CN111431205B - Strong robust synchronous grid-connected control system and method for cascaded brushless double-fed motor - Google Patents
Strong robust synchronous grid-connected control system and method for cascaded brushless double-fed motor Download PDFInfo
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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
- 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
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
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- 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
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- H—ELECTRICITY
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
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- H02P2101/00—Special adaptation of control arrangements for generators
- H02P2101/15—Special adaptation of control arrangements for generators for wind-driven turbines
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- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The invention discloses a strong robust synchronous grid-connected control system and method of a cascading brushless double-fed motor. The technical scheme has the characteristics of quick dynamic response and constant switching frequency, and an outer loop power controller, a power side voltage sensor and a power side current sensor are not needed when synchronous grid connection is carried out, so that the space and the cost are saved.
Description
Technical Field
The invention belongs to the technical field of new energy wind power generation, and relates to a power generation control system of a cascaded brushless double-fed motor, in particular to a strong robust grid-connected control system of the cascaded brushless double-fed motor.
Background
With the increasing demand of the modern society for the development of new energy technology, wind energy firmly occupies the main market of new energy power generation by the characteristics of wide distribution, large reserve and relatively mature technology. The cascaded brushless double-fed motor is a novel alternating current motor with double electric ports, and the cascaded brushless double-fed motor is expected to replace the traditional brushed double-fed motor by virtue of the advantages of low cost, high reliability, capability of realizing maximum power tracking and active and reactive independent control in a wide speed regulation range and the like, and becomes a new technical development route. However, the motor is complex in electromagnetic relation, multiple in parameter variable and strong in coupling, and the design difficulty of a control system of the motor is increased. Particularly, in the grid connection process, the motor still can output high-quality electric energy even if external disturbance exists, and smooth, quick and accurate grid connection is realized. Therefore, a synchronous grid-connected control system of a cascaded brushless motor with strong robustness becomes especially critical.
Until now, a direct torque control method based on voltage vector selection is mainly adopted in a grid-connected control system of a cascade brushless double-fed motor. The method realizes the direct control of the output torque of the motor by combining hysteresis comparison with voltage vector selection. Meanwhile, the concept of virtual torque is combined to realize grid connection. However, the defects of large torque ripple, switching frequency change and poor steady-state characteristics of the motor cannot be effectively solved, and particularly, the control effect of the motor can be greatly reduced under the condition of external environment interference. In addition, the fluctuation of the output voltage of the power end can be indirectly caused by the large torque ripple, the matching of the output voltage of the power end and the voltage of a power grid is not accurate enough, and large impact current is generated. Therefore, how to improve the steady-state characteristic and robustness of the system and reduce grid-connection impact on the premise of ensuring the rapid dynamic response becomes a technical problem to be solved urgently, so that smooth, accurate and rapid grid connection is realized.
Disclosure of Invention
The invention aims to provide a strong robust synchronous grid-connected control system and method of a cascade brushless double-fed motor, which have the characteristics of quick dynamic response and constant switching frequency, do not need an outer loop power controller and a power side voltage and current sensor during synchronous grid connection, and save space and cost.
