CN109149962B - Method and device for compensating stability of direct current power supply system based on voltage reference signal - Google Patents

Method and device for compensating stability of direct current power supply system based on voltage reference signal Download PDF

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CN109149962B
CN109149962B CN201811022541.9A CN201811022541A CN109149962B CN 109149962 B CN109149962 B CN 109149962B CN 201811022541 A CN201811022541 A CN 201811022541A CN 109149962 B CN109149962 B CN 109149962B
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current
voltage
axis
stator
rectifier
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CN109149962A (en
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马跃
回彦年
康元丽
章玄
许烈
王奎
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Commercial Aircraft Corp of China Ltd
Beijing Aeronautic Science and Technology Research Institute of COMAC
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Commercial Aircraft Corp of China Ltd
Beijing Aeronautic Science and Technology Research Institute of COMAC
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
    • 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
    • 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
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • H02P2101/30—Special adaptation of control arrangements for generators for aircraft
    • 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 invention discloses a method and a device for compensating the stability of a direct current power supply system based on a voltage reference signal, wherein the device comprises the following steps: the system comprises a three-stage synchronous motor, a rectifier and a rectifier control unit; the three-stage synchronous motor is connected with the rectifier, and alternating current generated by the three-stage synchronous motor is converted into direct current through the rectifier and loaded at two ends of a load to supply power to the load; the rectifier control unit is connected with the rectifier and comprises a compensation signal module, and the compensation signal module comprises a high-pass filter and an amplifier which are connected in series. According to the device for improving the stability of the direct current power supply system, the direct current bus voltage is subjected to the high-pass filter and the amplifier to obtain the direct current bus voltage compensation value, and the compensation value is loaded in the original direct current bus voltage PI control loop to stabilize the direct current power supply system, so that the power supply system can be kept stable when the load of the direct current power supply system suddenly increases, and the instability phenomenon cannot occur.

Description

Method and device for compensating stability of direct current power supply system based on voltage reference signal
Technical Field
The invention relates to the field of aviation electrical systems, in particular to a method and a device for compensating the stability of a direct current power supply system based on a voltage reference signal.
Background
At present, the technology is continuously improved, and airborne electric equipment is continuously added on an airplane. In order to ensure that the airborne electric equipment can be safely used, a large number of electronic power converters and motor driving equipment are adopted in an airplane power supply system, so that the electric load capacity, the type and the complexity of a power grid of a multi-electric airplane are increased compared with those of a traditional airplane power system. Therefore, the existing multi-airplane has the following disadvantages:
(1) in a multi-electric airplane, a large number of newly-added electric loads such as electric ring control, electric actuation, electric anti-icing and deicing and the like belong to a motor controlled by a power electronic converter or a resistive load controlled by the power electronic converter in essence. The PWM load of a single power electronic converter can normally operate according to factory design standards, the overall performance of a system is influenced due to mutual coupling of devices when a plurality of power electronic converters operate simultaneously, and oscillation and even instability can be caused when the system is serious.
(2) In the design of a power system of a traditional airplane, only performance indexes such as voltage, current, capacity, power quality and the like of equipment are considered, in order to prevent oscillation instability, a generator and a converter with large redundancy are used as a primary power source and a secondary power source, so that the equipment allowance of a power system of a multi-electric airplane is too large, the weight and the size of the equipment are large, and the power density is small.
Disclosure of Invention
The invention aims to provide a method for improving the stability of a direct current power supply system, which is characterized in that a direct current bus voltage compensation value is obtained by passing the direct current bus voltage through a high-pass filter and an amplifier and is loaded in an original direct current bus voltage PI control loop to stabilize the direct current power supply system, so that the power supply system can be kept stable when the load of the direct current power supply system suddenly increases, and the instability phenomenon can not occur.
In order to solve the above problems, a first aspect of the present invention provides an apparatus for compensating stability of a dc power supply system based on a voltage reference signal, including a three-stage synchronous motor, a rectifier, and a rectifier control unit; the three-stage synchronous motor is connected with the rectifier, and alternating current generated by the three-stage synchronous motor is converted into direct current through the rectifier and loaded at two ends of a load to supply power to the load; the rectifier control unit is connected with the rectifier and comprises a compensation signal module, and the compensation signal module comprises a high-pass filter and an amplifier which are connected in series.
Further, the rectifier control unit comprises 5 PI control loops which are a d-axis current loop, a q-axis current loop, an excitation current loop, a direct current voltage loop and an alternating current voltage loop respectively; the compensation signal module is connected to the position of an alternating current reference signal in a direct current bus current loop.
