CN106451470B - The grid-side converter control method of double feedback electric engine when unbalanced source voltage - Google Patents
The grid-side converter control method of double feedback electric engine when unbalanced source voltage Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
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Abstract
The present invention relates to a kind of grid-side converter control methods of double feedback electric engine when unbalanced source voltage, according to the double current loop modulation of grid side converter in the case of unbalanced source voltage (GSC) inner ring, its positive-negative sequence model is established, and calculates the current on line side reference value under different control targets；Dissipation Hamilton (PCHD) model based on Port-Controlled has devised GSC Passive Shape Control device using interconnection and assignment of damping passive coherent locating (IDA-PBC) method；For electric current loop in controller, there are the uncertain factors such as Parameter Perturbation, interference, it joined the state observer based on internal model control (IMC) on the basis of Passive Shape Control, by pole-assignment optimized observer parameter, the compensation control to electric current is realized, so that electric current steady-sxtate wave motion becomes smaller.Compared with prior art, the present invention has many advantages, such as theoretical advanced, rapid dynamic response speed, strong robustness.
Description
Technical field
The present invention relates to a kind of nets of double feedback electric engine when distributed generation technology, in particular to a kind of unbalanced source voltage
Side converter control method.
Background technique
With the increase that Wind turbines influence stability of power system, guarantee the wind-powered electricity generation when network voltage occurs uneven
Off-grid operation is not particularly important unit.Dual-feed asynchronous wind power generator (the Doubly Fed in numerous wind-driven generators
Induction Generator, DFIG) it is used widely with the cost of its relative moderate.The rotor of DFIG uses two
Pwm converter, i.e. rotor-side converter (Rotor-Side Converter, RSC) and grid side converter (Grid-Side
Converter, GSC).Since two converters are connected by intermediate DC bus with bulky capacitor, net can be passed through
Side converter realizes the independent decoupling control of net side, obtains it and controls target, improves control quality.4th phase " power train in 2014
System automation " in " PCHD of doubly-fed wind turbine grid-side converter modeling is controlled with IDA-PB " text propose according to duplex feeding
The physical model of machine introduces dissipation Hamilton (the Port-Controlled Hamilton with based on Port-Controlled
Dissipation, PCHD) model Passive Shape Control (Passivity-based Control, PBC) method, this method have ring
Answer that speed is fast, strong robustness, system structure are simple, explicit physical meaning, the advantages that being easily achieved.However, Passive Shape Control be
Ignore inductance in route, disturb in resistance parameter perturbation, rectifier exist and establish in the case of disturbing outside, therefore is simple mutual
Connection and damping configuration Passive Shape Control strategy will receive influence to the control effect of grid side converter.
Summary of the invention
The present invention be directed to dual-feed asynchronous wind power generator Passive Shape Control there are the problem of, propose a kind of network voltage not
The grid-side converter control method of double feedback electric engine when balance is reducing unbalanced electric grid voltage to RSC using Passive Shape Control strategy
The influence of system improves while passing through service ability of RSC system unbalanced electric grid voltage, is able to suppress system parameter perturbation
With the uncertain factors such as interference to the adverse effect of current on line side.
The technical solution of the present invention is as follows: when a kind of unbalanced source voltage double feedback electric engine grid-side converter control method,
The rotor of double feedback electric engine uses two convertor controls of rotor-side converter and grid side converter, and two converters pass through centre
DC bus is connected with bulky capacitor, and grid-side converter control is controlled using PID outer voltage, and current inner loop uses IMO internal model
The control method that observer is combined with Passive Shape Control device, specifically includes: after the output of the PID controller of outer ring Voltage loop with direct current
Busbar voltage is multiplied to obtain average active power component Pg0, with average reactive power component Qg0Together using 3 kinds of control targets
It calculates, obtains the reference value of inner ring electric current loop current on line sideIt is input in Passive Shape Control device；
Voltage on line side, electric current instantaneous value after positive-negative sequence separates, obtained positive-negative sequence current value passes through IMO internal model
Inner ring current compensation amount is calculated in observer；For the instantaneous value of current on line side after positive-negative sequence separates, obtained positive-negative sequence is electric
The reference value of flow valuve and inner ring electric current loop current on line sideIt is sent into Passive Shape Control device together, in the IMO of current inner loop
Mould observer and Passive Shape Control device control respective positive and negative sequence component in positive and negative double synchronous rotating frames respectively, so that respectively
The positive and negative sequence component of electromagnetic quantities becomes DC quantity in respective coordinate system and is controlled；
3 kinds of control targets be respectively 1) net side input active power contain only DC component；2) the idle function of net side input
Rate contains only DC component；3) electric current of net side input is free of negative sequence component.
