CN108494300A - A kind of maximal power tracing sliding-mode control based on magneto alternator disturbance observer - Google Patents
A kind of maximal power tracing sliding-mode control based on magneto alternator disturbance observer Download PDFInfo
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- CN108494300A CN108494300A CN201810328900.7A CN201810328900A CN108494300A CN 108494300 A CN108494300 A CN 108494300A CN 201810328900 A CN201810328900 A CN 201810328900A CN 108494300 A CN108494300 A CN 108494300A
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 11
- 238000009415 formwork Methods 0.000 claims abstract description 10
- 238000000034 method Methods 0.000 claims description 7
- 230000005389 magnetism Effects 0.000 claims description 3
- 238000011156 evaluation Methods 0.000 claims 2
- 238000004088 simulation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
- 238000006116 polymerization reaction Methods 0.000 description 1
Classifications
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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
-
- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
-
- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
-
- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
-
- 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
- H02P2101/00—Special adaptation of control arrangements for generators
- H02P2101/15—Special adaptation of control arrangements for generators for wind-driven turbines
-
- 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
- H02P2103/00—Controlling arrangements characterised by the type of generator
- H02P2103/20—Controlling arrangements characterised by the type of generator of the synchronous type
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Eletrric Generators (AREA)
Abstract
The present invention relates to a kind of maximal power tracing sliding-mode controls based on magneto alternator disturbance observer, belong to technical field of electric power system control.When permanent magnet synchronous wind generator works, measure generator alternating current side electric current and wind turbine mechanical separator speed, two disturbance estimated values can be obtained by disturbance observer by electric current and rotating speed, slip plane is calculated by electric current and rotating speed again, two disturbance estimated values are obtained into practical control voltage by sliding formwork control, system is adjusted by voltage, realizes wind-force MPPT maximum power point tracking.The present invention can solve the problems, such as that MPPT maximum power point tracking is inaccurate in permanent magnet synchronous wind generator group, and maximal wind-energy can be captured under all kinds of operating modes and has stronger robustness, while ensure that more rational control cost and more preferably control performance.
Description
Technical field
The present invention relates to a kind of maximal power tracing sliding-mode control based on magneto alternator disturbance observer,
Belong to technical field of electric power system control.
Background technology
As the day of environmentally friendly society and energy crisis is increasingly close, wind generator system is as a kind of green energy resource, in electric power
Status in system becomes important.Wind power plant is influenced due to constantly being changed at random by wind speed, output electric energy with
When network system is grid-connected, often there is the deviation on power and frequency, once this deviation is aggravated, is easy to cause inside power grid and adjusts
Frequency ability is impaired, influences system stability.The maximum power tracing control of wind-power electricity generation is to make wind energy conversion system to the maximum extent
Using wind energy, it is made persistently to obtain maximum power.But the current maximum power tracing control for magneto alternator is deposited
In control cost height, the features such as precision is low is tracked, greatly limits the development of wind-power electricity generation, thus it is necessary to be changed to it
Into.
Invention content
The technical problem to be solved by the present invention is to be directed to current existing control technology there are the drawbacks of, propose a kind of robustness
By force, control cost is low, and tracking precision is high, the good maximal power tracing based on magneto alternator disturbance observer of convergence
Sliding-mode control.
The technical scheme is that：When permanent magnet synchronous wind generator works, measure generator alternating current side electric current and
Wind turbine mechanical separator speed.It can estimate to obtain two disturbed values, the two disturbance integrations by disturbance observer by electric current and rotating speed
All uncertain factors of system.Slip plane is calculated by electric current and rotating speed again, two disturbance estimated values are passed through into cunning
Mould controls to obtain practical control voltage, and system is adjusted by voltage, realizes wind-force MPPT maximum power point tracking.
The specific steps are：
(1) when permanent magnet synchronous wind generator works, generator alternating current side electric current is measured by ammeter, passes through tachometer
Measure wind turbine mechanical separator speed.
(2) by generator operation all kinds of uncertain factors polymerizations such as non-linear, Parameter uncertainties and random wind speed when
It is disturbed at two.Two disturbances can be estimated to obtain by electric current and rotating speed by disturbance observer：
Wherein：Estimated value is disturbed for first,First disturbance estimation derivative,For the derivative of current observation,For electric current observation error,Function of the device about electric current in order to control, u1Voltage 1 in order to control.It is disturbed for youngster
Estimated value,Estimate derivative for second disturbance,For the derivative of speed observation value,For observation reciprocal,To see
Error is surveyed,Function of the device about rotating speed in order to control,For the derivative of the observation of rotating speed inverse, u2It is electric in order to control
Pressure 2.k11,k12,k21,k22,k23And α11,α12,α21,α22,α23It is control coefrficient.
