Doubly-fed motor rotor side velocity vector control parameter direction diagnosis method, device, equipment and medium

Abstract

The invention discloses a doubly-fed motor rotor side velocity vector control parameter direction diagnosis method, device and equipment and a medium, and belongs to the technical field of doubly-fed frequency converter rotor side dragging, and the method comprises the steps: defining a flag bit of an input condition; determining a constraint condition 1 of a rotor current loop PI regulator parameter value flag bit, determining a constraint condition 2 of determining whether a slip frequency value is a reverse flag bit, and determining a constraint condition 3 of a comprehensive flag bit; firstly, a constraint condition 1 is determined, and on the premise that the constraint condition 1 is met, a constraint condition 2 is determined; finally, on the premise that the constraint condition 1 and the constraint condition 2 are met at the same time, a constraint condition 3 is determined; and realizing diagnosis of positive and negative values of main parameters of doubly-fed motor rotor side I / F vector control based on the slip frequency method according to the result of the step 3. According to the method, direction diagnosis of main parameters of vector control can be completed based on flag bits and constraint conditions of corresponding parameters in combination with field conditions, implementation is simple and easy, and working efficiency is high.

Description

Technical Field

[0001] The present invention relates to the technical field of doubly-fed inverter rotor-side dragging, and in particular to a method, device, equipment and medium for diagnosing direction of speed vector control parameters on the rotor side of a doubly-fed motor. Background Art

[0002] Doubly-fed generators are widely used in the power industry. Without changing the topology of the main electrical circuit, the three-phase windings of the doubly-fed generator stator are short-circuited, and the doubly-fed inverter directly performs speed vector control from the generator rotor. For example, doubly-fed wind turbines use electric mode to crank the generator to facilitate the installation of blades. In pumped-storage AC excitation systems and flywheel energy storage systems, the inverter is used to increase the speed to achieve the doubly-fed grid-connected speed.

[0003] There is an inconsistency in the installation direction of the inverter rotor current sensor and the direction of the doubly fed motor encoder; during software development, the modeling direction of the motor speed vector control algorithm, the rotation direction of the coordinate transformation, and the positive and negative values ​​(directions) of the current loop PI parameters also vary from person to person. In addition, unlike conventional asynchronous motors, when the operating condition is that the inverter realizes I / F (rotor current / speed frequency) vector control from the rotor side based on the slip frequency method, the difficulty is further increased.

[0004] Therefore, in most cases, on-site commissioning service personnel need remote guidance from specific software developers (control algorithm software developers corresponding to the local converter) to achieve speed vector control of the doubly fed motor, which results in low work efficiency. Summary of the Invention

[0005] The present invention aims to solve the problem in the prior art that, in the face of complex software and hardware input conditions, speed vector control of a doubly-fed motor must be achieved with remote guidance from specific software developers, resulting in low work efficiency. A method, device, equipment, and medium for diagnosing the direction of speed vector control parameters on the rotor side of a doubly-fed motor are proposed. By defining input condition flags and combining the judgment of constraint conditions, the positive and negative values ​​of the main parameters of the I / F vector control on the rotor side of the doubly-fed motor can be diagnosed based on the slip frequency method, thereby improving the work efficiency of on-site commissioning service personnel.

[0006] In order to achieve the above-mentioned object of the invention, the technical solution of the present invention is as follows:

[0007] A method for diagnosing direction of speed vector control parameters of a doubly-fed generator rotor side includes the following steps:

[0008] Step 1: Define the flag of the input condition;

[0009] Step 2: constraining the flags defining the input conditions, including constraint 1 for determining the flag of the rotor current loop PI regulator parameter value, constraint 2 for determining whether the slip frequency value is inverted, and constraint 3 for determining the comprehensive flag;

[0010] Step 3: First, determine constraint 1. On the premise that constraint 1 is satisfied, determine constraint 2. Finally, on the premise that both constraints 1 and 2 are satisfied, determine constraint 3.

[0011] Step 4: Based on the result of step 3, the positive and negative values ​​of the main parameters of the I / F vector control on the rotor side of the doubly fed motor are diagnosed based on the slip frequency method.

[0012] Furthermore, the input conditions include: encoder output speed value, whether the speed value is inverted, rotor current sensor direction, vector control algorithm rotor current loop modeling direction, rotor current loop PI regulator parameter value, rotor current loop output modulation voltage inverse Park transformation, rotor current loop current set value and whether the slip frequency value is inverted.

