双馈感应风力发电机控制系统关键技术研究
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摘要
随着常规能源短缺和环境污染问题加剧,使得可再生能源特别是风能的开发利用得到世界各国的高度重视。加之电力电子器件制造和技术的飞速发展,大型兆瓦级变速恒频风力发电机组成为了风电机组的技术发展方向。双馈感应发电机(Doubly-Fed Induction Generator, DFIG)具有转子励磁变频器容量小、成本低,机电系统柔性连接,风能捕获能力强等特点,成为目前世界风电制造商开发的主流机型,其交流励磁控制技术也成为重要的研究方向。
本文对风力发电用双馈感应发电机控制系统的各项关键技术进行了详细说明,建立了基于定子磁链定向的双馈感应发电机矢量控制模型,实现了电机变速驱动和有功／无功功率解耦控制。然后采用模型参考自适应(Model Reference Adaptive System, MRAS)速度辨识技术,实现了双馈感应发电机无速度传感器控制。
为验证理论分析的正确性,以50kW的双馈感应发电机为例设计一套控制系统。通过在电动机运行工况下的转速控制实验和在发电机运行工况下的功率控制实验,验证了估测的转子位置和转速在不同转速和功率工况下的稳定性和准确度。仿真和实验结果可以看出,将基于MRAS的转速辨识模型应用到双馈感应发电机的矢量控制系统是可行的,系统具有良好的稳态精度和动态性能,对实现双馈感应发电机无速度传感器控制有参考意义。本文主要研究内容和创新性的成果如下：
1)双馈感应发电机的矢量控制策略是整个控制系统的核心。基于双馈感应发电机的数学模型,推导出在电动机运行工况下的转矩／转速控制,以及在发电机运行工况下的有功／无功解耦控制。并且,得出了双馈感应发电机的T型等效电路,并且分析了在各种工况下的双馈感应电机的12种运行模式。
2)对于电网友好型无冲击并网控制技术进行了研究。建立了双馈感应发电机空载工况下的数学模型,在此基础上对双馈感应发电机的准同期并网控制策略进行了研究,并且描述了自同期并网控制技术。
3)变速恒频风力发电技术中,能量双向流动变流器是风力发电系统最核心的控制部件。提出了直流母线电压稳定的重要性,建立了网侧变流器(Grid Side Inverter, GSI)的数学模型,在此基础上推导出网侧变流器的直流母线电压闭环的矢量控制策略,并且对网侧变流器滤波器类型选择和参数设计进行了分析,得到最优的LC滤波器参数值。
4)近年来,双馈感应发电机的无速度传感器矢量控制技术一直是研究热点。无速度传感器技术有诸多优点：降低系统成本,无需安装和维护转子位置传感器,提高系统可靠性,更加适应于在恶劣环境下工作。本文对基于定子磁链的双馈感应发电机速度辨识技术进行了研究,虽然该方法具有良好的动静态性能,但是,该方法有一个缺点,就是必须由转子励磁。当转子电流ir'为零时,ψs=Lsis,不含估测转子角度θr项,无法正确辨识转子位置。因此,针对这个问题,本文提出一种新的基于转子电流的双馈感应发电机速度辨识技术,将测量得到的转子电流作为参考模型,定子电压和电流估测得到的转子电流作为可调模型,通过比例积分(Proportional-intergral, PI)控制器获取转子位置和转速信息。通过空载变速实验和有功/无功解耦控制实验,证明所提出的无速度传感器控制系统在转子电流为零时依然可以正常工作,具有较强的鲁棒性和令人满意的动静态性能。
5)在MATLAB/SIMULINK仿真平台下,利用SimPowerSystem工具箱提供的丰富的电力系统、电力电子常用元器件,根据真实的硬件平台,以50kW的双馈感应发电机为例搭建仿真系统的主回路仿真建模。参照TI公司提供的代码例程对控制回路进行仿真建模,有一部分控制算法是使用M函数编写,而不是直接采用SimPowerSystem工具箱提供的仿真模块,这样更能真实地还原实验环境。然后,通过电动机运行工况下的转速控制和发电机运行工况下的功率控制实验,验证了模型参考自适应速度辨识方法和网侧变流器直流母线电压闭环控制策略的可行性。
6)为验证理论分析的正确性,以50kW的双馈感应发电机为例,搭建了一套双馈感应发电机实验控制系统。介绍了实验系统硬件平台的配置,对实验过程中的上电和下电顺序进行了说明。在实验结果分析中,首先给出直流母线电容充电过程的电压和电流波形,然后对于控制过程的实验结果进行了分析。实验结果证明该实验控制系统具有较强的鲁棒性和令人满意的动静态性能。
With the shortage of conventional energy and the increase of environmental pollution, the development and utilization of renewable energy, especially wind power, have been given more attention by many countries in the world. Since the rapid development of power electronic device and technology, large mega watts (MW) variable-speed and constant-frequency (VSCF) wind power generation system have been become the main developing direction of wind power generation technology. doubly-fed induction generator (DFIG), which has many advantages like the small capacity of rotor side inverter (RSI), low cost, flexible connection between mechanical system and electrical system, powerful wind energy capture capability, has currently become mainstream product model of wind power generator manufacturers, and its AC excitation control technology has played a very important role in wind power generation research field.
