Method and device for setting LADRC parameters of current loop of doubly-fed fan rotor side converter

Abstract

The invention provides a doubly-fed fan rotor side converter current loop LADRC parameter setting method and device. The method comprises the steps that control gain parameters of a doubly-fed fan rotor side converter current loop LADRC are acquired; increasing the bandwidth of the linear expansion state observer and the bandwidth of the controller in proportion until the noise causes the output fluctuation or oscillation of the system; finely adjusting the bandwidth of the linear expansion state observer and the bandwidth of the controller; finely adjusting the proportional gain parameter and the second linear parameter until the closed-loop dynamic performance of the system reaches the expected dynamic performance, and recording an undetermined parameter set under the current control gain parameter; after the control gain parameter is changed, the steps are repeated to obtain multiple sets of undetermined parameters; and LADRC parameters meeting the requirements are selected according to a preset standard. The parameter setting method is simple and easy to implement, gives full play to the immunity and damping capacity of LADRC, and is superior to an existing additional damping control strategy.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of current loop control, and in particular to a doubly-fed wind turbine rotor-side converter current loop LADRC parameter setting method and device. BACKGROUND

[0002] Wind power systems are often distributed over a large area, and the traditional PI control of doubly-fed wind turbines is prone to oscillation. In actual engineering applications, there are various disturbances that affect the determination of the mathematical model and parameters.

[0003] Some documents currently propose a disturbance rejection additional damping control strategy, which obtains a compensation amount by passing a feedback signal through a damping link and a disturbance rejection control, and superimposes the compensation amount on the active or reactive command value in the control loop to improve the damping capacity. However, this method only optimizes the given quantity, and ignores the improvement of the subsequent current loop control circuit, and lacks scientific basis and methods for parameter setting, and fails to fully exert the disturbance rejection and damping capacity of the disturbance rejection control. SUMMARY

[0004] Therefore, the present application provides a doubly-fed wind turbine rotor-side converter current loop LADRC parameter setting method and device to solve at least one of the above problems.

[0005] To achieve the above purpose, the present application adopts the following solutions:

[0006] According to a first aspect of the present application, a doubly-fed wind turbine rotor-side converter current loop LADRC parameter setting method is provided, which comprises: obtaining a control gain parameter of a doubly-fed wind turbine rotor-side converter current loop LADRC; determining a multiple relationship between a linear extended state observer bandwidth and a controller bandwidth of the LADRC; proportionally increasing the linear extended state observer bandwidth and the controller bandwidth based on the multiple relationship until noise causes system output fluctuation or oscillation; fine-tuning the linear extended state observer bandwidth and the controller bandwidth to optimize the dynamic response and disturbance rejection capacity of the system; fine-tuning the proportional gain parameter and the second linear parameter until the closed-loop dynamic performance of the system reaches the desired dynamic performance, and recording the to-be-determined parameters set out under the current control gain parameter, wherein the to-be-determined parameters include the control gain parameter, the first linear parameter, the second linear parameter and the proportional gain parameter; changing the control gain parameter in a preset range by a set step, and repeating the above steps to obtain multiple sets of to-be-determined parameters; comparing the control effects of the multiple sets of to-be-determined parameters set out under different control gain parameter values, and selecting the LADRC parameters meeting the requirements according to a preset standard.

[0007] As an embodiment of the present application, the control gain parameter of the LADRC of the rotor-side converter of the doubly-fed wind turbine in the above method comprises: obtaining the control gain parameter of the LADRC of the rotor-side converter of the doubly-fed wind turbine based on the field excitation inductance, the rotor inductance and the stator inductance.

[0008] As an embodiment of the present application, the multiple relationship in the above method is that the linear extended state observer bandwidth is 3 to 5 times of the controller bandwidth, and the linear extended state observer bandwidth is greater than the controller bandwidth.

[0009] As an embodiment of the present application, the first linear parameter in the above method is equal to 2 times of the linear extended state observer bandwidth.

[0010] As an embodiment of the present application, the preset range in the above method is 0.1 to 10 times of the control gain parameter.

[0011] As an embodiment of the present application, the required LADRC parameter in the above method comprises: the proportional gain parameter is 1, the control gain parameter is 6, the first linear parameter is 10, and the second linear parameter is 27, which are used to suppress subsynchronous oscillation of the doubly-fed wind turbine under fault.

