CN105337312B - A kind of method for real-time monitoring during small-power wind electric converter networking - Google Patents
A kind of method for real-time monitoring during small-power wind electric converter networking Download PDFInfo
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- CN105337312B CN105337312B CN201510880610.XA CN201510880610A CN105337312B CN 105337312 B CN105337312 B CN 105337312B CN 201510880610 A CN201510880610 A CN 201510880610A CN 105337312 B CN105337312 B CN 105337312B
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- H02J3/386—
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- H02J13/0017—
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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
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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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
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
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Abstract
The invention discloses method for real-time monitoring during a kind of small-power wind electric converter networking.The present invention can realize the real-time monitoring to many small-power wind electric converter running statuses, it is easy to find in time, fixes a breakdown, control of the host computer to each control computer module can be also realized simultaneously, and machine is torn open without being carried out to current transformer when debugging and issuing an order, it is user-friendly.During actual small-power Wind turbines networking, the magneto alternator of Multiple Type is usually had, the present invention can realize that a kind of small-power wind electric converter is adapted to the magneto alternator of Multiple Type, reduce cost and networking difficulty.The present invention is improved based on MODBUS rtu protocols and to it, judge so that the starting and ending of message is very convenient, it is easy to carry out interrupt processing using the control computer module and host computer of serial communication, and agreement feature itself and its is also highly convenient for many typhoon electric converter networkings extensively using property and is connected with the equipment such as industrial computer, PLC.
Description
Technical field
The present invention relates to real-time prison during a kind of wind electric converter technical field, particularly small-power wind electric converter networking
Prosecutor method.
Background technology
In the last few years, wind-power electricity generation was greatly developed as a kind of new energy technology with wide application prospect.With
This simultaneously, as one of key technology of wind-power electricity generation, wind electric converter can realize that speed change in wide wind speed range is permanent because of it
Take place frequently electricity, the advantages of improving operational efficiency, lifting wind energy utilization, is also increasingly taken seriously.And with distributed energy, micro-
The development of network technology, starts to obtain more next for civilian small-power wind electric converter (generally several kilowatts) and its Wind turbines
More applications.
It is important to note that civilian small-power wind electric converter and its Wind turbines, often with separate unit or several
The form of platform networking occurs.Meanwhile, blower fan generates electricity by equipment such as wind electric converter, transformers, finally with single-phase alternating current
Form is incorporated to civilian electricity consumption end of incoming cables.And the monitoring and control during for separate unit and many typhoon electric converter networkings are realized for convenience
System, low power wind electric converter needs to include control unit and communication interface in itself, facilitates host computer etc. to be monitored it.With
The blower fan that civilian small-power wind electric converter matches, in order to reduce the intermediate transmission structure such as gear-box, often using straight drive
Formula magneto alternator.
MODBUS agreements have become the most popular standard in the industrial control field whole world, and this agreement supports traditional RS-232, RS-
422nd, RS-485 and ethernet device, the benefit of MODBUS agreements are to which define the message knot that controller can recognize and use
Structure, physical layer is not provided, is communicated regardless of them by which kind of network.Therefore, made using MODBUS agreements
Cost can be effectively reduced for the communications protocol of small-power wind electric converter, while being also convenient for for using MODBUS agreements
It is monitored between distinct device.
In existing civilian small-power wind electric converter, the communication interface skill based on MODBUS rtu protocols is not provided
Art scheme, the method for real-time monitoring also without the related Parameter adjustable for small-power wind electric converter.
The content of the invention
The technical scheme is that：A kind of method for real-time monitoring during small-power wind electric converter networking, its feature exists
In：This method will be sent to the real-time parameter of host computer and host computer by many small-power wind electric converters and send the at most small work(of platform
The system core parameter and control instruction of rate wind electric converter, according to improved MODBUS rtu protocols, in many small-power wind
Communicated between electric converter and host computer；
The small-power wind electric converter include three-phase PWM rectification module, three-phase PWM inversion module, driving computer module,
Control computer module, communication interface, touch pad and power module, its one end connection magneto alternator, other end connection electricity
Net；The driving computer module is responsible for the generation of three-phase PWM rectification module and three-phase PWM inversion module pwm signal；The control
Computer module is responsible for whole system operation, protection, the collection of real-time parameter, and is connected to fieldbus by communication interface, enters
And communicated with host computer；The touch pad can be operated to control computer module, including start, shutdown and numbering are set
It is fixed；
The method for real-time monitoring, comprises the following steps：
(1) vector controlled is used for the three-phase PWM rectification module of each typhoon electric converter generator side, it controls former
Reason is to use speed outer shroud, the double-closed-loop control structure of current inner loop, and the step is realized by following sub-step：
(i) actual three-phase current i is measured using current Hall sensorsa、isb、isc, rotor-position is measured with reference to encoder
