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CN115987162A - A BDFIG-DC system harmonic copper consumption minimization control device and method - Google Patents

A BDFIG-DC system harmonic copper consumption minimization control device and method Download PDF

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CN115987162A
CN115987162A CN202310099220.3A CN202310099220A CN115987162A CN 115987162 A CN115987162 A CN 115987162A CN 202310099220 A CN202310099220 A CN 202310099220A CN 115987162 A CN115987162 A CN 115987162A
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harmonic
reference value
current
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bdfig
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刘毅
张茂鑫
徐伟
邵诗逸
智刚
邹耕
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China Shipbuilding Saisiyi Wuxi Electrical Technology Co ltd
Huazhong University of Science and Technology
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Wuhan Yanghua Electrical Co ltd
Wuxi Silent Electric System Ses Technology Co ltd
Huazhong University of Science and Technology
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Abstract

本发明提供了一种BDFIG‑DC系统谐波铜耗最小化控制装置及方法，属于BDFIG控制技术领域，装置包括MSC控制系统和谐波铜耗最小化控制系统；MSC控制系统连接在BDFIG的CW侧，用于稳定BDFIG‑DC系统的直流母线电压；且采用CW谐波电流补偿方式控制PW的谐波电流；谐波铜耗最小化控制系统连接在PW侧，用于提供CW谐波电流参考值；其中，BDFIG‑DC系统的PW与三相不控整流桥相连；CW谐波电流参考值包括CW的‑5次谐波电流参考值和7次谐波电流参考值。本发明使得BDFIG的谐波铜耗最小，提高了系统效率。

Figure 202310099220

The invention provides a BDFIG-DC system harmonic copper consumption minimization control device and method, which belong to the field of BDFIG control technology, and the device includes a MSC control system and a harmonic copper consumption minimization control system; the MSC control system is connected to the CW of BDFIG side, used to stabilize the DC bus voltage of the BDFIG-DC system; and adopts the CW harmonic current compensation method to control the harmonic current of the PW; the harmonic copper consumption minimization control system is connected to the PW side to provide the CW harmonic current reference Among them, the PW of the BDFIG‑DC system is connected to the three-phase uncontrolled rectifier bridge; the CW harmonic current reference value includes the CW‑5th harmonic current reference value and the 7th harmonic current reference value. The invention minimizes the harmonic copper consumption of the BDFIG and improves the system efficiency.

Figure 202310099220

Description

一种BDFIG-DC系统谐波铜耗最小化控制装置及方法A BDFIG-DC system harmonic copper loss minimization control device and method

技术领域Technical Field

本发明属于BDFIG控制技术领域，更具体地，涉及一种BDFIG-DC系统谐波铜耗最小化控制装置及方法。The present invention belongs to the technical field of BDFIG control, and more specifically, relates to a BDFIG-DC system harmonic copper loss minimization control device and method.

背景技术Background Art

BDFIG(无刷双馈发电机)是一种新型交流感应电机，包含两套极对数不同的定子绕组和一个用以耦合定子侧不同极对数旋转磁场的特殊设计转子。这两套定子绕组根据传递能量大小分别称为PW和CW。与传统的有刷双馈感应发电机相比，BDFIG取消了电刷和滑环，并且凭借其高可靠性等特点在船舶轴带发电、风力发电、水力发电等领域具有显著的应用优势。BDFIG (Brushless Doubly Fed Induction Generator) is a new type of AC induction motor, which includes two sets of stator windings with different pole pairs and a specially designed rotor for coupling the rotating magnetic field with different pole pairs on the stator side. The two sets of stator windings are called PW and CW according to the amount of energy transferred. Compared with the traditional brushless doubly fed induction generator, BDFIG eliminates brushes and slip rings, and has significant application advantages in the fields of ship shaft power generation, wind power generation, hydropower generation, etc. due to its high reliability and other characteristics.

相较于传统交流电网，直流电网具有无无功潮流、损耗低、并联过程简单等优势。目前风能、太阳能等分布式可再生能源发电并入直流微电网已经在国内外有很多成功的范例并已经成为研究的热点。但是BDFIG-DC系统PW与三相不控整流桥相连，绕组中会产生显著的-5次和7次谐波，进而产生谐波铜耗，导致系统效率下降，这也是制约该系统进一步发展的主要因素之一，必须采取措施加以抑制。Compared with the traditional AC power grid, the DC power grid has the advantages of no reactive power flow, low loss, and simple parallel process. At present, there are many successful examples of the integration of distributed renewable energy such as wind power and solar power into DC microgrids at home and abroad, and it has become a research hotspot. However, the BDFIG-DC system PW is connected to the three-phase uncontrolled rectifier bridge, and significant -5th and 7th harmonics will be generated in the winding, which will in turn generate harmonic copper loss, resulting in a decrease in system efficiency. This is also one of the main factors restricting the further development of the system, and measures must be taken to suppress it.

发明内容Summary of the invention

针对现有技术的缺陷，本发明的目的在于提供一种BDFIG-DC系统谐波铜耗最小化控制装置及方法，旨在解决现有的BDFIG-DC系统PW与三相不控整流桥相连，绕组中会产生显著的-5次和7次谐波，进而产生谐波铜耗，导致系统效率下降的问题。In view of the defects of the prior art, the purpose of the present invention is to provide a BDFIG-DC system harmonic copper loss minimization control device and method, aiming to solve the problem that the existing BDFIG-DC system PW is connected to a three-phase uncontrolled rectifier bridge, significant -5th and 7th harmonics will be generated in the winding, thereby generating harmonic copper loss and causing a decrease in system efficiency.

为实现上述目的，一方面，本发明提供了一种BDFIG-DC系统谐波铜耗最小化控制装置，包括：MSC控制系统和谐波铜耗最小化控制系统；To achieve the above object, on the one hand, the present invention provides a BDFIG-DC system harmonic copper loss minimization control device, comprising: a MSC control system and a harmonic copper loss minimization control system;

MSC控制系统连接在BDFIG的CW侧，用于稳定BDFIG-DC系统的直流母线电压；且采用CW谐波电流补偿方式控制PW的谐波电流；The MSC control system is connected to the CW side of the BDFIG to stabilize the DC bus voltage of the BDFIG-DC system and to control the harmonic current of the PW using the CW harmonic current compensation method.

谐波铜耗最小化控制系统连接在BDFIG的PW侧，用于提供CW谐波电流参考值；The harmonic copper loss minimization control system is connected to the PW side of the BDFIG to provide CW harmonic current reference values;

其中，所述BDFIG-DC系统的PW与三相不控整流桥相连；CW谐波电流参考值包括CW的-5次谐波电流参考值和7次谐波电流参考值。Wherein, the PW of the BDFIG-DC system is connected to a three-phase uncontrolled rectifier bridge; the CW harmonic current reference value includes a -5th harmonic current reference value and a 7th harmonic current reference value of CW.

进一步优选地，谐波铜耗最小化控制系统包括：PW电压锁相环模块、PW谐波电流参考值计算模块、PW电流分离模块和PW谐波电流控制模块；Further preferably, the harmonic copper loss minimization control system comprises: a PW voltage phase-locked loop module, a PW harmonic current reference value calculation module, a PW current separation module and a PW harmonic current control module;

PW电压锁相环模块用于对PW静止abc坐标系三相电压upa、upb、upc依次经过广义积分、坐标变换、除法运算、比例积分运算、加法运算和积分运算获得PW在正序基频旋转坐标系下的电压

Figure BDA0004072720560000021
PW基波电压矢量的角度θp以及PW基波电压矢量的角速度ωp；The PW voltage phase-locked loop module is used to obtain the voltage of PW in the positive sequence fundamental frequency rotating coordinate system by performing generalized integration, coordinate transformation, division, proportional integral, addition and integration operations on the three-phase voltages u pa , u pb and u pc of the PW stationary abc coordinate system.
Figure BDA0004072720560000021
Angle θ p of the PW fundamental wave voltage vector and angular velocity ω p of the PW fundamental wave voltage vector;

PW谐波电流参考值计算模块连接PW电压锁相环模块，用于根据

Figure BDA0004072720560000022
和ωp计算实现最小铜耗控制所需的PW谐波电流参考值
Figure BDA0004072720560000023
The PW harmonic current reference value calculation module is connected to the PW voltage phase-locked loop module to calculate the harmonic current reference value according to the
Figure BDA0004072720560000022
and ω p to calculate the PW harmonic current reference value required to achieve minimum copper loss control
Figure BDA0004072720560000023

PW电流分离模块用于对PW静止abc坐标系三相电流ipa、ipb、ipc顺次进行坐标变换、加法运算、广义积分和坐标变换，获取PW的-5次旋转dq坐标和7次旋转dq坐标下的实际电流分量

Figure BDA0004072720560000024
和
Figure BDA0004072720560000025
The PW current separation module is used to perform coordinate transformation, addition, generalized integration and coordinate transformation on the PW static abc coordinate system three-phase current i pa , i pb , i pc in sequence to obtain the actual current components under the -5th rotation dq coordinate and the 7th rotation dq coordinate of the PW.
Figure BDA0004072720560000024
and
Figure BDA0004072720560000025

PW谐波电流控制模块的输入端连接PW谐波电流参考值计算模块，用于将

Figure BDA0004072720560000026
均顺次进行PI运算后进行坐标变换，获取正序基频旋转坐标系下的CW的-5、7次谐波电流参考值
Figure BDA0004072720560000027
Figure BDA0004072720560000028
The input end of the PW harmonic current control module is connected to the PW harmonic current reference value calculation module, which is used to
Figure BDA0004072720560000026
The coordinate transformation is performed after the PI operation is performed in sequence to obtain the -5th and 7th harmonic current reference values of CW in the positive sequence fundamental frequency rotating coordinate system.
Figure BDA0004072720560000027
Figure BDA0004072720560000028

进一步优选地，MSC控制系统包括：直流母线电压控制模块、CW总电流计算模块、CW电流控制模块、第一坐标变换模块、SVPWM发生器、第二坐标变换模块和CW变换角计算模块；Further preferably, the MSC control system comprises: a DC bus voltage control module, a CW total current calculation module, a CW current control module, a first coordinate transformation module, a SVPWM generator, a second coordinate transformation module and a CW transformation angle calculation module;

直流母线电压控制模块的输出端连接CW总电流计算模块，用于根据直流母线电压参考值

Figure BDA0004072720560000031
和直流母线电压反馈值Udc，获取CW的d轴基波电流参考值
Figure BDA0004072720560000032
The output end of the DC bus voltage control module is connected to the CW total current calculation module, which is used to calculate the total current according to the DC bus voltage reference value.
Figure BDA0004072720560000031
And the DC bus voltage feedback value U dc , obtain the CW d-axis fundamental current reference value
Figure BDA0004072720560000032

