Network construction type full-power wind power converter control method based on internal model control

Abstract

The invention discloses an internal model control-based network construction type full-power wind power converter control method. The method comprises the following steps of: acquiring a control quantity of a network construction type full-power wind power converter; determining an active power current given value by using preset internal model control according to the control quantity; determining a modulation voltage of a wind power converter machine side converter according to an active power current given value by utilizing current loop control; utilizing direct-current voltage synchronous control, and outputting a control synchronous angle according to the control quantity; by means of voltage and current double-loop control, output control output voltage is output according to the control quantity; and realizing machine-side converter control of the wind power converter according to the modulation voltage, and realizing grid-side converter control of the wind power converter according to the control synchronization angle and the control output voltage.

Description

Technical Field

[0001] The present invention relates to the field of new energy access and control technology, and more specifically, to a grid-connected full-power wind power converter control method based on internal model control. Background Art

[0002] Global climate issues are changing the ecological environment of the earth on which human beings depend for survival. Since the industrial age, large-scale deforestation by humans has led to a sharp decline in the number of green plants. Coupled with the endless exploitation and utilization of fossil fuels, the concentration of carbon dioxide in the global atmosphere has reached its highest peak in hundreds of years. At the same time, the climate change trends such as global warming have brought severe challenges to the stability of the earth's ecosystem and the development of human society. In order to solve the energy problem, new energy obtained from renewable resources such as solar energy and wind energy has become an important technical means. Under the rapid development of new energy, my country has abundant land and sea wind resources, and wind energy resources are highly safe and low in cost, which makes the actual application of wind power generation have certain advantages. At present, the motors that use variable speed constant frequency control in wind power generation systems are full-power wind turbines and doubly fed wind turbines. Among them, full-power wind turbines are generally based on permanent magnet wind turbines, which are characterized by the wind wheel and gearbox directly driving the rotor end, while the stator end is connected to the grid through a back-to-back converter.

[0003] The advantages of this structure are that the control system is simple and the output power of a single unit is large. With the trend of vigorously developing new energy, the installed capacity of wind power generation has been continuously increasing, but it has also brought about the impact of weak grid phenomenon on traditional control strategies. It is necessary to adopt a grid-type full-power wind power converter control structure in a weak grid environment. The system composed of the traditional speed loop based on PI control has poor robustness and cannot provide positive damping for the system. Therefore, a better control method is needed to optimize the system's anti-disturbance performance. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a control method for a grid-connected full-power wind power converter based on internal model control.

[0005] According to one aspect of the present invention, a control method for a grid-connected full-power wind power converter based on internal model control is provided, comprising:

[0006] Collect the control quantity of the full-power wind power converter of the grid-forming type;

[0007] Determine the active power current given value according to the control quantity by using the preset internal model control;

[0008] By using current loop control, the modulation voltage of the machine-side converter of the wind power converter is determined according to the given value of active power current;

[0009] Using DC voltage synchronous control, the output control synchronization angle is based on the control quantity;

[0010] Using voltage and current dual-loop control, the output voltage is controlled according to the control quantity;

[0011] The machine-side converter control of the wind power converter is realized according to the modulation voltage, and the grid-side converter control of the wind power converter is realized according to the control synchronization angle and the control output voltage.

[0012] Optionally, the transfer function of the internal model control in the speed loop is:

[0013]

[0014] In the formula, λ is the filtering time constant, a m ,b m ,c m is the simplified coefficient of the transfer function of the speed loop small signal model based on internal model control, K1 is the equivalent internal model controller coefficient, and s is the Laplace operator.

[0015] Optionally, the principle of DC voltage synchronous control is:

[0016]

[0017] Where, θ is the control synchronization angle; ω g is the grid angular frequency; T is the time constant of DC voltage control; J is the inertia parameter of DC voltage control; D is the damping parameter of DC voltage control; is the given value of DC voltage control; s is the Laplace operator.

[0018] Optionally, the principle of voltage and current dual-loop control is:

[0019]

[0020] Where U ref is the voltage given value, K Qp ,K Qi is the PI parameter of the reactive loop, Q ref is the given value of reactive power, Q is the actual reactive power, and s is the Laplace operator.

