Current disturbance compensation control method, device and system for dual-winding induction motor

Abstract

The present invention discloses a current disturbance compensation control method, device and system for a dual-winding induction motor, the method comprising: obtaining a DC bus voltage value of a control winding corresponding to the dual-winding induction motor, and analyzing and processing based on a feedback regulation model to give a current given value of the control winding corresponding to the dual-winding induction motor; obtaining a current value of the dual-winding corresponding to the dual-winding induction motor, and observing and analyzing based on a disturbance observation model to give a current disturbance observation value of the control winding; based on a feedforward compensation control model, performing feedforward compensation analysis and processing on the current disturbance observation value and the current given value of the control winding to give a voltage given value of the control winding; adjusting the output of the dual-winding induction motor based on the voltage given value and the current given value of the control winding. The present invention can observe the current disturbance of the control winding, and realize compensation for the disturbance through feedforward, and finally realize decoupling control of the control winding current and the power winding current.

Description

Technical Field

[0001] The present invention belongs to the technical field of power generation compensation control, and in particular relates to a current disturbance compensation control method, device and system for a dual-winding induction motor. Background Art

[0002] In recent years, due to the increase in power-consuming equipment, the demand for uninterrupted operation of distribution networks has increased significantly, and the dependence on the power supply performance and reliability of distribution networks has increased, which requires higher requirements for distribution networks. In order to improve the reliability of power supply, higher requirements are placed on diesel generators in terms of comprehensive fuel power generation efficiency and medium and low voltage power generation operation flexibility.

[0003] Traditional diesel generators have problems such as poor power quality and ineffective or inefficient non-stop operation for users, which affect the large-scale application of power generation operations. The use of new dual-winding generators to replace the generators of traditional diesel generators can improve the power supply quality of diesel generators under high-performance design and control; in addition, the construction of a medium- and low-voltage integrated diesel-storage combined power generation architecture can realize the integration of the operating functions of medium- and low-voltage generators and energy storage vehicles, break through the diesel-storage combined power generation grid connection and energy management technology, and improve the overall efficiency and operational flexibility of the generator. The dual-winding induction motor inherits the advantages of the traditional single-winding induction generator, such as brushless cage rotor, simple and sturdy, and overcomes its shortcomings such as large converter capacity and difficult excitation adjustment. It has received widespread attention for its unique structure and many advantages.

[0004] High-performance power generation systems rely on fast current response. At present, the main current loop control strategy is vector control based on PI regulator. Since there are two sets of windings on the stator of the dual-winding induction motor, compared with the ordinary single-winding induction motor, there are many more physical quantities during operation, and these physical quantities are coupled with each other, making its internal relationship and mathematical model more complex, and there are more disturbance factors affecting the current response speed. The current control of the ordinary single-winding induction motor is as follows: Patent CN113708703A discloses a real-time compensation method and system for motor current disturbance, including: obtaining the real current value, real voltage value and electrical angular velocity of the target motor; calculating the expected control voltage value of the motor according to the set expected current value, the real current value, the electrical angular velocity and the motor parameters; calculating the estimated value of the actual disturbance according to the real current value, the real voltage value, the electrical angular velocity and the motor parameters; applying the actual control voltage value of the motor obtained by summing the expected control voltage value and the estimated value of the actual disturbance to the target motor, driving the target motor to generate the set expected current value, thereby outputting the expected torque to control the motor movement. However, the anti-disturbance capability and rapidity of the traditional PI regulator are often contradictory due to the influence of controller parameters, and current control has certain limitations.

[0005] Therefore, how to provide a current disturbance compensation control for a dual-winding induction motor power generation system is an urgent problem to be solved by those skilled in the art. Summary of the invention

[0006] In view of the defects in the above-mentioned prior art, the present invention provides a current disturbance compensation control method, device and system for a dual-winding induction motor, which can observe the control winding current disturbance and realize the compensation of the disturbance through feedforward, and finally realize the decoupling control of the control winding current and the power winding current.

[0007] In a first aspect, the present invention provides a current disturbance compensation control method for a dual-winding induction motor, which specifically comprises the following steps:

[0008] The DC bus voltage value of the control winding corresponding to the dual-winding induction motor is obtained, and the current given value of the control winding corresponding to the dual-winding induction motor is given by analyzing and processing based on the pre-built feedback regulation model;

[0009] Obtain the current values ​​of the dual windings corresponding to the dual-winding induction motor, perform observation analysis based on the pre-built disturbance observation model, and give the current disturbance observation value of the control winding;

[0010] Based on the pre-built feedforward compensation control model, the current disturbance observation value and the current given value of the control winding are analyzed and processed by feedforward compensation, and the voltage given value of the control winding is given;

[0011] The output of a dual-winding induction motor is regulated based on a voltage setpoint and a current setpoint of a control winding.

[0012] Furthermore, based on the pre-built feedback regulation model, analysis and processing are performed to provide a current given value of the control winding corresponding to the dual-winding induction motor, including:

[0013] Obtain the three-phase AC voltage of the power winding corresponding to the double-winding induction motor and perform coordinate transformation, analyze and process the coordinate transformation results, and give the effective value of the AC voltage;

[0014] Obtaining a DC bus voltage given value and an AC voltage given value of a dual-winding induction motor switching power grid; wherein the power grid includes a high-voltage AC power grid and a low-voltage DC power grid;

[0015] Based on the pre-built feedback regulation model and in combination with the DC bus voltage set value and the AC voltage set value, double closed-loop error feedback regulation is performed on the DC bus voltage value and the AC voltage effective value of the control winding to give the current set value of the control winding in the synchronous rotating coordinate system.