CW总电流计算模块的输出端连接CW电流控制模块的输入端；用于将直流母线电压控制模块生成的CW的基波电流参考值与PW谐波电流控制模块生成的CW的-5次和7次谐波电流参考值相加生成CW总电流参考值；The output end of the CW total current calculation module is connected to the input end of the CW current control module; it is used to add the CW fundamental current reference value generated by the DC bus voltage control module and the CW -5th and 7th harmonic current reference values generated by the PW harmonic current control module to generate a CW total current reference value;

CW总电流控制模块的输出端连接第一坐标变换模块，用于将CW总电流计算模块得到的CW总电流参考值与第二坐标变换模块得到的CW电流实际值进行

Figure BDA0004072720560000033
和
Figure BDA0004072720560000034
运算，将得到的差值进行比例积分谐振运算，得到dq坐标系下CW电压参考值
Figure BDA0004072720560000035
和
Figure BDA0004072720560000036
The output end of the CW total current control module is connected to the first coordinate transformation module, which is used to compare the CW total current reference value obtained by the CW total current calculation module with the CW current actual value obtained by the second coordinate transformation module.
Figure BDA0004072720560000033
and
Figure BDA0004072720560000034
Operation, the obtained difference is subjected to proportional integral resonance operation to obtain the CW voltage reference value in the dq coordinate system
Figure BDA0004072720560000035
and
Figure BDA0004072720560000036

第一坐标变换模块的输出端与SVPWM发生器相连，用于将dq坐标系下CW电压参考值

Figure BDA0004072720560000037
和
Figure BDA0004072720560000038
变换为两相静止坐标系下CW的α轴分量参考值
Figure BDA0004072720560000039
和β轴分量参考值
Figure BDA00040727205600000310
The output end of the first coordinate transformation module is connected to the SVPWM generator to convert the CW voltage reference value in the dq coordinate system
Figure BDA0004072720560000037
and
Figure BDA0004072720560000038
Transformed into the reference value of the α-axis component of CW in the two-phase stationary coordinate system
Figure BDA0004072720560000039
and β-axis component reference value
Figure BDA00040727205600000310

第二坐标变换模块的输出端连接CW电流控制模块，用于将abc坐标系下CW的a相电流ica、b相电流icb和c相电流icc变换为dq坐标系下CW电流的d轴分量icd和q轴分量icq；The output end of the second coordinate transformation module is connected to the CW current control module, and is used to transform the CW a-phase current i ca , b-phase current i cb and c-phase current i cc in the abc coordinate system into the d-axis component i cd and q-axis component i cq of the CW current in the dq coordinate system;

CW变换角计算模块用于根据测得的RW角频率和给定的PW角频率以获取变换参考角度；The CW transformation angle calculation module is used to obtain the transformation reference angle according to the measured RW angular frequency and the given PW angular frequency;

SVPWM发生器用于基于两相静止坐标系下CW的α轴分量参考值

Figure BDA00040727205600000311
和β轴分量参考值
Figure BDA00040727205600000312
产生MSC需要的PWM信号，进而稳定BDFIG-DC系统的直流母线电压。The SVPWM generator is used to calculate the α-axis reference value of CW based on the two-phase stationary coordinate system.
Figure BDA00040727205600000311
and β-axis component reference value
Figure BDA00040727205600000312
Generate the PWM signal required by MSC, thereby stabilizing the DC bus voltage of the BDFIG-DC system.

进一步优选地，PW谐波电流控制模块，包括第十加法器、第十一加法器、第十二加法器、第十三加法器、第三PI控制器、第四PI控制器、第五PI控制器、第六PI控制器、第七坐标变换器和第八坐标变换器；Further preferably, the PW harmonic current control module includes a tenth adder, an eleventh adder, a twelfth adder, a thirteenth adder, a third PI controller, a fourth PI controller, a fifth PI controller, a sixth PI controller, a seventh coordinate converter and an eighth coordinate converter;

第十加法器的输出端与第三PI控制器的输入端连接；第十一加法器的输出端与第四PI控制器的输入端连接；第三PI控制器和第四PI控制器的输出端与第七坐标变换器的输入端连接；第十二加法器的输出端与第五PI控制器的输入端连接；第十三加法器的输出端与所述第六PI控制器的输入端连接；第五PI控制器和第六PI控制器的输出端与第八坐标变换器的输入端连接；The output end of the tenth adder is connected to the input end of the third PI controller; the output end of the eleventh adder is connected to the input end of the fourth PI controller; the output ends of the third PI controller and the fourth PI controller are connected to the input end of the seventh coordinate converter; the output end of the twelfth adder is connected to the input end of the fifth PI controller; the output end of the thirteenth adder is connected to the input end of the sixth PI controller; the output ends of the fifth PI controller and the sixth PI controller are connected to the input end of the eighth coordinate converter;

第十加法器、第十一加法器、第十二加法器和第十三加法器分别用于进行

Figure BDA0004072720560000041
和
Figure BDA0004072720560000042
运算；The tenth adder, the eleventh adder, the twelfth adder and the thirteenth adder are respectively used for performing
Figure BDA0004072720560000041
and
Figure BDA0004072720560000042
Operation;

第三PI控制器、第四PI控制器、第五PI控制器和第六PI控制器分别用于对

Figure BDA0004072720560000043
和
Figure BDA0004072720560000044
进行比例积分运算；The third PI controller, the fourth PI controller, the fifth PI controller and the sixth PI controller are respectively used to
Figure BDA0004072720560000043
and
Figure BDA0004072720560000044
Perform proportional integral operation;

第七坐标变换器用于获取正序基频旋转坐标下的CW的-5次谐波电流参考值的d轴分量

Figure BDA0004072720560000045
和正序基频旋转坐标下的CW的-5次谐波电流参考值的q轴分量
Figure BDA0004072720560000046
The seventh coordinate converter is used to obtain the d-axis component of the -5th harmonic current reference value of CW under the positive sequence fundamental frequency rotating coordinate
Figure BDA0004072720560000045
The q-axis component of the CW -5th harmonic current reference value under the positive sequence fundamental frequency rotation coordinate
Figure BDA0004072720560000046

第八坐标变换器用于获取正序基频旋转坐标下的CW的7次谐波电流参考值的d轴分量

Figure BDA0004072720560000047
和正序基频旋转坐标下的CW的7次谐波电流参考值的q轴分量
Figure BDA0004072720560000048
The eighth coordinate converter is used to obtain the d-axis component of the 7th harmonic current reference value of CW under the positive sequence fundamental frequency rotating coordinate
Figure BDA0004072720560000047
The q-axis component of the 7th harmonic current reference value of CW in the positive sequence fundamental frequency rotating coordinate
Figure BDA0004072720560000048

另一方面，本发明提供了一种BDFIG-DC系统谐波铜耗最小化控制方法，包括以下步骤：On the other hand, the present invention provides a BDFIG-DC system harmonic copper loss minimization control method, comprising the following steps:

采用谐波铜耗最小化控制系统提供CW谐波电流参考值；Adopt harmonic copper loss minimization control system to provide CW harmonic current reference value;

利用MSC控制系统采用CW谐波电流补偿方式控制PW的谐波电流，进而降低谐波铜耗；The MSC control system uses CW harmonic current compensation to control the harmonic current of PW, thereby reducing harmonic copper loss;

其中，所述BDFIG-DC系统的PW与三相不控整流桥相连；CW谐波电流参考值包括CW的-5次谐波电流参考值和7次谐波电流参考值。Wherein, the PW of the BDFIG-DC system is connected to a three-phase uncontrolled rectifier bridge; the CW harmonic current reference value includes a -5th harmonic current reference value and a 7th harmonic current reference value of CW.

进一步优选地，CW谐波电流参考值的获取方法为：Further preferably, the method for obtaining the CW harmonic current reference value is:

对PW静止abc坐标系三相电压upa、upb、upc依次经过广义积分、坐标变换、除法运算、比例积分运算、加法运算和积分运算获得PW在正序基频旋转坐标系下的电压

Figure BDA0004072720560000049
PW基波电压矢量的角度θp以及PW基波电压矢量的角速度ωp；The three-phase voltages u pa , u pb and u pc of the PW stationary abc coordinate system are successively subjected to generalized integration, coordinate transformation, division operation, proportional integral operation, addition operation and integration operation to obtain the voltage of the PW in the positive sequence fundamental frequency rotating coordinate system.
Figure BDA0004072720560000049
Angle θ p of the PW fundamental wave voltage vector and angular velocity ω p of the PW fundamental wave voltage vector;

根据

Figure BDA0004072720560000051
和ωp计算实现最小铜耗控制所需的PW谐波电流参考值
Figure BDA0004072720560000052
Figure BDA0004072720560000053
according to
Figure BDA0004072720560000051
and ω p to calculate the PW harmonic current reference value required to achieve minimum copper loss control
Figure BDA0004072720560000052
Figure BDA0004072720560000053

其中，

Figure BDA0004072720560000054
in,
Figure BDA0004072720560000054

Figure BDA0004072720560000055
Figure BDA0004072720560000056
Figure BDA0004072720560000057
分别为PW的-5次旋转坐标系下的-5次谐波参考电流d轴分量和q轴分量；
Figure BDA0004072720560000058
和
Figure BDA0004072720560000059
分别为PW的7次旋转坐标系下的7次谐波参考电流d轴分量和q轴分量；
Figure BDA00040727205600000510
为PW正序基频旋转坐标系下的实际基波电压d轴分量；ωp为PW基波电压角频率；Rp、Rc和Rr分别为PW、CW和RW的单相电阻；Lp、Lc和Lr分别为PW、CW和RW的自感；Lpr和Lcr分别为PW和RW之间和CW和RW之间的互感。
Figure BDA0004072720560000055
Figure BDA0004072720560000056
Figure BDA0004072720560000057
They are respectively the -5th harmonic reference current d-axis component and q-axis component in the -5th rotation coordinate system of PW;
Figure BDA0004072720560000058
and
Figure BDA0004072720560000059
They are the d-axis component and q-axis component of the 7th harmonic reference current in the 7th rotation coordinate system of PW respectively;
Figure BDA00040727205600000510
is the actual fundamental voltage d-axis component in the PW positive sequence fundamental frequency rotating coordinate system; ω p is the PW fundamental voltage angular frequency; R p , R c and R r are the single-phase resistances of PW, CW and RW respectively; L p , L c and L r are the self-inductances of PW, CW and RW respectively; L pr and L cr are the mutual inductances between PW and RW and between CW and RW respectively.