[0021] Optionally, controlling a grid-side converter of a wind power converter according to controlling a synchronization angle and controlling an output voltage includes:

[0022] The control synchronization angle θ is used as the abc voltage u abc and abc current i abc The coordinate transformation angle is from the abc coordinate system to the dq coordinate system;

[0023] The controlled output voltage U is taken as the d-axis given signal of the AC voltage loop in the dq coordinate system, and the grid voltage d-axis orientation is adopted to realize the tracking of the external loop command by the grid connection point voltage.

[0024] According to another aspect of the present invention, a grid-type full-power wind power converter control device based on internal model control is provided, comprising:

[0025] The acquisition module is used to collect the control quantity of the full-power wind power converter of the grid-forming type;

[0026] A first determination module, used to determine an active power current given value according to a control quantity by using a preset internal model control;

[0027] A second determination module is used to determine the modulation voltage of the machine-side converter of the wind power converter according to the given value of the active power current by using the current loop control;

[0028] The first output module is used for utilizing direct current voltage synchronous control and outputting a control synchronous angle according to a control amount;

[0029] The second output module is used to output a controlled output voltage according to a control amount by using a voltage-current dual-loop control;

[0030] The control module is used to control the machine-side converter of the wind power converter according to the modulation voltage, and to control the grid-side converter of the wind power converter according to the control synchronization angle and the control output voltage.

[0031] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the storage medium stores a computer program, and the computer program is used to execute the method described in any one of the above aspects of the present invention.

[0032] According to another aspect of the present invention, an electronic device is provided, comprising: a processor; a memory for storing instructions executable by the processor; the processor is configured to read the executable instructions from the memory and execute the instructions to implement the method described in any one of the above aspects of the present invention.

[0033] Therefore, the present invention proposes a full-power wind power converter based on internal model control, which can better optimize the control structure of the traditional speed loop. It has a simple structure, an intuitive and clear design, and few online adjustment parameters. The controller is designed according to the process mathematical model of the controlled object, and the control parameters can be changed accordingly according to the changes in the controlled object, thereby improving the robustness and anti-interference performance of the system and improving the electrical damping characteristics of the system. The grid-side converter of the present invention adopts DC voltage synchronous control to achieve phase-locked loop-free autonomous synchronization and inertia response of the permanent magnet synchronous motor. This strategy only needs to change the control structure of the grid-side converter of the unit, and the changes to the machine-side converter are relatively small, which is more convenient for upgrading and transforming conventional units. At this stage, it has better engineering application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] A more complete understanding of exemplary embodiments of the present invention may be obtained by referring to the following drawings:

[0035] Figure 1 It is a flow chart of a control method of a grid-type full-power wind power converter based on internal model control provided by an exemplary embodiment of the present invention;

[0036] Figure 2 is a control block diagram of a machine-side converter of a full-power wind power converter based on internal model control provided by an exemplary embodiment of the present invention;

[0037] Figure 3 is an internal model control block diagram provided by an exemplary embodiment of the present invention;

[0038] Figure 4 is a control block diagram of a grid-side converter based on DC voltage synchronous control provided by an exemplary embodiment of the present invention;

[0039] Figure 5 It is a structural schematic diagram of a grid-type full-power wind power converter control device based on internal model control provided by an exemplary embodiment of the present invention;

[0040] Figure 6 This is a structure of an electronic device provided by an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0041] Below, the exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments of the present invention, and it should be understood that the present invention is not limited to the exemplary embodiments described here.

[0042] It should be noted that the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

[0043] Those skilled in the art can understand that the terms "first" and "second" in the embodiments of the present invention are only used to distinguish different steps, devices or modules, etc., and neither represent any specific technical meaning nor indicate the necessary logical order between them.

[0044] It should also be understood that, in the embodiments of the present invention, “plurality” may refer to two or more than two, and “at least one” may refer to one, two or more than two.

[0045] It should also be understood that any component, data or structure mentioned in the embodiments of the present invention can generally be understood as one or more, unless explicitly limited or otherwise indicated in the context.

[0046] In addition, the term "and / or" in the present invention is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present invention generally indicates that the associated objects before and after are in an "or" relationship.

[0047] It should also be understood that the description of the various embodiments of the present invention focuses on the differences between the various embodiments, and the same or similar aspects thereof can be referenced to each other, and for the sake of brevity, they will not be described one by one.