Signal θ, is that can obtain the actual current i under dq coordinates using coordinate transformsd、isq；
(ii) actual speed ω is measured by encoder；The reference value ω of outer shroud angular speed*Be combine maximum power point with
Track algorithm (MPPT), can make generator work in the maximum power point of corresponding wind speed in steady-state operation；
(iii) by reference to speed omega*Q is obtained compared with the motor speed ω of actual feedback, then by pi regulator
The reference value of shaft currentD shaft current reference valuesSo that electric current is completely used for producing electromagnetic torque；
(iv) changeValue, so as to change generator torque and rotating speed, tracking optimal velocity ω*, reach generator
New steady s tate；
(2) the three-phase PWM inversion module control strategy for each typhoon electric converter grid side is active and reactive power
Uneoupled control, using the outer shroud and the given inner ring of reactive current of double-closed-loop control structure, including DC voltage, the step
Realized by following sub-step：
(i) actual three-phase current i is measured using current Hall sensora、ib、ic, power network electricity is measured with reference to resonant mode PLL
Press phase angle θ1, it is that can obtain the actual current i under dq coordinates using coordinate transformd、iq；
(ii) outer voltage is used for the voltage of control voltage source type inverter direct-flow side, DC voltage reference valueWith
Virtual voltage UdcCompare, then d shaft current reference values are obtained by pi regulator
(iii) reference value of q shaft currentsIt is by reactive power reference qref Q*Obtain, 0, i.e. Q are given as when idle*=0
When,Now system reactive power is 0, and grid side power factor is 1；
(3) MPPT maximum power point tracking control (MPPT) uses power signal feedback transmitter, and power signal feedback transmitter is to survey
The rotational speed omega of wind energy conversion system is measured, and according to the peak power curve of wind energy conversion system, is calculated and the wind energy conversion system corresponding to the rotating speed
Peak power output Pmax, using it as wind energy conversion system power output set-point P*, and with the observation P of generated output power
Compare and obtain the margin of error, wind energy conversion system is controlled by adjuster, to realize the tracing control to maximum power point, the step
Suddenly realized by following sub-step：
(i) according to formula P=T Ω, and electromagnetic torque T and q shaft current components isqIt is directly proportional, therefore in actual use work(
It is to be converted into corresponding rotational speed omega and q shaft current components i when rate signal feedback transmitter carries out MPPT maximum power point tracking controlsqAs
Given reference value；In actual use MPPT curves, can there are two types, i.e. power and speed curves P/n or power and frequency
Rate curve P/f；
(ii) when using power with speed curves P/n, rotary speed setting value ω*With q shaft current component set-points isq *Calculate
Formula：
Wherein P is the power in MPPT curves, and n is rotating speed, and p is motor number of pole-pairs, ψfFor rotor flux, ω is mechanical angle
Speed；
(iii) when using power with frequency curve P/f, rotary speed setting value ω*With q shaft current component set-points isq *Meter
Calculate formula：
Wherein f is the frequency corresponding to angular rate, and p is motor number of pole-pairs, ψfFor rotor flux, ω is mechanical angle speed
Degree；
(4) three of the above control strategy is based on, the system core parameter for obtaining each typhoon electric converter is：
(i) MPPT curves, specifically include power and speed curves P/n and power and two kinds of forms of frequency P/f；
(ii) parameter of electric machine, specifically includes motor number of pole-pairs p, rated power P, rated speed n, rated current I, d-axis electricity
Feel Ld, quadrature axis inductance Lq, stator phase resistance RsWith rotor flux ψf；
(iii) PI parameters, specifically include DC bus-bar voltage ring PI, net side inverter current ring PI, side currents ring PI and
Pusher side der Geschwindigkeitkreis PI；
(5) using the control computer module of each typhoon electric converter, the reality of monitoring required for each typhoon electric converter is gathered
When parameter, the real-time parameter include grid side voltage, grid side electric current, mains frequency, motor side electric current, motor speed, mother
Line voltage；
(6) transmission of the real-time parameter of each typhoon electric converter, system core parameter and control instruction is using improved
MODBUS rtu protocols, i.e., with reference to having the advantages that special start frame and end frame under MODBUS ASCLL patterns, by standard
Under MODBUS RTU patterns >=3.5 character as judge beginning and end condition remove, be changed to increase start frame in messages
And end frame, it is easy to serial communication, its data frame format is as follows：
(7) before per typhoon electric converter networking, it is both needed to, by its touch pad, setting be numbered, it is ensured that per typhoon, electricity becomes
The numbering of stream device is unique, and the numbering is easy to host computer to distinguish as the address frame of each typhoon electric converter in step (6)
Each typhoon electric converter；
(8) to realize that i-th (1≤i≤N) typhoon electric converter matches jth (1≤j≤K) class magneto alternator, only
Need jth class system core parameter according to the agreement in step (6), sent to the i-th typhoon electric converter and controlled by host computer
Computer module, control computer module is controlled according still further to the control strategy in step (1), (2) and (3), you can complete i-th
Wind electric converter matching jth class magneto alternator and trouble-free operation, realize that a kind of wind electric converter compatibility is a variety of during networking
The function of magneto alternator, N is the number of wind electric converter, and K is the number of different type magneto alternator；
(9) real-time monitoring of the host computer to each typhoon electric converter is realized, each typhoon electric converter is only needed by step (5)
In real-time parameter collection after, send to host computer, can be shown after host computer processing in real time according to the agreement in step (6)
The real-time parameter of correspondence wind electric converter；
(10) control of the host computer to the i-th typhoon electric converter is realized, only need to be by control instruction according in step (6)
Agreement sends to the i-th typhoon electric converter and controls computer module, and control computer module can take corresponding operating；The control refers to
Order includes start, shutdown and urgent protection.