[0012] According to a second aspect of the present application, a LADRC parameter setting device for a rotor-side converter of a doubly-fed wind turbine is provided, which comprises: a control gain parameter acquisition unit for acquiring a control gain parameter of a LADRC of a rotor-side converter of a doubly-fed wind turbine; a multiple relationship determination unit for determining a multiple relationship between a linear extended state observer bandwidth and a controller bandwidth of the LADRC; a proportional adjustment unit for proportionally increasing the linear extended state observer bandwidth and the controller bandwidth based on the multiple relationship until noise causes system output fluctuation or oscillation; a first fine adjustment unit for fine-tuning the linear extended state observer bandwidth and the controller bandwidth to optimize dynamic response and anti-disturbance ability of the system; a second fine adjustment unit for fine-tuning a proportional gain parameter and a second linear parameter until closed-loop dynamic performance of the system reaches expected dynamic performance, and recording the to-be-determined parameters set under the current control gain parameter, which comprises the control gain parameter, the first linear parameter, the second linear parameter and the proportional gain parameter; a step change unit for changing the control gain parameter by a set step within a preset range to obtain multiple sets of to-be-determined parameters; and a parameter selection unit for comparing control effects of the multiple sets of to-be-determined parameters set under different control gain parameter values, and selecting a required LADRC parameter according to a preset standard.

[0013] As an embodiment of the present application, the control gain parameter obtaining unit is specifically configured to obtain the control gain parameter of the LADRC of the rotor-side converter of the DFIG based on the field inductance, the rotor inductance and the stator inductance.

[0014] As an embodiment of the present application, the multiple relationship is that the bandwidth of the linear extended state observer is 3 to 5 times of the bandwidth of the controller, and the bandwidth of the linear extended state observer is greater than the bandwidth of the controller.

[0015] As an embodiment of the present application, the first linear parameter is equal to 2 times of the bandwidth of the linear extended state observer.

[0016] As an embodiment of the present application, the preset range is 0.1 to 10 times of the control gain parameter.

[0017] As an embodiment of the present application, the required LADRC parameter includes that the proportional gain parameter is 1, the control gain parameter is 6, the first linear parameter is 10, and the second linear parameter is 27, which are used to suppress subsynchronous oscillation of the DFIG under fault.

[0018] According to a third aspect of the present application, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the above method when executing the computer program.

[0019] According to a fourth aspect of the present application, a computer readable storage medium is provided, which stores a computer program, and the computer program implements the steps of the above method when executed by a processor.

[0020] According to a fifth aspect of the present application, a computer program product is provided, which includes computer programs / instructions, and the computer programs / instructions implement the steps of the above method when executed by a processor.

[0021] The method and device for parameter setting of a rotor-side converter current loop LADRC of a doubly-fed wind turbine are provided in the application. The control gain parameters of the rotor-side converter current loop LADRC of the doubly-fed wind turbine are obtained. The multiple relationship between the linear extended state observer bandwidth and the controller bandwidth of the LADRC is determined. The linear extended state observer bandwidth and the controller bandwidth are proportionally increased based on the multiple relationship until the noise causes the system output to fluctuate or oscillate. The linear extended state observer bandwidth and the controller bandwidth are finely adjusted to optimize the dynamic response and disturbance rejection capability of the system. The proportional gain parameter and the second linear parameter are finely adjusted until the closed-loop dynamic performance of the system reaches the desired dynamic performance, and the to-be-set parameters, including the control gain parameter, the first linear parameter, the second linear parameter and the proportional gain parameter, are recorded under the current control gain parameter. The control gain parameter is changed by a set step within a preset range, and the above steps are repeated to obtain multiple sets of to-be-set parameters. The control effects of the multiple sets of to-be-set parameters set under different control gain parameter values are compared, and the LADRC parameters meeting the requirements are selected according to a preset standard. The sensitivity of the system to noise and disturbance is optimized, the active power output oscillation amplitude is reduced, and the unit is prevented from being disconnected from the grid. The reactive power compensation amount oscillation time is shortened, and the voltage recovery capability is improved. The above parameter setting method is simple and easy to implement, fully utilizes the disturbance rejection and damping capability of the LADRC, and is superior to the existing additional damping control strategy. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort. In the drawings:

[0023] Figure 1 is a structure diagram provided by an embodiment of the present application after a first-order linear active disturbance rejection controller is added to the current loop on the rotor side of the wind turbine;

