基于PCHD双馈感应发电机的L2增益控制研究
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摘要
风能是重要的绿色能源之一,在能源危机与环境污染同益加剧的形势下,风力发电技术得到人们前所未有的关注。本文以变速恒频(VSCF)风力发电系统中双馈感应发电机(DFIG)的运行控制为主要内容,运用哈密顿系统理论与L2增益扰动抑制方法设计了DFIG风力发电系统的控制器,并分析了系统的稳定性。同时对所设计的系统在Matlab/Simulink的软件环境下进行仿真,仿真实验结果表明所提出的控制策略是实现了最大风能捕捉和定子有功、无功的解耦,对实际工程应用具有一定参考价值。
本课题完成的主要工作集中在：
(1)介绍了PCH控制方法和L2扰动抑制的理论基础,并给出了非线性系统的PCHD结构模型。
(2)建立了不同坐标系下DFIG的动态数学模型,并整理得到构建了DFIG的PCH结构形式。构建了由DFIG,双向功率变换器和风轮机构成的变速恒频风力发电系统模型。并分析了双馈感应电机处于亚同步和超同步运行时(电动运行和发电运行时)的能量流动关系。
(3)在PCHD结构形式下DFIG数学模型的基础上,运用状态误差PCHD控制原理和L2扰动抑制原理,设计了变速恒频风力发电系统的PCH控制器和L2增益控制器,并最终得到系统的总控制器。
(4)介绍了电压空间矢量脉宽调制(SVPWM)原理,研究了传动系统的电压空间矢量脉宽调制(SVPWM)实现,并在Matlab/Simulink环境下对DFIG风电系统进行了仿真研究。仿真结果表明了该方法是可行的。
最后,对本文的研究工作做了总结,对该方法的前景进行了展望,并提出了未来对该系统的研究方向。
Wind power is one of the most important Green energy, in the energy crisis and growing environmental pollution situation, the wind power technology is an unprecedented paid close attention. In this paper, the main content is the operation control of doubly-fed induction generator (DFIG) which is usually used in the variable-speed-constant-frequency VSCF wind power system, Applying the Hamiltonian system theory and methods of L2-gain disturbances attenuation, the DFIG wind power system controller is designed, and the Stability of system is analyze. At the same time the design for the system is simulated in the Matlab/Simulink software simulation environment, The simulation results show that the largest wind energy capture as well as Independent reactive power regulation is achieved. It has a certain reference value for engineering application, has certain reference value.
The main issues in this paper are focused on:
Firstly, A PCH control method and L2 disturbance attenuation of the theoretical basis are introduced and the PCHD model of non-linear system is given.
Secondly, Established the DFIG dynamic mathematical model in different coordinates system, and constructed and built up a PCH structure of the DFIG. established the wind turbines VSCF wind power system model which are Constructed by the DFIG, bi-directional power converter. And the described the super-synchrony and sub-synchrony operation of DFIG (electric power state and power state) and the relationship between the energy flows.
Thirdly, under the DFIG mathematical model which is in the form of PCHD structure, using the state error PCHD control theory and the principle of L2 disturbance attenuation, designed the PCH controller and L2 controller gain of the variable speed constant frequency wind power generation system, and finally the total system controller is given.
Fourthly, introduced the voltage space vector pulse width modulation (SVPWM) principle and studied achievement of the voltage space vector pulse width modulation (SVPWM)of the transmission system. And give the simulation for the DFIG wind power system in the Matlab/Simulink environment. The simulation results show that the method is feasible.
Finally, the research work of this article is summarized; some study methods and future research directions of the system are put forwards.