(3) slip plane is calculated by electric current and rotating speed：
Wherein：For slip plane 1,For current estimation value,For current reference value.Slip plane 2, ρ1And ρ2For
Slip plane gain,For speed estimate value,For speed reference,For the estimated value of rotating speed inverse,For rotating speed
Reference value reciprocal.
(4) two disturbance estimated values are introduced into permanent magnetism synchronous wind generating system sliding formwork control, obtain practical control
Voltage：
Gain in order to control,WithFor tracking error convergence coefficient,Device is about cunning in order to control
The function of dynamic plane 1,Function of the device about slip plane 2 in order to control.
(5) system is adjusted in the control voltage exported by sliding formwork control, realizes wind-force MPPT maximum power point tracking.
The beneficial effects of the invention are as follows：
1, the present invention is by carrying out the non-linear of magneto alternator group, parameter uncertainty and random wind speed
It is fully compensated in real time, avoids traditional control method and need to rely on the limitation of accurate system's model, substantially increase system robust
Property.
2, the Tracing Control to maximum power point can be completed by electric current and rotating speed in the present invention, and control structure is simple, keeps away
The structure for having exempted from other control methods complexity causes the problem of constringency performance difference.
3, the compensation that the present invention uses is disturbance real-time estimation value, avoids in conventional control and uses on compensating disturbance always
The way of limit value can obtain more rational control cost and more preferably control performance.
Description of the drawings
Fig. 1 is the response diagram used during the continuous step of wind speed in the present invention；
Fig. 2 is in the present invention when the robustness response diagram used under generator parameter uncertain condition.
Specific implementation mode
With reference to the accompanying drawings and detailed description, the invention will be further described.
A kind of maximal power tracing sliding-mode control based on magneto alternator disturbance observer, permanent-magnet synchronous wind
When power generator works, generator alternating current side electric current and wind turbine mechanical separator speed are measured, can be seen by disturbing by electric current and rotating speed
It surveys device and obtains two disturbance estimated values, then slip plane is calculated by electric current and rotating speed, two disturbance estimated values are passed through into cunning
Mould controls to obtain practical control voltage, and system is adjusted by voltage, realizes wind-force MPPT maximum power point tracking.
It is as follows：
(1) when permanent magnet synchronous wind generator works, generator alternating current side electric current is measured by ammeter, passes through tachometer
Measure wind turbine mechanical separator speed；
(2) by generator operation non-linear, Parameter uncertainties and random all kinds of uncertain factors of wind speed when aggregate into
Two disturbances, two disturbances can be obtained by electric current and rotating speed by disturbance observer：
Wherein：Estimated value is disturbed for first,Estimate derivative for first disturbance,For leading for current observation
Number,For electric current observation error,Function of the device about electric current in order to control, u1Voltage 1 in order to control,It is second
Estimated value is disturbed,Estimate derivative for second disturbance,For the derivative of speed observation value,For observation reciprocal,
For observation error,Function of the device about rotating speed in order to control,For the derivative of the observation of rotating speed inverse, u2For control
Voltage 2, k processed11,k12,k21,k22,k23And α11,α12,α21,α22,α23It is control coefrficient；
(3) slip plane is calculated by electric current and rotating speed：
Wherein：For slip plane 1,For current estimation value,For current reference value,For slip plane 2, ρ1And ρ2
For slip plane gain,For speed estimate value,For speed reference,For the estimated value of rotating speed inverse,To turn
Fast reference value reciprocal；
(4) two disturbance estimated values are introduced into permanent magnetism synchronous wind generating system sliding formwork control, obtain practical control
Voltage：
Gain in order to control,WithFor tracking error convergence coefficient,Device is about cunning in order to control
The function of dynamic plane 1,Function of the device about slip plane 2 in order to control；
(5) system is adjusted in the control voltage exported by sliding formwork control, realizes wind-force MPPT maximum power point tracking.
Disturbance viewer sliding-mode control proposed by the present invention and traditional PID vector control methods are in three kinds of different works
Simulation comparison is carried out under condition.Simulation result is as follows：
Wind speed continuously steps to the response of system under 12m/s operating modes from 4m/s, and it is 10m/s2 that wind speed, which changes slope, to simulate
The mutation of wind speed.It will be seen from figure 1 that traditional PID control remains maximum active power overshoot, but tracking velocity
Relatively slow, for reason precisely due to conventional method requires to maintain maximum compensating disturbance upper limit value always, control flow is comparatively laborious, and
This is bright using real-time optimal compensation, enormously simplifies control flow.Meanwhile method proposed by the present invention can keep power coefficient
Closest to its optimal value, to obtain maximum power.
