CN109412478A - A kind of power droop control method of brushless dual-feed motor - Google Patents
A kind of power droop control method of brushless dual-feed motor Download PDFInfo
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- CN109412478A CN109412478A CN201811104778.1A CN201811104778A CN109412478A CN 109412478 A CN109412478 A CN 109412478A CN 201811104778 A CN201811104778 A CN 201811104778A CN 109412478 A CN109412478 A CN 109412478A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/007—Control circuits for doubly fed generators
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/381—Dispersed generators
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
Abstract
The invention belongs to motor control technology fields, disclose a kind of grid-connected instantaneous power droop control method of brushless dual-feed motor, guarantee any band to carry under operating condition and can complete seamless switching of the electricity generation system from independent operating to the mode of being incorporated into the power networks.This method is based on the brushless dual-feed motor equivalent-circuit model under control winding current oriention, real-time sampling switches each information about power inside moment motor, and according to independence/active reactive power of grid connected dual mode switching moment and the sagging coefficient of relationship Exact Design of temporary impact electric current, the control winding voltage of brushless dual-feed motor will be superimposed on after the dash current of sampling and sagging multiplication, to reduce the switching moment impact from independent operating to the mode of being incorporated into the power networks, security of system and stability are improved.
Description
Technical field
The invention belongs to motor control technology fields, more particularly, to a kind of sagging control of power of brushless dual-feed motor
Method processed.
Background technique
Brushless dual-feed motor (brushless doubly-fed machine, BDFM) only needs slip due to required frequency converter
Variable speed constant frequency generator can be realized in times power capacity, while mentioning again because eliminating brush and slip ring using special structure design
Running reliability of motor has been risen, has reduced maintenance and operation cost, therefore have broad application prospects in electricity generation system.
In power generation applications, the micro-capacitance sensors such as special wind-power electricity generation, ship shaft generator application, to promote power supply reliability,
Need to guarantee the uninterrupted power supply to key load, brushless dual-feed motor should be provided simultaneously with free band carry, with power grid jointly band carry,
To the ability of power grid transferring load, therefore the electricity generation system with independence/grid connected dual mode service ability becomes research heat at present
Point.In double mode electricity generation system, independent, the control target that is incorporated into the power networks generally respectively the amplitude and frequency of output voltage and has
Function, reactive power, therefore different control systems are used under two kinds of operating conditions for different control targets.When operating condition change, it is
System need to be switched to by independent operating when being incorporated into the power networks, the fluctuation of grid-connected moment by power grid especially weak grid voltage magnitude and
Frequency generation seriously affects, and even results in grid-connected failure, damage system equipment.Therefore reliable to improve the entirety of electricity generation system
Property, electricity generation system need to introduce seamless switching control technology in grid-connected moment, to reduce grid-connected dash current, guarantee system safety.
Currently, the seamless switching control technology of electricity generation system grid-connected moment can be divided into based on grid-connected instantaneous voltage differences, indirectly
A few class methods such as electric current, Direct Torque Control or power droop characteristic.
Such as entitled " a kind of microgrid current transformer and/off-network seamless handover method ", publication number CN104319815A, publication date
China on January 28th, 2015 applies for a patent, and proposes that the load voltage and network voltage based on the inverter switching device moment it is expected
Value difference, realize the strategy of seamless switching, according to each switch periods voltage difference comparison result realize off-network, it is grid-connected between nothing
Seaming and cutting are changed, and the stabilization of important load voltage is maintained.
Such as entitled " Indirect Current Control Based Seamless Transfer of Three-
Phase Inverter in Distributed Generation ", author Z.Liu, source IEEE Transactions on
The document of Power Electronics 29 (7), 2014:3368-3383 are proposed based in capacitance voltage outer ring, power network current
The bicyclic indirect current of ring realizes the control strategy of seamless switching, carries out two by information such as detection output voltage amplitude, frequencies
The seamless switching of kind mode.
Such as entitled " A New Smooth Synchronization of Brushless Doubly-Fed Induction
Generator by Applying a Propose Machine Model ", author R.Sadeghi, source IEEE
The document of Transactions on Sustainable Energy 9 (1), 2018:371-380 are proposed based on Direct Torque
The control strategy that (DTC) realizes independence/grid-connect mode seamless switching is controlled, Virtual Torque guarantor is arranged in grid-connected preceding pass through in the program
Generating voltage and the same phase of network voltage are demonstrate,proved, while by adjusting control winding flux regulator output voltage amplitude, on this basis
Complete the seamless switching of both of which.
Be directed to inverter, synchronous motor both at home and abroad at present, have brush double feedback electric engine etc., it proposes seamless about sagging control
The correlative study of handoff technique, such as entitled " the photovoltaic microgrid system off-grid grid-connected control method based on inverse sagging control ", it is open
Number CN107257140A, the Chinese patent application in publication date on October 17th, 2017, for gird-connected inverter from grid connection state
Under be all made of current-mode controller, for realizing inverter from grid-connected seamless switching, preferably reduce grid-connected current impact；Name
For " magneto alternator group grid side converter improves droop control method ", publication number CN105226720A, publication date 2016
The Chinese patent application on January 06, in is directed to synchronous motor, passes through and calculates output active reactive power and DC bus-bar voltage
Variation proposes the seamless switching strategy based on dynamic regulation droop characteristic, is also able to achieve grid-connected non-impact current switching；Name
For " control method and system of double-fed wind power generator group ", publication number CN104201711B, publication date on April 20th, 2016
Chinese patent application is directed to double-fed Wind turbine, proposes the sagging control of power for obtaining different adjustment amount based on different control amounts；
Entitled " Analysis and Impacts of Implementing Droop Control in DFIG-Based Wind
Turbines on Microgrid/Weak-Grid Stability ", author F.M.Mohammadreza, source IEEE
The document of Transactions on Power Systems 30 (1), 2015:385-386 further to have brush double feedback electric engine biography
The small-signal model and characteristic value united under sagging control study and have proposed the sagging control of power, carry out to sagging control
More in-depth study.