This paper presents a sensorless algorithm for the vector control of doubly-fed induction generator using model reference adaptive system (MRAS) observer. The stator flux oriented vector control is employed to achieve variable-speed drive and decoupled active/reactive power control.
A 50 kW DFIG prototype system is built to verify the theoretical analysis. Through variable speed tracking control in motoring mode and decoupled active/ reactive power control in generating mode for simulation and laboratory experimental study, the estimation of rotational speed and rotor position at different speed and power condition can track the actual value. The simulation and laboratory experimental results have shown the effectiveness of the proposed sensorless control scheme. The main research contents and innovative ideas are described as below:
1) DFIG vector control strategy is the core of the whole control system. By means of the DFIG mathematic model, The stator flux oriented vector control is employed to achieve the speed tracking control in motoring mode and decoupled active/ reactive power control in generating mode. Moreover, the DFIG T-type equivalent circuit is presented, and that 12 kinds of operating mode in terms of all operating conditions are analyzed.
2) Grid-friendly no-impact cutting-in control technology for DIFG is discussed in the dissertation. DFIG no-load mathematic model is build to achieve quasi-synchronizing no-load cutting-in control. In addition, self-synchronizing cutting-in control strategy is analyzed as well.
3) In VSCF wind power generation technology, bi-direction energy converter is the most important component of the whole wind power generation system. In the dissertation, the importance of the stabilization for DC bus voltage is proposed. Using the mathematic model of grid side inverter (GSI), DC bus voltage close-loop vector control strategy for GSI is investigated. Consider the influence of GSI filter inductance, by means of adjusting reactive current idg, equivalently enhancing GSI capacitive reactive power compensation, the active power transmission capability for GSI is improved.
4) In recent years, sensorless vector control of DFIG is the research focus. This is because sensorless control strategy has many advantages, like low systems cost, no need installation and maintenance for rotor position sensor, high system reliability and more suitable for working under harsh environment. The stator flux linkage based model reference adaptive system observer for DFIG sensorless vector control has been presented in the dissertation, and has a good static and dynamic performance. Whereas, this method has a fatal flaw that the excitation must be provided by rotor. In the stator flux based MRAS observer, the adjustable model is the current model of stator flux, obtained byλs= Lsis+Lmirejθr. When rotor current is zero, meansλs= Lsis, the estimated stator flux doesn't contain the estimated rotor angleθr, thus the rotor position cannot be accurately recognized at this time. In order to solve this problem, the rotor current based MRAS observer for DFIG sensorless vector control has been proposed. In the proposed MRAS observer, the reference model is the measured rotor current, which compared to the estimation of the rotor current obtained from the stator voltages and currents. A proportional-integral (PI) controller adjusts the rotational rotor speed, driving the error between the measured and estimated currents to zero.
5) In MATLAB/SIMULINK simulation platform, according to the real hardware system, the power circuit of 50 kW DFIG simulation system is build using plentiful power system and power electronic modules supplied by "SimPowerSystem" toolbox. Base on TI's routine code, simulation system's control loop is build partially using M function while not directly adopting modules supplied by "SimPowerSystem" toolbox. This could be a better method to restore the real experimental environment. Through variable speed tracking control in motoring mode and decoupled active/reactive power control in generating mode for simulation and laboratory experimental study, the effectiveness of the proposed MRAS based sensorless control scheme and DC bus voltage close loop vector control scheme is verified.
