CN113765456B - Voltage stabilizing control method for double three-phase permanent magnet synchronous generator - Google Patents
Voltage stabilizing control method for double three-phase permanent magnet synchronous generator Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/28—Stator flux based control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/14—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field
- H02P9/26—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field using discharge tubes or semiconductor devices
- H02P9/30—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field using discharge tubes or semiconductor devices using semiconductor devices
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Abstract
The invention discloses a novel voltage stabilizing control method of a double three-phase permanent magnet synchronous generator, wherein a novel voltage stabilizing control strategy consists of quadrature current calculation and a capacitor energy storage proportional integral controller, and a reference value of a quadrature current inner ring is generated; obtaining a quadrature axis current calculation formula by using a direct current bus energy and power exchange mathematical model, wherein the quadrature axis current calculation formula consists of charging power and load power of a direct current bus capacitor; considering that the actual system has loss, a certain error exists in the simplified formula calculation, and the capacitor energy storage proportional integral controller is utilized for compensation, so that the bus voltage control precision is improved; the current inner loop in four-dimensional space adopts proportional integral controller, the output of the current inner loop is decoupled through AC-DC axis and transformed, and the maximum four-vector space voltage vector modulation is adopted to control the switch of the bridge arm of the rectifier. The invention can effectively accelerate the recovery speed of the bus voltage, reduce the fluctuation amplitude of the bus voltage and realize the high-performance control of the DC bus voltage of the double three-phase permanent magnet synchronous generator system.
Description
Technical Field
The invention relates to the field of double three-phase permanent magnet synchronous generators, in particular to the field of voltage stabilizing control of a direct-current bus voltage outer ring, and specifically relates to a voltage stabilizing control strategy of a double three-phase permanent magnet synchronous generator, which is beneficial to accelerating bus voltage recovery speed, reducing bus voltage fluctuation amplitude and realizing high-performance control of bus voltage.
Background
With the full electrochemical development of high-end equipment such as special vehicles, warships, aircrafts and the like, a direct current electric energy system taking a generator as a core is attracting attention. Because the working condition of the power load is complex and changeable, higher requirements are put forward on the direct current electric energy system. Under the technical background, the double three-phase permanent magnet synchronous generator is widely considered to have wide application prospect in special equipment rectification systems due to the characteristics of low voltage and high power and the characteristic of being capable of adapting to equipment space and output voltage constraint.
The load form in the direct current electric energy system is various, and the operating mode is complicated. At present, the traditional generator rectification control, a proportional integral controller is adopted for a voltage outer ring, so that the rapid change of a load cannot be responded in time, the defects of long voltage recovery time, large voltage fluctuation and the like exist, and the reliable operation of electric equipment is not facilitated. Therefore, from the perspective of PWM rectification and voltage regulation control of the permanent magnet synchronous generator, a control strategy suitable for load power mutation needs to be invented. According to the invention, the method for directly calculating the quadrature current is obtained according to the mathematical model of bus capacitance energy and power exchange, so that the fluctuation amplitude of the bus voltage at the direct current side can be effectively reduced, the recovery speed of the bus voltage is accelerated, stable and reliable direct current electric energy is provided for loads, and the safe operation of the system is ensured.
On the other hand, because the loss exists in the system and the estimation is difficult, the quadrature current calculation has errors, and the errors are compensated by using a capacitive energy storage feedback proportional integral control mode, so that the physical meaning is more clear, and the bus voltage control precision is improved. The vector control can have better inhibiting effect on stator current harmonic waves, has the advantages of small current waveform distortion, low torque pulsation and the like, and is widely used in the field of motor control. The rectification system of the double three-phase permanent magnet synchronous generator adopts vector control, so that the loss caused by harmonic waves can be reduced, the calculation accuracy of the quadrature axis current can be improved, and the calculation error caused by the system loss can be reduced.
Disclosure of Invention
The invention aims at the problems of long voltage recovery time, large voltage fluctuation and the like in the traditional busbar voltage outer loop proportional integral control. And a calculation formula of the quadrature axis current is obtained by deduction by using a bus capacitance energy and power exchange mathematical model and is directly used as a given of a quadrature axis current inner ring, so that the response speed of bus voltage is improved. Because the rectifying system has loss and the quadrature axis current calculation formula has errors, the capacitor energy storage feedback proportional integral controller is utilized to compensate the errors, and the control precision of the bus voltage is improved. In order to further reduce the influence of system loss on a quadrature current calculation formula, proportional integral control is performed on a four-dimensional current inner loop, the maximum four-vector space voltage vector is adopted, the distortion of phase current is reduced, the harmonic loss of a generator is reduced, and the calculation accuracy of the quadrature current is improved.
