CN105048904B - Double-fed wind power generator fault control method under two-phase rest frame - Google Patents
Double-fed wind power generator fault control method under two-phase rest frame Download PDFInfo
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/76—Power conversion electric or electronic aspects
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Abstract
The invention discloses double-fed wind power generator fault control method under two-phase rest frame, stator magnetic linkage and rotor flux are calculated by the stator current and rotor current under reference stator two-phase rest frame, rotor voltage formula is carried out discrete, obtain rotor voltage forecast model, in a model in order that rotor flux follows its set-point, need to replace with the value of the magnetic linkage of subsequent time rotor the set-point of rotor flux synchronization, the set-point of rotor flux follows the actual value of its stator magnetic linkage.By the rotor voltage under the reference stator two-phase rest frame predicted, by Coordinate Conversion, the rotor voltage under the fast rotating coordinate system of two-phase rotor is obtained, PWM is eventually passed.This method is not only able to control rotor fault electric current, and electromagnetic torque pulsation is smaller within 1.5 1.6 times of rated current, and during failure, improves under double-fed wind power generator failure not off-grid service ability.
Description
Technical field
The invention belongs to double-fed wind power generator operation control field, and in particular to two-phase is static during a kind of Voltage Drop sits
The lower double-fed wind power generator fault control method of mark system, off-grid is not run generator during ensureing failure.
Background technology
Wind-powered electricity generation is increasingly taken seriously in power generation, the phase interaction between the Wind turbines and network system of Large Copacity
With, be mutually adapted, the various failure problems thus occurred form research and development content important in wind generating technology.In recent years
Carry out the installed capacity of the double-fed wind power generator proportion in power system quickly to increase, their phases between partial electric grid
Mutually influence is also increasing, and due to the stator and rotor direct grid-connected of double-fed wind power generator, electric network fault influences very on Wind turbines
Greatly, and in case of a fault, low capacity pwm converter is also restrained to the control ability of double-fed wind power generator, causes
The failure operation ability reduction of double-fed wind power generator.
In line voltage rapid drawdown, Study on direct torque control technology is applied in double-fed wind power generator, the strategy is directly
The torque of controlled motor, although control method is simple, reduces the application of the parameter of electric machine, but there is also one for Direct Torque Control
The problem of determining：The switching frequency of power inverter changes and changed with the ring width of hysteresis comparator, and can produce current distortion,
Torque pulsation is larger during low speed, so as to influence to export the quality of electric energy.Some other document proposes the direct work(of motor
Rate is controlled, and the control strategy has equally used hysteresis comparator so that rotor converter switching frequency is with active power and nothing
Work(changed power, the switching frequency of the change needs complicated and expensive power converter and AC harmonic filter.Also portion
Single cent is offered is incorporated into direct Power Control method by space vector technique, but this method needs complex Coordinate Conversion,
Control accuracy is not high.When line voltage occur it is single-phase fall 60% or three-phase symmetrical fall 60% failure when, at present mostly numerical control
Method processed to failure during rotor current be difficult control within 2 times of its rated current, electromagnetic torque fluctuation is right than larger
The impulsive force of unit is very big.The response speed of control system and the control accuracy of controller directly affect the suppression effect of fault current
Really.Therefore need to propose a kind of control method solved the above problems, i.e. fault control method under two-phase rest frame.The control
The faulty rapid dynamic response speed of fixture, control accuracy is high, and the saturation that can be prevented effectively from controller under electric network fault large disturbances is asked
Topic.Be not only able to control rotor fault electric current within 1.5-1.6 times of rated current, and during failure electromagnetic torque pulsation compared with
It is small, double-fed wind power generator not off-grid service ability under line voltage failure can be effectively improved.
The content of the invention
In view of the deficiencies of the prior art, the present invention provides double-fed under two-phase rest frame during a kind of grid voltage sags
Wind-driven generator fault control method, the control method has rapid dynamic response speed, and control accuracy is high, is not only able to control and turns
Electromagnetic torque pulsation is smaller within 1.5-1.6 times of rated current, and during failure for sub- fault current, reduces to generating set
Impact, double-fed wind power generator not off-grid service ability under line voltage failure can be effectively improved.