[0016] Furthermore, the pre-built feedback regulation model satisfies the following relationship:

[0017]

[0018] In the formula, is the given value of the d-axis current of the control winding in the synchronous rotating coordinate system, is the given value of the q-axis current of the control winding in the synchronous rotating coordinate system, k1 is the proportional coefficient of the AC voltage closed-loop proportional-integral controller, k2 is the integral coefficient of the AC voltage closed-loop proportional-integral controller, k3 is the proportional coefficient of the DC voltage closed-loop proportional-integral controller, k4 is the integral coefficient of the DC voltage closed-loop proportional-integral controller, U p is the effective value of AC voltage, U * p is the given value of AC voltage, U DC is the DC bus voltage value, U * DC is the DC bus voltage given value, s is the Laplace operator.

[0019] Furthermore, based on the pre-built disturbance observation model, observation analysis is performed to provide the current disturbance observation value of the control winding, including:

[0020] Based on the current values ​​of the dual windings corresponding to the dual-winding induction motor, coordinate transformation is performed on the current value of the control winding corresponding to the dual-winding induction motor to obtain the current value in the synchronous rotating coordinate system;

[0021] Based on the pre-constructed disturbance observation model and the current value in the synchronous rotating coordinate system, the current observation value and the current disturbance value of the control winding are observed to provide the current disturbance observation value.

[0022] Further, based on the current values ​​of the dual windings corresponding to the dual winding induction motor, the current values ​​of the control windings corresponding to the dual winding induction motor are subjected to coordinate transformation to obtain the current values ​​in the synchronous rotating coordinate system, including:

[0023] Perform coordinate transformation on the current value of the dual windings of the dual-winding induction motor, and give the current value of the dual windings in the stationary coordinate system;

[0024] The speed value of the dual-winding induction motor is obtained, and the rotor flux amplitude of the dual-winding induction motor is given in combination with the current value of the dual-winding in a stationary coordinate system;

[0025] Based on the rotor flux amplitude of the dual-winding induction motor, the current value of the control winding in the stationary coordinate system is transformed to obtain the current value of the control winding in the synchronous rotating coordinate system.

[0026] Furthermore, the rotor flux amplitude of the dual-winding induction motor satisfies the following relationship:

[0027] ;

[0028] In the formula, ψ rα For double winding induction motor α Shaft-rotor flux, ψ rβ For double winding induction motor β Shaft-rotor flux, ψ r is the rotor flux amplitude of the double-winding induction motor, T r is the rotor time constant, L m is the magnetizing inductance, i cα is the control winding in the stationary coordinate system α Shaft current value, i cβ is the control winding in the stationary coordinate system β Shaft current value, i pα is the power winding in the stationary coordinate system α Shaft current value, i pβ is the power winding in the stationary coordinate system β Shaft current value, ω r is the speed value of the double-winding induction motor, s is the Laplace operator.

[0029] Furthermore, the pre-built disturbance observation model satisfies the following relationship:

[0030]

[0031] In the formula, is the d-axis current observation value of the control winding in the synchronous rotating coordinate system, i cd is the d-axis current value of the control winding in the synchronous rotating coordinate system, is the q-axis current observation value of the control winding in the synchronous rotating coordinate system, i cq is the q-axis current value of the control winding in the synchronous rotating coordinate system, u cd and u cq are the d-axis and q-axis voltage values ​​of the control winding in the synchronous rotating coordinate system, To control the winding leakage coefficient, R cTo control the winding equivalent resistance, ρ 1. ρ 2 is the disturbance observation model parameter, is the observed value of the d-axis current disturbance of the control winding in the synchronous rotating coordinate system, is the observed value of the q-axis current disturbance of the control winding in the synchronous rotating coordinate system, and t represents time.

[0032] Furthermore, based on the pre-built feedforward compensation control model, the current disturbance observation value and the current set value of the control winding are subjected to feedforward compensation analysis and processing, and the voltage set value of the control winding is given, including:

[0033] Based on the pre-built feedforward compensation control model, the current disturbance observation value and current set value of the control winding are analyzed and processed by feedforward compensation, and the voltage set value of the control winding in the synchronous rotating coordinate system is given;

[0034] Performing an inverse coordinate transformation on the voltage setting value of the control winding in the synchronous rotating coordinate system to obtain the voltage setting value of the control winding in the stationary coordinate system;

[0035] Among them, the pre-built feedforward compensation control model satisfies the following relationship:

[0036]

[0037] In the formula, and are the voltage reference values ​​of the d-axis and q-axis of the control winding in the synchronous rotating coordinate system, is the given value of the d-axis current of the control winding in the synchronous rotating coordinate system, is the q-axis current given value of the control winding in the synchronous rotating coordinate system, is the d-axis current value of the control winding in the synchronous rotating coordinate system, is the q-axis current value of the control winding in the synchronous rotating coordinate system, is the observed value of the d-axis current disturbance of the control winding in the synchronous rotating coordinate system, is the q-axis current disturbance observation value of the control winding in the synchronous rotating coordinate system, k5 is the proportional coefficient of the current closed-loop proportional-integral controller, and k6 is the integral coefficient of the current closed-loop proportional-integral controller.

