CN109286347B - Method and device for compensating position of rotor of permanent magnet synchronous generator - Google Patents
Method and device for compensating position of rotor of permanent magnet synchronous generator Download PDFInfo
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- CN109286347B CN109286347B CN201710591714.8A CN201710591714A CN109286347B CN 109286347 B CN109286347 B CN 109286347B CN 201710591714 A CN201710591714 A CN 201710591714A CN 109286347 B CN109286347 B CN 109286347B
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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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
- H02P9/009—Circuit arrangements for detecting rotor position
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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
- 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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- 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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Abstract
The invention provides a method and a device for compensating the position of a rotor of a permanent magnet synchronous generator, wherein the method comprises the following steps: dividing the rated power of the generator into N sections to obtain N power sections; for each power interval, when the difference value between the output active power of the generator and the active power set value of the generator in the corresponding power interval is smaller than a first preset threshold value, estimating the position of a rotor in the power interval; applying an offset to the rotor position estimated in each power interval, and respectively and correspondingly obtaining an active power value of each power interval after the rotor position applied with the offset is obtained, wherein the active power value comprises: the converter network side port active power output value or the generator active power output value; determining the optimal rotor position offset of each power interval section according to each active power value in each power interval section; the estimated rotor position of the power interval is compensated for the optimum rotor position offset.
Description
Technical Field
The embodiment of the invention relates to the technical field of wind power generation, in particular to a method and a device for compensating the position of a rotor of a permanent magnet synchronous generator.
Background
With the continuous improvement of the demand of the numerical control machine tool technology on high precision and high dynamic performance, the permanent magnet synchronous generator has the advantages of simple structure, high efficiency, good controllability, wide speed regulation range and the like, and is widely applied to the field of wind power generation. Vector control techniques and direct torque control techniques are common control techniques for permanent magnet synchronous generator control systems. Both the vector control technology and the direct torque control technology need to acquire the position of a magnetic pole rotor in the permanent magnet synchronous generator, and the position of the magnetic pole rotor is used for converting three-phase current in a three-phase coordinate system into torque current and weak magnetic current in a two-phase rotating coordinate system. The torque current is also called active current, and the field weakening current is also called reactive current. The control of the permanent magnet synchronous generator is realized by decoupling control of active current and reactive current.
The magnetic pole rotor position obtained in the prior art is obtained by an estimation method. Commonly used estimation methods include: a model reference adaptive method, a sliding variable structure observer method and a back emf observer method.
The existing estimation method for the position of the magnetic pole rotor cannot accurately estimate the position of the magnetic pole rotor, so that a static difference exists between an estimated value and an actual value of the position of the rotor, and active current and reactive current obtained by current transformation have a deviation from the actual value, so that the deviation occurs in the decoupling control process of the active current and the reactive current, the maximum torque-current ratio control cannot be realized, and finally the power generation efficiency of the permanent magnet synchronous generator is reduced.
Disclosure of Invention
The embodiment of the invention provides a method and a device for compensating the position of a rotor of a permanent magnet synchronous generator, and solves the technical problems that the position of a magnetic pole rotor cannot be accurately estimated by an estimation method of the position of the rotor in the prior art, so that deviation exists between an active current and a reactive current obtained by current transformation and an actual value, further maximum torque-current ratio control cannot be realized, and finally the generation efficiency of the permanent magnet synchronous generator is reduced.
The embodiment of the invention provides a compensation method for the position of a rotor of a permanent magnet synchronous generator, which comprises the following steps:
dividing the rated power of the generator into N sections to obtain N power sections;
for each power interval, when the difference value between the output active power of the generator and the active power set value of the generator in the corresponding power interval is smaller than a first preset threshold value, estimating the position of a rotor in the power interval;
applying an offset to the estimated rotor position of each power interval, and respectively and correspondingly obtaining an active power value of each power interval after the rotor position applied with the offset is obtained, where the active power value includes: the converter network side port active power output value or the generator active power output value;
determining the optimal rotor position offset of each power interval section according to each active power value in each power interval section;
compensating the estimated rotor position of the power interval according to the optimal rotor position offset.
The embodiment of the invention provides a compensation device for the position of a rotor of a permanent magnet synchronous generator, which comprises:
the power interval division unit is used for dividing the rated power of the generator into N sections to obtain N power intervals;
the rotor position estimation unit is used for estimating the rotor position of each power interval when the difference value between the output active power of the generator and the active power set value of the generator in the corresponding power interval is smaller than a first preset threshold value;
an active power value obtaining unit, configured to apply an offset to the rotor position estimated in each power segment, and after obtaining the rotor position to which the offset is applied, respectively and correspondingly obtain an active power value of each power segment, where the active power value includes: the converter network side port active power output value or the generator active power output value;
the optimal offset determining unit is used for determining the optimal rotor position offset of each power interval section according to each active power value in each power interval section;
and the rotor position compensation unit is used for compensating the estimated rotor position of the power section according to the optimal rotor position offset.
