变速恒频双馈风力发电机灰色预测控制研究
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摘要
在世界各国开发风电的热潮中,变速恒频双馈风力发电机由于其优良的动态性能和较高的风能利用率,越来越受到人们的重视。与定桨距风力发电机组相比,变桨距系统能够使风力发电机更好地跟踪风速变化,以更高的风能利用率将风能转化为电能。
本文首先对当前世界范围内及我国风电发展现状作一个简要的概括,并系统地归纳了风力发电机的系统构成、运行特性及所要解决的问题;然后,针对风力发电机所要面临的复杂风况,本文重点提出将灰色系统理论的预测控制技术引入变速恒频双馈风力发电机组的控制系统。由于GM(1,1)模型良好的预测功能,本文尝试建立风速动态GM(1,1)预测模型,并用MATLAB实现了单步预测算法。仿真结果显示,GM(1,1)模型可以近似准确地跟踪、预测风速时间序列变化趋势;通过预测风速,进而改善风电机组的控制性能。另外,根据双馈电机转子运动方程,研究了其传递函数表达式,利用灰色预测PID控制来减小系统误差,提高控制精度和系统动态性能。仿真结果显示,灰色估计可以有效地估计系统外部扰动并提供及时、准确的补偿,使系统误差几乎可以达到零。这种事前控制明显优于单纯的PID事后控制方法,说明了灰色预测控制优良的特性。此外,本文提出一种设想,即将灰色预测PID控制方法应用于双馈风力发电机转子电流控制系统,并探讨、研究了该设想的可行性。
During the process of wind power exploration, more and more attention has been paid to the research and utilization of Variable Speed Constant Frequency (VSCF) with Doubly-Fed Induction Generator (DFIG).Compared with other wind generators, the pitch control system of VSCF with DFIG can substantially track the change of wind speed and enhance the efficiency of wind energy extraction.
Firstly , this dissertation generalizes the state of wind power development all over the world ;also , it gives a summary of the structures of different types of wind generators ,as well as the respective problems .Secondly , in order to deal with the complex wind speed and change rate ,this paper concentrates on the use of Grey System Theory ,which was invented by Professor Deng Ju long .To be more specific , I hope that we can put the grey prediction theory into the research of DFIG control system .Due to the excellent performance of GM(1,1) in the prediction of random data of a system ,this paper tries to build up the GM(1,1) dynamic model of wind speed for prediction ,which is implemented by the software of MATLAB for simulation .The results of simulation show that the GM(1,1) model can approximately track and predict the wind speed ,which can help to improve the control strategy of wind turbines .In addition , according to the motion equation of the rotor of DFIG, this paper obtains the formula of transfer function .Then the grey PID control method is applied to reduce the error of the rotor system ,thus advances the control precision and motion performance .The results of simulation show that grey estimation really can estimate the disturbance of a system effectively ,and supply the system with real-time and exact compensation .Consequently ,the total error of the system can be reduced to nearly zero .Obviously , this beforehand control method has a huge advantage over the traditional afterward control of PID .
本文首先对当前世界范围内及我国风电发展现状作一个简要的概括,并系统地归纳了风力发电机的系统构成、运行特性及所要解决的问题;然后,针对风力发电机所要面临的复杂风况,本文重点提出将灰色系统理论的预测控制技术引入变速恒频双馈风力发电机组的控制系统。由于GM(1,1)模型良好的预测功能,本文尝试建立风速动态GM(1,1)预测模型,并用MATLAB实现了单步预测算法。仿真结果显示,GM(1,1)模型可以近似准确地跟踪、预测风速时间序列变化趋势;通过预测风速,进而改善风电机组的控制性能。另外,根据双馈电机转子运动方程,研究了其传递函数表达式,利用灰色预测PID控制来减小系统误差,提高控制精度和系统动态性能。仿真结果显示,灰色估计可以有效地估计系统外部扰动并提供及时、准确的补偿,使系统误差几乎可以达到零。这种事前控制明显优于单纯的PID事后控制方法,说明了灰色预测控制优良的特性。此外,本文提出一种设想,即将灰色预测PID控制方法应用于双馈风力发电机转子电流控制系统,并探讨、研究了该设想的可行性。
During the process of wind power exploration, more and more attention has been paid to the research and utilization of Variable Speed Constant Frequency (VSCF) with Doubly-Fed Induction Generator (DFIG).Compared with other wind generators, the pitch control system of VSCF with DFIG can substantially track the change of wind speed and enhance the efficiency of wind energy extraction.
