并网风力发电机组的转矩控制研究
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摘要
能源是人类社会生存和发展的重要物质基础，现代社会和现代文明离不开能源的支撑作用。与历史上发达国家工业化过程一样，我国的经济发展需要大量的能源作为保障。从能源的需求和环境保护这两个方面都需要大力发展可再生能源。在以太阳能、风能、生物质能和波浪能等可再生能源中，风能以其良好的投入/产出比和大规模开发利用的能力，成为最具竞争力的可再生能源。随着传统能源的稀缺和风力发电的规模化发展，风电成本越来越具有竞争力，成为环保和廉价新兴能源。风力机技术一直伴随着风电的发展而快速发展，研究风力机技术有利于发展具有自主知识产权的产业，加快风力发电的规模化进程，促进国民经济又好又快发展。
本文首先从能源和经济发展的关系，论述了可再生能源在经济持续发展和环境保护的重要作用，以较详尽的数据，分析了国内外风力机发展现状，对照了风力机系统的主流结构，分析了风力机系统的控制策略和现代控制方法在风力机系统的应用。接着，将风力机的控制分成两个部分即气动和机械传动部分和并网发电机部分，发电机的电磁转矩联系两个部分，其创新性体现在以下几个方面：
分析了气动和机械传动部分的结构和模型。受风速的随机变化的作用，风力机风轮的气动转矩将随之变化，但是由于风轮的巨大惯性作用使其转速很难快速变化，因此不能简单地根据风速来调节风轮转。采用与风轮固有动态特性相匹配的参考模型来提供发电机电磁参考转矩，可以使得风力机的工作更加合理和有效。风轮转矩系数随风速和风轮转速呈非线性关系，本文建立了具有永磁同步发电机的变转速风力机非线性模型，采用反馈线性化方法设计出控制器。仿真结果表明在低风速下能够实现最大风能捕获而在高风速下达到发电机恒功率输出。
双馈电机能够实现风力机的变速运行而只投入少量逆变功率，并可提高并网输出的品质。目前双馈风力机系统逐渐成为并网风力机的主流，而无刷双馈风力机系统仍处于研究试验阶段。本文研究了采用无刷双馈磁阻电机的风力机系统。在电机模型、运行、直接转矩控制和智能控制方面进行了新的探索研究。首先建立了无刷磁阻双馈电机的模型，进而研究这种电机的直接转矩控制，并首次将遗传算法结合模糊控制技术应用到双馈无刷电机的控制中，利用遗传优化模糊控制参数取得了较为满意的结果。
在风力机的运行过程中，由于风速的随机脉动风力机的机舱和塔架会出现振动。这一现象将影响风力机的正常工作和工作寿命。本文首次将风力机转矩控制和左右方向上振动抑制相结合，通过对风力机机舱和塔架的动力学分析，找出风力机振动的主要模态，并在转矩控制中抑制激发振动的频率，使得风力机平稳工作。
并网风力机输出功率受发电机的转矩控制，而在直接转矩控制由空间电压向量的选择与向量的作用时间决定。本文在传统的空间矢量脉宽调制(SVPWM)的基础上，采用混合SVPWM，其作用是通过改变逆变器的工作序列来获得对参考电压向量的最佳等效。因此采用SVPWM有利于减少绕组中的电流波动，也就减少了电机功率绕组电流的脉动量，从而提高了风力发电机的发电品质。本文详细分析了各空间矢量系列对电流脉动的影响情况，确定了减少谐波分量的方案并通过仿真验证了这一方案的有效性。
风力机的现场试验往往受自然条件的限制，风轮模拟器提供了在实验室条件下模拟运行风力机环境。本文从风轮特性入手，分析了用控制电机和传动装置等效风轮的方案，提出了电机直接转矩模拟风轮气动转矩方案。分别采用无差拍控制异步电机和模糊自适应同步电机控制，最后是转矩控制的实验研究，建立了空间矢量脉宽调制的转矩控制平台。对永磁同步电机的转矩控制进行了实验研究并作简要分析，为风力机系统的实验室试验创造了良好的基础。
Energy is an important material foundation for living and developing of human societyand without its supporting there is no modern civilization. Like other industrialized processesof many developed countries, the development of our country also needs large quantity ofenergy. Renewable energy is a feasible solution to deal with the conflict between conventionalenergy and environment. Among renewable energies such as solar energy, wind energy,biomass power and ocean power, wind power is the most competitive one because of niceinvest/output ratio. With the shortage of conventional energy and large-scale deployment ofwind power, the cost of wind power will be more and more reasonable, a truly low pollutionand low cost new energy. Research of wind turbine conversion system and related techniqueswill benefit to the development of knowledge owned techniques, to push forward the processof large-scale wind power, to push forward the development of our economy.