For other three classes control strategies of the seamless switching based on power droop characteristic, sufficiently combine electricity generation system special
Property and electrical network parameter, adaptability it is higher, guarantee power-sharing, it can be achieved that high performance control, when significantly improving grid-connected switching
Transient state impact and oscillatory occurences, therefore be widely used.But it is directed to brushless dual-feed motor and its electricity generation system, there has been no grind at present
Study carefully and proposes seamless switching strategy of the brushless dual-feed motor based on power droop characteristic；And brushless dual-feed motor is in structure, characteristic, mould
There are larger differences with inverter and synchronous motor in type, and due to its physical characteristic of special structure and mathematical model also compared with
There is brush double feedback electric engine increasingly complex；With the raising that electricity generation system requires, it is seamless also to need to guarantee that various operating conditions can be completed
Switching, therefore, it is difficult to continue to use inverter and the existing droop characteristic seamless handover method of other motors.
Summary of the invention
In view of the drawbacks of the prior art, it is an object of the invention to propose a kind of brushless dual-feed motor grid-connected moment without seaming and cutting
Change technology, it is intended to solve the problems, such as that grid-connected moment causes dash current excessive because of various non-ideal characteristics.
To achieve the above object, it is grid-connected preceding with width, lock under various operating conditions that the present invention provides a kind of brushless dual-feed motors
Phase stage each electricity of stable state down-sampling system, obtains sagging control parameter for its operation and carries out the sagging control of grid-connected moment to system
Method.
The present invention provides a kind of power droop control methods of brushless dual-feed motor, include the following steps:
(1) motor internal resistance inductance is carried out based on brushless dual-feed motor equivalent circuit to convert in series and parallel, obtain and simplify electricity
Flow equivalent resistance Z4；
(2) it detects control winding three-phase phase current and obtains control winding electric current d axis component after carrying out coordinate conversion to it
icdWith q axis component icq；
It detects power winding three-phase phase current and obtains power winding current d axis component i after carrying out coordinate conversion to itpdWith
Q axis component ipq；
Detection power winding three-phase line voltage is simultaneously translated into phase voltage, obtains function after carrying out coordinate conversion to phase voltage
Rate winding voltage d axis component updWith q axis component upq；
(3) by power winding current d axis component ipdWith q axis component ipqAnd power winding voltages d axis component updWith q axis
Component upqIt is converted into control winding current oriention icqPower winding voltages d axis component is obtained under=0 coordinate systemQ axis component
And power winding current d axis component id p, q axis component
(4) based on the control winding voltage and control winding electric current inside brushless dual-feed motor after control winding current oriention
Coordinate system angleCharge value in power winding voltages and control winding electric current coordinate system angle δ and step (3) obtains
Active power of output P and reactive power Q；
And stable state wattful power when according to active power of output P and reactive power Q acquisition system grid connection presteady state operating point
Rate P*, reactive power Q*；
(5) according to the stable state active-power P*, reactive power Q*Obtain system grid connection front and back output voltage and network voltage
Phase deviation obtains grid-connected moment steady state power fluctuation Δ P, Δ Q and control winding voltage fluctuationRelationship, and obtain
Obtain sagging control coefrficient Gd_q、Gq_q、Gq_dAnd the output Δ u " of sagging controlling unitcd、Δu”cq；
(6) according to sagging control coefrficient Gd_q、Gq_q、Gq_dAnd the output Δ u " of sagging controlling unitcd、Δu”cqIt obtains
The three-phase reference value of control winding voltageAnd according toRealize control winding electric current dq points
AmountTo closed loop reference valueClosed loop track.
Further, step (2) includes the following steps,
(21) by installing code-disc on rotor, the mechanical angular velocity vector Ω of rotor is obtainedm；
(22) according to power winding number of pole-pairs pp, control winding number of pole-pairs pc, power winding 100 π rad/ of electric current angular frequency
S and rotor machinery angular velocity vector ΩmObtain control winding electric current angular frequencyc:
(23) by control winding electric current angular frequencycInput integral link obtains control winding electric current, and is transformed to
The unified angle, θ with reference to needed for dq coordinate systemc；
(24) control winding three-phase phase current i is detectedca、icb、iccAnd with θcAs coordinate transform angle, pass through Park coordinate
Control winding electric current is transformed into after unification refers to dq coordinate system from static ABC coordinate and obtains control winding electric current dq component by transformation
icd、icq:
(25) according to control winding coordinate transform angle θ in step (23)c, rotor position angle θrIt obtains power winding current
The unified angle of transformation θ with reference to used in dq coordinate system is transformed into from static ABC coordinatep；
(26) power winding three-phase phase current i is detectedpa、ipb、ipcAnd with θpAs coordinate transform angle, pass through Park coordinate
Power winding current is transformed into unification from static ABC coordinate and divided with reference to power winding current dq axis is obtained after dq coordinate system by transformation
Measure ipd、ipq:
(27) the power winding three-phase line voltage u that will testpab、upbc、upcaIt is converted into phase voltage upa、upb、upc, and with θp
As coordinate transform angle, power winding current is transformed into from static ABC coordinate by the unified dq that refers to by Park coordinate transform and is sat
Power winding voltages dq axis component u is obtained after mark systempd、upq。
Further, stable state active-power P * and stable state reactive power Q * are respectively as follows:
Wherein, P*, Q* are respectively system grid connection presteady state active power, stable state reactive power；upFor power winding voltages
Vector；u"cFor control winding voltage vector, sp、scRespectively power side, control side slip frequency；δ,Respectively control winding
Voltage and control winding electric current coordinate system angle, power winding voltages and control winding electric current coordinate system angle.
Further, the step (5) specifically:
(51) to make system realize that system power variable quantity is expressed as small signal form at the grid-connected moment by linearization process,
There are errors, and output power to be caused to there is fluctuation, expression for system output voltage and network voltage are as follows:
(52) formula in step (51) is subtracted into formula in step (3), disappear steady-state quantity, and power swing is expressed as defeated
Voltage and output current forms out, because grid-connected rear system output voltage is clamped to network voltage, comprehensive improvement is obtained when grid-connected
Etching system current fluctuation are as follows:
(53) the mechanical angular velocity vector Ω for obtaining rotor by installing code-disc on rotorm；
(54) real-time sampling power winding voltages frequency, and obtain power winding voltages angular frequencyp；
(55) according to power winding number of pole-pairs pp, control winding number of pole-pairs pc, power winding electric current angular velocity omegapWith turn
Handset tool angular velocity vector ΩmObtain control winding angular velocity omegac；
(56) according to the power winding voltages d axis componentQ axis componentThe tangent between two components is calculated in real time
Value
(57) real-time sampling exports electric current d axis undulate quantityAnd q axis undulate quantity
(58) sagging control coefrficient G is obtained according to above-mentioned sampling parameterd_q、Gq_q、Gq_d。
Further, sagging control coefrficient G described in step (58)d_q、Gq_q、Gq_dIt is respectively as follows:
Wherein, ppFor power winding number of pole-pairs, pcFor control winding number of pole-pairs, ωpFor the electric current angular speed of power winding,
ωrFor the angular speed of rotor windings, tan δ is power winding voltages d axis component and q axis component tangent under control winding coordinate system
Value, X4For brushless dual-feed motor equivalent inductive reactance.
