直驱式风力发电并网变流器设计及其控制策略研究
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摘要
随着石油、天然气、煤炭等传统化石燃料的枯竭和及其燃烧对环境造成的严重污染,作为可再生绿色能源的风能的开发利用具有十分重要的意义。
现存的大功率并网型风力发电机组大多采用包含提速齿轮箱的定速恒频的运行方式,存在运行效率低、噪音和机械损耗大等缺点。直驱型风电机组因其具有能量转换效率高、可靠性高、并网功率控制灵活等优点,成为了继双馈型风电机组之后风力发电技术领域的重要研究方向。然而,对于目前主流的兆瓦级直驱型风电机组而言,我国在变流机组及其核心控制技术方面仍依赖进口,极大制约了风电产业的进一步发展。因此,本文围绕直驱型风力发电并网变流器及其控制策略展开研究。
论文首先概述了风电发展现状,比较了当前两种主流技术：双馈式发电机风电系统与直驱式多极同步电机变流器风力发电系统。在简要介绍系统的结构特点与控制要求之后,论文重点研究了并网PWM变流器,阐述了其工作原理和特点。为了进一步研究控制策略,对控制对象进行了数学建模。针对主电路数学模型,研究了基于预测电流(PCFF)的并网PWM变流器控制策略。先通过坐标变换与小信号线性化处理得到系统的连续时不变线性方程,再据此求得传递函数阵并对系统进行了稳态分析。论文还研究了直流电压控制与针对中点接地系统的电压补偿环节,对实际大功率系统做了MatLab仿真以验证控制方法的有效性及参数设计的正确性。
在理论分析与仿真的基础上,本文对提出的控制策略进行了实验研究,设计了实验控制系统的硬件电路和DSP程序。实验结果与理论分析吻合,表明应用该控制策略的PWM变流器具有较好的稳态与动态性能,适用于大功率风力发电应用场合。
With the shortage of the fossil fuel such as coal, oil and the environment pollution caused by the combustion of fossil fuel, It is of great significance to develop and utilize wind power, which is not only renewable but also without pollution.
At the same time,the most of high-power grid-connected wind turbine works as constant speed and constant frequency(CSCF)including up-speed gear.It has low efficiency,makes mechanism spoilage and much noises.Direct-driven wind generation system is considered to be an important research direction in wind generation teehnology area due to its superiorities of being gearless,no slip rings and brushes,flexible power controllability,etc. However,as to MW direct-driven wind turbine, the power converter and core control technologies are still relied on importing in our country, which signifieantly restriets further development of wind energy industry. Therefore, this dissertation gives study on grid-connected power conversion and control strategies for direct-driven wind generation system.Following introduction of the topology characteristics and control requirements of the system, the grid-side converter is emphasized.The mathematical models at low and high frequency is given for general circuits.For models of the main circuits, predicted current control (PCFF) strategies are discussed subsequently, according to which the steady-state solutions and transfer function matrix could be calculated.Moreover the general dc voltage controller and particular compensator for the system with neutral line are also designed.The simulation verification is made using MatLab for the large-scale system.
Predicted current control (PCFF) for the PWM converter are testified experimentally, following designing the hardware circuits and DSP programmes of the control system. The results and analysis for steady-state waveforms, dynamic performances and harmonic cancellation of duplication are provided demonstrating the feasibility in wind power generation and validating the theory presented before.