It is an advantage of the invention that：
1st, in practical application, often occurring in the form of many small-power wind electric converter networkings, the present invention can be with
The real-time monitoring to many typhoon power generators and wind electric converter running status is realized, is easy to find in time, fixes a breakdown, simultaneously
Also it can realize that host computer controls many small-power wind electric converters the control of computer module, need not when debugging and issuing an order
Current transformer is carried out to tear machine operation open, it is user-friendly；
2nd, in actual small-power Wind turbines networking, the magneto alternator of several different models is usually had, this
Invention can realize that a kind of small-power wind electric converter is adapted to the magneto alternator of a variety of different models, reduce cost and group
The difficulty of net；
3rd, the present invention is improved based on MODBUS rtu protocols and to it so that the starting and ending of message is very square
Just judge, be easy to carry out interrupt processing using the control computer module and host computer of serial communication；And agreement contains address frame
Feature is also highly convenient for many small-power wind electric converter networkings, while the extensive use of MODBUS agreements makes wind electric converter
The very convenient equipment such as with industrial computer, PLC is connected.
Brief description of the drawings
Fig. 1 is the separate unit small-power wind electric converter structural representation of the embodiment of the present invention；
Fig. 2 is the two poles of the earth permanent magnetic synchronous motor structure schematic diagram of the embodiment of the present invention；
Fig. 3 is the overall control block diagram of three-phase PWM inversion module of the embodiment of the present invention；
Fig. 4 is the i of the embodiment of the present inventiondThe vector block diagram of=0 control；
Fig. 5 controls electromagnetic power P for the embodiment of the present invention with pi regulatoreBlock diagram；
Fig. 6 is the overall control block diagram of the three-phase PWM rectification module of the embodiment of the present invention；
Fig. 7 sends schematic diagram for the standard MODBUS rtu protocols message of the embodiment of the present invention；
Fig. 8 sends schematic diagram for the MODBUS rtu protocols message after the improvement of the embodiment of the present invention；
Fig. 9 is the bit sequence under the MODBUS RTU patterns of the embodiment of the present invention；
Figure 10 is many typhoon electric converter networking structure figures of the embodiment of the present invention.
Embodiment
Embodiment：As shown in figure 1, being separate unit small-power wind electric converter structural representation, it includes three-phase PWM rectification mould
Block, three-phase PWM inversion module, driving computer module, control computer module, communication interface and power module；What blower fan was sent
Three-phase alternating current is rectified into direct current by three-phase PWM rectification module, is again converted to direct current by three-phase PWM inversion module
The alternating voltage of identical with power network voltage class and frequency, is transmitted its energy on power network；Driving computer module is used to export arteries and veins
Wide modulated signal (PWM), control three-phase PWM rectification module and three-phase PWM inversion module；Computer module is controlled to be used to control to drive
Computer module and corresponding relay, gather real-time parameter and real-time parameter are passed through into communication interface according to MODBUS rtu protocols
Host computer is sent to, while receiving the system core parameter of host computer；Power module is used for for driving computer module and controlled micro-
Machine module for power supply；Touch pad can be operated to control computer module, including start, shutdown and numbering setting；
Described three-phase PWM rectification module is made up of 6 transistors, and upper and lower bridge arm difference is each to use three insulated gate bipolars
Transistor npn npn (IGBT), the three-phase electricity that magneto alternator is drawn first passes around EMC modules, then be connected to three-phase PWM rectification
On the midpoint of three groups of bridge arms of module, the three-phase alternating current for blower fan to be sent is rectified into direct current；
Described three-phase PWM inversion module is made up of six insulated gate bipolar transistors (IGBT), upper and lower bridge arm difference
It is each to use three insulated gate bipolar transistors (IGBT)；
The blower fan is direct drive permanent magnetic synchronous generator；
The TMS320X2812DSP that described driving computer module is produced with Texas Instrument, three-phase is responsible for using its EV module
The generation of PWM rectification modules and three-phase PWM inversion module pwm signal；
The TMS320X2808DSP that described control computer module is produced with Texas Instrument, is responsible for whole system operation, protects
Shield, the collection of real-time parameter, and communicated by communication interface with host computer；
Described communication interface is located on control computer module, and communication interface can use RS232 or RS485, and upper
Machine carries out serial communication；
Described power module is connected with grid side, for being that driving computer module and control computer module provide electric energy.
Below, mathematical modeling of the permagnetic synchronous motor under different coordinates is will be described in detail, three-phase PWM rectification module
Control strategy, the control strategy of three-phase PWM inversion module, MPPT maximum power point tracking (MPPT) control strategy, illustrated with this be
The importance for each parameter that system key parameter is included, when system core Parameter adjustable, small-power wind electric converter can be matched
The magneto alternator of different model.
1st, model of the permagnetic synchronous motor in three-phase static coordinate system
Fig. 2 is the two poles of the earth permanent magnetic synchronous motor structure schematic diagram, A-X, B-Y, C-Z represent respectively the three-phase of stator around
Group, their locus fix and each other differ 120 °, A phase windings be stator stationary reference axis, it is assumed that rotor flux ψf
Angle is θ between stator A axles, and θ is power angle.