Further, the step (6) specifically:
(61) q axis PI controller Proportional coefficient K is setpqWith integral coefficient KiqValue Kpq=Kpd Kiq=Kid, wherein d axis
The Proportional coefficient K of PI controllerpdWith integral coefficient KidRule of thumb obtain；
(62) by control winding electric current d axis reference valueWith d componentDifferenceInput d axis PI controller obtains
Obtain the output PI of d axis controllerd；By control winding electric current q axis reference valueWith q axis componentDifferenceInput q axis
The output PI of PI controller acquisition q axis controllerq；
(63) system power inner ring expression is obtained according to dq mathematical model inside brushless dual-feed motor:
Wherein, Rsc、LscThe respectively single-phase resistance of brushless dual-feed motor control winding, inductance, K1、K2And K3It is respectively electric
The equivalent parameters of acquisition after electromechanics sense is concatenated, is in parallel,
(64) control winding electric current angular velocity omega in step (5) is utilizedcIntegrate the angle, θ obtainedcBy ud c *、uq c *Through Park
The three-phase reference value u of control winding voltage is obtained after inverse transformationca *、ucb *、ucc *, and it is sent to Pulse width modulation module, it obtains
It is set to export corresponding control winding three-phase mutually electricity with the signal driving transducer to the switching drive signal of machine-side converter
Press uca、ucb、ucc, realize the closed-loop control to brushless dual-feed motor control winding electric current.
Further, control winding voltage three-phase reference value uca *、ucb *、ucc *Are as follows:
Wherein, ud c *、uq c *Respectively through control winding voltage d axis component obtained by step (6) and q axis component, θcFor step
(6) gained control winding angle in.
Contemplated above technical scheme through the invention, compared with prior art, due to not changing original independent fortune
Seamless switching grid-connected under various operating conditions is realized under row control structure, can be obtained and greatly be reduced having for grid-connected immediate current impact
Beneficial effect.Simultaneously as system power is controlled linearization process, it can obtain and greatly simplify control difficulty beneficial effect；Solution
The nonlinear problem of system grid connection of having determined instantaneous power control.
Detailed description of the invention
Fig. 1 be brushless dual-feed motor it is independent/be incorporated into the power networks schematic diagram；
Fig. 2 is brushless dual-feed motor equivalent circuit；Wherein, (a) is the complete equivalent circuit of grid-connected system；It (b) is grid-connected system
System simple equivalent circuit；
Fig. 3 is to obtain the unified schematic diagram with reference to control winding electric current dq component under dq coordinate system；Wherein, (a) is control
Winding current dq rotating coordinate system；(b) it is converted for control winding current three-phase ABC to two-phase dq；
Fig. 4 is to obtain the unified schematic diagram with reference to power winding voltages, electric current dq component under dq coordinate system；Wherein, (a) is
Power winding current dq rotating coordinate system；(b) it is converted for power winding electricity three-phase ABC to two-phase dq；
Fig. 5 is each winding coordinate relational graph under the required control winding current oriention of the present invention；
Fig. 6 is system grid connection presteady state operating point circuit diagram；
Fig. 7 is system grid connection moment sagging control planning figure；
Fig. 8 is the required control winding current close-loop control system functional block diagram of the present invention；
Fig. 9 is without the grid-connected instantaneous waveform of sagging control system；
Figure 10 is to have the grid-connected instantaneous waveform of sagging control system；
Figure 11 is that systematic steady state runs active and reactive jump waveform.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The present invention provides the sagging control strategies of a set of brushless dual-feed motor grid-connected moment to realize the seamless of grid-connected moment
Switching, thus complete safety, quick cutting-in control meet the uninterrupted power supply of key load to while meet the following wind
Electric system runs on the demand of independent, grid-connected both of which.
To guarantee the uninterrupted power supply to key load, realize brushless double feed electricity generation system from independent operating to grid-connected fortune
Capable seamless switching is reduced on the impact of system and influence, and the present invention is based in the research of existing brushless dual-feed motor independent operating
Common control winding current oriention, makes full use of it to simplify the advantage of design, proposes that a kind of realization is simple, control structure is general
Property sagging control of grid-connected moment strong, that operating condition and industrial applications and various brushless dual-feed motor types are carried suitable for various bands
Method, and corresponding grid-connected moment control system is established, to reduce the switching moment from independent operating to the mode of being incorporated into the power networks
Impact improves system stability.
The droop control method is adopted in real time based on the brushless dual-feed motor equivalent-circuit model under control winding current oriention
Sample switches each information about power inside moment motor, and according to the active reactive power of independence/grid connected dual mode switching moment with
The sagging coefficient of relationship Exact Design of temporary impact electric current, it is brushless by being superimposed on after the dash current of sampling and sagging multiplication
The control winding voltage of double feedback electric engine, to realize the sagging control of grid-connected moment, guaranteeing that any band carries can complete under operating condition
Seamless switching of the electricity generation system from independent operating to the mode of being incorporated into the power networks.
Specific steps are as follows:
(1) it based on brushless dual-feed motor equivalent circuit shown in Fig. 2 (a), carries out motor internal resistance inductance and converts in series and parallel,
It is simplified shown in circuit such as Fig. 2 (b), simplifies current equivalence resistance are as follows:
Wherein, rp、r'r、r”cRespectively power winding, rotor windings and control winding equivalent resistance；Lmp、L'σr、L”σcPoint
It Wei not power winding, rotor windings and control winding equivalent inductance；ωpFor power winding angular frequency；sp、scRespectively power side
And control side slip frequency；
It can thus be concluded that brushless double feed grid-connected system equivalent simplified circuit, simplify circuit be represented by a controlled voltage source through etc.