现存的大功率并网型风力发电机组大多采用包含提速齿轮箱的定速恒频的运行方式,存在运行效率低、噪音和机械损耗大等缺点。直驱型风电机组因其具有能量转换效率高、可靠性高、并网功率控制灵活等优点,成为了继双馈型风电机组之后风力发电技术领域的重要研究方向。然而,对于目前主流的兆瓦级直驱型风电机组而言,我国在变流机组及其核心控制技术方面仍依赖进口,极大制约了风电产业的进一步发展。因此,本文围绕直驱型风力发电并网变流器及其控制策略展开研究。
论文首先概述了风电发展现状,比较了当前两种主流技术：双馈式发电机风电系统与直驱式多极同步电机变流器风力发电系统。在简要介绍系统的结构特点与控制要求之后,论文重点研究了并网PWM变流器,阐述了其工作原理和特点。为了进一步研究控制策略,对控制对象进行了数学建模。针对主电路数学模型,研究了基于预测电流(PCFF)的并网PWM变流器控制策略。先通过坐标变换与小信号线性化处理得到系统的连续时不变线性方程,再据此求得传递函数阵并对系统进行了稳态分析。论文还研究了直流电压控制与针对中点接地系统的电压补偿环节,对实际大功率系统做了MatLab仿真以验证控制方法的有效性及参数设计的正确性。
在理论分析与仿真的基础上,本文对提出的控制策略进行了实验研究,设计了实验控制系统的硬件电路和DSP程序。实验结果与理论分析吻合,表明应用该控制策略的PWM变流器具有较好的稳态与动态性能,适用于大功率风力发电应用场合。
With the shortage of the fossil fuel such as coal, oil and the environment pollution caused by the combustion of fossil fuel, It is of great significance to develop and utilize wind power, which is not only renewable but also without pollution.
At the same time,the most of high-power grid-connected wind turbine works as constant speed and constant frequency(CSCF)including up-speed gear.It has low efficiency,makes mechanism spoilage and much noises.Direct-driven wind generation system is considered to be an important research direction in wind generation teehnology area due to its superiorities of being gearless,no slip rings and brushes,flexible power controllability,etc. However,as to MW direct-driven wind turbine, the power converter and core control technologies are still relied on importing in our country, which signifieantly restriets further development of wind energy industry. Therefore, this dissertation gives study on grid-connected power conversion and control strategies for direct-driven wind generation system.Following introduction of the topology characteristics and control requirements of the system, the grid-side converter is emphasized.The mathematical models at low and high frequency is given for general circuits.For models of the main circuits, predicted current control (PCFF) strategies are discussed subsequently, according to which the steady-state solutions and transfer function matrix could be calculated.Moreover the general dc voltage controller and particular compensator for the system with neutral line are also designed.The simulation verification is made using MatLab for the large-scale system.
Predicted current control (PCFF) for the PWM converter are testified experimentally, following designing the hardware circuits and DSP programmes of the control system. The results and analysis for steady-state waveforms, dynamic performances and harmonic cancellation of duplication are provided demonstrating the feasibility in wind power generation and validating the theory presented before.
引文
[1]李俊峰.风力发电发展趋势-技术与政策.国家发展和改革委能源研究所,2005.10.
[2]贾要勤.风力发电系统的H∞鲁棒控制研究.西安.西安交通大学,2002,12：1-5.
[3]孙耀杰.分布式电源中风力发电的建模与智能控制.西安.西安交通大学2003,11：4-6
[4]代洪涛.15KW变速恒频双馈风力发电机励磁控制系统的研究.沈阳：沈阳工业大学,2004：6-8
[5]张震宇.变速恒频风力发电技术的研究.杭州：浙江大学.2001.
[6]易跃春.风力发电现状、发展前景及市场分析.国际电力,2004,10：18-22
[7]M. R. Dubois. Review of Electromechanical Conversion in Wind Turbines. Report EPP00.R03,Apr.2000:4-26,53-88
[8]Thomas Ackermann. Wind Power in Power Systems. NJ:John Wiley & Sons, Ltd.2005.53-78
[9]倪受元.风力发电讲座第三讲 风力发电用的发电机及风力发电系统.太阳能,2000,4：12-17
[10]倪受元.风力发电讲座第四讲风力发电机组的并网运行.太阳能,2001,1：17-20
[11]吴捷,许燕灏.基于异步电动机的风力机风轮动态模拟方法.华南理工大学学报,2005,33(6)：46-49.
[12]尹明,李庚银,张建成等.直驱式永磁同步风力发电机组建模及其控制策略.电网技术,2007,31(15)：61-65
[13]曹娜,李岩春,赵海翔等.不同风电机组对电网暂态稳定性的影响.电网技术,2007,31(9)：53-57
[14]张崇巍,张兴.PWM整流器及其控制.北京：机械工业出版社.2005.