[0048] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0049] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0050] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0051] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0052] Embodiments of the present invention can be applied to electronic devices such as terminal devices, computer systems, servers, etc., which can operate with many other general or special computing system environments or configurations. Examples of well-known terminal devices, computing systems, environments and / or configurations suitable for use with electronic devices such as terminal devices, computer systems, servers, etc. include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, handheld or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network personal computers, small computer systems, large computer systems, and distributed cloud computing technology environments including any of the above systems, etc.

[0053] Electronic devices such as terminal devices, computer systems, servers, etc. can be described in the general context of computer system executable instructions (such as program modules) executed by computer systems. Generally, program modules can include routines, programs, object programs, components, logic, data structures, etc., which perform specific tasks or implement specific abstract data types. Computer systems / servers can be implemented in a distributed cloud computing environment, where tasks are performed by remote processing devices linked through a communication network. In a distributed cloud computing environment, program modules can be located on local or remote computing system storage media including storage devices.

[0054] Exemplary Methods

[0055] Figure 1 1 is a flow chart of a method for controlling a grid-type full-power wind power converter based on internal model control provided by an exemplary embodiment of the present invention. This embodiment can be applied to electronic devices, such as Figure 1 As shown, the control method 100 of a grid-type full-power wind power converter based on internal model control includes the following steps:

[0056] Step 101, collecting control variables of a full-power wind power converter of a grid-forming type;

[0057] Step 102, using a preset internal model control to determine an active power current set value according to the control quantity;

[0058] Step 103, using current loop control to determine the modulation voltage of the machine-side converter of the wind power converter according to the given value of the active power current;

[0059] Step 104, using DC voltage synchronous control, outputting a control synchronization angle according to the control amount;

[0060] Step 105, using voltage and current dual loop control, outputting a controlled output voltage according to the control amount;

[0061] Step 106 , controlling the machine-side converter of the wind power converter according to the modulation voltage, and controlling the grid-side converter of the wind power converter according to the control synchronization angle and the control output voltage.

[0062] Specifically, in order to solve the deficiencies of the prior art, the present invention proposes a full-power wind power converter control method based on internal model control, in order to improve the speed loop control of the permanent magnet synchronous motor, improve its electrical damping characteristics, and enhance the robustness and anti-disturbance of the system. The specific steps are as follows:

[0063] Step 1: A full-power wind power converter internal model control method based on a grid-based configuration, which is characterized in that the speed loop of the machine-side converter adopts internal model control to improve the system robustness, and the grid-side converter adopts DC voltage synchronous control to ensure the stable transmission of system power. The implementation steps are as follows:

[0064] Step 1: measuring the machine side speed and capacitor voltage;

[0065] Sample the speed n of the permanent magnet synchronous motor and the stator side output voltage U a ,U b ,U c , stator side output current I a ,I b ,I c And measure the DC capacitor voltage U dc , Substitute the PMSM output voltage and output current into the coordinate transformation link shown in equation (1), and obtain the components of the output voltage and output current on the d and q axes U md ,U mq , I md ,I mq

[0066]

[0067] In formula (1), θ is the orientation angle of coordinate transformation, x A ,x B ,x C represents the three-phase voltage / current at the grid connection point in the three-phase stationary coordinate system, x d ,x q Represents the d-axis and q-axis DC components of voltage / current in the synchronous rotating coordinate system;

[0068] Step 2: Speed ​​loop based on internal model control;

[0069] The internal model control is used as the speed control loop of the wind turbine. By sampling its actual rotor speed and comparing it with the given rotor speed, the stator current given value of the wind turbine is calculated through the internal model control loop. The stator current given value is compared with the actual current value of the wind turbine and the difference is made. The converter modulation voltage, that is, the switch control signal of the wind turbine converter, can be obtained through the current inner loop to achieve control of the wind power converter. The small signal model of the speed loop based on the internal model controller is established below.

[0070] The transfer function of the internal model controller in the speed loop is:

[0071]

[0072] Among them, G IMS (s) is the internal model controller, G m (s) is the object model, the controlled object G n The expression of (s) is:

[0073]

[0074] The coefficient a n 、b n 、c n ,d n 、e n , K n The expression is:

[0075]

[0076] Substituting the motor parameters used in the simulation, the object model Gm(s) can be simplified to be described as follows according to the magnitude relationship of the coefficients:

[0077]

[0078] Where K m =K n K s / b n , a m =c n / b n , b m =d n / b n , c m =e n / b n . G m (s) is a minimum phase system that meets the internal model control design conditions. The internal model controller can be designed as:

[0079] G IMC (s)=f(s)G m (s) (6)

[0080] f(s) is a low-pass filter. Since the object model is third-order, a third-order low-pass filter is used. Let λ be the filter time constant, then its expression is:

[0081]

[0082] By combining equations (3)-(7), we can get the specific expression of its equivalent controller:

[0083]

[0084] Step 3: Current loop control;

[0085] The speed loop controlled by the internal model can obtain the given value of the active power current. After subtracting it from the actual active power current of the system, the modulation voltage of the machine-side converter can be obtained through PI control.