Imitate impedance and a stiff type of attachment；
(2) control winding three-phase phase current, such as i are detectedca、icb、icc.By shown in Fig. 3 principle, by control winding electric current from
Static three-phase ABC coordinate system is transformed into unification with reference under dq coordinate system, obtains control winding electric current d axis component icdWith q axis component
icq；
Detect power winding three-phase phase current, such as ipa、ipb、ipc.By shown in Fig. 4 principle, by power winding current from static
The conversion of ABC coordinate system is unified with reference under dq coordinate system, obtains power winding current d axis component ipdWith q axis component ipq；
Detect power winding three-phase line voltage, such as upab、upbc、upca.By shown in Fig. 4 principle, power winding line voltage is turned
Phase voltage is turned to, it is then unified with reference under dq coordinate system from the conversion of static ABC coordinate system, obtain power winding voltages d axis component
updWith q axis component upq；
(3) by power winding current d axis component ipdWith q axis component ipqAnd power winding voltages d axis component updWith q axis
Component upqDistinguish through electricity under electricity relation transformation between motor to control winding current oriention coordinate system by shown in Fig. 5 principle
For
(4) based on the control winding voltage and control winding electric current inside brushless dual-feed motor after control winding current oriention
Coordinate system angle isPower winding voltages and control winding electric current coordinate system angle are δ, relationship as shown in fig. 6, according to etc.
Charge value obtained by effect circuit and step (3) derives to obtain active power of output P, reactive power Q expression formula, when current inner loop at this time and
When output outer ring tracks to stationary value due to PI adjustment effect, thus expression formula can obtain system grid connection presteady state operating point；
(5) according to stable state active-power P in step (4)*, reactive power Q*, obtain output voltage and electricity before and after system grid connection
Net voltage-phase deviation obtains grid-connected moment steady state power fluctuation Δ P, Δ Q and control winding voltage fluctuationPass
System further derives it and fluctuates with grid-connected currentRelationship, and further ignore higher order term and obtain output current fluctuation
With control winding voltageRelational expression, i.e., grid-connected moment sagging control planning, and according under this relational design
Vertical coefficient is respectively Gd_q、Gq_q、Gq_d, obtain the output Δ u " of sagging controlling unitcd、Δu”cq, as shown in Figure 7；
(6) by shown in Fig. 8 principle, control winding electric current dq component closed-loop control system is built.By power side electrical transformation
It is that step (3) are detected into gained control winding electric current i under to control winding coordinate systemcd、icqWith corresponding closed loop reference valueError input respectively d, q axis scale-integral controller (Proportion Integration controller,
Hereinafter referred to as PI controller)；D, the output PI of q axis PI controllerd、PIqIt is superimposed the output Δ of d, q axle sag controlling unit respectively
u”cd、Δu”cq, obtain the dq component reference value of control winding voltageThrough Park inverse transformation, controlled
The three-phase reference value of winding voltage processedIt willInput pulse width modulation module generates
The driving signal of machine-side converter, driving machine-side converter generate required control winding three-phase voltage uca、ucb、ucc, realize control
Winding current dq component processedTo closed loop reference valueClosed loop track；Outer ring also uses PI controller complete simultaneously
Paired systems quickly control.
Seamless switching under system independence/cutting-in control both of which, lifting system can be completed in the above droop control method
Control performance.
The step (1) includes the following steps that its principle is as shown in Figure 2:
(11) according to circuit slip frequency:
(12) side, rotor-side and power side equivalent impedance must be controlled by slip frequency to be respectively as follows:
(13) by above-mentioned equivalent circuit through impedance it is series-parallel grid-connected equivalent simplified model, it is series-parallel equivalent are as follows:
The step (2) includes the following steps that principle is as shown in Figure 3:
(21) by installing code-disc on rotor, the mechanical angular velocity vector Ω of rotor is obtainedm；
(22) the power winding voltages perseverance that brushless dual-feed motor independent startup issues is 50Hz, angular frequencypPerseverance is normal
Several 100 π rad/s.According to brushless dual-feed motor operation characteristic, by power winding number of pole-pairs pp, control winding number of pole-pairs pc, power
100 π rad/s of electric current angular frequency, the rotor machinery angular velocity vector Ω of windingmSubstitution formula (8) obtains control winding electric current angular frequencyc:
ωc=(pp+pc)Ωm-100π……(5)
(23) by ωcInput integral link obtains control winding current transformation to the unified angle, θ with reference to needed for dq coordinate systemc；
(24) control winding three-phase phase current, such as i are detectedca、icb、icc；With θcAs coordinate transform angle, sat by Park
Control winding electric current is transformed into unification with reference to dq coordinate system from static ABC coordinate, obtains control winding electric current dq points by mark transformation
Measure icd、icq:
(25) by control winding coordinate transform angle θ in step (23)c, rotor position angle θrSubstitution formula (7), obtains power
Winding current is transformed into the unified angle of transformation θ with reference to used in dq coordinate system from static ABC coordinatep: θp=(pp+pc)θr-θc……(7)
(26) power winding three-phase phase current, such as i are detectedpa、ipb、ipc；With θpAs coordinate transform angle, sat by Park
Power winding current is transformed into unification with reference to dq coordinate system from static ABC coordinate by mark transformation, obtains power winding current dq axis
Component ipd、ipq:
(27) power winding three-phase line voltage, such as u are detectedpab、upbc、upcaIt is translated into phase voltage upa、upb、upc；With
θpAs coordinate transform angle, power winding current is transformed into reference to dq from static ABC coordinate by unification by Park coordinate transform
Coordinate system obtains power winding voltages dq axis component upd、upq:
The step (3) includes the following steps that principle is as shown in Figure 5:
(31) pass through setting control winding electric current q axisIt realizes that control winding electric current forces orientation, base is determined with this
Conventional coordinates；
(32) power winding three-phase line voltage, such as u are detectedpab、upbc、upcaIt is translated into phase voltage upa、upb、upc, take
Its power winding voltages two-phase stationary coordinate system electricity
(33) power winding three-phase phase current, such as i are detectedpa、ipb、ipc, take its power winding current two-phase stationary coordinate system
Electricity
(34) unify motor electricity relationship under dq coordinate system using brushless dual-feed motor to obtain:
Z in above formulaa、ZbThe respectively parameter of electric machine, it is assumed that be known quantity.