The symmetrical current that three-phase frequency is f is passed in three-phase stator winding respectively, then stator field produces synchronous rotational speedP is the number of pole-pairs of synchronous motor in formula.Stator voltage equation is：
In formula, usA、usB、usCFor three-phase stator winding voltage；Rs is per phase winding resistance；isA、isB、isCFor stator three-phase
Winding current；ψsA、ψsB、ψsCFor the magnetic linkage of three-phase stator winding linkage.
In stator voltage equation, total flux linkage of the stator per phase winding is the self-inductance magnetic linkage of itself and other windings and rotor pair
Its mutual inductance magnetic linkage sum, stator magnetic linkage can be specifically expressed as：
Wherein, LAA、LBB、LCCIt is the every phase winding self-induction of stator, MAB=MBA、MAC=MCA、MBC=MCBFor between two phase windings
Mutual inductance, it is the function of rotor angular displacement；ψfA、ψfB、ψfCFor the every pole permanent magnet flux linkage of rotor of three-phase windings linkage.
Rotor flux is expressed as：
Wherein, ψfFor permanent magnet excitation magnetic linkage.
2nd, model of the three-phase permanent synchronous generator in dq coordinate systems
In three-phase static coordinate system, equivalent synchronous inductance Ls is not constant value, but the function of angle theta, therefore, often utilizing
Coordinate transform theory analyzes model of the magneto alternator under synchronous rotating frame.
Dq coordinates thought is theoretical using coordinate transform, and electric current under three-phase static coordinate system is projected and rotor synchronous rotary
Two phase coordinates in.After dq coordinate transforms, equivalent dq axles stator winding and rotor windings are geo-stationaries.Turning
In the case that speed is certain, voltage equation has reformed into linear differential equation, eliminates the problem of equivalent synchronous inductance changes with θ.
Sense of current according to the rules, it is d axle positive directions to take PM rotor center polar curve, and q axles are along rotor direction of rotation
Advanced 90 ° of d axles.Dq reference axis are rotatable coordinate axis, are to be in geo-stationary with rotor synchronous rotary, i.e. dq reference axis and rotor
State.The mathematical modeling that permagnetic synchronous motor under dq coordinate systems is obtained after coordinate transform is：
Stator magnetic linkage equation is in dq coordinate systems：
I in formulad、iqThe respectively d axles and q shaft currents of synchronous motor stator；ud、uqRespectively motor side d axles and q axles are electric
Pressure；Ld、LqFor dq axle synchronous inductances；ω is angular rate；ψd、ψqFor the d axles and q axis components of stator magnetic linkage；ψfFor rotor permanent magnet
Body magnetic linkage；P is motor number of pole-pairs.
According to torque equation
Te=1.5p (ψdiq-ψqid)
Flux linkage equations are substituted into：
Te=1.5p [ψfiq+(Ld-Lq)idiq]
Wherein p is motor number of pole-pairs.
It can be seen from torque equation, the torque of magneto alternator is controlled, it is necessary to know the key of motor
Parameter：Motor number of pole-pairs P, rotor permanent magnet magnetic linkage ψf, d axle inductances Ld, q axle inductances Lq。
3rd, three-phase PWM inversion module control strategy
The active and reactive power of net side is respectively under dq coordinates：
If the d axles in dq two-phase rotating coordinate systems are oriented on line voltage resultant vector E, advanced 90 ° of directions of d axles
Upper definition q axles, then have：
Then active power and reactive power expression formula are simplified to：
When active-power P be on the occasion of when represent three-phase PWM inversion module be in rectification state, it is necessary to from power network absorb energy
Amount；P is that negative value then represents that it is in inverter mode, and energy is fed back to power network.Reactive power Q be on the occasion of when represent that three-phase PWM is inverse
Become module in perception, absorb delayed reactive current；Q is that negative value then represents that it is in capacitive, and advanced idle electricity is absorbed from power network
Stream.
Active power is can be seen that only with d shaft currents i from the active and reactive power expression formula after above-mentioned simplificationdIt is relevant,
And reactive power is only with q shaft currents iqIt is relevant, so regulation id、iqHaving for three-phase PWM inversion module absorption can be just controlled respectively
Work(power and reactive power, realize the decoupling of active power and reactive power.
Fig. 3 is the overall control block diagram of three-phase PWM inversion module, and three-phase PWM inversion module control strategy is double-closed-loop control
Structure, includes the outer shroud and the given inner ring of reactive current of DC voltage, and inner ring is the double-closed-loop control of electric current loop.Outside voltage
The effect of ring is mainly the voltage of control voltage source type inverter direct-flow side, and outer voltage is mainly pressed in the effect of current inner loop
The current-order of output carries out current control.The reference value of q shaft currentsIt is by reactive power reference qref Q*Obtain, when idle
It is given as 0, i.e. Q*When=0,Now system reactive power is 0, and grid side power factor is 1.
4th, three-phase PWM rectification module control strategy
The purpose of three-phase PWM rectification module is the electricity that the frequency and amplitude for exporting magneto alternator are continually changing
Stream, the direct current of voltage constant, and PWM converter control permanent magnet synchronous wind generator fortune are converted into by PWM rectifier
OK, make its input current be sine wave, improve wind-driven generator operational efficiency, while can also by adjust stator current come
Control generator speed, it is ensured that wind energy conversion system operates in maximum power point, capture maximal wind-energy.
