CN112865637B - Torque ripple suppression device and method for brushless double-fed independent power generation system - Google Patents
Torque ripple suppression device and method for brushless double-fed independent power generation system Download PDFInfo
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Abstract
The invention provides a torque ripple suppression device and method of a brushless double-fed independent power generation system, belonging to the technical field of brushless double-fed machine control, and comprising an LSC control system, a DC bus voltage stabilizing circuit and a DC bus voltage stabilizing circuit, wherein the LSC control system is connected to the power winding side of a brushless double-fed motor; meanwhile, compensating an LSC side group wave current reference value by adopting a load side harmonic current reference value for controlling the harmonic voltage of the power winding; the load of the brushless doubly-fed independent power generation system comprises an asymmetric load and a nonlinear load; the load side harmonic current reference values include a load side-1 harmonic current reference value and a load side 5 harmonic current reference value. According to the invention, the LSC control unit is utilized to inject-1-order and 5-order current harmonic components, so that the torque pulsation of the brushless double-fed motor is reduced, the quality of generated electric energy is improved, and the service life of equipment is prolonged.
Description
Technical Field
The invention belongs to the technical field of brushless double-feeder control, and particularly relates to a torque ripple suppression device and method of a brushless double-fed independent power generation system, wherein loads of the brushless double-fed independent power generation system comprise three-phase asymmetric loads and nonlinear loads.
Background
The brushless double-fed motor is a new type of AC induction motor, it contains two sets of stator windings with different pole pair numbers and a specially designed rotor for coupling the rotating magnetic field with different pole pair numbers at the stator side. The two sets of stator windings are referred to as Power Winding (PW) and Control Winding (CW) respectively according to the amount of transmitted energy. Compared with the traditional brush double-fed induction generator, the brushless double-fed motor cancels the electric brush and the slip ring, and has obvious application advantages in the fields of ship shaft power generation, wind power generation, hydroelectric generation and the like by virtue of the characteristics of high reliability and the like.
The brushless double-fed motor is in an independent power generation state for a long time when applied to occasions such as ship shaft power generation and the like. At the moment, the output voltage of the generator needs to be controlled, and the amplitude and the frequency of the output voltage of the generator are ensured to be constant when the rotating speed and the load of the motor are changed. In practical applications, the electrical load for ships includes a large number of non-linear loads (uncontrolled rectifier, thyristor rectifier, two-quadrant inverter, etc.) and unbalanced loads (three-phase load impedance is not equal) in addition to linear loads. The access of nonlinear load and unbalanced load can generate harmonic wave, which causes the current, voltage and torque of the brushless doubly-fed induction generator to pulsate, thereby bringing adverse effect to the whole power generation system, and mainly has the following problems:
(1) the output voltage is distorted, odd harmonic voltage can be caused by the nonlinear load, the frequency of the odd harmonic voltage is 6n +/-1 times of the fundamental frequency, and-1 harmonic voltage can be caused by the three-phase unbalanced load;
(2) the distorted harmonic voltage can generate extra harmonic loss on other normal loads connected with the power generation system, the efficiency is reduced, and even the normal work of equipment and the service life of the equipment are affected;
(3) the motor can generate harmonic torque, vibration and noise are increased, and the service life of the motor rotating shaft is shortened.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a torque ripple suppression device and a torque ripple suppression method for a brushless double-fed independent power generation system, and aims to solve the problems that the vibration and noise of a motor are large and the service life of a rotating shaft of the motor is greatly shortened due to the fact that the harmonic torque content of an existing brushless double-fed motor with an asymmetric load and a nonlinear load is large.
In order to achieve the above object, the present invention provides a torque ripple suppression device for a brushless doubly-fed independent power generation system, which comprises an LSC control system connected to a power winding side of a brushless doubly-fed motor for stabilizing a dc bus voltage; meanwhile, compensating an LSC side group wave current reference value by adopting a load side harmonic current reference value for controlling the harmonic voltage of the power winding;
the load of the brushless doubly-fed independent power generation system comprises an asymmetric load and a nonlinear load; the load side harmonic current reference values include a load side-1 harmonic current reference value and a load side 5 harmonic current reference value.
Preferably, the torque ripple suppression device of the brushless doubly-fed independent power generation system further comprises an MSC control system connected to the control winding side of the brushless doubly-fed motor for stabilizing the voltage amplitude of the fundamental wave of the power winding.
Preferably, the LSC control system comprises:
the output end of the direct current bus voltage control module is connected with the second input end of the LSC side current control module; the output end of the LSC side current conversion module is connected with the third input end of the LSC side current control module; the LSC side current control module, the LSC side voltage conversion module and the second SVPWM generator are connected in sequence;
the PW current extraction module and the PW voltage extraction module are respectively used for acquiring actual current components and actual voltage components under a positive sequence fundamental frequency rotation coordinate system on the power winding side, a-1 rotation dq coordinate, a 5 rotation dq coordinate and a 7 rotation dq coordinate, and the PW voltage extraction module is further used for calculating the fundamental wave voltage amplitude of the power winding and the change angle theta of the power windingp(ii) a The output end of the PW voltage harmonic reference value calculation module is connected with the input end of the PW voltage harmonic control module; the PW voltage harmonic given value is used for calculating the PW voltage harmonic given value of the compensation torque second harmonic and the sixth harmonic;
the output end of the PW voltage harmonic control module is connected with the first input end of the LSC side current control module; the PW voltage harmonic given value is used for respectively subtracting the PW voltage harmonic given values of the compensation torque second harmonic and the sixth harmonic from actual voltage components under a-1-time rotating coordinate system and a 5-time rotating coordinate system on the side of the power winding; carrying out proportional integral operation, multiplication operation and coordinate transformation on the difference value in sequence to obtain a load side harmonic current reference value under a positive sequence fundamental frequency rotation coordinate system;
the LSC side current control module is used for compensating an LSC side group wave current reference value by adopting a load side harmonic current reference value, making a difference between a compensated result and an LSC side current under a dq coordinate system, and performing proportional integral resonance operation on the difference to obtain a voltage reference value of the load side dq coordinate system.
