电网故障下双馈风力发电系统功率变换器运行控制
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摘要
双馈风力发电系统中发电机定子直接与电网相连，对电网电压不平衡和电网电压跌落故障比较敏感。在故障期间双馈风力发电系统通常会脱离电网，影响电网的稳定。新的电网规范要求风力发电系统必须具备低电压穿越运行、电压不平衡补偿和在电网故障时保持并网运行的能力。双馈风力发电系统中双向变换器的控制策略决定了风力发电机组的运行特性，因此，探讨电网故障期间双馈风力发电系统功率变换器的控制策略，对增强风力发电系统的低电压穿越能力和电网电压不平衡补偿能力具有重要意义。本文结合电网故障期间双馈风力发电系统控制技术的研究现状以及风力发电产业的大规模并网需求，立题对电网故障下双馈风力发电系统运行特性与控制策略开展深入研究。
本文提出了一种双馈风力发电系统网侧变换器定频式模型预测控制（MPC），基于网侧变换器的电流预测模型，在固定时间间隔内以满足电流误差最小为原则计算电压矢量作用时间，实现对参考电流的准确跟踪；针对电网电压不平衡造成的三相电流不平衡问题，分析了电压不平衡时的系统运行特性，提出改进的参考电流计算方法以消除三相电流不平衡；围绕模型预测控制方法中模型参数与实际系统参数不匹配和外界干扰造成控制性能下降，导致功率变换器运行不稳定的问题，提出了网侧变换器的定频式鲁棒模型预测控制。根据双馈风力发电系统网侧变换器数学模型，剖析了模型不匹配时MPC算法的运行过程和误差产生的机理，分析了六扇区内网侧变换器电压矢量对d、q轴电流瞬时变化的影响；将模型参数不匹配对系统造成的影响作为扰动量，采用Luenberger观测器通过前馈补偿消除系统扰动，利用根轨迹法确定了观测器的增益参数，并分析预测模型中电感参数变化对观测器稳定性的影响；仿真与实验结果验证了所提扰动观测预测控制算法在模型准确和模型参数不匹配条件下的控制性能。
同时，本文开展了电网电压不平衡时双馈风力发电系统网侧变换器运行控制的研究。针对电网电压不平衡引起的网侧变换器交流侧谐波增加、交流侧有功功率和无功功率波动等问题，采用对称分量法分析了不平衡电网电压下双馈风力发电系统网侧变换器输入电流和交流侧功率的稳态特性；将电压不平衡问题转化到同步旋转坐标系中，提出了同步旋转坐标系中不平衡电网电压下网侧变换器的数学模型；在此基础上，针对传统不平衡控制方案结构较复杂、运算量大、有功功率和无功功率波动不能同时抑制等问题，提出了功率谐振补偿控制策略。该策略在电网电压定向矢量控制方法中增加功率脉动补偿环节对瞬时有功、无功功率波动进行电压补偿，仿真与实验结果证明了控制策略的有效性。
分析了双馈风力发电系统在不平衡电网电压下定、转子电流和定子有功、无功功率脉动以及转矩脉动的特性，提出了定、转子电流，有功、无功功率和电磁转矩的二倍频分量控制表达式；以此为基础，进一步提出了电网电压不平衡条件下双馈风力发电系统多目标补偿控制策略，通过在传统有功、无功功率解耦矢量控制的两个电流内环后分别加入电压补偿控制环节，对不同的控制目标进行补偿控制；提出了双馈风力发电系统多目标切换补偿控制策略，推导了双馈风力发电系统各个变量二倍频分量的关系，将控制量归化到统一等级，采用同一补偿环对不同的控制目标进行切换补偿控制；仿真结果验证了所提控制策略在增强转子侧变换器对转子电流的控制能力和提高风电系统在电网电压不平衡时不脱网运行能力的有效性。
此外，本文探讨了电网电压对称和不对称跌落瞬间双馈风力发电系统转子电流暂态特性，分析了转子电压等级与双馈风力发电系统的低电压穿越运行区间的关系并讨论控制系统的鲁棒性及控制参数对系统的影响；为增强电网故障情况下双馈风力发电系统的低电压穿越运行能力，提出了双馈风力发电系统转子侧变换器比例谐振控制（PR）策略，增加了辅助电流控制器，该控制器在电网故障发生时可对转子侧变换器输出电压进行补偿，抑制故障瞬间产生的转子故障电流二倍频分量与直流分量，实现双馈风力发电系统的低电压穿越运行；对1.5MW风力发电机组进行仿真研究，验证了理论分析的正确性和所提控制策略的可行性。
The stator of doubly fed induction generations (DFIG) is connected to the powergrid, it’s sensitive to the unbalanced voltage and grid voltage sags. Wind turbinesmight have to be disconnected with the network in the condition of grid faults, and thestability will be reduced. The newly proposed grid standard requires that windturbines must have the ability of compensation to unbalanced voltage and low-voltageride-through during grid faults. The control strategy of power converter is the key tothe wind turbines’ normal operation, and it has important significance to research thecontrol strategy to solve the problems. With the research for fault ride-through ofDFIG and the requirement of large scale wind turbines connected to grid this papermake research on the operating characteristic and control strategies of DFIG.
