双馈异步风力发电系统穿越电网故障运行研究
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摘要
近年来,国内外风力发电产业迅猛发展,大规模风电接入带来了电网稳定性和电力调度困难等问题,因此各国风电接入标准要求风电场及其风电机组具备更强的抵御电网故障的能力。双馈异步发电机(DFIG)的定子在并网运行中与电网直接相连,电网故障容易对DFIG的运行特性产生影响,甚至造成机组故障脱网,因此值得对双馈风电机组“穿越”电网故障的相关技术问题进行深入研究。
本文针对接入到大电网的双馈风力发电系统“穿越”电网故障的相关技术问题开展研究,工作重点在于电网故障下的DFIG特性和双馈变流器控制。通过理论分析、控制方法提出、仿真研究和实验验证,力求全面、准确、深入的完成课题研究工作,取得一些兼具科研学术和工程应用价值的成果。
1.为了满足电网故障下对双馈风力发电系统的研究,建立了在三相静止坐标系、两相静止坐标系和两相同步旋转系下的DFIG暂态数学模型。分别采用ABC划分方案和对称分量法,揭示了实际电力系统中电压跌落故障类型的变化规律和机组并网端电压的跌落特点。综合考虑电网电压跌落和恢复两个过程,对电网不对称跌落下的DFIG电磁响应过渡过程进行了定性描述和定量分析,重点对定子暂态磁链引起的转子电压响应进行了理论计算和仿真研究,提出了根据正序和负序电网电压分别求解定子磁链和转子电压动态响应的方法,采用矢量轨迹图直观地描述了这一动态响应过程。研究发现定子磁链暂态分量和转子过压是影响DFIG系统控制性能的主要因素,这为控制软件改进和硬件保护设计提供了理论依据。
2.基于定子磁链或定子电压定向的矢量控制,通过在转子控制中添加转子反电动势前馈补偿项,能够增强电机侧变流器(RSC)在电网电压小幅跌落下的连续运行能力。针对电网电压对称跌落,提出了一种基于比例积分谐振(PI-R)调节器的磁链有源衰减RSC改进控制算法。通过控制转子电流加快定子暂态磁链衰减并消除磁链振荡,从而降低转子过压和过流,使跌落发生后的DFIG尽快进入稳态控制,获得更加平稳的定子无功补偿电流和电磁转矩。应用PI-R调节器不但提高了RSC对转子暂态过压的抗扰性,而且保证了磁链有源衰减算法中对暂态转子电流的控制精度。基于转子控制系统的频域特性分析,给出了PI-R调节器参数的设计原则。通过仿真和实验验证了理论分析的正确性和改进算法的有效性。此外,对低电压穿越(LVRT)期间RSC的电压和电流输出能力进行分析,揭示了在严重电网故障下依靠变流器控制的局限性、以及双馈系统采用一定的硬件保护措施实现LVRT的必要性。
3.对电网电压不对称跌落故障下的DFIG系统控制进行了深入研究。建立了不平衡电网电压下的DFIG系统数学模型。在不平衡电网电压下,分别采用基于正、负序双同步旋转坐标系(双SRF)下的双PI电流环矢量控制、和基于正序SRF下的PI-R电流矢量控制,实现了RSC与电网侧变流器(GSC)的协同控制目标。针对电网电压不对称跌落故障,提出了基于PI-R调节器的磁链有源衰减RSC改进控制算法,实现了不平衡电网电压下的稳态控制和不对称跌落下的暂态性能改进,有效消除了定子磁链振荡和电磁转矩脉动,减小转子过压和定、转子过流。通过仿真验证了改进控制算法的有效性。此外,对不对称跌落下RSC的电压和电流输出能力进行了分析。
4.针对MW级双馈风力发电系统的LVRT控制技术进行研究。在综合考虑硬件保护措施和RSC改进控制算法及其输出容量限制的基础上,提出了双馈风电系统LVRT控制和实现方案,适用于电网电压不同深度的对称和不对称跌落故障。给出了硬件保护装置转子侧主动式crowbar和dc-chopper电阻值的选取原则。对双馈机组无功补偿控制进行研究和改进,通过GSC的实时无功补偿以及合理设计dc-chopper电阻,改善了DFIG机组的无功控制性能,通过仿真验证了方案的可行性。基于电网电压跌落和恢复下的DFIG电磁暂态响应分析,提出了定子非同步并网模拟电网电压跌落和恢复的测试方案,能够实现对MW级双馈变流器LVRT控制性能的初步测试,通过1.5MW双馈系统仿真和实验验证了测试方案可行性。最后,完成了1.5MW双馈变流器的风电场LVRT测试实验,初步验证了双馈系统软、硬件LVRT控制策略的可行性。
With rapid development of wind power generation industry at home and abroad in recent years, large-scale wind power integration brought electric dispatching difficulties and stability problem of the power system. Transmission system operators (TSOs) of countries or regions have issued their grid codes which require wind turbines to remain connected during grid faults. The doubly fed induction generator (DFIG) system is sensitive to the grid disturbance and even fault tripping, due to the stator is directly connected to the grid. Therefore it is necessary and important for DFIG system to research the control technologies of the grid fault ride-through (FRT).