对PW静止abc坐标系三相电流ipa、ipb、ipc顺次进行坐标变换、加法运算、广义积分和坐标变换，获取PW的-5次旋转dq坐标和7次旋转dq坐标下的实际电流分量

Figure BDA00040727205600000511
和
Figure BDA00040727205600000512
The three-phase currents i pa , i pb , i pc of the PW stationary abc coordinate system are subjected to coordinate transformation, addition operation, generalized integration and coordinate transformation in sequence to obtain the actual current components of the PW under the -5th rotation dq coordinates and the 7th rotation dq coordinates.
Figure BDA00040727205600000511
and
Figure BDA00040727205600000512

将

Figure BDA00040727205600000513
均顺次进行PI运算后进行坐标变换，获取正序基频旋转坐标系下的CW的-5、7次谐波电流参考值
Figure BDA00040727205600000514
Figure BDA00040727205600000515
Will
Figure BDA00040727205600000513
The coordinate transformation is performed after the PI operation is performed in sequence to obtain the -5th and 7th harmonic current reference values of CW in the positive sequence fundamental frequency rotating coordinate system.
Figure BDA00040727205600000514
Figure BDA00040727205600000515

进一步优选地，控制MSC的方法，包括以下步骤：Further preferably, the method for controlling the MSC comprises the following steps:

根据直流母线电压参考值

Figure BDA00040727205600000516
和直流母线电压反馈值Udc，获取CW的d轴基波电流参考值
Figure BDA00040727205600000517
According to the DC bus voltage reference value
Figure BDA00040727205600000516
And the DC bus voltage feedback value U dc , obtain the CW d-axis fundamental current reference value
Figure BDA00040727205600000517

将CW基波电流参考值与CW的-5次和7次谐波电流参考值相加生成CW总电流参考值；The CW fundamental current reference value is added to the CW -5th and 7th harmonic current reference values to generate a CW total current reference value;

将CW总电流参考值与CW电流实际值进行

Figure BDA0004072720560000061
和
Figure BDA0004072720560000062
运算，将得到的差值进行比例积分谐振运算，得到dq坐标系下CW电压参考值
Figure BDA0004072720560000063
和
Figure BDA0004072720560000064
Compare the CW total current reference value with the CW current actual value
Figure BDA0004072720560000061
and
Figure BDA0004072720560000062
Operation, the obtained difference is subjected to proportional integral resonance operation to obtain the CW voltage reference value in the dq coordinate system
Figure BDA0004072720560000063
and
Figure BDA0004072720560000064

将dq坐标系下CW电压参考值

Figure BDA0004072720560000065
和
Figure BDA0004072720560000066
变换为两相静止坐标系下CW的α轴分量参考值
Figure BDA0004072720560000067
和β轴分量参考值
Figure BDA0004072720560000068
The CW voltage reference value in the dq coordinate system
Figure BDA0004072720560000065
and
Figure BDA0004072720560000066
Transformed into the reference value of the α-axis component of CW in the two-phase stationary coordinate system
Figure BDA0004072720560000067
and β-axis component reference value
Figure BDA0004072720560000068

将abc坐标系下CW的a相电流ica、b相电流icb和c相电流icc变换为dq坐标系下CW电流的d轴分量icd和q轴分量icq；The a-phase current i ca , b-phase current i cb and c-phase current i cc of the CW in the abc coordinate system are transformed into the d-axis component i cd and q-axis component i cq of the CW current in the dq coordinate system;

根据测得的RW角频率和给定的PW角频率以获取变换参考角度；Obtaining a transformation reference angle according to the measured RW angular frequency and the given PW angular frequency;

基于两相静止坐标系下CW的α轴分量参考值

Figure BDA0004072720560000069
和β轴分量参考值
Figure BDA00040727205600000610
产生MSC需要的PWM信号，进而实现对MSC的控制。Reference value of α-axis component of CW based on two-phase stationary coordinate system
Figure BDA0004072720560000069
and β-axis component reference value
Figure BDA00040727205600000610
Generate the PWM signal required by the MSC, thereby realizing the control of the MSC.

总体而言，通过本发明所构思的以上技术方案与现有技术相比，具有以下In general, the above technical solution conceived by the present invention has the following advantages compared with the prior art:

有益效果：Beneficial effects:

本发明提供了一种BDFIG-DC系统谐波铜耗最小化控制装置及方法，目的在于不增加额外滤波装置，通过控制方法使得谐波铜耗尽可能减小，提高BDFIG-DC系统的效率。更为具体地，本发明利用MSC控制系统，采用CW谐波电流参考值(CW的-5次和7次电流谐波分量)补偿CW基波电流参考值，进而控制PW的谐波电流，使得BDFIG的谐波铜耗最小，提高了系统效率。其中，谐波铜耗最小化控制系统连接在BDFIG的PW侧，用于提供CW谐波电流参考值；CW谐波电流参考值包括CW的-5次谐波电流参考值和7次谐波电流参考值。更为具体地，对PW静止abc坐标系三相电压upa、upb、upc依次经过广义积分、坐标变换、除法运算、比例积分运算、加法运算和积分运算获得PW在正序基频旋转坐标系下的电压

Figure BDA00040727205600000611
PW基波电压矢量的角度θp以及PW基波电压矢量的角速度ωp；根据
Figure BDA00040727205600000613
和ωp计算实现最小铜耗控制所需的PW谐波电流参考值
Figure BDA00040727205600000612
对PW静止abc坐标系三相电流ipa、ipb、ipc顺次进行坐标变换、加法运算、广义积分和坐标变换，获取PW的-5次旋转dq坐标和7次旋转dq坐标下的实际电流分量
Figure BDA0004072720560000071
和
Figure BDA0004072720560000072
将
Figure BDA0004072720560000073
Figure BDA0004072720560000074
均顺次进行PI运算后进行坐标变换，获取正序基频旋转坐标系下的CW的-5、7次谐波电流参考值
Figure BDA0004072720560000075
The present invention provides a BDFIG-DC system harmonic copper loss minimization control device and method, the purpose is to reduce the harmonic copper depletion through the control method without adding additional filtering devices, and improve the efficiency of the BDFIG-DC system. More specifically, the present invention uses the MSC control system, adopts the CW harmonic current reference value (CW's -5th and 7th current harmonic components) to compensate the CW fundamental current reference value, and then controls the harmonic current of the PW, so that the harmonic copper loss of the BDFIG is minimized, and the system efficiency is improved. Among them, the harmonic copper loss minimization control system is connected to the PW side of the BDFIG, and is used to provide the CW harmonic current reference value; the CW harmonic current reference value includes the CW -5th harmonic current reference value and the 7th harmonic current reference value. More specifically, the three-phase voltages u pa , u pb , and u pc of the PW stationary abc coordinate system are sequentially subjected to generalized integration, coordinate transformation, division operation, proportional integral operation, addition operation, and integration operation to obtain the voltage of the PW in the positive sequence fundamental frequency rotating coordinate system.
Figure BDA00040727205600000611
The angle θ p of the PW fundamental wave voltage vector and the angular velocity ω p of the PW fundamental wave voltage vector; according to
Figure BDA00040727205600000613
and ω p to calculate the PW harmonic current reference value required to achieve minimum copper loss control
Figure BDA00040727205600000612
The three-phase currents i pa , i pb , i pc of the PW stationary abc coordinate system are subjected to coordinate transformation, addition operation, generalized integration and coordinate transformation in sequence to obtain the actual current components of the PW under the -5th rotation dq coordinates and the 7th rotation dq coordinates.
Figure BDA0004072720560000071
and
Figure BDA0004072720560000072
Will
Figure BDA0004072720560000073
Figure BDA0004072720560000074
The coordinate transformation is performed after the PI operation is performed in sequence to obtain the -5th and 7th harmonic current reference values of CW in the positive sequence fundamental frequency rotating coordinate system.
Figure BDA0004072720560000075

附图说明BRIEF DESCRIPTION OF THE DRAWINGS

图1是本发明实施例提供的BDFIG-DC系统谐波铜耗最小化控制方法示意图；FIG1 is a schematic diagram of a method for minimizing harmonic copper loss in a BDFIG-DC system provided by an embodiment of the present invention;

图2是本发明实施例提供的直流母线电压控制模块的结构示意图；FIG2 is a schematic diagram of the structure of a DC bus voltage control module provided in an embodiment of the present invention;

图3是本发明实施例提供的CW总电流计算模块的结构示意图；3 is a schematic diagram of the structure of a CW total current calculation module provided in an embodiment of the present invention;

图4是本发明实施例提供的CW电流控制模块的结构示意图；FIG4 is a schematic diagram of the structure of a CW current control module provided in an embodiment of the present invention;

图5是本发明实施例提供的PW电压锁相环模块的结构示意图；5 is a schematic diagram of the structure of a PW voltage phase-locked loop module provided in an embodiment of the present invention;

图6是本发明实施例提供的PW谐波电流参考值计算模块的结构示意图；6 is a schematic diagram of the structure of a PW harmonic current reference value calculation module provided in an embodiment of the present invention;

图7是本发明实施例提供的PW电流分离模块的结构示意图；7 is a schematic diagram of the structure of a PW current separation module provided in an embodiment of the present invention;

图8是本发明实施例提供的PW谐波电流控制模块的结构示意图。FIG. 8 is a schematic diagram of the structure of a PW harmonic current control module provided in an embodiment of the present invention.