[0038] In a second aspect, the present invention provides a current disturbance compensation control device for a dual-winding induction motor, which adopts the current disturbance compensation control method based on a dual-winding induction motor power generation system, and the current disturbance compensation control device comprises:

[0039] A feedback regulation module is used to obtain a DC bus voltage value of a control winding corresponding to the dual-winding induction motor, and to analyze and process the DC bus voltage value based on a pre-built feedback regulation model to provide a current given value of the control winding corresponding to the dual-winding induction motor;

[0040] A disturbance observation module is used to obtain the current values ​​of the dual windings corresponding to the dual-winding induction motor, and perform observation analysis based on a pre-built disturbance observation model to provide the current disturbance observation value of the control winding;

[0041] A feedforward compensation control module is used to perform feedforward compensation analysis and processing on the current disturbance observation value and the current given value of the control winding based on a pre-built feedforward compensation control model, and provide a voltage given value of the control winding;

[0042] The output regulation module is used to regulate the output of the dual-winding induction motor based on a voltage set value and a current set value of the control winding.

[0043] Furthermore, the feedback adjustment module includes:

[0044] Obtain the three-phase AC voltage of the power winding corresponding to the double-winding induction motor and perform coordinate transformation, analyze and process the coordinate transformation results, and give the effective value of the AC voltage;

[0045] Obtaining a DC bus voltage given value and an AC voltage given value of a dual-winding induction motor switching power grid; wherein the power grid includes a high-voltage AC power grid and a low-voltage DC power grid;

[0046] Based on the pre-built feedback regulation model and in combination with the DC bus voltage set value and the AC voltage set value, double closed-loop error feedback regulation is performed on the DC bus voltage value and the AC voltage effective value of the control winding to give the current set value of the control winding in the synchronous rotating coordinate system.

[0047] Furthermore, the disturbance observation module includes:

[0048] Based on the current values ​​of the dual windings corresponding to the dual-winding induction motor, coordinate transformation is performed on the current value of the control winding corresponding to the dual-winding induction motor to obtain the current value in the synchronous rotating coordinate system;

[0049] Based on the pre-built disturbance observation model and the current value in the synchronous rotating coordinate system, the current observation value and the current disturbance value of the control winding are observed to provide the current disturbance observation value.

[0050] Furthermore, the disturbance observation module also includes:

[0051] Perform coordinate transformation on the current value of the dual windings of the dual-winding induction motor, and give the current value of the dual windings in the stationary coordinate system;

[0052] The speed value of the dual-winding induction motor is obtained, and the rotor flux amplitude of the dual-winding induction motor is given in combination with the current value of the dual-winding in a stationary coordinate system;

[0053] Based on the rotor flux amplitude of the dual-winding induction motor, the current value of the control winding in the stationary coordinate system is transformed to obtain the current value of the control winding in the synchronous rotating coordinate system.

[0054] Furthermore, the feedforward compensation control module includes:

[0055] Based on the pre-built feedforward compensation control model, the current disturbance observation value and current set value of the control winding are analyzed and processed by feedforward compensation, and the voltage set value of the control winding in the synchronous rotating coordinate system is given;

[0056] The voltage setting value of the control winding in the synchronous rotating coordinate system is subjected to coordinate inverse transformation to obtain the voltage setting value of the control winding in the stationary coordinate system.

[0057] In a third aspect, the present invention also provides a dual-winding induction motor power generation system, which adopts the above-mentioned current disturbance compensation control method, and the dual-winding induction motor power generation system includes: a dual-winding induction motor, a high-voltage AC power grid, a low-voltage DC power grid and a power generation drive control unit;

[0058] The control winding of the dual-winding induction motor is connected to the low-voltage DC grid and the generator drive control unit, and the power winding is connected to the high-voltage AC grid;

[0059] The power generation drive control unit is used to execute the above-mentioned current disturbance compensation control method.

[0060] The present invention provides a current disturbance compensation control method, device and system for a dual-winding induction motor, which have at least the following beneficial effects:

[0061] (1) Through observation analysis and feedforward compensation analysis, the current disturbance of the control winding of the dual-winding induction motor can be observed, and the disturbance can be compensated through feedforward, and finally the control winding current and the power winding current can be decoupled. In addition, the dynamic performance of the control winding current is improved and the dynamic response time is shortened.

[0062] (2) By setting up the disturbance observation model and feedforward compensation control model, the difficulty of current controller parameter tuning is reduced and the robustness of current control to parameter changes is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 A flow chart of a current disturbance compensation control method for a dual-winding induction motor provided by the present invention;

[0064] Figure 2A flow chart for providing a given current value provided for an embodiment of the present invention;

[0065] Figure 3 A flow chart for providing current disturbance observation values ​​provided in an embodiment of the present invention;

[0066] Figure 4 A schematic diagram of a disturbance observation model provided by an embodiment of the present invention;

[0067] Figure 5 A flow chart of a current disturbance compensation control method provided by an embodiment of the present invention;

[0068] Figure 6 A schematic diagram of a current disturbance compensation control device for a dual-winding induction motor provided by the present invention;

[0069] Figure 7 A structural diagram of a dual-winding induction motor power generation system provided by the present invention. DETAILED DESCRIPTION

[0070] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0071] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two.