Further, the adjusted source side impedance Δ ZsdcvAnd the DC bus voltage udcThe relationship of (1) is:
Figure BDA0001787439970000021
wherein k iss3＝3(ks2(vsd+ωisq(Ld+Lmdks1))+(vsq+isq(Rs+SLq)))，
Gdc(s) is the transfer function of the DC bus voltage, Gi(s) is the transfer function of the current on the stator side of the main generator, Gv(S) is the transfer function of the AC voltage on the rotor side of the main generator, Gif(S) is a transfer function of the field current on the rotor side of the main generator, RsIs the stator winding resistance.
Further, the air conditioner is provided with a fan,
Figure BDA0001787439970000022
further, the damping formula of the reference signal module is: is composed of
Figure BDA0001787439970000023
Wherein k isdcvFor the compensation factor of the amplifier, S is a complex variable with respect to frequency, ωdcvThe generated compensation signal is the direct current bus sampling voltage multiplied by the damping formula, which is the cut-off frequency of the high-pass filter.
In another aspect of the present invention, a method for compensating stability of a dc power supply system based on a voltage reference signal is provided, which includes: the three-stage synchronous motor provides alternating voltage; the rectifier rectifies alternating-current voltage output by the three-level synchronous motor into direct-current voltage; the rectifier control unit controls the rectifier through a compensation signal generated by a high-pass filter and an amplifier which are connected in series, so that the stability of the direct-current voltage is enhanced.
Further, the rectifier control unit comprises 5 PI control loops which are a d-axis current loop, a q-axis current loop, an excitation current loop, a direct current voltage loop and an alternating current voltage loop respectively; the compensation signal module is connected to the position of the alternating current reference signal in the direct current bus current loop.
Further, the adjusted source side impedance Δ ZsdcvAnd the DC bus voltage udcThe relationship of (1) is:
Figure BDA0001787439970000031
wherein k iss3＝3(ks2(vsd+ωisq(Ld+Lmdks1))+(vsq+isq(Rs+SLq)))，
Gdc(s) is the transfer function of the DC bus voltage, Gi(s) is the transfer function of the current on the stator side of the main generator, Gv(S) is the transfer function of the AC voltage on the rotor side of the main generator, Gif(S) is a transfer function of the field current on the rotor side of the main generator, RsIs the stator winding resistance.
Further, the method comprises, among others,
Figure BDA0001787439970000032
further, the damping formula of the compensation signal module is as follows: is composed of
Figure BDA0001787439970000033
Wherein k isdcvFor the compensation factor of the amplifier, S is a complex variable with respect to frequency, ωdcvBeing sections of high-pass filtersStopping the frequency, and generating a compensation signal which is the product of the sampling voltage of the direct current bus and the damping formula.
According to the device and the method for improving the stability of the direct current power supply system, the direct current bus voltage is subjected to the high-pass filter and the amplifier to obtain the direct current bus voltage compensation value, and the compensation value is loaded in the original direct current bus voltage PI control loop to stabilize the direct current power supply system, so that the power supply system can be kept stable when the load of the direct current power supply system suddenly increases, and the instability phenomenon cannot occur.
Drawings
FIG. 1 is a schematic diagram of a prior art three-stage synchronous machine;
FIG. 2 is a schematic diagram of a DC power supply system according to the prior art;
FIG. 3 is a partial schematic diagram of a rectifier control in a prior art DC power supply system;
fig. 4 is a schematic structural diagram of an apparatus for compensating stability of a dc power supply system based on a voltage reference signal according to an embodiment of the present invention;
fig. 5 is a flowchart illustrating a method for compensating stability of a dc power supply system based on a voltage reference signal according to an embodiment of the present invention;
FIG. 6 is a control schematic diagram of the DC power supply system after introducing the DC bus voltage compensation signal;
FIG. 7a is a graph of an uncompensated DC bus voltage waveform provided in accordance with an embodiment of the present invention;
FIG. 7b is a graph of a main generator q-axis current waveform when uncompensated, as provided in accordance with an embodiment of the present invention;
FIG. 8a is a graph of a compensated DC bus voltage waveform provided in accordance with yet another embodiment of the present invention;
FIG. 8b is a graph of a compensated main generator q-axis current waveform provided in accordance with yet another embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Fig. 1 is a schematic structural diagram of a three-stage synchronous motor in the prior art. Fig. 2 is a schematic structural diagram of a dc power supply system in the prior art.