In order to achieve the above purpose, the solution of the invention is:
a strong robust synchronization grid-connected control system of a cascading brushless double-fed motor comprises a power controller, a control current given value calculation module, a mode switch, a sliding mode controller, a control voltage compensation calculation module, a coordinate converter, an SVPWM signal generator, a bidirectional power converter, a power grid virtual magnetic linkage and power grid voltage calculation module, a PLL (phase locked loop), a photoelectric encoding disk, a cascading brushless double-fed motor, a grid-connected switch and a power grid;
the mode switch has two modes, one mode is that a sliding mode controller is connected with a control current given value calculation module, and synchronous grid-connected operation of the cascade brushless double-fed motor is realized at the moment; one is to connect the sliding mode controller with the power controller, and then realize the power control;
PLL based on grid voltage electrical angular velocity omega g Outputting an estimated value to a power grid virtual flux linkage and power grid voltage calculation module, wherein the power grid voltage electrical angular velocity omega g Rotor angular velocity omega detected based on photoelectric encoding disc m The photoelectric coding disc is arranged on a rotor of the cascaded brushless double-fed motor;
the power grid virtual flux linkage and power grid voltage calculation module is used for calculating a three-phase voltage signal u according to a power grid gabc And grid voltage electrical angular velocity omega g Calculating the grid voltage amplitude value | u by the estimated value g I and grid virtual flux linkage amplitude phi psi g |；
The control current given value calculation module passes through the virtual flux linkage amplitude phi psi of the power grid g I, calculating a given value of the control current under a d-q coordinate system
Sliding mode controller for setting control current
Performing variable structure control with the measured difference value of the actual control current, and outputting an equivalent control signal u eqd 、u eqq ；
The control voltage compensation calculation module is used for compensating the output signal of the sliding mode controller and outputting a control voltage reference signal under a d-q coordinate system
The coordinate converter is used for converting the control voltage into a reference signal
Converted to control voltage set value under alpha-beta coordinate system
And then the three-phase alternating voltage is input into an SVPWM signal generator to send out PWM wave signals to control a bidirectional power converter to output expected three-phase alternating voltage to act on a stator end of a control motor; and two ends of the bidirectional power converter are respectively connected with the direct-current side capacitor and the stator end of the control motor.
A strong robust synchronization grid-connected control method of a cascade brushless doubly-fed motor comprises the following steps:
Step 4, setting the control current
Performing variable structure control with the measured difference value of the actual control current, and outputting an equivalent control signal u eqd 、u eqq ；
Step 5, equivalent control signal u eqd 、u eqq Compensating and outputting a control voltage reference signal in a d-q coordinate system
and 7, after the grid connection is successfully carried out, carrying out power tracking control.
In the step 1, the phase-locked loop is utilized to obtain the electrical angular velocity omega according to the voltage of the power grid g An estimated value thereof is obtained.
In the step 2, the amplitude | ψ of the virtual flux linkage of the power grid g The method for calculating the | is as follows: phi psi g |＝|u g |/ω g Wherein, ω is g Is the grid voltage electrical angular velocity.
In the step 3, according to the virtual flux amplitude | psi of the power grid g I, calculating a given value of the control current in a d-q coordinate system
The method comprises the following steps:
wherein L is r For self-inductance of the rotor, L mp And L mc The excitation inductances of the power motor and the control motor are respectively.
The specific content of the step 5 is as follows: for equivalent control signal u eqd 、u eqq The compensation of (1) comprises a coefficient matrix A, a compensation matrix B and a disturbance term Dw:
wherein,
σ＝L p L r L c -L mc 2 L p -L mp 2 L c is a matrix coefficient; omega c ＝ω p -(P p +P c )ω m And ω slip ＝ω p -P p ω m Respectively controlling the relative electrical angular velocity and the slip electrical angular velocity of the motor stator; l is p And L c The self-inductance of the stator of the power motor and the stator of the control motor are respectively; r p 、R c And R r The resistances of the power motor, the control motor and the rotor are respectively; omega m Is the rotor angular velocity; l is r Self-inductance of the rotor; l is mp And L mc Excitation inductances of the power motor and the control motor respectively; p p 、P c The pole pair number of the power motor and the pole pair number of the control motor are respectively.
After the scheme is adopted, compared with the existing synchronous grid-connected control system of the cascading brushless double-fed motor, the technical scheme provided by the invention has the beneficial effects that:
(1) the controller of the synchronous grid-connected control system of the cascading brushless double-fed motor adopts a sliding mode variable structure control strategy, the control structure is simple and easy to realize, and the robustness and the anti-interference capability of the control system are improved;
(2) the synchronous grid-connected control system of the cascading brushless double-fed motor provided by the invention does not need an outer ring power controller and power side voltage and current sensors when synchronous grid connection is carried out, and the cost is reduced.
(3) The synchronous grid-connected control system of the cascade brushless double-fed motor can realize constant switching frequency and reduce switching loss.
(4) The control current given value calculation module in the synchronous grid-connected control system of the cascade brushless double-fed motor can accurately calculate the control current given value required by grid connection, and accurate synchronous grid connection is realized.
