CN112152525A - Unbalanced voltage compensation device and method for brushless doubly-fed induction generator - Google Patents
Unbalanced voltage compensation device and method for brushless doubly-fed induction generator 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
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/007—Control circuits for doubly fed generators
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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
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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
- H02P9/48—Arrangements for obtaining a constant output value at varying speed of the generator, e.g. on vehicle
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Abstract
The invention discloses an unbalanced voltage compensation device and method for a brushless doubly-fed induction generator, belonging to the technical field of brushless doubly-fed induction generator control, and comprising a PW voltage controller, a CW conversion angle generator, a PW voltage amplitude calculator, a PW reactive power compensator and a CW current regulator; the PW reactive power compensator comprises a PW current converter, a multiplier, a high-pass filter and a resonance controller; the multiplier is based on the current feedback value i of the d-axis component of the PW currentpd(n) and the current feedback value u of the q-axis component of the PW Voltagepq(n) calculating the current calculated value Q of the total reactive power of the brushless doubly-fed induction generatorp(n); high pass filter slave Qp(n) obtaining the current calculated value of the PW double-frequency reactive powerA resonance controller based onCalculating q-axis compensation quantity of CW voltageQ-axis compensation quantity of CW voltage output by PW reactive power compensator in the inventionThe reactive power of the double frequency of the PW is eliminated, so that the frequency and the amplitude of the PW voltage are constant.
Description
Technical Field
The invention belongs to the technical field of brushless doubly-fed induction generator control, and particularly relates to an unbalanced voltage compensation device and method of a brushless doubly-fed induction generator.
Background
The brushless double-fed induction generator is a novel alternating current induction motor, comprises two sets of stator windings with different pole pairs, which are respectively called as a power winding and a control winding, and the stator windings are not directly coupled; the rotor of the brushless doubly-fed induction generator is specially designed, so that the rotating magnetic fields with different pole pairs generated by the two sets of stator windings can indirectly interact with each other, and the interaction of the rotating magnetic fields can be controlled to realize energy transfer. The motor can operate in a plurality of working modes, including an induction mode, a cascade mode and a double-fed mode.
The brushless doubly-fed induction generator can realize variable-speed constant-frequency power generation, simultaneously cancels an electric brush and a slip ring, has the advantages of simple and reliable structure, and has remarkable application advantages in the fields of wind power generation, hydroelectric generation, ship shaft power generation, electric vehicles and the like. Usually, the wind power generator is connected to the grid during operation, and the control objective of the wind power system is to regulate the active power and the reactive power. However, the independent power generation system of the brushless doubly-fed induction generator is not connected with the power grid, and the output voltage of the brushless doubly-fed induction motor needs to be directly controlled, so that the amplitude and the frequency of the output voltage of the brushless doubly-fed induction motor are kept constant when the rotating speed or the power load of the generator changes.
The control objective of the independent power generation system of the brushless doubly-fed induction generator is to keep the amplitude and frequency of the generator output voltage constant. However, unbalanced three-phase current occurs in a PW (powerwind, hereinafter referred to as PW) of the brushless doubly-fed induction generator due to the unbalanced load, and the unbalanced three-phase current generates different voltage drops on each phase internal impedance of the output voltage, so that the output voltage of the brushless doubly-fed induction generator is unbalanced, and thus, under a conventional control method, a control target that the amplitude and the frequency of the output voltage of the independent power generation system of the brushless doubly-fed induction generator are kept constant is difficult to achieve.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide an unbalanced voltage compensation device and method for a brushless doubly-fed induction generator, and aims to solve the problem that the PW voltage amplitude and frequency cannot be ensured to be constant and further constant-voltage and constant-frequency power generation cannot be realized under the condition that an unbalanced load exists in an independent power generation system of the conventional brushless induction generator.
In order to achieve the above object, the present invention provides an unbalanced voltage compensation device for a brushless doubly-fed induction generator, which is applied to an independent power generation system of a brushless doubly-fed induction generator with reactive power, and comprises a PW voltage controller, a CW (Control Winding, hereinafter referred to as CW) conversion angle generator, a CW current regulator, a PW voltage amplitude calculator and a PW reactive power compensator;
the PW voltage controller is based on the given value of the PW voltage amplitudeCurrent feedback value U of PW voltage amplitudep(n) outputting the current set value of the d-axis component of the CW currentThe amplitude closed-loop control is used for realizing the PW voltage;
CW conversion angle generator based on current rotor position theta of brushless doubly-fed induction generatorr(n) outputting the current set value of the CW phase together with the set value of the PW frequencyRealizing frequency closed-loop control of PW voltage;
CW current regulator receptionAnd the current compensation value of the q-axis component of the CW voltageOutputting the current value u of the CW excitation voltagec_abc(n) to the control winding; realizing closed-loop control of d-axis component and q-axis component of CW current;
the PW voltage amplitude calculator receives a current value u of the PW voltagep_abc(n) given value of PW frequencyCalculating U through coordinate transformationp(n);
The PW reactive power compensator receives the current feedback value i of the PW currentp_abc(n)、upq(n), given value of PW phaseComputingRealizing closed-loop control of PW double-frequency reactive power caused by unbalanced load;
the PW reactive power compensator comprises a PW current converter, a multiplier, a high-pass filter and a resonance controller;
the PW current converter converts the current feedback value i of the PW current in an abc coordinate systemp_abc(n) current feedback value i converted into PW current d-axis component in dq rotation coordinate systempd(n);
The multiplier is used for calculating the current calculation value Q of the total reactive power of the brushless doubly-fed induction generatorp(n); the calculation formula is as follows:
wherein Q isp(n) is a current calculated value of the total reactive power of the brushless doubly-fed induction generator, and comprises two parts corresponding to a balanced load and an unbalanced load; u. ofpq(n) is the current feedback value of the q-axis component of the PW voltage; i.e. ipd(n) is the current feedback value of the d-axis component of the PW current; qp(n) inputting to a high pass filter;
the high-pass filter is used for acquiring a current calculated value of PW double-frequency reactive power caused by unbalanced load in the brushless doubly-fed induction generator
The resonance controller is used for calculating the current compensation value of the q-axis component of the CW voltage
Wherein,a current compensation value of q-axis component of CW voltage;the current given value of the reactive power to be compensated is obtained; krA resonant amplifier being a resonant controller; omegac4Is the cut-off angular frequency of the resonant controller; omega0Represents the resonant frequency;calculating the current given value of the reactive power to be compensated for the n-1 st time;respectively representing compensation values of q-axis components of the CW voltage obtained by the n-1 st calculation and the n-2 nd calculation;input to the fourth adder.