[0072] It should also be noted that the term "includes", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the commodity or device including the elements.

[0073] like Figure 1 As shown, the present invention provides a current disturbance compensation control method for a dual-winding induction motor, which specifically includes the following steps:

[0074] The DC bus voltage value of the control winding corresponding to the dual-winding induction motor is obtained, and the current given value of the control winding corresponding to the dual-winding induction motor is given by analyzing and processing based on the pre-built feedback regulation model;

[0075] Obtain the current values ​​of the dual windings corresponding to the dual-winding induction motor, perform observation analysis based on the pre-built disturbance observation model, and give the current disturbance observation value of the control winding;

[0076] Based on the pre-built feedforward compensation control model, the current disturbance observation value and the current given value of the control winding are analyzed and processed by feedforward compensation, and the voltage given value of the control winding is given;

[0077] The output of a dual-winding induction motor is regulated based on a voltage setpoint and a current setpoint of a control winding.

[0078] The dual winding includes a control winding and a power winding, the control winding is the rotor winding, and the power winding is the stator winding. Figure 2 As shown, based on the pre-built feedback regulation model, the current given value of the control winding corresponding to the dual-winding induction motor is given, including:

[0079] Obtain the three-phase AC voltage of the power winding corresponding to the double-winding induction motor and perform coordinate transformation, analyze and process the coordinate transformation results, and give the effective value of the AC voltage;

[0080] Obtaining a DC bus voltage given value and an AC voltage given value of a dual-winding induction motor switching power grid; wherein the power grid includes a high-voltage AC power grid and a low-voltage DC power grid;

[0081] Based on the pre-built feedback regulation model and in combination with the DC bus voltage set value and the AC voltage set value, double closed-loop error feedback regulation is performed on the DC bus voltage value and the AC voltage effective value of the control winding to give the current set value of the control winding in the synchronous rotating coordinate system.

[0082] Obtain the three-phase AC voltage of the power winding of the dual-winding induction motor and perform coordinate transformation. Analyze and process the coordinate transformation results to give the effective value of the AC voltage, including:

[0083] Obtaining the three-phase AC voltage of the corresponding power winding of the dual-winding induction motor;

[0084] Perform a two-phase stationary coordinate transformation on the three-phase AC voltage to obtain the two-axis voltage of the power winding in the stationary coordinate system; wherein the two-axis voltage of the power winding is the α-axis voltage and the β-axis voltage;

[0085] The two-axis voltage of the power winding in the stationary coordinate system is calculated to give the effective value of the AC voltage, which satisfies the following relationship:

[0086]

[0087] In the formula, U p is the effective value of AC voltage, u pα is the α-axis voltage of the power winding in the stationary coordinate system, u pβ is the β-axis voltage of the power winding in the stationary coordinate system.

[0088] The pre-built feedback regulation model satisfies the following relationship:

[0089]

[0090] In the formula, is the given value of the d-axis current of the control winding in the synchronous rotating coordinate system, is the given value of the q-axis current of the control winding in the synchronous rotating coordinate system, k1 is the proportional coefficient of the AC voltage closed-loop proportional-integral controller, k2 is the integral coefficient of the AC voltage closed-loop proportional-integral controller, k3 is the proportional coefficient of the DC voltage closed-loop proportional-integral controller, k4 is the integral coefficient of the DC voltage closed-loop proportional-integral controller, U p is the effective value of AC voltage, U * p is the given value of AC voltage, U DC is the DC bus voltage value, U * DC is the DC bus voltage given value, s is the Laplace operator. U * p and U * DC The specific voltage value required by the power generation system.

[0091] Among them, Figure 3 As shown, based on the pre-built disturbance observation model, observation analysis is performed to give the current disturbance observation value of the control winding, including:

[0092] Perform coordinate transformation on the current value of the dual windings of the dual-winding induction motor, and give the current value of the dual windings in the stationary coordinate system;

[0093] The speed value of the dual-winding induction motor is obtained, and combined with the current value of the dual windings in the stationary coordinate system, the rotor flux amplitude of the dual-winding induction motor is given, which satisfies the following relationship:

[0094]

[0095] In the formula, ψ rα For double winding induction motor α Shaft-rotor flux, ψ rβ For double winding induction motor β Shaft-rotor flux, ψ r is the rotor flux amplitude of the double-winding induction motor, T r is the rotor time constant, L m is the magnetizing inductance, i cα is the control winding in the stationary coordinate system α Shaft current value, i cβ is the control winding in the stationary coordinate system β Shaft current value, i pα is the power winding in the stationary coordinate system α Shaft current value, i pβ is the power winding in the stationary coordinate system β Shaft current value, ω r is the speed value of the double-winding induction motor, s is the Laplace operator;

[0096] Based on the rotor flux amplitude of the dual-winding induction motor, the current value of the control winding in the stationary coordinate system is transformed to obtain the current value of the control winding in the synchronous rotating coordinate system.

[0097] Based on the pre-constructed disturbance observation model and the current value in the synchronous rotating coordinate system, the current observation value and the current disturbance value of the control winding are observed to provide the current disturbance observation value.

