CN101388637B - Dual feed-back wind power generator robust controlling method having feed-forward compensation - Google Patents

Dual feed-back wind power generator robust controlling method having feed-forward compensation Download PDF

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CN101388637B
CN101388637B CN2008100401406A CN200810040140A CN101388637B CN 101388637 B CN101388637 B CN 101388637B CN 2008100401406 A CN2008100401406 A CN 2008100401406A CN 200810040140 A CN200810040140 A CN 200810040140A CN 101388637 B CN101388637 B CN 101388637B
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robust
feedforward compensation
robust control
power supply
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CN101388637A (en
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吴定国
王志新
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Shanghai Jiaotong University
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Abstract

The invention relates to a method for controlling doubly-fed wind generator robustness with feedforward compensation in a large-scale wind power generation unit, wherein the steps comprises: firstly, designing a robust control law by a loop shaping law according to motor parameter perturbation and external interference, secondly, giving a robust control signal according to the set rotary speed and practical rotary speed errors which are measured by a rotary speed sensor and according to the robust control law, thirdly, carrying out rotor feedforward compensation signal addition by the robust control signal, taking the output after addition as control output, utilizing the rotary speed and rotary angle of power supply magnetic field to carry out coordinate transformation of stator flux orientation by the control output, obtaining a converter control signal, and fourthly, using the converter control signal to drive a converter to control the motor rotary speed. The method adopts the stator flux orientation and rotor current feedforward compensation, designs a robust controller according to weighting functions, satisfies control demands, has good robust performance, and is easily realized.