[0013] Furthermore, the flags of the various input conditions are defined as follows:

[0014] The encoder outputs the speed value flag: the speed value is positive +1; the speed value is negative -1.

[0015] The flag indicating whether the speed value is inverted: +1 if not inverted, -1 if inverted.

[0016] The flag of the rotor current sensor direction: the direction of outflow from the converter is defined as +1; the direction of inflow into the converter is defined as -1.

[0017] The flag bit for the rotor current loop modeling direction of the vector control algorithm: the direction of the rotor current flowing out of the converter is defined as +1; the direction of the rotor current flowing into the converter is defined as -1.

[0018] The flag bit of the rotor current loop PI regulator parameter value: the parameter value is +1 if it is a positive number, and -1 if it is a negative number.

[0019] The modulation voltage output by the rotor current loop and the flag of the reverse Pike transformation: it changes to +1 during positive rotation and changes to -1 during negative rotation.

[0020] Rotor current loop current given value flag: excitation current The given value is positive and the torque current When the given value is positive, it is +1, and the excitation current The given value is positive and the torque current If the given value is negative, it is -1;

[0021] The flag indicating whether the slip frequency value is inverted: +1 if not inverted and -1 if inverted.

[0022] Furthermore, in step 2, constraint condition 1 is: the flag of the rotor current loop PI regulator parameter value is equal to the flag of the rotor current sensor direction multiplied by the flag of the rotor current modeling direction of the vector control algorithm.

[0023] Furthermore, in step 2, constraint condition 2 is: the flag indicating whether the slip frequency value is inverted is equal to the flag indicating whether the encoder output speed value is inverted multiplied by the flag indicating whether the speed value is inverted multiplied by the flag indicating the rotor current loop current given value.

[0024] Furthermore, in step 2, constraint condition 3 is: the comprehensive flag is equal to the flag of whether the speed value is inverted multiplied by the flag of the rotor current loop current given value multiplied by the flag of the rotor current loop PI regulator parameter value multiplied by the flag of the modulation voltage inverse Park transformation.

[0025] The present invention also proposes a doubly-fed generator rotor-side speed vector control parameter direction diagnosis device, comprising:

[0026] The input condition flag definition module is used to define the encoder output speed value, whether the speed value is inverted, the direction of the rotor current sensor, the direction of the rotor current loop modeling of the vector control algorithm, the rotor current loop PI regulator parameter value, the modulation voltage output of the rotor current loop inverse Parker transformation, the rotor current loop current set value, and the flag of whether the slip frequency value is inverted;

[0027] An input condition flag constraint module is used to determine constraint condition 1 of the rotor current loop PI regulator parameter value flag, constraint condition 2 of whether the slip frequency value is inverted, and constraint condition 3 of the comprehensive flag;

[0028] The data processing module is used to first determine constraint condition 1, and on the premise that constraint condition 1 is satisfied, determine constraint condition 2; and finally, on the premise that constraint condition 1 and constraint condition 2 are satisfied at the same time, determine constraint condition 3;

[0029] The judgment module is used to diagnose the positive and negative values ​​of the main parameters of the I / F vector control on the rotor side of the doubly fed motor based on the slip frequency method according to the output results of the data processing module.

[0030] The present invention further proposes a doubly-fed generator rotor-side speed vector control parameter direction diagnosis device, comprising:

[0031] memory for storing computer programs;

[0032] The processor is configured to implement the steps of the above-mentioned method for diagnosing the direction of speed vector control parameters of a doubly-fed electric machine rotor when executing the computer program.

[0033] The present invention also proposes a computer storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method for diagnosing the direction of speed vector control parameters of the doubly fed motor rotor side are implemented.

[0034] In summary, the present invention has the following advantages:

[0035] 1. After using the method of the present invention, on-site debugging service personnel only need to combine the flag bits and constraints of the corresponding parameters to complete the positive and negative value (direction) diagnosis of the main parameters of vector control according to the on-site conditions. The implementation is simple and easy, and the work efficiency is high.