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
a voltage stabilizing control method of a double three-phase permanent magnet synchronous generator comprises the following steps:
step 1: according to the mathematical model of energy and power exchange stored in the bus capacitor, directly calculating the given value of the inner ring of the quadrature current;
step 2: considering that the actual rectifying system has loss, the calculation of the quadrature axis current has errors, and the capacitor energy storage feedback proportional integral controller is utilized to compensate the errors;
step 3: the calculation of the quadrature axis current and the capacitor energy storage feedback are matched together to generate a reference value of a quadrature axis current inner loop;
step 4: the four-dimensional current inner loops all use proportional integral controllers, and the maximum four-vector space voltage vector is adopted, so that the distortion of phase current is reduced, the harmonic loss of a generator is reduced, and the calculation accuracy of the quadrature axis current is improved.
Further, in the step 1:
the energy stored by the dc side bus capacitor can be expressed as:
wherein E is C Representing the energy stored by the bus capacitor; c is the capacitance value of the bus capacitor; u (U) dc Representing the bus capacitance voltage;
the energy stored by the capacitor and its charging power form a differential relationship, so the charging power of the capacitor can be expressed as:
wherein P is C Representing the capacitor charging power;
taking the direct-current side capacitor as a node, and writing an instantaneous power balance equation at two ends of the capacitor by the column without considering rectifier loss:
wherein P is S Active power output by the permanent magnet synchronous generator; i.e dc Load current for a direct current bus;
an alternating-direct axis stator voltage equation of the motor:
wherein L is d 、L q Respectively d-q axis inductances, i d 、i q Respectively d-q axis currents, rs is stator resistance, ψ f Is the amplitude, omega of permanent magnetic flux linkage e Is the electrical angular velocity;
substituting the above into the instantaneous power balance equation at the two ends of the capacitor to obtain a specific instantaneous power balance relation as follows:
in the above formula, the left is the charging power of the bus capacitor, the first term on the right is the electromagnetic power output by the generator, the second term is the power consumption of the load, the rest is the losses on the stator resistor and the inductor, and if the losses are ignored, the mathematical model of bus capacitor energy and power exchange can be simplified and obtained as follows:
further finishing, an ideal quadrature current calculation formula can be obtained:
the actual system is realized by adopting digital control, and the above steps are further arranged, so that the given value of the direct calculation quadrature current inner loop is obtained as follows:
in the method, in the process of the invention,the given value is the internal ring given value of the quadrature axis current obtained by direct calculation; />Is given by bus voltage; t (T) t Storing energy for the capacitor for a given expected time;
computation of quadrature currentThe method comprises two parts, namely load power calculation and capacitor charging power calculation; set value of bus voltage->Sampling value i of actual bus current dc Multiplying to obtain load power, and capacitor charging under no-load condition by T t As the capacitor energy storage adjusting time, the average power of capacitor charging in the period of time is obtained as follows:
in the method, in the process of the invention,at T t Average power of capacitor charging in time;
at time k, the capacitance has not reached the target stored energy, assuming T is passed t After time, it can be charged to the target state. And calculating the required magnitude of the quadrature current according to the required charging power at the moment, calculating the magnitude of the quadrature current according to the new charging power until the moment k+1, and so on, gradually reducing the charging power, and finally achieving the target energy storage.
Further, in the step 2:
the actual system has losses, such as motor stator resistance loss, motor inductance loss, rectifier switching loss, bus capacitor parasitic parameter loss and the like, and the losses lead to errors in the calculation of the quadrature axis current, and the errors are compensated by adopting a capacitor energy storage feedback proportional integral controller, and the quadrature axis current of the compensation part is given by the following formula:
in the method, in the process of the invention,the quadrature current compensated for the capacitive energy storage feedback controller; ΔE C The difference value between the stored energy of the given bus capacitor and the actual stored energy is calculated; />The scaling factor of the capacitor energy storage feedback controller is calculated; />Integrating coefficients for the capacitive energy storage feedback controller; s is the complex variable of the laplace transform.