Description

The double-fed wind power generator robust control method of band feedforward compensation
Technical field
What the present invention relates to is a kind of control method of technical field of wind power generation, specifically is a kind of double-fed wind power generator robust control method with feedforward compensation.
Background technology
The utilization of various regenerative resources such as wind energy and research receive the attention of each main developed country of the world day by day, become one of effective means that solves energy crisis and environmental problem.Large-scale wind powered generation syst can the wind energy that energy is huge be converted into electric energy, is one of important way of following generating.Because double feedback electric engine itself can be exported through voltage and frequency that the frequency and the size of direct adjusting rotor-end voltage, electric current are controlled stator, makes it in wind power generation field very important use arranged.The control double feedback electric engine carries out tracking Control according to given rotating speed in fact exactly.Therefore, to the double-fed wind power generator system, study a kind of control method efficiently and be very important.Motor control method of the prior art like DTC (direct torque control), magnetic field decoupling control etc., though solved the relevant controlling problem to a certain extent, all exists poor robustness, design of Controller complicacy, is difficult for being applied to deficiencies such as industry.
Retrieval through to the prior art document is found; R.Pena; J.C.Clare; G.M Asher. is at " Electric Power Applications; IEE Proceedings ". (1996,43 (3): deliver " Doubly fed induct ion generator using back-to-back PWM convertersand its application to variable-speed wind energy generation " (using the double-fed of back-to-back converter to send out induction machine system and the application on speed-changing wind power generator thereof) this article 231-241) and proposed the control method of double feedback electric engine, concrete grammar is PID (PID) control law of feedforward compensation; Its deficiency is not mentioned the influence of controller in perturbation and external interference for the parameter of electric machine; Thereby in the design process of controller, too rely on the accuracy of measuring estimated parameter, simultaneously, because of the design process complicacy of PID control law; Parameter perturbation and external interference are suppressed not enough, make this method have significant limitation.
Summary of the invention
The objective of the invention is to deficiency to above-mentioned prior art existence; Propose a kind of double-fed wind power generator robust control method, adopt stator flux orientation, rotor current feedforward compensation with feedforward compensation, and based on weighting function design robust controller; Satisfy the control requirement; Avoided traditional magnetic field decoupling feedforward compensation controller too to rely on measuring the accuracy of estimated parameter, design process is complicated, parameter perturbation and external interference are suppressed not enough, use limitation big wait not enough; Have good robust performance, and be easy to realize.
The present invention realizes through following technical scheme, the present invention includes following steps:
The first step according to parameter of electric machine perturbation and external interference, is designed the robust control rule by loop shaping law;
In second step, the error of measuring actual speed according to given rotating speed with by speed probe provides the robust control signal according to the robust control rule;
The 3rd step; The robust control signal carries out rotor feedforward compensation signal plus; Output after the addition is as control output, and control output is utilized the rotary speed in power supply magnetic field and coordinate transform (anti-park conversion) that the anglec of rotation is carried out stator flux orientation, obtains the current transformer control signal;
In the 4th step, drive current transformer with the current transformer control signal and control motor speed.
The said first step specifically is embodied as: at first measure power supply (stator terminal) voltage, power frequency, amplitude, measurement result is used to judge that power supply status also is provided for the rotary speed and the anglec of rotation in the power supply magnetic field of reference for the subsequent coordinates conversion; According to the performance weighting function of analyzing parameter of electric machine perturbation and external interference (one group influences big or small function by parameter of electric machine perturbation and external interference to motor performance and forms), design the robust control rule then with loop shaping law.
The coordinate transform of described stator flux orientation; Be meant with a kind of park coordinate transformation method of stator field as the rotating speed reference; The stator terminal voltage, the current signal that record according to transducer; Calculate the rotary speed of stator field earlier according to the magnetic field law, carry out coordinate transform (park conversion) according to this rotary speed again.The park conversion is a kind of conventional coordinates conversion of simplifying generator model in order to study, and what its was represented is the conversion that the three-phase rotational coordinates is tied to two cordic phase rotators system, belongs to a kind of current techique of motor research.
Described transducer adopts Hall current sensor and Hall voltage transducer; Detect the voltage and current of double fed electric machine rotor side respectively; Thereby realize detection to double feedback electric engine power; Hall current sensor is measured direct current, interchange, pulse and mixed type electric current, Hall voltage sensor measurement direct current, interchange and pulse voltage.
Described current sensor, the specified effective value electric current in its former limit is 25mA, employing+15V power supply power supply, precision is ± 0.5%, the primary current measuring range is 0～± 36A.
Described voltage sensor, the specified effective value electric current in its former limit is 10mA, the specified effective value electric current of secondary is 25mA, employing+15V power supply power supply, precision is+0.6%, the primary current measuring range is 0～+ 14mA.
Described speed probe is a magnetoelectric tachometric transducer, and measuring range is 0.3Hz～10kHz, operating voltage 5V～24V, and serviceability temperature-30 ℃～+ 150 ℃, output waveform is approximate square wave, output signal amplitude size is directly proportional with rotating speed.
Said feedforward compensation; Be meant Mathematical Modeling according to double feedback electric engine; By rotor voltage, the current signal of measuring gained; Coupling nonlinear item in the model is come compensating control signal as a feedforward compensation input, and concrete double feedback electric engine model and coupling nonlinear item can be learnt according to aforementioned documents.
Described rotor feedforward compensation is meant: on the rotor voltage current transformation basis of stator flux orientation,, according to the rotor current signal of measuring the rotor voltage current signal of importing is compensated by DSP (digital signal processor) controller.