The Passive Shape Control device is on the basis of the dissipation Hamilton PCHD model of Port-Controlled, using interconnection and damping point
It is designed with passive coherent locating method, design premises condition are as follows:
A: system capacity increases synthesis and is always less than system capacity dissipation summation, i.e. system has dissipativeness；
B: system is to dissipate, and meet input Strictly passive control and output Strictly passive control, then system is Strictly passive control.It is fixed
The mathematical model of adopted grid-side converter are as follows:
Lgpqgp+Cgpqgp+Rgpqgp=ugp
Wherein,
Wherein RgFor line impedance and inductance equivalent series resistance summation, LgFor filter inductance, ω is synchronized angle speed
Degree,WithRespectively positive-sequence component is on rotating forward coordinate system d axis and q axis
Voltage on line side component, grid-side converter exchange side component of voltage, grid-side converter ac-side current component；WithIt is negative sequence component in the negative net side electricity turned on coordinate system d axis and q axis
Component, grid-side converter is pressed to exchange side component of voltage, grid-side converter ac-side current component；
Take the energy function H of systemgpAre as follows:
LgpPositive definite symmetric matrices in system capacity function,
It takesWith
Subscript T is transposition, and subscript -1 is inverse of a matrix, and getting ready above is to its derivation；
Obtain the PCHD model of power grid net side positive sequence are as follows:
In formula: JgpFor interconnection matrix,For antisymmetric matrix；For dissipative matrix,For the symmetrical matrix of positive definite；
Similarly, the negative PCHD model for turning negative sequence component under synchronous rotating frame is obtained are as follows:
Due to new and old interconnection matrix structure conservation, the new interconnection matrix and damping matrix of injection is taken to be respectively as follows:
To interconnect coefficient；r1 gpAnd r2 gpFor damped coefficient, when they are nonnegative number and are different
It is 0.
There are Parameter Perturbations, interference uncertain factor for electric current loop in controller for the IMO internal model observer, passive
It joined the state observer based on internal model control on the basis of control, by pole-assignment optimized observer parameter, realize
Compensation control to electric current；
Rewrite the mathematical model of grid-side converter are as follows:
Wherein, the increased interference quantifier of above formula may be expressed as:
For immeasurable disturbance；ΔLg=Lg-Lg0, Δ Rg=Rg-Rg0Respectively system actual parameter value Lg、Rg
With filter inductance rated value Lg0, line equivalent series resistance rated value Rg0Between deviation；
The beneficial effects of the present invention are: the grid-side converter controlling party of double feedback electric engine when unbalanced source voltage of the present invention
Method realizes the compensation control to electric current, so that electric current steady-sxtate wave motion becomes smaller.Compared with prior art, the present invention has theory
The advantages that advanced, rapid dynamic response speed, strong robustness.
Detailed description of the invention
Fig. 1 is the structural block diagram of grid side converter of the present invention；
Fig. 2 is net side converter control system functional block diagram under unbalance voltage of the present invention；
Fig. 3 is DC bus-bar voltage waveform diagram under 3 kinds of control strategies of the invention；
Fig. 4-1 is the network side current waveform figure of PID control of the present invention；
Fig. 4-2 is the current on line side wave figure of PBC of the present invention control；
Fig. 4-3 is IMO+PBC control strategy network side current waveform figure of the present invention；
Fig. 5-1 is net side active power waveform diagram under 3 kinds of control strategies of the invention；
Fig. 5-2 is net side reactive power waveform diagram under 3 kinds of control strategies of the invention；
Fig. 6 is the Uncertainty schematic diagram of IMO observer of the present invention estimation.
Specific embodiment
The present invention relates to the control strategy of the grid-side converter of double feedback electric engine in the case of unbalanced source voltage, this method bases
In internal model observer and Passive Shape Control strategy.Firstly, according to the electric current of grid side converter inner ring in the case of unbalanced source voltage
Double -loop control establishes its positive-negative sequence model, calculates the current on line side reference value under different control targets；Then, based on port by
Dissipation Hamilton (PCHD) model of control is had devised using interconnection and assignment of damping passive coherent locating (IDA-PBC) method
GSC Passive Shape Control device；Finally, for electric current loop in controller, there are the uncertain factors such as Parameter Perturbation, interference, in Passive Shape Control
On the basis of joined the state observer based on internal model control (IMC), by pole-assignment optimized observer parameter, realize
Compensation control to electric current, so that electric current steady-sxtate wave motion becomes smaller.
