CN1992496B - Control structure of double-fed AC-DC-AC converter for wind power generation - Google Patents
Control structure of double-fed AC-DC-AC converter for wind power generation Download PDFInfo
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Abstract
This invention discloses a dual-feed AC-DC-AC converter control structure for wind power generation, and the rotor exciting magnetic converter using the fuzzy PI adaptive control strategy of current inner loop. When the generator no-load networking, the current inner loop uses the conventional PI regulator, and after networking, as to three modes, sub-synchronization, synchronization, super-synchronous, it uses fuzzy adaptive PI control. The network-side converter uses SPWM control strategy which fixed switching frequency and combining electric network electromotive front-feed. In the invention, both converting processes use four-quadrant operation PWM converters based on full-controlled devices, so it can not only improve the system dynamic response, reduce wastage and impact, achieve thetwo-way electric transmission, but also it can achieve wind power generation network side unit power factor sinusoidal current networking power generation operating.
Description
Technical field
The invention belongs to a kind of control structure of double-fed AC-DC-AC converter for wind power generation.
Background technology
The rotating speed of generator changes with wind speed in the variable speed constant frequency mode, and obtains the constant frequency electric energy by suitable control.Its control method is: control generator speed by regulating pitch during starting; Be incorporated into the power networks the back below rated wind speed, and the torque of regulator generator makes rotating speed follow the wind speed variation, keeps best tip speed ratio λ to obtain maximal wind-energy; More than rated wind speed, adopt the frequent movement of stall and pitch dual regulation, minimizing pitched, the energy that the restriction wind energy conversion system obtains guarantees the stability of generator power output and good dynamic characteristic, improves the flexibility of drive system.Aforesaid way is acknowledged as optimized regulative mode at present, also is the main direction of following wind power technology development.Its major advantage is to regulate rotating speed on a large scale, makes power coefficient remain on optimum value; Can absorb and storage fitful wind energy, reduce fitful wind and impact fatigue damage, mechanical stress and the torque pulsation that wind-driven generator is produced, prolong unit durability, reduce noise; Also may command active power and reactive power are improved the quality of power supply.The variable speed constant frequency mode controls complexity, cost height, need avoid the generation of resonating.
The stator of double-fed wind power generator (Doubly Fed Induction Generator) is identical with general threephase alternator stator, AC Windings with distribution, the rotor winding is drawn by slip ring and brush, adopt the distributed symmetrical alternating current winding of three-phase, similar to the rotor structure of three-phase wire-wound asynchronous motor.
In variable-speed constant-frequency wind power generation system, its stator winding inserts common frequency power network, the rotor winding inserts the three-phase alternating-current supply that frequency, amplitude, phase place can be regulated, and orthogonal four-quadrant two way convertor is handed in the common employing of this three-phase alternating-current supply back-to-back.
Double feedback electric engine itself is a multistage nonlinear complication system, and the characterisitic parameter of controlled device or structure can produce sudden change along with the influence of variation of loading or disturbing factor.Double feedback electric engine operates in metasynchronism, synchronous and supersynchronous three kinds of states, and the no-load running before being incorporated into the power networks, the power generation process after being incorporated into the power networks, and controlling object all changes to some extent in different processes.For making control system be in optimal operational condition all the time, should change control strategy in real time, adjust Control Parameter, the control system quality index is remained in the optimum range, but existing control system is difficult to finish above-mentioned requirements.
Summary of the invention
The control structure that the purpose of this invention is to provide a kind of double-fed AC-DC-AC converter for wind power generation, the rotor-exciting current transformer adopts the PI type Fuzzy ADAPTIVE CONTROL of current inner loop.When the generator idle grid connection, current inner loop adopts conventional pi regulator, and fuzzy self-adaption PI control is adopted at metasynchronism, synchronous, supersynchronous three kinds of states in the back of being incorporated into the power networks.The SPWM control strategy that the net side converter adopts fixed switching frequency and combines with the feedforward of electrical network electromotive force.
