一种基于非线性鲁棒H~∞方法的半直驱风电机组有功功率控制方法
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摘要
为实现风力机组在额定功率控制状态下和非额定功率的恒功率控制状态下的有功功率控制,分别利用模糊比例-积分(proportion-integral, PI)控制和非线性鲁棒控制对风力机组中的变桨控制器和转速控制器进行设计,实现风力机组在额定功率控制状态下和非额定功率的恒功率控制状态下的有功功率控制。介绍了含有不确定性干扰参数的三阶转速控制系统的非线性模型,利用鲁棒控制中的动态测试(state dynamic measurement,SDM)反馈线性化H~∞方法,设计出机组的非线性鲁棒转速控制器。最后利用MATLAB建立整个半直驱永磁同步发电机组的仿真模型,通过最终的仿真算例验证所提控制策略的有效性和准确性。
To realize active power control of wind turbine generators in the state of rated power control and constant power control, fuzzy proportion-integral(PI) control and non-linear robust control was respectively used for designing the variable pitch controller and the rotating speed controller of the wind turbine generator. This paper introduces the non-linear model of the three-order rotating speed control system containing uncertain interference parameters and makes use of the state dynamic measurement(SDM) feedback linearization H~∞ method in robust control to design the non-linear robust rotating speed controller. Finally, it establishes a simulation model for the whole semi-direct driven permanent magnet synchronous generator by using MATLAB software and verifies effectiveness and accuracy of the control strategy based on simulation examples.
To realize active power control of wind turbine generators in the state of rated power control and constant power control, fuzzy proportion-integral(PI) control and non-linear robust control was respectively used for designing the variable pitch controller and the rotating speed controller of the wind turbine generator. This paper introduces the non-linear model of the three-order rotating speed control system containing uncertain interference parameters and makes use of the state dynamic measurement(SDM) feedback linearization H~∞ method in robust control to design the non-linear robust rotating speed controller. Finally, it establishes a simulation model for the whole semi-direct driven permanent magnet synchronous generator by using MATLAB software and verifies effectiveness and accuracy of the control strategy based on simulation examples.
引文
[1] 严干贵, 张菁, 高扬, 等. 参与系统调频的风电机组控制策略研究综述[J]. 广东电力, 2015, 28(4): 19-25. YAN Gangui, ZHANG Jing, GAO Yang, et al. Review on control strategies of wind turbines participating in system frequency modulation [J]. Guangdong Electric Power, 2015, 28 (4): 19-25.
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[3] 杨桂兴, 周建邦, 常喜强. 新疆电网风电有功功率控制系统的设计与应用[J]. 电网与清洁能源, 2013, 29(9): 99-102. YANG Guixing, ZHOU Jianbang, CHANG Xiqiang. Design and application for wind active power control system in Xinjiang power grid [J]. Power System & Clean Energy, 2013, 29(9): 99-102.
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[8] 李啸骢, 田友飞, 徐俊华,等. 变速恒频双馈风电机组恒功率非线性控制[J]. 电力系统自动化, 2011, 35(23): 47-51. LI Xiaocong, TIAN Youfei, XU Junhua, et al. A nonlinear control of constant power regulation for variable-speed constant-frequency [J]. Automation of Electric Power Systems, 2011, 35(23): 47-51.
[9] 朱瑛, 程明, 花为, 等. 基于 2 种变速变桨距方法的双功率流风力发电系统功率控制[J]. 电力自动化设备, 2013, 33(9): 123-129. ZHU Ying, CHEN Ming, HUA Wei, et al. Based on two kinds of variable speed variable pitch wind power control method of double power flow wind power system[J]. Electric Power Automation Equipment, 2013, 33 (9): 123-129.
[10] 韩金刚, 陈昆明, 汤天浩. 半直驱永磁同步风力发电系统建模与电流解耦控制研究[J]. 电力系统保护与控制, 2012, 40(10): 110-115. HAN Jingang, CHEN Kunming, TANG Tianhao. Half a direct-drive permanent magnet synchronous wind power system modeling and the current decoupled control study[J]. Power System Protection and Control, 2012, 40 (10): 110-115.
[11] 刘广忱, 王生铁, 张鸿,等. 半直驱风电系统最大功率跟踪和变桨距集成控制[J]. 微特电机, 2012, 40(11):50-54. LIU Guangchen, WANG Shengtie, ZHANG Hong, et al. Integrated control of maximum power point tracking with pitch control for multibrid wind power generation system[J]. Small & Special Electrical Machines, 2012, 40(11):50-54.