[0024] Figure 2 is a flowchart of a parameter setting method of a rotor-side converter current loop LADRC of a doubly-fed wind turbine provided by an embodiment of the present application;

[0025] Figure 3 is a structure diagram of a 1.2GW wind power grid-connected system provided by an embodiment of the present application;

[0026] Figure 4 is a 35kV bus voltage diagram provided by an embodiment of the present application;

[0027] Figure 5is a G2 unit active power output graph provided by an embodiment of the application;

[0028] Figure 6 is a G2 unit reactive compensation amount graph provided by an embodiment of the application;

[0029] Figure 7 is a double-fed wind turbine direct current bus voltage graph provided by an embodiment of the application;

[0030] Figure 8 is a structure schematic diagram of a double-fed wind turbine rotor-side converter current loop LADRC parameter setting device provided by an embodiment of the application;

[0031] Figure 9 is a structure schematic diagram of an electronic device provided by an embodiment of the application. DETAILED DESCRIPTION

[0032] To make the objectives, technical solutions and advantages of embodiments of the application clearer, further detailed descriptions will be made to the embodiments of the application with reference to the drawings. Here, the illustrative embodiments of the application and the descriptions thereof are used to explain the application, but not to limit the application.

[0033] As described above, since wind power systems are usually distributed in a large area, the PI control traditionally used by double-fed wind turbines is prone to oscillation. In actual engineering applications, there are various disturbances, which affect the determination of the mathematical model and parameters. At present, although some documents propose a self-disturbance rejection additional damping control strategy, the feedback signal is compensated through a damping link and a self-disturbance rejection control, and the compensation amount is superimposed on the active or reactive instruction value in the control loop, so as to improve the damping capacity. However, this method only optimizes the given amount, and ignores the improvement of the subsequent current loop control loop, and the parameter setting lacks scientific basis and method, and the anti-disturbance and damping capacity of the self-disturbance rejection control cannot be fully exerted.

[0034] To solve the above problems, the application uses a linear active disturbance rejection controller (LADRC) to replace the PI link of the rotor current control loop, and reduces the risk of subsynchronous oscillation through the parameter optimization design of the linear active disturbance rejection controller.

[0035] Firstly, the following describes the rotor-side converter current loop control of the double-fed wind turbine based on LADRC:

[0036] The differential equation of the rotor current control is shown in formula (1):

[0037]

[0038] In the formula, i rd , irq , u rd , u rq are d, q-axis components of rotor current, voltage respectively; ω slip is the slip angular velocity; u rd / σL r , u rq / σL r is the control input; R r i rd / σL r , R r i rq / σL r is the rotor resistance voltage drop; ω slip ψ rd / σL r , ω slip ψ rq / σL r is the cross-coupling between d, q-axis; L m dψ sd / σL r L s dt, L m dψ sq / σL r L s dt is the stator flux transient caused by fault; L m is the excitation inductance; L r is the rotor inductance and L s is the stator inductance.

[0039] The generator rotor resistance voltage drop, d, q-axis cross-coupling and stator flux transient are set as the system total disturbance as shown in equation (2):

[0040]

[0041] Let b d = b q = 1 / σL r , then equation (2) can be simplified as:

[0042]

[0043] LADRC can estimate the disturbance amount ω d and ω q of the system in real time and compensate for the total disturbance of the system. Therefore, the LADRC is adopted instead of the PI link of the rotor side converter current loop in the present application, and a first-order linear self-anti-interference controller is designed for the fan rotor side current loop, and the structure diagram is shown in Figure 1 .

[0044] (1) Design a linear extended state observer, use the actual value of the rotor d-axis current i rd and the control variable u to observe the state, as shown in equation (4):

[0045]

[0046] where i rd is the actual value of the d-axis current, z1 is the estimated value of the output d-axis current, z2 is the estimated value of the total disturbance of the system, β1 and β2 are the first and second linear parameters, b0 is the estimated value of the control gain b, the control gain b is a non-zero constant, and u is the control variable, is the differential of z1 and z2, respectively.