Double-fed wind power generator rotor side converter is used based on stator magnetic linkage oriented arrow when line voltage is normally run
Amount control, uses fault control method during line voltage rapid drawdown.Set fault control method simultaneously controls frequency to be based on fixed
2 times of the vector controlled of sub- flux linkage orientation, its specific implementation step is：
（1）, by the stator three-phase voltage detectedu sabc With stator three-phase currenti sabc Stator ginseng is obtained by Coordinate Conversion
Examine stator two-phase voltage under two-phase rest frameu sαβ With stator biphase currenti sαβ ；
（2）, calculate stator magnetic linkage space bit angle settingθ 1, by the rotor three-phase electric current detectedi rabc By Coordinate Conversion
Obtain reference stator two-phase rest frame lower rotor part biphase currenti rαβ ；
（3）, by the rotor speed measuredω rCalculating is integrated to obtainθ r；
（4）, by the stator biphase current under reference stator two-phase rest framei sα 、i sβ , rotor biphase currenti rα 、i rβ ,
Stator self inductanceL s, rotor self-inductionL rThe mutual inductance between rotorL mCarry out stator magnetic linkage and rotor flux calculates and obtains stator magnetic linkage α、β
Axis component Ψsα 、Ψsβ With rotor flux α、βAxis component Ψrα 、Ψrβ ；
（5）, rotor flux set-point calculated, i.e.,：Ψr *=MΨs, wherein,I s rFor stator current rated value, Ψs rFor stator magnetic linkage actual value, subscript r is represented with rotor speedω rTwo phase coordinates of rotation
System, during subscript s represents the variable of stator side, failureMWith Ψs rTranslating self-adapting change, realize to rotor flux in real time most
Excellent control, will be obtained with rotor speedω rRotor flux reference value under the two-phase rotor coordinate of rotation turns by coordinate
Get the rotor flux reference value under reference stator two-phase rest frame in return；
（6）, formula of the double-fed wind power generator rotor voltage under reference stator two-phase rest frame be：,, in formula：u rα Withu rβ Rotor voltage is represented respectivelyαAxle andβAxis component,R rFor rotor resistance；
（7）, assume the sampling period beT s, obtain the rotor voltage formula of double-fed wind power generator is discrete：
, rotor flux dead beat control
Target processed makes rotor flux reach Ψ in set-point, i.e. formula at the k+1 momentrα (k+1)、Ψrβ (k+1) it is respectively rotor fluxα、β
Set-point Ψ of the axle at the k+1 momentrα *(k+1)、Ψrβ *(k+1)；
（8）, by step（7）Middle double-fed wind power generator rotor voltage dispersion formula can be obtained by deformation：
, obtained from formulau rα
(k)、u rβ (k), willu rα (k)、u rβ (k) rotor voltage under two-phase rotor reference coordinate system, Ran Houjin are obtained by coordinate transform
Row PWM.
When line voltage occur it is single-phase fall 60% or three-phase symmetrical fall 60% failure when, at present mostly digital control method
Rotor current general control is at 2 times or so of its rated current during to failure, and electromagnetic torque fluctuation is than larger, to unit
Impulsive force is very big.During grid collapses, parameter of the present inventionMCan be with adaptively changing, this controller is realized to rotor flux
Real-time estimate and optimum control, it is to avoid the saturation problem of the lower controller of electric network fault extremely disturbance.Controller is carried during this
Height control frequency for it is normal when 2 times, shorten the response time to failure, at the same all variables based on reference stator two-phase it is quiet
Only coordinate system, without complicated coordinate transform, rotor current can be fast and effeciently controlled in 1.5-1.6 times of volume in instant of failure
Determine within electric current, electromagnetic torque fluctuation is also smaller.
Brief description of the drawings
Fig. 1 is two-phase reference statorα βRest frame, two-phase rotor speedω rRotationα r β rCoordinate system, two are synchronised
Speedω eRotationd qCoordinate system；
Fig. 2 is control structure block diagram；
Fig. 3 is the operation result figure that Fault Control when three-phase symmetrical falls 60% failure occurs for line voltage；
The operation result figure of Fault Control when Fig. 4 falls 60% failure for line voltage generation is single-phase.
