
In the embodiment, a difference value U ref-Udc between a given voltage value U ref and an output voltage U dc of the electro-magnetic doubly salient generator under the current working condition is input into a voltage PI regulator to obtain an excitation current error value i e; the excitation current reference value i fref＝ifc+ie is determined. The difference value between the exciting current reference value i fref and the exciting current actual value i f is input into an exciting current regulator, and the current PI regulator outputs a PWM duty ratio signal d to control the on-off of a switching tube in the exciting power converter.
The technical scheme of the application mainly carries out dynamic control when the operation working condition of the electro-magnetic doubly salient generator is changed greatly, and in another embodiment, a strategy switching module is designed for ensuring that the electro-magnetic doubly salient generator can be controlled at any time. The control method of the strategy switching module comprises the following steps:
When the condition that the loading or the rotation speed is reduced under the operation working condition of the electro-magnetic doubly salient generator is determined, determining that the target conduction angle value theta c is the maximum conduction angle theta max under the current working condition; when the condition that load shedding or rotation speed rising occurs in the operation working condition of the electro-magnetic doubly salient generator is determined, determining that a target conduction angle value theta c is 0; when the condition that the running working condition of the electro-magnetic doubly salient generator is not loaded or the rotation speed is reduced or the condition that the load is reduced or the rotation speed is increased is determined, other control strategies are adopted to control the electro-magnetic doubly salient generator. Alternatively, the other control strategy is any one of a traditional output voltage-exciting current double-closed-loop fixed conduction angle control strategy or a minimum exciting current track tracking strategy. The minimum exciting current tracking strategy keeps the exciting current variation to be minimum all the time when the working condition changes.
In order to better illustrate the beneficial effects of the application, the exciting current feedforward control strategy of the application is compared with the traditional output voltage-exciting current double closed-loop fixed conduction angle control strategy and the minimum exciting current track tracking strategy through simulation, and simulation results are shown in fig. 5-10 and table 1.
Table 1 comparison of simulation results for three control strategies
As can be seen from fig. 5-7 and table 1, the voltage variation Δu 0 of the exciting current feedforward control strategy of the present application is smaller than the other two control strategies, and the adjustment time Δt of the exciting current feedforward control strategy is also far smaller than the other two control strategies, which proves that the technical scheme of the present application significantly improves the dynamic control performance of the electrically excited doubly salient generator under the condition of loading.
As can be seen from fig. 8-10 and table 1, the voltage variation Δu 0 of the exciting current feedforward control strategy in the load shedding is smaller than that of the other two control strategies, and the adjusting time Δt in the load shedding is also far smaller than that of the other two control strategies, which proves that the technical scheme of the application obviously improves the dynamic control performance of the electrically excited doubly salient generator in the load shedding under the working condition.
The above is only a preferred embodiment of the present application, and the present application is not limited to the above examples. It is to be understood that other modifications and variations which may be directly derived or contemplated by those skilled in the art without departing from the spirit and concepts of the present application are deemed to be included within the scope of the present application.
Claims (8)
1. The dynamic control method of the electro-magnetic doubly salient generator based on the excitation current feedforward is characterized by comprising the following steps of:
According to the change condition of the operation working condition of the electro-magnetic doubly salient generator, determining a target conduction angle value theta c with the smallest difference value between an output voltage value and a given voltage value U ref under the condition that the current excitation current actual value i f of the electro-magnetic doubly salient generator is kept unchanged under the current working condition, and determining a given excitation current value i fc when the electro-magnetic doubly salient generator reaches the given voltage value U ref at the target conduction angle value theta c under the current working condition;
Controlling the on-off of a switching tube in the main power converter according to a target conduction angle value theta c, feeding the given excitation current value i fc forward to an excitation current inner loop to determine an excitation current reference value i fref, and controlling the on-off of the switching tube in the excitation power converter by utilizing the excitation current inner loop according to the excitation current reference value i fref and an excitation current actual value i f;
Determining the conduction angle value θ c includes:
When the condition that the loading or the rotation speed is reduced under the operation working condition of the electro-magnetic doubly salient generator is determined, determining a target conduction angle value theta c as a maximum conduction angle theta max under the current working condition, and calculating the maximum conduction angle theta max under the current working condition by using the rotor rotation speed n and the load value R of the electro-magnetic doubly salient generator under the current working condition according to a preset estimation formula;
When the condition that load shedding or rotating speed rising occurs in the operation working condition of the electro-magnetic doubly salient generator is determined, determining a target conduction angle value theta c to be 0;
The determining a given excitation current value i fc when the electro-magnetic doubly salient generator reaches a given voltage value U ref at a target conduction angle value θ c under the current working condition includes:
When the conduction angle value theta c＝θmax is over, determining i fc＝Uref/Zuf_max, wherein Z uf_max is a first decoupling coefficient calculated by using the rotor rotating speed n and the load value R of the electrically excited doubly salient generator under the current working condition according to a first fitting formula;
when the conduction angle value θ c =0, determining i fc＝Uref/Zuf_0, wherein Z uf_0 is a second decoupling coefficient calculated by using the rotor rotating speed n and the load value R of the electrically excited doubly salient generator under the current working condition according to a second fitting formula.