[0047] (2) Design a linear state error feedback law component as shown in equation (5):

[0048]

[0049] where u0 is the preliminary control variable output by the linear state error feedback law, k p is the proportional and differential coefficient, is the d-axis current reference value, z1 is the estimated value of the output d-axis current, z2 is the estimated value of the total disturbance of the system, b0 is the estimated value of the control gain b, the control gain b is a non-zero constant, and u is the final control variable output by the linear state error feedback law.

[0050] From the above equations (4) and (5), it can be seen that there are four unknown parameters k p , b0, β1, and β2 that need to be set.

[0051] By configuring all the poles of the characteristic equation of the nonlinear extended state observer (ESO) at -ω0 (linear extended state observer bandwidth), we get:

[0052]

[0053] Then, by configuring all the poles of the closed-loop transfer function denominator at ω c (controller bandwidth), we get:

[0054]

[0055] Generally, the larger ω0 is, the more accurate the observation value is, but it will increase the sensitivity of the system to noise; the larger ω c , the faster the dynamic response of the system is, but at the same time, it will also reduce the stability of the system. Based on equations (6) and (7), the application further proposes the following parameter setting method.

[0056] AsFigure 2 The diagram shown is a flowchart illustrating a method for tuning the LADRC parameters of a doubly-fed wind turbine rotor-side converter according to an embodiment of this application. The method includes the following steps:

[0057] Step S201: Obtain the control gain parameters of the LADRC current loop of the doubly fed wind turbine rotor-side converter.

[0058] In this step, the control gain parameter b0 of LADRC is first calculated and obtained.

[0059] Preferably, the control gain parameter b0 can be calculated using the following equations (8) and (9):

[0060]

[0061] Among them, L m For magnetizing inductance; L r For rotor inductance and L s It is the stator inductor.

[0062] Step S202: Determine the ratio between the bandwidth of the linear extended state observer and the bandwidth of the controller in the LADRC.

[0063] Determine the bandwidth ω of the Linear Extended State Observer (LESO) o With controller bandwidth ω c The multiple relationship. That is, ω o =kω c And ω o >ω c k is typically taken as 3 to 5, and preferably, in this embodiment, the multiple k = 5. Choosing this multiple ensures the accuracy of the observation (ω). o Larger values ​​result in higher accuracy, but also increase noise sensitivity) and dynamic response (ω). c Larger values ​​result in faster response times, but reduce stability.

[0064] Step S203: Based on the stated multiple relationship, increase the bandwidth of the linear expansion state observer and the bandwidth of the controller proportionally until noise causes system output fluctuations or oscillations.

[0065] Based on the multiple relationship (ω) determined in step S202 o =5ω c ), and increase ω proportionally at the same time o and ω cThe increase process continues until the system's sensitivity to noise causes output fluctuations or oscillations. This adjustment stems from LADRC's compensation mechanism for total disturbances, designed to balance observation accuracy with noise tolerance. For example, in simulations, the bandwidth is gradually increased while monitoring system responses (such as active power or voltage fluctuations) to avoid over-amplifying the effects of noise. This step ensures the robustness of parameters in real-world engineering applications, such as long-distance wind power systems.

[0066] Step S204: Fine-tune the bandwidth of the linearly extended state observer and the bandwidth of the controller to optimize the dynamic response and disturbance rejection capability of the system.

[0067] Based on step S203, ω is further fine-tuned. o and ω c The goal of fine-tuning is to optimize the system's dynamic response (such as response speed) and disturbance rejection capability (such as compensation for resistive voltage drop and cross-coupling). For example, slightly reducing ω o To reduce noise sensitivity, or slightly adjust ω c To improve stability, the process iterates by monitoring the closed-loop dynamic performance to ensure that LADRC effectively suppresses subsynchronous oscillations under fault conditions (such as single-phase-to-ground short circuits), resulting in reduced oscillation amplitude compared to traditional PI control.

[0068] Step S205: Fine-tune the proportional gain parameter and the second linear parameter until the closed-loop dynamic performance of the system reaches the desired dynamic performance, and record the undetermined parameters tuned under the current control gain parameter. The undetermined parameters include the control gain parameter, the first linear parameter, the second linear parameter, and the proportional gain parameter.

[0069] Fine-tuning the proportional gain parameter k p The second linear parameter β2 is used until the closed-loop dynamic performance (such as response time and stability) reaches the desired value. It should be noted that the proportional gain parameter k... p When dealing with the second linear parameter β2, it is not restricted by equations (6) and (7). Once optimization is complete, record the set of undetermined parameters under the current b0: control gain parameter b0, first linear parameter β1 (at this time β1=2ω) o ), second linear parameter β2, proportional gain parameter k p This step ensures that the parameters are applicable to the rotor's d-axis and q-axis current loops.