Firstly , this dissertation generalizes the state of wind power development all over the world ;also , it gives a summary of the structures of different types of wind generators ,as well as the respective problems .Secondly , in order to deal with the complex wind speed and change rate ,this paper concentrates on the use of Grey System Theory ,which was invented by Professor Deng Ju long .To be more specific , I hope that we can put the grey prediction theory into the research of DFIG control system .Due to the excellent performance of GM(1,1) in the prediction of random data of a system ,this paper tries to build up the GM(1,1) dynamic model of wind speed for prediction ,which is implemented by the software of MATLAB for simulation .The results of simulation show that the GM(1,1) model can approximately track and predict the wind speed ,which can help to improve the control strategy of wind turbines .In addition , according to the motion equation of the rotor of DFIG, this paper obtains the formula of transfer function .Then the grey PID control method is applied to reduce the error of the rotor system ,thus advances the control precision and motion performance .The results of simulation show that grey estimation really can estimate the disturbance of a system effectively ,and supply the system with real-time and exact compensation .Consequently ,the total error of the system can be reduced to nearly zero .Obviously , this beforehand control method has a huge advantage over the traditional afterward control of PID .
引文
[1]刘万琨,张志英,等.风能与风力发电技术,化学工业出版社,2006 ,3~6.
[2]张良希.风能开发利用,化学工业出版社,2005 ,4~8.
[3]宋正良.世界风力发展概况,上海大中型电机,2004,1~3.
[4]卞松江.变速恒频风力发电系统关键技术研究,博士学位论文,浙江:浙江大学,2003.
[5]王承旭,张源.风力发电,中国电力出版社,2003 ,71~73.
[6] B.K.Bose .现代电力电子学与交流传动,机械工业出版社,2006,60~61.
[7]伍小杰,柴建云.变速恒频双馈风力发电系统交流励磁综述,电力系统自动化,2004 ,28(23):92~96.
[8]陈伯时.电力拖动自动控制系统——运动控制系统,机械工业出版社, 2006 ,40~44.
[9]邓聚龙.灰理论基础,华中科技大学出版社,2002 ,233~236.
[10]熊和金,徐华中.灰色控制,国防工业出版社,2005 ,70~74.
[11] Lin Chengwu , Wang Fengxiang , Tang Yong .Design and Implementation of A Doubly-Fed VSCF Wind Power Control System ,IEEE,2002,2(2):486~492.
[12]李晶,宋家骅,王伟胜.大型变速恒频风力发电机组建模与仿真,中国电机工程学报,2004,24(6) :100~105.
[13]叶杭冶.风力发电机组的控制技术,机械工业出版社,2005,138~143.
[14] Akira Inoue ,Mohd.Hasan Ali ,Rion Takahashi. A Calculation Method of TheTotal Efficiency of Wind Generator ,IEEE, 2005 ,1595~1600.
[15]王毅.变速恒频恒压无刷双馈电机风力发电系统的研究,[硕士学位论文],湖南:湖南大学,2004.
[16] Ted Brekken , Ned Mohan. A Novel Doubly-Fed Induction Wind Generator Control Scheme for Reactive Power Control and Torque Pulsation Compensation Under Unbalanced Grid Voltage Conditions,IEEE,2003: 760~764.
[17] F.W.Kach , I.Erlich . Dynamic Simulation of Large Wind Farms Integrated In A Multi-Machine Network . IEEE, 2003: 2159~2164.
