CN106452263A - Extended active power-based sliding mode variable structure direct power control (DPC) method for DFIG in unbalanced power grid - Google Patents
Extended active power-based sliding mode variable structure direct power control (DPC) method for DFIG in unbalanced power grid Download PDFInfo
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Abstract
The invention discloses an extended active power-based sliding mode variable structure direct power control (DPC) method for a DFIG in an unbalanced power grid. Extended active power is provided on the basis of a mathematical model of the DFIG in the unbalanced power grid, the extended active power and conventional reactive power are taken as control objects, a sliding mode variable structure algorithm and a DPC technology are combined, and an improved extended active power-based sliding mode variable structure DPC strategy is further provided. According to the method, the DFIG in the unbalanced power grid can be effectively controlled to obtain stable electromagnetic torque and reactive power as well as sinusoidal stator current on the premise of no positive and negative sequence separation of the voltage and current of the power grid; control can be systematically implemented simply without monitoring the frequency of the voltage of the power grid in real time by a phase-locked loop.
Description
Technical field
The invention belongs to motor control technology field is and in particular to DFIG is based on expansion wattful power under a kind of unbalanced power grid
The sliding moding structure direct Power Control method of rate.
Background technology
Modern wind electricity generation system mainly adopts double fed induction generators and magneto alternator two types, for improving
Generating efficiency, all using the variable speed constant frequency generator method of operation.Wherein, at most, technology is for double fed induction generators (DFIG) application
For maturation, it is current mainstream model.DFIG system architecture, as shown in figure 1, DFIG can achieve that variable speed constant frequency controls, reduces conversion
The capacity of device, also can achieve active, idle uneoupled control, and the flexibility of this Power Control is highly beneficial to electrical network.However,
Under unbalanced power grid, because the stator side of DFIG and electrical network are joined directly together, the runnability of DFIG can be greatly affected, because
This, research improvement control strategy under unbalanced power grid for the DFIG has great importance.
Vector controlled (VC) is all the main flow control strategy of dual feedback wind power generation system for a long time.VC passes through two PI controls
Device processed carries out uneoupled control to active reactive electric current respectively, has excellent steady-state behaviour, but due to integral element exist delayed
Effect, the dynamic property of VC is simultaneously not fully up to expectations.For improvement control strategy under unbalanced power grid for the VC, scholar is had to propose
A kind of improvement strategy respectively positive- and negative-sequence currents being controlled using two groups of PI controllers.However, entering to voltage, electric current
The detached process of row positive-negative sequence considerably increases the complexity of system, also can be to the control performance of system if separation is inaccurate
Cause to have a strong impact on.In recent years, direct Power Control strategy (DPC) is more and more paid close attention to by people, and it is direct to power
Effectively control and also more meet the requirement for wind generator system for the electrical network, have scholar to be directed to DPC under unbalanced power grid
Application, it is proposed that a kind of power back-off measure, by adding different compensation in value and power reference, can realize difference respectively
Control targe.However, the calculating process of power compensating value still needs and is just using voltage and current in this control strategy
Negative sequence component.Resonant controller (R) has the characteristic of larger gain due to it to the variable of CF, in unbalanced power grid
It is used widely in the research of lower improvement control strategy.In VC and DPC, have and mutually tied with R controller by PI controller
Close, respectively DC component and two frequency multiplication flutter components are implemented to control, to realize the effective control of DFIG under unbalanced power grid.So
And, in this control strategy, calculating of current reference value still needs the negative sequence component utilizing electric current.Can by above analysis
Know, under numerous unbalanced power grid, the research of the improvement control strategy of DFIG is all intended to based on line voltage, electric current positive-negative sequence at present
Detached, not only can increase the complexity of system, the accuracy for separation process also has larger dependence.Therefore, study
How not need under the premise of line voltage, electric current positive-negative sequence are detached, to realize the effective control of DFIG, DFIG is being existed
The development further of the improvement control strategy under unbalanced power grid is significant.
Content of the invention
In view of above-mentioned, the invention provides under a kind of unbalanced power grid, DFIG is based on the sliding moding structure expanding active power
Direct Power Control method, the positive-negative sequence without line voltage, electric current separates, and control structure very simple, can be in injustice
Stable electromagnetic torque, reactive power and sinusoidal stator current is realized under weighing apparatus electrical network.