As shown in fig. 1, the three-stage synchronous machine includes, from left to right, a secondary exciter, a main exciter, a rotating rectifier, and a main generator. Wherein the auxiliary exciter is a permanent magnet motor. The operation principle of the three-stage synchronous motor is that the auxiliary exciter generates three-phase alternating current (A, B, C) by rotation, the three-phase alternating current is converted into direct current by the rectifier and is supplied to the main exciter to be used as exciting current of the main exciter, the main exciter generates a magnetic field as the magnetic field of the main generator after rotation, the main generator rotates to generate three-phase alternating current, and the three-phase alternating current can be used as direct current power supply after being rectified by the rectifier.
As shown in fig. 2, the three-stage synchronous motor of the dc power supply system is connected to a rectifier, and ac power generated by the three-stage synchronous motor is converted into dc power through the rectifier and loaded on both ends of a load to supply power to the load. The three-level synchronous motor comprises a secondary exciter, a main exciter and a main generator. The auxiliary exciter is a permanent magnet synchronous motor, the main exciter is a rotary armature type electric excitation synchronous motor, and the main generator is a rotary magnetic pole type electric excitation synchronous motor. In the three-stage synchronous motor, the auxiliary exciter supplies current to the main exciter, and the main exciter supplies a magnetic field to the main generator. During power generation, the auxiliary exciter, the main exciter and the main generator simultaneously rotate coaxially to realize power generation. Optionally, in the three-stage synchronous motor, the main generator may also be called a main starter or a main engine. The three-stage synchronous motor is the prior art, and the power generation principle thereof is not described herein again.
Fig. 3 is a partial schematic diagram of a rectifier control in a prior art dc power supply system.
The rectifier in the dc power supply system shown in fig. 3 may be a PWM rectifier, and the three-phase ac output from the main generator is controlled by the rectifier to convert the three-phase ac into dc, and the rectifier is adjusted to control the output voltage and current stability of the generator. In the PWM rectifier, three-phase alternating current is firstly converted into a two-phase rotating coordinate system under a d axis and a q axis from a three-phase rotating coordinate system through park transformation, a plurality of parameters in the d axis and the q axis are controlled and regulated through PID, and the parameters under the d axis and the q axis coordinate system are converted back to a collator through park transformation so as to control the output current of a generator. The two rotating dq coordinate systems are coordinate systems established by taking the convex stage direction of a rotor in the main generator as a d axis and the direction leading the d axis by 90 degrees as a q axis.
In the above-mentioned schematic diagram of local control, i of the main generator generally adopts synchronous motor in multi-electric aircraft, as shown in fig. 3sdVector control of 0. In the control diagram shown in fig. 3, control on the stator side is indicated above the dotted line, and control on the rotor side is indicated below the dotted line. The control of the main generator PWM rectifier includes 5 PI control loops, which are: d-axis current loop (i)sd) Q-axis current loop (i)sq) Exciting current loop (i)fd') direct current voltage loop (u)dc) And an alternating current voltage loop (| V |). And after the d-axis current loop and the q-axis current loop, d-axis voltage and q-axis voltage are introduced as feedforward terms, so that the stator measurement can realize feedforward decoupling. Since the parameters used for the control are both reduced to the stator side, the resulting rotor-side currents and voltages in the rotor-side control loop are both reduced to the stator side.
The control process is as follows:
reference value i of d-axis currentsdrefWith the actual value isdIs output v through PIsd+ωψq；
Actual value of q-axis current and ω LdProduct and vsd+ωψqThe summed value is used as a reference value v of the d-axis voltagesdref；
Reference value u of DC bus voltagedcrefAnd the actual value u of the DC bus voltagedcOutputs a reference value i of the q-axis voltage through the PIsqref；
Reference value i of q-axis currentsqrefWith the actual value isqIs output v through PIsq-ωψd；
d-axis current actual value and ω LqThe products are respectively multiplied by vsd+ωψqAnd ω Lmdifd' addition as a voltage reference v on the q-axissqref；
Reference value | V ∞ of AC voltage amplituderefThe difference value with the actual value | V | outputs the reference value i of the exciting current through PIfdref'；
Reference value i of the excitation currentfdref' with the actual value ifdThe difference of' is passed through PI to obtain the actual value of the excitation voltage. Finally, the voltage reference value v of the q axis is calculatedsqrefAnd a voltage reference value v of the q-axissqrefThe value obtained after inverse Pack transformation is returned to the rectifier.
Fig. 4 is a device for compensating stability of a dc power supply system based on a voltage reference signal according to an embodiment of the present invention, which includes a three-stage synchronous motor, a rectifier and a rectifier control unit; the three-stage synchronous motor is connected with the rectifier, and alternating current generated by the three-stage synchronous motor is converted into direct current through the rectifier and loaded at two ends of a load to supply power to the load; the rectifier control unit is connected with the rectifier and comprises a compensation signal module, and the compensation signal module comprises a high-pass filter and an amplifier which are connected in series.