具体实施方式DETAILED DESCRIPTION

为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

以下对本发明中有关概念加以解释：The following explains the relevant concepts in the present invention:

abc坐标系：对应于交流电机的三相对称的静止绕组，具有相交于原点的a轴、b轴和c轴三个坐标轴，三个坐标轴在空间静止且互差120度对称分布，按顺时针方向，依次为a轴、b轴和c轴；abc coordinate system: corresponds to the three-phase symmetrical stationary winding of the AC motor, with three coordinate axes, a-axis, b-axis and c-axis, intersecting at the origin. The three coordinate axes are stationary in space and symmetrically distributed with a difference of 120 degrees. In the clockwise direction, they are a-axis, b-axis and c-axis respectively;

两相静止坐标系：对应于交流电机虚拟的两相正交的静止绕组，具有相交于原点的α轴和β轴两个坐标轴，两个坐标轴在空间静止且互差90度，按逆时针方向，依次为α轴和β轴；Two-phase stationary coordinate system: corresponds to the virtual two-phase orthogonal stationary winding of the AC motor, with two coordinate axes, α-axis and β-axis, intersecting at the origin. The two coordinate axes are stationary in space and 90 degrees apart from each other. In the counterclockwise direction, they are α-axis and β-axis respectively;

正序基频dq旋转坐标系：具有相交于原点的d轴和q轴两个坐标轴，两个坐标轴互差90度(按逆时针方向，依次为d轴和q轴)，以角速度ωp逆时针旋转；其中ωp为PW电压基波分量的旋转角速度；Positive sequence fundamental frequency dq rotating coordinate system: has two coordinate axes, d-axis and q-axis, intersecting at the origin, the two coordinate axes are 90 degrees apart (in the counterclockwise direction, d-axis and q-axis respectively), and rotate counterclockwise at an angular velocity ω p ; where ω p is the rotation angular velocity of the fundamental component of the PW voltage;

负五次旋转dq坐标系：具有相交于原点的d轴和q轴两个坐标轴，两个坐标轴互差90度(按逆时针方向，依次为d轴和q轴)，以角速度-5ωp顺时针旋转；Negative quintic rotation dq coordinate system: has two coordinate axes, d-axis and q-axis, intersecting at the origin, with a 90 degree difference between the two axes (in the counterclockwise direction, d-axis and q-axis, respectively), and rotates clockwise at an angular velocity of -5ω p ;

七次旋转dq坐标系：具有相交于原点的d轴和q轴两个坐标轴，两个坐标轴互差90度(按逆时针方向，依次为d轴和q轴)，以角速度7ωp逆时针旋转；Seven-fold rotation dq coordinate system: has two coordinate axes, the d-axis and the q-axis, intersecting at the origin, the two coordinate axes are 90 degrees apart (in the counterclockwise direction, the d-axis and the q-axis, respectively), and rotates counterclockwise at an angular velocity of 7ω p ;

本发明中α轴和a轴重合；In the present invention, the α-axis and the a-axis coincide;

本发明中如果不在右上角标明电气量所在的dq坐标系，则默认为正序基频旋转坐标系：dq坐标系；In the present invention, if the dq coordinate system where the electrical quantity is located is not indicated in the upper right corner, the positive sequence fundamental frequency rotating coordinate system is assumed to be the dq coordinate system;

电气量右下角的p代表PW侧，dq和αβ分别表示两相旋转坐标系和两相静止坐标系，数字代表谐波次数；右上角的数字代表旋转坐标系的次数，“*”代表参考值，变量上方的“～”代表该变量的共轭；The p in the lower right corner of the electrical quantity represents the PW side, dq and αβ represent the two-phase rotating coordinate system and the two-phase stationary coordinate system respectively, and the numbers represent the harmonic order; the numbers in the upper right corner represent the order of the rotating coordinate system, "*" represents the reference value, and the "~" above the variable represents the conjugate of the variable;

基波分量：指分量频率与额定频率相同的分量；Fundamental component: refers to the component whose frequency is the same as the rated frequency;

谐波分量：指分量频率为额定频率整数倍的分量；Harmonic component: refers to the component whose frequency is an integer multiple of the rated frequency;

PI控制器：为电机控制中常用概念，本发明中PI控制器的形式均为

Figure BDA0004072720560000081
其中，kp为比例增益，ki为积分增益，s为拉普拉斯算子，它对控制目标的参考值与反馈值之间的偏差依次进行PI控制器所给出的比例运算和积分运算，然后将比例运算和积分运算的结果相加构成控制量，对被控对象进行控制；kp及ki的调试方法为：先将ki设为0，然后逐渐增大kp直到控制目标出现超调为止，kp不再变化；然后再逐渐增大ki，直到控制目标的调节时间达到用户的需求为止。PI controller: It is a common concept in motor control. The PI controller in this invention is in the form of
Figure BDA0004072720560000081
Wherein, kp is the proportional gain, ki is the integral gain, and s is the Laplace operator, which performs the proportional operation and integral operation given by the PI controller on the deviation between the reference value and the feedback value of the control target in sequence, and then adds the results of the proportional operation and the integral operation to form the control quantity to control the controlled object; the debugging method of kp and ki is: first set ki to 0, and then gradually increase kp until the control target overshoots and kp no longer changes; then gradually increase ki until the adjustment time of the control target meets the user's needs.

PIR控制器：本发明中第一PIR控制器、第二PIR控制器的形式均为

Figure BDA0004072720560000091
其中，kp为比例增益，ki为积分增益，kr为谐振增益，ωc为截止频率(一般取5-20rad/s)，ωn为谐振频率(一般根据谐波信号的频率设定)，s为拉普拉斯算子，它对控制目标的参考值与反馈值之间的偏差依次进行PIR控制器所给出的比例运算，积分运算以及谐振运算；然后将比例运算，积分运算和谐振运算的结果相加构成控制量，对被控对象进行控制；kp，ki以及kr的调试方法为：PIR controller: The first PIR controller and the second PIR controller in the present invention are both in the form of
Figure BDA0004072720560000091
Wherein, kp is proportional gain, k is integral gain, kr is resonant gain, ωc is cutoff frequency (generally 5-20rad/s), ωn is resonant frequency (generally set according to the frequency of harmonic signal), s is Laplace operator, which performs proportional operation, integral operation and resonant operation given by PIR controller on the deviation between reference value and feedback value of control target in turn; then the results of proportional operation, integral operation and resonant operation are added to form control quantity, and the controlled object is controlled; the debugging method of kp , ki and kr is:

1.首先将kr设置为0，按照PI控制器的调试方法调试kp和ki参数：先将ki设为0，然后逐渐增大kp直到控制目标出现超调为止，kp不再变化；然后再逐渐增大ki，直到控制目标的调节时间达到用户的需求为止；1. First, set kr to 0, and debug kp and ki parameters according to the debugging method of PI controller: first set ki to 0, and then gradually increase kp until the control target overshoots and kp no longer changes; then gradually increase ki until the adjustment time of the control target meets the user's requirements;

2.保证kp和ki参数不变，加入谐振调试信号，改变kr参数：先将ki设为0，然后逐渐增大kr直到谐振信号追踪效果达到用户的需求为止；2. Ensure that the kp and ki parameters remain unchanged, add the resonance debugging signal, and change the kr parameter: first set ki to 0, and then gradually increase kr until the resonance signal tracking effect meets the user's needs;

SVPWM发生器：本发明中SVPWM发生器属于此列；以三相对称正弦波电压供电时三相对称电动机定子理想磁链圆为参考标准，以三相逆变器不同开关模式作适当的切换，从而形成PWM波，以所形成的实际磁链矢量来追踪其准确磁链圆。SVPWM generator: The SVPWM generator in the present invention belongs to this category; the ideal flux circle of the stator of a three-phase symmetrical motor when powered by a three-phase symmetrical sinusoidal voltage is used as a reference standard, and different switching modes of the three-phase inverter are appropriately switched to form a PWM wave, and the actual flux vector formed is used to track its accurate flux circle.

本发明涉及到的物理含义如下表：The physical meanings involved in the present invention are as follows:

Figure BDA0004072720560000092
Figure BDA0004072720560000092

Figure BDA0004072720560000101
Figure BDA0004072720560000101

Figure BDA0004072720560000111
Figure BDA0004072720560000111

实施例1Example 1

如图1所示，本发明提供了一种BDFIG-DC系统谐波铜耗最小化控制方法，包括以下步骤：As shown in FIG1 , the present invention provides a method for minimizing harmonic copper loss in a BDFIG-DC system, comprising the following steps:

采用MSC(control winding side converter，电机侧变流器)控制系统稳定直流母线电压；同时采用CW谐波电流参考值补偿方式控制PW的谐波电流；其中，BDFIG的PW连接三相不控整流桥，导致PW电压和电流中产生显著的-5次和7次谐波；CW谐波电流参考值包括CW的-5次谐波电流参考值和CW的7次谐波电流参考值；The MSC (control winding side converter) control system is used to stabilize the DC bus voltage; at the same time, the CW harmonic current reference value compensation method is used to control the harmonic current of PW; among them, the PW of BDFIG is connected to a three-phase uncontrolled rectifier bridge, which causes significant -5th and 7th harmonics in the PW voltage and current; the CW harmonic current reference value includes the CW -5th harmonic current reference value and the CW 7th harmonic current reference value;

更为具体地，MSC控制系统包括直流母线电压控制模块、CW总电流计算模块、CW电流控制模块、第一坐标变换模块、SVPWM发生器、第二坐标变换模块和CW变换角计算模块；More specifically, the MSC control system includes a DC bus voltage control module, a CW total current calculation module, a CW current control module, a first coordinate transformation module, a SVPWM generator, a second coordinate transformation module and a CW transformation angle calculation module;

直流母线电压控制模块的输出端连接CW总电流计算模块，用于根据直流母线电压参考值

Figure BDA0004072720560000121
和直流母线电压反馈值Udc，获取CW的d轴基波电流参考值
Figure BDA0004072720560000122
The output end of the DC bus voltage control module is connected to the CW total current calculation module, which is used to calculate the total current according to the DC bus voltage reference value.
Figure BDA0004072720560000121
And the DC bus voltage feedback value U dc , obtain the CW d-axis fundamental current reference value
Figure BDA0004072720560000122

CW总电流计算模块用于将直流母线电压控制模块生成的CW基波电流参考值与PW谐波电流控制模块生成的CW的-5次和7次谐波电流参考值相加生成CW总电流参考值；The CW total current calculation module is used to add the CW fundamental current reference value generated by the DC bus voltage control module and the CW -5th and 7th harmonic current reference values generated by the PW harmonic current control module to generate a CW total current reference value;

CW电流控制模块的输出端连接第一坐标变换模块；用于将CW总电流计算模块得到的CW电流参考值与第二坐标变换模块得到的CW电流实际值进行

Figure BDA0004072720560000123
和
Figure BDA0004072720560000124
运算，将得到的差值进行比例积分谐振运算，得到CWdq坐标系电压参考值
Figure BDA0004072720560000125
和
Figure BDA0004072720560000126
The output end of the CW current control module is connected to the first coordinate transformation module; it is used to compare the CW current reference value obtained by the CW total current calculation module with the CW current actual value obtained by the second coordinate transformation module;
Figure BDA0004072720560000123
and
Figure BDA0004072720560000124
Operation, the obtained difference is subjected to proportional integral resonance operation to obtain the voltage reference value of the CWdq coordinate system
Figure BDA0004072720560000125
and
Figure BDA0004072720560000126

第一坐标变换模块的输出端与SVPWM发生器相连；用于将CWdq坐标系电压参考值

Figure BDA0004072720560000127
和
Figure BDA0004072720560000128
变换为两相静止坐标系下CW的α轴分量参考值
Figure BDA0004072720560000129
和β轴分量参考值
Figure BDA00040727205600001210
具体的变换公式为：The output end of the first coordinate transformation module is connected to the SVPWM generator; it is used to convert the CWdq coordinate system voltage reference value
Figure BDA0004072720560000127
and
Figure BDA0004072720560000128
Transformed into the reference value of the α-axis component of CW in the two-phase stationary coordinate system
Figure BDA0004072720560000129
and β-axis component reference value
Figure BDA00040727205600001210
The specific transformation formula is:

Figure BDA00040727205600001211
Figure BDA00040727205600001211

第二坐标变换模块的输出端连接CW电流控制模块，用于将abc坐标系下CW的a相电流ica、b相电流icb和c相电流icc变换为dq坐标系下CW电流的d轴分量icd和q轴分量icq；变换公式具体如下：The output end of the second coordinate transformation module is connected to the CW current control module, which is used to transform the CW a-phase current i ca , b-phase current i cb and c-phase current i cc in the abc coordinate system into the d-axis component i cd and q-axis component i cq of the CW current in the dq coordinate system; the transformation formula is as follows:

Figure BDA00040727205600001212
Figure BDA00040727205600001212

其中，变换参考角度θc由PW电压锁相环模块得到，计算公式为ωc＝(pp+pc)ωr-ωp；对ωc进行积分运算获取θc；The conversion reference angle θ c is obtained by the PW voltage phase-locked loop module, and the calculation formula is ω c =( pp +p c )ω r -ω p ; ω c is integrated to obtain θ c ;

其中，ωr为RW的角频率；ωp为PW的角频率；pp和pc分别为PW极对数和CW极对数；ωc为CW的角频率；Among them, ωr is the angular frequency of RW; ωp is the angular frequency of PW; pp and pc are the number of PW pole pairs and CW pole pairs respectively; ωc is the angular frequency of CW;

CW变换角计算模块用于根据测得的RW角频率和给定的PW角频率以获取变换参考角度；The CW transformation angle calculation module is used to obtain the transformation reference angle according to the measured RW angular frequency and the given PW angular frequency;

SVPWM发生器用于基于两相静止坐标系下CW的α轴分量参考值

Figure BDA0004072720560000131
和β轴分量参考值
Figure BDA0004072720560000132
产生MSC需要的PWM信号，进而稳定BDFIG-DC系统的直流母线电压。The SVPWM generator is used to calculate the α-axis reference value of CW based on the two-phase stationary coordinate system.
Figure BDA0004072720560000131
and β-axis component reference value
Figure BDA0004072720560000132
Generate the PWM signal required by MSC, thereby stabilizing the DC bus voltage of the BDFIG-DC system.

谐波铜耗最小化控制系统包括：PW电压锁相环模块、PW谐波电流参考值计算模块、PW电流分离模块和PW谐波电流控制模块；The harmonic copper loss minimization control system includes: a PW voltage phase-locked loop module, a PW harmonic current reference value calculation module, a PW current separation module and a PW harmonic current control module;

PW电压锁相环模块用于对PW静止abc坐标系三相电压upa、upb、upc依次经过广义积分、坐标变换、除法运算、比例积分运算、加法运算和积分运算获得PW在正序基频旋转坐标系下的电压

Figure BDA0004072720560000133
PW基波电压矢量的角度θp以及PW基波电压矢量的角速度ωp；The PW voltage phase-locked loop module is used to obtain the voltage of PW in the positive sequence fundamental frequency rotating coordinate system by performing generalized integration, coordinate transformation, division, proportional integral, addition and integration operations on the three-phase voltages u pa , u pb and u pc of the PW stationary abc coordinate system.
Figure BDA0004072720560000133
Angle θ p of the PW fundamental wave voltage vector and angular velocity ω p of the PW fundamental wave voltage vector;

PW谐波电流参考值计算模块连接PW电压锁相环模块，用于根据

Figure BDA0004072720560000134
和ωp，计算实现最小铜耗控制所需的PW谐波电流参考值
Figure BDA0004072720560000135
The PW harmonic current reference value calculation module is connected to the PW voltage phase-locked loop module to calculate the harmonic current reference value according to the
Figure BDA0004072720560000134
and ω p , calculate the PW harmonic current reference value required to achieve minimum copper loss control
Figure BDA0004072720560000135

PW电流分离模块用于对PW静止abc坐标系三相电流ipa、ipb、ipc顺次进行坐标变换、加法运算、广义积分和坐标变换，获取PW侧的-5次旋转dq坐标和7次旋转dq坐标下的实际电流分量

Figure BDA0004072720560000136
和
Figure BDA0004072720560000137
The PW current separation module is used to perform coordinate transformation, addition, generalized integration and coordinate transformation on the PW stationary abc coordinate system three-phase current i pa , i pb , i pc in sequence to obtain the actual current components under the -5th rotation dq coordinate and the 7th rotation dq coordinate on the PW side.
Figure BDA0004072720560000136
and
Figure BDA0004072720560000137

PW谐波电流控制模块的输入端连接PW谐波电流参考值计算模块，用于将

Figure BDA0004072720560000138
均顺次进行PI运算后进行坐标变换，获取正序基频旋转坐标系下的CW的-5、7次谐波电流参考值
Figure BDA0004072720560000139
Figure BDA00040727205600001310
The input end of the PW harmonic current control module is connected to the PW harmonic current reference value calculation module, which is used to
Figure BDA0004072720560000138
The coordinate transformation is performed after the PI operation is performed in sequence to obtain the -5th and 7th harmonic current reference values of CW in the positive sequence fundamental frequency rotating coordinate system.
Figure BDA0004072720560000139
Figure BDA00040727205600001310

具体地，如图2所示，直流母线电压控制模块包括第一加法器和第一PI控制器；第一加法器用于将直流母线电压参考值

Figure BDA00040727205600001311
与直流母线电压反馈值udc作差；第一PI控制器用于对
Figure BDA00040727205600001312
进行比例积分运算，输出CW的d轴基波电流参考值
Figure BDA00040727205600001313
Specifically, as shown in FIG. 2 , the DC bus voltage control module includes a first adder and a first PI controller; the first adder is used to convert the DC bus voltage reference value
Figure BDA00040727205600001311
The first PI controller is used to
Figure BDA00040727205600001312
Perform proportional integral operation and output CW d-axis fundamental current reference value
Figure BDA00040727205600001313

具体地，如图3所示，CW总电流计算模块包括第二加法器和第三加法器，第二加法器用于将

Figure BDA0004072720560000141
和
Figure BDA0004072720560000142
进行
Figure BDA0004072720560000143
运算，得到CW的d轴总电流参考值
Figure BDA0004072720560000144
第三加法器用于将
Figure BDA0004072720560000145
和
Figure BDA0004072720560000146
进行
Figure BDA0004072720560000147
运算，得到CW的q轴总电流参考值
Figure BDA0004072720560000148
Specifically, as shown in FIG3 , the CW total current calculation module includes a second adder and a third adder. The second adder is used to add
Figure BDA0004072720560000141
and
Figure BDA0004072720560000142
conduct
Figure BDA0004072720560000143
Calculate and get the reference value of the total d-axis current of CW
Figure BDA0004072720560000144
The third adder is used to
Figure BDA0004072720560000145
and
Figure BDA0004072720560000146
conduct
Figure BDA0004072720560000147
Calculate and get the total current reference value of the CW q axis
Figure BDA0004072720560000148

具体地，如图4所示，CW电流控制模块包括第四加法器、第五加法器、第一PIR控制器和第二PIR控制器；第四加法器用于将CW的d轴电流参考值

Figure BDA0004072720560000149
与实际电流值icd相减
Figure BDA00040727205600001410
第五加法器用于将CW的q轴电流参考值
Figure BDA00040727205600001411
与实际电流值icq相减
Figure BDA00040727205600001412
第一PIR控制器和第二PIR控制器分别用于对
Figure BDA00040727205600001413
和
Figure BDA00040727205600001414
进行比例积分谐振运算，得到CW的dq坐标系电压参考值
Figure BDA00040727205600001415
和
Figure BDA00040727205600001416
送入第一坐标变换模块；Specifically, as shown in FIG. 4 , the CW current control module includes a fourth adder, a fifth adder, a first PIR controller and a second PIR controller; the fourth adder is used to convert the CW d-axis current reference value
Figure BDA0004072720560000149
Subtract the actual current value i cd
Figure BDA00040727205600001410
The fifth adder is used to convert the CW q-axis current reference value
Figure BDA00040727205600001411
Subtract the actual current value i cq
Figure BDA00040727205600001412
The first PIR controller and the second PIR controller are respectively used to
Figure BDA00040727205600001413
and
Figure BDA00040727205600001414
Perform proportional-integral resonance calculation to obtain the CW dq coordinate system voltage reference value
Figure BDA00040727205600001415
and
Figure BDA00040727205600001416
Send to the first coordinate transformation module;

具体地，如图5所示，PW电压锁相环模块包括第一广义积分器、第三坐标变换器、第一幅值运算器、第一除法器、第二PI控制器、第六加法器和第一积分器；Specifically, as shown in FIG5 , the PW voltage phase-locked loop module includes a first generalized integrator, a third coordinate converter, a first amplitude operator, a first divider, a second PI controller, a sixth adder and a first integrator;

第一广义积分器用于将PW静止abc坐标系三相电压upabc进行滤波，其传递函数为：The first generalized integrator is used to filter the three-phase voltage u pabc in the PW stationary abc coordinate system, and its transfer function is:

Figure BDA00040727205600001417
Figure BDA00040727205600001417

Figure BDA00040727205600001418
Figure BDA00040727205600001418

其中，uf(s)为输入信号经过滤波之后的值；u(s)为输入信号；k为阻尼系数；

Figure BDA00040727205600001419
为谐振频率；s为拉氏变换符号，其值为jω；quf(s)为uf(s)滞后90度的值；Wherein, u f (s) is the value of the input signal after filtering; u(s) is the input signal; k is the damping coefficient;
Figure BDA00040727205600001419
is the resonant frequency; s is the Laplace transform symbol, whose value is jω; qu f (s) is the value of u f (s) lagged by 90 degrees;

第三坐标变换器用于对得到的PW基波电压进行坐标变换得到正序基波旋转坐标系下的PW电压；The third coordinate converter is used to perform coordinate conversion on the obtained PW fundamental wave voltage to obtain the PW voltage in the positive sequence fundamental wave rotating coordinate system;

为了防止电压幅值对锁相环的影响，特意设置了第一幅值运算器以及第一除法器，使得进入第二PI控制器的量与幅值无关；In order to prevent the voltage amplitude from affecting the phase-locked loop, the first amplitude operator and the first divider are specially set up so that the amount entering the second PI controller is independent of the amplitude;

第六加法器用于将角频率参考值与第二PI控制器输出相加获得PW电压角频率，再经过第一积分器即可获得PW电压θp；The sixth adder is used to add the angular frequency reference value and the output of the second PI controller to obtain the PW voltage angular frequency, and then pass through the first integrator to obtain the PW voltage θ p ;