[0098] In actual application scenarios, the orientation angle of the synchronous rotation transformation can be determined by solving the magnetic flux (the determination of the orientation angle is a conventional calculation method and is not described here), and finally the conversion from the stationary coordinate system to the synchronous rotation coordinate system is realized by the orientation angle of the synchronous rotation transformation. In addition, the conversion from the stationary coordinate system to the synchronous rotation coordinate system in the present invention adopts this method.

[0099] Based on the current values ​​of the dual windings corresponding to the dual-winding induction motor, coordinate transformation is performed on the current value of the control winding corresponding to the dual-winding induction motor to obtain the current value in the synchronous rotating coordinate system.

[0100] The disturbance observation model of the present invention is a reduced-order state observer for controlling the winding current. Figure 4As shown in the figure, the pre-built disturbance observation model (reduced-order state observer of control winding current) satisfies the following relationship:

[0101]

[0102] In the formula, is the d-axis current observation value of the control winding in the synchronous rotating coordinate system, i cd is the d-axis current value of the control winding in the synchronous rotating coordinate system, is the q-axis current observation value of the control winding in the synchronous rotating coordinate system, i cq is the q-axis current value of the control winding in the synchronous rotating coordinate system, u cd and u cq are the d-axis and q-axis voltage values ​​of the control winding in the synchronous rotating coordinate system, To control the winding leakage coefficient, R c To control the winding equivalent resistance, ρ 1. ρ 2 is the disturbance observation model parameter, is the observed value of the d-axis current disturbance of the control winding in the synchronous rotating coordinate system, is the observed value of the q-axis current disturbance of the control winding in the synchronous rotating coordinate system. Figure 4 middle, i c express i cd and / or i cq , is the q-axis current disturbance observation value of the control winding in the synchronous rotating coordinate system. Figure 4 middle, i c express i cd and / or i cq , express and / or , express and / or , u c express u cd and / or u cq .

[0103] The present invention performs feedforward compensation analysis and processing on the current disturbance observation value and the current given value of the control winding based on a pre-built feedforward compensation control model, and gives the voltage given value of the control winding, including:

[0104] Based on the pre-built feedforward compensation control model, the current disturbance observation value and current set value of the control winding are analyzed and processed by feedforward compensation, and the voltage set value of the control winding in the synchronous rotating coordinate system is given;

[0105] Performing an inverse coordinate transformation on the voltage setting value of the control winding in the synchronous rotating coordinate system to obtain the voltage setting value of the control winding in the stationary coordinate system;

[0106] Among them, the pre-built feedforward compensation control model satisfies the following relationship:

[0107]

[0108] In the formula, and are the voltage reference values ​​of the d-axis and q-axis of the control winding in the synchronous rotating coordinate system, is the given value of the d-axis current of the control winding in the synchronous rotating coordinate system, is the q-axis current given value of the control winding in the synchronous rotating coordinate system, is the d-axis current value of the control winding in the synchronous rotating coordinate system, is the q-axis current value of the control winding in the synchronous rotating coordinate system, is the observed value of the d-axis current disturbance of the control winding in the synchronous rotating coordinate system, is the q-axis current disturbance observation value of the control winding in the synchronous rotating coordinate system, k5 is the proportional coefficient of the current closed-loop proportional-integral controller, and k6 is the integral coefficient of the current closed-loop proportional-integral controller.

[0109] In actual application scenarios, such as Figure 5 As shown, the current disturbance compensation control method provided by the present invention comprises the following steps:

[0110] The current sensor is used to measure the current value of the control winding of the dual-winding induction motor. After coordinate transformation, the current value of the control winding in the stationary coordinate system is obtained. α , β Shaft current value i cα , i cβ and synchronously rotating coordinate system d , q Shaft current value i cd , i cq ;

[0111] The current sensor is used to measure the current value of the power winding of the dual-winding induction motor. After coordinate transformation, the current value of the power winding in the stationary coordinate system is obtained. α , β Shaft current value i pα , i pβ and synchronously rotating coordinate system d , q Shaft current value i pd , i pq ;

[0112] Using DC voltage sensor to measure the DC bus voltage value on the control winding side of a dual-winding induction motor U DC , the power winding in the stationary coordinate system is obtained by coordinate transformation based on the rotor flux amplitude α , β Shaft voltage u pα , u pβ , and calculate the effective value of the AC voltage U p ;

[0113] Among them, the speed sensor is used to measure the speed value of the double-winding induction motor ω r , according to the obtained control winding α , β Shaft current value i cα , i cβ and power winding α , β Shaft current value i pα , i pβ , for double winding induction motor α , β Shaft-rotor flux ψ rα , ψ rβ and rotor flux amplitude ψ r Make estimates;

[0114] According to the DC bus voltage value U DC and AC voltage RMS U p , and the corresponding DC bus voltage set value and AC voltage set value ( U *DC and U * p ), construct the double closed-loop error feedback regulation of DC bus voltage and AC voltage, and obtain the control winding synchronous rotating coordinate system d, q Shaft current setpoint , ;

[0115] According to the obtained control winding in the synchronous rotating coordinate system d, q Shaft current value , , construct a reduced-order state observer (disturbance observation model) for controlling the winding current. The structure of the reduced-order state observer is as follows: Figure 4 As shown, the current disturbance is observed;

[0116] According to the obtained control winding in the synchronous rotating coordinate system d , q Shaft current value i cd , i cq , the control winding in the synchronous rotating coordinate system d , q Shaft current setpoint , , and the control winding in the synchronous rotating coordinate system d , q Shaft current disturbance observation value , , for the control winding in the synchronous rotating coordinate system d , q The closed-loop error feedback regulation of the shaft current is carried out by feed-forward compensation to obtain the control winding in the synchronous rotating coordinate system. d , q Shaft voltage setpoint , .