Preferably, the PW voltage harmonic setpoint that compensates for the second harmonic of the torque is:
the PW voltage harmonic given value of the compensation torque sixth harmonic is as follows:
wherein,
and
d-axis component and q-axis component of PW voltage harmonic given value of compensation torque second harmonic respectively;
and
respectively an actual voltage component and an actual current component under a positive sequence fundamental frequency rotation coordinate system at the power winding side;
and
respectively an actual voltage component and an actual current component under a power winding side 5-time rotating coordinate system;
and
respectively an actual voltage component and an actual current component under a power winding side 7-time rotating coordinate system;
the actual current component under a power winding side-1 rotation coordinate system is obtained;
and
the d-axis component and the q-axis component of the PW voltage harmonic setpoint to compensate for the torque sixth harmonic.
Preferably, the PW voltage harmonic control module includes a tenth adder, an eleventh adder, a twelfth adder, a thirteenth adder, a fifth PI controller, a sixth PI controller, a seventh PI controller, an eighth PI controller, a second multiplier, a third multiplier, a fourth multiplier, a fifth multiplier, a first coordinate converter, and a second coordinate converter;
the tenth adder, the eleventh adder, the twelfth adder and the thirteenth adder are respectively used for performing
And
calculating; the fifth PI controller, the sixth PI controller, the seventh PI controller and the eighth PI controller are respectively used for pairing
And
carrying out proportional integral operation; the second multiplier, the third multiplier, the fourth multiplier and the fifth multiplier are used for determining a positive correlation; the first coordinate transformation module is used for acquiring a load side-1 harmonic current reference value under a positive sequence fundamental frequency rotation coordinate; the second coordinate transformation module is used for acquiring a load side 5-order harmonic current reference value under the positive sequence fundamental frequency rotation coordinate;
wherein,
and
d-axis component and q-axis component of PW voltage harmonic given value of compensation torque second harmonic respectively;
and
d-axis component and q-axis component of PW voltage harmonic given value of compensation torque sixth harmonic respectively;
and
actual voltage components of a d axis and a q axis under a power winding side-1 rotation coordinate system are respectively;
and
the actual voltage components of the d-axis and q-axis of the power winding side 5 times of the rotating coordinate system are respectively.
Preferably, the MSC control system includes a CW conversion angle generation module, a PW voltage fundamental control module, an MSC side current conversion module, an MSC side current control module, an MSC side voltage conversion module, and a first SVPWM generator module;
the PW voltage fundamental wave control module is used for subtracting a power winding side voltage fundamental wave reference value from a power winding side voltage fundamental wave feedback value and obtaining a control winding side d-axis current reference value through proportional-integral operation
The MSC side current conversion module is used for acquiring a d-axis current component i of the control winding under the dq coordinate systemcdAnd q-axis current component icq；
The input end of the MSC side current control module is connected with the PW voltage fundamental wave control module and the MSC side current conversion module; for use in
And
PI operation is carried out to obtain a voltage reference value of a dq coordinate system of the control winding;
the MSC side voltage conversion module is used for converting the voltage reference value of the dq coordinate system of the control winding into an alpha axis component reference value and a beta axis component reference value of the voltage of the control winding under a two-phase static coordinate system;
the first SVPWM generator module is used for generating PWM signals required by the MSC.
Based on the torque ripple suppression device of the brushless doubly-fed independent power generation system, the invention provides a corresponding torque ripple suppression method, namely: compensating the LSC side group wave current reference value by adopting the load side harmonic current reference value for controlling the harmonic voltage of the power winding;
the load of the brushless doubly-fed independent power generation system comprises an asymmetric load and a nonlinear load;
the load side harmonic current reference values include a load side-1 harmonic current reference value and a load side 5 harmonic current reference value.
Preferably, the method for acquiring the reference value of the harmonic current on the load side comprises the following steps:
calculating PW voltage harmonic given values of compensation torque second harmonic waves and sixth harmonic waves based on actual current components and actual voltage components under a positive sequence fundamental frequency rotating coordinate system on the power winding side, a-1 rotation dq coordinate, a 5 rotation dq coordinate and a 7 rotation dq coordinate;
respectively subtracting PW voltage harmonic given values of the compensation torque second harmonic and the sixth harmonic from actual voltage components under a-1-time rotating coordinate system and a 5-time rotating coordinate system on the side of the power winding;
and (4) carrying out proportional integral operation, multiplication operation and coordinate transformation on the difference value in sequence to obtain a load side harmonic current reference value under a positive sequence fundamental frequency rotation coordinate system.
Preferably, the PW voltage harmonic setpoint that compensates for the second harmonic of the torque is:
the PW voltage harmonic given value of the compensation torque sixth harmonic is as follows:
wherein,
and
d-axis component and q-axis component of PW voltage harmonic given value of compensation torque second harmonic respectively;
and
respectively an actual voltage component and an actual current component under a positive sequence fundamental frequency rotation coordinate system at the power winding side;
and
respectively an actual voltage component and an actual current component under a power winding side 5-time rotating coordinate system;
and
respectively an actual voltage component and an actual current component under a power winding side 7-time rotating coordinate system;
the actual current component under a power winding side-1 rotation coordinate system is obtained;
and
the d-axis component and the q-axis component of the PW voltage harmonic setpoint to compensate for the torque sixth harmonic.