In the thesis, the relation between energy and development is discussed. Concerning theaction of renewable energy in environment protection, the global status of wind power ispresented with updated information. The structures of wind turbine are compared as well asthe control strategies. It is reasonable to divide the whole system of a wind turbine into twosub-systems, the first one includes aerodynamic and mechanical parts and the second oneincludes a grid-connected generator. The main research work focus on following sections.
The structure analysis and modeling of the first sub-system are presented in the paper.The aerodynamic torque of a wind turbine is fluctuated, owing to the fluctuation of windspeed. However, the rotor speed will be controlled to meet the requested tip-speed ratio, it isdifficult to track. In this section, a reference model matching the characteristic of the windturbine is applied to generate needed electro-magnetic torque. With this scheme the operationof wind turbines will be more reasonable and effective. There is a nonlinear function of torquecoefficient of a wind turbine, and the model of transmission chain is typically nonlinear.Control approach of this kind is complicated. A output feedback is used to solve the problem.In fact, it is feasible in the control design and simulation.
The control mean of the second sub-system is torque based. Brushless doubly-fedgenerator has advantages in variable speed wind energy conversion system. The mainresearch object is the reluctance one or BDFRM. In the view of the air gap field of BDFRM,the principles and basic structures of stator and rotor are introduced in detail, at the same timea d-q-0model has been developed under rotating reference frame. With the dynamic equation,three kinds of operating model, synchronous、asynchronous and doubly-fed, are investigated. The analysis of simulation results indicate that the machine possess excellent dynamicperformance under these operating models, a conventional direct torque control model isconstructed, then the paper deeply analyze the advantage and disadvantage of this controlstrategy, simulation results and theory analysis keep high accord, therefore it can be said thatthe simulation model of BDFRM is right.
Aiming at the shortcoming of the conventional direct torque control, the thesis proposeda novel method to improve dynamic characteristic of machines by application of intelligentcontrol to replace bang-bang control. Firstly, a converter switch-table is established by meansof fuzzy control, then the parameters of fuzzy membership functions and rule-bases table havebeen optimized by through of genetic algorithm. Genetic Algorithm is a kind of excellentintelligent algorithm, it possess great advantage on aspect of function optimizing incomparison with other algorithm. A genetic based fuzzy direct torque control of BDFRM ispresented in the paper, to improve the performance of by optimazing the membershipfunctions and rules, and it is proved effective.
During its operation, the nacelle and the tower of a large-scale wind turbine willsometimes vibrate owing to the fluctuation of wind speed. This status will influence theperformance and even the life time of the wind turbine. In this paper, a new approach withwind turbine torque control and side vibration control is introduced, and the dynamic analysisis used to find out the main vibration mode of the system. Control scheme will attenuate thisvibration to keep the wind turbine in normal operation.
The output power of grid connected a wind turbine is regulated by torque from thegenerator. This torque is determined by spatial vectors acting on the control winding and theireffective times. A hybrid SVPWM is used to reduce the current ripples in the control windingand therefore improve the power quality to the grid. In the paper, difference spatial vectorseries are analysis to find out their influences to current ripple, and relevant schemes areprovided to improve the performance.