A kind of sliding moding structure direct Power Control method based on expansion active power for the DFIG under unbalanced power grid, including
Following steps:
(1) gather the threephase stator voltage U of DFIGsabcWith threephase stator electric current Isabc, and DFIG is calculated by detection
Rotor angular frequencyrWith rotor position angle θr;
(2) respectively to described threephase stator voltage UsabcWith threephase stator electric current IsabcCarry out Clark conversion, correspondence obtains
Stator voltage vector U under static alpha-beta coordinate systemsαβWith stator current vector Isαβ;And then by described stator voltage vector UsαβStagnant
In a quarter cycle afterwards, obtain delayed stator voltage vector U'sαβ;
(3) to described stator voltage vector UsαβIt is integrated, obtain stator magnetic linkage vector ψsαβ;
(4) according to stator voltage vector Usαβ, delayed stator voltage vector U'sαβWith stator current vector IsαβCalculate
The expansion active-power P of DFIG stator outputs newAnd reactive power Qs;
(5) by described expansion active-power Ps newAnd reactive power QsCarry out sliding moding structure direct Power Control, from
And it is calculated the modulation voltage vector U of DFIGrαβ;
(6) utilize rotor position angle θ to described modulation voltage vector UrαβCarry out Park conversion, obtain rotor reference coordinate
Modulation voltage vector U under systemrdq, and then using SVPWM (space vector pulse width modulation) algorithm construction go out one group of pwm signal with
The machine-side converter of DFIG is controlled.
According to following formula to threephase stator voltage U in described step (2)sabcWith threephase stator electric current IsabcCarry out Clark
Conversion:
Wherein:UsαAnd UsβCorrespond to stator voltage vector Usαβα axle component and beta -axis component, IsαAnd IsβCorrespond to stator
Current phasor Isαβα axle component and beta -axis component, Usa、Usb、UscIt is respectively threephase stator voltage UsabcOn corresponding A, B, C three-phase
Phase voltage, Isa、Isb、IscIt is respectively threephase stator electric current IsabcPhase current on corresponding A, B, C three-phase.
According to following formula to stator voltage vector U in described step (3)sαβIt is integrated:
Wherein:ψsαAnd ψsβCorrespond to stator magnetic linkage vector ψsαβα axle component and beta -axis component, Usα(τ) and Usβ(τ) corresponding
For τ moment stator voltage vector Usαβα axle component and beta -axis component, t be system operation duration.
Calculate the expansion active-power P of DFIG stator output by below equation in described step (4)s newAnd reactive power
Qs:
Wherein:UsαAnd UsβCorrespond to stator voltage vector Usαβα axle component and beta -axis component, IsαAnd IsβCorrespond to stator
Current phasor Isαβα axle component and beta -axis component, U'sαAnd U'sβCorrespond to delayed stator voltage vector U'sαβα axle component
And beta -axis component.
It is based on below equation to expansion active-power P in described step (5)s newAnd reactive power QsCarry out sliding moding structure
Direct Power Control:
Wherein:UrαAnd UrβCorrespond to modulation voltage vector Urαβα axle component and beta -axis component, UsαAnd UsβCorrespond to stator
Voltage vector Usαβα axle component and beta -axis component, IsαAnd IsβCorrespond to stator current vector Isαβα axle component and beta -axis component,
U'sαAnd U'sβCorrespond to delayed stator voltage vector U'sαβα axle component and beta -axis component, ψsαAnd ψsβCorrespond to stator magnetic linkage
Vector ψsαβα axle component and beta -axis component, KpAnd KqCorrespond to extend the integral adjustment ginseng that active power and reactive power give
Number, KpsAnd KqsCorrespond to extend the switch function regulation parameter that active power and reactive power give,
LmRotor mutual inductance for DFIG, LrAnd LsIt is respectively inductor rotor and the stator inductance of DFIG,And QsrefIt is respectively given
Expansion active power reference value and reactive power reference qref, ep(τ) and eq(τ) corresponding to the τ moment extends active power and idle
The error amount of power, ω1For the angular frequency of line voltage, j=1 or 2, λjThe boundary value giving for switch function, t transports for system
Row duration.
According to following formula to modulation voltage vector U in described step (6)rαβCarry out Park conversion:
Wherein:UrαAnd UrβCorrespond to modulation voltage vector Urαβα axle component and beta -axis component, UrdAnd UrqCorrespond to modulate
Voltage vector UrdqD axle component and q axle component.
It is proposed that a kind of active power of expansion on the basis of the present invention is DFIG Mathematical Modeling under unbalanced power grid,
And using the active power of this expansion and traditional reactive power as control object, by sliding-mode variable structure algorithm and DPC technology
Combine, and then propose a kind of improved sliding moding structure direct Power Control strategy based on expansion active power;This
Bright method is under the premise of detached without line voltage electric current positive-negative sequence it is possible to realize DFIG effective under unbalanced power grid
Control, obtain the stator current of stable electromagnetic torque and reactive power and sine;Control system of the present invention realizes extremely letter
List is it is not necessary to phaselocked loop carries out real-time monitoring to the frequency of line voltage.