6) A 50 kW DFIG prototype system is built to verify the theoretical analysis. In the dissertation, the configuration of the experimental hardware platform is presented, and that the generating and shutting down sequence in the experimental process is illustrated. In the analysis of the experimental results, the voltage and current waveforms in the charging process of DC bus capacity are firstly presented, and then the experimental results of the control strategies are analyzed. The experimental results have shown the robustness and satisfactory static and dynamic performance of the proposed control scheme.
本文对风力发电用双馈感应发电机控制系统的各项关键技术进行了详细说明,建立了基于定子磁链定向的双馈感应发电机矢量控制模型,实现了电机变速驱动和有功／无功功率解耦控制。然后采用模型参考自适应(Model Reference Adaptive System, MRAS)速度辨识技术,实现了双馈感应发电机无速度传感器控制。
为验证理论分析的正确性,以50kW的双馈感应发电机为例设计一套控制系统。通过在电动机运行工况下的转速控制实验和在发电机运行工况下的功率控制实验,验证了估测的转子位置和转速在不同转速和功率工况下的稳定性和准确度。仿真和实验结果可以看出,将基于MRAS的转速辨识模型应用到双馈感应发电机的矢量控制系统是可行的,系统具有良好的稳态精度和动态性能,对实现双馈感应发电机无速度传感器控制有参考意义。本文主要研究内容和创新性的成果如下：
1)双馈感应发电机的矢量控制策略是整个控制系统的核心。基于双馈感应发电机的数学模型,推导出在电动机运行工况下的转矩／转速控制,以及在发电机运行工况下的有功／无功解耦控制。并且,得出了双馈感应发电机的T型等效电路,并且分析了在各种工况下的双馈感应电机的12种运行模式。
2)对于电网友好型无冲击并网控制技术进行了研究。建立了双馈感应发电机空载工况下的数学模型,在此基础上对双馈感应发电机的准同期并网控制策略进行了研究,并且描述了自同期并网控制技术。
3)变速恒频风力发电技术中,能量双向流动变流器是风力发电系统最核心的控制部件。提出了直流母线电压稳定的重要性,建立了网侧变流器(Grid Side Inverter, GSI)的数学模型,在此基础上推导出网侧变流器的直流母线电压闭环的矢量控制策略,并且对网侧变流器滤波器类型选择和参数设计进行了分析,得到最优的LC滤波器参数值。
4)近年来,双馈感应发电机的无速度传感器矢量控制技术一直是研究热点。无速度传感器技术有诸多优点：降低系统成本,无需安装和维护转子位置传感器,提高系统可靠性,更加适应于在恶劣环境下工作。本文对基于定子磁链的双馈感应发电机速度辨识技术进行了研究,虽然该方法具有良好的动静态性能,但是,该方法有一个缺点,就是必须由转子励磁。当转子电流ir'为零时,ψs=Lsis,不含估测转子角度θr项,无法正确辨识转子位置。因此,针对这个问题,本文提出一种新的基于转子电流的双馈感应发电机速度辨识技术,将测量得到的转子电流作为参考模型,定子电压和电流估测得到的转子电流作为可调模型,通过比例积分(Proportional-intergral, PI)控制器获取转子位置和转速信息。通过空载变速实验和有功/无功解耦控制实验,证明所提出的无速度传感器控制系统在转子电流为零时依然可以正常工作,具有较强的鲁棒性和令人满意的动静态性能。
5)在MATLAB/SIMULINK仿真平台下,利用SimPowerSystem工具箱提供的丰富的电力系统、电力电子常用元器件,根据真实的硬件平台,以50kW的双馈感应发电机为例搭建仿真系统的主回路仿真建模。参照TI公司提供的代码例程对控制回路进行仿真建模,有一部分控制算法是使用M函数编写,而不是直接采用SimPowerSystem工具箱提供的仿真模块,这样更能真实地还原实验环境。然后,通过电动机运行工况下的转速控制和发电机运行工况下的功率控制实验,验证了模型参考自适应速度辨识方法和网侧变流器直流母线电压闭环控制策略的可行性。
6)为验证理论分析的正确性,以50kW的双馈感应发电机为例,搭建了一套双馈感应发电机实验控制系统。介绍了实验系统硬件平台的配置,对实验过程中的上电和下电顺序进行了说明。在实验结果分析中,首先给出直流母线电容充电过程的电压和电流波形,然后对于控制过程的实验结果进行了分析。实验结果证明该实验控制系统具有较强的鲁棒性和令人满意的动静态性能。
With the shortage of conventional energy and the increase of environmental pollution, the development and utilization of renewable energy, especially wind power, have been given more attention by many countries in the world. Since the rapid development of power electronic device and technology, large mega watts (MW) variable-speed and constant-frequency (VSCF) wind power generation system have been become the main developing direction of wind power generation technology. doubly-fed induction generator (DFIG), which has many advantages like the small capacity of rotor side inverter (RSI), low cost, flexible connection between mechanical system and electrical system, powerful wind energy capture capability, has currently become mainstream product model of wind power generator manufacturers, and its AC excitation control technology has played a very important role in wind power generation research field.