本课题完成的主要工作集中在：
(1)介绍了PCH控制方法和L2扰动抑制的理论基础,并给出了非线性系统的PCHD结构模型。
(2)建立了不同坐标系下DFIG的动态数学模型,并整理得到构建了DFIG的PCH结构形式。构建了由DFIG,双向功率变换器和风轮机构成的变速恒频风力发电系统模型。并分析了双馈感应电机处于亚同步和超同步运行时(电动运行和发电运行时)的能量流动关系。
(3)在PCHD结构形式下DFIG数学模型的基础上,运用状态误差PCHD控制原理和L2扰动抑制原理,设计了变速恒频风力发电系统的PCH控制器和L2增益控制器,并最终得到系统的总控制器。
(4)介绍了电压空间矢量脉宽调制(SVPWM)原理,研究了传动系统的电压空间矢量脉宽调制(SVPWM)实现,并在Matlab/Simulink环境下对DFIG风电系统进行了仿真研究。仿真结果表明了该方法是可行的。
最后,对本文的研究工作做了总结,对该方法的前景进行了展望,并提出了未来对该系统的研究方向。
Wind power is one of the most important Green energy, in the energy crisis and growing environmental pollution situation, the wind power technology is an unprecedented paid close attention. In this paper, the main content is the operation control of doubly-fed induction generator (DFIG) which is usually used in the variable-speed-constant-frequency VSCF wind power system, Applying the Hamiltonian system theory and methods of L2-gain disturbances attenuation, the DFIG wind power system controller is designed, and the Stability of system is analyze. At the same time the design for the system is simulated in the Matlab/Simulink software simulation environment, The simulation results show that the largest wind energy capture as well as Independent reactive power regulation is achieved. It has a certain reference value for engineering application, has certain reference value.
The main issues in this paper are focused on:
Firstly, A PCH control method and L2 disturbance attenuation of the theoretical basis are introduced and the PCHD model of non-linear system is given.
Secondly, Established the DFIG dynamic mathematical model in different coordinates system, and constructed and built up a PCH structure of the DFIG. established the wind turbines VSCF wind power system model which are Constructed by the DFIG, bi-directional power converter. And the described the super-synchrony and sub-synchrony operation of DFIG (electric power state and power state) and the relationship between the energy flows.
Thirdly, under the DFIG mathematical model which is in the form of PCHD structure, using the state error PCHD control theory and the principle of L2 disturbance attenuation, designed the PCH controller and L2 controller gain of the variable speed constant frequency wind power generation system, and finally the total system controller is given.
Fourthly, introduced the voltage space vector pulse width modulation (SVPWM) principle and studied achievement of the voltage space vector pulse width modulation (SVPWM)of the transmission system. And give the simulation for the DFIG wind power system in the Matlab/Simulink environment. The simulation results show that the method is feasible.
Finally, the research work of this article is summarized; some study methods and future research directions of the system are put forwards.
引文
1. Andreas Peterson, Lennart Harnefors, Torbjorn Thiringer, Evaluation of Current Control Methods for Wind Turbines Using Doubly-Fed Induction Machines[J].IEEE Trans. On Power Electronics, Vol.20, No.1, Jan 2005:p227-235.
2.李健,李华德.双馈感应变速恒频风里风力发电机控制系统研究[J].电气传动,2004(4)p16-18.
3.于海生,王海亮,赵克友.永磁同步电动机的哈密顿建模与无源性控制[J].电机与控制学报,2006，10(3)：p31-36.
4.于海生.交流电机的能量成型与非线性控制研究[D].济南：山东大学,2006.
5. Blaschke F. The principle of field orientation applied to the new transvector closed-loop control system for rotating field machines. Siemens-Review,1972,39:p217-220
6.黄志武,单勇腾等.感应电机直接转矩控制三种方案的比较[J].计算机仿真学报,2007,24(3)：p326-332.
7.夏超英.交、直流传动系统的自适应控制[M].北京：机械工业出版社,1998.
8. Riccardo Marino, Sergei Peresada, Patrizio Tomei. Global Adaptive Output Feedback Control of Induction Motors with Uncertain Rotor Resistance. IEEE Transactions on Automatic Control,1999, Vol.44, No.5:p967-983.
9.陈伯时,谢鸿鸣.交流传动系统的控制策略[M].电工技术学报,2000，15(5)：p11-15.
10.陈杰,李永东.异步电机控制策略及无速度传感器系统综述[D].EACS98：p29-40.
11.申铁龙.H∞控制理论及应用[M].北京：清华大学出版社,1996.
12.梅生伟,申铁龙,刘康志.现代鲁棒控制理论与应用[M].北京：清华大学出版社,2003.
13. Nael H. El-Farra, Panagiotis D. Christofides. Robust inverse optimal control laws for nonlinear systems [J]. Int. J. Robust Nonlinear Control,2003,13:p1371-1388.