The embodiment of the invention provides a method and a device for compensating the position of a rotor of a permanent magnet synchronous generator, wherein N power sections are obtained by dividing the rated power of the generator into N sections; for each power interval, when the difference value between the output active power of the generator and the active power set value of the generator in the corresponding power interval is smaller than a first preset threshold value, estimating the position of a rotor in the power interval; applying an offset to the rotor position estimated in each power interval, and respectively and correspondingly obtaining an active power value of each power interval after the rotor position applied with the offset is obtained, wherein the active power value comprises: the converter network side port active power output value or the generator active power output value; determining the optimal rotor position offset of each power interval section according to each active power value in each power interval section; the estimated rotor position of the power interval is compensated for the optimum rotor position offset. According to the relation among the rotor position, the generating efficiency and the active power value, the optimal rotor position offset of each power section is obtained, the optimal rotor position offset is applied to the estimated rotor position, the static difference between the estimated value and the actual value of the rotor position of each power section can be eliminated, the maximum torque-current ratio control can be realized in each power section, and the generating efficiency of the permanent magnet synchronous generator is greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flowchart of a first embodiment of a method for compensating a rotor position of a permanent magnet synchronous generator according to the present invention;
FIG. 2 is a flowchart of a second embodiment of a method for compensating a rotor position of a PMSM according to the present invention;
FIG. 3 is a flowchart of a third embodiment of a method for compensating for rotor position of a PMSM according to the present invention;
FIG. 4 is a flowchart of a fourth embodiment of a method for compensating a rotor position of a PMSM according to the present invention;
FIG. 5 is a flow chart of a fifth embodiment of a method for compensating rotor position of a PMSM according to the present invention;
FIG. 6 is a schematic structural diagram of a first embodiment of a device for compensating a rotor position of a PMSM according to the present invention;
FIG. 7 is a schematic structural diagram of a second embodiment of the apparatus for compensating for rotor position of a PMSM according to the present invention;
FIG. 8 is a schematic structural diagram of a third embodiment of a device for compensating for rotor position of a PMSM according to the present invention;
fig. 9 is a schematic structural diagram of a fourth embodiment of the compensation device for the rotor position of the permanent magnet synchronous generator according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.
Fig. 1 is a flowchart of a first embodiment of a method for compensating a rotor position of a permanent magnet synchronous generator according to the present invention, and as shown in fig. 1, an execution subject of the method for compensating a rotor position of a permanent magnet synchronous generator according to the present embodiment is a compensation device for a rotor position of a permanent magnet synchronous generator, and the method for compensating a rotor position of a permanent magnet synchronous generator according to the present embodiment includes the following steps.
In this embodiment, the rated power of the permanent magnet synchronous generator is divided into N power sections, where N is a positive integer, and the size of each power section may be equal.
In this embodiment, an active power set value of the generator exists in each power interval, and the active power set value is any value of the corresponding power interval, such as a median, a maximum, a minimum, and the like, which is not limited in this embodiment.
Specifically, in this embodiment, for each set power interval, the complete machine controller makes the difference between the output active power of the generator and the active power set value of the generator in the corresponding power interval smaller than a first preset threshold value through the torque controller and the pitch controller, and the generator enters a stable state, and estimates the rotor position of each power interval in the stable state. The specific estimation method may be a model reference adaptive method, a sliding variable structure observer method, a back emf observer method, and the like, which is not limited in this embodiment.
The numerical value of the first preset threshold is not limited, and can be determined by optimizing after multiple tests.
Wherein, the active power value includes: and the active power output value of the grid side port of the converter or the active power output value of the generator.
Specifically, in the present embodiment, a section to which the offset is applied may be set for each power section, and different offset amounts are sequentially applied to the estimated rotor position in an arithmetic progression within the section. The applied offset included in the interval of offsets may include both negative and positive values.
It should be noted that, in this embodiment, different offset amounts may be sequentially applied to the rotor position estimated in each power section, which is not limited in this embodiment.
In this embodiment, after different offset amounts are applied, the actual rotor position is the estimated rotor position plus the offset amount, and the active power values are obtained at the actual rotor position. The active power value may be an active power output value of a network side port of the converter, and may also be an active power output value of the generator, which is not limited in this embodiment.
And 104, determining the optimal rotor position offset of each power interval according to each active power value in each power interval.
Specifically, in this embodiment, according to the law of conservation of energy, if the active power setting value is a constant, and if the actual rotor position can realize the maximum torque-current ratio control, the maximum efficiency control is inevitably realized, and accordingly the active power output is inevitably increased, so the offset of the rotor position is optimized according to each active power value in each power interval, and the optimal rotor position offset is obtained.