The expansion Power Theory proposing in the present invention, not only can be tied with sliding moding structure direct Power Control strategy phase
Close, can also be combined the improvement control strategy being formed under unbalanced power grid with multiple direct Power Control strategies.It controls thinks
Want that there is relatively broad applicability.
Brief description
Fig. 1 is the structural representation of DFIG system.
Fig. 2 is that the system of control method of the present invention realizes principle schematic.
Fig. 3 is the DFIG sliding moding structure direct Power Control system based on expansion active power for the present invention in stator voltage
The unidirectional steady-state response oscillogram fallen under 50% unbalanced power grid;Wherein, UsabcFor threephase stator voltage, IsabcFor three-phase
Stator current, IrabcFor three-phase rotor current, P is active power, and Q is reactive power, and Te is electromagnetic torque.
Fig. 4 is the DFIG sliding moding structure direct Power Control system based on expansion active power for the present invention in stator voltage
The unidirectional spectrum analysis figure falling the stator A phase current under 50% unbalanced power grid.
Specific embodiment
In order to more specifically describe the present invention, below in conjunction with the accompanying drawings and specific embodiment is to technical scheme
It is described in detail.
The system based on the DFIG sliding moding structure direct Power Control method expanding active power for the present invention realizes such as Fig. 2
Shown, DFIG1 that system includes a 2kW, the voltage source type converter 2 being connected with DFIG rotor windings, it is used for detecting DFIG
The voltage sensor 3 of stator three-phase voltage, for detecting the current Hall sensor 4 of DFIG stator three-phase current, be used for detecting
The encoder 12 of DFIG rotor position angle, obtain generating unit speed differentiator 11 and realize DFIG export active, reactive power
The control loop adjusting.Control loop is by feeding back signal processing channel and forward direction control passage is constituted, wherein forward direction control passage
Including SVPWM signal generator 5, Sliding mode variable structure control computing module 6, two-phase static/rotating coordinate transformation module 13;Feedback
Signal processing channel include for obtain the stator voltage in stator two-phase rest frame, stator current vector signal three
Phase/two-phase static coordinate conversion module 7, delayed stator voltage computing module 8, power computation module 9, flux linkage calculation module
10.
As shown in Fig. 2 DFIG sliding formwork direct Power Control method of the present invention comprises the following steps:
(1) three voltage hall sensors 3 are utilized to gather DFIG threephase stator voltage signal Usabc;Using three-phase current suddenly
You are sensor 4 collection threephase stator current signal Isabc;
(2) encoder 12 is adopted to detect the rotor position of DFIGr, then calculate rotor angular frequency through differentiator 11r;
(3) by the threephase stator collecting voltage signal UsabcWith threephase stator current signal IsabcArrive through static three-phase
Two-phase coordinate transformation module 7, obtains the stator voltage vector U under stator coordinatesαβWith stator current vector Isαβ;With stator electricity
As a example pressure, from static three-phase, the expression formula to two-phase coordinate transform is:
(4) by the stator voltage vector collecting UsαβThrough delayed stator voltage computing module 8, by its delayed four
In/mono- cycle, obtain delayed stator voltage vector U'sαβ;
(5) by the stator voltage vector collecting UsαβThrough flux linkage calculation module 10, obtain stator magnetic linkage vector ψsαβ, magnetic
The computing formula of chain is:
(6) by the stator voltage vector collecting Usαβ, stator current vector IsαβWith delayed stator voltage vector
U'sαβCalculate expansion active power, the reactive power signals of stator output by rotor-side power computation module 9Qs, have
Work(, reactive power calculate formula:
(7) the expansion active power that will be exported to electrical network according to the stator that step (4) obtain, reactive power Ps new、QsWith give
Fixed stator expands active power, reactive power reference qrefQsrefAnd stator voltage vector Usαβ, delayed stator voltage arrow
Amount U'sαβ, stator current vector Isαβ, stator magnetic linkage vector ψsαβ, line voltage angular frequency1With rotor angular frequencyrIt is input to
Sliding moding structure power control module 6, is calculated the modulation voltage vector U of DFIGrαβ;
The Computing Principle of sliding moding structure direct Power Control module 6 is as follows:
7.1 control targes are that stator is active, reactive power follows its reference value, and that is, power error is zero, and therefore definition is slided
Die face is:
S=[S1S2]T
Wherein, KpAnd KqIt is respectively extension active power and reactive power integral adjustment parameter, and Kp>0、Kq>0, epAnd eq
It is respectively extension active power and reactive power error, that is,:
Work as ep、eqGo to zero, you can realize control targe.