Fig. 4 is idThe vector block diagram of=0 control.In order to obtain more preferable control performance, the control for generator side is adopted
Use vector controlled.According to the electromagnetic torque equation under dq coordinate systems, electromagnetic torque TeBy isd、isqTwo components are together decided on.Work as d
Shaft current component isdWhen=0, now stator current resultant vector isBe oriented to q axles, stator current all for producing torque, from
And realize the torque capacity electric current ratio of motor.
By isd=0 substitutes into electromagnetic torque equation, then motor dq shaft currents reference value is respectively such as following formula：
The voltage equation of permagnetic synchronous motor is：
Fig. 5 is to control electromagnetic power P with pi regulatoreBlock diagram.The electromagnetic power P of permagnetic synchronous motore=TeΩ, its
Middle Ω is the mechanical angular speed of motor.When rotor field-oriented after, electromagnetic torque TeIt is directly proportional with q shaft current components, passes through control
Electromagnetic torque T of the q shaft currents component processed with regard to energy controlled motore, and then torque and the electromagnetic power P of controlled motore。
Fig. 6 is the overall control block diagram of three-phase PWM rectification module, and its control principle is：Using speed outer shroud, current inner loop
Double-closed-loop control structure, wherein outer shroud angular speed reference value ω*It is to combine MPPT maximum power point tracking algorithm (MPPT), can be with
Generator is set to work in the maximum power point of corresponding wind speed in steady-state operation.Reference velocity ω*With the motor speed of actual feedback
Degree compares, then passes through the reference value that pi regulator obtains q shaft currentsD shaft current reference valuesChangeJust can be with
Change generator torque and rotating speed, tracking optimal velocity ω*, generator is reached new steady s tate.
By the oriented control of rotor field, generator side realizes torque capacity minimum current and maximal efficiency minimum is damaged
The control of consumption, makes the power for being transported to DC side remain maximum output, and can export idle electricity by regulator generator
Stream adjusts the reactive power of output, adjusts power factor.
5th, MPPT maximum power point tracking (MPPT) control strategy
Wind energy is a kind of with randomness, the energy of unstability feature, in order to farthest obtain wind energy, the present invention
Use power signal feedback transmitter.Power signal feedback transmitter is to measure the rotational speed omega of wind energy conversion system, and according to wind energy conversion system most
High-power curve, calculates the peak power output P with the wind energy conversion system corresponding to the rotating speedmax, using it as wind energy conversion system output
Power set-point P*, and the margin of error is obtained compared with the observation P of generated output power, wind energy conversion system is entered by adjuster
Row control, to realize the tracing control to maximum power point.
According to formula P=T Ω, and electromagnetic torque T and q shaft current components i as previously describedsqIt is directly proportional, therefore in reality
It is to be converted into corresponding rotational speed omega and q shaft current components when carrying out MPPT maximum power point tracking control using power signal feedback transmitter
isqIt is used as given reference value.In actual use MPPT curves, can there are two types, i.e. power and speed curves P/n or work(
Rate and frequency curve P/f.
When using power with speed curves P/n, rotary speed setting value ω*With q shaft current component set-points isq *Calculate public
Formula：
Wherein P is the power in MPPT curves, and n is rotating speed, and p is motor number of pole-pairs, ψfFor rotor flux, ω is mechanical angle
Speed.
When using power with speed curves P/n, rotary speed setting value ω*With q shaft current component set-points isq *Calculate public
Formula：
Wherein f is the frequency corresponding to angular rate, and p is motor number of pole-pairs, ψfFor rotor flux, ω is mechanical angle speed
Degree.
From above-mentioned control strategy, in order to maximally utilise wind energy, it is ensured that wind-powered electricity generation reliability of operation, for straight
Drive type permanent magnet synchronous generator and corresponding small-power wind electric converter, each parameter that system core parameter is included is very heavy
Want.Meanwhile, wind-power electricity generation is due to affected by wind larger, therefore it is required that wind electric converter has certain Parameter adjustable,
So that under different application environments, wind electric converter utilizes the efficiency highest of wind energy.This require wind electric converter with it is upper
It can set up and real-time, effectively communicate between machine, in time transmission real-time parameter and system core parameter so that system operation is most
Rational state.
Below, specifically it will introduce based on the real-time parameter under MODBUS rtu protocols and system core parameter：
Fig. 7 show standard MODBUS rtu protocols message and sends schematic diagram, and MODBUS agreements data under RTU patterns are close
Degree is higher, there is higher throughput than ascii mode under identical baud rate.But data frame does not have under the RTU patterns of standard
There are bebinning character and termination character, but the idle interval for being at least 3.5 character times by duration is distinguished, this point is for string
Mouth communication, is very inconvenient and poorly efficient particularly with the control computer module of interruption form reception character.Therefore, the present invention is right
The MODBUS rtu protocol messages of standard are improved.
Fig. 8 show the MODBUS rtu protocols message after improving and sends schematic diagram, under standard MODBUS RTU patterns
Add start frame and end frame so that the starting and ending of message is very easy to judge, is easy to control computer module processing.Together
When, address frame can support 0-247 platform slave devices address, wherein 0 is broadcast address, when facilitating many typhoon electric converter networkings
The monitoring and control of host computer.