14.刘会金,张振环.基于PCH模型的APF非线性L2增益控制新方法[J].电力系统及其自动化学报,2008,20(2)：p10-15.
15.林飞等.感应电机的L2增益鲁棒控制[J].中国电机工程学报,2003,vol.23, No.9:p117-120.
16. I. Kanellakopoulos, P. V. Kokotovic, and A. S. Morse, A toolkit for nonlinear Feedback design, [J].Systems and Control Letters,1992, (18):p83-92.
17.李春文,冯元混.多变量非线性控制的逆系统方法[M].北京：清华大学出版社,1990.
18.夏小华,高为炳.非线性系统控制及解耦[M].北京：科学出版社,1993.
19.王涛,肖建,严殊.感应电机反馈线性化解耦控制[J].西南交通大学学报，2007,42(2)：p181-185.
20.杨俊华,吴捷,胡跃明.反步法原理及在非线性鲁棒控制中的应用[J].控制理论与应用,2002，17：p641-647.
21.沈艳霞,林瑾,纪志成.自适应反步法感应电机控制器的设计和仿真研究[J].系统仿真学报,2006,(18)：451-455.
22.高为炳.变结构控制理论基础[M].北京：中国科学技术出版社,1990.
23.纪志成、薛花、沈艳霞.感应电动机无源性控制方法研究[J].电工技术学报,2005,20(3)：p1-6.
24. Bloch A M, Leonard N, Marsden J E. Controlled Lagrangians and the stabilization Of mechanical systems. I. The first matching theorem [J].IEEE Transactions on Automatic Control,2000,45(12):p 2259-2270.
25. Romeo Ortega, Arjan van der Schaftb, Bernhard Maschkec, Gerardo Escobar. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems [J]. Automatic 2002 (38):p585-596.
26.田伟,于海生,于金鹏.Cuk变换器的能量成型控制与仿真研究[J]青岛大学学报(工程技术版),2006,21(4)：p60-65.
27.王勇,于海生.基于端口受控哈密顿方法的Buck-Boost变换器控制[J].青岛大学学报(工程技术版),2007,22(3)：p32-37.
28.于海生,王海亮,赵克友.永磁同步电动机的哈密顿建模与无源性控制[J].电机与控制学报,2006，10(3)：p31-36.
29.王海亮,于海生.异步电动机哈密顿控制系统的建模与仿真[J].青岛大学学报(工程技术版),2006,21(1)：p21-26.
30.于海生,魏庆伟,赵克友,双馈感应电动机的哈密顿系统建模与控制[J]，山东大学学报(工程版),2006,36(2)：p46-51.
31.舒乃秋,张新华.基于哈密顿系统理论的超导储能装置控制器的设计[J].电力自动化设备，2003，23(3)：p64-66.
32. H. Rodriguez, R. Ortega, A. Astolfi. Adaptive partial state feedback stabilization of electromechanical systems [C].American Control Conference, Denver, Colorado, USA,2003.
33. Z. Xi, D. Cheng, J. Lam. Adaptive Stabilization of generalized Hamiltonian systems with dissipation and its application to power systems [J].Int. J. of Systems Science,2002,33(10):p839-846.
34. A. Astolfi, A. Isidori, L. Mareoni. A note on disturbance suppression for Hamiltonian systems by state feedback[C]. Proe. IFAC Workshop on Lagrangian and Hamiltonian methods in nonlinear systems, Seville, Spain,2003.
35. E.Garcia-Canseco, R. Ortega. Power shaping stabilization of linear RLC circuits[C]. American Control Conference, Boston, USA,2004.
36. R. Ortega, M. Galaz, A. Astolfi, Y-Z Sun. T. Shen. Transient stabilization of multimachine power systems with nontrivial transfer conductances[C].NOLCOS, Stuttgart, Germany,2004.
37.刘会金,张振环.基于PCH模型的APF非线性L2增益控制新方法[J].电力系统及其自动化学报,2008,20(2)：p10-15.
38.张振环,刘会金,张全明,李琼林.基于PCH模型的有源电力滤波器滑动耗散阻尼限幅自适应L2增益控制[J].电工技术学报,2008,23(3)：p80-91.
39.陈伯时.电力拖动自动控制系统[M].北京：机械工业出版社,1999.