The robustness of system when analogue simulation generator parameter is uncertain, to stator resistance and rotor axle inductance in rated value
In ± 20% range when variation, the case where system responds, is as shown in Figure 2.Traditional PID control method and institute of the present invention as seen from the figure
The disturbance viewer sliding-mode control of proposition | Pe | it is 16.1% and 7.8% respectively.Therefore compared to other controls, this hair
It is bright that there is strongest robustness for generator parameter is uncertain.
The specific implementation mode of the present invention is explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned
Embodiment within the knowledge of a person skilled in the art can also be before not departing from present inventive concept
Put that various changes can be made.
Claims (2)
1. a kind of maximal power tracing sliding-mode control based on magneto alternator disturbance observer, it is characterised in that：
When permanent magnet synchronous wind generator works, generator alternating current side electric current and wind turbine mechanical separator speed are measured, it can be with by electric current and rotating speed
Two disturbance estimated values are obtained by disturbance observer, then slip plane is calculated by electric current and rotating speed, two disturbances are estimated
Evaluation obtains practical control voltage by sliding formwork control, and system is adjusted by voltage, realize wind-force maximum power point with
Track.
2. the maximal power tracing sliding formwork control side according to claim 1 based on magneto alternator disturbance observer
Method, it is characterized in that being as follows：
(1) when permanent magnet synchronous wind generator works, generator alternating current side electric current is measured by ammeter, is measured by tachometer
Wind turbine mechanical separator speed；
(2) by generator operation non-linear, Parameter uncertainties and random all kinds of uncertain factors of wind speed when aggregate into two
Disturbance, two disturbances can be obtained by electric current and rotating speed by disturbance observer：
Wherein：Estimated value is disturbed for first,Estimate derivative for first disturbance,For the derivative of current observation,
For electric current observation error,Function of the device about electric current in order to control, u1Voltage 1 in order to control,Estimate for second disturbance
Evaluation,Estimate derivative for second disturbance,For the derivative of speed observation value,For observation reciprocal,For observation
Error,Function of the device about rotating speed in order to control,For the derivative of the observation of rotating speed inverse, u2It is electric in order to control
Pressure 2, k11,k12,k21,k22,k23And α11,α12,α21,α02,α23It is control coefrficient；
(3) slip plane is calculated by electric current and rotating speed：
Wherein：For slip plane 1,For current estimation value,For current reference value,For slip plane 2, ρ1And ρ2For cunning
Dynamic planar gain,For speed estimate value,For speed reference,For the estimated value of rotating speed inverse,It is fallen for rotating speed
Several reference values；
(4) two disturbance estimated values are introduced into permanent magnetism synchronous wind generating system sliding formwork control, obtain practical control voltage：
Gain in order to control,WithFor tracking error convergence coefficient,Device is about slip plane in order to control
1 function,Function of the device about slip plane 2 in order to control；
(5) system is adjusted in the control voltage exported by sliding formwork control, realizes wind-force MPPT maximum power point tracking.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810328900.7A CN108494300A (en) | 2018-04-13 | 2018-04-13 | A kind of maximal power tracing sliding-mode control based on magneto alternator disturbance observer |
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| CN201810328900.7A CN108494300A (en) | 2018-04-13 | 2018-04-13 | A kind of maximal power tracing sliding-mode control based on magneto alternator disturbance observer |
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Cited By (4)
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| CN109062316A (en) * | 2018-10-29 | 2018-12-21 | 海南电网有限责任公司电力科学研究院 | A kind of photovoltaic system maximum power tracking method and system |
| CN112731805A (en) * | 2020-12-01 | 2021-04-30 | 南京航空航天大学 | Wind power generator maximum power tracking sensorless robust control method based on wind speed estimation |
| CN112780495A (en) * | 2021-01-20 | 2021-05-11 | 华南理工大学 | Off-grid wind power generation system and method |
| CN115268559A (en) * | 2022-05-23 | 2022-11-01 | 北京华能新锐控制技术有限公司 | Maximum power point tracking robust control method for permanent magnet synchronous wind driven generator |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109062316A (en) * | 2018-10-29 | 2018-12-21 | 海南电网有限责任公司电力科学研究院 | A kind of photovoltaic system maximum power tracking method and system |
| CN112731805A (en) * | 2020-12-01 | 2021-04-30 | 南京航空航天大学 | Wind power generator maximum power tracking sensorless robust control method based on wind speed estimation |
| CN112731805B (en) * | 2020-12-01 | 2022-04-08 | 南京航空航天大学 | Wind power generator maximum power tracking sensorless robust control method based on wind speed estimation |
| CN112780495A (en) * | 2021-01-20 | 2021-05-11 | 华南理工大学 | Off-grid wind power generation system and method |
| CN115268559A (en) * | 2022-05-23 | 2022-11-01 | 北京华能新锐控制技术有限公司 | Maximum power point tracking robust control method for permanent magnet synchronous wind driven generator |
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Application publication date: 20180904 |