[15]何明星.三相PWM整流器控制系统的研究.北京交通大学,2003：1-17
[16]B.K. Bose. Modern Power Electronics and AC Drives.NJ:Prentice-Hall.2002
[17]陆书文.用于磁浮供电的PWM整流器多重化运行研究.北京：北京交通大学,2007.
[18]Ning Zhu, Hui Liang. Implementation and control of dual grid connected inverter for wind energy conversion system. Proc.of 32nd Annual Conference on IEEE Industrial Electronics, Paris,France,2006,2861-2866
[19]M. P. Kazmierkowski and L. Malesani. Current control techniques for three-phase voltage-source PWM converters:a survey. IEEE Trans. Ind. Electron. 1998,45(5):691-703
[20]J. Ghaisari and A. Bakhshai.Exact harmonics elimination in PWM multi-module converters. Proc. of 20th IEEE-APEC.2005,1845-1850
[21]A.N. Tiwari, P.Agarwal and S. P.Srivastava. Modified hysteresis controlled PWM rectifier. IEE Proc. Electr. Power Appl,2003,150(4):389-396
[22]R. Wu, S. B.Dewan and G.R. Slemon. Analysis of an ac-to-dc voltage source converter using PWM with phase and amplitude control.IEEE Trans. Ind. Appl,1991,27(2):355-364
[23]薛定宇.反馈控制系统分析与设计—MATLAB语言应用.北京：清华大学出版社,2000.
[24]张志勇.精通MATLAB6.5.北京：北京航空航天大学出版社,2003
[25]Texas Instruments Incorporated. TMS320C28x系列DSP的CPU与外设(上,下)[M].张卫宁编译.北京：清华大学出版社,2004
[26]Texas Instruments Incorporated.TI DSP集成化开发环境(CCS)使用手册[M].彭启琮,张诗雅,常冉等编译.北京：清华大学出版社,2005
[27]苏奎峰,吕强,耿庆锋,陈圣俭.TMS320F2812原理与开发.北京：电子工业出版社,2005.
[28]陈伯时.电力拖动自动控制系统.北京.机械工业出版社.1996.5
[29]Kun Xing, Sudip Mazumder, ZhiHong Ye,et al.The circulating current in paralleled three-phase boost PFC rectifiers.Proc.of 29th IEEE PESC.1998: 783-789
[30]Karl J.Astrom and Bjorn Wittenmark. Computer-Controlled Systems Theory and Design (Third Edition). NJ:Tsinghua University Press & Prentice-Hall. 2002.6
[31]Texas Instruments. Literature Number:SPRS174M.2005.TMS320F2810, TMS320F2811,TMS320F2812.TMS320C2810. TMS320C2811.TMS320C2812 Digital Signal Processors Data Manual.Texas Instruments.2005.10.
[32]王晓明,王玲.电动机的DSP控制.北京：北京航空航天大学出版社.2005
[33]吕成刚.基于DSP的变频调速系统.2002.2
[34]A. Sayigh. World renewable energy. Proc.of 3rd World Conf. on Photovoltaic Energy Conversion.2003,3:2556-2561
[35]申洪.变速恒频风电机并网运行模型研究及其应用.中国电力科学研究院, 2003.
[36]赵莉,刘连根,宋平岗.基于电力电子变流技术的风力能源变换系统[J].变流技术与电力牵引,2006,1：34-38,42.
[37]熊新,梁晖.兆瓦级风力发电变流系统多重斩波器的研究[J].电力电子技术,2006,40(5)：47-49.
[38]L. Chang, R. Doraiswami, T. Boutot, and H. M.Kojabadi.Development of a wind turbine simulator for wind energy conversion systems[A].Proc.Canadian Elect. Comput Eng. Conf, Ottawa, May,2005:550-554.
[40]Jia Yaoqin, Yang zhongqing, Cao Binggang. A New Maximum Power Point Tracking Control Scheme for Wind Generation[A] in Proc.2002 IEEE Procedding of International Conference on Power System Technology, 2002:144-148.
[41]贾要勤.风力发电实验用模拟风力机.太阳能学报.2004,25(6)：735-739
[42]刘和平等.TMS320LF240xDSP C语言开发与应用(第一版).北京.北京航空航天大学出版社.2003.