The experiment of wind turbine operation is restricted by weather conditions; windturbine emulator is a powerful tool to realize the experiment in laboratory. In the paper windturbine characteristics are discussed, and a scheme of a controlled machine with drive-chainequivalent to a wind turbine is introduced. Direct torque control of asynchronous machinewith dead-beat control and of synchronous machine with adaptive fuzzy control is introducedto emulate aerodynamic torque. Comparative experimental study is done on the test plateform.Experment results are provided and analyzed. It creates a good experiment foundation oflaboratory test of wind turbines.
本文首先从能源和经济发展的关系，论述了可再生能源在经济持续发展和环境保护的重要作用，以较详尽的数据，分析了国内外风力机发展现状，对照了风力机系统的主流结构，分析了风力机系统的控制策略和现代控制方法在风力机系统的应用。接着，将风力机的控制分成两个部分即气动和机械传动部分和并网发电机部分，发电机的电磁转矩联系两个部分，其创新性体现在以下几个方面：
分析了气动和机械传动部分的结构和模型。受风速的随机变化的作用，风力机风轮的气动转矩将随之变化，但是由于风轮的巨大惯性作用使其转速很难快速变化，因此不能简单地根据风速来调节风轮转。采用与风轮固有动态特性相匹配的参考模型来提供发电机电磁参考转矩，可以使得风力机的工作更加合理和有效。风轮转矩系数随风速和风轮转速呈非线性关系，本文建立了具有永磁同步发电机的变转速风力机非线性模型，采用反馈线性化方法设计出控制器。仿真结果表明在低风速下能够实现最大风能捕获而在高风速下达到发电机恒功率输出。
双馈电机能够实现风力机的变速运行而只投入少量逆变功率，并可提高并网输出的品质。目前双馈风力机系统逐渐成为并网风力机的主流，而无刷双馈风力机系统仍处于研究试验阶段。本文研究了采用无刷双馈磁阻电机的风力机系统。在电机模型、运行、直接转矩控制和智能控制方面进行了新的探索研究。首先建立了无刷磁阻双馈电机的模型，进而研究这种电机的直接转矩控制，并首次将遗传算法结合模糊控制技术应用到双馈无刷电机的控制中，利用遗传优化模糊控制参数取得了较为满意的结果。
在风力机的运行过程中，由于风速的随机脉动风力机的机舱和塔架会出现振动。这一现象将影响风力机的正常工作和工作寿命。本文首次将风力机转矩控制和左右方向上振动抑制相结合，通过对风力机机舱和塔架的动力学分析，找出风力机振动的主要模态，并在转矩控制中抑制激发振动的频率，使得风力机平稳工作。
并网风力机输出功率受发电机的转矩控制，而在直接转矩控制由空间电压向量的选择与向量的作用时间决定。本文在传统的空间矢量脉宽调制(SVPWM)的基础上，采用混合SVPWM，其作用是通过改变逆变器的工作序列来获得对参考电压向量的最佳等效。因此采用SVPWM有利于减少绕组中的电流波动，也就减少了电机功率绕组电流的脉动量，从而提高了风力发电机的发电品质。本文详细分析了各空间矢量系列对电流脉动的影响情况，确定了减少谐波分量的方案并通过仿真验证了这一方案的有效性。
风力机的现场试验往往受自然条件的限制，风轮模拟器提供了在实验室条件下模拟运行风力机环境。本文从风轮特性入手，分析了用控制电机和传动装置等效风轮的方案，提出了电机直接转矩模拟风轮气动转矩方案。分别采用无差拍控制异步电机和模糊自适应同步电机控制，最后是转矩控制的实验研究，建立了空间矢量脉宽调制的转矩控制平台。对永磁同步电机的转矩控制进行了实验研究并作简要分析，为风力机系统的实验室试验创造了良好的基础。
Energy is an important material foundation for living and developing of human societyand without its supporting there is no modern civilization. Like other industrialized processesof many developed countries, the development of our country also needs large quantity ofenergy. Renewable energy is a feasible solution to deal with the conflict between conventionalenergy and environment. Among renewable energies such as solar energy, wind energy,biomass power and ocean power, wind power is the most competitive one because of niceinvest/output ratio. With the shortage of conventional energy and large-scale deployment ofwind power, the cost of wind power will be more and more reasonable, a truly low pollutionand low cost new energy. Research of wind turbine conversion system and related techniqueswill benefit to the development of knowledge owned techniques, to push forward the processof large-scale wind power, to push forward the development of our economy.