As shown in Figure 1, provided by the embodiment of the present invention when a kind of unbalanced source voltage double feedback electric engine net side unsteady flow
Device control method, in figure, ua、ub、ucFor network voltage, va、vb、vcSide voltage, R are exchanged for grid side converter GSCgFor route resistance
Anti- and inductance equivalent series resistance summation, LgFor filter inductance, ia、ib、icFor GSC input current, C is the capacitor of DC bus,
udcFor the voltage of DC bus, iloadThe electric current of RSC is flowed to for net side.Grid-side converter control method, i.e. outer voltage are still adopted
The control strategy for using IMO internal model observer proposed in this paper to combine with PBC Passive Shape Control with PID control, current inner loop.Outside
It is multiplied to obtain average active power component P with DC bus-bar voltage after the PID controller output of loop voltag ringg0, and it is averagely idle
Power component Qg0It is calculated together using 3 kinds of control targets, so that it may obtain the reference value of inner ring electric current loop current on line sideIt is input in PBC Passive Shape Control device.Voltage on line side, electric current instantaneous value after positive-negative sequence separates, obtain
Positive-negative sequence current value inner ring current compensation amount is calculated by IMO internal model observer.The instantaneous value of current on line side passes through
After positive-negative sequence separation, the reference value of obtained positive-negative sequence current value and inner ring electric current loop current on line sideIt send together
Enter Passive Shape Control device, current inner loop uses IMO+PBC Passive Shape Control device, they are respectively in positive and negative double synchronous rotating frames
(SRF) the respective positive and negative sequence component of control in, so that the positive and negative sequence component of each electromagnetic quantities becomes direct current in respective coordinate system
Amount, to facilitate control.Specific step is as follows:
Step S1: according to the double current loop modulation of unbalanced source voltage situation downconverter inner ring, its positive-negative sequence is established
Model calculates the current on line side reference value under different control targets.
Power grid transports to the instantaneous power S of grid-side converter under Voltage unbalance are as follows:
In formula: Pg0For average active power component, Pg2sin、Pg2cosFor 2 frequencys multiplication sine, cosine real power component；Qg0For
Average reactive power component；Qg2sin、Qg2cosFor 2 frequencys multiplication sine, cosine reactive power component；θ be coordinate system in rotor a axis with
The angular displacement of three-phase stator winding axis of reference A between centers；ω is synchronized angular speed.
It is organized into matrix form are as follows:
(1) target 1: net side input active power contains only DC component (Pg2sin=Pg2cos=0)
In formula:Respectively positive and negative order components turn on coordinate system d axis and q axis positive and negative
Command current value；WithRespectively positive-sequence component is rotating forward coordinate system d axis
Side component of voltage, grid-side converter ac-side current component are exchanged with the voltage on line side component on q axis, grid-side converter；WithIt is negative sequence component in the negative net side electricity turned on coordinate system d axis and q axis
Component, grid-side converter is pressed to exchange side component of voltage, grid-side converter ac-side current component；D3、D4It is respectively as follows:
(2) target 2: the reactive power of net side input contains only DC component (Qg2sin=Qg2cos=0)
(3) electric current of control 3 net side of target input is free of negative sequence component
Step S2: dissipation Hamilton (PCHD) model based on Port-Controlled, using interconnection and the control of assignment of damping passivity
(IDA-PBC) method of system, designs GSC Passive Shape Control device, precondition are as follows:
1) system capacity increases comprehensive always less than system capacity dissipation summation, i.e. system has dissipativeness；
2) system is to dissipate, and meet input Strictly passive control and output Strictly passive control, then system is Strictly passive control.
Each physical quantity is all the reflection of energy variation in system, as long as the energy of system is controlled, the physical quantity of system
Just it is controlled.Passive Shape Control theory is the Non-Linear Control Theory started with from the energy of system, and more traditional control strategy is more
Close to the physical model of double feedback electric engine, conducive to the global stability of the system of realization.
Define the mathematical model of grid-side converter are as follows:
Lgpqgp+Cgpqgp+Rgpqgp=ugp
Wherein,
Take the energy function H of systemgpAre as follows:
LgpPositive definite symmetric matrices in system capacity function,
It takesWith
Subscript T is transposition, and subscript -1 is inverse of a matrix, and getting ready above is to its derivation.
The PCHD model of DFIG net side (power grid net side) positive sequence can be obtained are as follows:
In formula: JgpFor interconnection matrix,For antisymmetric matrix；For dissipative matrix,For the symmetrical matrix of positive definite.