Specific implementation method
The present invention will be further described below in conjunction with the accompanying drawings.Fig. 1 is two-phase statorα βRest frame, two-phase rotor
Rotating speedω rRotationα r β rCoordinate system, two same pacesω eRotationd qCoordinate system.The control method of the present invention is based on reference stator
Two-phase rest frame, by the stator current collected and rotor current, by Coordinate Conversion, obtains reference stator two-phase static
Variable under coordinate system.
Fundamental voltage equation of the double-fed generator under reference stator two-phase rest frame be：
（1）
（2）
In formula：u rα Withu rβ Rotor voltage is represented respectivelyαAxle andβAxis component；i rα Withi rβ Rotor current is represented respectivelyαAxle andβ
Axis component；Ψrα And Ψrβ Rotor flux is represented respectivelyαAxle andβAxis component；ω rFor generator amature angular speed；R rFor rotor electricity
Resistance.
Under reference stator two-phase rest frame, rotor flux equation can be expressed as：
Ψrα =L m i sα +L r i rα （3）
Ψrβ =L m i sβ +L r i rβ （4）
In formula：i sα Withi sβ Stator current is represented respectivelyαAxle andβAxis component；L s,L rWithL mStator self inductance is represented respectively, turned
Mutual inductance between sub- self-induction and rotor.
To formula（1）、（2）Discretization is carried out, can be obtained：
（5）
（6）
In formula：T s For the sampling period.This control targe makes rotor flux be reached at the k+1 moment in set-point, i.e. formula, Ψrα
(k+1)、Ψrβ (k+1) it is respectively set-point Ψ of rotor flux α, β axle at the k+1 momentrα *(k+1)、Ψrβ *(k+1).So can
To obtain following formula：
（7）
（8）
Formula（7）、（8）As double-fed wind power generator Fault Control model.
Two-phase rotor speedω rUnder the coordinate system of rotation, stator and rotor flux equation can be expressed as：
Ψs r=L s I s r+L m I r r（9）
Ψr r=L r I r r+L m I s r（10）
WhereinI sWithI rStator current and rotor current, Ψ are represented respectivelysAnd ΨrStator magnetic linkage and rotor flux are represented, on
Mark r is represented with rotor speedω rTwo phase coordinate systems are rotated, subscript s and r represent the variable and rotor-side variable of stator side respectively.
It can be obtained by formula (9) and formula (10)：
（11）
It can be obtained in rotor current, calculating process by formula (9) and formula (10), by the given of rotor flux
Value Ψr *=MΨsSubstitution can be obtained：
（12）
In formulaL ls,L lrStator leakage inductance and rotor leakage inductance are represented respectively.
By the set-point Ψ of rotor fluxr *=MΨsSubstitution formula (11) can be obtained：
（13）
I s rFor the rated value of stator current, Ψs rFor the actual value of stator magnetic linkage.Pass through rotor magnetic linkage and rotor electricity
The relation of stream, and rotor flux field weakening control method, are obtainedMIt is worth size, during failureMCan be with Ψs rTranslating self-adapting
Change, realize the real-time optimistic control to rotor flux.Instant of failure Ψs rValue it is maximum, nowMMaximum is taken, formula (12) can
To find out,MBigger, rotor fault current value is smaller, therefore can realize that instant of failure is efficiently controlled to rotor current, failure
Control of the moment to rotor overcurrent is particularly important.Double-fed aerogenerator stator side is directly connected with power network, stator side electric current
Distortion very big is endangered to power network, therefore during failureI s rRated value is taken, with the regulation during realizing failure to stator current, control
Electron current is formulated within its maximum current allowed.It will finally obtain with rotor speedω rThe two-phase rotor coordinate of rotation
Rotor flux reference value under system, by Coordinate Conversion, the rotor flux obtained under reference stator two-phase rest frame gives
Value.
Double-fed wind power generator fault control method under two-phase rest frame, compared with vector control method, it has
The features such as in rapid dynamic response speed, control accuracy height, failure process without overshoot, and can eliminate compared with controller under large disturbances
Saturation.Control rotor fault electric current is not only able within 1.5-1.6 times of rated current, and electromagnetic torque pulsation during failure
It is smaller, reduce the impact to generating set, can effectively improving double-fed wind power generator, off-grid is not run under line voltage failure
Ability.