Further, in the step 3:
the reference value of the inner loop of the quadrature current is composed of two parts, wherein the first part is the principal component given by the quadrature current obtained by direct calculation of the formulaThe capacitor charging power and load power form the capacitor charging power and the load power, the main output electromagnetic power of the generator is provided, the given value is quickly adjusted in the process of dynamic change of the load, and the response of the voltage outer ring is quickened;
the second part is the output of the capacitor energy storage feedback proportional integral controller as the compensation component given by the quadrature axis currentThe actual system loss exists and is not easy to estimate, an accurate motor and rectifier model is needed, and in order to compensate the quadrature axis current calculation error caused by the loss, capacitor energy storage feedback is introduced, so that the control accuracy of the bus voltage is achieved;
the reference value of the inner loop of the quadrature current can be expressed as:
further, in the step 4:
the method of vector space decoupling of the multiphase motor is adopted, and under a natural coordinate system, the physical quantity of the double three-phase motor is decomposed into 3 orthogonal decoupled static coordinate systems, and the method sequentially comprises the following steps: an alpha-beta subspace containing the fundamental and 12k + -1 (k=1, 2, ··) subharmonics; z comprising 6k + -1 (k=1, 3,5, ··) subharmonic 1 -z 2 A subspace; o comprising 6k + -3 (k=1, 3,5, ··) subharmonic 1 -o 2 The zero sequence subspace adopts two sets of windings N 1 、N 2 When neutral points are isolated, the space variables are zero, the alpha-beta subspace is transformed into a rotating coordinate system, and according to motor convention, a voltage equation under a four-dimensional space is finally obtained:
wherein u is d 、u q Respectively d-q axis voltages, u z1 、u z2 Z respectively 1 -z 2 Shaft voltage, L z1 、L z2 Z respectively 1 -z 2 Shaft inductance; i.e z1 、i z2 Z respectively 1 -z 2 Shaft current;
z 1 -z 2 the subspace mainly considers fifth and seventh harmonics, and the corresponding harmonic torque can be expressed as:
wherein T is e5 、T e7 5 times and 7 times harmonic torque; p is the pole pair number of the motor; i.e q5 、i q7 5 times and 7 times harmonic current; θ is the electrical angle;
the harmonic current is controlled to be zero, so that the loss of the harmonic wave of the generator on the motor winding can be reduced, and the calculation of the quadrature axis current is related to the electromagnetic power output by the generator, so that the harmonic torque is restrained, the loss of the electromagnetic power of the generator on the winding is further reduced, and the calculation accuracy of the quadrature axis current is improved; the double three-phase rectifier obtains 64 space voltage vectors according to different combinations of switching states of each phase, the space voltage vectors are divided into 12 sectors, four large vectors closest to a target vector are usually selected as reference voltage vectors for controlling harmonic plane currents, and z is considered in vector selection 1 -z 2 The voltage synthesis effect under the subspace is zero, and the harmonic plane current can be effectively reduced.
The beneficial effects of the invention are as follows:
1. the invention derives the calculation formula of the quadrature axis current by utilizing the bus capacitance energy and power exchange mathematical model, and replaces the traditional method which only depends on the voltage outer ring regulated by the proportional-integral controller. The fluctuation amplitude of the bus voltage is effectively reduced, the response speed of the bus voltage is increased, and the operation reliability of the bus voltage is improved;
2. the capacitor energy storage feedback proportional integral controller is adopted to compensate the quadrature current calculation error caused by the loss of a motor, a rectifier and the like in the system, so that the bus voltage control precision is improved;
3. the control method provided by the invention can meet the requirements of high-performance operation of bus voltage in the high-tech fields of special vehicles, warships, aircrafts and the like, has better load disturbance resistance, and improves the position of the rectification system of the double three-phase permanent magnet synchronous generator in the fields.