Specifically, in this embodiment, each power interval and the corresponding optimal rotor position offset may be stored in a table form, and when it is detected that the active power setting value of the generator is in a certain power interval, the estimated rotor position of the power interval is compensated according to the optimal rotor position offset, that is, the optimal rotor position offset is applied to the estimated rotor position, so that the actual rotor position can implement maximum torque-to-current ratio control, and the power generation efficiency of the generator is greatly improved.
In the compensation method for the rotor position of the permanent magnet synchronous generator provided by the embodiment, the rated power of the generator is divided into N sections to obtain N power sections; for each power interval, when the difference value between the output active power of the generator and the active power set value of the generator in the corresponding power interval is smaller than a first preset threshold value, estimating the position of a rotor in the power interval; applying an offset to the rotor position estimated in each power interval, and respectively and correspondingly obtaining an active power value of each power interval after the rotor position applied with the offset is obtained, wherein the active power value comprises: the converter network side port active power output value or the generator active power output value; determining the optimal rotor position offset of each power interval section according to each active power value in each power interval section; the estimated rotor position of the power interval is compensated for the optimum rotor position offset. According to the relation among the rotor position, the generating efficiency and the active power value, the optimal rotor position offset of each power section is obtained, the optimal rotor position offset is applied to the estimated rotor position, the static difference between the estimated value and the actual value of the rotor position of each power section can be eliminated, the maximum torque-current ratio control can be realized in each power section, and the generating efficiency of the permanent magnet synchronous generator is greatly improved.
Further, in this embodiment, in step 102, for each power segment, when the difference between the generator output active power and the generator active power set value in the corresponding power segment is smaller than the first preset threshold, and the rotor position of the power segment is estimated, the active power set value in each power segment is the intermediate value of the active power in the power segment.
In this embodiment, the active power set value in each power interval section is an active power intermediate value in the power interval section, so that when the rotor position of each power interval section is estimated, the estimated rotor position can better represent the rotor position of the power interval section.
Further, in this embodiment, in step 105, compensating the estimated rotor position of the power interval according to the optimal rotor position offset specifically includes:
and for any power interval, if the optimal rotor position offset is greater than a second preset threshold, respectively compensating the rotor position for multiple times, wherein the offset for each compensation is not greater than the second preset threshold, and the sum of the offset for multiple times is the optimal rotor position offset.
The second preset threshold may be preset, and the specific value may be obtained through practical application, which is not limited in this embodiment.
Optionally, in this embodiment, the compensating of the rotor position by using multiple times respectively includes:
in the multiple compensation, the compensation offset amount with a long time interval is larger than the compensation offset amount with a short time interval.
Or, preferably, in this embodiment, the compensating the rotor position by using multiple times respectively includes:
the time intervals of the multiple times of compensation are equal, and the offset of each time of compensation is the same.
Specifically, in this embodiment, if the optimal rotor position offset is greater than the second preset threshold, the rotor position is compensated for multiple times, so that the offset compensated for each time is not greater than the second preset threshold, and the sum of the offset compensated for multiple times is the optimal rotor position offset. Smooth transition for compensating the position of the rotor can be realized, and the problem of vibration caused by jumping of the position of the rotor is prevented. The rotor position can be compensated for multiple times in two ways. In the first mode, the time interval for each compensation differs, and the compensation offset amount for a long time interval is larger than the compensation offset amount for a short time interval. In the second mode, the time intervals of the multiple compensations are equal, and the offset is the same for each compensation. In order to facilitate the control of the rotor position compensation, the second mode is a more preferable mode, that is, the offset amount compensated at each control period is the same.
Further, the compensation method for the rotor position of the permanent magnet synchronous generator provided in this embodiment compensates the estimated rotor position of the power interval according to the optimal rotor position offset, specifically: for any power interval, if the optimal rotor position offset is greater than a second preset threshold, the rotor position is compensated for multiple times, wherein the offset is not greater than the second preset threshold each time, and the sum of the multiple compensation offsets is the optimal rotor position offset, so that smooth transition of compensation for the rotor position can be realized, and the vibration problem caused by rotor position jumping is prevented.
Fig. 2 is a flowchart of a second embodiment of the method for compensating the rotor position of the permanent magnet synchronous generator according to the present invention, and as shown in fig. 2, the method for compensating the rotor position of the permanent magnet synchronous generator according to the present embodiment is further detailed in steps 103 to 104 on the basis of the first embodiment of the method for compensating the rotor position of the permanent magnet synchronous generator according to the present invention, and the method for compensating the rotor position of the permanent magnet synchronous generator according to the present embodiment includes the following steps.
In this embodiment, the implementation manners of steps 201 to 202 are the same as the implementation manners of steps 101 to 102 in the first embodiment of the compensation method for the rotor position of the permanent magnet synchronous generator of the present invention, and are not described again.
Further, in this embodiment, the active power value includes a generator active power output value.