The unmatched model established by traditional model predictive control (MPC)usually deteriorates the control performance and stability of control systems. In thispaper, the mathematical models of the grid-side converter for DFIG are derived.Besides, the operating mode and an error analysis have been given. The instantaneousvariation rates of d-and q-axis currents by applying each converter voltage vector insix different sectors are deduced. Based on the current prediction model, voltagevectors were selected according to minimizing current errors in a fixed time interval,which results in a MPC. The various components which deteriorate the performanceof a conventional model predictive current controller are regarded as disturbances.The relevant gains of the disturbance estimator are determined by root-locus analysis.Moreover, the stability of the disturbance estimator when the inductor filter parameterexist errors is analyzed. The proposed method has an inherent rapid dynamic responsedue to the conventional MPC current controller, as well as robust control performancewith respect to the disturbance and noise interference due to use of the combinedestimation algorithm. Simulation and experimental results are presented to validatethe effectiveness of the model predictive controller with disturbance estimator. Theproposed solution provides good control performance under the accurate model andthe unmatched model.
Moreover, this paper concentrates on grid-side converter of the DFIG systemunder unbalanced grid voltage. Unbalanced grid voltage leads to the increase ofcurrent harmonic and violent fluctuation of active/reactive power. Method of symmetrical components is used to analysis the characteristic of grid-side converterinput current and output power under the unbalanced grid voltage. In order to avoidinvolving any sequential decomposition process, the mathematical model of doublyfed induction generations is established under the unbalancing power grid, and theproblem is transformed to the synchronous rotating coordinate system. As thetraditional solutions based on positive and negative phase sequence decompositionhave relatively complex structure, large calculation load and active/reactive powerfluctuations that can not be suppressed at the same time, a power resonancecompensation control strategy is proposed and unbalance control system for PWMrectifier is designed accordingly. The strategy added a compensation part in traditionalvoltage-oriented vector control strategy to solve the problem of power fluctuation. Aproportional resonant (PR) power control scheme implemented in the two-phasesynchronously rotating reference frame was proposed for the compensation. ThePower pulse compensating controller is designed, and influence of the parameters onthe controller is analyzed. The proposed strategy was finally verified by simulationand experimental results.
In weak grid, the stator of doubly fed induction generations is connected tounbalance voltage, which causes a number of problems, such as unbalance currents,pulsations of active/reactive power and torque. Therefore, beyond a certain amount ofunbalance, wind turbines might have to be disconnected with the network. Accordingto system model of DFIG in the positive and negative synchronous reference framesunder unbalance grid voltage condition, this paper analyses the pulsation features ofstator active/reactive power and torque under this condition. Also, thedouble-frequency expressions of the stator/rotor current, active/reactive power andtorque are inferred. A new multi-target compensation control strategy withoutinvolving positive and negative sequence decomposition is proposed. The controllercan compensate for the problems caused by an unbalanced grid based on differenttargets. Compared with the dual current control design based on separate loops for thepositive and negative sequence components, the proposed control scheme is simplerand need not positive and negative sequence decomposition. It can not only limit thepulsation of the torque or active or reactive power with more flexibility according todifferent targets, but also eliminate active and reactive powers simultaneously whichcan not be realized in the dual current control scheme. The theoretical analysis andfeasibility of the proposed control scheme are validated by simulation study on a1.5 MW wind-turbine driven DFIG system.
Additionally, the transient characteristics of the rotor of DFIG current duringsymmetry and asymmetry grid voltage dips are discussed in the paper. Withoutchanging the structure of hardware, a novel control strategy is also proposed for therotor side converter of doubly fed induction generators-based wind power generationsystem. The strategy consists of a traditional proportional-resonant controller andauxiliary controllers. They can limit direct inrush current and second harmonic whenfalse happens. The auxiliary controllers can compensate output voltage of RSC in thecondition of grid faults, limiting rotor inrush current of DFIG and meeting therequirements of low voltage ride through (LVRT).To improve the response of thesystem, sequential-component decompositions of current are not required in thecontrol system. Since the resonant compensator is a double-side integrator, theauxiliary controllers can be simplified by the coordinate transformation.Therelationship between rotor voltage grade and the LVRT operation area of DFIG isdiscussed and the robustness of the control system and the influence of controlparameters are also discussed. The theoretical analysis and feasibility of the proposedcontrol scheme are validated by simulation study on a1.5MW wind-turbine drivenDFIG system.