(35) since control winding electric current has been forced to orient, i.e.,It measures to combine after control winding current amplitude and ask
Power winding electrical transformation is obtained to control winding current oriention coordinate system lower angle are as follows:
In above formula
(36) sine and cosine obtained by step (35) is brought into step (34) and obtains power winding electricity under control winding current oriention
Press d axis component ud p, q axis component uq pAnd power winding current d axis component id p, q axis component iq p；
The step (4), principle is as shown in Figure 6:
(41) control winding voltage vector is fixed with control winding electric current, output voltage vector after system uses orientation
Angle.To continue to use independent operating control winding current oriention advantage, entire grid-connected system still uses control winding current oriention
Control strategy, control winding voltage vector is with control winding current phasor angle after orientationOutput voltage vector and control around
Group current phasor angle is δ；
(42) brushless dual-feed motor is under steady state condition, and system overall impedance is at perception, Z in step (13)4≈X4,
Simultaneously according to its active and reactive power steady operation point of step (13) equivalent electrical diagram P*, Q* are as follows:
Wherein, P*, Q* are respectively system grid connection presteady state active power, reactive power；upFor power winding voltages vector；
u”cFor control winding voltage vector, sp、scRespectively power side, control side slip frequency；δ,With it is consistent in step (41).
(43) under control winding current oriention,Respectively grid entry point output voltage d, q amount steady operation point；Respectively control winding voltage d, q amount steady operation point, X4For brushless dual-feed motor equivalent inductive reactance, sp、scIt can be by step
Suddenly (11) obtain, then steady state power are as follows:
The step (5) includes the following steps, as shown in Figure 7:
(51) to make system realize that system power variable quantity is expressed as small signal form at the grid-connected moment by linearization process,
There are errors, and output power to be caused to there is fluctuation, expression for system output voltage and network voltage are as follows:
(52) formula in step (51) is subtracted into formula in step (43), disappear steady-state quantity, and power swing is expressed as
Output voltage and output current forms, because grid-connected rear system output voltage is clamped to network voltage, comprehensive improvement is obtained grid-connected
The fluctuation of moment system power are as follows:
(53) by installing code-disc on rotor, the mechanical angular velocity vector Ω of rotor is obtainedm；
(54) real-time sampling power winding voltages frequency obtains power winding voltages angular frequencyp；
(55) according to brushless dual-feed motor operation characteristic, power winding number of pole-pairs pp, control winding number of pole-pairs pc, power around
The electric current angular frequency of groupp, rotor machinery angular velocity vector ΩmObtain ωc；
(56) according to power winding voltages d axis component obtained by step (46)Q axis componentTwo components are calculated in real time
Between tangent value tan δ*:
(57) real-time sampling exports electric current d axis undulate quantityAnd q axis undulate quantity
(58) sagging control coefrficient G is computed to obtain according to the above sampling parameterd_q、Gq_q、Gq_d；
The step (6) includes the following steps, as shown in Figure 8:
(61) Proportional coefficient K of d axis PI controller is set according to design experiencespdWith integral coefficient KidFor smaller value, q axis
PI controller Proportional coefficient KpqWith integral coefficient KiqIt is equal to each other by formula (17) value, with d axis controller parameter:
Kpq=Kpd Kiq=Kid……(21)
(62) by control winding electric current d axis reference valueWith d componentDifferenceInput d axis PI controller, d
Axis controller output is PId；By control winding electric current q axis reference valueWith q axis componentDifferenceInput q axis PI
Controller, the output of q axis controller are PIq；
(63) inside brushless dual-feed motor mathematical model there are formula (22) mathematical relationship, wherein Rsc、LscIt is respectively brushless double
The single-phase resistance of generating aid control winding, inductance, K1、K2For and K3Respectively comprehensive parameters of the motor inductances through obtaining in series and parallel:
It can thus be appreciated that on the basis of the current inner loop PI controller control action of setting is sufficiently strong, current inner loop d axis and q
The output of axis is superimposed sagging control amount Δ u "cd、Δu”cqThe as d axis reference value of control winding voltageWith q axis reference value
(64) θ in step (4) is utilizedc, by ud c *、uq c *Through Park inverse transformation, the three-phase reference value of control winding voltage is obtained
uca *、ucb *、ucc *:
By uca *、ucb *、ucc *It is sent into Pulse width modulation module, the switching drive signal of machine-side converter is obtained, with the letter
Number driving transducer makes it export corresponding control winding three-phase phase voltage uca、ucb、ucc, realize and brushless dual-feed motor controlled
The closed-loop control of winding current.
A kind of grid-connected droop control method of brushless dual-feed motor electricity generation system proposed by the present invention, has compared with prior art
Following advantage:
(1) this method fully considers that brushless dual-feed motor operating condition carries independent startup in unloaded/band and runs to no seaming and cutting
Grid-connected operating condition is shifted to, can effectively realize under any load, any revolving speed smooth grid-connected, reduces grid-connected moment electricity generation system to electricity
The influence of net；
(2) this method independent operating, being incorporated into the power networks is all made of control winding current oriention strategy, system have unified control
Framework processed avoids independent operating and switches with the control algolithm complicated when controlling that is incorporated into the power networks, and adaptability with higher is reduced
Control complexity；
(3) the grid-connected sagging control of this method is ingenious is controlled using system parameter and systematic steady state electricity, it is only necessary to be sampled
The original electricity of system carries out control convenient for the realization of control, effectively reduces control cost.
It is existing for the power droop control method of further description brushless dual-feed motor provided in an embodiment of the present invention
It is described in detail in conjunction with specific example as follows:
Embodiment one:
Below in either a generation under a 32kW phase-wound rotor structure brushless dual-feed motor for, and in conjunction with attached drawing
1~8 pair of implementation process of the invention is further described.
Brushless dual-feed motor be one non-linear, close coupling, multivariable system usually only consider for simplifying the analysis
The effect of brushless dual-feed motor air gap fundamental wave magnetic field, and do following hypothesis: (1) disregarding stator and rotor tooth socket influences, in stator
Surface and rotor outer surface are round and smooth, and air gap is uniform；(2) disregard the influence of ferromagnetic material saturation, magnetic hysteresis, vortex, parameter linearisation；
(3) number of pole-pairs P is only considered in the magnetic field that stator winding and rotor windings generatepWith number of pole-pairs PcHarmonic wave magnetic is ignored in the effect of fundamental wave
The influence of field.