Drawings
FIG. 1 is a control block diagram of a dual three-phase permanent magnet synchronous generator based on a voltage regulation control strategy;
FIG. 2 is a voltage outer loop control block diagram of a double three-phase permanent magnet synchronous generator based on a voltage stabilizing control strategy;
FIG. 3 is a schematic diagram of bus capacitor charging;
FIG. 4 is a graph of a bus voltage response waveform of a conventional method when a generator rectifying system is loaded;
FIG. 5 is a waveform diagram of the bus voltage response of the present invention when the generator rectification system is loaded;
fig. 6 is a graph of the quadrature current components of the present invention when the generator rectifying system is loaded.
Detailed description of the preferred embodiments
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
As shown in the structural block diagram of FIG. 1, the invention is a voltage stabilizing control strategy of a double three-phase permanent magnet synchronous generator, which mainly comprises a method for calculating the quadrature axis current and feeding back the capacitive energy storage, and the specific measures are as follows:
1. constructing a controlled system: the controlled system consists of a double three-phase permanent magnet synchronous generator and a six-phase PWM rectifier.
The invention discloses a double three-phase surface-mounted permanent magnet synchronous generator with a neutral point isolation control object, namely, two sets of windings of the generator are isolated, each phase of winding is respectively connected to a six-phase rectifier, and the double three-phase generator is driven to rotate by using a three-phase permanent magnet synchronous motor to generate electricity.
2. Acquiring information of a photoelectric coding sensor to obtain the speed and the position of a generator; and acquiring phase current sensor information, obtaining the current of each phase of the motor, and performing coordinate transformation for current inner loop control in four-dimensional space.
Under the natural coordinate system, six-phase current i of a double three-phase motor is obtained by adopting a vector space decoupling method of a multiphase motor a ,i b ,i c ,i d ,i e ,i f Decomposing into 3 orthogonal decoupled stationary coordinate systems, wherein the three coordinate systems are as follows: an alpha-beta subspace containing the fundamental and 12k + -1 (k=1, 2, ··) subharmonics; comprising 6k±1 (k=1, 3,5, z1-z2 subspace of subharmonics; the o1-o2 zero sequence subspace containing 6k + -3 (k=1, 3,5, ··) subharmonics, and the variables of the space are zero when the neutral point isolation mode of the two sets of windings N1 and N2 is adopted. Re-transforming the alpha-beta subspace into a rotating coordinate system to obtain a series of transformed lower motor currents i d ,i q ,i z1 ,i z2 ,i o1 ,i o2 . The specific coordinate transformation matrix is as follows:
according to the coordinate transformation matrix, the voltage equation of the generator in four-dimensional space can be obtained:
wherein L is d 、L q 、i d And i q D-q axis inductance and current, L z1 、L z2 、i z1 And i z2 Z respectively 1 -z 2 Shaft inductance and current, rs is stator resistance, ψ f Is the amplitude, omega of permanent magnetic flux linkage e Is the electrical angular velocity.
Under a rotating coordinate system, the active power output by the permanent magnet synchronous generator is as follows:
P s ＝-3(u d i d +u q i q )
wherein P is S Active power output by the permanent magnet synchronous generator; u (u) d 、u q Respectively d-q axis voltages.
The electromagnetic torque equation of the double three-phase permanent magnet synchronous generator is as follows:
T e ＝-3p[ψ f i q +(L d -L q )i d i q ]
wherein p is the pole pair number of the motor.
Surface-mounted permanent magnet synchronous motor L d ＝L q The electromagnetic power output by the generator is as follows:
P e ＝T e Ω＝-3ψ f ω e i q
where Ω is the motor mechanical speed.
When the generator is at i d In the control mode of=0, it can be seen from the above equation that by adjusting i q The output electromagnetic power of the generator can be controlled.
3. According to the definition of a capacitor in physics, the energy stored by the direct-current bus capacitor is as follows:
wherein E is C Representing the energy stored by the bus capacitor; c is the capacitance value of the bus capacitor; u (U) dc Representing the bus capacitance voltage.
The energy stored by the capacitor and its charging power form a differential relationship, so the charging power of the capacitor can be expressed as:
wherein P is C Indicating capacitor chargingPower.
Taking the direct-current side capacitor as a node, and writing an instantaneous power balance equation at two ends of the capacitor by the column without considering rectifier loss:
wherein P is S Active power output by the permanent magnet synchronous generator; i.e dc Is the direct current bus load current.