Specifically, in this embodiment, an active power measuring device is added to an output port of the generator to measure an active power output value of the generator, where the active power measuring device includes: voltage sensor, current sensor and power measurement module. The voltage sensor and the current sensor are used for collecting the voltage and the current of the output port of the generator and sending the collected voltage and current to the power measurement module, and the power measurement module calculates the active power output value of the generator according to the received voltage and current.
And step 204, filtering the active power output value of the generator.
Further, in this embodiment, because the closed-loop system has a static error, the active power output values of the generator respectively obtained after applying different offset amounts have fluctuation, and a specific fluctuation range is related to the performance of the control system, the active power output values of the generator are subjected to filtering processing, such as average filtering processing, so that deviation caused by a probability problem when the active power output value of the generator at a certain moment is adopted can be eliminated.
Further, in the present embodiment, if the actual rotor position can achieve the maximum efficiency control, the active power value actually output by the generator is necessarily the maximum, so that the maximum active power value output by the generator can be achieved by obtaining the rotor position offset corresponding to the maximum value among the absolute values of the generator active power output values for each power block, and applying the rotor position offset corresponding to the maximum value of the absolute values of the generator active power output values to the corresponding estimated rotor position, so that the rotor position offset corresponding to the maximum value of the absolute values of the generator active power output values is determined as the optimum rotor position offset for the power block.
The estimated rotor position for the power interval is compensated for the optimum rotor position offset, step 206.
In this embodiment, the implementation manner of step 206 is the same as the implementation manner of step 105 in the first embodiment of the compensation method for a rotor position of a permanent magnet synchronous generator according to the present invention, and is not described in detail herein.
The method for compensating the rotor position of the permanent magnet synchronous generator provided in this embodiment includes dividing the rated power of the generator into N segments to obtain N power segments, estimating the rotor position of each power segment when the difference between the output active power of the generator and the active power setting value of the generator in the corresponding power segment is smaller than a first preset threshold, applying a bias to the estimated rotor position of each power segment, and obtaining the active power value of each power segment after applying the bias, where the active power value is the active power output value of the generator, performing filtering processing on the active power output value of the generator, and determining the rotor position bias corresponding to the maximum value of the absolute values of the active power output values of the generator in each power segment as the optimal rotor position bias of the power segment, the estimated rotor position of the power interval is compensated for the optimum rotor position offset. The first method for determining the optimal rotor position offset of each power interval is provided, and the power generation efficiency of the permanent magnet synchronous generator is greatly improved.
Fig. 3 is a flowchart of a third embodiment of the method for compensating the rotor position of the permanent magnet synchronous generator according to the present invention, and as shown in fig. 3, the method for compensating the rotor position of the permanent magnet synchronous generator according to the present embodiment is further detailed in steps 103 to 104 on the basis of the first embodiment of the method for compensating the rotor position of the permanent magnet synchronous generator according to the present invention, and the method for compensating the rotor position of the permanent magnet synchronous generator according to the present embodiment includes the following steps.
In this embodiment, the implementation manners of steps 301 to 302 are the same as the implementation manners of steps 101 to 102 in the first embodiment of the compensation method for the rotor position of the permanent magnet synchronous generator of the present invention, and are not described again.
Further, in this embodiment, the active power value includes a generator active power output value.
Further, in this embodiment, a first absolute value of a difference between the active power output value of the generator after applying different offset amounts in each power interval and the active power setting value of the generator corresponding to the power interval is calculated, a minimum value of the first absolute value of the difference indicates that the generator achieves maximum torque-to-current ratio control, the power generation efficiency of the generator is optimal, a rotor position offset amount corresponding to the minimum value of the first absolute value of the difference is an optimal rotor position offset amount, the optimal rotor position offset amount is applied to a corresponding rotor position, and an estimated rotor position is compensated, so that the power generation efficiency of the generator in the power interval can be optimal.
Further, in this embodiment, before determining the rotor position offset corresponding to the minimum value in the first absolute value as the optimal rotor position offset for the power interval, the method further includes: and carrying out filtering processing on the first absolute value. Because the closed-loop system has static difference, the active power output values of the generators respectively obtained after different offset quantities are applied have fluctuation, and the specific fluctuation range is related to the performance of the control system, so that the first absolute value of the difference between the active power output value of the generator after different offset quantities are applied and the active power set value of the generator in the corresponding power interval is filtered in each power interval, for example, the average value filtering can be used, and the deviation caused by probability problem when the first absolute value of the difference between the active power output value of the generator at a certain moment and the active power set value of the generator in the corresponding power interval is used can be eliminated.
In this embodiment, the implementation manner of step 307 is the same as the implementation manner of step 105 in the first embodiment of the compensation method for the rotor position of the permanent magnet synchronous generator of the present invention, and details are not repeated here.