[18] Hofmann,W. Okafar. Optical Control of Doubly-Fed Full-Controlled Induction Wind Generator with High Efficiency ,The 27th Annual Conference of The IEEE Industrial Electronics Society ,2001 :1213~1218 .
[19] Kenji Amei, Yukichi Tacayasu ,Takahisa Ohji. A maximum Power Control of Wind Generator System Using a Permanent Magnet Synchronous Generator and a Boost Chopper Circuit ,IEEE ,2002 :1447~1452 .
[20] M. A. Khan, P. Pillay. Design of a PM Wind Generator Optimized for EnergyCapture over a Wide Operation Range ,IEEE, 2005 :1501~1506.
[21] Eftichios Koutroulis , Kostas Kalaitzakis .Design of a Maximum Power Tracking System for Wind-Energy-Conversion Applications TRANSACTIONS ON INDUSTRIAL ELECTRONICS,IEEE ,2006 :486~494.
[22]宋战锋.变速恒频双馈风力发电系统自抗绕控制,[硕士学位论文],天津:天津大学,2006 .
[23] Alexander C. Smith ,Rebecca Todd,etc. Improved Energy Conversion for Doubly Fed Wind Generators ,TRANSACTIONS ON INDUSTRIAL ELECTRONICS ,IEEE ,2006 ,42(6) :1421~1428.
[24]张凤阁,王惠军,体宁泽,等.新型无刷双馈变速恒频风力发电系统的建模与数字仿真,太阳能学报,2005, 26(5):660~664.
[25]史林军,潘文霞,白先红.双馈型变速恒频风力发电机矢量控制模型的研究,电力自动化设备,2003,23(5) :15~17.
[26] Guo feng Yuan Jianyun Chai ,Yongdong Li. Vector Control and Synchronization of Doubly Fed Induction Wind Generator System ,IEEE ,886~890.
[27] Pedro Luis Roncero-Sanchez, Vicente Feliu-Batlle. Active and Reactive Power Control for a Wind Generator Connected to the Grid using a Predictive-Integral Control and a PI Control Schemes, IEEE ,2005 :1~10.
[28]刘永涛,支希哲,顾致平,等.转子系统振动的灰色关联控制方法研究,动力学与控制学报,2004 ,2(3):90~93.
[29]张广立,付莹,杨汝清.一种新型自调节灰色预测控制器,控制与决策,2004,19(2):212~215.
[30]邹健.智能预测控制及其应用研究,[博士学位论文],浙江:浙江大学,2006.
[31]高峰,卢尚琼.灰色广义预测控制系统的稳定性和鲁棒性研究,系统仿真学报,2003,15(1):122~126.
[32]岳浩东,孙小勤.灰色预测控制方案在磁场定向控制的异步电机调速系统中的应用,湖南文理学院学报,2006,18(1):57~60.
[33] Dong-Feng Wang,Pu Han,Wei Han. Typical Grey Prediction Control Methods and Simulation Studies ,IEEE,2(3):513~518 .
[34]刘思锋,党耀国,方志耕,等.灰色系统理论及其应用,辞学出版社,2005,142~146.
[35] Rong-Jong Wai ,Ching Hsiang Tu . Adaptive Grey Control for Hybrid Resonant Driving Linear Piezoelectric Ceramic Motor,TRANSACTIONS ON INDUSTRIAL ELECTRONICS ,IEEE ,2006 ,53(2) :640~656.
[36]李江,孙海顺,呈时杰,等.基于灰色系统理论的有源滤波器的预测控制,中国电机工程学报,2002,22(2) :6~10.
[37]刘栋良,赵光宇.灰色反馈线性化控制及其在电机调速中的应用,浙江大学学报(工学版),2005, 39(8):1164~1167.
[38]杨秀媛,肖洋,陈树勇.风电场风速和发电功率预测研究,中国电机程学报,2005,25(11):1~5.
[39] MATLAB基础与提高,电子工业出版社,2006 ,40~52.
[40]刘白雁等.机电系统动态仿真–基于MATLAB/Simulink,机械工业出版社, 2006 ,47~48.