This thesis focuses on the research of DFIG characteristics and converter control technologies during grid voltage faults. Through theoretical analysis, control method improvement, simulation and experimental verification, a comprehensive, accurate and thorough research work is accomplished. It aims at obtaining some valuable conclusions and achievements for both scientific research and engineering application.
1. The DFIG dynamic modeling is established and expressed in the three-phase stator stationary reference frame, two-phase stator stationary reference frame and two-phase rotating reference frame, respectively. Using the ABC classification scheme and symmetrical component method, the grid voltage dip fault types and characteristics at the wind turbine connecting point in the actual power system are analyzed. Under the conditions of asymmetrical grid voltage dips, the flux dynamic response and rotor overvoltage induced by grid voltage dip and recovery are qualitatively described and quantitatively analyzed. It focuses on the rotor voltage response caused by the transient stator flux by the theoretical calculation and simulation research. The method to analyze DFIG dynamic responses respectively by the means of positive and negative components under asymmetrical grid voltage dips is proposed. The dynamic response processing is visually described by the stator flux vector locus and rotor voltage vector locus. The research conclusion indicates that the transient components of stator flux and rotor overvoltage are main influencing factors to the control performance of DFIG system. This work provides a beneficial basis for the hardware parameters design and control strategy improvement.
2. Based on the stator flux or stator voltage oriented vector controls, a rotor side converter (RSC) control which is added in the rotor electromotive force (EMF) feedforward compensation enhances the continuous operation ability of DFIG under grid voltage small amplitude disturbance. Under symmetrical grid voltage dip, an improved PI+Resonant (PI-R) control for RSC with the active flux damping is presented. The damping rate of the transient stator-flux is accelerated and flux oscillation is eliminated by means of the improved control to the rotor current. Then the rotor overvoltage and overcurrent are reduced, and stator reactive compensation current and electromagnetic torque is well controlled during grid fault. PI-R control can achieve zero steady-state error to both the fundamental dc reference and the resonant ac reference. Hence the control system interference rejection to EMF is improved, and regulation accuracy of the proposed active flux damping scheme is guaranteed. The parameters design principles on PI-R regulator are given based on frequency domain characteristics analysis. Simulation and experimental results validate the theoretical analysis and the feasibility of the improved control scheme. In addition, the capacity of voltage and current output for RSC during low voltage ride-through (LVRT) is analyzed. It reveals the software control limitation for coverter to achieve serious grid voltage dip ride-through. Thus it is necessity for DFIG system to apply some hardware protection measures to realize LVRT.
3. The control strategy of DFIG system under asymmetrical grid voltage dip is emphasized. Dynamic modeling of DFIG system applied on unbalanced voltage conditions is established. Under unbalanced grid voltage, a coordinated control target between RSC and grid side converter (GSC) is realized, which based on two vector control schemes, viz., dual PI current controls implemented in the respective positive and negative synchronous reference frames (SRFs), and PI-R current control in the positive SRF. Under asymmetrical grid voltage fault, an improved PI-R control for RSC with the active flux damping is presented. It not only realizes the steady-state control under unbalanced grid voltage, but also improves the transient performance during asymmetrical voltage dip. The oscillations of stator flux and electromagnetic torque are well eliminated, and the rotor overvoltage and overcurrent are reduced. Simulation results validate the feasibility of the proposed control. In addition, the capacity of voltage and current output for RSC is also analyzed during LVRT.
4. The LVRT control technology of MW-level DFIG system is investigated. Considering the hardware protection measures, improved RSC control algorithm and output capacity limitations, a comprehensive and practical LVRT control strategy is proposed, which can be applied in the symmetrical or asymmetrical grid voltage dips with different depth. The resistance value choice principles of rotor side active crowbar and dc-chopper are given. Reactive power control of DFIG system is discussed. Through GSC fast reactive power compensation and reasonable design of dc-chopper resistance, the reactive power control performance of DFIG wind turbine is improved. Simulation results prove the feasibility of the scheme. Based on the analysis of DFIG transient behaviors under the grid voltage dip and recovery, a test scheme to simulate the grid voltage dip and recovery by the stator asynchronous grid-connection is presented. The proposed test scheme can realize preliminary experiment on the LVRT control performance of MW-level DFIG converter. Simulation and experimental results of1.5MW DFIG system validate the feasibility of this test scheme. Finally, the wind farm LVRT experiment of1.5MW DFIG converter is accomplished, and the feasibility of the enhanced software and hardware control technology is validated.