[43]陈伯时.电力拖动自动控制系统(第三版).北京：机械工业出版社,2005.
[44]叶杭冶.风力发电机组的控制技术.第二版.北京.机械工业出版社.2006.198-99
[45]陈伯时,陈敏逊.交流调速系统.第二版.北京.机械工业出版社.2005,4：
65·72
[46]贺益康,胡家兵.风力机特性的直流电动机模拟及其变速恒频风力发电研究中的应用.太阳能学报.2006.10：1006-1013
[47]Remus Teodorescu, Florin Iov, Frede Blaabjerg. Flexible development and test system for 11 kW wind turbine, the Proceeding of IEEE, Washington D.C, May,2003:67-72
[48]魏毅立.变桨距调速风力发电机组控制系统研究及应用.北京：北京科技大学,2004：38-46
[49]刘其辉.变速恒频风力发电系统运行与控制研究.杭州：浙江大学,2005：15-15
[50]史林军.变速恒频风力发电系统的建模和特性研究.南京：河海大学,2003：10-11
[51]马洪飞,徐殿国.几种变速恒频风力发电系统控制方案的对比分析.电工技术杂志.2000,10：1-4
[52]L.H.Hansen,P.H.Madsen,et al. "Generators and power electronics technology for wind turbines". IECON'01:2000-2005
[2]贾要勤.风力发电系统的H∞鲁棒控制研究.西安.西安交通大学,2002,12：1-5.
[3]孙耀杰.分布式电源中风力发电的建模与智能控制.西安.西安交通大学2003,11：4-6
[4]代洪涛.15KW变速恒频双馈风力发电机励磁控制系统的研究.沈阳：沈阳工业大学,2004：6-8
[5]张震宇.变速恒频风力发电技术的研究.杭州：浙江大学.2001.
[6]易跃春.风力发电现状、发展前景及市场分析.国际电力,2004,10：18-22
[7]M. R. Dubois. Review of Electromechanical Conversion in Wind Turbines. Report EPP00.R03,Apr.2000:4-26,53-88
[8]Thomas Ackermann. Wind Power in Power Systems. NJ:John Wiley & Sons, Ltd.2005.53-78
[9]倪受元.风力发电讲座第三讲 风力发电用的发电机及风力发电系统.太阳能,2000,4：12-17
[10]倪受元.风力发电讲座第四讲风力发电机组的并网运行.太阳能,2001,1：17-20
[11]吴捷,许燕灏.基于异步电动机的风力机风轮动态模拟方法.华南理工大学学报,2005,33(6)：46-49.
[12]尹明,李庚银,张建成等.直驱式永磁同步风力发电机组建模及其控制策略.电网技术,2007,31(15)：61-65
[13]曹娜,李岩春,赵海翔等.不同风电机组对电网暂态稳定性的影响.电网技术,2007,31(9)：53-57
[14]张崇巍,张兴.PWM整流器及其控制.北京：机械工业出版社.2005.
[15]何明星.三相PWM整流器控制系统的研究.北京交通大学,2003：1-17
[16]B.K. Bose. Modern Power Electronics and AC Drives.NJ:Prentice-Hall.2002
[17]陆书文.用于磁浮供电的PWM整流器多重化运行研究.北京：北京交通大学,2007.
[18]Ning Zhu, Hui Liang. Implementation and control of dual grid connected inverter for wind energy conversion system. Proc.of 32nd Annual Conference on IEEE Industrial Electronics, Paris,France,2006,2861-2866
[19]M. P. Kazmierkowski and L. Malesani. Current control techniques for three-phase voltage-source PWM converters:a survey. IEEE Trans. Ind. Electron. 1998,45(5):691-703
[20]J. Ghaisari and A. Bakhshai.Exact harmonics elimination in PWM multi-module converters. Proc. of 20th IEEE-APEC.2005,1845-1850
[21]A.N. Tiwari, P.Agarwal and S. P.Srivastava. Modified hysteresis controlled PWM rectifier. IEE Proc. Electr. Power Appl,2003,150(4):389-396
[22]R. Wu, S. B.Dewan and G.R. Slemon. Analysis of an ac-to-dc voltage source converter using PWM with phase and amplitude control.IEEE Trans. Ind. Appl,1991,27(2):355-364
[23]薛定宇.反馈控制系统分析与设计—MATLAB语言应用.北京：清华大学出版社,2000.