Drawings
FIG. 1 is a schematic structural diagram of a strong robust synchronous grid-connected control system of a cascaded brushless doubly-fed motor provided by the invention;
FIG. 2 is a schematic diagram of the interior of the control current setpoint calculation module;
FIG. 3 is a schematic view of the interior of the sliding mode controller;
FIG. 4 is a schematic diagram of the control voltage compensation calculation module;
FIG. 5 is a simulation waveform diagram of the cascade type brushless double-fed motor operating at 600 r/min;
FIG. 6 is a simulation waveform diagram of the cascade type brushless doubly-fed motor operating at 900 r/min.
Detailed Description
The technical solution and the advantages of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, the present invention provides a robust synchronous grid-connected control system for a cascaded brushless doubly-fed machine, which is used for controlling a winding current at a control side and implementing synchronous grid-connected control of the cascaded brushless doubly-fed machine, and the control system includes a power controller 1, a control current given value calculation module 2, a mode switch 3, a sliding mode controller 4, a control voltage compensation calculation module 5, a coordinate converter 6, an SVPWM (space vector pulse width modulation) signal generator 7, a bidirectional power converter 8, a grid virtual magnetic linkage and grid voltage calculation module 9, a PLL (phase locked loop) 10, a photoelectric encoder disk 11, a cascaded brushless doubly-fed machine 12, a grid-connected switch 13, and a grid 14, which are introduced below.
When synchronous grid connection is carried out, the mode selector switch 3 is switched to the mode 1 to carry out synchronous grid connection operation; after the grid connection is successful, the mode selector switch 3 is switched to the mode 2 to perform power control.
The photoelectric coding disc 11 is arranged on the rotor of the cascade brushless double-fed motor 12 and is used for detecting the angular speed omega of the rotor m . Two ends of the bidirectional power converter 8 are respectively connected with the direct current side capacitor and the stator end of the control motor. The stator end of the power motor is connected with a power grid 14 through a grid-connected switch 13, and a power grid voltage signal measured by a power grid voltage sensor is input to a PLL 10 to estimate the power grid voltage electrical angular velocity omega g 。
Before synchronization of the grid connection, the mode is setThe change-over switch 3 is switched to the mode 1 by the pole pair number P of the power motor and the control motor p 、P c Electric network voltage and electric angular velocity omega g And the measured angular speed omega of the rotor m Calculating and controlling electric angle theta of motor stator relative to power motor stator pc ：
θ pc ＝∫[ω g -(P p +P c )ω m ]dt
The power grid virtual flux linkage and power grid voltage calculation module 9 passes through the power grid three-phase voltage signal u gabc And grid voltage electrical angular velocity omega g Calculating the voltage amplitude value | u of the power grid g I and grid virtual flux linkage amplitude phi psi g |＝|u g |/ω g 。
As shown in fig. 2, the control current set value calculation module 2 calculates the virtual flux linkage amplitude | ψ of the power grid g I, calculating a given value of the control current under a d-q coordinate system
Wherein L is r For self-inductance of the rotor, L mp And L mc The excitation inductances of the power motor and the control motor are respectively.
As shown in fig. 3, the sliding mode controller 4 performs variable structure control on the error of the control current through the saturation function module 15, and outputs an equivalent control signal u eqd 、u eqq 。
As shown in FIG. 4, the control voltage compensation calculation module 5 passes the control current i in the current d-q coordinate system cdq Electric network voltage and electric angular velocity omega g Angular velocity ω of rotor m Grid voltage amplitude | u g I and grid virtual flux linkage amplitude phi psi g L, calculating a compensation term, wherein the coefficient matrixes a 16 and B17 and the disturbance term Dw 18 are respectively:
wherein,
σ＝L p L r L c -L mc 2 L p -L mp 2 L c are matrix coefficients. Omega c ＝ω p -(P p +P c )ω m And omega slip ＝ω p -P p ω m Respectively controlling the relative electrical angular velocity and the slip electrical angular velocity of the motor stator. L is a radical of an alcohol p And L c The self inductance of the stator of the power motor and the stator of the control motor are respectively. R p 、R c And R r Respectively, the resistances of the power motor, the control motor and the rotor.