本文针对接入到大电网的双馈风力发电系统“穿越”电网故障的相关技术问题开展研究,工作重点在于电网故障下的DFIG特性和双馈变流器控制。通过理论分析、控制方法提出、仿真研究和实验验证,力求全面、准确、深入的完成课题研究工作,取得一些兼具科研学术和工程应用价值的成果。
1.为了满足电网故障下对双馈风力发电系统的研究,建立了在三相静止坐标系、两相静止坐标系和两相同步旋转系下的DFIG暂态数学模型。分别采用ABC划分方案和对称分量法,揭示了实际电力系统中电压跌落故障类型的变化规律和机组并网端电压的跌落特点。综合考虑电网电压跌落和恢复两个过程,对电网不对称跌落下的DFIG电磁响应过渡过程进行了定性描述和定量分析,重点对定子暂态磁链引起的转子电压响应进行了理论计算和仿真研究,提出了根据正序和负序电网电压分别求解定子磁链和转子电压动态响应的方法,采用矢量轨迹图直观地描述了这一动态响应过程。研究发现定子磁链暂态分量和转子过压是影响DFIG系统控制性能的主要因素,这为控制软件改进和硬件保护设计提供了理论依据。
2.基于定子磁链或定子电压定向的矢量控制,通过在转子控制中添加转子反电动势前馈补偿项,能够增强电机侧变流器(RSC)在电网电压小幅跌落下的连续运行能力。针对电网电压对称跌落,提出了一种基于比例积分谐振(PI-R)调节器的磁链有源衰减RSC改进控制算法。通过控制转子电流加快定子暂态磁链衰减并消除磁链振荡,从而降低转子过压和过流,使跌落发生后的DFIG尽快进入稳态控制,获得更加平稳的定子无功补偿电流和电磁转矩。应用PI-R调节器不但提高了RSC对转子暂态过压的抗扰性,而且保证了磁链有源衰减算法中对暂态转子电流的控制精度。基于转子控制系统的频域特性分析,给出了PI-R调节器参数的设计原则。通过仿真和实验验证了理论分析的正确性和改进算法的有效性。此外,对低电压穿越(LVRT)期间RSC的电压和电流输出能力进行分析,揭示了在严重电网故障下依靠变流器控制的局限性、以及双馈系统采用一定的硬件保护措施实现LVRT的必要性。
3.对电网电压不对称跌落故障下的DFIG系统控制进行了深入研究。建立了不平衡电网电压下的DFIG系统数学模型。在不平衡电网电压下,分别采用基于正、负序双同步旋转坐标系(双SRF)下的双PI电流环矢量控制、和基于正序SRF下的PI-R电流矢量控制,实现了RSC与电网侧变流器(GSC)的协同控制目标。针对电网电压不对称跌落故障,提出了基于PI-R调节器的磁链有源衰减RSC改进控制算法,实现了不平衡电网电压下的稳态控制和不对称跌落下的暂态性能改进,有效消除了定子磁链振荡和电磁转矩脉动,减小转子过压和定、转子过流。通过仿真验证了改进控制算法的有效性。此外,对不对称跌落下RSC的电压和电流输出能力进行了分析。
4.针对MW级双馈风力发电系统的LVRT控制技术进行研究。在综合考虑硬件保护措施和RSC改进控制算法及其输出容量限制的基础上,提出了双馈风电系统LVRT控制和实现方案,适用于电网电压不同深度的对称和不对称跌落故障。给出了硬件保护装置转子侧主动式crowbar和dc-chopper电阻值的选取原则。对双馈机组无功补偿控制进行研究和改进,通过GSC的实时无功补偿以及合理设计dc-chopper电阻,改善了DFIG机组的无功控制性能,通过仿真验证了方案的可行性。基于电网电压跌落和恢复下的DFIG电磁暂态响应分析,提出了定子非同步并网模拟电网电压跌落和恢复的测试方案,能够实现对MW级双馈变流器LVRT控制性能的初步测试,通过1.5MW双馈系统仿真和实验验证了测试方案可行性。最后,完成了1.5MW双馈变流器的风电场LVRT测试实验,初步验证了双馈系统软、硬件LVRT控制策略的可行性。
With rapid development of wind power generation industry at home and abroad in recent years, large-scale wind power integration brought electric dispatching difficulties and stability problem of the power system. Transmission system operators (TSOs) of countries or regions have issued their grid codes which require wind turbines to remain connected during grid faults. The doubly fed induction generator (DFIG) system is sensitive to the grid disturbance and even fault tripping, due to the stator is directly connected to the grid. Therefore it is necessary and important for DFIG system to research the control technologies of the grid fault ride-through (FRT).