[41]陈雷,刑作霞,李强.双馈变速恒频风力发电机稳态运行特性,沈阳工业大学学报,2004,26(2):149~152.
[42]李天云,全玉生,张宇辉,等.发电机的灰色去余控制,电力系统自动化,1994,18(7):27~32.
[43]刘金琨.先进PID控制MATLAB仿真,电子工业出版社,2006 ,355~358
[44]赵仁德,贺益康,黄科元.变速恒频风力发电机用交流励磁电源的研究,电工技术学报,2004 ,19(6):1~6.
[45]代洪涛.变速恒频双馈风力发电机励磁控制系统的研究,[硕士学位论文],沈阳:沈阳工业大学,2004.
[46]李晶,方勇,宋家骅,等.变速恒频双馈风电机组分段分层控制策略的研究,电网技术,2005 ,26(9):15~21.
[2]张良希.风能开发利用,化学工业出版社,2005 ,4~8.
[3]宋正良.世界风力发展概况,上海大中型电机,2004,1~3.
[4]卞松江.变速恒频风力发电系统关键技术研究,博士学位论文,浙江:浙江大学,2003.
[5]王承旭,张源.风力发电,中国电力出版社,2003 ,71~73.
[6] B.K.Bose .现代电力电子学与交流传动,机械工业出版社,2006,60~61.
[7]伍小杰,柴建云.变速恒频双馈风力发电系统交流励磁综述,电力系统自动化,2004 ,28(23):92~96.
[8]陈伯时.电力拖动自动控制系统——运动控制系统,机械工业出版社, 2006 ,40~44.
[9]邓聚龙.灰理论基础,华中科技大学出版社,2002 ,233~236.
[10]熊和金,徐华中.灰色控制,国防工业出版社,2005 ,70~74.
[11] Lin Chengwu , Wang Fengxiang , Tang Yong .Design and Implementation of A Doubly-Fed VSCF Wind Power Control System ,IEEE,2002,2(2):486~492.
[12]李晶,宋家骅,王伟胜.大型变速恒频风力发电机组建模与仿真,中国电机工程学报,2004,24(6) :100~105.
[13]叶杭冶.风力发电机组的控制技术,机械工业出版社,2005,138~143.
[14] Akira Inoue ,Mohd.Hasan Ali ,Rion Takahashi. A Calculation Method of TheTotal Efficiency of Wind Generator ,IEEE, 2005 ,1595~1600.
[15]王毅.变速恒频恒压无刷双馈电机风力发电系统的研究,[硕士学位论文],湖南:湖南大学,2004.
[16] Ted Brekken , Ned Mohan. A Novel Doubly-Fed Induction Wind Generator Control Scheme for Reactive Power Control and Torque Pulsation Compensation Under Unbalanced Grid Voltage Conditions,IEEE,2003: 760~764.
[17] F.W.Kach , I.Erlich . Dynamic Simulation of Large Wind Farms Integrated In A Multi-Machine Network . IEEE, 2003: 2159~2164.
[18] Hofmann,W. Okafar. Optical Control of Doubly-Fed Full-Controlled Induction Wind Generator with High Efficiency ,The 27th Annual Conference of The IEEE Industrial Electronics Society ,2001 :1213~1218 .
[19] Kenji Amei, Yukichi Tacayasu ,Takahisa Ohji. A maximum Power Control of Wind Generator System Using a Permanent Magnet Synchronous Generator and a Boost Chopper Circuit ,IEEE ,2002 :1447~1452 .
[20] M. A. Khan, P. Pillay. Design of a PM Wind Generator Optimized for EnergyCapture over a Wide Operation Range ,IEEE, 2005 :1501~1506.
[21] Eftichios Koutroulis , Kostas Kalaitzakis .Design of a Maximum Power Tracking System for Wind-Energy-Conversion Applications TRANSACTIONS ON INDUSTRIAL ELECTRONICS,IEEE ,2006 :486~494.