本文提出了一种双馈风力发电系统网侧变换器定频式模型预测控制（MPC），基于网侧变换器的电流预测模型，在固定时间间隔内以满足电流误差最小为原则计算电压矢量作用时间，实现对参考电流的准确跟踪；针对电网电压不平衡造成的三相电流不平衡问题，分析了电压不平衡时的系统运行特性，提出改进的参考电流计算方法以消除三相电流不平衡；围绕模型预测控制方法中模型参数与实际系统参数不匹配和外界干扰造成控制性能下降，导致功率变换器运行不稳定的问题，提出了网侧变换器的定频式鲁棒模型预测控制。根据双馈风力发电系统网侧变换器数学模型，剖析了模型不匹配时MPC算法的运行过程和误差产生的机理，分析了六扇区内网侧变换器电压矢量对d、q轴电流瞬时变化的影响；将模型参数不匹配对系统造成的影响作为扰动量，采用Luenberger观测器通过前馈补偿消除系统扰动，利用根轨迹法确定了观测器的增益参数，并分析预测模型中电感参数变化对观测器稳定性的影响；仿真与实验结果验证了所提扰动观测预测控制算法在模型准确和模型参数不匹配条件下的控制性能。
同时，本文开展了电网电压不平衡时双馈风力发电系统网侧变换器运行控制的研究。针对电网电压不平衡引起的网侧变换器交流侧谐波增加、交流侧有功功率和无功功率波动等问题，采用对称分量法分析了不平衡电网电压下双馈风力发电系统网侧变换器输入电流和交流侧功率的稳态特性；将电压不平衡问题转化到同步旋转坐标系中，提出了同步旋转坐标系中不平衡电网电压下网侧变换器的数学模型；在此基础上，针对传统不平衡控制方案结构较复杂、运算量大、有功功率和无功功率波动不能同时抑制等问题，提出了功率谐振补偿控制策略。该策略在电网电压定向矢量控制方法中增加功率脉动补偿环节对瞬时有功、无功功率波动进行电压补偿，仿真与实验结果证明了控制策略的有效性。
分析了双馈风力发电系统在不平衡电网电压下定、转子电流和定子有功、无功功率脉动以及转矩脉动的特性，提出了定、转子电流，有功、无功功率和电磁转矩的二倍频分量控制表达式；以此为基础，进一步提出了电网电压不平衡条件下双馈风力发电系统多目标补偿控制策略，通过在传统有功、无功功率解耦矢量控制的两个电流内环后分别加入电压补偿控制环节，对不同的控制目标进行补偿控制；提出了双馈风力发电系统多目标切换补偿控制策略，推导了双馈风力发电系统各个变量二倍频分量的关系，将控制量归化到统一等级，采用同一补偿环对不同的控制目标进行切换补偿控制；仿真结果验证了所提控制策略在增强转子侧变换器对转子电流的控制能力和提高风电系统在电网电压不平衡时不脱网运行能力的有效性。
此外，本文探讨了电网电压对称和不对称跌落瞬间双馈风力发电系统转子电流暂态特性，分析了转子电压等级与双馈风力发电系统的低电压穿越运行区间的关系并讨论控制系统的鲁棒性及控制参数对系统的影响；为增强电网故障情况下双馈风力发电系统的低电压穿越运行能力，提出了双馈风力发电系统转子侧变换器比例谐振控制（PR）策略，增加了辅助电流控制器，该控制器在电网故障发生时可对转子侧变换器输出电压进行补偿，抑制故障瞬间产生的转子故障电流二倍频分量与直流分量，实现双馈风力发电系统的低电压穿越运行；对1.5MW风力发电机组进行仿真研究，验证了理论分析的正确性和所提控制策略的可行性。
The stator of doubly fed induction generations (DFIG) is connected to the powergrid, it’s sensitive to the unbalanced voltage and grid voltage sags. Wind turbinesmight have to be disconnected with the network in the condition of grid faults, and thestability will be reduced. The newly proposed grid standard requires that windturbines must have the ability of compensation to unbalanced voltage and low-voltageride-through during grid faults. The control strategy of power converter is the key tothe wind turbines’ normal operation, and it has important significance to research thecontrol strategy to solve the problems. With the research for fault ride-through ofDFIG and the requirement of large scale wind turbines connected to grid this papermake research on the operating characteristic and control strategies of DFIG.