具体地，如图6所示，PW谐波电流参考值计算模块，获取实现谐波铜耗最下化所需的PW谐波电流参考值

Figure BDA0004072720560000151
Specifically, as shown in FIG6 , the PW harmonic current reference value calculation module obtains the PW harmonic current reference value required to minimize the harmonic copper loss.
Figure BDA0004072720560000151

Figure BDA0004072720560000152
Figure BDA0004072720560000152

Figure BDA0004072720560000153
Figure BDA0004072720560000153

其中：in:

Figure BDA0004072720560000154
Figure BDA0004072720560000154

其中，

Figure BDA0004072720560000155
和
Figure BDA0004072720560000156
分别为PW的-5次旋转坐标系下的-5次谐波参考电流d轴分量和q轴分量；
Figure BDA0004072720560000157
和
Figure BDA0004072720560000158
分别为PW的7次旋转坐标系下的7次谐波参考电流d轴分量和q轴分量；
Figure BDA0004072720560000159
为PW正序基频旋转坐标系下的实际基波电压d轴分量；ωp为PW基波电压角频率；Rp、Rc和Rr分别为PW、CW和RW的单相电阻；Lp、Lc和Lr分别为PW、CW和RW的自感；Lpr、Lcr分别为PW和RW之间和CW和RW之间的互感；in,
Figure BDA0004072720560000155
and
Figure BDA0004072720560000156
They are respectively the -5th harmonic reference current d-axis component and q-axis component in the -5th rotation coordinate system of PW;
Figure BDA0004072720560000157
and
Figure BDA0004072720560000158
They are the d-axis component and q-axis component of the 7th harmonic reference current in the 7th rotation coordinate system of PW respectively;
Figure BDA0004072720560000159
is the actual fundamental voltage d-axis component in the PW positive sequence fundamental frequency rotating coordinate system; ω p is the PW fundamental voltage angular frequency; R p , R c and R r are the single-phase resistances of PW, CW and RW respectively; L p , L c and L r are the self-inductances of PW, CW and RW respectively; L pr , L cr are the mutual inductances between PW and RW and between CW and RW respectively;

具体地，如图7所示，PW电流分离模块，包括第四坐标变换器、第七加法器、第八加法器、第九加法器、第二二阶广义积分器、第三二阶广义积分器、第四二阶广义积分器、第五坐标变换器和第六坐标变换器；Specifically, as shown in FIG7 , the PW current separation module includes a fourth coordinate converter, a seventh adder, an eighth adder, a ninth adder, a second second-order generalized integrator, a third second-order generalized integrator, a fourth second-order generalized integrator, a fifth coordinate converter, and a sixth coordinate converter;

第四坐标变换器用于将PW静止abc坐标系三相电流ipa、ipb、ipc变为两相静止αβ坐标系电流ipα和ipβ，此电流经过第七加法器、第八加法器、第九加法器进行减法运算ipαβ-ipαβ-5-ipαβ7、ipαβ-ipαβ-5-ipαβ1和ipαβ-ipαβ7-ipαβ1，将得到的差值送入第二二阶广义积分器、第三二阶广义积分器、第四二阶广义积分器，其传递函数为：The fourth coordinate converter is used to convert the PW static abc coordinate system three-phase currents i pa , i pb , i pc into two-phase static αβ coordinate system currents i pα and i pβ . The currents are subtracted by the seventh adder, the eighth adder, and the ninth adder to obtain i pαβ -i pαβ-5 -i pαβ7 , i pαβ -i pαβ-5 -i pαβ1 , and i pαβ -i pαβ7 -i pαβ1 . The obtained differences are sent to the second second-order generalized integrator, the third second-order generalized integrator, and the fourth second-order generalized integrator. The transfer function is:

Figure BDA0004072720560000161
Figure BDA0004072720560000161

Figure BDA0004072720560000162
Figure BDA0004072720560000162

其中，if(s)为输入信号经过滤波之后的值；i(s)为输入信号；D(s)为传递函数；Q(s)为传递函数；qif(s)为与if(s)相差90度的值；Wherein, if ( s) is the value of the input signal after filtering; i(s) is the input signal; D(s) is the transfer function; Q(s) is the transfer function; qif (s) is the value that is 90 degrees different from if (s);

得到的ipαβ1、ipαβ-5、ipαβ7均为两相静止αβ坐标系中的量，因此通过坐标变换将其变换到对应的各次dq旋转坐标系；将将ipαβ-5通过第五坐标变换器变换到-5次旋转坐标系，变换为

Figure BDA00040727205600001615
；将ipαβ7通过第六坐标变换器变换到7次旋转坐标系，变换为
Figure BDA00040727205600001616
；The obtained i pαβ1 , i pαβ-5 , and i pαβ7 are all quantities in the two-phase stationary αβ coordinate system, so they are transformed into the corresponding dq rotating coordinate systems through coordinate transformation; i pαβ-5 is transformed into the -5 rotating coordinate system through the fifth coordinate transformer, which is transformed into
Figure BDA00040727205600001615
; Transform i pαβ7 into a 7-fold rotation coordinate system through the sixth coordinate transformer, and transform it into
Figure BDA00040727205600001616
;

具体地，如图8所示，PW谐波电流控制模块，包括第十加法器、第十一加法器、第二十加法器、第十三加法器、第三PI控制器、第四PI控制器、第五PI控制器、第六PI控制器、第七坐标变换器和第八坐标变换器；Specifically, as shown in FIG8 , the PW harmonic current control module includes a tenth adder, an eleventh adder, a twentieth adder, a thirteenth adder, a third PI controller, a fourth PI controller, a fifth PI controller, a sixth PI controller, a seventh coordinate converter, and an eighth coordinate converter;

第十加法器、第十一加法器、第十二加法器和第十三加法器分别用于进行

Figure BDA0004072720560000163
和
Figure BDA0004072720560000164
运算；第三PI控制器、第四PI控制器、第五PI控制器和第六PI控制器分别用于对
Figure BDA0004072720560000165
和
Figure BDA0004072720560000166
进行比例积分运算；第七坐标变换器用于获取正序基频旋转坐标下的CW的-5次谐波电流参考值的d轴分量
Figure BDA0004072720560000167
和正序基频旋转坐标下的CW的-5次谐波电流参考值的q轴分量
Figure BDA0004072720560000168
第八坐标变换模块用于获取正序基频旋转坐标下的CW的7次谐波电流参考值的d轴分量
Figure BDA0004072720560000169
和正序基频旋转坐标下的CW的7次谐波电流参考值的q轴分量
Figure BDA00040727205600001610
坐标变换的依据为：The tenth adder, the eleventh adder, the twelfth adder and the thirteenth adder are respectively used for performing
Figure BDA0004072720560000163
and
Figure BDA0004072720560000164
The third PI controller, the fourth PI controller, the fifth PI controller and the sixth PI controller are respectively used to
Figure BDA0004072720560000165
and
Figure BDA0004072720560000166
Proportional integral operation is performed; the seventh coordinate converter is used to obtain the d-axis component of the -5th harmonic current reference value of CW under the positive sequence fundamental frequency rotating coordinate
Figure BDA0004072720560000167
The q-axis component of the CW -5th harmonic current reference value under the positive sequence fundamental frequency rotation coordinate
Figure BDA0004072720560000168
The eighth coordinate transformation module is used to obtain the d-axis component of the 7th harmonic current reference value of CW under the positive sequence fundamental frequency rotation coordinate
Figure BDA0004072720560000169
The q-axis component of the 7th harmonic current reference value of CW in the positive sequence fundamental frequency rotating coordinate
Figure BDA00040727205600001610
The basis of coordinate transformation is:

Figure BDA00040727205600001611
Figure BDA00040727205600001611

Figure BDA00040727205600001612
Figure BDA00040727205600001612

Figure BDA00040727205600001613
Figure BDA00040727205600001613

Figure BDA00040727205600001614
Figure BDA00040727205600001614

其中，

Figure BDA0004072720560000171
为电气量的-5次谐波分量在正序基频旋转坐标系下的值；
Figure BDA0004072720560000172
为电气量的-5次谐波在-5次旋转坐标系下的值；
Figure BDA0004072720560000173
为电气量的7次谐波在正序基频旋转坐标系下的值；
Figure BDA0004072720560000174
为电气量的7次谐波分量在7次旋转坐标系下的值。in,
Figure BDA0004072720560000171
It is the value of the -5th harmonic component of the electrical quantity in the positive sequence fundamental frequency rotating coordinate system;
Figure BDA0004072720560000172
It is the value of the -5th harmonic of the electrical quantity in the -5th rotating coordinate system;
Figure BDA0004072720560000173
It is the value of the seventh harmonic of the electrical quantity in the positive sequence fundamental frequency rotating coordinate system;
Figure BDA0004072720560000174
It is the value of the 7th harmonic component of the electrical quantity in the 7th rotating coordinate system.

实施例2Example 2

本发明提供了一种BDFIG-DC系统谐波铜耗最小化控制方法，包括以下步骤：The present invention provides a BDFIG-DC system harmonic copper loss minimization control method, comprising the following steps:

采用谐波铜耗最小化控制系统提供CW谐波电流参考值；Adopt harmonic copper loss minimization control system to provide CW harmonic current reference value;

利用MSC控制系统采用CW谐波电流补偿方式控制PW的谐波电流，进而稳定BDFIG-DC系统的直流母线电压；The MSC control system uses CW harmonic current compensation to control the PW harmonic current, thereby stabilizing the DC bus voltage of the BDFIG-DC system;

其中，所述BDFIG-DC系统的PW与三相不控整流桥相连；CW谐波电流参考值包括CW的-5次谐波电流参考值和7次谐波电流参考值。Wherein, the PW of the BDFIG-DC system is connected to a three-phase uncontrolled rectifier bridge; the CW harmonic current reference value includes a -5th harmonic current reference value and a 7th harmonic current reference value of CW.