7.2, in order that the state of system levels off to sliding-mode surface, can construct Lyapunov function as follows:
The derived function of this Lyapunov function can be calculated as follows:
Wherein, can be obtained by formula in 7.1:
7.3 can expand active and reactive power rate of change by DFIG Mathematical Modeling is:
7.4 bring formula in 7.3 into 7.2 obtains:
Wherein:
From Lyapunov stability, when W is more than or equal to zero and its derivative is less than zero, system tends towards stability.
The 7.5 following relational expressions of structure:
Wherein:KpsAnd KqsIt is respectively the switch function regulation parameter expanding active power and reactive power, and Kps>0、Kqs>
0, sgn (S1) and sgn (S2) it is the switch function expanding active power and reactive power:
Wherein, λjFor the boundary value of this switch function, j=1,2.
The equation is brought into equation in 7.4 obtain:
Can ensure that the derivative of W is less than zero, system stability.
(8) by modulation voltage vector UrαβBy two-phase static/rotating coordinate transformation module 13 transforms to rotor reference coordinate
System, obtains Urdq, the computing formula from two-phase rest frame to two-phase rotating coordinate system is:
(9) by UrdqValue as SVPWM signal generator module 5 reference value, modulation obtain DFIG rotor side converter
Switching signal Sa、Sb、Sc;
(10) by switching signal S obtaininga、Sb、ScThrough drive module driving switch device, realize active based on expanding
The sliding moding structure direct Power Control of power.
Referring to Fig. 3, under the DFIG sliding moding structure direct Power Control method based on expansion active power for the present invention, this
Embodiment control system under the unidirectional unbalanced power grid falling 50% of stator voltage, put down by reactive power and electromagnetic torque waveform
Surely;Stator three-phase current waveform is sinusoidal, and overall control effect is very good.
Referring to Fig. 4 it can be seen that the present invention based on expand active power DFIG sliding moding structure direct Power Control
Under method, Stator Current Harmonic under the unidirectional unbalanced power grid falling 50% of stator voltage for the present embodiment control system contains
Amount THD very little.
In sum, the present invention is based on expanding the DFIG sliding moding structure direct Power Control method of active power need not
It is possible to realize effective control under unbalanced power grid for the DFIG under the premise of line voltage electric current positive-negative sequence is detached, put down
Steady electromagnetic torque and the stator current of reactive power and sine;Control structure of the present invention extremely simple it is not necessary to phaselocked loop
Real-time monitoring is carried out to the frequency of line voltage.
Claims (6)
1. a kind of sliding moding structure direct Power Control method based on expansion active power for the DFIG under unbalanced power grid, including such as
Lower step:
(1) gather the threephase stator voltage U of DFIGsabcWith threephase stator electric current Isabc, and turning of DFIG is calculated by detection
Sub- angular frequencyrWith rotor position angle θr;
(2) respectively to described threephase stator voltage UsabcWith threephase stator electric current IsabcCarry out Clark conversion, correspondence obtains static
Stator voltage vector U under alpha-beta coordinate systemsαβWith stator current vector Isαβ;And then by described stator voltage vector UsαβDelayed four
In/mono- cycle, obtain delayed stator voltage vector U'sαβ;
(3) to described stator voltage vector UsαβIt is integrated, obtain stator magnetic linkage vector ψsαβ;
(4) according to stator voltage vector Usαβ, delayed stator voltage vector U'sαβWith stator current vector IsαβCalculate DFIG
The expansion active-power P of stator outputs newAnd reactive power Qs;
(5) by described expansion active-power Ps newAnd reactive power QsCarry out sliding moding structure direct Power Control, thus counting
Calculate the modulation voltage vector U obtaining DFIGrαβ;
(6) utilize rotor position angle θ to described modulation voltage vector UrαβCarry out Park conversion, obtain under rotor reference coordinate system
Modulation voltage vector Urdq, and then go out one group of pwm signal using SVPWM algorithm construction and carried out with the machine-side converter to DFIG
Control.