Generally, compared with the prior art, the above technical solution conceived by the present invention has the following beneficial effects:
the invention provides a torque ripple suppression device and a torque ripple suppression method for independent power generation of a brushless doubly-fed motor, aiming at reducing torque ripple as far as possible by a control method without adding an additional filter device, and improving the power generation quality of the brushless doubly-fed motor so as to realize the normal operation of the brushless doubly-fed motor under various special load working conditions such as a two-quadrant frequency converter, a thyristor rectifier, an uncontrolled rectifier, a three-phase unbalanced load and the like. More specifically, the LSC control unit is utilized to inject-1-order and 5-order current harmonic components, so that-1-order and 5-order harmonic voltages of the power winding are controlled, the torque ripple of the brushless double-fed motor is reduced, the quality of generated electric energy is improved, and the service life of equipment is prolonged.
Drawings
Fig. 1 is a schematic diagram of a torque ripple suppression device for independent power generation of a brushless doubly-fed machine according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a PW voltage harmonic reference value calculating module according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a PW voltage harmonic control module according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an LSC-side current control module according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a dc bus voltage control module according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a PW voltage extraction module according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a PW current extraction module according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a PW voltage fundamental control module according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of an MSC-side current control module according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The concept of the present invention is explained below:
abc coordinate system: the three-phase symmetrical stationary winding corresponding to the alternating current motor is provided with three coordinate axes of an axis a, an axis b and an axis c which are intersected at an original point, the three coordinate axes are stationary in space and are symmetrically distributed at an angle of 120 degrees, and the three coordinate axes are the axis a, the axis b and the axis c in turn according to the clockwise direction;
two-phase stationary coordinate system: the virtual two-phase orthogonal stationary winding corresponding to the alternating current motor is provided with two coordinate axes of an alpha axis and a beta axis which are intersected at an original point, wherein the two coordinate axes are stationary in space and are 90 degrees different from each other, and the two coordinate axes are the alpha axis and the beta axis in turn according to the anticlockwise direction;
positive sequence fundamental frequency dq rotation coordinate system: has two coordinate axes of d-axis and q-axis intersecting at the origin, the two coordinate axes being different by 90 degrees (in the counterclockwise direction, the d-axis and the q-axis are arranged in sequence) at an angular velocity omegapRotating anticlockwise; wherein ω ispThe rotation angular velocity which is the fundamental component of the PW voltage;
five rotations dq coordinate system: has two coordinate axes of d-axis and q-axis intersecting at the origin, the two coordinate axes being different by 90 degrees (in the counterclockwise direction, the d-axis and the q-axis are arranged in sequence) at an angular velocity of 5 omegapRotating clockwise;
seven rotations of the dq coordinate system: has two coordinate axes of d-axis and q-axis intersecting at the origin, the two coordinate axes being different by 90 degrees (in the counterclockwise direction, the d-axis and the q-axis are arranged in sequence) at an angular velocity of 7 omegapRotating anticlockwise;
in the invention, the alpha axis and the a axis are superposed;
in the invention, if the dq coordinate system where the electric quantity is located is not marked at the upper right corner, the default is a positive sequence fundamental frequency rotating coordinate system: dq coordinate system;
p at the lower right corner of the electric quantity represents a power winding side, l represents a load side, dq and alpha beta respectively represent a two-phase rotating coordinate system and a two-phase static coordinate system, and numbers represent harmonic times; the numbers in the upper right corner represent the number of times the coordinate system is rotated, "+" represents a reference value;
fundamental component: the fundamental component refers to a component having the same component frequency as the rated frequency;
harmonic components: harmonic components refer to components whose component frequencies are integral multiples of a rated frequency;
a PI controller: the PI controllers are common concepts in motor control, and the forms of the PI controllers in the invention are all
Wherein k ispTo proportional gain, kiFor integral gain, s is Laplace's calculationAnd the proportional operation and the integral operation given by the PI controller are sequentially carried out on the deviation between the reference value and the feedback value of the control target, and then the results of the proportional operation and the integral operation are added to form a control quantity to control the controlled object. k is a radical ofpAnd kiThe debugging method comprises the following steps:
firstly, k isiSet to 0 and then gradually increase kpUntil overshoot of the control target occurs, kpNo longer changed; then gradually increase kiUntil the adjustment time of the control target reaches the user's demand.
PIR controller: the first PIR controller and the second PIR controller in the invention are both in the form of
Wherein k ispTo proportional gain, kiTo integrate the gain, krFor resonant gain, ωcAt a cut-off frequency (typically 5-20rad/s), ωnThe control method comprises the steps that a resonance frequency (generally set according to the frequency of a harmonic signal) is set, s is a Laplace operator, proportional operation, integral operation and resonance operation given by a PIR controller are sequentially carried out on deviation between a reference value and a feedback value of a control target, and then results of the proportional operation, the integral operation and the resonance operation are added to form a control quantity to control a controlled object. k is a radical ofp，kiAnd krThe debugging method comprises the following steps:
1. firstly, k is put inrSet to 0, debug k according to the debugging method of PI controllerpAnd kiParameters are as follows: firstly, k isiSet to 0 and then gradually increase kpUntil overshoot of the control target occurs, kpNo longer changed; then gradually increase kiUntil the adjustment time of the control target reaches the requirement of the user;
2. guarantee kpAnd kiThe parameters are not changed, a resonance debugging signal is added, and k is changedrParameters are as follows: firstly, k isiSet to 0 and then gradually increase krUntil the tracking effect of the resonance signal reaches the requirement of a user;
SVPWM generator: the first SVPWM generator and the second SVPWM generator belong to the column. The ideal flux linkage circle of the stator of the three-phase symmetrical motor is taken as a reference standard when the three-phase symmetrical sine-wave voltage is used for supplying power, and different switching modes of the three-phase inverter are properly switched, so that PWM waves are formed, and the accurate flux linkage circle of the three-phase symmetrical motor is tracked by the formed actual flux linkage vector.