[0036] 2. The method of the present invention has wide adaptability and is not affected by the external environment and is not limited by the unit capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a schematic diagram of the electrical main circuit of the doubly-fed machine rotor side I / F (rotor current / speed frequency) vector control;

[0038] Figure 2 This is a control block diagram of the doubly-fed machine rotor side I / F (rotor current / speed frequency) vector control algorithm based on the slip frequency method;

[0039] Figure 3 It is the process logic diagram of the present invention. DETAILED DESCRIPTION

[0040] In order to more clearly illustrate the present invention, the present invention is further described below in conjunction with preferred embodiments and drawings. Those skilled in the art should understand that the following specific description is illustrative rather than restrictive and should not be used to limit the scope of protection of the present invention.

[0041] like Figure 1 As shown, the converter is directly connected to the three-phase winding of the doubly fed generator rotor, and under the condition that the three-phase winding of the doubly fed generator stator is short-circuited, the motor speed is controlled from the rotor side of the doubly fed generator.

[0042] like Figure 2 As shown, the I / F (rotor current / speed frequency) vector control algorithm of the doubly fed motor adopts the "indirect magnetic field orientation method", also known as the slip frequency method.

[0043] The present invention provides a method for diagnosing the direction of speed vector control parameters of a doubly-fed electric machine rotor, comprising the following steps:

[0044] Step 1: Define the flag of the input condition

[0045] The encoder outputs the speed value flag: the speed value is positive +1; the speed value is negative -1.

[0046] The flag indicating whether the speed value is inverted: +1 if not inverted, -1 if inverted.

[0047] The flag of the rotor current sensor direction: the direction of outflow from the converter is defined as +1; the direction of inflow into the converter is defined as -1.

[0048] The flag bit of the rotor current loop modeling direction of the vector control algorithm is consistent with the direction of the rotor current sensor, that is, the direction of the rotor current flowing out of the converter is defined as +1; the direction of the rotor current flowing into the converter is defined as -1.

[0049] The flag bit of the rotor current loop PI regulator parameter value (direction): +1 if the parameter value is positive, -1 if the parameter value is negative.

[0050] The modulation voltage U output by the rotor current loop d 、U q The flag of the transformation from the two-term rotating coordinate system to the two-term stationary coordinate system (anti-Park transformation), that is, the modulation voltage U d 、U q The flag of the Park transformation: it is changed to +1 for positive rotation and -1 for negative rotation.

[0051] Rotor current loop current given value (direction) flag: excitation current The given value is positive and the torque current When the given value is positive, it is +1, and the excitation current The given value is positive and the torque current If the given value is negative, it is -1.

[0052] The flag indicating whether the slip frequency (slip angle) value (direction) is reversed: +1 if not reversed; -1 if reversed.

[0053] Step 2: Constrain the flags that define the input conditions

[0054] Constraint 1: The flag of the rotor current loop PI regulator parameter value (direction) = (equal to) the flag of the rotor current sensor direction x (multiplied by) the flag of the vector control algorithm rotor current modeling direction, as shown in Table 1 below:

[0055]

[0056] Constraint 2: The flag indicating whether the slip frequency (slip angle) value (direction) is inverted = (equal to) the flag indicating the encoder output speed value x (multiplied by) the flag indicating whether the speed value is inverted x (multiplied by) the flag indicating the rotor current loop current given value (direction), as shown in Table 2 below:

[0057]

[0058] Constraint 3: Comprehensive flag (-1) = (equal to) the flag indicating whether the speed value is inverted X (multiplied by) the flag of the rotor current loop current given value (direction) X (multiplied by) the flag of the rotor current loop PI regulator parameter value (direction) X (multiplied by) the modulation voltage U d 、U q The flag bits of the Park transformation are shown in Table 3 below:

[0059]

[0060] Step 3: Determine the positive and negative values ​​(direction) of the parameters according to the actual situation on site

[0061] First, determine constraint 1; then, under the premise of satisfying constraint 1, determine constraint 2;

[0062] Finally, on the premise that constraint 1 and constraint 2 are satisfied at the same time, constraint 3 is determined.

[0063] The induction motor I / F (rotor current / rotational frequency) vector control based on the slip frequency method belongs to the well-known prior art.

[0064] like Figure 3 As shown, the process steps of steps 1, 2, and 3 are cycled in sequence to realize the diagnosis of the positive and negative values ​​(directions) of the main parameters of the I / F (rotor current / speed frequency) vector control of the doubly fed motor rotor side based on the slip frequency method.