[0086] Step 4: synchronous control of the grid-side DC voltage;

[0087] The DC voltage capacitance measured is used to realize the synchronous control of the DC voltage on the grid side. The control principle is as follows:

[0088]

[0089] Where θ is the control synchronization angle; ω g is the grid angular frequency; T is the time constant of DC voltage control; J is the inertia parameter of DC voltage control; D is the damping parameter of DC voltage control; is the given value of DC voltage control; s is the Laplace operator.

[0090] The grid-side converter delivers reactive power to the grid and provides voltage support capability through reactive power control. The reactive power control scheme provided by the present invention is:

[0091]

[0092] The inner loop is a cascade structure control of the AC voltage loop and the AC current loop. After the DC voltage control loop and the reactive power control loop obtain the synchronization angle θ and the output voltage U respectively, the synchronization angle θ is used as u abc and i abc The coordinate transformation angle is converted from the abc coordinate system to the dq coordinate system. The output voltage U is used as the d-axis given signal of the AC voltage loop. The grid voltage d-axis orientation is adopted. The inner loop cascade structure can realize the tracking of the outer loop command by the grid connection point voltage.

[0093] In one embodiment of the present invention, reference Figures 2 to 4 As shown, Figure 2This is the control block diagram of the machine-side converter of a full-power wind power converter based on internal model control. First, the speed and output current of the permanent magnet synchronous motor are sampled, and then the speed loop based on internal model control is passed. The internal model control structure is as follows: Figure 3 As shown, the given value of the current in the dq axis is obtained, and the modulation voltage of the machine-side converter is obtained by the current inner loop, and its switching signal is obtained after SPWM modulation.

[0094] Figure 4 The control block diagram of the grid-side converter based on DC voltage synchronous control is shown in Figure 2. The DC capacitor voltage and grid-side voltage and current are sampled, such as Figure 4 As shown, the coordinate transformation angle is obtained through DC voltage synchronization, and then the given value of the grid-side voltage dq axis is obtained by the reactive power control structure, and the given value of the grid-side current dq axis is obtained through the voltage loop, and then the modulation voltage of the grid-side converter is obtained through the current loop, and its switching signal is obtained after SVPWM modulation.

[0095] The following is combined with Figure 2-4 The specific implementation modes of the present invention are further described in detail.

[0096] A full-power wind power converter internal model control method based on grid configuration is proposed. The machine-side speed loop adopts internal model control to improve the system robustness, and the grid-side converter adopts DC voltage synchronous control to ensure the stable transmission of system power. The implementation steps are as follows:

[0097] Step 1: measuring the machine side speed and capacitor voltage;

[0098] like Figure 2 and Figure 4 As shown, the control quantity is sampled first. The machine-side converter of the present invention adopts the speed outer loop and current loop based on internal model control for control, and the grid-side converter adopts DC voltage synchronous control and voltage and current dual loop for control. Sample the speed n of the permanent magnet synchronous motor, the stator side output voltage U a ,U b ,U c , stator side output current I a ,I b ,I c And measure the DC capacitor voltage U dc , Substitute the PMSM output voltage and output current into the coordinate transformation link shown in equation (1), and obtain the components of the output voltage and output current on the d and q axes U md ,U mq , I md ,I mq

[0099]

[0100] In formula (1), θ is the orientation angle of coordinate transformation, xA ,x B ,x C represents the three-phase voltage / current at the grid connection point in the three-phase stationary coordinate system, x d ,x q Represents the d-axis and q-axis DC components of voltage / current in the synchronous rotating coordinate system;

[0101] Step 2: Speed ​​loop based on internal model control;

[0102] Internal model control is used as the speed control loop of the wind turbine, and a more accurate control model is used to optimize the system to improve the damping and robustness of the system. By sampling its actual rotor speed and comparing it with the given rotor speed, the stator current set value of the wind turbine is calculated through the internal model control loop. The stator current set value is compared with the actual current value of the wind turbine and the difference is made. The converter modulation voltage, that is, the switch tube control signal of the wind turbine converter, can be obtained through the current inner loop to achieve control of the wind power converter. The small signal model of the speed loop based on the internal model controller is established below.