The physical meanings referred to in the present invention are as follows:
examples
As shown in fig. 1, an overall control block diagram of a torque ripple suppression device of a brushless doubly-fed independent power generation system includes an MSC (motor side converter) control system and an LSC (load side converter) control system; the MSC control system is connected to the control winding side of the brushless double-fed motor; the LSC control system is connected to the power winding side of the brushless double-fed motor; the MSC control system is used for stabilizing the fundamental voltage amplitude of the power winding; the LSC control system is used for stabilizing the voltage of the direct-current bus; meanwhile, compensating an LSC side group wave current reference value by adopting a load side harmonic current reference value for controlling the harmonic voltage of the power winding; the load of the brushless doubly-fed independent power generation system comprises an asymmetric load and a nonlinear load; the load side harmonic current reference values include a load side-1 harmonic current reference value and a load side 5 harmonic current reference value.
Specifically, the LSC control system comprises a direct-current bus voltage control module, an LSC side current conversion module, an LSC side voltage conversion module, a PW voltage harmonic control module, a PW voltage harmonic reference value calculation module, a second SVPWM generator module, a PW current extraction module and a PW voltage extraction module;
the PW voltage extraction module is used for extracting three-phase voltage u of a power winding static abc coordinate systempa、upb、upcSequentially carrying out coordinate transformation, addition operation, generalized integral, positive sequence operation or negative sequence operation and coordinate transformation to obtain the actual voltage components of the positive sequence fundamental frequency rotating coordinate system on the power winding side under-1 rotation dq coordinate, 5 rotation dq coordinate and 7 rotation dq coordinate
And
the PW current extraction module is used for extracting three-phase current i of a power winding static abc coordinate systempa、ipb、ipcSequentially carrying out coordinate transformation, addition operation, generalized integral, positive sequence operation or negative sequence operation and coordinate transformation to obtain the actual current components of the positive sequence fundamental frequency rotating coordinate system on the power winding side under-1 rotation dq coordinate, 5 rotation dq coordinate and 7 rotation dq coordinate
And
the PW voltage harmonic reference value calculation module is connected with the PW current extraction module and the PW voltage extraction module and is used for calculating the harmonic reference value according to the current
And
calculating the PW voltage harmonic given value of the compensation torque second harmonic (
And
) And PW voltage harmonic given value (C) for compensating for the sixth harmonic of torque
And
)；
the input end of the PW voltage harmonic control module is connected with the PW voltage harmonic reference value calculation module and is used for calculating the harmonic reference value
PI operation and multiplication are sequentially carried out and then coordinate transformation is carried out to obtain load side-1 and 5 harmonic current reference values under a positive sequence fundamental frequency rotation coordinate system
And
the output end of the direct current bus voltage control module is connected with the LSC side current control module and used for controlling the LSC side current control module according to the direct current bus voltage reference value
And DC bus voltage feedback value udcObtaining a reference value of the d-axis fundamental wave current at the load side
The output end of the LSC side current conversion module is connected with the LSC side current control module and used for converting a-phase current i on the LSC side under an abc coordinate systemlaPhase i of b-phase currentlbAnd c-phase current ilcConverted into d-axis component i of LSC side current under dq coordinate systemldAnd q-axis component ilq(ii) a The transformation formula is specifically as follows:
wherein the reference angle theta is transformedpThe phase of the fundamental wave component of the PW voltage output by the PW voltage extraction module;
the output end of the LSC side current control module is connected with the LSC side voltage conversion module; for referencing d (q) axis fundamental wave current on LSC side
Adding the d (q) axis component of the load side-1 harmonic current reference value and the 5 harmonic current reference value to obtain the d (q) axis component after LSC side current compensation in the dq coordinate system
Then proceed with
Calculating, and performing proportional integral resonance calculation on the obtained difference value to obtain a voltage reference value of a dq coordinate system at the load side
The output end of the LSC side voltage conversion module is connected with the second SVPWM generator; for referencing the load-side dq coordinate system voltage
Converting into alpha-axis component reference value of LSC side voltage under two-phase static coordinate system
And a reference value of the beta axis component
The specific transformation formula is as follows:
the second SVPWM generator module is used to generate the PWM signals required by the load side converter to control the LSC.
Specifically, the MSC control system comprises a CW conversion angle generation module, a PW voltage fundamental control module, an MSC side current conversion module, an MSC side current control module, an MSC side voltage conversion module, and a first SVPWM generator module;
the CW conversion angle generation module is used for generating a reference value according to the side angular frequency of the power winding
And rotor speed omegarTo proceed with
Calculating, and integrating to obtain CW transformation angle thetac；
The PW voltage fundamental wave control module is used for converting the reference value of the power winding side voltage fundamental wave
Feedback value u of fundamental wave of voltage on power winding sidepAfter difference making, obtaining a d-axis current reference value at the side of the control winding through proportional integral operation
The MSC side current transformation module is used for controlling the a-phase current i of the winding under the abc coordinate systemcaPhase i of b-phase currentcbAnd c-phase current iccConverting the d-axis current component i of the control winding into dq coordinate systemcdAnd q-axis current component icq；
The input end of the MSC side current control module is connected with the PW voltage fundamental wave control module and the MSC side current conversion module; for use in
And
PI operation is carried out to obtain the dq coordinate of the control windingReference value of system voltage
The MSC side voltage conversion module is used for controlling the voltage reference value of the dq coordinate system of the winding
Converting into alpha-axis component reference value of control winding voltage under two-phase static coordinate system
And a reference value of the beta axis component
The first SVPWM generator module is used for generating PWM signals required by the MSC.