Equivalent control signal u output by sliding mode controller 4 eqd 、u eqq After compensation, a control voltage reference signal under a d-q coordinate system can be obtained
The signal is subjected to coordinate transformation by a coordinate transformer 6 to obtain a control voltage given value under an alpha-beta coordinate system
And the three-phase alternating current voltage is input into an SVPWM signal generator 7, and then a PWM wave signal is sent out to control a bidirectional power converter 8 to output expected three-phase alternating current voltage to act on a stator end of a control motor. Because the control motor rotor and the power motor rotor are mechanically and electrically connected at the same time, expected three-phase alternating-current voltage can be modulated at the stator end of the power motor and output to the power grid side, and rapid, smooth and accurate synchronous grid-connected control is realized.
And after the grid connection is successful, the mode selector switch 3 is switched to the mode 2, so that the power tracking control is realized.
The waveform diagrams of simulation experiments of the strong robust synchronous grid-connected control system adopting the cascading type brushless double-fed motor provided by the invention are shown in fig. 5 and 6. Fig. 5 is a waveform diagram of a simulation experiment of the cascading brushless doubly-fed motor under the condition of 600r/min, and fig. 6 is a waveform diagram of a simulation experiment of the cascading brushless doubly-fed motor under the condition of 900 r/min. Both simulations were the same and were initially run in the mode 1 case. And when the voltage is 0.05s, matching and controlling the stator voltage amplitude of the power motor and the grid voltage amplitude. And at 0.1s, matching and controlling the stator voltage phase of the power motor and the grid voltage phase. And at 0.15s, closing the grid-connected switch 13 to realize synchronous grid connection. And when the time is 0.2s, the mode selector switch 3 is switched to the mode 2 to realize power tracking control, and the given active power and the given reactive power are both set to be 0 at the moment of switching. At 0.25s, the given active power is set at 0.5 p.u..
The experimental results show that: by adopting the strong robust synchronous grid-connected control system of the cascade brushless double-fed motor, accurate and quick matching of the stator voltage of the power motor to the voltage amplitude, the phase and the frequency of a power grid can be realized under the operating conditions of subsynchronous (600r/min) and supersynchronous (900 r/min). In addition, the grid connection impact is small at the moment of grid connection. After grid connection, power tracking control can be realized through mode switching. Therefore, the strong robust synchronous grid-connected control system of the cascading brushless double-fed motor can quickly, smoothly and accurately carry out synchronous grid-connected control.
In summary, the strong robust synchronous grid-connection control system and method for the cascade brushless double-fed motor adopt a calculation method for controlling a current given value, and synchronous grid connection can be realized only through an inner loop current controller. Therefore, in the synchronous grid connection process, a power outer ring controller is not needed, a power side voltage sensor and a power side current sensor are eliminated, and the system cost is reduced. Furthermore, the control motor outputs three-phase voltage with the same frequency, phase and amplitude as the voltage of the power grid at the stator end of the power motor in a mode of combined action of mechanical connection and electric connection with the rotor of the power motor, so that synchronous grid connection is realized. In addition, the application of the sliding mode variable structure control algorithm improves the robustness of the control system, so that the smooth, accurate and quick synchronous grid-connected control effect is achieved.
The above embodiments are only for illustrating the technical idea of the present invention, and the technical idea of the present invention is not limited thereto, and any modifications made on the basis of the technical solution according to the technical idea of the present invention fall within the protective scope of the present invention.