[0103] The transfer function of the internal model controller in the speed loop is:

[0104]

[0105] Among them, G IMS (s) is the internal model controller, G m (s) is the object model, the controlled object G n The expression of (s) is:

[0106]

[0107] The coefficient a n , b n 、c n ,d n 、e n , K n The expression is:

[0108]

[0109] Substitute the motor parameters used in the simulation and the object model G can be calculated based on the coefficient relationship. m (s) can be simplified as:

[0110]

[0111] Where K m =K n K s / b n , a m =c n / bn , b m =d n / b n , c m =e n / b n . G m (s) is a minimum phase system that meets the internal model control design conditions. The internal model controller can be designed as:

[0112] G IMC (s)=f(s)G m (s) (7)

[0113] f(s) is a low-pass filter. Since the object model is third-order, a third-order low-pass filter is used. Let λ be the filter time constant, then its expression is:

[0114]

[0115] By combining equations (3)-(7), we can get the specific expression of its equivalent controller:

[0116]

[0117] Taylor expansion is performed on equation (8), which can be equivalent to the form of a PID controller:

[0118]

[0119] From the above formula, we can see that the parameters of the internal model controller only include four parameters a m ,b m ,c m ,λ, where the first three parameters are calculated in real time according to the changes of the controlled object, and have good adaptive ability. The adjustable parameter is λ, which is convenient for parameter debugging.

[0120] For the selection of adjustable parameter λ, this paper evaluates the performance index based on the integrated squared error (ISE) value and the M value function. For controllers under different performance indicators, a smaller ISE value indicates that the system control performance is better at this time, and a smaller M value indicates that the system robustness is better at this time, and vice versa.

[0121] Step 3: Current loop control;

[0122] The speed loop controlled by the internal model can obtain the given value of the active power current. After subtracting it from the actual active power current of the system, the modulation voltage of the machine-side converter can be obtained through PI control. The modulation voltage can be used to control the wind power converter system.

[0123] Step 4: synchronous control of the grid-side DC voltage;

[0124] The DC voltage capacitance measured is used to realize the DC voltage synchronous control on the grid side. The control principle is:

[0125]

[0126] Where θ is the control synchronization angle; ω g is the grid angular frequency; T is the time constant of DC voltage control; J is the inertia parameter of DC voltage control; D is the damping parameter of DC voltage control; is the given value of DC voltage control; s is the Laplace operator.

[0127] The grid-side converter delivers reactive power to the grid and provides voltage support capability through reactive power control. The reactive power control scheme provided by the present invention is:

[0128]

[0129] The inner loop is a cascade structure control of the AC voltage loop and the AC current loop. After the DC voltage control loop and the reactive power control loop obtain the synchronization angle θ and the output voltage U respectively, the synchronization angle θ is used as u abc and i abc The coordinate transformation angle is converted from the abc coordinate system to the dq coordinate system. The output voltage U is used as the d-axis given signal of the AC voltage loop. The grid voltage d-axis orientation is adopted. The inner loop cascade structure can realize the tracking of the outer loop command by the grid connection point voltage.

[0130] Therefore, the present invention proposes a full-power wind power converter based on internal model control, which can better optimize the control structure of the traditional speed loop. It has a simple structure, an intuitive and clear design, and few online adjustment parameters. The controller is designed according to the process mathematical model of the controlled object, and the control parameters can be changed accordingly according to the changes in the controlled object, thereby improving the robustness and anti-interference performance of the system and improving the electrical damping characteristics of the system. The grid-side converter of the present invention adopts DC voltage synchronous control to achieve phase-locked loop-free autonomous synchronization and inertia response of the permanent magnet synchronous motor. This strategy only needs to change the control structure of the grid-side converter of the unit, and the changes to the machine-side converter are relatively small, which is more convenient for upgrading and transforming conventional units. At this stage, it has better engineering application value.