Preferably, the PW voltage controller includes a first adder and a first PI controller;
the first adder calculates the given value of the PW voltage amplitudeCurrent feedback value U of PW voltage amplitudep(n) the difference between (n); n is the current operation times;
The CW transformation angle generator comprises a differentiator, a first low-pass filter, a proportional amplifier, a fifth adder and a first integrator;
the differentiator performs differentiation processing on the current rotor position of the brushless doubly-fed induction generator to obtain the current rotation speed omega containing noise of the brushless doubly-fed induction generatorr′(n);
The first low-pass filter filters noise to obtain the current rotating speed omega of the brushless doubly-fed induction generatorr(n);
Proportional amplifier pair omegar(n) amplifying the sum of the PW pole pair number and the CW pole pair number;
the fifth adder is used for subtracting the PW frequency given value from the proportional amplifier output to obtain the current given value of the CW frequency
The first integrator calculates the current given value of the CW phase according to the sampling period and the current given value of the CW frequency calculated each time
Preferably, the CW current regulator includes a second adder, a third adder, a fourth adder, a second PI controller, a third PI controller, a CW voltage converter, a CW current converter, a PWM signal generator, and a control winding converter;
the second adder calculates the current given value of the d-axis component of the CW currentCurrent feedback value i of d-axis component of CW currentcd(n) the difference between (n);
the second PI controller is used for calculating the current given value of the d-axis component of the CW voltage
The third adder calculates a given value of q-axis component of CW currentCurrent feedback value i of q-axis component of CW currentcq(n) the difference between (n);
the third PI controller is used for calculating the current given value u 'of the CW voltage q-axis component without considering the voltage compensation'cq(n);
The fourth adder calculates the current given value u 'of the CW voltage q-axis component without considering the voltage compensation'cq(n) current compensation value with q-axis component of CW voltageSumming;
the CW voltage converter converts the current set value of the q-axis component of the CW voltage in dq rotation coordinate systemAnd the current set point of the q-axis component of the CW voltageConverting to a current set value of CW voltage under an abc coordinate system
The CW current converter converts the current feedback value i of the CW current in an abc coordinate systemc_abc(n) (i.e.: i)ca(n)、icb(n) and icc(n)) is transformed into the current feedback value i of the d-axis component of the CW current in the dq rotation coordinate systemcd(n) and the present feedback value i of the q-axis component of the CW currentcq(n);
PWM signal generator according to CW voltage current set value under abc coordinate systemGenerating a PWM signal;
controlling the winding side converter to invert the direct current into the alternating current according to the PWM signal and outputting the current value u of the three-phase excitation voltage required by CWc_abc(n) to a brushless doubly fed induction generator.
Preferably, the PW voltage amplitude calculator includes a second integrator, a PW voltage converter, an amplitude calculator, and a second low-pass filter;
the second integrator is used for giving a given value of PW frequencyIntegral processing is carried out to obtain a given value of PW phase
PW voltage converter receiverThe current feedback value u of the PW voltage under the abc coordinate systemp_abc(n) converting the current feedback value u into the d-axis component of the PW voltage in the dq rotation coordinate systempd(n) and the current feedback value u of the q-axis component of the PW Voltagepq(n);
An amplitude calculator calculates a PW voltage amplitude feedback value U 'containing noise at present'p(n);
The second low-pass filter carries out filtering processing to obtain the current feedback value U of the PW voltage amplitudep(n)。
On the other hand, the invention provides a method based on an unbalanced voltage compensation device of a brushless doubly-fed induction generator, which comprises the following steps:
using a given value of the PW phaseConverting the current feedback value of the PW current into a current feedback value i of a d-axis component of the PW currentpd(n);
To ipd(n) and the current feedback value u of the q-axis component of the PW Voltagepq(n) performing multiplication to obtain the current calculated value Q of the total reactive power of the brushless doubly-fed induction generatorp(n);
To Qp(n) carrying out high-pass filtering to obtain a current calculated value of the PW double-frequency reactive powerThen, the current compensation value of the q-axis component of the CW voltage is calculated
Using a given value of the PW phaseAnd the current feedback value u of the PW voltagep_abc(n) obtaining the current feedback value U of the PW voltage amplitudep(n);
Setting the PW voltage amplitudeCurrent feedback value U of PW voltage amplitudep(n) performing PI control after difference, and outputting the current given value of the d-axis component of the CW current
By usingAnd the current compensation value of the q-axis component of the CW voltageOutputs the current value u of the CW excitation voltage through addition, PI control and coordinate transformationc_abc(n) to the control winding.