This paper presents a sensorless algorithm for the vector control of doubly-fed induction generator using model reference adaptive system (MRAS) observer. The stator flux oriented vector control is employed to achieve variable-speed drive and decoupled active/reactive power control.
A 50 kW DFIG prototype system is built to verify the theoretical analysis. Through variable speed tracking control in motoring mode and decoupled active/ reactive power control in generating mode for simulation and laboratory experimental study, the estimation of rotational speed and rotor position at different speed and power condition can track the actual value. The simulation and laboratory experimental results have shown the effectiveness of the proposed sensorless control scheme. The main research contents and innovative ideas are described as below:
1) DFIG vector control strategy is the core of the whole control system. By means of the DFIG mathematic model, The stator flux oriented vector control is employed to achieve the speed tracking control in motoring mode and decoupled active/ reactive power control in generating mode. Moreover, the DFIG T-type equivalent circuit is presented, and that 12 kinds of operating mode in terms of all operating conditions are analyzed.
2) Grid-friendly no-impact cutting-in control technology for DIFG is discussed in the dissertation. DFIG no-load mathematic model is build to achieve quasi-synchronizing no-load cutting-in control. In addition, self-synchronizing cutting-in control strategy is analyzed as well.
3) In VSCF wind power generation technology, bi-direction energy converter is the most important component of the whole wind power generation system. In the dissertation, the importance of the stabilization for DC bus voltage is proposed. Using the mathematic model of grid side inverter (GSI), DC bus voltage close-loop vector control strategy for GSI is investigated. Consider the influence of GSI filter inductance, by means of adjusting reactive current idg, equivalently enhancing GSI capacitive reactive power compensation, the active power transmission capability for GSI is improved.
4) In recent years, sensorless vector control of DFIG is the research focus. This is because sensorless control strategy has many advantages, like low systems cost, no need installation and maintenance for rotor position sensor, high system reliability and more suitable for working under harsh environment. The stator flux linkage based model reference adaptive system observer for DFIG sensorless vector control has been presented in the dissertation, and has a good static and dynamic performance. Whereas, this method has a fatal flaw that the excitation must be provided by rotor. In the stator flux based MRAS observer, the adjustable model is the current model of stator flux, obtained byλs= Lsis+Lmirejθr. When rotor current is zero, meansλs= Lsis, the estimated stator flux doesn't contain the estimated rotor angleθr, thus the rotor position cannot be accurately recognized at this time. In order to solve this problem, the rotor current based MRAS observer for DFIG sensorless vector control has been proposed. In the proposed MRAS observer, the reference model is the measured rotor current, which compared to the estimation of the rotor current obtained from the stator voltages and currents. A proportional-integral (PI) controller adjusts the rotational rotor speed, driving the error between the measured and estimated currents to zero.
5) In MATLAB/SIMULINK simulation platform, according to the real hardware system, the power circuit of 50 kW DFIG simulation system is build using plentiful power system and power electronic modules supplied by "SimPowerSystem" toolbox. Base on TI's routine code, simulation system's control loop is build partially using M function while not directly adopting modules supplied by "SimPowerSystem" toolbox. This could be a better method to restore the real experimental environment. Through variable speed tracking control in motoring mode and decoupled active/reactive power control in generating mode for simulation and laboratory experimental study, the effectiveness of the proposed MRAS based sensorless control scheme and DC bus voltage close loop vector control scheme is verified.
6) A 50 kW DFIG prototype system is built to verify the theoretical analysis. In the dissertation, the configuration of the experimental hardware platform is presented, and that the generating and shutting down sequence in the experimental process is illustrated. In the analysis of the experimental results, the voltage and current waveforms in the charging process of DC bus capacity are firstly presented, and then the experimental results of the control strategies are analyzed. The experimental results have shown the robustness and satisfactory static and dynamic performance of the proposed control scheme.
引文
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