[12] 李彦龙. 风力发电机变桨距控制技术的研究[D]. 包头:内蒙古大学, 2012.
[13] 卢强,梅生伟,孙元章. 电力系统非线性控制[M]. 2版. 北京: 清华大学出版社, 2008.
[14] MEI Shengwei, GUI Xiaoyang, SHEN Chen, et al. Dynamic extending nonlinear H∞ control and its application to hydraulic turbine governor[J]. Science in China Series E: Technological Sciences, 2007, 50(5): 618-635.
[15] 牛里, 杨明, 王庚,等. 基于无差拍控制的永磁同步电机鲁棒电流控制算法研究[J]. 中国电机工程学报, 2013, 33(15): 78-85. NIU Li, YANG Ming, WANG Geng, et al. Research on the robust current control algorithm of permanent magnet synchronous motor based on deadbeat control principle [J]. Proceedings of the CSEE, 2013, 33(15): 78-85.
[16] BOUKHEZZAR B, LUPU L, SIGUERDIDJANE H, et al. Multivariable control strategy for variable speed, variable pitch wind turbines[J]. Renewable Energy, 2007, 32(8): 1273-1287.
[17] 胡浩,朱宏涛,陈影,等. 基于二次加权平均运行容量的风电有功功率分配策略[J]. 内蒙古电力技术,2017,35(3):5-8. HU Hao, ZHU Hongtao, CHEN Ying, et al. Active power allocation strategy based on twice weighted average capacity[J]. Inner Mongolia Electric Power,2017,35(3):5-8.
[18] 王鲜花,陈诚.变电站A类电压越上限运行的影响因素分析及对策[J]. 内蒙古电力技术,2017,35(4):44-49. WANG Xianhua, CHEN Cheng.Impact factors analysis of class a voltage operation beyond limit in substation and its countermeasure[J]. Inner Mongolia Electric Power 2017,35(4):44-49.
[19] 王皓怀, 陈懿, 王坚, 等.电压跌落故障下的双馈型风力发电机动态响应特性分析[J]. 智慧电力,2017,45(9):14-19. WANG Haohuai, CHEN Yi, WANG Jian, et al.Study on dynamic response characteristics of DFIG-based wind turbines under grid voltage drop[J]. Smart Power,2017,45(9):14-19.
[20] 赵嘉兴, 高伟, 上官明霞, 等.风电参与电力系统调频综述[J]. 电力系统保护与控制,2017,45(21):157-169. ZHAO Jiaxing, GAO Wei, SHANGGUAN Mingxia, et al.Review on frequency regulation technology of power grid by wind farm[J]. Power System Protection and Control,2017,45(21):157-169.
[2] 单茂华, 杨胜春, 雍太有,等. 风电大规模集中并网后的互联电网有功功率控制性能评价模型[J]. 中国电机工程学报, 2015, 35(13): 3221-3230. SHAN Maohua, YANG Shengchun, YONG Taiyou, et al. An active power control performance evaluation model for interconnected power grid adapted to the large-scale wind power integration [J]. Proceedings of the CSEE, 2015, 35(13): 3221-3230.
[3] 杨桂兴, 周建邦, 常喜强. 新疆电网风电有功功率控制系统的设计与应用[J]. 电网与清洁能源, 2013, 29(9): 99-102. YANG Guixing, ZHOU Jianbang, CHANG Xiqiang. Design and application for wind active power control system in Xinjiang power grid [J]. Power System & Clean Energy, 2013, 29(9): 99-102.
[4] 林俐, 谢永俊, 朱晨宸,等. 基于优先顺序法的风电场限出力有功控制策略[J]. 电网技术, 2013, 37(4): 960-966. LIN Li, XIE Yongjun, ZHU Chenchen. Priority list-based output-restricted active power control strategy for wind farms [J]. Power System Technology, 2013, 37(4): 960-966.
[5] 尹远, 卢继平, 刘钢,等. 基于DFIG机组转子动能的风电场有功功率优化分配方法[J]. 电力系统保护与控制, 2012(17):127-132. YIN Yuan, LU Jiping, LIU Gang, et al. Active power distribution optimization of wind farm based on rotational kinetic energy of DFIG [J]. Power System Protection and Control, 2012(17):127-132.
[6] 陈曦寒, 高赐威. 考虑定桨距和变桨距风机联合控制的风电场有功功率控制策略[J]. 电网技术, 2015, 39(7):1892-1899. CHEN Xihan,GAO Ciwei. Active power control strategy for wind farm considering fixed and variable pitch wind turbines combined control [J]. Power System Technology, 2015, 39(7):1892-1899.