Similarly, the available negative PCHD model for turning negative sequence component under synchronous rotating frame are as follows:
Due to new and old interconnection matrix structure conservation, the new interconnection matrix and damping matrix of injection is taken to be respectively as follows:
To interconnect coefficient；r1 gpAnd r2 gpFor damped coefficient, when they are nonnegative number and are different
It is 0, value principle are as follows: make controller architecture simple as far as possible in the case where meeting system passive.
Step S3: for electric current loop in controller, there are the uncertain factors such as Parameter Perturbation, interference, on Passive Shape Control basis
On joined the state observer based on internal model control (IMC), by pole-assignment optimized observer parameter, realize to electricity
The compensation of stream controls, so that electric current steady-sxtate wave motion becomes smaller；
Rewrite the mathematical model of grid-side converter are as follows:
Wherein, the increased interference quantifier of above formula may be expressed as:
For immeasurable disturbance；ΔLg=Lg-Lg0, Δ Rg=Rg-Rg0Respectively system actual parameter value Lg、Rg
With filter inductance rated value Lg0, line equivalent series resistance rated value Rg0Between deviation.
The DFIG net side presented above combined based on IMO and PBC is become in MATLAB/Simulink emulation platform
The feasibility of the positive and negative sequence controlling method of parallel operation has carried out simulation study.System emulation parameter value are as follows: the master of double feedback electric engine DFIG
Parameter value is wanted to be shown in Table 1；Internal model observer (IMO) parameter are as follows: Δ Rg=0.2 δ Rg0, Δ Lg=0.2 δ Lg0, εq=εd=5 δ, (its
Middle δ is 0 mean value, and amplitude is uniformly distributed random noise for ± 1.0)；It is further simplified on the basis of meeting system Strictly passive control
Controller architecture is chosen: damped coefficientInterconnect coefficient J12=J11=J22=0；Outer ring Voltage loop
Pid control parameter are as follows: kp=0.05, ki=25, kd=0；Given unbalance voltage is that a phase falls 10%.
Table 1
In order to illustrate the superiority of this method, the outer ring Voltage loop of GSC is controlled using the PID of identical parameter herein
System, but control proposed in this paper, PBC Passive Shape Control, traditional 3 kinds of sides of PID control have been respectively adopted to the inner ring electric current loop of GSC
Method carries out simulation comparison, and 3 kinds of different control targets are realized in different periods, in which:
1) it t=0~0.2s: is run according to control target 1 is lower, to eliminate 2 frequency multiplication of net side active power；
2) it t=0.2~0.4s: is run according to control target 2 is lower, to eliminate 2 frequency multiplication of net side reactive power；
3) it t=0.4~0.6s: is run according to control target 3 is lower, to eliminate current on line side negative sequence component.Specific experiment effect
Fruit are as follows:
Fig. 3 is DC bus-bar voltage waveform under 3 kinds of control strategies.As seen from the figure, in Voltage unbalance, selection control
When target 1 processed, under traditional PID control strategy, DFIG DC bus-bar voltage in 0.05s reaches stationary value, and in Passive Shape Control
It is just stable with 0.01s under the control strategy of this paper；In the case where controlling target 2,3, this paper control strategy is compared with traditional PID control and PBC
Passive Shape Control, concussion is small, and waveform is more smooth.Therefore, the dynamic responding speed of control strategy mentioned herein faster, it is anti-dry
It is stronger to disturb ability.
Fig. 4-1, the current waveform that 4-2,4-3 are net side under 3 kinds of control strategies.As seen from the figure, it controls under target 1, uses
Traditional PID control strategy, current on line side value overshoot within 0~0.05s time is larger, easily leads to converter saturation, and passive
Control and this paper control strategy non-overshoot；When controlling target 2,3 kinds of control strategy effects are similar；It is traditional when controlling target 3
Under PID control strategy, when current on line side 0.5s, reaches relative equilibrium, and 0.4s is flat under Passive Shape Control and the control strategy mentioned herein
Weighing apparatus, but a phase current still has with respect to b, c phase and slightly falls in Passive Shape Control strategy.Therefore, the control strategy mentioned herein is in dynamic
It has a clear superiority in terms of response speed and stability.
Fig. 5 is net side power waveform under 3 kinds of control strategies.Table 2 is to use 3 kinds of control plans under 3 kinds of different control targets
The ratio table of active and reactive 2 multiplied frequency harmonic flutter component and mean power when slightly.By Fig. 5-1,5-2 and table 2 as it can be seen that controlling
Under target 1,2,3, controlled compared to traditional PID control, PBC, under the control strategy mentioned herein when active and reactive stabilization
Between, overshoot and harmonic content it is smaller.Therefore, the net side power of control strategy presented here is better than preceding two on control performance
Kind control strategy.