[22]宋战锋.变速恒频双馈风力发电系统自抗绕控制,[硕士学位论文],天津:天津大学,2006 .
[23] Alexander C. Smith ,Rebecca Todd,etc. Improved Energy Conversion for Doubly Fed Wind Generators ,TRANSACTIONS ON INDUSTRIAL ELECTRONICS ,IEEE ,2006 ,42(6) :1421~1428.
[24]张凤阁,王惠军,体宁泽,等.新型无刷双馈变速恒频风力发电系统的建模与数字仿真,太阳能学报,2005, 26(5):660~664.
[25]史林军,潘文霞,白先红.双馈型变速恒频风力发电机矢量控制模型的研究,电力自动化设备,2003,23(5) :15~17.
[26] Guo feng Yuan Jianyun Chai ,Yongdong Li. Vector Control and Synchronization of Doubly Fed Induction Wind Generator System ,IEEE ,886~890.
[27] Pedro Luis Roncero-Sanchez, Vicente Feliu-Batlle. Active and Reactive Power Control for a Wind Generator Connected to the Grid using a Predictive-Integral Control and a PI Control Schemes, IEEE ,2005 :1~10.
[28]刘永涛,支希哲,顾致平,等.转子系统振动的灰色关联控制方法研究,动力学与控制学报,2004 ,2(3):90~93.
[29]张广立,付莹,杨汝清.一种新型自调节灰色预测控制器,控制与决策,2004,19(2):212~215.
[30]邹健.智能预测控制及其应用研究,[博士学位论文],浙江:浙江大学,2006.
[31]高峰,卢尚琼.灰色广义预测控制系统的稳定性和鲁棒性研究,系统仿真学报,2003,15(1):122~126.
[32]岳浩东,孙小勤.灰色预测控制方案在磁场定向控制的异步电机调速系统中的应用,湖南文理学院学报,2006,18(1):57~60.
[33] Dong-Feng Wang,Pu Han,Wei Han. Typical Grey Prediction Control Methods and Simulation Studies ,IEEE,2(3):513~518 .
[34]刘思锋,党耀国,方志耕,等.灰色系统理论及其应用,辞学出版社,2005,142~146.
[35] Rong-Jong Wai ,Ching Hsiang Tu . Adaptive Grey Control for Hybrid Resonant Driving Linear Piezoelectric Ceramic Motor,TRANSACTIONS ON INDUSTRIAL ELECTRONICS ,IEEE ,2006 ,53(2) :640~656.
[36]李江,孙海顺,呈时杰,等.基于灰色系统理论的有源滤波器的预测控制,中国电机工程学报,2002,22(2) :6~10.
[37]刘栋良,赵光宇.灰色反馈线性化控制及其在电机调速中的应用,浙江大学学报(工学版),2005, 39(8):1164~1167.
[38]杨秀媛,肖洋,陈树勇.风电场风速和发电功率预测研究,中国电机程学报,2005,25(11):1~5.
[39] MATLAB基础与提高,电子工业出版社,2006 ,40~52.
[40]刘白雁等.机电系统动态仿真–基于MATLAB/Simulink,机械工业出版社, 2006 ,47~48.
[41]陈雷,刑作霞,李强.双馈变速恒频风力发电机稳态运行特性,沈阳工业大学学报,2004,26(2):149~152.
[42]李天云,全玉生,张宇辉,等.发电机的灰色去余控制,电力系统自动化,1994,18(7):27~32.
[43]刘金琨.先进PID控制MATLAB仿真,电子工业出版社,2006 ,355~358
[44]赵仁德,贺益康,黄科元.变速恒频风力发电机用交流励磁电源的研究,电工技术学报,2004 ,19(6):1~6.
[45]代洪涛.变速恒频双馈风力发电机励磁控制系统的研究,[硕士学位论文],沈阳:沈阳工业大学,2004.
[46]李晶,方勇,宋家骅,等.变速恒频双馈风电机组分段分层控制策略的研究,电网技术,2005 ,26(9):15~21.