Claims (5)
1. A strong robust synchronization grid-connected control system of a cascade brushless double-fed motor is characterized in that: the system comprises a power controller, a control current set value calculation module, a mode selector switch, a sliding mode controller, a control voltage compensation calculation module, a coordinate converter, an SVPWM signal generator, a bidirectional power converter, a power grid virtual flux and power grid voltage calculation module, a PLL (phase locked loop), a photoelectric coding disc, a cascade brushless double-fed motor, a grid-connected switch and a power grid;
the mode switch has two modes, one mode is that a sliding mode controller is connected with a control current given value calculation module, and synchronous grid-connected operation of the cascade brushless double-fed motor is realized at the moment; one is to connect the sliding mode controller with the power controller, and then realize the power control;
PLL based on grid voltage electrical angular velocity omega g Outputting an estimated value to a power grid virtual flux linkage and power grid voltage calculation module, wherein the power grid voltage electrical angular velocity omega g Rotor angular velocity omega detected based on photoelectric encoding disc m The photoelectric coding disc is arranged on a rotor of the cascade brushless double-fed motor;
the power grid virtual flux linkage and power grid voltage calculation module calculates the three-phase voltage signal u according to the power grid gabc And grid voltage electrical angular velocity omega g Calculating the grid voltage amplitude value | u by the estimated value g I and power grid virtual flux linkage amplitude I psi g |；
Control current given value calculation module passes through electric network virtual flux amplitude | psi g I, calculating a given value of the control current under a d-q coordinate system
Sliding mode controller for setting control current
Performing variable structure control with the measured difference value of the actual control current, and outputting an equivalent control signal u eqd 、u eqq ；
The control voltage compensation calculation module is used for compensating the output signal of the sliding mode controller and outputting a control voltage reference signal under a d-q coordinate system
The coordinate converter is used for converting the control voltage into a reference signal
Converted to control voltage set value under alpha-beta coordinate system
And then the three-phase alternating voltage is input into an SVPWM signal generator to send out PWM wave signals to control a bidirectional power converter to output expected three-phase alternating voltage to act on a stator end of a control motor; and two ends of the bidirectional power converter are respectively connected with the direct-current side capacitor and the stator end of the control motor.
2. A strong robust synchronization grid-connected control method of a cascade brushless double-fed motor is characterized by comprising the following steps:
step 1, during synchronous grid connection, according to the voltage and the electrical angular velocity omega of a power grid g Obtaining an estimated value of the current time;
step 2, according to the three-phase voltage signal u of the power grid gabc And grid voltage electrical angular velocity omega g The estimated value of the voltage is calculated to obtain the grid voltage amplitude value | u g I and grid virtual flux linkage amplitude phi psi g |；
Step 3, according to the virtual flux linkage amplitude | psi of the power grid g I, calculating a given value of the control current under a d-q coordinate system
Step 4, setting the control current
Performing variable structure control with the measured difference value of the actual control current, and outputting an equivalent control signal u eqd 、u eqq ；
Step 5, equivalent control signal u eqd 、u eqq Compensating and outputting a control voltage reference signal under a d-q coordinate system
The specific content of the step 5 is as follows: for equivalent control signal u eqd 、u eqq The compensation comprises a coefficient matrix A, a compensation matrix B and a disturbance item Dw:
wherein,
σ＝L p L r L c -L mc 2 L p -L mp 2 L c is a matrix coefficient; omega c ＝ω p -(P p +P c )ω m And ω slip ＝ω p -P p ω m Respectively controlling the relative electrical angular velocity and the slip electrical angular velocity of the motor stator; l is a radical of an alcohol p And L c The self-inductance of the stator of the power motor and the control motor are respectively; r is p 、R c And R r Respectively power motor and controllerMaking the resistance of the motor and the rotor; omega m Is the rotor angular velocity; l is r Self-inductance of the rotor; l is mp And L mc Excitation inductances of the power motor and the control motor respectively; p p 、P c The number of pole pairs of the power motor and the control motor is respectively;
step 6, reference signal of control voltage
Converted into given control voltage value in alpha-beta coordinate system
And generating PWM wave signals to control the bidirectional power converter to output expected three-phase alternating voltage to act on a stator end of the control motor;
and 7, after the grid connection is successful, carrying out power tracking control.
3. The method of claim 2, wherein: in the step 1, the phase-locked loop is utilized to obtain the electrical angular velocity omega according to the voltage of the power grid g An estimated value thereof is obtained.
4. The method of claim 2, wherein: in the step 2, the virtual flux linkage amplitude | ψ of the power grid g The method for calculating | comprises the following steps: phi g |＝|u g |/ω g Wherein, ω is g Is the grid voltage electrical angular velocity.
5. The method of claim 2, wherein: in the step 3, according to the virtual flux linkage amplitude | ψ of the power grid g I, calculating a given value of the control current in a d-q coordinate system
The method comprises the following steps:
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|---|---|---|---|---|
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