Table 2
Fig. 6 is the obtained Uncertainty estimated value of IMO observerWithIt can by Fig. 6
See, IMO observer is compensated estimated value to electric current loop, by the Uncertainty of estimation GSC system with PBC Passive Shape Control strategy
It combines, while improving reaction speed, current ripples and DC bus-bar voltage steady-state error have decline.Therefore, it emulates
As a result illustrate that IMO observer can realize current compensation well, inhibit current ripples.
Claims (3)
1. the rotor of the grid-side converter control method of double feedback electric engine when a kind of unbalanced source voltage, double feedback electric engine uses rotor
Two convertor controls of side converter and grid side converter, two converters are connected by intermediate DC bus with bulky capacitor
It connects, which is characterized in that grid-side converter control is controlled using PID outer voltage, and current inner loop uses IMO internal model observer and nothing
The control method that source controller combines, specifically includes: after the output of the PID controller of outer ring Voltage loop with DC bus-bar voltage phase
It is multiplied to arrive average active power component Pg0, with average reactive power component Qg0It calculates, obtains using 3 kinds of control targets together
The reference value of inner ring electric current loop current on line sideIt is input in Passive Shape Control device；
Voltage on line side, electric current instantaneous value after positive-negative sequence separates, obtained positive-negative sequence current value is observed by IMO internal model
Inner ring current compensation amount is calculated in device；The instantaneous value of current on line side is after positive-negative sequence separates, obtained positive-negative sequence current value
With the reference value of inner ring electric current loop current on line sideIt is sent into Passive Shape Control device together, the IMO internal model of current inner loop is seen
Device and Passive Shape Control device are surveyed, respective positive and negative sequence component is controlled in positive and negative double synchronous rotating frames respectively, so that each electromagnetism
The positive and negative sequence component of amount becomes DC quantity in respective coordinate system and is controlled；
3 kinds of control targets be respectively 1) net side input active power contain only DC component；2) reactive power of net side input
Contain DC component；3) electric current of net side input is free of negative sequence component.
2. according to claim 1 when unbalanced source voltage double feedback electric engine grid-side converter control method, feature exists
In, the Passive Shape Control device on the basis of dissipation Hamilton PCHD model of Port-Controlled, using interconnection and assignment of damping without
Source property design of control method, design premises condition are as follows:
A: system capacity increases synthesis and is always less than system capacity dissipation summation, i.e. system has dissipativeness；
B: system is to dissipate, and meet input Strictly passive control and output Strictly passive control, then system is Strictly passive control, definition
The mathematical model of grid-side converter are as follows:
Lgpqgp+Cgpqgp+Rgpqgp=ugp
Wherein,
Wherein RgFor line impedance and inductance equivalent series resistance summation, LgFor filter inductance, ω is synchronized angular speed,WithRespectively positive-sequence component is on rotating forward coordinate system d axis and q axis
Voltage on line side component, grid-side converter exchange side component of voltage, grid-side converter ac-side current component；WithIt is negative sequence component in the negative net side electricity turned on coordinate system d axis and q axis
Component, grid-side converter is pressed to exchange side component of voltage, grid-side converter ac-side current component；
Take the energy function H of systemgpAre as follows:
LgpPositive definite symmetric matrices in system capacity function,
It takesWith
Subscript T is transposition, and subscript -1 is inverse of a matrix, and getting ready above is to its derivation；
Obtain the PCHD model of power grid net side positive sequence are as follows:
In formula: JgpFor interconnection matrix,For antisymmetric matrix；For dissipative matrix,For
The symmetrical matrix of positive definite；
Similarly, the negative PCHD model for turning negative sequence component under synchronous rotating frame is obtained are as follows:
Due to new and old interconnection matrix structure conservation, the new interconnection matrix and damping matrix of injection is taken to be respectively as follows:
To interconnect coefficient；WithFor damped coefficient, they are nonnegative number and are not simultaneously
0。
3. according to claim 2 when unbalanced source voltage double feedback electric engine grid-side converter control method, feature exists
In there are Parameter Perturbations, interference uncertain factor for electric current loop in controller for the IMO internal model observer, in Passive Shape Control
On the basis of joined the state observer based on internal model control, by pole-assignment optimized observer parameter, realize to electricity
The compensation of stream controls；
Rewrite the mathematical model of grid-side converter are as follows:
Wherein, the increased interference quantifier of above formula may be expressed as:
For immeasurable disturbance；ΔLg=Lg-Lg0, Δ Rg=Rg-Rg0Respectively system actual parameter value Lg、RgWith filter
Wave inductance rated value Lg0, line equivalent series resistance rated value Rg0Between deviation；
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