Wherein,calculating the current given value of the reactive power to be compensated for the (n-1) th time; qp(n-1) calculating the total reactive power of the brushless doubly-fed induction generator obtained in the (n-1) th time; f. ofc3Is the cut-off frequency of the high-pass filter; t is the sampling period.
Preferably, by usingAndobtaining the current value u of CW excitation voltagec_abcThe method of (n) is:
given value of d-axis component of CW currentCurrent feedback value i of d-axis component of CW currentcd(n) performing PI control on the difference value to obtain the current given value of the d-axis component of the CW voltage
Calculating present set point of q-axis component of CW currentAnd CW currentCurrent feedback value i of q-axis componentcq(n) and PI control is carried out after the difference value between the two, and the current given value u 'of the CW voltage q-axis component without considering the voltage compensation is obtained'cq(n);
Using the current compensation value of the q-axis component of the CW voltageTo u'cq(n) carrying out summation compensation to obtain the current given value of the q-axis component of the CW voltage
Using the current set-point of the CW phaseWill be provided withAnd the current set point of the q-axis component of the CW voltageConverted to the current set point of CW voltage
According toThe generated PWM signal is transmitted to a control winding side converter to output the current value u of the three-phase excitation voltage required by CWc_abc(n)。
Preferably, a current feedback value U of the PW voltage amplitude is obtainedpThe method of (n) is:
Using a given value of the PW phaseThe current feedback value u of the PW voltagep_abc(n) current feedback value u converted into d-axis component of PW Voltagepd(n) and the current feedback value u of the q-axis component of the PW Voltagepq(n);
Using the current feedback value u of the d-axis component of the PW voltagepd(n) and the current feedback value u of the q-axis component of the PW Voltagepq(n) calculating the current feedback value U of the PW voltage amplitudep(n)。
It should be noted that the symmetric load is a special case of the asymmetric load, and the compensation method provided by the invention is also suitable for the operation control of the independent power generation system of the brushless doubly-fed induction generator under the condition of the symmetric load.
Preferably, the current set point of the CW phase is obtainedThe method comprises the following steps:
the current rotating speed omega of the brushless doubly-fed induction generatorr(n) amplification to (p)p+pc)ωr(n);
Will be provided withAnd (p)p+pc)ωr(n) taking the difference to obtain the current set value of the CW frequency
The current given value of the CW frequency is subjected to integral processing, and the current given value of the CW phase is obtained by combining a sampling period
Wherein p ispPW pole pair number; p is a radical ofcIs the CW pole pair number.
The compensation method provided by the invention is simple and reliable, has strong robustness, can realize a constant-voltage constant-frequency power generation function under the condition that the power generation system has unbalanced load, and is suitable for an independent ship shaft power generation system, an independent hydroelectric power generation system and an independent wind power generation system based on the brushless doubly-fed induction generator.
Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:
the invention discloses a PW reactive power compensator which comprises a PW current converter, a multiplier, a high-pass filter and a resonance controller, wherein the multiplier adopts a formulaThe control function of the resonant controller is:
calculating and acquiring current compensation value of q-axis component of CW voltageThe q-axis component of the CW voltage is compensated, so that a converter at the side of a control winding actively generates PW double-frequency reactive power caused by unbalanced load, thereby ensuring the balance of the PW voltage and realizing that the compensation method does not depend on the resistance and inductance parameters of a motor.
The invention adopts the PW voltage controller and the CW transformation angle generator to respectively carry out independent closed-loop control on the amplitude and the frequency of the PW voltage, realizes the decoupling control of the amplitude and the frequency of the PW voltage and enhances the robustness of an independent power generation system.
The CW current regulator disclosed by the invention realizes the decoupling control of the d-axis component and the q-axis component of the CW current, wherein the conversion reference angles of the CW voltage converter and the CW current converter do not depend on the resistance and inductance parameters of the motor, so that the CW current regulator has strong robustness to the variation of the resistance and inductance parameters in the operation process of the motor independent power generation system.
Drawings
Fig. 1 is a method for compensating an unbalanced voltage of an independent power generation system according to an 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 is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention discloses an unbalanced voltage compensation device, which is applied to an independent power generation system of a brushless doubly-fed induction generator and specifically comprises the following components:
the PW voltage controller sets the given value of the PW voltage amplitudeCurrent feedback value U of PW voltage amplitudep(n) performing PI control after difference, and outputting the current given value of the d-axis component of the CW currentCW transform angle generator for providing a current given value of the CW phaseThe PW voltage amplitude calculator receives a current value u of the PW voltagep_abc(n) given value of PW frequencyCalculating U through coordinate transformationp(n);
The input end of the PW reactive power compensator is connected with the PW voltage amplitude calculator, the output end of the PW reactive power compensator is connected with the CW current regulator, and the current compensation value of the q-axis component of the CW voltage is calculatedComprises a PW current converter, a multiplier, a high-pass filter and a resonance controller which are connected in sequence;
the PW current converter converts the current feedback value of the PW current into a current feedback value i of the d-axis component of the PW currentpd(n); the multiplier is based on ipd(n) and the current feedback value u of the q-axis component of the PW Voltagepq(n) calculating the current calculated value Q of the total reactive power of the brushless doubly-fed induction generatorp(n); high-pass filter for obtaining PW double-frequency reactive powerRate current calculation valueResonance controller calculationInput to a CW current regulator;
CW current regulator receptionAnd the current compensation value of the q-axis component of the CW voltageOutputs the current value u of the CW excitation voltage through addition, PI control and coordinate transformationc_abc(n) to the control winding.