Technical scheme of the present invention is as follows:
The control structure of double-fed AC-DC-AC converter for wind power generation is characterized in that the generator amature side converter adopts the vector control strategy based on stator flux orientation, double-fed generator rotor-side A cross streams current i
Ra, rotor-side B cross streams current i
RbInsert the A/D pin of the DSP of rotor-side converter, the conversion that is tied to the two-phase rest frame through the three phase static coordinate becomes i
R α, i
R β, the conversion that is tied to the two-phase rotating coordinate system through the two-phase static coordinate becomes excitation feedback current i again
Rd, torque feedback current i
RqThe rotating speed of double-fed generator is converted to the pulse signal of 90 ° of two-way phase differences through photoelectric encoder, behind the photoelectric coding interface circuit, deliver to the quadrature coding pulse circuit of the DSP of rotor-side converter, obtain generator speed value of feedback ω through after the differential algorithm
r, according to the stator flux orientation principle, stator side three-phase alternating voltage U
Sa, U
SbThe conversion that is tied to the two-phase rest frame through the three phase static coordinate becomes u
S α, u
S β, because stator is connected on the constant electrical network, the pressure drop on the stator winding is very little with respect to line voltage, can ignore, and is calculated by magnetic linkage
ω
s-rotor rotating magnetic field is with respect to the angular speed of rotor; Calculate u through decoupling zero
Rdc, u
Rqc, u
Rdc, u
RqcFor eliminating rotor voltage, the cross-linked feedforward decoupling compensation of electric current item, outer shroud is a speed ring, and in speed ring, rotational speed setup is by the decision of maximal wind-energy capture algorithm, and the output of speed regulator is as the given i of rotor torque current regulator
Rq *, rotor excitation current adjuster given is by the decision of reactive power compensation amount, is subjected to the restriction of generator rated capacity simultaneously, through the output of the rotor torque current regulator of fuzzy PI hybrid control, rotor excitation current adjuster respectively with feedforward decoupling compensation item u
Rdc, u
RqcObtain the U under the synchronous rotating frame after the addition
Rd, U
Rq, the conversion that is tied to the two-phase rest frame through the two-phase rotational coordinates becomes u
R α, u
R βAgain through space vector of voltage SVPWM modulation, export 6 road pulse width signals by the PWM modulation generating unit of the DSP of rotor-side converter and input to the isolated drive circuit of forming by optocoupler, directly control rotor-side converter the IPM module in power tube, realization is to the control of generator amature side, realize the full decoupled control between generator electromagnetic torque and the rotor-exciting, the independent control that stator side is meritorious, idle; When double-fed generator was operated in the metasynchronism state, the net side converter absorbed energy from electrical network, is operated in rectification state; When double-fed generator was operated in supersynchronous state, energy was from the DC side feedback to the electrical network, and the net side converter is operated in inverter mode, and the bus direct voltage is constant, and control of net side unity power factor and input current are the controlled target of net side converter for sine wave; What the net side converter adopted is the Direct Current Control of PWM fixed switching frequency, the main circuit power model adopts the IPM module, three-phase alternating current reactance device La, Lb, Lc is used for the idle component of filtering and storage circuit, to realize the PWM Current Control, the A/D pin of the DSP of dc bus capacitor both end voltage Access Network side converter, compare with the outer voltage command signal as the feedback signal of dc voltage and to send into the outer voltage pi regulator, its output is multiplied each other with net top-cross stream voltage synchronizing signal again, generate the command signal of current inner loop adjuster, net side three-phase alternating current i
a, i
bThe 2nd A/D pin of the DSP of Access Network side converter is compared with the command signal of current inner loop adjuster as the feedback signal of three-phase alternating current, passes through current inner loop ratio amplification coefficient K again
Ip, suitable feed-forward coefficients K is chosen in its output and electrical network electromotive force feedforward addition
F, its result exports 6 road pulse width signals by the PWM of the DSP of net side converter modulation generating unit and inputs to the isolated drive circuit of being made up of optocoupler, directly controls the power tube in the IPM module of net side converter, and realization is to the control of net side converter.