Fig. 9 show the bit sequence under MODBUS RTU patterns, in configured transmission, and the bit sequence of each byte is followed
RTU standard bit sequences, valid data position is 8, thus for the variable of 16, two bytes are split as in coding, high by 8
Position is preceding, and least-significant byte is rear.
Conventional data frame format is as follows, and all performance data frames are defined according to following form：
Real-time parameter includes two performance data frames, is system state amount data frame and operational parameter data frame respectively.System
State quantity data of uniting frame includes malfunction, off-load protection switch state, MPPT numberings, motor numbering, PI parameter states and electricity
Can statistics；Operational parameter data frame comprising grid side voltage, grid side electric current, mains frequency, motor side electric current, motor speed and
Busbar voltage.
System core parameter includes four performance data frames, is switching on and shutting down order data frame, MPPT maximum power point tracking respectively
Curve data frame, parameter of electric machine data frame and PI parameter settings data frames.
Switching on and shutting down order data frame includes switching on and shutting down command bit.
MPPT maximum power point tracking curve data frame includes MPPT Curve numberings, MPPT curve types and MPPT curve datas,
MPPT curve types can be power speed curves or power-frequency curve.
Parameter of electric machine data frame packet is containing motor numbering, number of pole-pairs, rated power, rated speed, rated current, d-axis electricity
Sense, quadrature axis inductance, stator phase resistance, rotor flux, rotary inertia, mechanical time constant, peak power, maximum (top) speed and maximum
Electric current.
PI parameter settings datas frame includes PI parameter states, busbar voltage ring P, busbar voltage ring I, current on line side ring P, net
Side electric current loop I, side currents ring P, side currents ring I, pusher side der Geschwindigkeitkreis P and pusher side der Geschwindigkeitkreis I.
The form of each performance data frame will be specifically introduced below：
(1) system state amount data frame
System state amount includes malfunction, off-load/protection switch state, MPPT Curve numberings, motor numbering and PI ginsengs
Number state, by form of the control computer module according to above-mentioned data frame, is sent to host computer in real time by communication interface, upper
Machine shows corresponding state again.
(2) operational parameter data frame
Operational factor is all the Single type variables of 16, and control computer module needs to be split as two byte transmissions, on
Position machine will be reconfigured after receiving.In addition, in order to ensure data accuracy, shaping number is converted the data into using appropriate calibration
According to transmission, host computer receive after again according to Scaling rules decoded back.Operational factor mainly includes grid side voltage, grid side
Electric current, mains frequency, motor side electric current, motor speed and DC bus-bar voltage.
(3) switching on and shutting down order data frame
Switching on and shutting down order is sent to control computer module by host computer, and control computer module controls whole according to corresponding instruction
The running status of individual wind electric converter.
(4) MPPT maximum power point tracking (MPPT) curve data frame
For small-power wind electric converter, MPPT maximum power point tracking (MPPT) curve is very important, and due to
The difference of blower fan actual motion environment and the parameter of electric machine, MPPT maximum power point tracking (MPPT) curve is also different.Accordingly, it would be desirable to
Suitable MPPT maximum power point tracking (MPPT) curve is transmitted to control computer module by host computer.MPPT curve datas amount is big,
If 25 groups of data are once sent, it will cause packet long, time-consuming for transmission, and the occupancy Installed System Memory time is long, causes it
He can not normally be performed task (especially timed task) so that the bit error rate can be greatly improved.Therefore 5 data frame sequences are splitted into
Send, 5 groups of data are sent per frame.MPPT maximum power point tracking (MPPT) curve can have two types：Power speed curves (P/n)
Or power-frequency curve (P/f), according to the formula in MPPT maximum power point tracking (MPPT) control strategy, final curves parameter will
It is completely converted into rotary speed setting value ω*With q shaft current component set-points isq *.MPPT maximum power point tracking (MPPT) curve setting is
The no MPPT successfully passed in system state amount data frame numbers to judge.
(5) parameter of electric machine data frame
In general, having multiple, and motor with the magneto alternator model that small-power wind electric converter matches
Parameter whole wind electric converter control in play an important role, therefore control computer module in, have corresponding function, can
To receive the change of the parameter of electric machine so that same wind electric converter is capable of the motor of compatible many different parameters.
The parameter of electric machine is also Single type variables, therefore also suitably to be calibrated as operational factor, is converted into
Shaping is sent.The motor whether parameter of electric machine setting is successfully passed in system state amount data frame numbers to judge.
(6) PI parameter settings datas frame
, it is necessary to busbar voltage ring PI, net side inverter current ring PI, side currents ring PI at the beginning of wind electric converter is run
Debugged with parameter, to obtain most suitable working condition.
Six above-mentioned performance data frames, both include control computer module and collect and feed back to the real-time ginseng of host computer
Number, also includes the system core parameter that control computer module is transmitted under host computer, these parameters can substantially meet civilian
The need for the debugging of small-power wind electric converter, operation.
Below, the realization of many typhoon electric converter networkings will specifically be introduced.