As shown in fig. 2, the PW voltage harmonic reference value calculating module includes a first function calculating module, a second function calculating module, a third function calculating module and a fourth function calculating module, and obtains a PW voltage harmonic given value of the second harmonic of the compensation torque(s) ((
And
) And PW voltage harmonic given value (C) for compensating for the sixth harmonic of torque
And
) The calculation principle of (1) is as follows:
due to control of winding frequency omegacSince the power absorbed by the control winding is generally relatively small, the emphasis on torque ripple suppression is placed on the power winding, and the control winding torque harmonics are ignored for the time being. And because the harmonic amplitude is generally smaller than the fundamental amplitudeMany torque harmonics generated between the voltage-current fundamental wave and the harmonics are considered, and torque harmonics generated between the harmonics are ignored.
The above analysis shows that the torque harmonic mainly comprises two parts, namely a power winding side torque second harmonic component and a power winding side torque sixth harmonic component, and the torque ripple suppression effect can be achieved only by suppressing the two parts. The correlation formula is derived as follows:
wherein, Tep_2Is the second harmonic of the torque at the power winding side; p is a radical ofpIs the pole pair number of PW;
the component of the power winding flux linkage positive sequence fundamental frequency under the positive sequence fundamental frequency rotating coordinate system;
the component of the negative sequence fundamental frequency of the power winding current under the negative sequence fundamental frequency rotating coordinate system; omegapThe rotation speed of the rotating coordinate system is the positive sequence fundamental frequency;
the component of the power winding current positive sequence fundamental frequency under the positive sequence fundamental frequency rotating coordinate system;
the conjugate of the negative-sequence fundamental frequency component of the flux linkage of the power winding under the negative-sequence fundamental frequency rotating coordinate system;
the d-axis component of the power winding voltage positive sequence fundamental frequency component under the positive sequence fundamental frequency rotating coordinate system;
for positive-sequence fundamental frequency component of power winding voltage in positive-sequence fundamental frequency rotating coordinate systemA q-axis component;
d-axis component of the negative sequence fundamental frequency component of the power winding voltage under the negative sequence fundamental frequency rotating coordinate system;
the q-axis component of the negative sequence fundamental frequency component of the power winding voltage under the negative sequence fundamental frequency rotating coordinate system;
d-axis component of the power winding current negative sequence fundamental frequency component under the negative sequence fundamental frequency rotating coordinate system;
the q-axis component of the negative sequence fundamental frequency component of the power winding current under the negative sequence fundamental frequency rotating coordinate system;
the d-axis component of the power winding current positive sequence fundamental frequency component under the positive sequence fundamental frequency rotating coordinate system;
the q-axis component of the power winding current positive sequence fundamental frequency component under the positive sequence fundamental frequency rotating coordinate system;
to make Tep_2When 0, the following equation is required to hold:
the PW voltage harmonic setpoint that compensates for the second harmonic of the torque can be obtained from the equation:
similarly, the PW voltage harmonic given value of the compensation torque sixth harmonic can be obtained:
specifically, as shown in fig. 3, the PW voltage harmonic control module includes a tenth adder, an eleventh adder, a twelfth adder, a thirteenth adder, a fifth PI controller, a sixth PI controller, a seventh PI controller, an eighth PI controller, a second multiplier, a third multiplier, a fourth multiplier, a fifth multiplier, a first coordinate converter, and a second coordinate converter;
the tenth adder, the eleventh adder, the twelfth adder and the thirteenth adder are respectively used for performing
And
calculating; the fifth PI controller, the sixth PI controller, the seventh PI controller and the eighth PI controller are respectively used for pairing
And
carrying out proportional integral operation; the second multiplier, the third multiplier, the fourth multiplier and the fifth multiplier are used for determining a positive correlation; the first coordinate transformation module is used for acquiring a d-axis component of a load side-1 harmonic current reference value under a positive sequence fundamental frequency rotation coordinate
And q-axis component of load side-1 harmonic current reference value in positive sequence fundamental frequency rotation coordinate
The second coordinate transformation module is used for acquiring a d-axis component of a load side 5-order harmonic current reference value under the positive sequence fundamental frequency rotation coordinate
And q-axis component of load side 5-order harmonic current reference value under positive sequence fundamental frequency rotation coordinate
The basis of the coordinate transformation is as follows:
wherein,
is the value of the negative sequence component of the electric quantity in the positive sequence fundamental frequency rotation coordinate system;
is the value of the negative sequence component of the electric quantity in a rotating coordinate system for-1 time;
is the value of 5-time component of the electric quantity in the positive sequence fundamental frequency rotation coordinate system;
is the value of the 5-time component of the electric quantity in the 5-time rotating coordinate system;
specifically, as shown in fig. 4, the LSC-side current control module includes a sixth adder, a seventh adder, an eighth adder, a ninth adder, a first PIR controller and a second PIR controller, where the sixth adder is configured to reference the LSC-side d-axis fundamental wave current to a reference value
Current output by PW harmonic voltage control module
Adding to obtain the d-axis component after load side current compensation
The eighth adder is used for referencing the LSC side q-axis fundamental wave current