The rectifier control unit comprises 5 PI control loops which are a d-axis current loop, a q-axis current loop, an excitation current loop, a direct current voltage loop and an alternating current voltage loop respectively; the compensation signal module is connected to the position of an alternating current reference signal in a direct current bus current loop.
According to the control schematic of the rectifier shown in fig. 3, the system of control equations for the source side rectifier can be written as follows:
Figure BDA0001787439970000071
Figure BDA0001787439970000072
Figure BDA0001787439970000073
Figure BDA0001787439970000074
Figure BDA0001787439970000075
wherein isdrefMeasuring d-axis current reference, i, for the statorsdMeasuring d-axis current actual value, i, for statorsqrefMeasuring the q-axis current reference, i, for the statorsqMeasuring the actual value of the q-axis current, k, for the statorpiIs the proportionality coefficient, k, in the d-axis current PI control loopiiIs an integral coefficient in a d-axis current PI control loop, S is a complex number with respect to frequency, vsdIs the main generator stator side d-axis voltage, vsqIs the main generator stator side q-axis voltage; omega is the synchronous speed, psi, of the three-stage synchronous machineqComprises the following steps: psisqMain generator stator side q-axis flux linkage psidComprises the following steps: psisdSide d-axis flux linkage u of main generator statordcrefIs a reference value of the DC bus voltage, udcIs the actual value of the DC bus voltage, kpdcIs a proportionality coefficient, k, in the control loop for the DC bus voltage PIidcFor the integral coefficient, i, in the control loop for the DC bus voltage PIsqrefMeasuring the q-axis current reference, i, for the statorsqMeasuring the actual value of the q-axis current, | V ∞ for the statorrefIs a reference value of the alternating voltage in the main generator, | V | is an actual value of the alternating voltage in the main generator, kpvIs a proportionality coefficient, k, in the control loop for the AC voltage PI in the main generatorivIs an integral coefficient, i, in the control loop for the AC voltage PI in the main generatorfdref' measurement of reference value of exciting current for rotor of main generator, ifd' is the actual value of the field current, k, on the rotor side of the main generatorpifThe proportional coefficient in the control loop is the exciting current PI at the rotor side of the main generator,kiifcontrolling the integral coefficient v in the loop for the exciting current PI at the rotor side of the main generatorfd' is the main generator rotor side field voltage value.
The main generator is a rotating magnetic pole type synchronous generator, the excitation side (main exciter) and the armature side (main generator) of the three-level type synchronous motor are both the conventions of the motor, and the voltage equation of the main generator under dq coordinates is as follows:
Figure BDA0001787439970000081
where ω is the synchronous speed, | V | is the stator voltage amplitude, Vsd,isd,ψsdThe voltage, the current and the flux linkage of a d-axis at the stator side of the main generator are respectively; v. ofsq,isq,ψsqRespectively representing the q-axis voltage, the current and the flux linkage of the stator side of the main generator; v. offd',ifd',ψfd' values of the excitation voltage, current and flux linkage on the rotor side of the main generator converted to the stator side, respectively; rsIs stator winding resistance, Rfd' is rotor winding resistance and t is time.
The system of flux linkage equations for the main generator includes:
Figure BDA0001787439970000082
wherein L isd,Lq,Lfd' self-inductance values of a stator d axis, a q axis and a rotor d axis respectively satisfy the following relations:
the self-inductance equation set includes:
Figure BDA0001787439970000083
Lmd,Lmqthe mutual inductance value in the d-axis direction and the mutual inductance value in the q-axis direction of the stator and the rotor are respectively obtained; l isld,Llq,Llfd' are values converted to the stator side for stator d-axis leakage inductance, stator q-axis leakage inductance, and rotor d-axis leakage inductance, respectively.
According to the equation sets (1), (2) and (3), the relation between the exciting current variation value measured by the rotor of the main generator and the d-axis current variation value measured by the stator can be obtained as follows:
Figure BDA0001787439970000084
can be simplified into
Figure BDA0001787439970000091
That is to say that the first and second electrodes,
Figure BDA0001787439970000092
is the proportionality coefficient of the exciting current and the d-axis current change value.
The relation between the stator measured d-axis current change value and the stator measured q-axis current change value is as follows:
Figure BDA0001787439970000093
can be simplified into
Figure BDA0001787439970000094
That is to say that the first and second electrodes,
Figure BDA0001787439970000095
the proportional coefficient of the change value of the d-axis current and the q-axis current is obtained;
wherein G isdc(s) is the transfer function of the DC bus voltage, Gi(s) is the transfer function of the current on the stator side of the main generator, Gv(S) is the transfer function of the AC voltage on the rotor side of the main generator, Gif(S) is a transfer function of the field current on the rotor side of the main generator, RsS is a complex variable with respect to frequency, for the stator winding resistance.