[7] FERNANDEZ L M, GARCIA C A, JURADO F. Comparative study on the performance of control systems for doubly fed induction generator (DFIG) wind turbines operating with power regulation[J]. Energy, 2008, 33(9): 1438-1452.
[8] 李啸骢, 田友飞, 徐俊华,等. 变速恒频双馈风电机组恒功率非线性控制[J]. 电力系统自动化, 2011, 35(23): 47-51. LI Xiaocong, TIAN Youfei, XU Junhua, et al. A nonlinear control of constant power regulation for variable-speed constant-frequency [J]. Automation of Electric Power Systems, 2011, 35(23): 47-51.
[9] 朱瑛, 程明, 花为, 等. 基于 2 种变速变桨距方法的双功率流风力发电系统功率控制[J]. 电力自动化设备, 2013, 33(9): 123-129. ZHU Ying, CHEN Ming, HUA Wei, et al. Based on two kinds of variable speed variable pitch wind power control method of double power flow wind power system[J]. Electric Power Automation Equipment, 2013, 33 (9): 123-129.
[10] 韩金刚, 陈昆明, 汤天浩. 半直驱永磁同步风力发电系统建模与电流解耦控制研究[J]. 电力系统保护与控制, 2012, 40(10): 110-115. HAN Jingang, CHEN Kunming, TANG Tianhao. Half a direct-drive permanent magnet synchronous wind power system modeling and the current decoupled control study[J]. Power System Protection and Control, 2012, 40 (10): 110-115.
[11] 刘广忱, 王生铁, 张鸿,等. 半直驱风电系统最大功率跟踪和变桨距集成控制[J]. 微特电机, 2012, 40(11):50-54. LIU Guangchen, WANG Shengtie, ZHANG Hong, et al. Integrated control of maximum power point tracking with pitch control for multibrid wind power generation system[J]. Small & Special Electrical Machines, 2012, 40(11):50-54.
[12] 李彦龙. 风力发电机变桨距控制技术的研究[D]. 包头:内蒙古大学, 2012.
[13] 卢强,梅生伟,孙元章. 电力系统非线性控制[M]. 2版. 北京: 清华大学出版社, 2008.
[14] MEI Shengwei, GUI Xiaoyang, SHEN Chen, et al. Dynamic extending nonlinear H∞ control and its application to hydraulic turbine governor[J]. Science in China Series E: Technological Sciences, 2007, 50(5): 618-635.
[15] 牛里, 杨明, 王庚,等. 基于无差拍控制的永磁同步电机鲁棒电流控制算法研究[J]. 中国电机工程学报, 2013, 33(15): 78-85. NIU Li, YANG Ming, WANG Geng, et al. Research on the robust current control algorithm of permanent magnet synchronous motor based on deadbeat control principle [J]. Proceedings of the CSEE, 2013, 33(15): 78-85.
[16] BOUKHEZZAR B, LUPU L, SIGUERDIDJANE H, et al. Multivariable control strategy for variable speed, variable pitch wind turbines[J]. Renewable Energy, 2007, 32(8): 1273-1287.
[17] 胡浩,朱宏涛,陈影,等. 基于二次加权平均运行容量的风电有功功率分配策略[J]. 内蒙古电力技术,2017,35(3):5-8. HU Hao, ZHU Hongtao, CHEN Ying, et al. Active power allocation strategy based on twice weighted average capacity[J]. Inner Mongolia Electric Power,2017,35(3):5-8.
[18] 王鲜花,陈诚.变电站A类电压越上限运行的影响因素分析及对策[J]. 内蒙古电力技术,2017,35(4):44-49. WANG Xianhua, CHEN Cheng.Impact factors analysis of class a voltage operation beyond limit in substation and its countermeasure[J]. Inner Mongolia Electric Power 2017,35(4):44-49.
[19] 王皓怀, 陈懿, 王坚, 等.电压跌落故障下的双馈型风力发电机动态响应特性分析[J]. 智慧电力,2017,45(9):14-19. WANG Haohuai, CHEN Yi, WANG Jian, et al.Study on dynamic response characteristics of DFIG-based wind turbines under grid voltage drop[J]. Smart Power,2017,45(9):14-19.
[20] 赵嘉兴, 高伟, 上官明霞, 等.风电参与电力系统调频综述[J]. 电力系统保护与控制,2017,45(21):157-169. ZHAO Jiaxing, GAO Wei, SHANGGUAN Mingxia, et al.Review on frequency regulation technology of power grid by wind farm[J]. Power System Protection and Control,2017,45(21):157-169.