When brushless dual-feed motor uses Generator convention, according to coordinate conversion relation, double synchronous rotary dq coordinate systems can be obtained
Lower brushless dual-feed motor mathematical model.Wherein, voltage equation are as follows:
In formula: upd、upq、ucd、ucqRespectively power winding, control winding dq shaft voltage component；ipd、ipq、icd、icq、
ird、irqThe respectively dq shaft current component of power winding, control winding, rotor windings；Ψpd、Ψpq、Ψcd、Ψcq、Ψrd、
ΨrqThe respectively dq axis magnetic linkage component of power winding, control winding, rotor windings；Rsp、Rsc、RrRespectively power winding, control
The single-phase electricity resistance value of winding processed, rotor windings；ωpFor power winding electricity angular frequency；ΩmFor the mechanical angular frequency of rotor；pp、
pcThe respectively number of pole-pairs of power winding and control winding；S is Laplace operator.
Flux linkage equations are as follows:
In formula: Lsp、Lsc、LrRespectively power winding, control winding, rotor windings it is single-phase from inductance value；Mpr、McrRespectively
For the single-phase mutual inductance value of power winding and rotor windings, control winding and rotor windings.
Electromagnetic torque equation are as follows:
In the mathematical model of double synchronous coordinate systems, power winding, control winding, rotor windings dq coordinate system respectively with
ωp、(pp+pc)Ωm﹣ ωp、ωp﹣ ppΩmAngular rate in Space Rotating.
According to the mathematical model of brushless dual-feed motor, there is mathematical relationships between each electricity.Simple control around
Under group closed-loop current control, it is independent unloaded or with starting is carried after, synchronizing the grid-connected stage using sampling system electricity steady-state value, together
When instantaneous sampling motor speed, calculate to obtain its sagging coefficient, in conjunction with simple mathematical computations, realize brushless dual-feed motor only
Grid-connected moment sagging control under the operating condition that stand/is incorporated into the power networks.Its implementation process includes the following steps:
By shown in Fig. 2 principle, obtaining brushless dual-feed motor electricity generation system equivalent circuit diagram.
(1) control winding and rotor windings are converted to power winding side through winding simultaneously by control winding electricity and rotor
Winding electricity is by ωcAnd ωpGained slip frequency obtains brushless dual-feed motor equivalent mathematical mould through commutation frequency to power winding side
Type, slip frequency are；
(2) by above-mentioned equivalent circuit through impedance it is series-parallel grid-connected equivalent simplified model, it is series-parallel equivalent are as follows:
Side, rotor-side and power side equivalent impedance is controlled in above formula to be respectively as follows:
By shown in Fig. 3 principle, obtaining the unified control winding electric current dq component with reference under dq coordinate system.
(3) by installing code-disc on rotor, the mechanical angular velocity vector Ω of rotor is obtainedm；
(4) according to power winding number of pole-pairs pp, control winding number of pole-pairs pc, power winding 100 π rad/ of electric current angular frequency
S, rotor machinery angular velocity vector Ωm, calculate control winding electric current angular frequencyc:
ωc=(pp+pc)Ωm-100π……(37)
(5) ω that will be calculatedcInput integral link, obtains angle, θc, wherein s is Laplace operator:
(6) control winding three-phase phase current, such as i are detectedca、icb、icc, with θcAs coordinate transform angle, pass through Park coordinate
Control winding electric current is transformed into unification with reference to dq coordinate system from static ABC coordinate, obtains i by transformationcd、icq:
By power winding voltages, the electric current dq component for shown in Fig. 4 principle, obtaining unifying with reference under dq coordinate system.
(7) code-disc is installed on brushless double-fed machine rotor, obtains rotor position angle θr；
(8) power winding number of pole-pairs p is combinedp, control winding number of pole-pairs pc, θ in step (1)c, rotor position angle θr, calculate
Obtain angle, θp: θp=(pp+pc)θr-θc……(40)
(9) power winding three-phase line voltage, such as u are detectedpab、upbc、upca, transform it into phase voltage upa、upb、upc；With
θpAs coordinate transform angle, power winding voltages are transformed into reference to dq from static ABC coordinate by unification by Park coordinate transform
Coordinate system obtains component upd、upq:
(10) power winding three-phase phase current, such as i are detectedpa、ipb、ipc；With θpAs coordinate transform angle, sat by Park
Power winding current is transformed into unification with reference to dq coordinate system from static ABC coordinate by mark transformation, obtains component ipd、ipq:
According to shown in Fig. 5, power winding voltages, electric current d, q amount under control winding current oriention are obtained.
(11) power winding three-phase line voltage, such as u are detectedpab、upbc、upcaIt is translated into phase voltage upa、upb、upc, take
Its two-phase stationary coordinate system electricity uα p、uβ p；
(12) power winding three-phase phase current, such as i are detectedpa、ipb、ipc, take its two-phase stationary coordinate system electricity iα p、iβ p；
(13) it is obtained using motor electricity relationship under unified dq coordinate system:
Z in above formulaa、ZbThe respectively parameter of electric machine, it is assumed that be known quantity.
(14) since control winding electric current has been forced to orient, i.e. iq c=0, it measures to combine after control winding current amplitude and ask
Power winding electrical transformation is obtained to control winding current oriention coordinate system lower angle are as follows:
In above formula
(15) by sine and cosine obtained by step (14) bring into step (44), in (45) under control winding current oriention power around
Group voltage and current d, q value ud p、uq p、id p、iq p；
According to control winding current close-loop control system needed for shown in Fig. 7, building brushless dual-feed motor electricity generation system.