It should be noted that the above transfer function formulas are respectively:
Figure BDA0001787439970000096
writing a kirchhoff current equation into the direct current bus capacitor node column to obtain a direct current bus current and direct current bus voltage relational expression;
the relation between the direct current bus current and the direct current bus voltage is as follows:
Figure BDA0001787439970000101
wherein S is a complex variable with respect to frequency, C is a capacitance value of a DC bus voltage node, udcThe value of the direct current bus voltage is obtained.
And (4) carrying out small-signal analysis on the relation (7) of the direct current bus current and the direct current bus voltage to obtain a relation of the source side impedance of the rectifier and the direct current bus voltage.
The small signal analysis and arrangement are carried out on the formula (7) to obtain:
-2(Δidcudc+(idc+2sCudc)Δudc)＝3(ks2(vsd+ωisq(Ld+Lmdks1))+(vsq+isq(Rs+sLq)))Δisq，
can be simplified as follows: -2(Δ i)dcudc+(idc+2sCudc)Δudc)＝ks3Δisq(8)
Wherein, let ks3＝3(ks2(vsd+ωisq(Ld+Lmdks1))+(vsq+isq(Rs+sLq))) (9)
From the control equation set (1) of the source side rectifier, we can obtain:
Figure BDA0001787439970000102
wherein G isdc(s) is the transfer function of the DC bus voltage, Gi(s) is a transfer function of the main generator stator side current;
the source side impedance Delta Z of the rectifier can be obtained by substituting the formula (8) into the formula (10) for arrangementsAnd a direct currentBus voltage udcThe relation of (1):
Figure BDA0001787439970000103
the damping formula of the compensation signal module can be obtained according to the formula (11) as follows:
Figure BDA0001787439970000104
wherein k isdcvAs compensation factor, omega, of the amplifierdcvThe cut-off frequency of the high-pass filter.
By the above calculation formula, a high-pass filter having a damping coefficient of 0.8 and a cutoff frequency of 20000 can be selected in the dc power supply system.
Δ i after adding the high pass filter described abovesqAnd Δ udcThe relationship between them is as follows:
Figure BDA0001787439970000111
the relationship between the source side impedance and the direct current bus voltage after the direct current bus voltage value is introduced is as follows:
Figure BDA0001787439970000112
fig. 5 is a flowchart illustrating a method for compensating stability of a dc power supply system based on a voltage reference signal according to an embodiment of the present invention.
As shown in fig. 5, the method comprises the steps of:
the three-stage synchronous motor provides alternating voltage;
the rectifier rectifies alternating-current voltage output by the three-level synchronous motor into direct-current voltage;
the rectifier control unit controls the rectifier through a compensation signal generated by a high-pass filter and an amplifier which are connected in series, so that the stability of the direct-current voltage is enhanced.
In the power generation state of the three-level synchronous generator, simplification is performed within an acceptable range, and the electromagnetic transient process of the excitation side of the main generator, namely the auxiliary exciter and the main exciter, is equivalent to a first-order inertia link.
To reduce control over the parameters, A, B, C for the three-phase AC output is down-converted from a three-phase rotating coordinate system to a dq-axis two-phase rotating coordinate system in a PWM rectifier. Establishing a coordinate system according to the d axis and the q axis by taking the convex stage direction of a rotor in the main generator as the d axis and the direction leading the d axis by 90 degrees as the q axis;
according to the control schematic of the PWM rectifier shown in fig. 3, the system of control equations for the source side rectifier can be written as follows:
Figure BDA0001787439970000121
Figure BDA0001787439970000122
Figure BDA0001787439970000123
Figure BDA0001787439970000124
Figure BDA0001787439970000125
wherein isdrefMeasuring d-axis current reference, i, for the statorsdMeasuring d-axis current actual value, i, for statorsqrefMeasuring the q-axis current reference, i, for the statorsqMeasuring the actual value of the q-axis current, k, for the statorpiIs the proportionality coefficient, k, in the d-axis current PI control loopiiIs an integral coefficient in a d-axis current PI control loop, S is a complex number with respect to frequency, vsdIs the d-axis voltage on the stator side of the main generator, omega is the synchronous speed, psi of the three-stage synchronous motorqComprises the following steps: psisq，ψdComprises the following steps: psisd，udcrefIs a reference value of the DC bus voltage, udcIs a DC busActual value of line voltage, kpdcIs a proportionality coefficient, k, in the control loop for the DC bus voltage PIidcFor the integral coefficient, i, in the control loop for the DC bus voltage PIsqrefMeasuring the q-axis current reference, i, for the statorsqMeasuring the actual value of the q-axis current, V, for the statorrefIs a reference value of the alternating voltage in the main generator, | V | is an actual value of the alternating voltage in the main generator, kpvIs a proportionality coefficient, k, in the control loop for the AC voltage PI in the main generatorivIs an integral coefficient, i, in the control loop for the AC voltage PI in the main generatorfdref' measurement of reference value of exciting current for rotor of main generator, ifd' is the actual value of the field current, k, on the rotor side of the main generatorpifControlling the proportionality coefficient, k, in the loop for the rotor side exciting current PI of the main generatoriifControlling the integral coefficient v in the loop for the exciting current PI at the rotor side of the main generatorfd' is the main generator rotor side field voltage value.