[0117] According to the obtained control winding in the synchronous rotating coordinate system d , q Shaft voltage setpoint , After the inverse coordinate transformation, the control winding in the stationary coordinate system is obtained. α , β Shaft voltage setpoint , , the output voltage of the dual-winding induction motor is controlled by space vector modulation, and the current can be quickly restored during dynamic response. Specifically, space vector modulation is used to drive the inverter switch tube in the power generation drive control unit to control the output voltage of the dual-winding induction motor to be stable.

[0118] The existing control of the dual-winding induction motor mainly focuses on the voltage control of the load adaptability when there are different types of loads, that is, the effect achieved is to improve the load adaptability of the generating voltage. The present invention mainly focuses on current control, improves the dynamic performance of the current, and shortens the dynamic response time.

[0119] like Figure 6 As shown, the present invention provides a current disturbance compensation control device for a dual-winding induction motor, which adopts the current disturbance compensation control method based on the dual-winding induction motor power generation system, and the current disturbance compensation control device includes:

[0120] A feedback regulation module is used to obtain a DC bus voltage value of a control winding corresponding to the dual-winding induction motor, and analyze and process the DC bus voltage value based on a pre-built feedback regulation model to provide a current given value of the control winding corresponding to the dual-winding induction motor;

[0121] A disturbance observation module is used to obtain the current values ​​of the dual windings corresponding to the dual-winding induction motor, and perform observation analysis based on a pre-built disturbance observation model to provide the current disturbance observation value of the control winding;

[0122] A feedforward compensation control module is used to perform feedforward compensation analysis and processing on the current disturbance observation value and the current given value of the control winding based on a pre-built feedforward compensation control model, and provide a voltage given value of the control winding;

[0123] The output regulation module is used to regulate the output of the dual-winding induction motor based on a voltage set value and a current set value of the control winding.

[0124] Furthermore, the feedback adjustment module includes:

[0125] Obtain the three-phase AC voltage of the power winding corresponding to the double-winding induction motor and perform coordinate transformation, analyze and process the coordinate transformation results, and give the effective value of the AC voltage;

[0126] Obtaining a DC bus voltage given value and an AC voltage given value of a dual-winding induction motor switching power grid; wherein the power grid includes a high-voltage AC power grid and a low-voltage DC power grid;

[0127] Based on the pre-built feedback regulation model and in combination with the DC bus voltage set value and the AC voltage set value, double closed-loop error feedback regulation is performed on the DC bus voltage value and the AC voltage effective value of the control winding to give the current set value of the control winding in the synchronous rotating coordinate system.

[0128] Furthermore, the disturbance observation module includes:

[0129] Based on the current values ​​of the dual windings corresponding to the dual-winding induction motor, coordinate transformation is performed on the current value of the control winding corresponding to the dual-winding induction motor to obtain the current value in the synchronous rotating coordinate system;

[0130] Based on the pre-constructed disturbance observation model and the current value in the synchronous rotating coordinate system, the current observation value and the current disturbance value of the control winding are observed to provide the current disturbance observation value.

[0131] Furthermore, the disturbance observation module also includes:

[0132] Perform coordinate transformation on the current value of the dual windings of the dual-winding induction motor, and give the current value of the dual windings in the stationary coordinate system;

[0133] The speed value of the dual-winding induction motor is obtained, and the rotor flux amplitude of the dual-winding induction motor is given in combination with the current value of the dual-winding in a stationary coordinate system;

[0134] Based on the rotor flux amplitude of the dual-winding induction motor, the current value of the control winding in the stationary coordinate system is transformed to obtain the current value of the control winding in the synchronous rotating coordinate system.

[0135] Furthermore, the feedforward compensation control module includes:

[0136] Based on the pre-built feedforward compensation control model, the current disturbance observation value and current set value of the control winding are analyzed and processed by feedforward compensation, and the voltage set value of the control winding in the synchronous rotating coordinate system is given;

[0137] The voltage setting value of the control winding in the synchronous rotating coordinate system is subjected to coordinate inverse transformation to obtain the voltage setting value of the control winding in the stationary coordinate system.

[0138] like Figure 7 As shown, the present invention also provides a dual-winding induction motor power generation system, which adopts the above-mentioned current disturbance compensation control method, and the dual-winding induction motor power generation system includes: a dual-winding induction motor 1, a high-voltage AC power grid 7, a low-voltage DC power grid 8 and a power generation drive control unit 10;

[0139] The control winding of the dual-winding induction motor 1 is connected to the low-voltage DC grid 8 and the power generation drive control unit 10, and the power winding is connected to the high-voltage AC grid 7;

[0140] The power generation drive control unit 10 is used to execute the above-mentioned current disturbance compensation control method.