[0070] Step S206: Change the control gain parameter within a preset range by a set step size, and repeat the above steps to obtain multiple sets of parameters to be determined.

[0071] Within a preset range, the control gain parameter b0 is changed in steps of a set size. For each new b0 value, steps S201 to S205 are repeated to obtain multiple sets of parameters to be determined. This preset range is based on actual engineering conditions to ensure coverage of potential disturbance scenarios. The repeated process generates a parameter set for subsequent comparison, avoiding the limitations of a single parameter.

[0072] In one embodiment of this application, the preset range is 0.1 to 10 times the control gain parameter, i.e., 0.1b0 to 10b0.

[0073] Step S207: Compare the control effects of multiple sets of undetermined parameters tuned under different control gain parameter values, and select the LADRC parameters that meet the requirements according to the preset standards.

[0074] The control effects of multiple sets of parameters under different b0 values ​​are compared, including dynamic response, disturbance rejection capability, and subsynchronous oscillation suppression. The preset criteria here can be: minimum oscillation amplitude, shortest recovery time, or highest system stability. Based on the comparison, the optimal LADRC parameters are selected. This step can be demonstrated through simulation to be superior to existing additional damping strategies, improving the overall performance of the doubly-fed wind turbine.

[0075] In one embodiment of this application, the aforementioned compliant and preferred LADRC parameters include a proportional gain parameter of 1, a control gain parameter of 6, a first linear parameter of 10, and a second linear parameter of 27. This parameter combination can be used to suppress the subsynchronous oscillation of a doubly fed wind turbine under fault conditions.

[0076] As described above, the LADRC parameter tuning method for the rotor-side converter of a doubly-fed induction generator (DFIG) proposed in this application involves: obtaining the control gain parameter of the LADRC; determining the ratio between the bandwidth of the linear expansion state observer and the controller bandwidth of the LADRC; proportionally increasing the bandwidth of the linear expansion state observer and the controller bandwidth based on the ratio until noise causes system output fluctuations or oscillations; fine-tuning the bandwidth of the linear expansion state observer and the controller bandwidth to optimize the dynamic response and disturbance rejection capability of the system; fine-tuning the proportional gain parameter and the second linear parameter until the closed-loop dynamic performance of the system reaches the desired dynamic performance, and recording the undetermined parameters tuned under the current control gain parameter, including the control gain parameter, the first linear parameter, the second linear parameter, and the proportional gain parameter; changing the control gain parameter within a preset range by a set step size, repeating the above steps to obtain multiple sets of undetermined parameters; comparing the control effects of the multiple sets of undetermined parameters tuned under different control gain parameter values, and selecting the LADRC parameters that meet the requirements according to preset standards. This optimizes the system's sensitivity to noise and disturbances, reduces the oscillation amplitude of active power output, and prevents unit disconnection from the grid; the oscillation time of reactive power compensation is shortened, improving voltage recovery capability. The above parameter tuning method is simple and easy to implement, fully leveraging the disturbance rejection and damping capabilities of LADRC, and is superior to existing additional damping control strategies.

[0077] The following simulation experiment will further illustrate the above effects:

[0078] A 1.2GW wind power grid-connected system was built using Matlab simulation software, such as... Figure 3 As shown in Table 1, the main control parameters are as follows: the proportional gain parameter is 1, the control gain parameter is 6, the first linear parameter is 10, and the second linear parameter is 27. These parameters are obtained by tuning using the methods described in steps S201-S207 above.

[0079] Table 1

[0080]

[0081] In a Matlab simulation model, the wind turbine is set to operate at unity power factor. Classical PI control is used in the rotor-side and grid-side converter current loops. When the simulation reaches 1.2 seconds, a single-phase ground fault is applied at the 400kV bus, triggering a subsynchronous oscillation in the system. Linear Active Disturbance Rejection Control (LADRC) is used to replace the PI element in the rotor-side current loop, demonstrating its effectiveness in suppressing subsynchronous oscillations.

[0082] 1) 35kV bus voltage as Figure 4 As shown.