进一步优选地，CW谐波电流参考值的获取方法为：Further preferably, the method for obtaining the CW harmonic current reference value is:

对PW静止abc坐标系三相电压upa、upb、upc依次经过广义积分、坐标变换、除法运算、比例积分运算、加法运算和积分运算获得PW在正序基频旋转坐标系下的电压

Figure BDA0004072720560000175
PW基波电压矢量的角度θp以及PW基波电压矢量的角速度ωp；The three-phase voltages u pa , u pb and u pc of the PW stationary abc coordinate system are successively subjected to generalized integration, coordinate transformation, division operation, proportional integral operation, addition operation and integration operation to obtain the voltage of the PW in the positive sequence fundamental frequency rotating coordinate system.
Figure BDA0004072720560000175
Angle θ p of the PW fundamental wave voltage vector and angular velocity ω p of the PW fundamental wave voltage vector;

根据

Figure BDA0004072720560000176
和ωp计算实现最小铜耗控制所需的PW谐波电流参考值
Figure BDA0004072720560000177
Figure BDA0004072720560000178
according to
Figure BDA0004072720560000176
and ω p to calculate the PW harmonic current reference value required to achieve minimum copper loss control
Figure BDA0004072720560000177
Figure BDA0004072720560000178

对PW静止abc坐标系三相电流ipa、ipb、ipc顺次进行坐标变换、加法运算、广义积分和坐标变换，获取PW的-5次旋转dq坐标和7次旋转dq坐标下的实际电流分量

Figure BDA0004072720560000179
和
Figure BDA00040727205600001710
The three-phase currents i pa , i pb , i pc of the PW stationary abc coordinate system are subjected to coordinate transformation, addition operation, generalized integration and coordinate transformation in sequence to obtain the actual current components of the PW under the -5th rotation dq coordinates and the 7th rotation dq coordinates.
Figure BDA0004072720560000179
and
Figure BDA00040727205600001710

将

Figure BDA00040727205600001711
均顺次进行PI运算后进行坐标变换，获取正序基频旋转坐标系下的CW的-5、7次谐波电流参考值
Figure BDA00040727205600001712
Figure BDA0004072720560000181
Will
Figure BDA00040727205600001711
The coordinate transformation is performed after PI operation in sequence to obtain the -5th and 7th harmonic current reference values of CW in the positive sequence fundamental frequency rotating coordinate system.
Figure BDA00040727205600001712
Figure BDA0004072720560000181

进一步优选地，MSC控制方法，包括以下步骤：Further preferably, the MSC control method comprises the following steps:

根据直流母线电压参考值

Figure BDA0004072720560000182
和直流母线电压反馈值Udc，获取CW的d轴基波电流参考值
Figure BDA0004072720560000183
According to the DC bus voltage reference value
Figure BDA0004072720560000182
And DC bus voltage feedback value U dc , obtain CW d-axis fundamental current reference value
Figure BDA0004072720560000183

将CW的基波电流参考值与CW的-5次和7次谐波电流参考值相加生成CW总电流参考值；The CW fundamental current reference value is added to the CW -5th and 7th harmonic current reference values to generate a CW total current reference value;

将CW总电流参考值与CW电流实际值进行

Figure BDA0004072720560000184
和
Figure BDA0004072720560000185
运算，将得到的差值进行比例积分谐振运算，得到dq坐标系下CW电压参考值
Figure BDA0004072720560000186
和
Figure BDA0004072720560000187
Compare the CW total current reference value with the CW current actual value
Figure BDA0004072720560000184
and
Figure BDA0004072720560000185
Operation, the obtained difference is subjected to proportional integral resonance operation to obtain the CW voltage reference value in the dq coordinate system
Figure BDA0004072720560000186
and
Figure BDA0004072720560000187

将dq坐标系下CW电压参考值

Figure BDA0004072720560000188
和
Figure BDA0004072720560000189
变换为两相静止坐标系下CW的α轴分量参考值
Figure BDA00040727205600001810
和β轴分量参考值
Figure BDA00040727205600001811
The CW voltage reference value in the dq coordinate system
Figure BDA0004072720560000188
and
Figure BDA0004072720560000189
Transformed into the reference value of the α-axis component of CW in the two-phase stationary coordinate system
Figure BDA00040727205600001810
and β-axis component reference value
Figure BDA00040727205600001811

将abc坐标系下CW的a相电流ica、b相电流icb和c相电流icc变换为dq坐标系下CW电流的d轴分量icd和q轴分量icq；The a-phase current i ca , b-phase current i cb and c-phase current i cc of the CW in the abc coordinate system are transformed into the d-axis component i cd and q-axis component i cq of the CW current in the dq coordinate system;

根据测得的RW角频率和给定的PW角频率以获取变换参考角度；Obtaining a transformation reference angle according to the measured RW angular frequency and the given PW angular frequency;

基于两相静止坐标系下CW的α轴分量参考值

Figure BDA00040727205600001812
和β轴分量参考值
Figure BDA00040727205600001813
产生MSC需要的PWM信号，进而稳定BDFIG-DC系统的直流母线电压。Reference value of α-axis component of CW based on two-phase stationary coordinate system
Figure BDA00040727205600001812
and β-axis component reference value
Figure BDA00040727205600001813
Generate the PWM signal required by MSC, thereby stabilizing the DC bus voltage of the BDFIG-DC system.

进一步优选地，实现最小铜耗控制所需的PW谐波电流参考值

Figure BDA00040727205600001814
Figure BDA00040727205600001815
为：Further preferably, the PW harmonic current reference value required to achieve minimum copper loss control is
Figure BDA00040727205600001814
Figure BDA00040727205600001815
for:

Figure BDA00040727205600001816
Figure BDA00040727205600001816

Figure BDA00040727205600001817
Figure BDA00040727205600001817

其中，

Figure BDA00040727205600001819
Figure BDA00040727205600001821
和
Figure BDA00040727205600001822
分别为PW的-5次旋转坐标系下的-5次谐波参考电流d轴分量和q轴分量；
Figure BDA00040727205600001824
和
Figure BDA00040727205600001825
分别为PW的7次旋转坐标系下的7次谐波参考电流d轴分量和q轴分量；
Figure BDA0004072720560000191
为PW正序基频旋转坐标系下的实际基波电压d轴分量；ωp为PW基波电压角频率；Rp、Rc和Rr分别为PW、CW和RW的单相电阻；Lp、Lc和Lr分别为PW、CW和RW的自感；Lpr和Lcr分别为PW和RW之间和CW和RW之间的互感。in,
Figure BDA00040727205600001819
Figure BDA00040727205600001821
and
Figure BDA00040727205600001822
They are respectively the -5th harmonic reference current d-axis component and q-axis component in the -5th rotation coordinate system of PW;
Figure BDA00040727205600001824
and
Figure BDA00040727205600001825
They are the d-axis component and q-axis component of the 7th harmonic reference current in the 7th rotation coordinate system of PW respectively;
Figure BDA0004072720560000191
is the actual fundamental voltage d-axis component in the PW positive sequence fundamental frequency rotating coordinate system; ω p is the PW fundamental voltage angular frequency; R p , R c and R r are the single-phase resistances of PW, CW and RW respectively; L p , L c and L r are the self-inductances of PW, CW and RW respectively; L pr and L cr are the mutual inductances between PW and RW and between CW and RW respectively.

本发明与现有技术相比，存在以下优势：Compared with the prior art, the present invention has the following advantages:

本发明提供了一种BDFIG-DC系统谐波铜耗最小化控制装置及方法，目的在于不增加额外滤波装置，通过控制方法使得谐波铜耗尽可能减小，提高BDFIG-DC系统的效率。更为具体地，本发明利用MSC控制系统，采用CW谐波电流参考值(CW的-5次和7次电流谐波分量)补偿CW基波电流参考值，进而控制PW的谐波电流，使得BDFIG的谐波铜耗最小，提高系统效率。其中，谐波铜耗最小化控制系统连接在BDFIG的PW侧，用于提供CW谐波电流参考值；CW谐波电流参考值包括CW的-5次谐波电流参考值和7次谐波电流参考值。更为具体地，对PW静止abc坐标系三相电压upa、upb、upc依次经过广义积分、坐标变换、除法运算、比例积分运算、加法运算和积分运算获得PW在正序基频旋转坐标系下的电压

Figure BDA0004072720560000192
PW基波电压矢量的角度θp以及PW基波电压矢量的角速度ωp；根据
Figure BDA0004072720560000193
和ωp计算实现最小铜耗控制所需的PW谐波电流参考值
Figure BDA0004072720560000194
对PW静止abc坐标系三相电流ipa、ipb、ipc顺次进行坐标变换、加法运算、广义积分和坐标变换，获取PW的-5次旋转dq坐标和7次旋转dq坐标下的实际电流分量
Figure BDA0004072720560000195
和
Figure BDA0004072720560000196
将
Figure BDA0004072720560000197
Figure BDA0004072720560000198
均顺次进行PI运算后进行坐标变换，获取正序基频旋转坐标系下的CW的-5、7次谐波电流参考值
Figure BDA0004072720560000199
The present invention provides a BDFIG-DC system harmonic copper loss minimization control device and method, the purpose is to reduce the harmonic copper depletion through the control method without adding additional filtering devices, and improve the efficiency of the BDFIG-DC system. More specifically, the present invention uses the MSC control system, adopts the CW harmonic current reference value (CW's -5th and 7th current harmonic components) to compensate the CW fundamental current reference value, and then controls the harmonic current of the PW, so that the harmonic copper loss of the BDFIG is minimized, and the system efficiency is improved. Among them, the harmonic copper loss minimization control system is connected to the PW side of the BDFIG, and is used to provide the CW harmonic current reference value; the CW harmonic current reference value includes the CW -5th harmonic current reference value and the 7th harmonic current reference value. More specifically, the three-phase voltages u pa , u pb , and u pc of the PW stationary abc coordinate system are sequentially subjected to generalized integration, coordinate transformation, division operation, proportional integral operation, addition operation, and integration operation to obtain the voltage of the PW in the positive sequence fundamental frequency rotating coordinate system.
Figure BDA0004072720560000192
The angle θ p of the PW fundamental wave voltage vector and the angular velocity ω p of the PW fundamental wave voltage vector; according to
Figure BDA0004072720560000193
and ω p to calculate the PW harmonic current reference value required to achieve minimum copper loss control
Figure BDA0004072720560000194
The three-phase currents i pa , i pb , i pc of the PW stationary abc coordinate system are subjected to coordinate transformation, addition operation, generalized integration and coordinate transformation in sequence to obtain the actual current components of the PW under the -5th rotation dq coordinates and the 7th rotation dq coordinates.
Figure BDA0004072720560000195
and
Figure BDA0004072720560000196
Will
Figure BDA0004072720560000197
Figure BDA0004072720560000198
The coordinate transformation is performed after the PI operation is performed in sequence to obtain the -5th and 7th harmonic current reference values of CW in the positive sequence fundamental frequency rotating coordinate system.
Figure BDA0004072720560000199

本领域的技术人员容易理解，以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims (8)