Obtaining a current reference value of a dq coordinate system at a load side
The seventh adder is used for performing
Operation, the ninth adder for performing
Calculating to obtain a difference value
And
respectively carrying out proportional integral resonance operation through a first PIR controller and a second PIR controller to obtain a voltage reference value of a dq coordinate system at a load side
Sending the voltage to an LSC side voltage conversion module;
specifically, as shown in fig. 5, the dc bus voltage control module includes a fourth adder and a fourth PI controller; the fourth adder is used for adding the DC bus voltage reference value
And a direct current bus voltage feedback value udcMaking a difference; the fourth PI controller is used for controlling
Performing proportional integral operation to output the reference value of the load side d-axis fundamental wave current
Specifically, as shown in fig. 6, the PW voltage extraction module includes a third coordinate converter, a fourteenth adder, a fifteenth adder, a sixteenth adder, a first second-order generalized integrator, a second-order generalized integrator, a third second-order generalized integrator, a first positive sequence operator, a second positive sequence operator, a first negative sequence operator, a second negative sequence operator, a fifth coordinate converter, a sixth coordinate converter, a seventh coordinate converter, an eighth coordinate converter, a fourth coordinate converter, an amplitude operator, a first divider, a ninth PI controller, a seventeenth adder, and a third integrator;
three-phase voltage u of power winding static abc coordinate systempa、upb、upcConverted into two-phase stationary alpha beta coordinate system voltage u by a third coordinate converterpαAnd upβ(ii) a The actual voltage of the power winding under the static coordinate system is subjected to subtraction u through a fourteenth adder, a fifteenth adder and a sixteenth adderpαβ-upαβ5f-upαβ7f、upαβ-upαβ1f-upαβ7fAnd upαβ-upαβ5f-upαβ1f(wherein upαβ1fThe power winding voltage is +/-1 time component under an alpha beta coordinate system; u. ofpαβ5fIs the power winding voltage +/-5 th harmonic component under an alpha beta coordinate system; u. ofpαβ7fPower winding voltage +/-7-order harmonic component under an alpha beta coordinate system), sending the obtained difference value into a first second-order generalized integrator, a second-order generalized integrator and a third second-order generalized integrator to perform 90-degree phase shift, wherein the transfer function is as follows:
wherein u isf(s) is the value of the input signal after filtering; u(s) is an input signal; k is a damping coefficient;
is the resonant frequency; s is a Laplace transform symbol with a value of j ω; qu uf(s) is uf(s) a value of 90 degrees of hysteresis;
to obtain upαβ1f、qupαβ1f、upαβ5f、qupαβ5f、upαβ7fAnd qupαβ7fWill upαβ1fAnd qupαβ1fSending the signal into a first positive sequence calculator to obtain u by calculationpαβ1(ii) a Will upαβ1fAnd qupαβ1fSending the signal to a first negative sequence arithmetic unit to obtain upαβ-1(ii) a Will upαβ5fAnd qupαβ5fSending the signal to a second negative sequence arithmetic unit to obtain upαβ5；upαβ7fAnd qupαβ7fThe obtained u is sent to a second positive sequence arithmetic unitpαβ7. The operation rule is as follows:
wherein,
a voltage positive sequence component being the alpha axis;
a voltage positive sequence component being the beta axis;
a negative sequence component of voltage on the α axis;
a negative sequence component of voltage on the beta axis; q is a 90 degree phase shift;
obtained upαβ1、upαβ-1、upαβ5、upαβ7Are both quantities in the two-phase stationary α β coordinate system and are therefore transformed to the corresponding respective dq rotating coordinate system by coordinate transformation. Will upαβ1Converting into positive sequence fundamental frequency rotating coordinate system by a fifth coordinate converter
Will upαβ-1Transforming into negative sequence fundamental frequency coordinate system by a sixth coordinate transformer
Will upαβ5Transforming into-5 times of rotation coordinate system by seven coordinate transformer
Will upαβ7Converting into 7 times of rotation coordinate system by seven coordinate converter
In order to obtain the amplitude of the fundamental wave reference value of the voltage on the power winding side and the transformation angle of the power winding, a phase-locked loop module is also added. The phase-locked loop is an improved phase-locked loop technology, and u is obtainedpαβ1Coordinate transformation is performed by a fourth coordinate operator to transform the angle thetapNamely, the voltage amplitude is evaluated and simultaneously used as a feedback value, in order to prevent the influence of the voltage amplitude on a phase-locked loop, a first divider is specially arranged, so that the quantity entering a ninth PI controller is irrelevant to the amplitude, the voltage can be tracked through the link, and the transformation angle theta is obtainedp。
Specifically, as shown in fig. 7, the PW current extraction module includes a ninth coordinate converter, an eighteenth adder, a nineteenth adder, a twentieth adder, a fourth second-order generalized integrator, a fifth second-order generalized integrator, a sixth second-order generalized integrator, a third positive sequence operator, a fourth positive sequence operator, a third negative sequence operator, a fourth negative sequence operator, a tenth coordinate converter, an eleventh coordinate converter, a twelfth coordinate converter, and a thirteenth coordinate converter;
three-phase current i of power winding static abc coordinate systempa、ipb、ipcConverted into two-phase static alpha beta coordinate system current i by a ninth coordinate converterpαAnd ipβThe voltage is subtracted by an eighteenth adder, a nineteenth adder and a twentieth adder ipαβ-ipαβ5f-ipαβ7f、ipαβ-ipαβ1f-ipαβ7f、ipαβ-ipαβ5f-ipαβ1f(wherein, ipαβ1fIs the power winding current +/-1 time component under an alpha beta coordinate system; i.e. ipαβ5fThe power winding current is +/-5 time components under an alpha beta coordinate system; i.e. ipαβ7fThe power winding current +/-7-time components under an alpha beta coordinate system), sending the obtained difference value into a fourth second-order generalized integrator, a fifth second-order generalized integrator and a sixth second-order generalized integrator, and carrying out 90-degree phase shift, wherein the transfer function is as follows:
wherein if(s) is the value of the input signal after filtering; i(s) is an input signal; d(s) is a transfer function; q(s) is the transfer function; qif(s) is and if(s) differ by a value of 90 degrees;