The method for compensating the rotor position of a permanent magnet synchronous generator provided in this embodiment obtains N power segments by dividing the rated power of the generator into N segments, estimates the rotor position of each power segment when the difference between the generator output active power and the generator active power setting value in the corresponding power segment is smaller than a first preset threshold, applies a bias to the estimated rotor position of each power segment, and obtains the active power value of each power segment after applying the bias, where the active power value includes the generator active power output value, calculates a first absolute value of the difference between the generator active power output value after applying different biases in each power segment and the generator active power setting value in the corresponding power segment, and performs filtering processing on the first absolute value, and determining the rotor position offset corresponding to the minimum value in the first absolute value as the optimal rotor position offset of the power interval, and compensating the estimated rotor position of the power interval according to the optimal rotor position offset.
Fig. 4 is a flowchart of a fourth embodiment of the method for compensating the rotor position of the permanent magnet synchronous generator according to the present invention, and as shown in fig. 4, the method for compensating the rotor position of the permanent magnet synchronous generator according to the present embodiment is further detailed in steps 103 to 104 on the basis of the first embodiment of the method for compensating the rotor position of the permanent magnet synchronous generator according to the present invention, and the method for compensating the rotor position of the permanent magnet synchronous generator according to the present embodiment includes the following steps.
In this embodiment, the implementation manners of steps 401 to 402 are the same as the implementation manners of steps 101 to 102 in the first embodiment of the compensation method for the rotor position of the permanent magnet synchronous generator of the present invention, and are not described again.
Further, in this embodiment, the active power value includes an active power output value of a grid-side port of the converter.
Specifically, in this embodiment, an active power measurement device is added to the output port of the converter grid side to measure the active power of the converter grid side port.
In step 405, the second absolute value is filtered.
Further, a second absolute value of a difference value between the active power output value of the grid side port of the converter and the active power set value of the generator of the corresponding power section after different offset amounts are applied in each power section is calculated, a minimum value in the second absolute value of the difference value indicates that the maximum torque current ratio control of the generator is realized, the generating efficiency of the generator is optimal, a rotor position offset amount corresponding to the minimum value in the second absolute value of the difference value is an optimal rotor position offset amount, the optimal rotor position offset amount is applied to the corresponding rotor position, the estimated rotor position is compensated, and the generating efficiency of the generator of the power section can be optimal.
Further, in this embodiment, before determining the rotor position offset corresponding to the minimum value of the second absolute values as the optimal rotor position offset of the power block, the second absolute values are filtered, because there is a static difference in the closed-loop system, the active power output values of the generators respectively obtained after applying different offsets fluctuate, and further the active power output value of the network-side port of the converter fluctuates, and a specific fluctuation range is related to the performance of the control system, so that the second absolute value of the difference between the active power output value of the network-side port of the converter and the active power setting value of the generator of the corresponding power block after applying different offsets in each power block is filtered, and if the second absolute value of the difference between the active power output value of the network-side port of the converter and the active power setting value of the generator of the corresponding power block at a certain time can be eliminated due to a probability problem when the second absolute value of the difference between the active power output value of the network-side port of the converter and the active power setting value of the generator The resulting deviation.
In this embodiment, the implementation manner of step 407 is the same as the implementation manner of step 105 in the first embodiment of the compensation method for a rotor position of a permanent magnet synchronous generator according to the present invention, and details are not repeated here.
The method for compensating the rotor position of a permanent magnet synchronous generator provided in this embodiment obtains N power segments by dividing the rated power of the generator into N segments, estimates the rotor position of each power segment when the difference between the generator output active power and the generator active power setting value in the corresponding power segment is smaller than a first preset threshold, applies a bias to the estimated rotor position of each power segment, and obtains the active power value of each power segment after applying the bias, where the active power value includes the converter network side port active power output value, calculates a second absolute value of the difference between the converter network side port active power output value after applying different biases and the generator active power setting value of the corresponding power segment in each power segment, and carrying out filtering processing on the second absolute value, determining the rotor position offset corresponding to the minimum value in the second absolute value as the optimal rotor position offset of the power section, and compensating the estimated rotor position of the power section according to the optimal rotor position offset.
Fig. 5 is a flowchart of a fifth embodiment of the method for compensating the rotor position of the permanent magnet synchronous generator according to the present invention, and as shown in fig. 5, the method for compensating the rotor position of the permanent magnet synchronous generator according to the present embodiment is further detailed in step 403 on the basis of the fourth embodiment of the method for compensating the rotor position of the permanent magnet synchronous generator according to the present invention, and then the method for compensating the rotor position of the permanent magnet synchronous generator according to the present embodiment includes the following steps.
In this embodiment, the implementation manners of steps 501 to 502 are the same as the implementation manners of steps 401 to 402 in the first embodiment of the compensation method for the rotor position of the permanent magnet synchronous generator of the present invention, and are not described again.