This thesis focuses on the research of DFIG characteristics and converter control technologies during grid voltage faults. Through theoretical analysis, control method improvement, simulation and experimental verification, a comprehensive, accurate and thorough research work is accomplished. It aims at obtaining some valuable conclusions and achievements for both scientific research and engineering application.
1. The DFIG dynamic modeling is established and expressed in the three-phase stator stationary reference frame, two-phase stator stationary reference frame and two-phase rotating reference frame, respectively. Using the ABC classification scheme and symmetrical component method, the grid voltage dip fault types and characteristics at the wind turbine connecting point in the actual power system are analyzed. Under the conditions of asymmetrical grid voltage dips, the flux dynamic response and rotor overvoltage induced by grid voltage dip and recovery are qualitatively described and quantitatively analyzed. It focuses on the rotor voltage response caused by the transient stator flux by the theoretical calculation and simulation research. The method to analyze DFIG dynamic responses respectively by the means of positive and negative components under asymmetrical grid voltage dips is proposed. The dynamic response processing is visually described by the stator flux vector locus and rotor voltage vector locus. The research conclusion indicates that the transient components of stator flux and rotor overvoltage are main influencing factors to the control performance of DFIG system. This work provides a beneficial basis for the hardware parameters design and control strategy improvement.
2. Based on the stator flux or stator voltage oriented vector controls, a rotor side converter (RSC) control which is added in the rotor electromotive force (EMF) feedforward compensation enhances the continuous operation ability of DFIG under grid voltage small amplitude disturbance. Under symmetrical grid voltage dip, an improved PI+Resonant (PI-R) control for RSC with the active flux damping is presented. The damping rate of the transient stator-flux is accelerated and flux oscillation is eliminated by means of the improved control to the rotor current. Then the rotor overvoltage and overcurrent are reduced, and stator reactive compensation current and electromagnetic torque is well controlled during grid fault. PI-R control can achieve zero steady-state error to both the fundamental dc reference and the resonant ac reference. Hence the control system interference rejection to EMF is improved, and regulation accuracy of the proposed active flux damping scheme is guaranteed. The parameters design principles on PI-R regulator are given based on frequency domain characteristics analysis. Simulation and experimental results validate the theoretical analysis and the feasibility of the improved control scheme. In addition, the capacity of voltage and current output for RSC during low voltage ride-through (LVRT) is analyzed. It reveals the software control limitation for coverter to achieve serious grid voltage dip ride-through. Thus it is necessity for DFIG system to apply some hardware protection measures to realize LVRT.
3. The control strategy of DFIG system under asymmetrical grid voltage dip is emphasized. Dynamic modeling of DFIG system applied on unbalanced voltage conditions is established. Under unbalanced grid voltage, a coordinated control target between RSC and grid side converter (GSC) is realized, which based on two vector control schemes, viz., dual PI current controls implemented in the respective positive and negative synchronous reference frames (SRFs), and PI-R current control in the positive SRF. Under asymmetrical grid voltage fault, an improved PI-R control for RSC with the active flux damping is presented. It not only realizes the steady-state control under unbalanced grid voltage, but also improves the transient performance during asymmetrical voltage dip. The oscillations of stator flux and electromagnetic torque are well eliminated, and the rotor overvoltage and overcurrent are reduced. Simulation results validate the feasibility of the proposed control. In addition, the capacity of voltage and current output for RSC is also analyzed during LVRT.
4. The LVRT control technology of MW-level DFIG system is investigated. Considering the hardware protection measures, improved RSC control algorithm and output capacity limitations, a comprehensive and practical LVRT control strategy is proposed, which can be applied in the symmetrical or asymmetrical grid voltage dips with different depth. The resistance value choice principles of rotor side active crowbar and dc-chopper are given. Reactive power control of DFIG system is discussed. Through GSC fast reactive power compensation and reasonable design of dc-chopper resistance, the reactive power control performance of DFIG wind turbine is improved. Simulation results prove the feasibility of the scheme. Based on the analysis of DFIG transient behaviors under the grid voltage dip and recovery, a test scheme to simulate the grid voltage dip and recovery by the stator asynchronous grid-connection is presented. The proposed test scheme can realize preliminary experiment on the LVRT control performance of MW-level DFIG converter. Simulation and experimental results of1.5MW DFIG system validate the feasibility of this test scheme. Finally, the wind farm LVRT experiment of1.5MW DFIG converter is accomplished, and the feasibility of the enhanced software and hardware control technology is validated.
引文
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