Fig. 2 is Fault Control structured flowchart of the present invention.When line voltage steady-state operation, rotor side converter is based on
Stator magnetic linkage oriented vector control method, the double-fed wind power generator fault control method when line voltage falls.Two
It is as follows the step of fault control method under phase rest frame：（1）, by the stator three-phase voltage detectedu sabc With stator three-phase
Electric currenti sabc Stator two-phase voltage under reference stator two-phase rest frame is obtained by Coordinate Conversionu sαβ With stator biphase currenti sαβ ；（2）, calculate stator magnetic linkage space bit angle settingθ 1, by the rotor three-phase electric current detectedi rabc Obtained by Coordinate Conversion
Reference stator two-phase rest frame lower rotor part biphase currenti rαβ ；（3）, by the rotor speed measuredω rIt is integrated and calculates
Arriveθ r；（4）, by the stator biphase current under reference stator two-phase rest framei sα 、i sβ , rotor biphase currenti rα 、i rβ , it is fixed
Sub- self-inductionL s, rotor self-inductionL rThe mutual inductance between rotorL mCarry out stator magnetic linkage and rotor flux calculates and obtains stator magnetic linkage α、βAxle
Component Ψsα 、Ψsβ With rotor flux α、βAxis component Ψrα 、Ψrβ ；（5）, rotor flux set-point calculated, i.e.,：Ψr *=M
Ψs, wherein,I s rFor stator current rated value, Ψs rFor stator magnetic linkage actual value, subscript r represent with
Rotor speedω rTwo phase coordinate systems of rotation, during subscript s represents the variable of stator side, failureMWith Ψs rTranslating self-adapting changes,
The real-time optimistic control to rotor flux is realized, will be obtained with rotor speedω rRotor under the two-phase rotor coordinate of rotation
Flux linkage set value obtains the rotor flux reference value under reference stator two-phase rest frame by Coordinate Conversion；（6）, double-fed wind-force
Formula of the generator amature voltage under reference stator two-phase rest frame be：,, in formula：u rα Withu rβ Rotor voltage is represented respectivelyαAxle andβAxis component,R r
For rotor resistance；（7）, assume the sampling period beT s, obtain the rotor voltage formula of double-fed wind power generator is discrete： , rotor flux dead beat control
Target processed makes rotor flux reach Ψ in set-point, i.e. formula at the k+1 momentrα (k+1)、Ψrβ (k+1) it is respectively rotor fluxα、β
Set-point Ψ of the axle at the k+1 momentrα *(k+1)、Ψrβ *(k+1)；（8）, by step（7）Middle double-fed wind power generator rotor voltage
Discrete formula can be obtained by deformation： , obtained from formulau rα
(k)、u rβ (k), willu rα (k)、u rβ (k) rotor voltage under two-phase rotor reference coordinate system, Ran Houjin are obtained by coordinate transform
Row PWM.
Fig. 3 is operation result figure when line voltage generation three-phase symmetrical falls 60% failure, it can be seen that electric
Magnetic torque is almost nil, and fluctuation is smaller, and in power grid operation, rotor current is 2000A, when voltage falls, is adopted
Failure operation control is used, now rotor current is 3000A, rotor current is controlled within 1.5 times of peak current ratings.
Fig. 4 is that single-phase operation result figure when falling 60% failure occurs for line voltage, it can be seen that electromagnetism turns
Square is almost nil, and fluctuation is smaller, and in power grid operation, rotor current is 2000A, when grid voltage sags, using event
Barrier operation control, now rotor current is 3200A, and rotor current is controlled within 1.6 times of peak current ratings.
Embodiment above describes general principle, principal character and the advantage of the present invention, the technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, the original for simply illustrating the present invention described in above-described embodiment and specification
Reason, under the scope for not departing from the principle of the invention, various changes and modifications of the present invention are possible, and these changes and improvements are each fallen within
In the scope of protection of the invention.