Further, in this embodiment, since the active power output value of the grid-side port of the converter is the sum of the active power of the self-consumption of the wind turbine generator system and the active power injected into the grid, in order to obtain the active power output value of the grid-side port of the converter after applying different offsets to each power segment without increasing the active power measuring device of the grid-side port of the converter, the active power of the self-consumption of the wind turbine generator system after applying different offsets to each power segment is calculated, the active power injected into the grid is measured after applying different offsets to each power segment by using the existing active power measuring device of the grid, the active power of the self-consumption of the wind turbine generator system after applying different offsets to each power segment and the active power injected into the grid are added to obtain the active power output by the grid-side port of the converter after applying different offsets to each power segment, the cost can be effectively reduced.
And step 504, calculating a second absolute value of a difference value between the active power output value of the grid side port of the converter and the active power set value of the generator of the corresponding power section after different bias quantities are applied in each power section.
And step 505, performing filtering processing on the second absolute value.
It should be noted that, in this embodiment, step 503 is a further refinement of step 403 in the fourth embodiment of the method for compensating the rotor position of the permanent magnet synchronous generator according to the present invention.
In this embodiment, the implementation manners of step 504 to step 507 are the same as the implementation manners of step 404 to step 407 in the third embodiment of the compensation method for the rotor position of the permanent magnet synchronous generator of the present invention, and are not described again.
The method for compensating the rotor position of the permanent magnet synchronous generator provided in this embodiment includes dividing the rated power of the generator into N segments to obtain N power segments, estimating the rotor position of each power segment when the difference between the output active power of the generator and the active power setting value of the generator in the corresponding power segment is smaller than a first preset threshold, applying an offset to the estimated rotor position of each power segment, and after obtaining the rotor position to which the offset is applied, respectively corresponding to the active power of the wind turbine generator set of each power segment and the active power injected into the grid, taking the sum of the active power of the wind turbine generator set of each power segment and the active power injected into the grid as the active power output value of the grid-side port of the converter corresponding to the offset of the rotor position, calculating a second absolute value of a difference value between an active power output value of a network side port of the converter and an active power set value of a generator of a corresponding power section after different offset amounts are applied in each power section, performing filtering processing on the second absolute value, determining a rotor position offset amount corresponding to the minimum value in the second absolute value as an optimal rotor position offset amount of the power section, and compensating the estimated rotor position of the power section according to the optimal rotor position offset amount, thereby providing a fourth method for determining the optimal rotor position offset amount of each power section. And effectively reduces the cost.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The foregoing program may be stored in a readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Fig. 6 is a schematic structural diagram of a first embodiment of a compensation device for a rotor position of a permanent magnet synchronous generator according to the present invention, and as shown in fig. 6, the compensation device for a rotor position of a permanent magnet synchronous generator according to the present embodiment includes: the device comprises a power interval dividing unit 61, a rotor position estimation unit 62, an active power value obtaining unit 63, an optimal offset determining unit 64 and a rotor position compensation unit 65.
The power interval division unit 61 is configured to divide the rated power of the generator into N sections to obtain N power interval sections. And the rotor position estimation unit 62 is used for estimating the rotor position of each power section when the difference value between the generator output active power and the generator active power set value in the corresponding power section is smaller than a first preset threshold value. An active power value obtaining unit 63, configured to apply an offset to the rotor position estimated in each power interval, and after obtaining the rotor position to which the offset is applied, respectively and correspondingly, obtain an active power value in each power interval, where the active power value includes: and the active power output value of the grid side port of the converter or the active power output value of the generator. And an optimal offset determining unit 64, configured to determine an optimal rotor position offset of each power segment according to the active power values in the power segment. A rotor position compensation unit 65 for compensating the estimated rotor position of the power segment by the optimal rotor position offset.
The compensation device for the rotor position of the permanent magnet synchronous generator provided in this embodiment may implement the technical solution of the method embodiment shown in fig. 1, and the implementation principle and the technical effect are similar, and are not described herein again.
Further, in the compensation apparatus for rotor position of a permanent magnet synchronous generator provided in this embodiment, the active power set value in each power segment is the active power intermediate value in the power segment.
Further, in the compensation apparatus for a rotor position of a permanent magnet synchronous generator provided in this embodiment, the rotor position compensation unit specifically includes: a multiple rotor position compensation module.
And the multi-time rotor position compensation module is used for compensating the rotor position for any power interval for multiple times if the optimal rotor position offset is greater than a second preset threshold, wherein the offset is not greater than the second preset threshold every time, and the sum of the multi-time compensation offsets is the optimal rotor position offset.
Optionally, the time intervals of the multiple compensations are equal, and the offset amount of each compensation is the same.
Alternatively, it is preferable that, in the plurality of compensations, the compensation offset amount for which the time interval is long is larger than the compensation offset amount for which the time interval is short.
It should be noted that the multiple rotor position compensation module is not illustrated in fig. 6, but illustrated in fig. 7-9, and designated by reference numeral 651 in fig. 7-9.
Fig. 7 is a schematic structural diagram of a second embodiment of the compensation device for the rotor position of the permanent magnet synchronous generator according to the present invention, and as shown in fig. 7, the compensation device for the rotor position of the permanent magnet synchronous generator according to the present embodiment further includes a filtering processing unit 71 on the basis of the first embodiment of the compensation device for the rotor position of the permanent magnet synchronous generator according to the present invention.