(16) according to design experiences, the Proportional coefficient K of d, q axis PI controller is setpd、KpqWith integral coefficient Kid、KiqRespectively
Are as follows: Kpq=Kpd=3Kiq=Kid=75 ... (48)
(17) by control winding electric current d axis component icdWith reference value icd *Comparison, obtains difference (icd *﹣ icd) and input d axis
PI controller obtains d axis PI controller output PId:
By control winding electric current q axis component icqWith reference value icq *Comparison, obtains difference (icq *﹣ icq) and input q axis PI control
Device processed obtains q axis PI controller output PIq:
(18)Gd_q、Gq_qAnd Gq_dFor sagging coefficient, revolving speed, power winding voltages d, q value and instantaneous output current are sampled to obtain
Undulate quantity Δ ipd、ΔipqIt calculates and obtains d axis feedforward amount Δ u "cdWith q axis feedforward amount Δ u "cq: Δ u "cd=Gd_qΔipq……
(51)；Δu"cq=Gq_qΔipq-Gq_dΔipd……(52)
(19) it is superimposed PI respectivelyd、PIqWith Δ u "cd、Δu”cq, d, q axis reference value of control winding voltage is calculated
ud c *、uq c *Are as follows:
(20) θ is utilizedcWith Park inverse transformation, by ud c *、uq c *Obtain the three-phase reference value u of control winding voltageca *、ucb *、
ucc *:
By uca *、ucb *、ucc *It is sent into SVPWM module, obtains the switching drive signal of machine-side converter, is driven with the signal
Converter obtains corresponding control winding three-phase phase voltage uca、ucb、ucc, by the voltage be applied to the control of brushless dual-feed motor around
The closed-loop control to control winding electric current is realized in group；
According to shown in Fig. 7, carrying out sagging control principle analysis.
(21) operation with closed ring state is worked according to above-mentioned steps system, brushless dual-feed motor is enabled to run on unloaded, revolving speed
Under 400r/min operating condition, before independent startup is grid-connected, and G is enabledd_q=Gq_q=Gq_d=0, feedforward amount Δ u " at this timecd=Δ u "cq=
0.Control winding electric current q axis component reference value i is setq c *=0 realizes control winding current oriention；Control winding electric current d axis component
Reference value id c *For the output of voltage magnitude pi regulator.By power winding voltages d, q steady-state value obtained by step (15), by formula (63)
Obtain power winding voltages d, q component tangent value under control winding current oriention:
(22) it brings coefficient obtained by step (23), (24) into formula (56) and obtains system grid connection moment sagging control parameter:
(23) it brings coefficient obtained by step (22) into formula (57) and obtains system grid connection moment droop control device:
(24) grid-connected moment sagging control process, the addition of control under brushless dual-feed motor generator operation has so far been completed
It can make system that can complete under various operating conditions smooth grid-connected.
Specific embodiment 2:
9~11 parameter of electric machine and experimental waveform figure for providing this example with reference to the accompanying drawing.This example is by a winding-type
Rotor brushless double feed motor, power grid, leans against back type converters and the controller group using the method for the present invention at load
At.
In brushless dual-feed motor generator operation at 400 revs/min, and by according to above-mentioned droop control method to grid-connected moment into
Row control.
By No Load Start via with grid-connected waveform after width locking phase, figure when Fig. 9 gives brushless dual-feed motor without sagging control
10 give brushless dual-feed motor when having feedforward control by No Load Start via with grid-connected waveform after width locking phase, it can be seen that simultaneously
Moment is netted using after sagging control, grid-connected instantaneous output current fluctuation is obviously reduced, and preferably completes independent operating to grid-connected
The seamless switching of operation significantly reduces the impact to power grid；
As shown in figure 11, the active and reactive jump waveform of power control after brushless dual-feed motor is incorporated into the power networks.The present invention is grid-connected
Moment it is sagging switch seamlessly to it is grid-connected after by program internal mute, the switching of grid-connected moment sagging control only switches sagging control
Moment regulated quantity, grid-connected power control control winding current orientation scheme when still using independent operating, have not been changed system and integrally control
Framework processed does not have an impact system active power, reactive power adjusting.
It can to sum up obtain, system grid-connected wink under arbitrary load, any revolving speed can be made using droop control method of the present invention
Between do not generate grid-connected impact, effectively raise the safety and stability of system, realization system is independent, it is seamless to be incorporated into the power networks
Switching, carries out under control winding current oriention with period control method, does not generate any influence to power control, does not change original
Control program has great flexibility and adaptability.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (7)
1. a kind of power droop control method of brushless dual-feed motor, which is characterized in that include the following steps:
(1) motor internal resistance inductance is carried out based on brushless dual-feed motor equivalent circuit to convert in series and parallel, obtain and simplify circuit etc.
Imitate resistance Z4；
(2) it detects control winding three-phase phase current and obtains control winding electric current d axis point after carrying out ABC/dq coordinate transform to it
Measure icdWith q axis component icq；
It detects power winding three-phase phase current and obtains power winding current d axis component i after carrying out ABC/dq coordinate transform to itpd
With q axis component ipq；
Detection power winding three-phase line voltage is simultaneously translated into phase voltage, obtains after carrying out ABC/dq coordinate transform to phase voltage
Power winding voltages d axis component updWith q axis component upq；
(3) by power winding current d axis component ipdWith q axis component ipqAnd power winding voltages d axis component updWith q axis component
upqControl winding current oriention i is converted into through motor internal relations formulacqPower winding voltages d axis component is obtained under=0 coordinate systemQ axis componentAnd power winding current d axis componentQ axis component
(4) based on the control winding voltage and control winding electric current coordinate inside brushless dual-feed motor after control winding current oriention
It is angleCharge value in power winding voltages and control winding electric current coordinate system angle δ and step (3) is exported
Active-power P and reactive power Q；
And stable state active-power P when according to active power of output P and reactive power Q acquisition system grid connection presteady state operating point*、
Reactive power Q*；
(5) according to the stable state active-power P*, reactive power Q*Acquisition system is inclined because of grid-connected front and back output voltage and network voltage
Grid-connected moment steady state power fluctuation Δ P caused by difference, Δ Q, grid-connected rear output voltage is by network voltage clamper, and fluctuation is by output electricity
Conductance causes, and further derives itself and control winding voltage fluctuationRelationship, and obtain sagging control coefrficient Gd_q、
Gq_q、Gq_dAnd the output Δ u " of sagging controlling unitcd、Δu″cq；
(6) according to sagging control coefrficient Gd_q、Gq_q、Gq_dAnd the output Δ u " of sagging controlling unitcd、Δu″cqObtain control around
The three-phase reference value of group voltageAnd according toRealize control winding electric current dq componentTo closed loop reference valueClosed loop track.