The control structure of double-fed AC-DC-AC converter for wind power generation is characterized in that rotor-side converter adopts the vector control strategy based on stator flux orientation, double-fed generator rotor-side A cross streams current i
Ra, B cross streams current i
RbInsert the different A/D pin of DSP through modulate circuit, the conversion that is tied to the two-phase rest frame through the three phase static coordinate becomes rotor-side α shaft current component i
R α, rotor-side β shaft current component i
R β, the conversion that is tied to the two-phase rotating coordinate system through the two-phase static coordinate becomes excitation feedback current i again
Rd, torque feedback current i
Rq, the rotating speed of double-fed generator is converted to the two-way phase difference through photoelectric encoder
Pulse signal, through behind the photoelectric coding interface circuit, deliver to quadrature coding pulse (QEP) circuit of DSP, obtain generator speed value of feedback ω through after the differential algorithm
rAccording to the stator flux orientation principle, stator side A cross streams voltage U
Sa, B cross streams voltage U
SbThe conversion that is tied to the two-phase rest frame through the three phase static coordinate becomes stator side α shaft voltage component u
S α, stator side β shaft voltage component u
S β, because stator is connected on the constant electrical network, the pressure drop on the stator winding is very little with respect to line voltage, can ignore, and is calculated by magnetic linkage
(ω
s-rotor rotating magnetic field is with respect to the angular speed of rotor) calculate u through decoupling zero
Rdc=-b ω
si
Rq, u
Rqc=-a ω
sψ
1+ b ω
si
Rd, u
RdcFor eliminating rotor voltage, the cross-linked d axle feedforward of electric current decoupling compensation item, u
RqcBe elimination rotor voltage, the cross-linked q axle feedforward of electric current decoupling compensation item,
Outer shroud is a speed ring, and in speed ring, rotational speed setup is by the decision of maximal wind-energy capture algorithm, and the output of speed regulator is as the given i of rotor torque current regulator
Rq *The given of rotor excitation current adjuster is to be determined by the reactive power compensation amount, be subjected to the restriction of generator rated capacity simultaneously, through the output of the rotor excitation current adjuster of fuzzy PI hybrid control and through the torque current regulator output of fuzzy PI hybrid control respectively with d axle feedforward decoupling compensation item u
Rdc, q axle feedforward decoupling compensation item u
RqcObtain the rotor-side d shaft voltage component U under the synchronous rotating frame after the addition
Rd, rotor-side q shaft voltage component U
Rq, the conversion that is tied to the two-phase rest frame through the two-phase rotational coordinates becomes rotor-side α shaft voltage component u
R α, rotor-side β shaft voltage component u
R β, again through space vector of voltage SVPWM modulation, export 6 road pulse width signals by the PWM modulation generating unit of DSP and input to the isolated drive circuit of forming by optocoupler, directly control the power tube in the IPM module of rotor-side converter.Realization is to the control of generator amature side.Realize the full decoupled control between generator electromagnetic torque and the rotor-exciting, the independent control that stator side is meritorious, idle; When double-fed generator was operated in the metasynchronism state, the net side converter absorbed energy from electrical network, is operated in rectification state; When double-fed generator was operated in supersynchronous state, energy was from the DC side feedback to the electrical network, and the net side converter is operated in inverter mode.The bus direct voltage is constant, and control of net side unity power factor and input current are the controlled target of net side converter for sine wave; What the net side converter adopted is the Direct Current Control of PWM fixed switching frequency, and the main circuit power model adopts the IPM module, and this module collection drives, is protected in one, has very high reliability.It is the idle component of filtering and storage circuit that three-phase alternating current reactance device La, Lb, Lc mainly act on, to realize the PWM Current Control, the dc bus capacitor both end voltage inserts the A/D pin of DSP through modulate circuit, compare with the outer voltage command signal as the feedback signal of dc voltage and to send into the outer voltage pi regulator, its output is multiplied each other with net top-cross stream voltage synchronizing signal again, generate the command signal of current inner loop adjuster, net side A cross streams current i
a, B cross streams current i
bInsert the different A/D pin of DSP through modulate circuit, compare with the command signal of current inner loop adjuster, pass through current inner loop ratio amplification coefficient K again as the feedback signal of three-phase alternating current
Ip, suitable feed-forward coefficients K is chosen in its output and electrical network electromotive force feedforward addition
F, its result exports 6 road pulse width signals by the PWM of DSP modulation generating unit and inputs to the isolated drive circuit of being made up of optocoupler, directly controls the power tube in the IPM module of net side converter.Realization is to the control of net side converter.
Double-fed AC-DC-AC converter adopts two DSP control structures respectively rotor-exciting current transformer and net side converter to be controlled respectively.