Further, the optimal offset determining unit 64 specifically includes: a first optimal offset determination module 641.
The first optimal offset determining module 641 is configured to determine a rotor position offset corresponding to a maximum value in absolute values of active power output values of the generator in each power interval as the optimal rotor position offset of the power interval;
further, the filter processing unit 71 includes: a first filtering processing module 711.
The first filtering module 711 is configured to perform filtering processing on the active power output value of the generator.
The compensation device for the rotor position of the permanent magnet synchronous generator provided in this embodiment may implement the technical solution of the method embodiment shown in fig. 2, and the implementation principle and the technical effect are similar, and are not described herein again.
Fig. 8 is a schematic structural diagram of a third embodiment of the compensation device for the rotor position of the permanent magnet synchronous generator according to the present invention, and as shown in fig. 8, the compensation device for the rotor position of the permanent magnet synchronous generator according to the present embodiment further includes a filtering processing unit 71 on the basis of the first embodiment of the compensation device for the rotor position of the permanent magnet synchronous generator according to the present invention.
Further, the optimal offset determining unit 64 specifically includes: and a second optimal offset determination module 642.
The second optimal offset determining module 642 is configured to calculate a first absolute value of a difference between an active power output value of the generator after different offsets are applied to each power interval and an active power setting value of the generator corresponding to the power interval, and determine a rotor position offset corresponding to a minimum value in the first absolute value as an optimal rotor position offset of the power interval.
Further, the filter processing unit 71 includes: and a second filtering processing module 712.
The second filtering module 712 is configured to perform filtering processing on the first absolute value.
The compensation device for the rotor position of the permanent magnet synchronous generator provided in this embodiment may implement the technical solution of the method embodiment shown in fig. 3, and the implementation principle and the technical effect are similar, and are not described herein again.
Fig. 9 is a schematic structural diagram of a fourth embodiment of the compensation device for the rotor position of the permanent magnet synchronous generator according to the present invention, and as shown in fig. 9, the compensation device for the rotor position of the permanent magnet synchronous generator according to the present embodiment further includes a filtering processing unit 71 on the basis of the first embodiment of the compensation device for the rotor position of the permanent magnet synchronous generator according to the present invention.
Further, the optimal offset determining unit 64 specifically includes: a third optimal offset determination module 643.
The third optimal offset determining module 643, configured to calculate a second absolute value of a difference between an active power output value of a grid-side port of the converter and an active power set value of a generator of a corresponding power segment after different offsets are applied in each power segment, and determine a rotor position offset corresponding to a minimum value in the second absolute value as an optimal rotor position offset of the power segment.
Further, the filtering processing unit 71 further includes: a third filtering processing module 713.
The third filtering processing module 713 is configured to perform filtering processing on the second absolute value.
Further, when the active power value includes an active power output value of a network side port of the converter, the active power value obtaining unit 63 is specifically configured to: after the position of the rotor is subjected to the bias, the active power of the self-consumption electricity of the wind generating set in each power section and the active power injected into a power grid are obtained; and taking the sum of the active power of the self-consumption electricity of the wind generating set in each power section and the active power injected into the power grid as an active power output value of a grid side port of the converter corresponding to the rotor position offset.
The compensation device for the rotor position of the permanent magnet synchronous generator provided in this embodiment may implement the technical solutions of the method embodiments shown in fig. 4 and fig. 5, and the implementation principles and technical effects are similar, and are not described herein again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (12)
1. A method of compensating for rotor position in a permanent magnet synchronous generator, comprising:
dividing the rated power of the generator into N sections to obtain N power sections;
for each power interval, when the difference value between the output active power of the generator and the active power set value of the generator in the corresponding power interval is smaller than a first preset threshold value, estimating the position of a rotor in the power interval;
applying an offset to the estimated rotor position of each power interval, and after the rotor position after the offset is applied, respectively and correspondingly obtaining an active power value of each power interval, where the active power value includes: the converter network side port active power output value or the generator active power output value;
determining the optimal rotor position offset of each power interval section according to each active power value in each power interval section;
compensating the estimated rotor position of the power interval according to the optimal rotor position offset.
2. The method according to claim 1, wherein when the active power value includes a generator active power output value, the determining an optimal rotor position offset for each power segment according to the active power value in the power segment specifically includes:
determining the rotor position offset corresponding to the maximum value in the absolute values of the active power output values of the generator of each power interval section as the optimal rotor position offset of the power interval section;
or,
calculating a first absolute value of a difference value between an active power output value of the generator after different bias quantities are applied to each power interval section and an active power set value of the generator corresponding to the power interval section, and determining a rotor position bias quantity corresponding to the minimum value in the first absolute value as an optimal rotor position bias quantity of the power interval section.