The main generator is a rotating magnetic pole type synchronous generator, the excitation side (main exciter) and the armature side (main generator) of the three-level type synchronous motor are both the conventions of the motor, and the voltage equation of the main generator under dq coordinates is as follows:
Figure BDA0001787439970000131
where ω is the synchronous speed, | V | is the stator voltage amplitude, Vsd,isd,ψsdThe voltage, the current and the flux linkage of a d-axis at the stator side of the main generator are respectively; v. ofsq,isq,ψsqRespectively representing the q-axis voltage, the current and the flux linkage of the stator side of the main generator; v. offd',ifd',ψfd' values of the excitation voltage, current and flux linkage on the rotor side of the main generator converted to the stator side, respectively; rsIs the stator winding resistance.
The system of flux linkage equations for the main generator includes:
Figure BDA0001787439970000132
wherein L isd,Lq,Lfd' self-inductance values of a stator d axis, a q axis and a rotor d axis respectively satisfy the following relations:
the self-inductance equation set includes:
Figure BDA0001787439970000133
Lmd,Lmqthe mutual inductance value in the d-axis direction and the mutual inductance value in the q-axis direction of the stator and the rotor are respectively obtained; l isld,Llq,Llfd' are values converted to the stator side for stator d-axis leakage inductance, stator q-axis leakage inductance, and rotor d-axis leakage inductance, respectively.
According to the equation sets (1), (2) and (3), the relation between the exciting current variation value measured by the rotor of the main generator and the d-axis variation value measured by the stator can be obtained as follows:
Figure BDA0001787439970000134
can be simplified into
Figure BDA0001787439970000135
The relation between the stator measured d-axis change value and the stator measured q-axis change value is as follows:
Figure BDA0001787439970000141
can be simplified into
Figure BDA0001787439970000142
Wherein G isdc(s) is the transfer function of the DC bus voltage, Gi(s) is the transfer function of the current on the stator side of the main generator, Gv(S) is the transfer function of the AC voltage on the rotor side of the main generator, Gif(S) is a transfer function of the field current on the rotor side of the main generator, RsS is a complex variable with respect to frequency, for the stator winding resistance.
It should be noted that the above transfer function formulas are respectively:
Figure BDA0001787439970000143
writing a kirchhoff current equation into the direct current bus capacitor node column to obtain a direct current bus current and direct current bus voltage relational expression;
the relation between the direct current bus current and the direct current bus voltage is as follows:
Figure BDA0001787439970000144
wherein S is a complex variable with respect to frequency, C is a capacitance value of a DC bus voltage node, udcThe value of the direct current bus voltage is obtained.
And carrying out small-signal analysis on the relation between the direct current bus current and the direct current bus voltage to obtain the relation between the source side impedance of the rectifier and the direct current bus voltage.
The small signal analysis and arrangement are carried out on the formula (7) to obtain:
-2(Δidcudc+(idc+2sCudc)Δudc)＝3(ks2(vsd+ωisq(Ld+Lmdks1))+(vsq+isq(Rs+sLq)))Δisq，
can be simplified as follows: -2(Δ i)dcudc+(idc+2sCudc)Δudc)＝ks3Δisq(8)
Wherein, let ks3＝3(ks2(vsd+ωisq(Ld+Lmdks1))+(vsq+isq(Rs+sLq))) (9)
From the control equation set (1) of the source side rectifier, we can obtain:
Figure BDA0001787439970000151
wherein G isdc(s) is a direct current busTransfer function of line voltage, Gi(s) is a transfer function of the main generator stator side current;
the source side impedance Delta Z of the rectifier can be obtained by substituting the formula (8) into the formula (10) for arrangementsAnd the DC bus voltage udcThe relation of (1):
Figure BDA0001787439970000152
the damping formula of the compensation signal module can be obtained according to the formula (11) as follows:
Figure BDA0001787439970000153
wherein k isdcvAs compensation factor, omega, of the amplifierdcvThe cut-off frequency of the high-pass filter.