40. Arjan van der Schaft. L2-Gain and passivity techniques in nonlinear control [M].Springer-Verlag, London,2000.
41. Ortega R, Loria A, Nicklasson PJ, Sira-Ramirez H. Passivity-based Control of Euler-Lagrange Systems [M]. Springer:Berlin,1998.
42. Hugo Rodriguez, Romeo Ortega. Stabilization of electromechanical systems via interconnection and damping assignment [J]. Int. J. Robust and Nonlinear Control.2003,13:p1095-1111.
43.侯俊,于海生.基于能量成形的永磁同步电机最大电流控制.青岛大学学报,2008，2(5)：p18-21.
44.刘其辉,贺益康,卞松江.变速恒频风力发电机空载并网控制.中国电机工程学报,Vol.24No.3 Mar.2004:p132-136
45.刘其辉,贺益康,卞松江.变速恒频风力发电机空载并网控制.中国电机程学报[J],2004,24(3)：p6-11.
46.赵栋利,许洪华,赵斌等.变速恒频风力双馈发电机并网电压控制研究[J].太阳能学报,2004,25(5)：p587-591.
47.张琦玮,蔡旭.最大风能捕获风力发电系统及其仿真[J].电机控制与应用,2007,34(5)：p28-31.
48.张叶明,赵克友.基于双馈感应电机的风力发电系统研究.青岛大学硕士毕业论文,2009.
49.魏晓晨,于海生,邹宗伟.基于能量成形与信号变换原理的异步电动机速度控制[J].青岛大学学报(工程技术版)2009,3(6)：p23-26.
50.贺晓蓉,刘述喜.基于SVPWM异步电机矢量控制系统的仿真[J].计算机仿真,2007,24(4)：p322-325.
2.李健,李华德.双馈感应变速恒频风里风力发电机控制系统研究[J].电气传动,2004(4)p16-18.
3.于海生,王海亮,赵克友.永磁同步电动机的哈密顿建模与无源性控制[J].电机与控制学报,2006，10(3)：p31-36.
4.于海生.交流电机的能量成型与非线性控制研究[D].济南：山东大学,2006.
5. Blaschke F. The principle of field orientation applied to the new transvector closed-loop control system for rotating field machines. Siemens-Review,1972,39:p217-220
6.黄志武,单勇腾等.感应电机直接转矩控制三种方案的比较[J].计算机仿真学报,2007,24(3)：p326-332.
7.夏超英.交、直流传动系统的自适应控制[M].北京：机械工业出版社,1998.
8. Riccardo Marino, Sergei Peresada, Patrizio Tomei. Global Adaptive Output Feedback Control of Induction Motors with Uncertain Rotor Resistance. IEEE Transactions on Automatic Control,1999, Vol.44, No.5:p967-983.
9.陈伯时,谢鸿鸣.交流传动系统的控制策略[M].电工技术学报,2000，15(5)：p11-15.
10.陈杰,李永东.异步电机控制策略及无速度传感器系统综述[D].EACS98：p29-40.
11.申铁龙.H∞控制理论及应用[M].北京：清华大学出版社,1996.
12.梅生伟,申铁龙,刘康志.现代鲁棒控制理论与应用[M].北京：清华大学出版社,2003.
13. Nael H. El-Farra, Panagiotis D. Christofides. Robust inverse optimal control laws for nonlinear systems [J]. Int. J. Robust Nonlinear Control,2003,13:p1371-1388.
14.刘会金,张振环.基于PCH模型的APF非线性L2增益控制新方法[J].电力系统及其自动化学报,2008,20(2)：p10-15.
15.林飞等.感应电机的L2增益鲁棒控制[J].中国电机工程学报,2003,vol.23, No.9:p117-120.
16. I. Kanellakopoulos, P. V. Kokotovic, and A. S. Morse, A toolkit for nonlinear Feedback design, [J].Systems and Control Letters,1992, (18):p83-92.
17.李春文,冯元混.多变量非线性控制的逆系统方法[M].北京：清华大学出版社,1990.
18.夏小华,高为炳.非线性系统控制及解耦[M].北京：科学出版社,1993.
19.王涛,肖建,严殊.感应电机反馈线性化解耦控制[J].西南交通大学学报，2007,42(2)：p181-185.