to obtain ipαβ1f、qipαβ1f、ipαβ5f、qipαβ5f、ipαβ7f、qipαβ7fI is topαβ1fAnd qipαβ1fSending the signal to a third positive sequence calculator to obtain ipαβ1(ii) a Will ipαβ1fAnd qipαβ1fSending the signal to a third negative sequence arithmetic unit to obtain ipαβ-1(ii) a Will ipαβ5fAnd qipαβ5fSending the signal to a fourth negative sequence arithmetic unit to obtain ipαβ5；ipαβ7fAnd qipαβ7fFed to a fourth positive-sequence operator to obtain ipαβ7. The operation rule is as follows:
wherein,
a current positive sequence component being the alpha axis;
a current positive sequence component being the beta axis;
negative current sequence of alpha axisA component;
a negative sequence component of current that is the beta axis; q is a 90 degree phase shift;
obtained ipαβ1、ipαβ-1、ipαβ5、ipαβ7Both are quantities in a two-phase stationary α β coordinate system, and are thus transformed to the corresponding respective dq rotating coordinate system by coordinate transformation; will ipαβ1Converted into a positive sequence fundamental frequency rotating coordinate system through a tenth coordinate converter
Will ipαβ-1Transforming into negative sequence fundamental frequency coordinate system by an eleventh coordinate transformer
Will ipαβ5Transforming into-5 times of rotation coordinate system by twelve coordinate transformer
Will ipαβ7Converting into 7-time rotation coordinate system by thirteen-coordinate converter
Specifically, as shown in fig. 8, the PW voltage fundamental control module includes a first adder and a first PI controller; fundamental reference value for power winding side voltage
And a feedback value upComparing the difference value with the first adder to obtain a difference value
The difference value is subjected to proportional integral operation of a first PI controller to obtain a d-axis current reference value of the control winding side
Specifically, as shown in fig. 9, the MSC-side current control module includes a second adder, a third adder, a second PI controller, and a third PI controller;
the second adder is used for calculating
A difference value; the third adder is used for calculating
A difference value; obtaining a voltage reference value of a dq coordinate system of the control winding through a second PI controller and a third PI controller
In summary, compared with the prior art, the invention has the following advantages:
the invention provides a torque ripple suppression device and a torque ripple suppression method for independent power generation of a brushless doubly-fed motor, aiming at reducing torque ripple as far as possible by a control method without adding an additional filter device, and improving the power generation quality of the brushless doubly-fed motor so as to realize the normal operation of the brushless doubly-fed motor under various special load working conditions such as a two-quadrant frequency converter, a thyristor rectifier, an uncontrolled rectifier, a three-phase unbalanced load and the like. More specifically, the LSC control unit is utilized to inject-1-order and 5-order current harmonic components, so that-1-order and 5-order harmonic voltages of the power winding are controlled, the torque ripple of the brushless double-fed motor is reduced, the quality of generated electric energy is improved, and the service life of equipment is prolonged.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. The torque ripple suppression device of the brushless double-fed independent power generation system is characterized by comprising an LSC control system, a voltage stabilizing circuit and a voltage stabilizing circuit, wherein the LSC control system is connected to the power winding side of a brushless double-fed motor and is used for stabilizing the voltage of a direct current bus; meanwhile, compensating an LSC side group wave current reference value by adopting a load side harmonic current reference value for controlling the harmonic voltage of the power winding;
wherein the load of the brushless doubly-fed independent power generation system comprises an asymmetric load and a nonlinear load; the load side harmonic current reference value comprises a load side-1 harmonic current reference value and a load side 5 harmonic current reference value;
the LSC control system comprises:
the output end of the direct current bus voltage control module is connected with the second input end of the LSC side current control module; the output end of the LSC side current conversion module is connected with the third input end of the LSC side current control module; the LSC side current control module, the LSC side voltage conversion module and the second SVPWM generator are connected in sequence;
the PW current extraction module and the PW voltage extraction module are respectively used for acquiring actual current components and actual voltage components under each rotating coordinate system at the power winding side; and the PW voltage extraction module is also used for calculating the fundamental wave voltage amplitude of the power winding and the change angle theta of the power windingp(ii) a The output end of the PW voltage harmonic reference value calculation module is connected with the input end of the PW voltage harmonic control module; the PW voltage harmonic given value is used for calculating the PW voltage harmonic given value of the compensation torque second harmonic and the sixth harmonic;
the output end of the PW voltage harmonic control module is connected with the first input end of the LSC side current control module; the PW voltage harmonic given value is used for respectively subtracting the PW voltage harmonic given values of the compensation torque second harmonic and the sixth harmonic from actual voltage components under a-1-time rotating coordinate system and a 5-time rotating coordinate system on the side of the power winding; carrying out proportional integral operation, multiplication operation and coordinate transformation on the difference value in sequence to obtain a load side harmonic current reference value under a positive sequence fundamental frequency rotation coordinate system;
and the LSC side current control module is used for compensating the LSC side group wave current reference value by adopting the load side harmonic current reference value, making a difference between a compensated result and the LSC side current in the coordinate system, and performing proportional integral resonance operation on the difference value to obtain a voltage reference value of the load side dq coordinate system.