An alternating-direct axis stator voltage equation of the motor:
substituting the above into the instantaneous power balance equation at the two ends of the capacitor to obtain a specific instantaneous power balance relation as follows:
the left side is the charging power of the bus capacitor, the first item on the right side is the electromagnetic power output by the generator, the second item is the power consumption of the load, and the rest items are losses on the stator resistor and the inductor. If these losses are ignored, the mathematical model of bus capacitance energy and power exchange can be simplified to be:
further finishing, an ideal quadrature current calculation formula can be obtained:
the actual system is realized by adopting digital control, and the above steps are further arranged, so that the given value of the direct calculation quadrature current inner loop is obtained as follows:
in the method, in the process of the invention,the given value is the internal ring given value of the quadrature axis current obtained by direct calculation; />Is given by bus voltage; t (T) t For a given estimated time for capacitive storage.
Computation of quadrature currentThe method comprises two parts, namely load power calculation and capacitor charging power calculation. And collecting bus current for calculating the quadrature axis current. Set value of bus voltage->Sampling value i of actual bus current dc And multiplying to obtain the load power.
The capacitor charging process under no-load condition is shown in FIG. 2, T t As the capacitor energy storage adjusting time, the average power of capacitor charging in the period of time is obtained as follows:
in the method, in the process of the invention,at T t Average power of capacitive charge over time.
At time k, the capacitance has not reached the target stored energy, assuming T is passed t After time, it can be charged to the target state. And calculating the required magnitude of the quadrature axis current according to the required charging power. According to the new charge power meter at time k+1Calculating the magnitude of the quadrature axis current, and so on, gradually reducing the charging power, and finally achieving the target energy storage.
4. The actual system has losses, such as motor stator resistance losses, motor inductance losses, rectifier switching losses, bus capacitance parasitic parameter losses, and the like. These losses lead to errors in the computation of the quadrature currents, which are compensated by a capacitive energy-storage feedback proportional-integral controller, the quadrature currents of the compensation part being given by:
in the method, in the process of the invention,the quadrature current compensated for the capacitive energy storage feedback controller; ΔE C The difference value between the stored energy of the given bus capacitor and the actual stored energy is calculated; />The scaling factor of the capacitor energy storage feedback controller is calculated; />Integrating coefficients for the capacitive energy storage feedback controller; s is the complex variable of the laplace transform.
5. And collecting voltages at two ends of the capacitor, calculating the energy storage capacity of the capacitor, and comparing the energy storage capacity with the given value of the energy storage capacity of the capacitor. The voltage stabilizing control strategy of the invention is shown in figure 3, and the capacitance energy storage difference value is sent to the quadrature axis current calculation and capacitance energy storage feedback PI controller to obtain the given value of the quadrature axis current inner loop control.
The reference value of the inner loop of the quadrature current is composed of two parts, wherein the first part is the principal component given by the quadrature current obtained by direct calculation of the formulaThe capacitor is composed of capacitor charging power and load power, and can provide main output electromagnetic power of the generator. Dynamically changing in loadIn the process, a given value is quickly adjusted, and the response of the voltage outer ring is quickened.
The second part is the output of the capacitor energy storage feedback proportional integral controller as the compensation component given by the quadrature axis currentThe actual system losses exist and are not easily estimated, requiring accurate motor and rectifier models. In order to compensate the quadrature current calculation error caused by the loss, capacitive energy storage feedback is introduced, so that the control accuracy of the bus voltage is achieved.
The reference value of the inner loop of the quadrature current can be expressed as:
6. four-dimensional current inner loop control, quadrature axis current i q The control of (1) takes the output of the voltage outer ring as a given value to control the direct-axis current i d Zero, z 1 -z 2 The current under the subspace is also zero. And the output of the current loop is subjected to alternating-direct axis decoupling and Park inverse transformation, and then is modulated by adopting the maximum four-vector space voltage. According to different combinations of the switching states of each phase, the double three-phase rectifier can obtain 64 space voltage vectors, and the space voltage vectors are divided into 12 sectors. Typically, the four large vectors closest to the target vector are selected as reference voltage vectors, the selection of the vectors taking z into account 1 -z 2 The voltage synthesis effect under the subspace is zero, the harmonic plane current can be effectively reduced, the bridge arm switch of the rectifier is controlled, and the control of the bus voltage is realized.