Described performance weighting function is meant tracking performance and robust performance requirement according to system, and that designs influences the motor performance evaluation function.The performance evaluation function requires design according to reality; It is to be used for weighing the reaction of motor to environment; In the present invention, consider the requirement of double feedback electric engine in practical application, the performance evaluation function mainly is made up of two functions; An evaluation function that is motor to wind speed variation rapidity, one is the evaluation function that motor disturbs signal in the control procedure.
Said loop shaping law is meant: according to performance weighting function and robust control theory, the curve that acquisition needs is handled in Byrd (bode) the figure shaping of double-fed generator.Shaping is handled and to be referred to the bode figure that do as one likes can weighting function, according to robust control theory the bode figure shaping of the transfer function of motor own is become needed bode diagram shape.Concrete method can be referring to the robust control theory books.
The present invention has following effect: (1) meritorious, idle decoupling zero is controlled, and can control the output power factor from 0.5 to 1 of double feedback electric engine; (2) need not motor operating parameter is accurately measured, general control method such as PID controller need strict each parameter of measuring motor in the design process, and the controller that designs is high to the requirement of measuring element inevitably; (3), the performance of system sets up corresponding weighting function after being analyzed, and theoretical according to the shaping of weighting function utilization loop, directly design corresponding controller, have required tracking and robust performance to guarantee system; (4) considered the various unstable situation that system possibly occur in the entire controller design process in actual moving process, controller has good robustness and practicality.
Description of drawings
Fig. 1 is the inventive method flow chart;
The control system block diagram that Fig. 2 uses for the embodiment of the invention;
Fig. 3 is the implementation result analogous diagram of the embodiment of the invention.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment provided detailed execution mode and process, but protection scope of the present invention is not limited to following embodiment being to implement under the prerequisite with technical scheme of the present invention.
As shown in Figure 1, present embodiment is implemented according to following flow process:
When (1) double feedback electric engine obtains starting command, measure the state of power end, power supply is the three phase sine AC power, and wherein the normal condition line voltage of power end is V a=V b=V c=220V, the frequency of every phase does, f=50Hz, each differing between mutually is 120 ℃;
(2) (state of AC power does not meet the requirement of normal condition) or motor status unusual (speed probe is the no signal action in 1s) or controller (DSP forecasts fault) when power supply status is unusual; Controller sends alarm signal (ringing), reminds and overhauls processing;
(3) stable just often when motor and power supply status, controller starts.Calculate the rotary speed ω in power end magnetic field according to the output voltage galvanometer of power end 1, the voltage and current signal and the tach signal of the rotor that goes out according to sensor measurement calculate the feedforward compensation signal in real time, and wherein, the computing formula of compensating signal is respectively:
Δ u dr = - ( ω 1 - ω r ) ( l r - l m 2 l s ) i qr
Δ u qr = ( ω 1 - ω r ) ( l r - l m 2 l s ) i dr + ( ω 1 - ω r ) l m l s ψ ds
ω 1＝314rad/s，lr＝0.0227mh，ls＝0.0227mh，lm＝1.37mh；
(4) the tach signal ω that measures according to speed probe rWith given rotating speed value ω *Relatively,, (design process of robust control rule: at first designing weighting function according to system's needs does to provide the robust control signal by the robust control rule W s = 0.1 s 2 + 39.738 s + 3947.86 s 2 + 1.25 s + 0.394786 With W T = s + 31.4159 31.459 , The transfer function of finding the solution the robust control rule by weighting function according to loop shaping law then does C ( s ) = 13300 s 2 + 720010 s + 31420 s 3 + 12500 s 2 + 16500 s + 5000 ) ;
(5) robust control signal and feedforward compensation signal plus, the signal after the addition is sentenced the accuser to the punishment facing the person he falsely accused SPWM (Sine Wave Pulse Width Modulation) control signal of mark conversion (anti-park conversion) output as converter plant with power end magnetic field rotating speed.
(6) voltage of SPWM control three crossing alternating flow device groups is exported and is controlled rotating speed of motor.Because the speed feedback closed loop, thereby controller can reach the purpose of control motor speed.
As shown in Figure 2, DFIG (double fed induction generators) control system is made up of measurement mechanism and dsp controller.When motor and power supply status just often, dsp controller is exported corresponding signal based on given rotating speed and measuring-signal, control SPWM pulse triggering means, control rotating speed of motor.ω among Fig. 2 *Be given rotating speed.
Measurement mechanism is made up of speed probe and voltage transformer, and the speed probe model is the OD9011 high sensitivity of Shanghai Ou Dan instrument Electronics Co., Ltd. production, the magnetoelectric tachometric transducer of high noise immunity, and measuring range is 0.3Hz～10kHz; Operating voltage 5V～24V, serviceability temperature-30 ℃～+ 150 ℃, output waveform is approximate square wave; Output signal amplitude size is directly proportional with rotating speed, and the model of voltage sensor is the LV28-P that Switzerland lime company (LEM) produces, and the specified effective value electric current in former limit is 10mA; The specified effective value electric current of secondary is 25mA; Employing ± 15V power supply power supply, precision is+0.6%, the primary current measuring range is 0～+ 14mA.DSP is the TMS320LF2407A of TI company, inner integrated interfaces such as mould/number conversion, digital I/O, serial communication, the output of Electric Machine Control pwm signal.
As shown in Figure 3, the implementation result analogous diagram of this instance is for the ease of analyzing expression; Each is measured and is that perunit value, transverse axis are time sampling point (every at a distance from the 0.05s once sampling) in the longitudinal axis, and Fig. 3 is made up of three parts; Wherein, Fig. 3 (a) is the quick variation characteristic figure of wind speed, and what the longitudinal axis was represented is the amplitude that wind speed changes; Change of wind velocity frequency f 1=10Hz, the noise jamming characteristic in Fig. 3 (b) expression control procedure, what the longitudinal axis was represented is the size of noise; The frequency f 2=1000Hz of noise jamming, the implementation result analogous diagram of Fig. 3 (c) expression rotating speed control, what the longitudinal axis was represented is rotating speed; Can find out that change in rotational speed does not receive the low-frequency disturbance of input and the High-frequency Interference in the control procedure, and tracing preset rotating speed accurately.Simulation result proves that this method not only has good rotating-speed tracking control performance, and has outstanding robust performance.