[24]张志勇.精通MATLAB6.5.北京：北京航空航天大学出版社,2003
[25]Texas Instruments Incorporated. TMS320C28x系列DSP的CPU与外设(上,下)[M].张卫宁编译.北京：清华大学出版社,2004
[26]Texas Instruments Incorporated.TI DSP集成化开发环境(CCS)使用手册[M].彭启琮,张诗雅,常冉等编译.北京：清华大学出版社,2005
[27]苏奎峰,吕强,耿庆锋,陈圣俭.TMS320F2812原理与开发.北京：电子工业出版社,2005.
[28]陈伯时.电力拖动自动控制系统.北京.机械工业出版社.1996.5
[29]Kun Xing, Sudip Mazumder, ZhiHong Ye,et al.The circulating current in paralleled three-phase boost PFC rectifiers.Proc.of 29th IEEE PESC.1998: 783-789
[30]Karl J.Astrom and Bjorn Wittenmark. Computer-Controlled Systems Theory and Design (Third Edition). NJ:Tsinghua University Press & Prentice-Hall. 2002.6
[31]Texas Instruments. Literature Number:SPRS174M.2005.TMS320F2810, TMS320F2811,TMS320F2812.TMS320C2810. TMS320C2811.TMS320C2812 Digital Signal Processors Data Manual.Texas Instruments.2005.10.
[32]王晓明,王玲.电动机的DSP控制.北京：北京航空航天大学出版社.2005
[33]吕成刚.基于DSP的变频调速系统.2002.2
[34]A. Sayigh. World renewable energy. Proc.of 3rd World Conf. on Photovoltaic Energy Conversion.2003,3:2556-2561
[35]申洪.变速恒频风电机并网运行模型研究及其应用.中国电力科学研究院, 2003.
[36]赵莉,刘连根,宋平岗.基于电力电子变流技术的风力能源变换系统[J].变流技术与电力牵引,2006,1：34-38,42.
[37]熊新,梁晖.兆瓦级风力发电变流系统多重斩波器的研究[J].电力电子技术,2006,40(5)：47-49.
[38]L. Chang, R. Doraiswami, T. Boutot, and H. M.Kojabadi.Development of a wind turbine simulator for wind energy conversion systems[A].Proc.Canadian Elect. Comput Eng. Conf, Ottawa, May,2005:550-554.
[40]Jia Yaoqin, Yang zhongqing, Cao Binggang. A New Maximum Power Point Tracking Control Scheme for Wind Generation[A] in Proc.2002 IEEE Procedding of International Conference on Power System Technology, 2002:144-148.
[41]贾要勤.风力发电实验用模拟风力机.太阳能学报.2004,25(6)：735-739
[42]刘和平等.TMS320LF240xDSP C语言开发与应用(第一版).北京.北京航空航天大学出版社.2003.
[43]陈伯时.电力拖动自动控制系统(第三版).北京：机械工业出版社,2005.
[44]叶杭冶.风力发电机组的控制技术.第二版.北京.机械工业出版社.2006.198-99
[45]陈伯时,陈敏逊.交流调速系统.第二版.北京.机械工业出版社.2005,4：
65·72
[46]贺益康,胡家兵.风力机特性的直流电动机模拟及其变速恒频风力发电研究中的应用.太阳能学报.2006.10：1006-1013
[47]Remus Teodorescu, Florin Iov, Frede Blaabjerg. Flexible development and test system for 11 kW wind turbine, the Proceeding of IEEE, Washington D.C, May,2003:67-72
[48]魏毅立.变桨距调速风力发电机组控制系统研究及应用.北京：北京科技大学,2004：38-46
[49]刘其辉.变速恒频风力发电系统运行与控制研究.杭州：浙江大学,2005：15-15
[50]史林军.变速恒频风力发电系统的建模和特性研究.南京：河海大学,2003：10-11
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