Figure 10 show many typhoon electric converter networking structure figures, and each typhoon electric converter is connected to existing by communication interface
Field bus and then it is attached with host computer.In actual use, RS485 can be selected as fieldbus, host computer conduct
Main equipment, each typhoon electric converter is used as slave unit.For civilian small-power Wind turbines and its wind electric converter, its power
Generally thousands of watts, while the wind electric converter number of networking is generally 5-10 platforms, the species of magneto alternator is generally
2-3 kinds.
Before each typhoon electric converter networking, it is both needed to, by the touch pad on each typhoon electric converter, setting be numbered, protects
Card is unique per the numbering of typhoon electric converter.Set numbering can as each typhoon electric converter address frame, just
Each typhoon electric converter is distinguished in host computer.Such as a shared N typhoon electric converters, then can respectively numbering No.1, No.2,
No.3 ..., No.N, corresponding address frame can be then 0x01,0x02,0x03 ..., 0x0N.When address frame is 0x00, then use
When broadcast, i.e. host computer send the data frame that address frame is 0x00, each typhoon electric converter can receive the data frame.
Realize that i-th (1≤i≤N) typhoon electric converter matches jth (1≤j≤k) class magneto alternator, it is only necessary to
By jth class system core parameter according to improved MODBUS rtu protocols, sent to the i-th typhoon electric converter and controlled by host computer
Computer module, control computer module is controlled according still further to foregoing three kinds of control strategies, you can complete the i-th typhoon electric converter
With jth class magneto alternator and trouble-free operation, realize that a kind of compatible a variety of permanent-magnet synchronous of wind electric converter generate electricity during networking
The function of machine.
Real-time monitoring of the host computer to each typhoon electric converter is realized, only needs each typhoon electric converter to adopt real-time parameter
After collection, set unique number is added according to improved MODBUS rtu protocols, and in address frame, is sent in real time supreme
Position machine, after host computer processing, can correspond to certain specific typhoon electric converter using address frame number and show its real-time parameter.
Control of the host computer to the i-th typhoon electric converter is realized, only need to be by control instruction according to agreement, and in address frame
The numbering of the i-th typhoon electric converter of interior addition, you can send to the i-th typhoon electric converter and control computer module, controls microcomputer mould
Block can take corresponding operating.The control instruction includes start, shutdown and urgent protection.
It should be pointed out that for the present invention through absolutely proving, can also have the embodiment of a variety of conversion and remodeling,
It is not limited to the specific embodiment of above-mentioned embodiment.Above-described embodiment is as just explanation of the invention, rather than limits.
In a word, protection scope of the present invention should include those obvious conversion or replacements to those skilled in the art
And remodeling.
Claims (1)
1. method for real-time monitoring during a kind of small-power wind electric converter networking, it is characterised in that：This method will be by many small work(
Rate wind electric converter sends the system for sending at most platform small-power wind electric converter to the real-time parameter of host computer and host computer and closed
Bond parameter and control instruction, according to improved MODBUS rtu protocols, between many small-power wind electric converters and host computer
Communicated；
The small-power wind electric converter includes three-phase PWM rectification module, three-phase PWM inversion module, driving computer module, control
Computer module, communication interface, touch pad and power module, its one end connection magneto alternator, other end connection power network；Institute
State the generation that driving computer module is responsible for three-phase PWM rectification module and three-phase PWM inversion module pwm signal；The control microcomputer
Module is responsible for whole system operation, protection, the collection of real-time parameter, and is connected to fieldbus, Jin Eryu by communication interface
Host computer is communicated；The touch pad can be operated to control computer module, including start, shutdown and numbering setting；
The method for real-time monitoring comprises the following steps：
(1) vector controlled is used for the three-phase PWM rectification module of each typhoon electric converter generator side, its control principle is
Using speed outer shroud, the double-closed-loop control structure of current inner loop, the step is realized by following sub-step：
(i) actual three-phase current i is measured using current Hall sensorsa、isb、isc, rotor-position signal is measured with reference to encoder
θ, is that can obtain the d shaft current components i under dq coordinates using coordinate transformsdWith q shaft current components isq；
(ii) real electrical machinery angular velocity omega is measured by encoder；Optimal reference angular velocities ω*It is to combine MPPT maximum power point tracking to calculate
Method, can make generator work in the maximum power point of corresponding wind speed in steady-state operation；
(iii) optimal reference angular velocities ω is passed through*Obtained compared with the real electrical machinery angular velocity omega of feedback, then by pi regulator
To q shaft current component reference valuesD shaft current component reference valuesSo that electric current is completely used for producing electromagnetic torque；
(iv) changeValue, so as to change generator torque and rotating speed, track optimal reference angular velocities ω*, reach generator
New steady s tate；
(2) the three-phase PWM inversion module control strategy for each typhoon electric converter grid side is the active solution with reactive power
Coupling is controlled, and using the outer shroud and the given inner ring of reactive current of double-closed-loop control structure, including DC voltage, the step passes through
Following sub-step is realized：