2. The torque ripple suppression device of claim 1, further comprising an MSC control system connected to the control winding side of the brushless doubly fed machine for stabilizing the power winding fundamental voltage amplitude.
3. The torque ripple suppression device of claim 2, wherein the PW voltage harmonic setpoint of the compensating torque second harmonic is:
the PW voltage harmonic given value of the compensation torque sixth harmonic is as follows:
wherein,
and
d-axis component and q-axis component of PW voltage harmonic given value of compensation torque second harmonic respectively;
and
respectively an actual voltage component and an actual current component under a positive sequence fundamental frequency rotation coordinate system at the power winding side;
and
respectively an actual voltage component and an actual current component under a power winding side 5-time rotating coordinate system;
and
respectively an actual voltage component and an actual current component under a power winding side 7-time rotating coordinate system;
the actual current component under a power winding side-1 rotation coordinate system is obtained;
and
the d-axis component and the q-axis component of the PW voltage harmonic setpoint to compensate for the torque sixth harmonic.
4. The torque ripple suppression device of claim 3, wherein the PW voltage harmonic control module includes a tenth adder, an eleventh adder, a twelfth adder, a thirteenth adder, a fifth PI controller, a sixth PI controller, a seventh PI controller, an eighth PI controller, a second multiplier, a third multiplier, a fourth multiplier, a fifth multiplier, a first coordinate transformer, and a second coordinate transformer;
the tenth adder, the eleventh adder, the twelfth adder and the thirteenth adder are respectively used for performing
And
calculating; the fifth PI controller, the sixth PI controller, the seventh PI controller and the eighth PI controller are respectively used for pairing
And
carrying out proportional integral operation; the second multiplier, the third multiplier, the fourth multiplier and the fifth multiplier are used for determining a positive correlation; the first coordinate transformation module is used for acquiring a load side-1 harmonic current reference value under a positive sequence fundamental frequency rotation coordinate; the second coordinate transformation module is used for acquiring a load side 5-order harmonic current reference value under the positive sequence fundamental frequency rotation coordinate;
wherein,
and
d-axis component and q-axis component of PW voltage harmonic given value of compensation torque second harmonic respectively;
and
d-axis component and q-axis component of PW voltage harmonic given value of compensation torque sixth harmonic respectively;
and
actual voltage components of a d axis and a q axis under a power winding side-1 rotation coordinate system are respectively;
and
the actual voltage components of the d-axis and q-axis of the power winding side 5 times of the rotating coordinate system are respectively.
5. The torque ripple suppression device of claim 2, wherein the MSC control system comprises a CW conversion angle generation module, a PW voltage fundamental control module, an MSC-side current conversion module, an MSC-side current control module, an MSC-side voltage conversion module, and a first SVPWM generator module;
the PW voltage fundamental wave control module is used for subtracting a power winding side voltage fundamental wave reference value from a power winding side voltage fundamental wave feedback value and obtaining a control winding side d-axis current reference value through proportional-integral operation
The MSC side current conversion module is used for acquiring a d-axis current component i of the control winding under the dq coordinate systemcdAnd q-axis current component icq；
The input end of the MSC side current control module is connected with the PW voltage fundamental wave control module and the MSC side current conversion module; for use in
And-icqPI operation is carried out to obtain a voltage reference value of a dq coordinate system of the control winding;
the MSC side voltage conversion module is used for converting the voltage reference value of the dq coordinate system of the control winding into an alpha axis component reference value and a beta axis component reference value of the voltage of the control winding under a two-phase static coordinate system;
the first SVPWM generator module is used for generating PWM signals required by the MSC.
6. A suppression method of the torque ripple suppression device according to claim 1, wherein the LSC-side base wave current reference is compensated with a load-side harmonic current reference for controlling a harmonic voltage of the power winding;
wherein the load of the brushless doubly-fed independent power generation system comprises an asymmetric load and a nonlinear load; the load side harmonic current reference value comprises a load side-1 harmonic current reference value and a load side 5 harmonic current reference value;
the method for acquiring the harmonic current reference value at the load side comprises the following steps:
calculating PW voltage harmonic given values of compensation torque second harmonic waves and sixth harmonic waves based on actual current components and actual voltage components under a positive sequence fundamental frequency rotating coordinate system on the power winding side, a-1 rotation dq coordinate, a 5 rotation dq coordinate and a 7 rotation dq coordinate;
respectively subtracting PW voltage harmonic given values of the compensation torque second harmonic and the sixth harmonic from actual voltage components under a-1-time rotating coordinate system and a 5-time rotating coordinate system on the side of the power winding;
and (4) carrying out proportional integral operation, multiplication operation and coordinate transformation on the difference value in sequence to obtain a load side harmonic current reference value under a positive sequence fundamental frequency rotation coordinate system.
7. The suppression method according to claim 6, wherein the PW voltage harmonic setpoint of the compensation torque second harmonic is:
the PW voltage harmonic given value of the compensation torque sixth harmonic is as follows:
wherein,
and
d-axis component and q-axis component of PW voltage harmonic given value of compensation torque second harmonic respectively;
and
respectively an actual voltage component and an actual current component under a positive sequence fundamental frequency rotation coordinate system at the power winding side;
and
respectively an actual voltage component and an actual current component under a power winding side 5-time rotating coordinate system;
and
respectively an actual voltage component and an actual current component under a power winding side 7-time rotating coordinate system;
is under a power winding side-1 rotation coordinate systemThe actual current component of (a);
and
the d-axis component and the q-axis component of the PW voltage harmonic setpoint to compensate for the torque sixth harmonic.
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