3. The method of claim 2, further comprising, prior to determining the rotor position offset corresponding to the maximum of the absolute values of the generator active power output values as the optimal rotor position offset for the power interval:
filtering the active power output value of the generator; or,
before determining the rotor position offset corresponding to the minimum value in the first absolute value as the optimal rotor position offset of the power interval section, the method further includes:
and carrying out filtering processing on the first absolute value.
4. The method according to claim 1, wherein when the active power value includes a converter grid-side port active power output value, the determining an optimal rotor position offset for each power segment according to the active power value in the power segment specifically includes:
and calculating a second absolute value of a difference value between the active power output value of the grid side port of the converter and the active power set value of the generator of the corresponding power section after different offset is applied in each power section, and determining the rotor position offset corresponding to the minimum value in the second absolute value as the optimal rotor position offset of the power section.
5. The method of claim 4, further comprising, prior to determining the rotor position offset corresponding to the minimum of the second absolute values as the optimal rotor position offset for the power interval:
and carrying out filtering processing on the second absolute value.
6. The method according to any of claims 1-5, wherein the active power set point in each of the power segments is an intermediate active power value in that power segment; or/and the light source is arranged in the light path,
when the active power value includes an active power output value of a network side port of the converter, after the rotor position after applying the offset is obtained, the active power value of each power interval section specifically includes:
after the position of the rotor with the applied offset is obtained, the active power of the self-consumption electricity of the wind generating set in each power interval section and the active power injected into a power grid are obtained;
and taking the sum of the active power of the self-consumption of the wind generating set of each power section and the active power injected into the power grid as an active power output value of a grid side port of the converter corresponding to the rotor position offset.
7. The method of claim 6, wherein compensating the estimated rotor position for the power interval according to the optimal rotor position offset comprises:
for any power interval, if the optimal rotor position offset is greater than a second preset threshold, the rotor position is compensated for multiple times, wherein the compensation offset is not greater than the second preset threshold every time, and the sum of the compensation offsets for multiple times is the optimal rotor position offset.
8. The method according to claim 7, wherein the compensating the rotor position using a plurality of times respectively comprises:
the time intervals of the multiple times of compensation are equal, and the compensation offset of each time is the same; or,
in the multiple compensation, the compensation offset amount with a long time interval is larger than the compensation offset amount with a short time interval.
9. A device for compensating for the position of a rotor of a permanent magnet synchronous generator, comprising:
the power interval division unit is used for dividing the rated power of the generator into N sections to obtain N power intervals;
the rotor position estimation unit is used for estimating the rotor position of each power interval when the difference value between the output active power of the generator and the active power set value of the generator in the corresponding power interval is smaller than a first preset threshold value;
an active power value obtaining unit, configured to apply an offset to a rotor position estimated for each power segment, and obtain an active power value of each power segment after the rotor position after the offset is applied, where the active power value includes: the converter network side port active power output value or the generator active power output value;
the optimal offset determining unit is used for determining the optimal rotor position offset of each power interval section according to each active power value in each power interval section;
and the rotor position compensation unit is used for compensating the estimated rotor position of the power section according to the optimal rotor position offset.
10. The apparatus according to claim 9, wherein the optimal offset determining unit specifically includes:
the first optimal offset determining module is used for determining the rotor position offset corresponding to the maximum value in the absolute values of the active power output values of the generator of each power section as the optimal rotor position offset of the power section;
or,
the second optimal offset determining module is used for calculating a first absolute value of a difference value between an active power output value of the generator after different offsets are applied to each power interval and an active power set value of the generator corresponding to the power interval, and determining the rotor position offset corresponding to the minimum value in the first absolute value as the optimal rotor position offset of the power interval;
or,
and the third optimal offset determining module is used for calculating a second absolute value of a difference value between an active power output value of a grid side port of the converter and an active power set value of a generator of a corresponding power section after different offsets are applied in each power section, and determining the rotor position offset corresponding to the minimum value in the second absolute value as the optimal rotor position offset of the power section.
11. The apparatus of claim 10, further comprising: a filtering processing unit;
the filtering processing unit includes:
the first filtering processing module is used for filtering the active power output value of the generator;
or,
the second filtering processing module is used for carrying out filtering processing on the first absolute value;
or,
and the third filtering processing module is used for carrying out filtering processing on the second absolute value.
12. The apparatus according to any of claims 9-11, wherein the active power set point in each of the power segments is an intermediate active power value in the power segment; or/and the light source is arranged in the light path,
when the active power value includes an active power output value of a network side port of the converter, the active power value obtaining unit is specifically configured to:
after the position of the rotor with the applied offset is obtained, the active power of the self-consumption electricity of the wind generating set in each power interval section and the active power injected into a power grid are obtained; and taking the sum of the active power of the self-consumption of the wind generating set of each power section and the active power injected into the power grid as an active power output value of a grid side port of the converter corresponding to the rotor position offset.
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