Fig. 4 shows response waveforms of the generator rectifying system using the conventional method, and fig. 5 shows response waveforms of the present invention. From the graph, the fluctuation amplitude of the bus voltage is reduced to 7.0V from the traditional 12.5V, the recovery time is shortened to 16.0ms from the original 39.4ms, the fluctuation amplitude of the bus voltage is effectively reduced, the response speed of the bus voltage is accelerated, the load disturbance resistance is better, and the operation reliability of the bus voltage is improved.
FIG. 6 illustrates the present invention when the generator rectification system is loadedThe clear quadrature current component, as can be seen from the graph, is calculatedThe system can respond rapidly according to the load switching state, and the bus voltage is prevented from dropping or pumping up greatly. The diagram shows the capacitance energy storage feedback compensation quantity +.>The compensation amount is equivalent to about 0.2A quadrature current in light load, and about 0.7A compensation is needed after loading. Capacitive energy storage feedback component->In the loading and unloading processes, errors caused by system loss can be compensated for a certain time, the compensation quantity is small in light load, the compensation quantity is increased after loading, and the bus voltage control precision is achieved.
In summary, the voltage stabilizing control method of the double three-phase permanent magnet synchronous generator comprises the following steps: the voltage stabilizing control strategy consists of quadrature current calculation and a capacitor energy storage proportional integral controller, and generates a reference value of a quadrature current inner loop; obtaining a quadrature axis current calculation formula by using a direct current bus energy and power exchange mathematical model, wherein the quadrature axis current calculation formula consists of charging power and load power of a direct current bus capacitor; considering that the actual system has loss, a certain error exists in the simplified formula calculation, and the capacitor energy storage proportional integral controller is utilized for compensation, so that the bus voltage control precision is improved; the current inner loop in four-dimensional space adopts proportional integral controller, the output of the current inner loop is decoupled through AC-DC axis and transformed, and the maximum four-vector space voltage vector modulation is adopted to control the switch of the bridge arm of the rectifier. The invention can directly calculate the current required by the quadrature axis, effectively accelerate the recovery speed of the bus voltage, reduce the fluctuation amplitude of the bus voltage and realize the high-performance control of the DC bus voltage of the double three-phase permanent magnet synchronous generator system.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (5)
1. The voltage stabilizing control method for the double three-phase permanent magnet synchronous generator is characterized by comprising the following steps of:
step 1: according to the mathematical model of energy and power exchange stored in the bus capacitor, directly calculating the given value of the inner ring of the quadrature current;
step 2: considering that the actual rectifying system has loss, the calculation of the quadrature axis current has errors, and the capacitor energy storage feedback proportional integral controller is utilized to compensate the errors;
step 3: the calculation of the quadrature axis current and the capacitor energy storage feedback are matched together to generate a reference value of a quadrature axis current inner loop;
step 4: the four-dimensional current inner loops all use proportional integral controllers, and the maximum four-vector space voltage vector is adopted, so that the distortion of phase currents is reduced, the harmonic loss of a generator is reduced, and the calculation accuracy of the quadrature axis currents is improved;
in the step 1:
the energy stored by the dc side bus capacitor can be expressed as:
wherein E is C Representing the energy stored by the bus capacitor; c is the capacitance value of the bus capacitor; u (U) dc Representing the bus capacitance voltage;
the energy stored by the capacitor and its charging power form a differential relationship, so the charging power of the capacitor can be expressed as:
wherein P is C Representing the capacitor charging power;
taking the direct-current side capacitor as a node, and writing an instantaneous power balance equation at two ends of the capacitor by the column without considering rectifier loss:
wherein P is S Active power output by the permanent magnet synchronous generator; i.e dc Load current for a direct current bus;
an alternating-direct axis stator voltage equation of the motor:
wherein L is d 、L q Respectively d-q axis inductances, i d 、i q Respectively d-q axis currents, rs is stator resistance, ψ f Is the amplitude, omega of permanent magnetic flux linkage e Is the electrical angular velocity;
substituting the above into the instantaneous power balance equation at the two ends of the capacitor to obtain a specific instantaneous power balance relation as follows:
in the above formula, the left is the charging power of the bus capacitor, the first term on the right is the electromagnetic power output by the generator, the second term is the power consumption of the load, the rest is the losses on the stator resistor and the inductor, and if the losses are ignored, the mathematical model of bus capacitor energy and power exchange can be simplified and obtained as follows:
further finishing, an ideal quadrature current calculation formula can be obtained:
the actual system is realized by adopting digital control, and the above steps are further arranged, so that the given value of the direct calculation quadrature current inner loop is obtained as follows:
in the method, in the process of the invention,the given value is the internal ring given value of the quadrature axis current obtained by direct calculation; />Is given by bus voltage; t (T) t Storing energy for the capacitor for a given expected time;
computation of quadrature currentThe method comprises two parts, namely load power calculation and capacitor charging power calculation; set value of bus voltage->Sampling value i of actual bus current dc Multiplying to obtain the loadPower, capacitive charging process under no-load condition, T t As the capacitor energy storage adjusting time, the average power of capacitor charging in the period of time is obtained as follows:
in the method, in the process of the invention,at T t Average power of capacitive charge over time.