[0083] observeFigure 4 As can be seen from the blue curve, under the original classic PI control of the wind turbine, the voltage oscillation amplitude of the 35kV bus is large, and it cannot eventually return to the original stable state.

[0084] After optimizing the rotor current loop PI element using LADRC, its oscillation amplitude was reduced, and it basically returned to a stable state within 1.8 seconds, i.e., 0.6 seconds after the fault. Figure 4 As shown by the green curve.

[0085] 2) Active power output of G2 unit as follows Figure 5 As shown.

[0086] from Figure 5 As can be seen, under the original PI control of the wind turbine, the active power output of unit G2 fluctuated significantly.

[0087] After replacing the PI link of the rotor current of the wind turbine with LADRC, the oscillation amplitude of the actual active power output of the unit is reduced, avoiding the wind turbine from disconnecting from the grid. The system recovers to a stable state after multiple oscillations.

[0088] 3) Reactive power compensation of G2 unit as follows Figure 6 As shown.

[0089] observe Figure 6 It can be seen that after the power grid failure, the reactive power output of the doubly fed wind turbine under the original control oscillated significantly, affecting the recovery of the system voltage.

[0090] After replacing the rotor current PI link with LADRC, the oscillation amplitude of the unit's reactive power response curve was significantly reduced, and the oscillation time was significantly shortened.

[0091] Doubly fed wind turbine DC bus voltage such as Figure 7 As shown. Observation Figure 7 It can be seen that after using the parameters obtained by this application, the stability of the DC bus voltage of the wind turbine is significantly improved and the convergence speed is accelerated, and the stability of the DC bus voltage is not negatively affected.

[0092] In summary, by using LADRC to improve the original PI control of the rotor-side current loop of the wind turbine, and by using the above method to obtain better parameters, the number and amplitude of system oscillations can be effectively reduced, and the system basically recovers to a stable state within 0.6s after the accident. This proves the effect of linear active disturbance rejection control on suppressing synchronous oscillations of the subsystem.

[0093] like Figure 8The diagram shown is a structural schematic of a LADRC parameter tuning device for a doubly-fed wind turbine rotor-side converter according to an embodiment of this application. The device includes: a control gain parameter acquisition unit 810, a multiplier relationship determination unit 820, a proportional adjustment unit 830, a first fine-tuning unit 840, a second fine-tuning unit 850, a step size changing unit 860, and a parameter selection unit 870, which are connected sequentially.

[0094] The control gain parameter acquisition unit 810 is used to acquire the control gain parameters of the LADRC current loop of the doubly fed wind turbine rotor-side converter.

[0095] The multiple relationship determination unit 820 is used to determine the multiple relationship between the bandwidth of the linear expansion state observer and the bandwidth of the controller of the LADRC.

[0096] The proportional adjustment unit 830 is used to proportionally increase the bandwidth of the linear expansion state observer and the bandwidth of the controller based on the multiplier relationship until noise causes system output fluctuations or oscillations.

[0097] The first fine-tuning unit 840 is used to fine-tune the bandwidth of the linearly extended state observer and the bandwidth of the controller to optimize the dynamic response and disturbance rejection capability of the system.

[0098] The second fine-tuning unit 850 is used to fine-tune the proportional gain parameter and the second linear parameter until the closed-loop dynamic performance of the system reaches the desired dynamic performance, and to record the undetermined parameters tuned under the current control gain parameter, the undetermined parameters including the control gain parameter, the first linear parameter, the second linear parameter and the proportional gain parameter.

[0099] The step size changing unit 860 is used to change the control gain parameter within a preset range by a set step size in order to obtain multiple sets of undetermined parameters.

[0100] The parameter selection unit 870 is used to compare the control effects of multiple sets of undetermined parameters tuned under different control gain parameter values, and select the LADRC parameters that meet the requirements according to the preset standards.

[0101] In one embodiment of this application, the control gain parameter acquisition unit 810 is specifically used to: obtain the control gain parameters of the doubly fed wind turbine rotor-side converter current loop LADRC based on the magnetizing inductance, rotor inductance and stator inductance.

[0102] In one embodiment of this application, the above-mentioned multiple relationship is as follows: the bandwidth of the linearly extended state observer is 3 to 5 times the bandwidth of the controller, and the bandwidth of the linearly extended state observer is greater than the bandwidth of the controller.

[0103] In one embodiment of this application, the first linear parameter is equal to twice the bandwidth of the linearly extended state observer.