2. sliding moding structure direct Power Control method according to claim 1 it is characterised in that:In described step (2)
According to following formula to threephase stator voltage UsabcWith threephase stator electric current IsabcCarry out Clark conversion:
Wherein:UsαAnd UsβCorrespond to stator voltage vector Usαβα axle component and beta -axis component, IsαAnd IsβCorrespond to stator current
Vector Isαβα axle component and beta -axis component, Usa、Usb、UscIt is respectively threephase stator voltage UsabcPhase on corresponding A, B, C three-phase
Voltage, Isa、Isb、IscIt is respectively threephase stator electric current IsabcPhase current on corresponding A, B, C three-phase.
3. sliding moding structure direct Power Control method according to claim 1 it is characterised in that:In described step (3)
According to following formula to stator voltage vector UsαβIt is integrated:
Wherein:ψsαAnd ψsβCorrespond to stator magnetic linkage vector ψsαβα axle component and beta -axis component, Usα(τ) and Usβ(τ) when corresponding to τ
Carve stator voltage vector Usαβα axle component and beta -axis component, t be system operation duration.
4. sliding moding structure direct Power Control method according to claim 1 it is characterised in that:In described step (4)
Calculate the expansion active-power P of DFIG stator output by below equations newAnd reactive power Qs:
Wherein:UsαAnd UsβCorrespond to stator voltage vector Usαβα axle component and beta -axis component, IsαAnd IsβCorrespond to stator current
Vector Isαβα axle component and beta -axis component, U'sαAnd U'sβCorrespond to delayed stator voltage vector U'sαβα axle component and β axle
Component.
5. sliding moding structure direct Power Control method according to claim 1 it is characterised in that:In described step (5)
Based on below equation to expansion active-power Ps newAnd reactive power QsCarry out sliding moding structure direct Power Control:
Wherein:UrαAnd UrβCorrespond to modulation voltage vector Urαβα axle component and beta -axis component, UsαAnd UsβCorrespond to stator voltage
Vector Usαβα axle component and beta -axis component, IsαAnd IsβCorrespond to stator current vector Isαβα axle component and beta -axis component, U'sα
And U'sβCorrespond to delayed stator voltage vector U'sαβα axle component and beta -axis component, ψsαAnd ψsβCorrespond to stator magnetic linkage vector
ψsαβα axle component and beta -axis component, KpAnd KqCorrespond to extend the integral adjustment parameter that active power and reactive power give, Kps
And KqsCorrespond to extend the switch function regulation parameter that active power and reactive power give,LmFor
The rotor mutual inductance of DFIG, LrAnd LsIt is respectively inductor rotor and the stator inductance of DFIG,And QsrefIt is respectively given opening up
Exhibition active power reference value and reactive power reference qref, ep(τ) and eq(τ) corresponding to the τ moment extends active power and reactive power
Error amount, ω1For the angular frequency of line voltage, j=1 or 2, λjThe boundary value giving for switch function, when t is system operation
Long.
6. sliding moding structure direct Power Control method according to claim 1 it is characterised in that:In described step (6)
According to following formula to modulation voltage vector UrαβCarry out Park conversion:
Wherein:UrαAnd UrβCorrespond to modulation voltage vector Urαβα axle component and beta -axis component, UrdAnd UrqCorrespond to modulation voltage
Vector UrdqD axle component and q axle component.
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CN110198050A (en) * | 2019-07-01 | 2019-09-03 | 南瑞集团有限公司 | DFIG virtual synchronous control method based on the idle Collaborative Control of torque-under a kind of unbalanced power grid |
CN110289629A (en) * | 2019-07-01 | 2019-09-27 | 南瑞集团有限公司 | Based on the DFIG virtual synchronous control method for expanding power under a kind of unbalanced power grid |
CN110289629B (en) * | 2019-07-01 | 2022-07-15 | 南瑞集团有限公司 | DFIG virtual synchronization control method based on expanded power under unbalanced power grid |
CN110198050B (en) * | 2019-07-01 | 2022-09-16 | 南瑞集团有限公司 | DFIG virtual synchronous control method based on torque-reactive power cooperative control under unbalanced power grid |
CN111917126A (en) * | 2020-07-06 | 2020-11-10 | 浙江大学 | DFIG unbalanced power grid voltage compensation method based on phase-locked loop-free self-synchronization control |
CN113193583A (en) * | 2021-04-19 | 2021-07-30 | 中国电建集团华东勘测设计研究院有限公司 | Sending-end MMC sliding mode variable structure control method for offshore wind field flexible direct-current power transmission system |
CN113193583B (en) * | 2021-04-19 | 2022-07-05 | 中国电建集团华东勘测设计研究院有限公司 | Sending-end MMC sliding mode variable structure control method for offshore wind field flexible and straight system |
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