What the net side converter adopted is the Direct Current Control of PWM fixed switching frequency, have input current for sinusoidal wave, power factor is controlled, can be to advantages such as electrical network feedback electric energy.DC bus-bar voltage is constant and have the good dynamic response ability, and control of net side unity power factor and input current are the controlled target of net side converter for sine wave.
The rotor-exciting power supply of double-fed wind power generator is one and hands over the orthogonal convertor assembly, is the connections of two current transformers by the intermediate dc link.These two current transformers adopt diode rectifier and thyristor active inverter respectively in the conventional design, have that current harmonics is bigger, dynamic response is slow, loss is big and can not realize shortcomings such as four quadrant running.The present invention all adopts PWM current transformer based on the four quadrant running of full-control type device to two unsteady flow links, not only can improve the dynamic response of system, reduce loss and impact, realize the transmitted in both directions of electric energy, and can also realize the operation of generating electricity by way of merging two or more grid systems of wind-driven generator net side unity power factor sine-wave current.
It is good that the current transformer current inner loop adopts fuzzy control to have rapidity usually, the characteristics of strong robustness, but on control precision, there is weakness, control precision then is the strong point of conventional PI control. fuzzy self-adaption control is decided by error e with the switching of conventional PI control, when deviation adopts fuzzy self-adaption control control during greater than certain given threshold value, when deviation switches to conventional PI control during less than this this threshold value. fuzzy self-adaption control can according to deviation e size, change proportionality coefficient and integral coefficient in good time, system oscillation and overshoot all there are the good restraining effect. this control strategy both can guarantee the rapidity of system responses and stronger vulnerability to jamming ability, can guarantee the lasting accuracy of system simultaneously again.
Description of drawings
Fig. 1 is a dual feedback wind power generation system structure chart of the present invention.
Fig. 2 is the control structure of rotor-side converter of the present invention.
Fig. 3 is the control structure of net side converter of the present invention.
Fig. 4 is e, ec, Δ K
p, Δ K
iMembership function.
Embodiment
Referring to Fig. 1-Fig. 4.
The rotor-exciting power supply of double-fed wind power generator is one and hands over the orthogonal convertor assembly, is the connections of two current transformers by the intermediate dc link.
Net side converter software is divided into two parts, main program module and interrupt service routine module.In main program module, mainly finish the initialization of system, function comprises the initialization of special-purpose register in the initialization, DSP of initialization, the peripheral module control register of system register, the initialization of User Defined variable, interrupts open and waits for and enter interrupt service subroutine.
Interrupt service routine is the core of whole net side converter, and most of work is all finished in interrupt service routine.Because will generate and drive the required switching frequency of IGBT is the pwm signal of 10K hertz, the time that each response is interrupted must not surpass 100 μ s.Interrupt service routine adopts modularized design, and major function comprises AC and DC voltage detection module, alternating current detection module, mains frequency and phase detecting module, outer voltage adjuster computing module, current inner loop adjuster computing module, current-order computing module, electrical network electromotive force feedforward computing module, protection module etc.Specific algorithm is at first being sent to the comparison error signal of outer voltage command signal with the DC bus-bar voltage that is detected in the outer voltage adjuster, its output is multiplied each other with net top-cross stream voltage synchronizing signal again, generate the command signal of current inner loop adjuster, after the output of current inner loop adjuster and the electrical network electromotive force feedforward addition, its result is sent in the PWM comparator, as the control signal of IGBT switch driving circuit.Outer voltage guarantees that DC bus-bar voltage is constant, and current inner loop then guarantees the capability of fast response of system.Its control structure is seen Fig. 3.
Rotor-side converter adopts the vector control strategy based on stator flux orientation, its control structure adopts two closed-loop control strategies as shown in Figure 2, interior ring is electric current loop, adopt the PI control strategy of fuzzy self-adaption, outer shroud is a speed ring, in speed ring, rotational speed setup is determined by the maximal wind-energy capture algorithm, the output of speed regulator is given as the rotor torque current regulator, the given of rotor excitation current adjuster is by the decision of reactive power compensation amount, is subjected to the restriction of generator rated capacity simultaneously.As stator magnetic linkage Ψ
1When keeping constant, the electromagnetic torque of generator and torque current i
RqBe directly proportional, rotor-exciting is by exciting current i
RdDecision.When stator side was controlled as unity power factor, the exciting current of generator was all provided by rotor.u
Rdc, u
RqcFor eliminating rotor voltage, the cross-linked compensation term of electric current, after removing the cross-couplings item that causes by back electromotive force through feedforward compensation, can be by the d axle component of regulating rotor voltage and rotor flux and the electromagnetic torque that q axle component is controlled generator respectively.Just can realize the full decoupled control between generator electromagnetic torque and the rotor-exciting.