By the above calculation formula, a high-pass filter having a damping coefficient of 0.8 and a cutoff frequency of 20000 can be selected in the dc power supply system.
Fig. 6 is a control schematic diagram of the dc power supply system after introducing the dc bus voltage compensation signal.
As shown in fig. 6, the dc bus voltage u is obtained by passing the dc bus voltage through the selected high pass filter and through the amplifierdcAnd introducing the compensation signal into a DC bus voltage control loop by controlling the DC bus voltage udcAnd then the current of the q axis is controlled, so that the PWM rectifier is adjusted, and the stability of a direct current power supply system can be effectively controlled.
Δ i after adding the high pass filter described abovesqAnd Δ udcThe relationship between them is as follows:
Figure BDA0001787439970000154
the relationship between the source side impedance and the direct current bus voltage after the direct current bus voltage value is introduced is as follows:
Figure BDA0001787439970000155
FIG. 7a is a graph of an uncompensated DC bus voltage waveform provided in accordance with an embodiment of the present invention; FIG. 7b is a graph of a main generator q-axis current waveform without compensation according to an embodiment of the present invention.
In order to verify the effectiveness of the control of the stability of the direct-current power supply system, technicians build a model of the direct-current power supply system of the multi-electric airplane. The output of the three-stage synchronous motor is 110kVA/230V specification, a PWM rectifier is connected at the rear stage of the three-stage synchronous motor, and the direct-current bus voltage of the PWM rectifier is 540V. The load power of the system suddenly increased by 50% at 0.3 s.
As can be seen from fig. 7a and 7b, when the system power is small (0.2s to 0.3s), the system can still be stable under the state that the dc bus voltage compensation signal is not introduced; however, after the load power of 0.3s is suddenly increased, the direct current bus voltage and the q-axis current of the system are oscillated and dispersed, and the system is unstable.
FIG. 8a is a graph of a compensated DC bus voltage waveform provided in accordance with yet another embodiment of the present invention; FIG. 8b is a graph of a compensated main generator q-axis current waveform provided in accordance with yet another embodiment of the present invention.
As shown in fig. 8a and 8b, after the dc bus voltage compensation signal is introduced and the load power is suddenly increased for 0.3s, the dc bus voltage and the q-axis current of the system are also changed slightly, and the system can still operate normally without instability.
According to the method for controlling the stability of the direct current power supply system, the direct current bus voltage is subjected to the high-pass filter and the amplifier to obtain the direct current bus voltage compensation value, and the compensation value is loaded in the original direct current bus voltage PI control loop to stabilize the direct current power supply system, so that the power supply system can be kept stable when the load of the direct current power supply system suddenly increases, and the instability phenomenon cannot occur.
In the method for controlling the stability of the direct-current power supply system, provided by the embodiment of the invention, the aircraft power system is designed by considering the stability of the power system, so that an accurate and effective range can be provided for the device selection of the high-pass filter and the amplifier, the integral integrated design of the power system is considered, and the cross-linking relation among the systems is considered, so that the electric energy utilization efficiency of electrical equipment is improved, the volume weight of the equipment is reduced, and the power-to-weight ratio is improved.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.

Claims (8)

1. A device for compensating the stability of a direct current power supply system based on a voltage reference signal is characterized by comprising a three-stage synchronous motor, a rectifier and a rectifier control unit;
the three-stage synchronous motor is connected with the rectifier, and alternating current generated by the three-stage synchronous motor is converted into direct current through the rectifier and loaded at two ends of a load to supply power to the load;
the rectifier control unit is connected with the rectifier and comprises a compensation signal module, and the compensation signal module comprises a high-pass filter and an amplifier which are connected in series;
adjusted source side impedance Δ ZsdcvAnd the DC bus voltage udcThe relationship of (1) is:
Figure FDA0002569360680000011
Gdc(s) is the transfer function of the DC bus voltage, Gi(s) is the transfer function of the current on the stator side of the main generator, Gv(S) is the transfer function of the AC voltage on the rotor side of the main generator, Gif(S) is a transfer function of the field current on the rotor side of the main generator, RsIs stator winding resistance, udcIs the actual value of the DC bus voltage, idcIs the actual value of the DC bus current, s isComplex frequency variable, RsIs stator winding resistance, LqThe self-inductance value of the q axis of the stator is shown, and C is the capacitance value of a direct current bus voltage node;
wherein k iss3＝3(ks2(vsd+ωisq(Ld+Lmdks1))+(vsq+isq(Rs+SLq)))，
ks2Is the proportionality coefficient of the d-axis current to the q-axis current variation, ks1The proportional coefficient of the change value of the exciting current and the d-axis current is obtained; v. ofsdIs the main generator stator side d-axis voltage, vsqIs the q-axis voltage of the stator side of the main generator, omega is the synchronous speed of the three-stage synchronous motor, isqMeasuring the actual value of the q-axis current, L, for the statord、Lmd、LqRespectively a stator d-axis self-inductance value, a stator and rotor d-axis direction mutual inductance value and a stator q-axis self-inductance value; k is a radical ofdcvAs compensation factor, omega, of the amplifierdcvThe cut-off frequency of the high-pass filter.