[0141] The dual-winding induction motor power generation system further includes a diesel engine 2, a first AC circuit breaker 3, a second AC circuit breaker 4, a first DC circuit breaker 5, a second DC circuit breaker 6, a DC energy storage unit 9, an engine controller unit 11, and an energy storage controller unit 12. The control winding of the dual-winding induction motor 1 is connected to the AC output side of the power generation drive control unit 10 via the second AC circuit breaker 4, and is connected to the low-voltage DC power grid 8 via the first AC circuit breaker 3. The DC side of the power generation drive control unit 10 is connected to the energy storage unit 9 via the first DC circuit breaker 5. The power winding of the dual-winding induction motor 1 is connected to the high-voltage AC power grid 7 via the third AC circuit breaker 6. The energy storage control unit 12 provides a control signal to the energy storage unit 9, and the engine controller unit 11 provides a control signal to the diesel engine 2 and the power generation drive control unit 10 at the same time.

[0142] In actual application scenarios, the present invention uses a DC voltage sensor to measure the DC voltage of the low-voltage DC grid 8, and uses a voltage sensor to measure the three-phase AC voltage of the high-voltage AC grid 7, and sends them to the power generation drive control unit 10. Through the double closed-loop error feedback regulation (feedback regulation model) in the power generation drive control unit 10, the output control winding synchronous rotation coordinate system is d, q Shaft current setpoint , , realize the error adjustment of the generated voltage; measure the current value of the control winding of the dual-winding induction motor 1 through the current sensor, and send it to the coordinate reduction state observer (disturbance observation model) of the power generation drive control unit 10 to obtain the control winding in the synchronous rotating coordinate system d , q Shaft current disturbance observation value and , realize the observation of current disturbance, send the current disturbance observation value and the current given value into the closed-loop error feedback regulation of feedforward compensation (feedforward compensation control model), obtain the control drive signal, the power generation drive control unit 10 outputs the control drive signal, controls the current and output voltage of the dual-winding induction motor 1, so as to ensure stable power generation and high dynamic performance. When the engine control unit 11 sends a power generation switching signal, the signal is sent to the power generation drive control unit 10, and controls the first AC circuit breaker 3, the second AC circuit breaker 4, the first DC circuit breaker 5, and the second DC circuit breaker 6 to switch on and off, so as to realize the switching of the dual-winding induction motor and the power grid.

[0143] Although preferred embodiments of the present invention have been described, additional changes and modifications may be made to these embodiments by those skilled in the art once the basic inventive concepts are known. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention. Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A current disturbance compensation control method for a dual-winding induction motor, characterized in that: The specific steps include: The DC bus voltage value of the control winding corresponding to the dual-winding induction motor is obtained, and the current given value of the control winding corresponding to the dual-winding induction motor is given by analyzing and processing based on the pre-built feedback regulation model; The current values ​​of the dual windings corresponding to the dual-winding induction motor are obtained, and observation analysis and processing are performed based on a pre-built disturbance observation model to give the current disturbance observation value of the control winding; wherein the pre-built disturbance observation model satisfies the following relationship: ； In the formula, is the d-axis current observation value of the control winding in the synchronous rotating coordinate system, i cd is the d-axis current value of the control winding in the synchronous rotating coordinate system, is the q-axis current observation value of the control winding in the synchronous rotating coordinate system, i cq is the q-axis current value of the control winding in the synchronous rotating coordinate system, u cd and u cq are the d-axis and q-axis voltage values ​​of the control winding in the synchronous rotating coordinate system, To control the winding leakage coefficient, R c To control the winding equivalent resistance, ρ 1. ρ 2 is the disturbance observation model parameter, is the observed value of the d-axis current disturbance of the control winding in the synchronous rotating coordinate system, is the q-axis current disturbance observation value of the control winding in the synchronous rotating coordinate system; Based on the pre-built feedforward compensation control model, the current disturbance observation value and the current given value of the control winding are analyzed and processed by feedforward compensation, and the voltage given value of the control winding is given; The output of a dual-winding induction motor is regulated based on a voltage setpoint and a current setpoint of a control winding.

2. The current disturbance compensation control method according to claim 1, characterized in that: Based on the pre-built feedback regulation model, the current set value of the corresponding control winding of the dual-winding induction motor is given, including: Obtain the three-phase AC voltage of the power winding corresponding to the double-winding induction motor and perform coordinate transformation, analyze and process the coordinate transformation results, and give the effective value of the AC voltage; Obtaining a DC bus voltage reference value and an AC voltage reference value for switching a dual-winding induction motor into and out of a power grid; Based on the pre-built feedback regulation model and in combination with the DC bus voltage set value and the AC voltage set value, double closed-loop error feedback regulation is performed on the DC bus voltage value and the AC voltage effective value of the control winding to give the current set value of the control winding in the synchronous rotating coordinate system.

3. The current disturbance compensation control method according to claim 2, characterized in that: The pre-built feedback regulation model satisfies the following relationship: ； In the formula, is the given value of the d-axis current of the control winding in the synchronous rotating coordinate system, is the given value of the q-axis current of the control winding in the synchronous rotating coordinate system, k1 is the proportional coefficient of the AC voltage closed-loop proportional-integral controller, k2 is the integral coefficient of the AC voltage closed-loop proportional-integral controller, k3 is the proportional coefficient of the DC voltage closed-loop proportional-integral controller, k4 is the integral coefficient of the DC voltage closed-loop proportional-integral controller, U p is the effective value of AC voltage, U * p is the given value of AC voltage, U DC is the DC bus voltage value, U * DC is the DC bus voltage given value, s is the Laplace operator.