2. The method of claim 1, further comprising, at time k, the capacitor not reaching the target energy storage, assuming T passes t After the time, the charging can be carried out to a target state, the required value of the quadrature axis current is calculated according to the charging power required at the moment, the value of the quadrature axis current is calculated at the moment k+1 according to the new charging power, and the charging power is gradually reduced, so that the target energy storage capacity is finally achieved.
3. The voltage stabilizing control method of the double three-phase permanent magnet synchronous generator according to claim 1, wherein in the step 2:
the actual system has loss, the capacitance energy storage feedback proportional integral controller is adopted to compensate errors, and the quadrature current of the compensation part is given by the following formula:
in the method, in the process of the invention,the quadrature current compensated for the capacitive energy storage feedback controller; ΔE C The difference value between the stored energy of the given bus capacitor and the actual stored energy is calculated; k (K) p_EC Is electric powerA proportional coefficient of the capacitive energy storage feedback controller; k (K) I_EC Integrating coefficients for the capacitive energy storage feedback controller; s is the complex variable of the laplace transform.
4. The voltage stabilizing control method of the double three-phase permanent magnet synchronous generator according to claim 1, wherein in the step 3:
the reference value of the inner loop of the quadrature current is composed of two parts, wherein the first part is the principal component given by the quadrature current obtained by direct calculation of the formulaThe capacitor charging power and load power form the capacitor charging power and the load power, the main output electromagnetic power of the generator is provided, the given value is quickly adjusted in the process of dynamic change of the load, and the response of the voltage outer ring is quickened;
the second part is the output of the capacitor energy storage feedback proportional integral controller as the compensation component given by the quadrature axis currentIntroducing capacitor energy storage feedback to achieve control accuracy of bus voltage;
the reference value of the inner loop of the quadrature current can be expressed as:
5. the voltage stabilizing control method of the double three-phase permanent magnet synchronous generator according to claim 1, wherein in the step 4:
the method of vector space decoupling of the multiphase motor is adopted, and under a natural coordinate system, the physical quantity of the double three-phase motor is decomposed into 3 orthogonal decoupled static coordinate systems, and the method sequentially comprises the following steps: an alpha-beta subspace containing the fundamental and 12k + -1 (k=1, 2, ··) subharmonics; z comprising 6k + -1 (k=1, 3,5, ··) subharmonic 1 -z 2 A subspace; comprises 6k+ -3 (k=1, 3,5, ··) O of subharmonic wave 1 -o 2 The zero sequence subspace adopts two sets of windings N 1 、N 2 When the neutral point is isolated, the space variables are zero, the alpha-beta subspace is transformed into a rotation coordinate system, and finally, the voltage equation under the four-dimensional space is obtained:
wherein u is d 、u q Respectively d-q axis voltages, u z1 、u z2 Z respectively 1 -z 2 Shaft voltage, L z1 、L z2 Z respectively 1 -z 2 Shaft inductance; i.e z1 、i z2 Z respectively 1 -z 2 Shaft current;
z 1 -z 2 the subspace mainly considers fifth and seventh harmonics, and the corresponding harmonic torque can be expressed as:
wherein T is e5 、T e7 5 times and 7 times harmonic torque; p is the pole pair number of the motor; i.e q5 、i q7 5 times and 7 times harmonic current; θ is the electrical angle.
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