Fuzzy adaptive controller velocity error e and error rate ec import as controller, can satisfy different constantly e and ec to the requirement of PI parameter self-tuning, utilize that fuzzy control rule is online to be adjusted the PI parameter.
Error e and error rate ec can more strictly reflect the dynamic characteristic of output variable in the controlled process, better than the one dimension fuzzy controller of only using e on the control effect, its structure is simpler than the three-dimensional fuzzy controller that has increased error variation rate of change cce again simultaneously.
Fuzzy control link in the fuzzy adaptive controller is output as regulator parameter proportionality coefficient increment Delta K
pWith integral coefficient increment Delta K
i, be a dual input dual output structure therefore.Two input language variable velocity deviation e and velocity deviation rate of change ec and two output language variable Δ K to this two-dimensional fuzzy controller
pWith Δ K
iFuzzy set is defined as follows:
E, ec, Δ K
p, Δ K
iFuzzy set be
{NB，NM，NS，ZE，PS，PM，PB}
The implication of each amount of above-mentioned fuzzy set is respectively:
NB-Negative Big (negative big); NM-Negative Medium (in negative); NS-NegativeSmall (negative little); ZE-Zero (zero); PS-Positive Small (just little); PM-PositiveMedium (center); PB-Positive Big (honest).
System speed error e and velocity error rate of change ec excursion are defined as domain on the fuzzy set.The domain of velocity error e and velocity error rate of change ec all is taken as:
{-6，-5，-4，-3，-2，-1，0，1，2，3，4，5，6}
Δ K
pAll be defined as with the domain of Δ Ki:
{-6，-5，-4，-3，-2，-1，0，1，2，3，4，5，6}
If e, ec, Δ K
p, Δ K
iThe equal obeys triangular distribution function of degree of membership, the membership function that therefore can get these four linguistic variables is respectively as shown in Figure 4.
The fuzzy relation between two parameters of pi regulator and e and the ec is found out in fuzzy self-adaption control, be in operation by continuous detection e and ec, come two parameters are carried out online modification according to fuzzy control principle, satisfy different e and the different requirements of ec, make controlled device that the good dynamic and static performance be arranged Control Parameter.Proportionality coefficient K
pEffect be the response speed of quickening system, improve the degree of regulation of system.K
pBig more, the response speed of system is fast more, and the degree of regulation of system is high more, but easily produces overshoot, even can cause system's instability.K
pValue is too small, then can reduce degree of regulation, makes response speed slow, thereby prolongs the adjusting time, makes that system is quiet, dynamic characteristic degenerates.Integral coefficient K
iEffect be the steady-state error of elimination system.K
iBig more, the static receiver error of system is eliminated fast more, if K
iExcessive, can produce the integration saturated phenomenon, cause big overshoot, if K
iToo small, system's static receiver error is difficult to eliminate, and influences the degree of regulation of system.The adjusting of PI parameter must be considered in difference effect of two parameters constantly and the relation between the mutual effect.By calculating current systematic error e and error rate ec, utilize fuzzy rule to carry out fuzzy reasoning, table 1-1 and table 1-2 are respectively at K
pAnd K
iFuzzy reasoning table.
In digital control system, the output of fuzzy adaptive controller is analog quantity and corresponding degree of membership thereof through what obtain behind the fuzzy reasoning, after obtaining the degree of membership of output variable, adopts the reverse gelatinization of weighted mean method to handle, and its expression formula is as follows:
The fuzzy reasoning table of table 1-1Kp
The degree of membership of i fuzzy output variable of u in the formula (i) expression, promptly the result of fuzzy reasoning multiply by x with the output quantizing factor at last
0Actual value that can controlled amount.
The fuzzy reasoning table of table 1-2 Δ ki
Obtain at last:
K in the formula
P1, K
I1Be currency.