4. The current disturbance compensation control method according to claim 1, characterized in that: Based on the pre-built disturbance observation model, the observation analysis is performed to give the current disturbance observation value of the control winding, including: Based on the current values ​​of the dual windings corresponding to the dual-winding induction motor, coordinate transformation is performed on the current value of the control winding corresponding to the dual-winding induction motor to obtain the current value in the synchronous rotating coordinate system; Based on the pre-built disturbance observation model and the current value in the synchronous rotating coordinate system, the current observation value and the current disturbance value of the control winding are observed to provide the current disturbance observation value.

5. The current disturbance compensation control method according to claim 4, characterized in that: Based on the current values ​​of the dual windings corresponding to the dual-winding induction motor, coordinate transformation is performed on the current value of the control winding corresponding to the dual-winding induction motor to obtain the current value in the synchronous rotating coordinate system, including: Perform coordinate transformation on the current value of the dual windings of the dual-winding induction motor, and give the current value of the dual windings in the stationary coordinate system; The speed value of the dual-winding induction motor is obtained, and the rotor flux amplitude of the dual-winding induction motor is given in combination with the current value of the dual-winding in a stationary coordinate system; Based on the rotor flux amplitude of the dual-winding induction motor, the current value of the control winding in the stationary coordinate system is transformed to obtain the current value of the control winding in the synchronous rotating coordinate system.

6. The current disturbance compensation control method according to claim 5, characterized in that: The rotor flux amplitude of a dual-winding induction motor satisfies the following relationship: ； In the formula, ψ rα For double winding induction motor α Shaft-rotor flux, ψ rβ For double winding induction motor β Shaft-rotor flux, ψ r is the rotor flux amplitude of the double-winding induction motor, T r is the rotor time constant, L m is the magnetizing inductance, i cα is the control winding in the stationary coordinate system α Shaft current value, i cβ is the control winding in the stationary coordinate system β Shaft current value, i pα is the power winding in the stationary coordinate system α Shaft current value, i pβ is the power winding in the stationary coordinate system β Shaft current value, ω r is the speed value of the double-winding induction motor, s is the Laplace operator.

7. The current disturbance compensation control method according to claim 1, characterized in that: Based on the pre-built feedforward compensation control model, the current disturbance observation value and the current set value of the control winding are analyzed and processed by feedforward compensation, and the voltage set value of the control winding is given, including: Based on the pre-built feedforward compensation control model, the current disturbance observation value and current set value of the control winding are analyzed and processed by feedforward compensation, and the voltage set value of the control winding in the synchronous rotating coordinate system is given; Performing an inverse coordinate transformation on the voltage setting value of the control winding in the synchronous rotating coordinate system to obtain the voltage setting value of the control winding in the stationary coordinate system; Among them, the pre-built feedforward compensation control model satisfies the following relationship: ； In the formula, and are the voltage reference values ​​of the d-axis and q-axis of the control winding in the synchronous rotating coordinate system, is the given value of the d-axis current of the control winding in the synchronous rotating coordinate system, is the q-axis current given value of the control winding in the synchronous rotating coordinate system, is the d-axis current value of the control winding in the synchronous rotating coordinate system, is the q-axis current value of the control winding in the synchronous rotating coordinate system, is the observed value of the d-axis current disturbance of the control winding in the synchronous rotating coordinate system, is the q-axis current disturbance observation value of the control winding in the synchronous rotating coordinate system, k5 is the proportional coefficient of the current closed-loop proportional-integral controller, and k6 is the integral coefficient of the current closed-loop proportional-integral controller.

8. A current disturbance compensation control device for a dual-winding induction motor, characterized in that: The current disturbance compensation control method of the dual-winding induction motor according to any one of claims 1 to 7 is adopted, and the current disturbance compensation control device comprises: A feedback regulation module is used to obtain a DC bus voltage value of a control winding corresponding to the dual-winding induction motor, and analyze and process the DC bus voltage value based on a pre-built feedback regulation model to provide a current given value of the control winding corresponding to the dual-winding induction motor; A disturbance observation module is used to obtain the current values ​​of the dual windings corresponding to the dual-winding induction motor, and perform observation analysis based on a pre-built disturbance observation model to provide the current disturbance observation value of the control winding; A feedforward compensation control module is used to perform feedforward compensation analysis and processing on the current disturbance observation value and the current given value of the control winding based on a pre-built feedforward compensation control model, and provide a voltage given value of the control winding; The output regulation module is used to regulate the output of the dual-winding induction motor based on a voltage set value and a current set value of the control winding.

9. A dual-winding induction motor power generation system, characterized in that: include: A dual-winding induction motor, a high-voltage AC grid, a low-voltage DC grid, and a generator drive control unit; The control winding of the dual-winding induction motor is connected to the low-voltage DC grid and the generator drive control unit, and the power winding is connected to the high-voltage AC grid; The power generation drive control unit is used to execute the current disturbance compensation control method as described in any one of claims 1 to 7.

Images