The unmatched model established by traditional model predictive control (MPC)usually deteriorates the control performance and stability of control systems. In thispaper, the mathematical models of the grid-side converter for DFIG are derived.Besides, the operating mode and an error analysis have been given. The instantaneousvariation rates of d-and q-axis currents by applying each converter voltage vector insix different sectors are deduced. Based on the current prediction model, voltagevectors were selected according to minimizing current errors in a fixed time interval,which results in a MPC. The various components which deteriorate the performanceof a conventional model predictive current controller are regarded as disturbances.The relevant gains of the disturbance estimator are determined by root-locus analysis.Moreover, the stability of the disturbance estimator when the inductor filter parameterexist errors is analyzed. The proposed method has an inherent rapid dynamic responsedue to the conventional MPC current controller, as well as robust control performancewith respect to the disturbance and noise interference due to use of the combinedestimation algorithm. Simulation and experimental results are presented to validatethe effectiveness of the model predictive controller with disturbance estimator. Theproposed solution provides good control performance under the accurate model andthe unmatched model.
Moreover, this paper concentrates on grid-side converter of the DFIG systemunder unbalanced grid voltage. Unbalanced grid voltage leads to the increase ofcurrent harmonic and violent fluctuation of active/reactive power. Method of symmetrical components is used to analysis the characteristic of grid-side converterinput current and output power under the unbalanced grid voltage. In order to avoidinvolving any sequential decomposition process, the mathematical model of doublyfed induction generations is established under the unbalancing power grid, and theproblem is transformed to the synchronous rotating coordinate system. As thetraditional solutions based on positive and negative phase sequence decompositionhave relatively complex structure, large calculation load and active/reactive powerfluctuations that can not be suppressed at the same time, a power resonancecompensation control strategy is proposed and unbalance control system for PWMrectifier is designed accordingly. The strategy added a compensation part in traditionalvoltage-oriented vector control strategy to solve the problem of power fluctuation. Aproportional resonant (PR) power control scheme implemented in the two-phasesynchronously rotating reference frame was proposed for the compensation. ThePower pulse compensating controller is designed, and influence of the parameters onthe controller is analyzed. The proposed strategy was finally verified by simulationand experimental results.
In weak grid, the stator of doubly fed induction generations is connected tounbalance voltage, which causes a number of problems, such as unbalance currents,pulsations of active/reactive power and torque. Therefore, beyond a certain amount ofunbalance, wind turbines might have to be disconnected with the network. Accordingto system model of DFIG in the positive and negative synchronous reference framesunder unbalance grid voltage condition, this paper analyses the pulsation features ofstator active/reactive power and torque under this condition. Also, thedouble-frequency expressions of the stator/rotor current, active/reactive power andtorque are inferred. A new multi-target compensation control strategy withoutinvolving positive and negative sequence decomposition is proposed. The controllercan compensate for the problems caused by an unbalanced grid based on differenttargets. Compared with the dual current control design based on separate loops for thepositive and negative sequence components, the proposed control scheme is simplerand need not positive and negative sequence decomposition. It can not only limit thepulsation of the torque or active or reactive power with more flexibility according todifferent targets, but also eliminate active and reactive powers simultaneously whichcan not be realized in the dual current control scheme. The theoretical analysis andfeasibility of the proposed control scheme are validated by simulation study on a1.5 MW wind-turbine driven DFIG system.
Additionally, the transient characteristics of the rotor of DFIG current duringsymmetry and asymmetry grid voltage dips are discussed in the paper. Withoutchanging the structure of hardware, a novel control strategy is also proposed for therotor side converter of doubly fed induction generators-based wind power generationsystem. The strategy consists of a traditional proportional-resonant controller andauxiliary controllers. They can limit direct inrush current and second harmonic whenfalse happens. The auxiliary controllers can compensate output voltage of RSC in thecondition of grid faults, limiting rotor inrush current of DFIG and meeting therequirements of low voltage ride through (LVRT).To improve the response of thesystem, sequential-component decompositions of current are not required in thecontrol system. Since the resonant compensator is a double-side integrator, theauxiliary controllers can be simplified by the coordinate transformation.Therelationship between rotor voltage grade and the LVRT operation area of DFIG isdiscussed and the robustness of the control system and the influence of controlparameters are also discussed. The theoretical analysis and feasibility of the proposedcontrol scheme are validated by simulation study on a1.5MW wind-turbine drivenDFIG system.
引文
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