20.杨俊华,吴捷,胡跃明.反步法原理及在非线性鲁棒控制中的应用[J].控制理论与应用,2002，17：p641-647.
21.沈艳霞,林瑾,纪志成.自适应反步法感应电机控制器的设计和仿真研究[J].系统仿真学报,2006,(18)：451-455.
22.高为炳.变结构控制理论基础[M].北京：中国科学技术出版社,1990.
23.纪志成、薛花、沈艳霞.感应电动机无源性控制方法研究[J].电工技术学报,2005,20(3)：p1-6.
24. Bloch A M, Leonard N, Marsden J E. Controlled Lagrangians and the stabilization Of mechanical systems. I. The first matching theorem [J].IEEE Transactions on Automatic Control,2000,45(12):p 2259-2270.
25. Romeo Ortega, Arjan van der Schaftb, Bernhard Maschkec, Gerardo Escobar. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems [J]. Automatic 2002 (38):p585-596.
26.田伟,于海生,于金鹏.Cuk变换器的能量成型控制与仿真研究[J]青岛大学学报(工程技术版),2006,21(4)：p60-65.
27.王勇,于海生.基于端口受控哈密顿方法的Buck-Boost变换器控制[J].青岛大学学报(工程技术版),2007,22(3)：p32-37.
28.于海生,王海亮,赵克友.永磁同步电动机的哈密顿建模与无源性控制[J].电机与控制学报,2006，10(3)：p31-36.
29.王海亮,于海生.异步电动机哈密顿控制系统的建模与仿真[J].青岛大学学报(工程技术版),2006,21(1)：p21-26.
30.于海生,魏庆伟,赵克友,双馈感应电动机的哈密顿系统建模与控制[J]，山东大学学报(工程版),2006,36(2)：p46-51.
31.舒乃秋,张新华.基于哈密顿系统理论的超导储能装置控制器的设计[J].电力自动化设备，2003，23(3)：p64-66.
32. H. Rodriguez, R. Ortega, A. Astolfi. Adaptive partial state feedback stabilization of electromechanical systems [C].American Control Conference, Denver, Colorado, USA,2003.
33. Z. Xi, D. Cheng, J. Lam. Adaptive Stabilization of generalized Hamiltonian systems with dissipation and its application to power systems [J].Int. J. of Systems Science,2002,33(10):p839-846.
34. A. Astolfi, A. Isidori, L. Mareoni. A note on disturbance suppression for Hamiltonian systems by state feedback[C]. Proe. IFAC Workshop on Lagrangian and Hamiltonian methods in nonlinear systems, Seville, Spain,2003.
35. E.Garcia-Canseco, R. Ortega. Power shaping stabilization of linear RLC circuits[C]. American Control Conference, Boston, USA,2004.
36. R. Ortega, M. Galaz, A. Astolfi, Y-Z Sun. T. Shen. Transient stabilization of multimachine power systems with nontrivial transfer conductances[C].NOLCOS, Stuttgart, Germany,2004.
37.刘会金,张振环.基于PCH模型的APF非线性L2增益控制新方法[J].电力系统及其自动化学报,2008,20(2)：p10-15.
38.张振环,刘会金,张全明,李琼林.基于PCH模型的有源电力滤波器滑动耗散阻尼限幅自适应L2增益控制[J].电工技术学报,2008,23(3)：p80-91.
39.陈伯时.电力拖动自动控制系统[M].北京：机械工业出版社,1999.
40. Arjan van der Schaft. L2-Gain and passivity techniques in nonlinear control [M].Springer-Verlag, London,2000.
41. Ortega R, Loria A, Nicklasson PJ, Sira-Ramirez H. Passivity-based Control of Euler-Lagrange Systems [M]. Springer:Berlin,1998.
42. Hugo Rodriguez, Romeo Ortega. Stabilization of electromechanical systems via interconnection and damping assignment [J]. Int. J. Robust and Nonlinear Control.2003,13:p1095-1111.
43.侯俊,于海生.基于能量成形的永磁同步电机最大电流控制.青岛大学学报,2008，2(5)：p18-21.
44.刘其辉,贺益康,卞松江.变速恒频风力发电机空载并网控制.中国电机工程学报,Vol.24No.3 Mar.2004:p132-136
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