2. The method for dynamically controlling an electrically-excited doubly salient generator according to claim 1, further comprising:
And determining the change condition of the operation working condition of the electric excitation doubly salient generator based on the rotor rotating speed n, the load value R and the exciting current actual value i f of the electric excitation doubly salient generator under the current working condition.
3. The method for dynamically controlling an electrically-excited doubly salient generator according to claim 2, wherein said determining a change in operating conditions of said electrically-excited doubly salient generator comprises:
estimating the output voltage range of the electro-magnetic doubly salient generator under the current working condition based on the rotor rotating speed n, the load value R and the exciting current actual value i f of the electro-magnetic doubly salient generator under the current working condition;
And determining the change condition of the operation working condition of the electro-magnetic doubly salient generator according to the deviation degree of the output voltage range of the electro-magnetic doubly salient generator under the current working condition relative to the given voltage value U ref.
4. A method of dynamically controlling an electrically-excited doubly salient generator according to claim 3, wherein said determining a change in operating conditions of said electrically-excited doubly salient generator comprises:
when the maximum value U max of the output voltage range of the electro-magnetic doubly salient generator under the current working condition is smaller than the given voltage value U ref and U ref-Umax≥δ1, determining that the running working condition of the electro-magnetic doubly salient generator has loading or rotation speed reduction;
when the minimum value U min of the output voltage range of the electro-magnetic doubly salient generator under the current working condition is larger than the given voltage value U ref and U min-Uref≥δ2, determining that the condition of load shedding or rotating speed rising occurs in the operation working condition of the electro-magnetic doubly salient generator;
Wherein δ 1 and δ 2 are two thresholds, respectively.
5. The method for dynamically controlling an electrically-excited doubly salient generator according to claim 4, wherein estimating the output voltage range of the electrically-excited doubly salient generator under the current working condition based on the rotor speed n, the load value R and the exciting current actual value i f of the electrically-excited doubly salient generator under the current working condition comprises:
Calculating a first decoupling coefficient Z uf_max according to a first fitting formula by using the rotor rotating speed n and the load value R of the electric excitation doubly salient generator under the current working condition, and calculating a second decoupling coefficient Z uf_0 according to a second fitting formula by using the rotor rotating speed n and the load value R of the electric excitation doubly salient generator under the current working condition; and determining the output voltage range of the electro-magnetic doubly salient generator under the current working condition as [ i f×Zuf_0,if×Zuf_max ].
6. The method for dynamically controlling an electrically excited doubly salient generator according to claim 1 or 5,
Zuf_max＝-0.002058R2-7.638×10-5R·n-13.81+0.832R+0.01503n；
Zuf_0＝-21.94+0.4752R+0.03579n-0.004091R2+0.0002274R·n-0.09n2。
7. The method for dynamically controlling an electrically excited doubly salient generator as claimed in claim 1,
θmax＝-11.74+0.5232R+0.03119n-0.002191R2+0.011134R·n-0.34n2。
8. The method of claim 1, wherein said feeding forward the given excitation current value i fc to an excitation current inner loop to determine an excitation current reference value i fref comprises:
Inputting a difference value U ref-Udc between a given voltage value U ref and an output voltage U dc of the electrically excited doubly salient generator under the current working condition into a voltage PI regulator to obtain an excitation current error value i e;
The excitation current reference value i fref＝ifc+ie is determined.
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