[0104] In one embodiment of this application, the preset range is 0.1 to 10 times the control gain parameter.

[0105] In one embodiment of this application, the aforementioned compliant LADRC parameters include a proportional gain parameter of 1, a control gain parameter of 6, a first linear parameter of 10, and a second linear parameter of 27, which are used to suppress the subsynchronous oscillation of the doubly fed wind turbine under fault conditions.

[0106] As described above, the LADRC parameter tuning device for the rotor-side converter of the doubly-fed induction generator (DFIG) proposed in this application optimizes the system's sensitivity to noise and disturbances, reduces the oscillation amplitude of active power output, and prevents the unit from disconnecting from the grid; the oscillation time of reactive power compensation is shortened, improving voltage recovery capability. The above parameter tuning method is simple and easy to implement, fully utilizing the disturbance rejection and damping capabilities of the LADRC, and is superior to existing additional damping control strategies.

[0107] Figure 9 This is a schematic diagram of the electronic device provided in the embodiments of this application. Figure 9 The illustrated electronic device is a general-purpose data processing apparatus, comprising a general-purpose computer hardware structure, including at least a processor 801 and a memory 802. The processor 801 and memory 802 are connected via a bus 803. The memory 802 is adapted to store one or more instructions or programs executable by the processor 801. These instructions or programs are executed by the processor 801 to implement the steps in the aforementioned method for tuning the LADRC parameters of the doubly-fed wind turbine rotor-side converter current loop.

[0108] The processor 801 described above can be a standalone microprocessor or a collection of one or more microprocessors. Thus, the processor 801 executes commands stored in the memory 802, thereby performing the method flow described in the embodiments of this application to process data and control other devices. The bus 803 connects the aforementioned components together, and also connects these components to the display controller 804, the display device, and the input / output (I / O) device 805. The input / output (I / O) device 805 can be a mouse, keyboard, modem, network interface, touch input device, motion-sensing input device, printer, and other devices known in the art. Typically, the input / output (I / O) device 805 is connected to the system via an input / output (I / O) controller 806.

[0109] The memory 802 can store software components, such as an operating system, a communication module, an interaction module, and application programs. Each of the modules and application programs described above corresponds to a set of executable program instructions that perform one or more functions and the methods described in the embodiments of the invention.

[0110] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the above-described method for tuning the LADRC parameters of the rotor-side converter of a doubly fed wind turbine.

[0111] The method and apparatus for tuning the LADRC parameters of the rotor-side converter of a doubly-fed induction generator (DFIG) proposed in this application involve: obtaining the control gain parameters of the LADRC; determining the ratio between the bandwidth of the linear expansion state observer and the bandwidth of the controller; proportionally increasing the bandwidth of the linear expansion state observer and the bandwidth of the controller based on the ratio until noise causes system output fluctuations or oscillations; fine-tuning the bandwidth of the linear expansion state observer and the bandwidth of the controller to optimize the dynamic response and disturbance rejection capability of the system; fine-tuning the proportional gain parameter and the second linear parameter until the closed-loop dynamic performance of the system reaches the desired dynamic performance, and recording the undetermined parameters tuned under the current control gain parameters, including the control gain parameter, the first linear parameter, the second linear parameter, and the proportional gain parameter; changing the control gain parameter within a preset range by a set step size, repeating the above steps to obtain multiple sets of undetermined parameters; comparing the control effects of the multiple sets of undetermined parameters tuned under different control gain parameter values, and selecting the LADRC parameters that meet the requirements according to preset standards. This optimizes the system's sensitivity to noise and disturbances, reduces the oscillation amplitude of active power output, and prevents unit disconnection from the grid; the oscillation time of reactive power compensation is shortened, improving voltage recovery capability. The above parameter tuning method is simple and easy to implement, fully leveraging the disturbance rejection and damping capabilities of LADRC, and is superior to existing additional damping control strategies.

[0112] Preferred embodiments of this application have been described above with reference to the accompanying drawings. Many features and advantages of these embodiments are apparent from this detailed description, and therefore the claims are intended to cover all such features and advantages of these embodiments that fall within their true spirit and scope. Furthermore, since many modifications and alterations will readily occur to those skilled in the art, the embodiments of this application are not intended to be limited to the precise structures and operations illustrated and described, but rather to encompass all suitable modifications and equivalents falling within their scope.