In the thesis, the relation between energy and development is discussed. Concerning theaction of renewable energy in environment protection, the global status of wind power ispresented with updated information. The structures of wind turbine are compared as well asthe control strategies. It is reasonable to divide the whole system of a wind turbine into twosub-systems, the first one includes aerodynamic and mechanical parts and the second oneincludes a grid-connected generator. The main research work focus on following sections.
The structure analysis and modeling of the first sub-system are presented in the paper.The aerodynamic torque of a wind turbine is fluctuated, owing to the fluctuation of windspeed. However, the rotor speed will be controlled to meet the requested tip-speed ratio, it isdifficult to track. In this section, a reference model matching the characteristic of the windturbine is applied to generate needed electro-magnetic torque. With this scheme the operationof wind turbines will be more reasonable and effective. There is a nonlinear function of torquecoefficient of a wind turbine, and the model of transmission chain is typically nonlinear.Control approach of this kind is complicated. A output feedback is used to solve the problem.In fact, it is feasible in the control design and simulation.
The control mean of the second sub-system is torque based. Brushless doubly-fedgenerator has advantages in variable speed wind energy conversion system. The mainresearch object is the reluctance one or BDFRM. In the view of the air gap field of BDFRM,the principles and basic structures of stator and rotor are introduced in detail, at the same timea d-q-0model has been developed under rotating reference frame. With the dynamic equation,three kinds of operating model, synchronous、asynchronous and doubly-fed, are investigated. The analysis of simulation results indicate that the machine possess excellent dynamicperformance under these operating models, a conventional direct torque control model isconstructed, then the paper deeply analyze the advantage and disadvantage of this controlstrategy, simulation results and theory analysis keep high accord, therefore it can be said thatthe simulation model of BDFRM is right.
Aiming at the shortcoming of the conventional direct torque control, the thesis proposeda novel method to improve dynamic characteristic of machines by application of intelligentcontrol to replace bang-bang control. Firstly, a converter switch-table is established by meansof fuzzy control, then the parameters of fuzzy membership functions and rule-bases table havebeen optimized by through of genetic algorithm. Genetic Algorithm is a kind of excellentintelligent algorithm, it possess great advantage on aspect of function optimizing incomparison with other algorithm. A genetic based fuzzy direct torque control of BDFRM ispresented in the paper, to improve the performance of by optimazing the membershipfunctions and rules, and it is proved effective.
During its operation, the nacelle and the tower of a large-scale wind turbine willsometimes vibrate owing to the fluctuation of wind speed. This status will influence theperformance and even the life time of the wind turbine. In this paper, a new approach withwind turbine torque control and side vibration control is introduced, and the dynamic analysisis used to find out the main vibration mode of the system. Control scheme will attenuate thisvibration to keep the wind turbine in normal operation.
The output power of grid connected a wind turbine is regulated by torque from thegenerator. This torque is determined by spatial vectors acting on the control winding and theireffective times. A hybrid SVPWM is used to reduce the current ripples in the control windingand therefore improve the power quality to the grid. In the paper, difference spatial vectorseries are analysis to find out their influences to current ripple, and relevant schemes areprovided to improve the performance.
The experiment of wind turbine operation is restricted by weather conditions; windturbine emulator is a powerful tool to realize the experiment in laboratory. In the paper windturbine characteristics are discussed, and a scheme of a controlled machine with drive-chainequivalent to a wind turbine is introduced. Direct torque control of asynchronous machinewith dead-beat control and of synchronous machine with adaptive fuzzy control is introducedto emulate aerodynamic torque. Comparative experimental study is done on the test plateform.Experment results are provided and analyzed. It creates a good experiment foundation oflaboratory test of wind turbines.
引文
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