Preferably, the multiplier is based onCalculating Qp(n); the resonance controller is based onComputing
Wherein,calculating the current given value of the reactive power to be compensated for the (n-1) th time; qp(n-1) calculating the total reactive power of the brushless doubly-fed induction generator obtained in the (n-1) th time; f. ofc3Is the cut-off frequency of the high-pass filter; t is the sampling period.
Preferably, the CW conversion angle generator includes a proportional amplifier, a fifth adder, and a first integrator, which are connected in sequence;
the proportional amplifier is used for converting the current rotating speed omega of the brushless doubly-fed induction generatorr(n) amplification to (p)p+pc)ωr(n);
The fifth adder is used for addingAnd (p)p+pc)ωr(n) taking the difference to obtain the current set value of the CW frequency
The first integrator integrates the current given value of the CW frequency, and the current given value of the CW phase is obtained by combining the sampling period
Wherein p ispPW pole pair number; p is a radical ofcIs the CW pole pair number.
Preferably, the CW current regulator includes:
the input end of the second adder is connected with the output end of the PW voltage controller, and the output end of the second adder is connected with the input end of the PI controller; calculating the present set point of the d-axis component of the CW currentCurrent feedback value i of d-axis component of CW currentcd(n) the difference between (n);
the output end of the second PI controller is connected with the input end of the CW voltage converter; calculating the current set point of the d-axis component of the CW voltage
The input end of the third adder is connected with the output end of the CW current converter, and the output end of the third adder is connected with the third PI controller; calculating present set point of q-axis component of CW currentCurrent feedback value i of q-axis component of CW currentcq(n) the difference between (n);
the output end of the third PI controller is connected with the first input end of the fourth adderConnecting; calculating a current setpoint value u 'of the CW voltage q-axis component without taking into account the voltage compensation'cq(n);
The second input end of the fourth adder is connected with the output end of the PW reactive power compensator, and the output end of the fourth adder is connected with the input end of the CW voltage converter; calculating a current setpoint value u 'of the CW voltage q-axis component without taking into account the voltage compensation'cq(n) andsumming;
the output end of the CW voltage converter is connected with the input end of the PWM signal generator; will be provided withAnd the current set point of the q-axis component of the CW voltageConverted to the current set point of CW voltage
CW current converterc_abc(n) is transformed into icd(n) and icq(n);
controlling the winding side converter to invert the direct current into the alternating current according to the PWM signal and outputting the current value u of the three-phase excitation voltage required by CWc_abc(n)。
Preferably, the PW voltage amplitude calculator includes a second integrator, a PW voltage converter, an amplitude calculator, and a second low-pass filter, which are connected in sequence;
the second integrator calculates the given value of the PW phase according to the sampling period and the given value of the PW frequency
PW voltage converterFor applying the current feedback value u of the PW voltagep_abc(n) current feedback value u converted into d-axis component of PW Voltagepd(n) and the current feedback value u of the q-axis component of the PW Voltagepq(n);
The amplitude calculator is used for calculating a PW voltage amplitude feedback value containing noise at present;
the second low-pass filter is used for calculating the current feedback value U of the PW voltage amplitudep(n)。
The method for the unbalanced voltage compensation device based on the above disclosure comprises the following steps:
using a given value of the PW phaseConverting the current feedback value of the PW current into a current feedback value i of a d-axis component of the PW currentpd(n);
To ipd(n) and the current feedback value u of the q-axis component of the PW Voltagepq(n) performing multiplication to obtain the current calculated value Q of the total reactive power of the brushless doubly-fed induction generatorp(n);
To Qp(n) carrying out high-pass filtering to obtain a current calculated value of the PW double-frequency reactive powerAnd (6) finally. Calculating the current compensation value of the q-axis component of the CW voltage
Using a given value of the PW phaseAnd the current feedback value u of the PW voltagep_abc(n) obtaining the current feedback value U of the PW voltage amplitudep(n);
Setting the PW voltage amplitudeCurrent feedback value U of PW voltage amplitudep(n) performing PI control after difference to output CW current d-axis componentCurrent set point of quantity
By usingAnd the current compensation value of the q-axis component of the CW voltageOutputs the current value u of the CW excitation voltage through addition, PI control and coordinate transformationc_abc(n) to the control winding.
Wherein,calculating the current given value of the reactive power to be compensated for the (n-1) th time; qp(n-1) calculating the total reactive power of the brushless doubly-fed induction generator obtained in the (n-1) th time; f. ofc3Is the cut-off frequency of the high-pass filter; t is the sampling period.