[0065] Example 2

[0066] The embodiment of the present invention provides a device for diagnosing the direction of speed vector control parameters of a doubly-fed generator rotor, comprising:

[0067] The input condition flag definition module is used to define the encoder output speed value, whether the speed value is reversed, the direction of the rotor current sensor, the vector control algorithm rotor current loop modeling direction, the rotor current loop PI regulator parameter value, the modulation voltage output of the rotor current loop inverse Parker transformation, the rotor current loop current set value and the flag of whether the slip frequency value is reversed; the specific definition is the same as the definition method of step 1 of Example 1, and will not be repeated here.

[0068] An input condition flag constraint module is used to determine constraint condition 1 of the rotor current loop PI regulator parameter value flag, constraint condition 2 of whether the slip frequency value is inverted, and constraint condition 3 of the comprehensive flag;

[0069] Specifically, constraint condition 1 is: the flag of the rotor current loop PI regulator parameter value is equal to the flag of the rotor current sensor direction multiplied by the flag of the rotor current modeling direction of the vector control algorithm.

[0070] Constraint 2 is: the flag indicating whether the slip frequency value is inverted is equal to the flag indicating the encoder output speed value multiplied by the flag indicating whether the speed value is inverted multiplied by the flag indicating the rotor current loop current given value.

[0071] Constraint 3 is: the comprehensive flag is equal to the flag of whether the speed value is inverted multiplied by the flag of the rotor current loop current given value multiplied by the flag of the rotor current loop PI regulator parameter value multiplied by the flag of the modulation voltage inverse Parker transformation.

[0072] The data processing module is used to first determine constraint condition 1, and on the premise that constraint condition 1 is satisfied, determine constraint condition 2; and finally, on the premise that constraint condition 1 and constraint condition 2 are satisfied at the same time, determine constraint condition 3;

[0073] The judgment module is used to diagnose the positive and negative values ​​of the main parameters of the I / F vector control on the rotor side of the doubly fed motor based on the slip frequency method according to the output results of the data processing module.

[0074] Example 3

[0075] An embodiment of the present invention provides a device for diagnosing the direction of speed vector control parameters of a doubly-fed generator rotor, including:

[0076] memory for storing computer programs;

[0077] The processor is configured to implement the steps of the method for diagnosing the direction of speed vector control parameters of a doubly-fed electric machine rotor side as described in the first embodiment when executing the computer program.

[0078] Preferably, the computer program can be divided into one or more modules / units, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules / units can be a series of computer program instruction segments capable of implementing specific functions, and the instruction segments are used to describe the execution process of the computer program in the device.

[0079] The processor can be a central processing unit, or other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor, or the processor can also be any conventional processor. The processor is the control center of the device, and various parts of the device are connected using various interfaces and lines.

[0080] The memory mainly includes a program storage area and a data storage area. The program storage area can store the operating system, at least one application required for a function, etc., and the data storage area can store related data, etc. In addition, the memory can be a high-speed random access memory, or a non-volatile memory such as a plug-in hard disk, a smart memory card, a secure digital card, and a flash memory card, or the memory can also be other volatile solid-state memory devices.

[0081] Example 4

[0082] An embodiment of the present invention provides a computer storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for diagnosing the direction of speed vector control parameters of a doubly-fed motor rotor side are implemented as described in the above-mentioned embodiment 1.

[0083] Computer storage media may be tangible media that can contain or store programs for use by or in connection with an instruction execution system, apparatus, or device.

[0084] The above specific technical solutions are intended only to illustrate the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the above specific technical solutions, those skilled in the art should understand that the present invention may still modify the above specific technical solutions or replace some of the technical features therein with equivalents, and such modifications or replacements do not deviate from the spirit and scope of the present invention.

Claims

1. A method for diagnosing the direction of speed vector control parameters of a doubly-fed generator rotor, characterized in that: The steps include: Step 1: Define the flag of the input condition; Step 2: constraining the flags defining the input conditions, including determining constraint condition 1 for determining the flag of the rotor current loop PI regulator parameter value, determining constraint condition 2 for determining whether the slip frequency value is inverted, and determining constraint condition 3 for determining the comprehensive flag; Step 3: First, determine constraint 1. On the premise that constraint 1 is satisfied, determine constraint 2. Finally, on the premise that both constraint 1 and constraint 2 are satisfied, determine constraint 3. Step 4: Based on the result of step 3, the diagnosis of the positive and negative values ​​of the main parameters of the I / F vector control on the rotor side of the doubly fed motor based on the slip frequency method is realized.