[0113] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0114] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0115] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0116] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0117] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this application. It should be understood that the above descriptions are merely specific embodiments of this application and are not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for tuning the LADRC parameters of the rotor-side converter of a doubly-fed wind turbine, characterized in that, The method includes: Obtain the control gain parameters of the LADRC current loop of the rotor-side converter of the doubly fed wind turbine; Determine the multiple relationship between the bandwidth of the linearly extended state observer and the bandwidth of the controller in the LADRC; Based on the aforementioned multiple relationship, the bandwidth of the linear expansion state observer and the bandwidth of the controller are increased proportionally until noise causes system output fluctuations or oscillations. Fine-tune the bandwidth of the linearly extended state observer and the bandwidth of the controller to optimize the dynamic response and disturbance rejection capability of the system; Fine-tune the proportional gain parameter and the second linear parameter until the closed-loop dynamic performance of the system reaches the desired dynamic performance, and record the undetermined parameters tuned under the current control gain parameter. The undetermined parameters include the control gain parameter, the first linear parameter, the second linear parameter, and the proportional gain parameter. Within a preset range, the control gain parameter is changed by a set step size, and the above steps are repeated to obtain multiple sets of parameters to be determined. By comparing the control effects of multiple sets of undetermined parameters tuned under different control gain parameter values, the LADRC parameters that meet the requirements are selected according to the preset standards.

2. The method for tuning the LADRC parameters of the rotor-side converter of a doubly-fed wind turbine as described in claim 1, characterized in that, The control gain parameters for obtaining the LADRC current loop of the doubly fed wind turbine rotor-side converter include: The control gain parameters of the LADRC current loop of the doubly fed wind turbine rotor-side converter are obtained based on the magnetizing inductance, rotor inductance, and stator inductance.

3. The method for tuning the LADRC parameters of the rotor-side converter of a doubly-fed wind turbine as described in claim 1, characterized in that, The multiplication relationship is as follows: the bandwidth of the linearly extended state observer is 3 to 5 times the bandwidth of the controller, and the bandwidth of the linearly extended state observer is greater than the bandwidth of the controller.

4. The method for tuning the LADRC parameters of the rotor-side converter of a doubly-fed wind turbine as described in claim 1, characterized in that, The first linear parameter is equal to twice the bandwidth of the linearly extended state observer.

5. The method for tuning the LADRC parameters of the rotor-side converter of a doubly-fed wind turbine as described in claim 1, characterized in that, The preset range is 0.1 to 10 times the control gain parameter.

6. The method for tuning the LADRC parameters of the rotor-side converter of a doubly-fed wind turbine as described in claim 1, characterized in that, The required LADRC parameters include a proportional gain of 1, a control gain of 6, a first linearity of 10, and a second linearity of 27, which are used to suppress the subsynchronous oscillation of the doubly-fed wind turbine under fault conditions.

7. A device for setting the LADRC parameters of the rotor-side converter of a doubly-fed wind turbine, characterized in that, The device includes: The control gain parameter acquisition unit is used to acquire the control gain parameters of the LADRC current loop of the rotor-side converter of the doubly fed wind turbine. A multiple relationship determination unit is used to determine the multiple relationship between the bandwidth of the linearly extended state observer and the bandwidth of the controller in the LADRC; A proportional adjustment unit is used to increase the bandwidth of the linear expansion state observer and the bandwidth of the controller proportionally based on the multiplier relationship, until noise causes system output fluctuations or oscillations. The first fine-tuning unit is used to fine-tune the bandwidth of the linearly extended state observer and the bandwidth of the controller to optimize the dynamic response and disturbance rejection capability of the system. The second fine-tuning unit is used to fine-tune the proportional gain parameter and the second linear parameter until the closed-loop dynamic performance of the system reaches the desired dynamic performance, and to record the undetermined parameters tuned under the current control gain parameter. The undetermined parameters include the control gain parameter, the first linear parameter, the second linear parameter, and the proportional gain parameter. The step size changing unit is used to change the control gain parameter within a preset range by a set step size in order to obtain multiple sets of parameters to be determined. The parameter selection unit is used to compare the control effects of multiple sets of undetermined parameters tuned under different control gain parameter values, and select the LADRC parameters that meet the requirements according to the preset standards.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method according to any one of claims 1 to 6.

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