Preferably, by usingAndobtaining the current value u of CW excitation voltagec_abcThe method of (n) is:
current set point of d-axis component of CW currentCurrent feedback value i of d-axis component of CW currentcd(n) betweenPerforming PI control to obtain the current given value of the d-axis component of the CW voltage
Calculating present set point of q-axis component of CW currentCurrent feedback value i of q-axis component of CW currentcq(n) and PI control is carried out after the difference value between the two, and the current given value u 'of the CW voltage q-axis component without considering the voltage compensation is obtained'cq(n);
Using the current compensation value of the q-axis component of the CW voltageTo u'cq(n) carrying out summation compensation to obtain the current given value of the q-axis component of the CW voltage
Using the current set-point of the CW phaseWill be provided withAnd the current set point of the q-axis component of the CW voltageConverted to the current set point of CW voltage
According toThe generated PWM signal is input to a control winding side converter to output the current value u of the three-phase excitation voltage required by CWc_abc(n)。
Preferably, the amplitude of the PW voltage is obtainedCurrent feedback value UpThe method of (n) is:
Using a given value of the PW phaseThe current feedback value u of the PW voltagep_abc(n) current feedback value u converted into d-axis component of PW Voltagepd(n) and the current feedback value u of the d-axis component of the PW Voltagepq(n);
Using the current feedback value u of the d-axis component of the PW voltagepd(n) and the current feedback value u of the q-axis component of the PW Voltagepq(n) calculating the current feedback value U of the PW voltage amplitudep(n)。
Preferably, the current set point of the CW phase is obtainedThe method comprises the following steps:
the current rotating speed omega of the brushless doubly-fed induction generatorr(n) amplification to (p)p+pc)ωr(n);
Will be provided withAnd (p)p+pc)ωr(n) taking the difference to obtain the current set value of the CW frequency
The current given value of the CW frequency is subjected to integral processing, and the current given value of the CW phase is obtained by combining a sampling period
Wherein p ispPW pole pair number; p is a radical ofcIs the CW pole pair number.
Examples
As shown in fig. 1, the present embodiment discloses an unbalanced voltage compensation apparatus, which is applied to an independent power generation system of a brushless doubly-fed induction generator with reactive power, and specifically includes a PW voltage controller, a CW conversion angle generator, a CW current regulator, a PW voltage amplitude calculator and a PW reactive power compensator;
the PW voltage controller comprises a first adder and a first PI controller;
the first adder is used for adding a given value of the PW voltage amplitudeCurrent feedback value U of PW voltage amplitudep(n) making a difference;
the first PI controller is used for calculating the current given value of the d-axis component of the CW currentThe method comprises the following specific steps:
wherein,the current given value of the d-axis component of the CW current obtained by the nth calculation is obtained;is a given value of PW voltage amplitude; u shapep(n) is the current feedback value of the PW voltage amplitude; kp1And τi1Respectively is a proportional amplification factor and an integral time constant of the first PI controller; 0<The sampling period T is less than or equal to 1ms and is determined by hardware adopted by a user; the operation times j are 1.·, n; u shapep(j) The PW voltage amplitude fed back for the jth time; current set point of d-axis component of CW currentFeeding into a CW current regulator so that the current inverse of the PW voltage magnitudeValue of Up(n) successive approximationThereby making it possible to0, the calculation result is not changed;
parameter K of the first PI controllerp1And τi1Debugging is carried out in the following way: firstly, tau isi1To infinity, gradually increase Kp1Recording the frequency f of the PW voltage amplitude oscillation until the PW voltage amplitude oscillation occurs1At this time, Kp1Is a maximum value Kp1_maxSetting Kp1=0.45Kp1_max、
The CW conversion angle generator includes a differentiator, a first low pass filter, a proportional amplifier, a fifth adder, and a first integrator:
the differentiator is used for acquiring the current noise-containing rotating speed omega 'of the brushless doubly-fed induction generator'r(n):
Wherein, thetar(n) and thetar(n-1) respectively obtaining the current rotor position of the brushless doubly-fed induction generator and the rotor position of the brushless doubly-fed induction generator obtained by the n-1 th calculation; omega'r(n) is the current noise-containing rotating speed of the brushless doubly-fed induction generator; t is a sampling period;
the first low-pass filter is used for obtaining the current rotating speed of the brushless doubly-fed induction generator, and specifically comprises the following steps:
wherein, ω isr(n) is brushless doubly-fed induction generator presentA rotational speed; omega'r(n) is the current noise-containing rotating speed of the brushless doubly-fed induction generator; f. ofc1F is 5Hz or less of the cut-off frequency of the first low-pass filterc1≤10Hz,fc1The larger the filtering effect is, the better the filtering effect is; 0<The sampling period T is less than or equal to 1 ms; omegar(n-1) calculating the rotating speed of the brushless doubly-fed induction generator in the (n-1) th time; inputting the current rotating speed of the brushless doubly-fed induction generator into a fifth adder;
current rotating speed omega of brushless doubly-fed induction generatorr(n) is amplified to (p) by a proportional amplifierp+pc)ωr(n) wherein ppPW pole pair number; p is a radical ofcIs the CW pole pair number; inputting the operation result into a fifth adder;
Wherein,is the current given value of the CW frequency; p is a radical ofpPW pole pair number; p is a radical ofcIs the CW pole pair number; omegar(n) is the current rotating speed of the brushless doubly-fed induction motor;is a given value of the PW frequency;inputting the signal into a first integrator;
Wherein,is the current given value of the CW phase; t is a sampling period; the operation times j are 1.·, n;calculating the current given value of the CW frequency for the jth time;an input CW current regulator;
the CW current regulator comprises a second adder, a third adder, a fourth adder, a second PI controller, a third PI controller, a CW voltage converter, a CW current converter, a PWM signal generator and a control winding converter;
the second adder calculates the current given value of the d-axis component of the CW currentCurrent feedback value i of d-axis component of CW currentcd(n) the difference between (n) and (n),inputting the current operation times into a second PI controller, wherein n is the current operation times;
the second PI controller is used for calculating the current given value of the d-axis component of the CW voltage