2. The method for diagnosing the direction of the speed vector control parameters of the doubly-fed electric machine rotor side according to claim 1 is characterized in that: The input conditions include: encoder output speed value, whether the speed value is reversed, rotor current sensor direction, vector control algorithm rotor current loop modeling direction, rotor current loop PI regulator parameter value, rotor current loop output modulation voltage inverse Parker transformation, rotor current loop current set value and whether the slip frequency value is reversed.

3. The method for diagnosing the direction of the speed vector control parameters of the doubly-fed electric machine rotor side according to claim 2 is characterized in that: The flags of each input condition are defined as follows: The encoder outputs the speed value flag: the speed value is positive +1; the speed value is negative -1. The flag bit of whether the speed value is inverted: if not inverted, it is defined as +1; if inverted, it is defined as -1. The flag of the rotor current sensor direction: the direction out of the converter is defined as +1; the direction into the converter is defined as -1. The flag bit for the direction of rotor current loop modeling in the vector control algorithm: the direction of rotor current flowing out of the converter is defined as +1; The direction of rotor current flowing into the converter is defined as -1. The flag bit of the rotor current loop PI regulator parameter value: if the parameter value is a positive number, it is +1; if the parameter value is a negative number, it is -1. The modulation voltage output by the rotor current loop and the flag of the reverse Parker transformation are: +1 for positive rotation and -1 for negative rotation. Rotor current ring current given value flag: excitation current The given value is positive and the torque current When the given value is positive, it is +1, and the excitation current The given value is positive and the torque current If the given value is negative, it is -1; The flag bit of whether the slip frequency value is inverted: if not inverted, it is defined as +1; if inverted, it is defined as -1.

4. The method for diagnosing the direction of the speed vector control parameters of the doubly-fed electric machine rotor side according to claim 1 or 3, characterized in that: In step 2, constraint condition 1 is: the flag bit of the rotor current loop PI regulator parameter value is equal to the flag bit of the rotor current sensor direction multiplied by the flag bit of the rotor current modeling direction of the vector control algorithm.

5. The method for diagnosing the direction of the speed vector control parameters of the doubly-fed electric machine rotor side according to claim 1 or 3, characterized in that: In step 2, constraint condition 2 is: the flag bit of whether the slip frequency value is inverted is equal to the flag bit of the encoder output speed value multiplied by the flag bit of whether the speed value is inverted multiplied by the flag bit of the rotor current loop current given value.

6. The method for diagnosing the direction of the speed vector control parameters of the doubly-fed electric machine rotor side according to claim 1 or 3, characterized in that: In step 2, constraint condition 3 is: the comprehensive flag is equal to the flag of whether the speed value is inverted multiplied by the flag of the rotor current loop current given value multiplied by the flag of the rotor current loop PI regulator parameter value multiplied by the flag of the modulation voltage inverse Parker transformation.

7. A doubly-fed generator rotor side speed vector control parameter direction diagnosis device, characterized in that: include: The input condition flag definition module is used to define the encoder output speed value, whether the speed value is reversed, the direction of the rotor current sensor, the direction of the vector control algorithm rotor current loop modeling, the rotor current loop PI regulator parameter value, the modulation voltage of the rotor current loop output inverse Parker transformation, the rotor current loop current set value, and the flag of whether the slip frequency value is reversed; An input condition flag constraint module is used to determine constraint condition 1 of the flag of the rotor current loop PI regulator parameter value, constraint condition 2 of whether the slip frequency value is inverted, and constraint condition 3 of the comprehensive flag; The data processing module is used to first determine constraint condition 1, and determine constraint condition 2 on the premise that constraint condition 1 is satisfied; and finally determine constraint condition 3 on the premise that constraint condition 1 and constraint condition 2 are satisfied at the same time; The judgment module is used to diagnose the positive and negative values ​​of the main parameters of the I / F vector control on the rotor side of the doubly fed motor based on the slip frequency method according to the output result of the data processing module.

8. A doubly-fed generator rotor side speed vector control parameter direction diagnosis device, characterized in that it includes: Memory for storing computer programs; A processor is used to implement the steps in the method for diagnosing the direction of speed vector control parameters of a doubly-fed electric machine rotor side as described in any one of claims 1 to 6 when executing the computer program.

9. A computer storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps in the method for diagnosing the direction of speed vector control parameters of a doubly-fed electric machine rotor side as claimed in any one of claims 1 to 6 are implemented.

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