2. The apparatus of claim 1, wherein the rectifier control unit comprises 5 PI control loops, a d-axis current loop, a q-axis current loop, an excitation current loop, a dc voltage loop, and an ac voltage loop; the compensation signal module is connected to the position of an alternating current reference signal in a direct current bus current loop.
3. Device according to claim 1 or 2, characterized in that k iss1、ks2Are calculated by the following formulas, respectively:
Figure FDA0002569360680000021
Figure FDA0002569360680000022
wherein G isv(S) is the transfer function of the AC voltage on the rotor side of the main generator, Gif(S) is main generator rotor side excitationTransfer function of magnetic current, Rfd' is rotor winding resistance, Lfd' is the self-inductance of the d-axis of the rotor.
4. The apparatus of claim 1, wherein the damping formula of the compensation signal module is:
Figure FDA0002569360680000023
wherein k isdcvFor the compensation factor of the amplifier, S is a complex variable with respect to frequency, ωdcvThe generated compensation signal is the direct current bus sampling voltage multiplied by the damping formula, which is the cut-off frequency of the high-pass filter.
5. A method for compensating stability of a DC power supply system based on a voltage reference signal, comprising:
the three-stage synchronous motor provides alternating voltage;
the rectifier rectifies alternating-current voltage output by the three-level synchronous motor into direct-current voltage;
the rectifier control unit controls the rectifier through a compensation signal generated by a high-pass filter and an amplifier which are connected in series, so that the stability of direct-current voltage is enhanced;
adjusted source side impedance Δ ZsdcvAnd the DC bus voltage udcThe relationship of (1) is:
Figure FDA0002569360680000024
Gdc(s) is the transfer function of the DC bus voltage, Gi(s) is the transfer function of the current on the stator side of the main generator, Gv(S) is the transfer function of the AC voltage on the rotor side of the main generator, Gif(S) is a transfer function of the field current on the rotor side of the main generator, RsIs stator winding resistance, udcIs the actual value of the DC bus voltage, idcIs the actual value of the DC bus current, s is a complex frequency variable, RsIs stator winding resistance, LqFor self-inductance of stator q-axisThe value C is the capacitance value of the direct current bus voltage node;
wherein k iss3＝3(ks2(vsd+ωisq(Ld+Lmdks1))+(vsq+isq(Rs+SLq)))，
ks2Is the proportionality coefficient of the d-axis current to the q-axis current variation, ks1The proportional coefficient of the change value of the exciting current and the d-axis current is obtained; v. ofsdIs the main generator stator side d-axis voltage, vsqIs the q-axis voltage of the stator side of the main generator, omega is the synchronous speed of the three-stage synchronous motor, isqMeasuring the actual value of the q-axis current, L, for the statord、Lmd、LqRespectively a stator d-axis self-inductance value, a stator and rotor d-axis direction mutual inductance value and a stator q-axis self-inductance value; k is a radical ofdcvAs compensation factor, omega, of the amplifierdcvThe cut-off frequency of the high-pass filter.
6. The method of claim 5, wherein the rectifier control unit comprises 5 PI control loops, a d-axis current loop, a q-axis current loop, an excitation current loop, a DC voltage loop, and an AC voltage loop; the compensation signal module is connected to the position of an alternating current reference signal in a direct current bus current loop.
7. The method of claim 5 or 6, wherein,
Figure FDA0002569360680000031
8. the method of claim 5, wherein the damping of the compensation signal is formulated as:
Figure FDA0002569360680000032
wherein k isdcvFor the compensation factor of the amplifier, S is a complex variable with respect to frequency, ωdcvIs the cut-off frequency of the high-pass filterThe generated compensation signal is the direct current bus sampling voltage multiplied by the damping formula.
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