Wherein,the current given value of the d-axis component of the CW voltage;the current given value of the d-axis component of the CW current; i.e. icd(n) is the current feedback value of the d-axis component of the CW current; kp2And τi2Respectively is a proportional amplification factor and an integral time constant of the second PI controller; i.e. icd(j) The d-axis component value of the CW current fed back for the jth time;an input CW voltage converter;
the third adder calculates the current given value of q-axis component of CW currentCurrent feedback value i of q-axis component of CW currentcq(n) the difference between (n) and (n),inputting a third PI controller;
the third PI controller is used for calculating the current given value u 'of the CW voltage q-axis component without considering the voltage compensation'cq(n);
Wherein u'cq(n) is the current set point of the q-axis component of the CW voltage without considering the voltage compensation;the current given value of the q-axis component of the CW current; i.e. icq(n) is the current feedback value of the q-axis component of the CW current; kp3And τi3Proportional amplification factor and integral time constant of the third PI controller respectively; i.e. icq(j) The q-axis component value of the CW current fed back for the jth time; u'cq(n) input to a fourth adder;
the fourth adder calculates the current given value u 'of the CW voltage q-axis component without considering the voltage compensation'cq(n) current compensation value with q-axis component of CW voltageSum, operation resultAn input CW voltage converter;
the CW transformation angle generator calculates a current given value of the CW phaseInput to a CW voltage converter and a CW current converter;
the CW voltage converter converts the current given value of the d-axis component of the CW voltage in the dq rotation coordinate systemAnd the current set point of the q-axis component of the CW voltageConverting to a current set value of CW voltage under an abc coordinate system(namely:and) Inputting the PWM signal generator; the concrete transformation formula is as follows:
the CW current converter converts the current feedback value i of the CW current in an abc coordinate systemc_abc(n) (i.e.: i)ca(n)、icb(n) and icc(n)) is transformed into the current feedback value i of the d-axis component of the CW current in the dq rotation coordinate systemcd(n) and the present feedback value i of the q-axis component of the CW currentcq(n) mixing icd(n) input to a second adder, add icd(n) input to a third adder; the specific transformation formula is as follows:
PWM signal generator according to CW voltage current set value under abc coordinate systemGenerating a PWM signal, and inputting the PWM signal to a control winding side converter;
controlling the current value u of the three-phase excitation voltage required by the winding-side converter to output CW according to the PWM signalc_abc(n) to a brushless doubly fed induction generator.
The PW voltage amplitude calculator comprises a second integrator, a PW voltage converter, an amplitude calculator and a second low-pass filter;
Wherein,is a given value of the PW phase and is input into a PW voltage converter and a PW current converter,is a given value of the PW frequency;
the PW voltage converter converts the current feedback value u of the PW voltage in an abc coordinate systemp_abc(n) (i.e., u)pa(n)、upb(n) and upc(n)) is converted into the current feedback value u of the d-axis component of the PW voltage in the dq rotation coordinate systempd(n), current feedback value u of q-axis component of PW voltagepq(n);
The specific transformation formula is as follows:
the amplitude calculator is used for calculating a PW voltage amplitude feedback value U 'containing noise at present'p(n);
Wherein, U'p(n) is a PW voltage amplitude feedback value containing noise at present; u. ofpd(n) is the current feedback value of the d-axis component of the PW voltage; u. ofpq(n) is the current feedback value of the q-axis component of the PW voltage; u'p(n) input to a second low pass filter;
the second low-pass filter calculates the current feedback value U of the PW voltage amplitudep(n);
Wherein, Up(n) is the current feedback value of the PW voltage amplitude; u'p(n) is a PW voltage amplitude feedback value containing noise at present; f. ofc2Is the cut-off frequency of the second low-pass filter; u shapep(n-1) is calculated for the (n-1) th timeThe feedback value of the amplitude of the obtained PW voltage; u shapep(n) to the first adder.
The PW reactive power compensator comprises a PW current converter, a multiplier, a high-pass filter and a resonance controller;
the PW current converter converts the current feedback value i of the PW current in an abc coordinate systemp_abc(n) (i.e., i)pa(n)、ipb(n) and ipc(n)) is converted into the current feedback value i of the d-axis component of the PW current under the dq rotation coordinate systempd(n) and input it to the multiplier;
the transformation formula is as follows:
multiplier for calculating current calculation value Q of total reactive power of brushless doubly-fed induction generatorp(n);
Wherein Q isp(n) is a current calculated value of the total reactive power of the brushless doubly-fed induction generator, and comprises two parts corresponding to a balanced load and an unbalanced load; u. ofpq(n) is the current feedback value of the q-axis component of the PW voltage; i.e. ipd(n) is the current feedback value of the d-axis component of the PW current; qp(n) inputting to a high pass filter;
the high-pass filter is used for acquiring a current calculated value of PW double-frequency reactive power caused by unbalanced load in the brushless doubly-fed induction generator
Wherein,the current calculation value of the PW double-frequency reactive power caused by the unbalanced load in the brushless doubly-fed induction generator is the current given value of the reactive power to be compensated; qp(n) is a current calculated value of the total reactive power of the brushless doubly-fed induction generator, and comprises two parts corresponding to a balanced load and an unbalanced load; f. ofc3Is the cut-off frequency of the high-pass filter;calculating the current given value of the reactive power to be compensated for the (n-1) th time; qp(n-1) calculating the total reactive power of the brushless doubly-fed induction generator obtained in the (n-1) th time;inputting to a resonance controller;
the resonance controller is used for calculating the current compensation value of the q-axis component of the CW voltage
Wherein,a current compensation value of q-axis component of CW voltage;the current given value of the reactive power to be compensated is obtained; krA resonant amplifier being a resonant controller; omegac4Is the cut-off angular frequency of the resonant controller; omega0Represents the resonant frequency;calculating the current given value of the reactive power to be compensated for the n-1 st time;respectively representing compensation values of q-axis components of the CW voltage obtained by the n-1 st calculation and the n-2 nd calculation;input to the fourth adder.