Claims (1)
1. the control structure of double-fed AC-DC-AC converter for wind power generation is characterized in that the generator amature side converter adopts the vector control strategy based on stator flux orientation, double-fed generator rotor-side A cross streams current i
Ra, rotor-side B cross streams current i
RbInsert the A/D pin of the DSP of rotor-side converter, the conversion that is tied to the two-phase rest frame through the three phase static coordinate becomes i
R α, i
R β, the conversion that is tied to the two-phase rotating coordinate system through the two-phase static coordinate becomes excitation feedback current i again
Rd, torque feedback current i
RqThe rotating speed of double-fed generator is converted to the pulse signal of 90 ° of two-way phase differences through photoelectric encoder, behind the photoelectric coding interface circuit, deliver to the quadrature coding pulse circuit of the DSP of rotor-side converter, obtain generator speed value of feedback ω through after the differential algorithm
r, according to the stator flux orientation principle, stator side three-phase alternating voltage U
Sa, U
SbThe conversion that is tied to the two-phase rest frame through the three phase static coordinate becomes u
S α, u
S β, because stator is connected on the constant electrical network, the pressure drop on the stator winding is very little with respect to line voltage, can ignore, and is calculated by magnetic linkage
ω
s-rotor rotating magnetic field is with respect to the angular speed of rotor; Calculate u through decoupling zero
Rdc, u
Rqc, u
Rdc, u
RqcFor eliminating rotor voltage, the cross-linked feedforward decoupling compensation of electric current item, outer shroud is a speed ring, and in speed ring, rotational speed setup is by the decision of maximal wind-energy capture algorithm, and the output of speed regulator is as the given i of rotor torque current regulator
Rq *, rotor excitation current adjuster given is by the decision of reactive power compensation amount, is subjected to the restriction of generator rated capacity simultaneously, through the output of the rotor torque current regulator of fuzzy PI hybrid control, rotor excitation current adjuster respectively with feedforward decoupling compensation item u
Rdc, u
RqcObtain the U under the synchronous rotating frame after the addition
Rd, U
Rq, the conversion that is tied to the two-phase rest frame through the two-phase rotational coordinates becomes u
R α, u
R βAgain through space vector of voltage SVPWM modulation, export 6 road pulse width signals by the PWM modulation generating unit of the DSP of rotor-side converter and input to the isolated drive circuit of forming by optocoupler, directly control rotor-side converter the IPM module in power tube, realization is to the control of generator amature side, realize the full decoupled control between generator electromagnetic torque and the rotor-exciting, the independent control that stator side is meritorious, idle; When double-fed generator was operated in the metasynchronism state, the net side converter absorbed energy from electrical network, is operated in rectification state; When double-fed generator was operated in supersynchronous state, energy was from the DC side feedback to the electrical network, and the net side converter is operated in inverter mode, and the bus direct voltage is constant, and control of net side unity power factor and input current are the controlled target of net side converter for sine wave; What the net side converter adopted is the Direct Current Control of PWM fixed switching frequency, the main circuit power model adopts the IPM module, three-phase alternating current reactance device La, Lb, Lc is used for the idle component of filtering and storage circuit, to realize the PWM Current Control, the A/D pin of the DSP of dc bus capacitor both end voltage Access Network side converter, compare with the outer voltage command signal as the feedback signal of dc voltage and to send into the outer voltage pi regulator, its output is multiplied each other with net top-cross stream voltage synchronizing signal again, generate the command signal of current inner loop adjuster, net side three-phase alternating current i
a, i
bThe 2nd A/D pin of the DSP of Access Network side converter is compared with the command signal of current inner loop adjuster as the feedback signal of three-phase alternating current, passes through current inner loop ratio amplification coefficient K again
Ip, suitable feed-forward coefficients K is chosen in its output and electrical network electromotive force feedforward addition
F, its result exports 6 road pulse width signals by the PWM of the DSP of net side converter modulation generating unit and inputs to the isolated drive circuit of being made up of optocoupler, directly controls the power tube in the IPM module of net side converter, and realization is to the control of net side converter.
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| DE102007021632A1 (en) * | 2007-05-09 | 2008-11-20 | Ssb-Antriebstechnik Gmbh & Co. Kg | Electric drive |
| JP5260092B2 (en) * | 2008-03-10 | 2013-08-14 | 株式会社日立製作所 | Power conversion device and power generation conversion system |
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