Claims (6)

1. the double-fed wind power generator robust control method with feedforward compensation is characterized in that, comprises the steps:
The first step according to parameter of electric machine perturbation and external interference, is designed the robust control rule by loop shaping law;
In second step, the error of measuring actual speed according to given rotating speed with by speed probe provides the robust control signal according to the robust control rule;
The 3rd step; The robust control signal carries out rotor feedforward compensation signal plus; Output after the addition utilizes the rotary speed in power supply magnetic field and the anglec of rotation to carry out the coordinate transform of stator flux orientation control output as control output, obtains the current transformer control signal;
In the 4th step, drive current transformer with the current transformer control signal and control motor speed;
The said first step specifically is embodied as: at first measure power supply stator terminal voltage, power frequency, amplitude, measurement result is used to judge that power supply status also is provided for the rotary speed and the anglec of rotation in the power supply magnetic field of reference for the subsequent coordinates conversion; Then according to the performance weighting function of parameter of electric machine perturbation and external interference; Design the robust control rule with loop shaping law, said performance weighting function is one group of function of the function of motor performance influence size being made up of parameter of electric machine perturbation and external interference;
The coordinate transform of described stator flux orientation is meant: according to stator terminal voltage, the current signal that transducer records, calculate the rotary speed of stator field earlier according to the magnetic field law, carrying out coordinate transform according to this rotary speed again is the park conversion.
2. the double-fed wind power generator robust control method of band feedforward compensation according to claim 1; It is characterized in that: described transducer adopts Hall current sensor and Hall voltage transducer; Detect the voltage and current of double fed electric machine rotor side respectively; Thereby realize the detection to double feedback electric engine power, Hall current sensor is measured direct current, interchange, pulse and mixed type electric current, Hall voltage sensor measurement direct current, interchange and pulse voltage.
3. the double-fed wind power generator robust control method of band feedforward compensation according to claim 1; It is characterized in that: described current sensor, the specified effective value electric current in its former limit is 25mA, the power supply of employing+15V power supply; Precision is ± 0.5%, the primary current measuring range is 0～± 36A.
4. the double-fed wind power generator robust control method of band feedforward compensation according to claim 1; It is characterized in that: described voltage sensor; The specified effective value electric current in its former limit is 10mA, and the specified effective value electric current of secondary is 25mA, the power supply of employing+15V power supply; Precision is+0.6%, the primary current measuring range is 0～+ 14mA.
5. the double-fed wind power generator robust control method of band feedforward compensation according to claim 1; It is characterized in that: described speed probe is a magnetoelectric tachometric transducer; Measuring range is 0.3Hz～10kHz, operating voltage 5V～24V, serviceability temperature-30 ℃～+ 150 ℃; Output waveform is approximate square wave, and output signal amplitude size is directly proportional with rotating speed.
6. the double-fed wind power generator robust control method of band feedforward compensation according to claim 1; It is characterized in that: described rotor feedforward compensation is meant: on the rotor voltage current transformation basis of stator flux orientation;, according to the rotor current signal of measuring the rotor voltage current signal of importing is compensated by dsp controller.
CN2008100401406A 2008-07-03 2008-07-03 Dual feed-back wind power generator robust controlling method having feed-forward compensation Expired - Fee Related CN101388637B (en)

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CN101776043B (en) * 2010-02-25 2011-08-31 东南大学 Error compensation model-based wind turbine generator maximum wind energy capture control method
CN102200541B (en) * 2010-03-24 2012-11-21 中国科学院自动化研究所 Method and device for measuring rotating speed of motor
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