It should be noted that the symmetric load is a special case of the asymmetric load, and the compensation method provided by the invention is also suitable for the operation control of the independent power generation system of the brushless doubly-fed induction generator under the condition of the symmetric load.
The compensation method provided by the invention is simple and reliable, has strong robustness, can realize a constant-voltage constant-frequency power generation function under the condition that the power generation system has unbalanced load, and is suitable for an independent ship shaft power generation system, an independent hydroelectric power generation system and an independent wind power generation system based on the brushless doubly-fed induction generator.
Compared with the prior art, the technical scheme of the invention can obtain the following beneficial effects:
the invention discloses a PW reactive power compensator which comprises a PW current converter, a multiplier, a high-pass filter and a resonance controller, wherein the multiplier adopts a formulaThe control function of the resonant controller is:
calculating and acquiring current compensation value of q-axis component of CW voltageThe q-axis component of the CW voltage is compensated, so that the converter at the side of the control winding actively generates PW double-frequency reactive power caused by unbalanced load, thereby ensuring the PW voltageAnd balancing is realized, and the compensation method is independent of resistance and inductance parameters of the motor.
The invention adopts the PW voltage controller and the CW transformation angle generator to respectively carry out independent closed-loop control on the amplitude and the frequency of the PW voltage, realizes the decoupling control of the amplitude and the frequency of the PW voltage and enhances the robustness of an independent power generation system.
The CW current regulator disclosed by the invention realizes the decoupling control of the d-axis component and the q-axis component of the CW current, wherein the conversion reference angles of the CW voltage converter and the CW current converter do not depend on the resistance and inductance parameters of the motor, so that the CW current regulator has strong robustness to the variation of the resistance and inductance parameters in the operation process of the motor independent power generation system.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. The utility model provides an unbalanced voltage compensation arrangement of brushless doubly-fed induction generator, is applied to the independent power generation system of brushless doubly-fed induction generator, its characterized in that includes:
the PW voltage controller sets the given value of the PW voltage amplitudeCurrent feedback value U of PW voltage amplitudep(n) performing PI control after difference, and outputting the current given value of the d-axis component of the CW currentCW transform angle generator for providing a current given value of the CW phaseThe PW voltage amplitude calculator receives a current value u of the PW voltagep_abc(n) given value of PW frequencyCalculating U through coordinate transformationp(n);
The output end of the PW reactive power compensator is connected with the CW current regulator and comprises a PW current converter, a multiplier, a high-pass filter and a resonance controller which are connected in sequence;
the PW current converter feeds a current feedback value i of the PW currentp_abc(n) current feedback value i converted into d-axis component of PW currentpd(n); the multiplier is based on ipd(n) and the current feedback value u of the q-axis component of the PW Voltagepq(n) calculating the current calculated value Q of the total reactive power of the brushless doubly-fed induction generatorp(n); high pass filter slave Qp(n) obtaining the current calculated value of the PW double-frequency reactive powerA resonance controller based onCalculating the current compensation value of the q-axis component of the CW voltage
2. A brushless doubly fed induction generator unbalanced voltage compensation arrangement as claimed in claim 1 wherein said multiplier is based onComputingQp(n); the resonance controller is based onComputing
Wherein,calculating the current given value of the reactive power to be compensated for the (n-1) th time; qp(n-1) calculating the total reactive power of the brushless doubly-fed induction generator obtained in the (n-1) th time; f. ofc3Is the cut-off frequency of the high-pass filter; t is the sampling period.
3. The unbalanced voltage compensation apparatus of a brushless doubly fed induction generator as claimed in claim 1, wherein the CW conversion angle generator comprises a proportional amplifier, a fifth adder and a first integrator which are connected in sequence;
the proportional amplifier is used for converting the current rotating speed omega of the brushless doubly-fed induction generatorr(n) amplification to (p)p+pc)ωr(n);
The fifth adder is used for addingAnd (p)p+pc)ωr(n) taking the difference to obtain the current set value of the CW frequency
The first integrator integrates the current given value of the CW frequency, and the current given value of the CW phase is obtained by combining the sampling period
Wherein p ispPW pole pair number; p is a radical ofcIs a CW pole pairAnd (4) counting.