(i) actual three-phase current i is measured using current Hall sensora、ib、ic, line voltage phase is measured with reference to resonant mode PLL
Parallactic angle θ1, it is that can obtain the actual current i under dq coordinates using coordinate transformd、iq；
(ii) outer voltage is used for the voltage of control voltage source type inverter direct-flow side, DC voltage reference valueWith reality
Voltage UdcCompare, then d shaft current reference values are obtained by pi regulator
(iii) q shaft currents reference valueIt is by reactive power reference qref Q*Obtain, 0, i.e. Q are given as when idle*When=0,Now system reactive power is 0, and grid side power factor is 1；
(3) MPPT maximum power point tracking algorithm uses power signal feedback transmitter, and power signal feedback transmitter is to measure wind energy conversion system
Real electrical machinery angular velocity omega, and according to the peak power curve of wind energy conversion system, calculate and the wind energy conversion system corresponding to the rotating speed
Peak power output Pmax, using it as wind energy conversion system power output set-point P*, and with the observation P of generated output power
Compare and obtain the margin of error, wind energy conversion system is controlled by adjuster, to realize the tracing control to maximum power point, the step
Suddenly realized by following sub-step：
(i) according to formula P=T Ω, and electromagnetic torque T and q shaft current components isqIt is directly proportional, therefore in actual use power letter
It is to be converted into corresponding optimal reference angular velocities ω when number feedback transmitter carries out MPPT maximum power point tracking control*With q shaft current components
Reference valueIt is used as given reference value；In actual use peak power curve, can there are two types, i.e. power bent with rotating speed
Line P/n or power and frequency curve P/f；
(ii) when using power with speed curves P/n, optimal reference angular velocities ω*With q shaft current component reference values isq *Calculate
Formula：
Wherein P is the power in peak power curve, and n is rotating speed, and p is motor number of pole-pairs, ψfFor rotor flux；
(iii) when using power with frequency curve P/f, optimal reference angular velocities ω*With q shaft current component reference values isq *Calculate
Formula：
Wherein P is the power in peak power curve, and f is the frequency corresponding to angular rate, and p is motor number of pole-pairs, ψfFor rotor
Magnetic linkage；
(4) three of the above control strategy is based on, the system core parameter of each typhoon electric converter is obtained：
(i) peak power curve, specifically includes power and speed curves P/n and power and two kinds of forms of frequency P/f；
(ii) parameter of electric machine, specifically includes motor number of pole-pairs p, rated power P, rated speed n, rated current I, d-axis inductance Ld、
Quadrature axis inductance Lq, stator phase resistance RsWith rotor flux ψf；
(iii) PI parameters, specifically include DC bus-bar voltage ring PI, net side inverter current ring PI, side currents ring PI and pusher side
Der Geschwindigkeitkreis PI；
(5) using the control computer module of each typhoon electric converter, the real-time ginseng of monitoring required for each typhoon electric converter is gathered
Number, the real-time parameter includes grid side voltage, grid side electric current, mains frequency, motor side electric current, motor speed, bus electricity
Pressure；
(6) transmission of the real-time parameter of each typhoon electric converter, system core parameter and control instruction is using improved
MODBUS rtu protocols, i.e., with reference to having the advantages that special start frame and end frame under MODBUS ASCLL patterns, by standard
Under MODBUS RTU patterns >=3.5 character as judge beginning and end condition remove, be changed to increase start frame in messages
And end frame, it is easy to serial communication, its data frame format is as follows：
(7) before per typhoon electric converter networking, it is both needed to, by its touch pad, setting be numbered, it is ensured that per typhoon electric converter
Numbering be it is unique, it is described numbering as each typhoon electric converter in step (6) address frame, be easy to host computer to distinguish each
Wind electric converter；
(8) to realize that the i-th typhoon electric converter matches jth class magneto alternator, 1≤i≤N, 1≤j≤K, it is only necessary to will
Jth class system core parameter is sent to the i-th typhoon electric converter by host computer according to the agreement in step (6) and controls microcomputer mould
Block, control computer module is controlled according still further to the control strategy in step (1), (2) and (3), you can is completed the i-th typhoon electricity and is become
Device matching jth class magneto alternator is flowed, a kind of wind electric converter compatible a variety of magneto alternators during networking are realized
Function；
(9) real-time monitoring of the host computer to each typhoon electric converter is realized, each typhoon electric converter is only needed by step (5)
After real-time parameter collection, sent in real time to host computer according to the agreement in step (6), correspondence can be shown after host computer processing
The real-time parameter of wind electric converter；
(10) control of the host computer to the i-th typhoon electric converter is realized, only need to be by control instruction according to the agreement in step (6)
Send to the i-th typhoon electric converter and control computer module, control computer module can take corresponding operating；The control instruction bag
Include start, shutdown and urgent protection.
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| CN107064616B (en) * | 2017-05-03 | 2019-09-03 | 无锡和晶智能科技有限公司 | A kind of compressor realtime power determines method |
| US10707789B2 (en) | 2017-05-12 | 2020-07-07 | General Electric Company | Adaptive current damping module for improved power converter control in wind turbine systems |
| CN108561278B (en) * | 2018-04-09 | 2020-01-21 | 北京中清智辉能源科技有限公司 | Wind-powered electricity generation field computer monitored control system |
| CN110334039B (en) * | 2019-07-03 | 2020-12-29 | 山东职业学院 | RJ11 changes RJ45 converter |
| CN110572308A (en) * | 2019-09-09 | 2019-12-13 | 西安奇点能源技术有限公司 | Distributed high-real-time ring network communication system |
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