Claims (1)
1. double-fed wind power generator fault control method under two-phase rest frame, it is characterised in that：Line voltage is normally run
When double-fed wind power generator rotor side converter use based on stator magnetic linkage oriented vector controlled, used during line voltage rapid drawdown
Fault control method, while set fault control method control frequency to be 2 times based on stator magnetic linkage oriented vector controlled,
Its specific implementation step is：
(1), by the stator three-phase voltage u detectedsabcWith stator three-phase current isabcReference stator two is obtained by Coordinate Conversion
Stator two-phase voltage u under phase rest framesαβWith stator biphase current isα、isβ；
(2) stator magnetic linkage space bit angle setting θ, is calculated1, by the rotor three-phase electric current i detectedrabcObtained by Coordinate Conversion
Reference stator two-phase rest frame lower rotor part biphase current irα、irβ；
(3), by the rotor speed ω measuredrIt is integrated calculating and obtains θr；
(4), by the stator biphase current i under reference stator two-phase rest framesα、isβ, rotor biphase current irα、irβ, stator
Self-induction Ls, rotor self-induction LrThe mutual inductance L between rotormCarry out stator magnetic linkage and rotor flux calculates and obtains stator magnetic linkage α, β axle point
Measure Ψsα、ΨsβWith rotor flux α, beta -axis component Ψrα、Ψrβ；
(5), the set-point of rotor flux is calculated, i.e.,：Ψr *=M Ψs, wherein
ΨsFor stator magnetic linkage value, Is rFor stator current rated value, Ψs rFor stator magnetic linkage actual value, subscript r is represented with rotor speed ωr
The two-phase rotor coordinate of rotation, M is with Ψ during subscript s represents the variable of stator side, failures rTranslating self-adapting changes, and realizes
To the real-time optimistic control of rotor flux, it will obtain with rotor speed ωrRotor magnetic under the two-phase rotor coordinate of rotation
Chain set-point obtains the rotor flux reference value under reference stator two-phase rest frame by Coordinate Conversion；
(6), formula of the double-fed wind power generator rotor voltage under reference stator two-phase rest frame is：urα=Rrirα+d
Ψrα/dt+ωrΨrβ, urβ=Rrirβ+dΨrβ/dt-ωrΨrα, in formula：urαAnd urβRotor voltage α axles and β axles point are represented respectively
Amount, RrFor rotor resistance；
(7) it is T, to assume the sampling periods, obtain the rotor voltage formula of double-fed wind power generator is discrete：Ψrα(k+1)-
Ψrα(k)=Ts[urα(k)-Rrirα(k)-ωr(k)Ψrβ(k)]Ψrβ(k+1)-Ψrβ(k)=Ts[urβ(k)-Rrirβ(k)+ωr
(k)Ψrα(k)], rotor flux track with zero error target makes rotor flux reach Ψ in set-point, i.e. formula at the k+1 momentrα(k+
1)、Ψrβ(k+1) it is respectively set-point Ψ of rotor flux α, β axle at the k+1 momentrα *(k+1)、Ψrβ *(k+1)；
(8), double-fed wind power generator rotor voltage dispersion formula can be obtained by deformation in step (7)：
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Rotor voltage under two-phase rotor coordinate, then carries out PWM.
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| CN1983785A (en) * | 2005-12-15 | 2007-06-20 | 中国科学院电工研究所 | Controller of exciting power-supply net sided converter for double-feedback speed-variable frequency-constant wind-driven generator |
| CN102904520A (en) * | 2012-10-09 | 2013-01-30 | 华东建筑设计研究院有限公司 | Current predictive control method of permanent magnet synchronous motor |
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| CN1983785A (en) * | 2005-12-15 | 2007-06-20 | 中国科学院电工研究所 | Controller of exciting power-supply net sided converter for double-feedback speed-variable frequency-constant wind-driven generator |
| CN102904520A (en) * | 2012-10-09 | 2013-01-30 | 华东建筑设计研究院有限公司 | Current predictive control method of permanent magnet synchronous motor |
| CN103515955A (en) * | 2013-09-27 | 2014-01-15 | 天津大学 | Deadbeat power control method for grid-side converter under network voltage unbalance |
| CN103684169A (en) * | 2013-11-19 | 2014-03-26 | 西安交通大学 | Dead-beat based direct torque control method for permanent magnet synchronous motor |
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