4. A brushless doubly fed induction generator unbalanced voltage compensation arrangement as claimed in claim 2 wherein said CW current regulator comprises:
the input end of the second adder is connected with the output end of the PW voltage controller, and the output end of the second adder is connected with the input end of the PI controller; calculating the present set point of the d-axis component of the CW currentCurrent feedback value i of d-axis component of CW currentcd(n) the difference between (n);
the output end of the second PI controller is connected with the input end of the CW voltage converter; obtaining the current given value of the d-axis component of the CW voltage by PI control
The input end of the third adder is connected with the output end of the CW current converter, and the output end of the third adder is connected with the third PI controller; calculating present set point of q-axis component of CW currentCurrent feedback value i of q-axis component of CW currentcq(n) the difference between (n);
the output end of the third PI controller is connected with the first input end of the fourth adder; obtaining a current given value u 'of a CW voltage q-axis component without considering voltage compensation through PI control'cq(n);
The second input end of the fourth adder is connected with the output end of the PW reactive power compensator, and the output end of the fourth adder is connected with the input end of the CW voltage converter; calculating a current setpoint value u 'of the CW voltage q-axis component without taking into account the voltage compensation'cq(n) andsumming;
the output end of the CW voltage converter is connected with the input end of the PWM signal generator;will be provided withAnd the current set point of the q-axis component of the CW voltageConverted to the current set point of CW voltage
CW current converterc_abc(n) is transformed into icd(n) and icq(n);
controlling the winding side converter to invert the direct current into the alternating current according to the PWM signal and outputting the current value u of the three-phase excitation voltage required by CWc_abc(n)。
5. A brushless doubly-fed induction generator unbalanced voltage compensation arrangement according to any one of claims 1 to 4, wherein said PW voltage magnitude calculator comprises a second integrator, a PW voltage converter, a magnitude calculator and a second low pass filter connected in series;
the second integrator calculates the given value of the PW phase according to the sampling period and the given value of the PW frequency
The PW voltage converter is used for converting the current feedback value u of the PW voltagep_abc(n) current feedback value u converted into d-axis component of PW Voltagepd(n) and the current feedback value u of the q-axis component of the PW Voltagepq(n);
The amplitude calculator is used for calculating a PW voltage amplitude feedback value U 'containing noise at present'p(n);
For the second low-pass filterFrom U'p(n) obtaining the current feedback value U of the PW voltage amplitudep(n)。
6. A method for compensating the unbalanced voltage of the brushless doubly fed induction generator according to claim 1, characterized by comprising the following steps:
using a given value of the PW phaseConverting the current feedback value of the PW current into a current feedback value i of a d-axis component of the PW currentpd(n);
To ipd(n) and the current feedback value u of the q-axis component of the PW Voltagepq(n) performing multiplication to obtain the current calculated value Q of the total reactive power of the brushless doubly-fed induction generatorp(n);
To Qp(n) carrying out high-pass filtering to obtain a current calculated value of the PW double-frequency reactive powerThen, the current compensation value of the q-axis component of the CW voltage is calculated
Using a given value of the PW phaseAnd the current feedback value u of the PW voltagep_abc(n) obtaining the current feedback value U of the PW voltage amplitudep(n);
Setting the PW voltage amplitudeCurrent feedback value U of PW voltage amplitudep(n) performing PI control after difference, and outputting the current given value of the d-axis component of the CW current
7. The method of claim 6, wherein Q ispThe acquisition formula of (n) is: is obtained by the formula
Wherein,calculating the current given value of the reactive power to be compensated for the (n-1) th time; qp(n-1) calculating the total reactive power of the brushless doubly-fed induction generator obtained in the (n-1) th time; f. ofc3Is the cut-off frequency of the high-pass filter; t is the sampling period.
8. Method according to claim 6, characterized by usingAndobtaining the current value u of CW excitation voltagec_abcThe method of (n) is:
given value of d-axis component of CW currentCurrent feedback value i of d-axis component of CW currentcd(n) performing PI control on the difference value to obtain the current given value of the d-axis component of the CW voltage
Calculating present set point of q-axis component of CW currentCurrent feedback value i of q-axis component of CW currentcq(n) and PI control is carried out after the difference value between the two, and the current given value u 'of the CW voltage q-axis component without considering the voltage compensation is obtained'cq(n);
Using the current compensation value of the q-axis component of the CW voltageTo u'cq(n) carrying out summation compensation to obtain the current given value of the q-axis component of the CW voltage
Using the current set-point of the CW phaseWill be provided withAnd the current set point of the q-axis component of the CW voltageConverted to the current set point of CW voltage
9. The method of claim 6, wherein a current feedback value U of the PW voltage amplitude is obtainedpThe method of (n) is:
Using a given value of the PW phaseThe current feedback value u of the PW voltagep_abc(n) current feedback value u converted into d-axis component of PW Voltagepd(n) and the current feedback value u of the q-axis component of the PW Voltagepq(n);
Using the current feedback value u of the d-axis component of the PW voltagepd(n) and the current feedback value u of the q-axis component of the PW Voltagepq(n) calculating the current feedback value U of the PW voltage amplitudep(n)。
10. Method according to any of claims 6 to 9, characterized in that the current setpoint value of the CW phase is obtainedThe method comprises the following steps:
the current rotating speed omega of the brushless doubly-fed induction generatorr(n) amplification to (p)p+pc)ωr(n);
Will be provided withAnd (p)p+pc)ωr(n) taking the difference to obtain the current set value of the CW frequency
The current given value of the CW frequency is subjected to integral processing, and the current given value of the CW phase is obtained by combining a sampling period
Wherein p ispPW pole pair number; p is a radical ofcIs the CW pole pair number.
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