2. power droop control method as described in claim 1, which is characterized in that step (2) includes the following steps,
(21) by installing code-disc on rotor, the mechanical angular velocity vector Ω of rotor is obtainedm；
(22) according to power winding number of pole-pairs pp, control winding number of pole-pairs pc, power winding 100 π rad/s of electric current angular frequency and
Rotor machinery angular velocity vector ΩmObtain control winding electric current angular frequencyc:
(23) by control winding electric current angular frequencycInput integral link obtains control winding current angle, and is transformed to system
One angle, θ with reference to needed for dq coordinate systemc；
(24) control winding three-phase phase current i is detectedca、icb、iccAnd with θcIt, will by Park coordinate transform as coordinate transform angle
Control winding electric current is transformed into after unification refers to dq coordinate system from static ABC coordinate and obtains control winding electric current d axis component icdAnd q
Axis component icq:
(25) according to control winding coordinate transform angle θ in step (23)c, rotor position angle θrIt obtains power winding current from quiet
Only ABC coordinate is transformed into the unified angle of transformation θ with reference to used in dq coordinate systemp；
(26) power winding three-phase phase current i is detectedpa、ipb、ipcAnd with θpIt, will by Park coordinate transform as coordinate transform angle
Power winding current is transformed into after unification refers to dq coordinate system from static ABC coordinate and obtains power winding current d axis component ipdAnd q
Axis component ipq:
(27) the power winding three-phase line voltage u that will testpab、upbc、upcaIt is converted into phase voltage upa、upb、upc, and with θpAs
Power winding current is transformed into unification with reference to dq coordinate system from static ABC coordinate by Park coordinate transform by coordinate transform angle
Power winding voltages d axis component u is obtained afterwardspdWith q axis component upq。
3. power droop control method as claimed in claim 1 or 2, which is characterized in that stable state active-power P * and stable state without
Function power Q* is respectively as follows:
Wherein, P*, Q* are respectively system grid connection presteady state active power, stable state reactive power；upFor power winding voltages vector；
u″cFor control winding voltage vector, sp、scRespectively power side, control side slip frequency；δ,Respectively control winding voltage
With control winding electric current coordinate system angle, power winding voltages and control winding electric current coordinate system angle.
4. power droop control method as described in any one of claims 1-3, which is characterized in that the step (5) specifically:
It (51) is that system is made to realize that system power variable quantity is expressed as small signal form, system at the grid-connected moment by linearization process
There are errors, and output power to be caused to there is fluctuation, expression for output voltage and network voltage are as follows:
(52) formula in step (51) is subtracted into formula in step (3), disappear steady-state quantity, and by power swing be expressed as control around
Group voltage and output current forms, because grid-connected rear system output voltage is clamped to network voltage, comprehensive improvement is obtained when grid-connected
Etching system current fluctuation are as follows:
(53) the mechanical angular velocity vector Ω for obtaining rotor by installing code-disc on rotorm；
(54) real-time sampling power winding voltages frequency, and obtain power winding voltages angular frequencyp；
(55) according to power winding number of pole-pairs pp, control winding number of pole-pairs pc, power winding electric current angular velocity omegapWith rotor machine
Tool angular velocity vector ΩmObtain control winding angular velocity omegac；
(56) by power winding current i in step (26), (27)pd、ipq, voltage upd、upqExtremely through motor internal model relation transformation
Component is respectively under control winding current oriention coordinate system
(57) according to the power winding voltages d axis componentQ axis componentThe tangent value between two components is calculated in real time
(58) real-time sample control winding coordinate system exports electric current d axis undulate quantityAnd q axis undulate quantity
(59) sagging control coefrficient G is obtained according to above-mentioned sampling parameterd_q、Gq_q、Gq_d。
5. power droop control method as claimed in claim 6, which is characterized in that sagging control coefrficient described in step (58)
Gd_q、Gq_q、Gq_dIt is respectively as follows:
Wherein, ppFor power winding number of pole-pairs, pcFor control winding number of pole-pairs, ωpFor the electric current angular speed of power winding, ωrFor
The angular speed of rotor windings, tan δ are power winding voltages d axis component and q axis component tangent value, X under control winding coordinate system4
For brushless dual-feed motor equivalent inductive reactance.
6. power droop control method as described in any one in claim 1-5, which is characterized in that the step (6) specifically:
(61) q axis PI controller Proportional coefficient K is setpqWith integral coefficient KiqValue Kpq=Kpd Kiq=Kid, wherein d axis PI is controlled
The Proportional coefficient K of device processedpdWith integral coefficient KidRule of thumb obtain；
(62) by control winding electric current d axis reference valueWith d componentDifferenceIt inputs d axis PI controller and obtains d axis
The output PI of controllerd；By control winding electric current q axis reference valueWith q axis componentDifferenceInput q axis PI control
Device processed obtains the output PI of q axis controllerq；
(63) system power inner ring expression is obtained according to dq mathematical model inside brushless dual-feed motor:
Wherein, Rsc、LscThe respectively single-phase resistance of brushless dual-feed motor control winding, inductance, K1、K2And K3Respectively motor electricity
The equivalent parameters of acquisition after sense is concatenated, is in parallel,
(64) control winding electric current angular velocity omega in step (5) is utilizedcIntegrate the angle, θ obtainedcBy ud c *、uq c *Through Park contravariant
The three-phase reference value u of control winding voltage is obtained after changingca *、ucb *、ucc *, and it is sent to Pulse width modulation module, obtain machine
The switching drive signal of side converter makes it export corresponding control winding three-phase phase voltage u with the signal driving transducerca、
ucb、ucc, realize the closed-loop control to brushless dual-feed motor control winding electric current.
7. power droop control method as claimed in claim 6, which is characterized in that control winding voltage three-phase reference value uca *、
ucb *、ucc *Are as follows:
Wherein, ud c *、uq c *Respectively through control winding voltage d axis component obtained by step (6) and q axis component, θcFor in step (6)
Gained control winding angle.
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| CN112217238A (en) * | 2020-10-15 | 2021-01-12 | 华中科技大学 | Brushless doubly-fed generator system and control method thereof |
| CN114172196A (en) * | 2021-11-24 | 2022-03-11 | 上海空间电源研究所 | Brushless doubly-fed motor grid-connected instant impact current analysis method |
| CN114172213A (en) * | 2021-11-24 | 2022-03-11 | 上海空间电源研究所 | Power control method of brushless double-fed motor |
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