1. A BDFIG-DC system harmonic copper loss minimization control device is characterized by comprising: an MSC control system and a harmonic copper consumption minimization control system;
the MSC control system is connected to the CW side of the BDFIG and is used for stabilizing the direct-current bus voltage of the BDFIG-DC system; and the harmonic current of the PW is controlled in a CW harmonic current compensation mode;
the harmonic copper loss minimization control system is connected to the PW side of the BDFIG and used for providing a CW harmonic current reference value;
the PW of the BDFIG-DC system is connected with a three-phase uncontrolled rectifier bridge; the CW harmonic current reference value includes a-5 th harmonic current reference value and a 7 th harmonic current reference value of CW.
2. The BDFIG-DC system harmonic copper loss minimization control apparatus according to claim 1, wherein the harmonic copper loss minimization control system comprises: the device comprises a PW voltage phase-locked loop module, a PW harmonic current reference value calculating module, a PW current separating module and a PW harmonic current controlling module;
the PW voltage phase-locked loop module is used for carrying out three-phase voltage u on the PW static abc coordinate system pa 、u pb 、u pc Obtaining the voltage of the PW in a positive sequence fundamental frequency rotation coordinate system through generalized integral, coordinate transformation, division operation, proportional integral operation, addition operation and integral operation in sequence
Figure FDA0004072720530000011
Angle theta of PW fundamental voltage vector p And angular velocity ω of PW fundamental voltage vector p ；
The PW harmonic current reference value calculation module is connected with the PW voltage phase-locked loop module and is used for calculating the reference value according to the current
Figure FDA0004072720530000012
And omega p Calculating PW harmonic current reference value required for realizing minimum copper consumption control>
Figure FDA0004072720530000013
The PW current separation module is used for separating three-phase current i of the PW static abc coordinate system pa 、i pb 、i pc Sequentially carrying out coordinate transformation, addition operation, generalized integral and coordinate transformation to obtain-5 rotation dq coordinates of PW and actual current components under 7 rotation dq coordinates
Figure FDA0004072720530000014
And &>
Figure FDA0004072720530000015
The input end of the PW harmonic current control module is connected with the PW harmonic current reference value calculation module and used for calculating the reference value of the PW harmonic current
Figure FDA0004072720530000016
Sequentially performing PI operation and coordinate transformation to obtain-5 and 7-th harmonic current reference values of CW in positive-sequence fundamental frequency rotation coordinate system>
Figure FDA0004072720530000021
Figure FDA0004072720530000022
3. The BDFIG-DC system harmonic copper loss minimization control apparatus according to claim 1 or 2, wherein the MSC control system comprises: the device comprises a direct current bus voltage control module, a CW total current calculation module, a CW current control module, a first coordinate transformation module, an SVPWM generator, a second coordinate transformation module and a CW transformation angle calculation module;
the output end of the direct current bus voltage control module is connected with a CW total current calculation module and used for calculating a CW total current according to a direct current bus voltage reference value
Figure FDA0004072720530000023
And DC bus voltage feedback value U dc Obtaining a d-axis fundamental current reference value>
Figure FDA0004072720530000024
The output end of the CW total current calculation module is connected with the input end of the CW current control module; the device is used for adding a fundamental wave current reference value of CW generated by the direct current bus voltage control module and-5 th and 7 th harmonic wave current reference values of CW generated by the PW harmonic wave current control module to generate a CW total current reference value;
the output end of the CW total current control module is connected with the first coordinate transformation module and is used for carrying out CW total current reference value obtained by the CW total current calculation module and CW current actual value obtained by the second coordinate transformation module
Figure FDA0004072720530000025
And &>
Figure FDA0004072720530000026
Operation, namely performing proportional integral resonance operation on the obtained difference value to obtain a CW voltage reference value in a dq coordinate system>
Figure FDA0004072720530000027
And &>
Figure FDA0004072720530000028
The output end of the first coordinate transformation module is connected with the SVPWM generator and used for converting the CW voltage reference value under the dq coordinate system
Figure FDA0004072720530000029
And &>
Figure FDA00040727205300000210
Converted into an alpha-component reference value ≥ of CW in a two-phase stationary coordinate system>
Figure FDA00040727205300000211
And a beta-axis component reference value->
Figure FDA00040727205300000212
The output end of the second coordinate transformation module is connected with a CW current control module and is used for converting the a-phase current i of the CW under an abc coordinate system ca Phase i of b-phase current cb And c-phase current i cc Conversion to d-axis component i of CW current in dq coordinate system cd And q-axis component i cq ；
The CW transformation angle calculation module is used for obtaining a transformation reference angle according to the measured RW angular frequency and the given PW angular frequency;
the SVPWM generator is used for generating alpha-axis component reference values based on CW under a two-phase static coordinate system
Figure FDA00040727205300000213
And a beta-axis component reference value->
Figure FDA0004072720530000031
And generating a PWM signal required by the MSC so as to stabilize the direct current bus voltage of the BDFIG-DC system.
4. The BDFIG-DC system harmonic copper loss minimization control device of claim 3, wherein PW harmonic current reference value required for realizing minimum copper loss control
Figure FDA0004072720530000032
Comprises the following steps:
Figure FDA0004072720530000033
Figure FDA0004072720530000034
wherein,
Figure FDA0004072720530000035
Figure FDA0004072720530000036
and &>
Figure FDA0004072720530000037
Respectively representing a-5 th harmonic reference current d-axis component and a q-axis component under a-5 th rotation coordinate system of the PW;
Figure FDA0004072720530000038
And &>
Figure FDA0004072720530000039
Are respectively PWThe d-axis component and the q-axis component of the 7-th harmonic reference current in the 7-th rotation coordinate system;
Figure FDA00040727205300000310
The component is the actual fundamental voltage d-axis component under the PW positive sequence fundamental frequency rotating coordinate system; omega p PW fundamental voltage angular frequency; r p 、R c And R r Single-phase resistors PW, CW, and RW, respectively; l is p 、L c And L r Self-inductance of PW, CW and RW, respectively; l is pr And L cr Mutual inductances between PW and RW and CW and RW, respectively.
5. The BDFIG-DC system harmonic copper loss minimization control device of claim 4, wherein the PW harmonic current control module comprises a tenth adder, an eleventh adder, a twelfth adder, a thirteenth adder, a third PI controller, a fourth PI controller, a fifth PI controller, a sixth PI controller, a seventh coordinate converter and an eighth coordinate converter;
the output end of the tenth adder is connected with the input end of the third PI controller; the output end of the eleventh adder is connected with the input end of the fourth PI controller; the output ends of the third PI controller and the fourth PI controller are connected with the input end of the seventh coordinate converter; the output end of the twelfth adder is connected with the input end of the fifth PI controller; the output end of the thirteenth adder is connected with the input end of the sixth PI controller; the output ends of the fifth PI controller and the sixth PI controller are connected with the input end of the eighth coordinate converter;
the tenth adder, the eleventh adder, the twelfth adder and the thirteenth adder are respectively used for performing
Figure FDA0004072720530000041
And &>
Figure FDA0004072720530000042
Calculating;
the above-mentionedThe third PI controller, the fourth PI controller, the fifth PI controller and the sixth PI controller are respectively used for controlling
Figure FDA0004072720530000043
And &>
Figure FDA0004072720530000044
Carrying out proportional integral operation;
the seventh coordinate converter is used for acquiring the d-axis component of the-5 th harmonic current reference value of the CW under the positive sequence fundamental frequency rotation coordinate
Figure FDA0004072720530000045
And q-axis component of-5 harmonic current reference value of CW in positive sequence fundamental frequency rotation coordinate->
Figure FDA0004072720530000046
The eighth coordinate converter is used for acquiring the d-axis component of the 7 th harmonic current reference value of the CW under the positive sequence fundamental frequency rotation coordinate
Figure FDA0004072720530000047
And q-axis component of the 7 th harmonic current reference of CW in positive sequence fundamental rotation coordinate->
Figure FDA0004072720530000048
6. A BDFIG-DC system harmonic copper loss minimization control method based on the BDFIG-DC system harmonic copper loss minimization control device of claim 1 or 5, characterized by comprising the following steps:
providing a CW harmonic current reference value by adopting a harmonic copper loss minimization control system;
the harmonic current of the PW is controlled by using the MSC control system in a CW harmonic current compensation mode, so that the harmonic copper consumption is reduced;
the PW of the BDFIG-DC system is connected with a three-phase uncontrolled rectifier bridge; the CW harmonic current reference value includes a-5 th harmonic current reference value and a 7 th harmonic current reference value of CW.
7. The BDFIG-DC system harmonic copper loss minimization control method according to claim 6, wherein the CW harmonic current reference value is obtained by:
for three-phase voltage u of PW static abc coordinate system pa 、u pb 、u pc Obtaining the voltage of the PW in a positive sequence fundamental frequency rotation coordinate system through generalized integration, coordinate transformation, division operation, proportional integral operation, addition operation and integral operation in sequence
Figure FDA0004072720530000049
Angle theta of PW fundamental voltage vector p And angular velocity ω of PW fundamental voltage vector p ；
According to
Figure FDA00040727205300000410
And omega p Calculating PW harmonic current reference value required for realizing minimum copper consumption control>
Figure FDA00040727205300000411
Figure FDA0004072720530000051
For PW static abc coordinate system three-phase current i pa 、i pb 、i pc Coordinate transformation, addition operation, generalized integral and coordinate transformation are sequentially carried out to obtain-5 times of rotation dq coordinate of PW and actual current component under 7 times of rotation dq coordinate
Figure FDA0004072720530000052
And &>
Figure FDA0004072720530000053
Will be provided with
Figure FDA0004072720530000054
Sequentially performing PI operation and coordinate transformation to obtain-5 and 7-th harmonic current reference values of CW in positive-sequence fundamental frequency rotation coordinate system>
Figure FDA0004072720530000055
Figure FDA0004072720530000056
8. The BDFIG-DC system harmonic copper loss minimization control method according to claim 7, wherein PW harmonic current reference value required for realizing minimum copper loss control
Figure FDA0004072720530000057
Comprises the following steps:
Figure FDA0004072720530000058
Figure FDA0004072720530000059
wherein,
Figure FDA00040727205300000510
Figure FDA00040727205300000511
and &>
Figure FDA00040727205300000512
Respectively representing a-5 th harmonic reference current d-axis component and a q-axis component under a-5 th rotation coordinate system of the PW;
Figure FDA00040727205300000513
And &>
Figure FDA00040727205300000514
Respectively are a d-axis component and a q-axis component of 7-order harmonic reference current under a 7-order rotating coordinate system of the PW;
Figure FDA00040727205300000515
The component is the actual fundamental voltage d-axis component under the PW positive sequence fundamental frequency rotating coordinate system; omega p PW fundamental voltage angular frequency; r is p 、R c And R r Single-phase resistors PW, CW, and RW, respectively; l is p 、L c And L r Self-inductance of PW, CW and RW, respectively; l is a radical of an alcohol pr And L cr Mutual inductances between PW and RW and CW and RW, respectively. />
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