[0131] Exemplary Devices

[0132] Figure 5 FIG. 1 is a schematic diagram of a structure of a grid-type full-power wind power converter control device based on internal model control provided by an exemplary embodiment of the present invention. Figure 5 As shown, the device 500 includes:

[0133] The acquisition module 510 is used to acquire the control quantity of the full-power wind power converter of the grid-forming type;

[0134] A first determination module 520, configured to determine an active power current given value according to a control variable by using a preset internal model control;

[0135] A second determination module 530 is used to determine the modulation voltage of the machine-side converter of the wind power converter according to the given value of the active power current by using the current loop control;

[0136] A first output module 540 is used to utilize DC voltage synchronous control to output a control synchronization angle according to a control amount;

[0137] The second output module 550 is used to output a controlled output voltage according to a control amount by using a voltage-current dual-loop control;

[0138] The control module 560 is used to control the machine-side converter of the wind power converter according to the modulation voltage, and to control the grid-side converter of the wind power converter according to the control synchronization angle and the control output voltage.

[0139] Optionally, the transfer function of the internal model control in the speed loop is:

[0140]

[0141] In the formula, λ is the filtering time constant, a m ,b m ,c m is the simplified coefficient of the transfer function of the speed loop small signal model based on internal model control, K1 is the equivalent internal model controller coefficient, and s is the Laplace operator.

[0142] Optionally, the principle of DC voltage synchronous control is:

[0143]

[0144] Where, θ is the control synchronization angle; ω g is the grid angular frequency; T is the time constant of DC voltage control; J is the inertia parameter of DC voltage control; D is the damping parameter of DC voltage control; is the given value of DC voltage control; s is the Laplace operator.

[0145] Optionally, the principle of voltage and current dual-loop control is:

[0146]

[0147] Where U ref is the voltage given value, K Qp ,K Qi is the PI parameter of the reactive loop, Q ref is the given value of reactive power, Q is the actual reactive power, and s is the Laplace operator.

[0148] Optionally, the control module 560 implements grid-side converter control of the wind power converter according to controlling the synchronization angle and controlling the output voltage, including:

[0149] The conversion submodule is used to control the synchronization angle θ as the abc voltage u abc and abc current i abc The coordinate transformation angle is from the abc coordinate system to the dq coordinate system;

[0150] The tracking submodule is used to control the output voltage U as the d-axis given signal of the AC voltage loop in the dq coordinate system, adopt the d-axis orientation of the grid voltage, and realize the tracking of the external loop instruction by the grid connection point voltage.

[0151] Exemplary Electronic Devices

[0152] Figure 6 This is a structure of an electronic device provided by an exemplary embodiment of the present invention. Figure 6 As shown, the electronic device 60 includes one or more processors 61 and a memory 62 .

[0153] The processor 61 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions.

[0154] The memory 62 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 61 may run the program instructions to implement the methods of the software programs of the various embodiments of the present invention described above and / or other desired functions. In one example, the electronic device may also include: an input device 63 and an output device 64, which are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0155] In addition, the input device 63 may also include, for example, a keyboard, a mouse, etc.

[0156] The output device 64 can output various information to the outside, and can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto.

[0157] Of course, to simplify, Figure 6 Only some of the components related to the present invention in the electronic device are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, the electronic device may further include any other appropriate components according to specific application conditions.

[0158] Exemplary computer program products and computer-readable storage media

[0159] In addition to the above-mentioned methods and devices, an embodiment of the present invention may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the method according to various embodiments of the present invention described in the above-mentioned "Exemplary Method" section of this specification.

[0160] The computer program product may be written in any combination of one or more programming languages ​​to write program code for performing the operations of the embodiments of the present invention, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0161] In addition, an embodiment of the present invention may also be a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, enable the processor to execute the steps of the method according to various embodiments of the present invention described in the above “Exemplary Method” section of this specification.

[0162] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, system or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0163] The basic principle of the present invention is described above in conjunction with specific embodiments. However, it should be pointed out that the advantages, strengths, effects, etc. mentioned in the present invention are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. must be possessed by each embodiment of the present invention. In addition, the specific details disclosed above are only for the purpose of illustration and facilitation of understanding, rather than limitation, and the above details do not limit the present invention to being implemented by adopting the above specific details.

[0164] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0165] The block diagrams of the devices, systems, equipment, and systems involved in the present invention are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, systems, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The word "such as" used here refers to the phrase "such as but not limited to", and can be used interchangeably with it.

[0166] The method and system of the present invention may be implemented in many ways. For example, the method and system of the present invention may be implemented by software, hardware, firmware or any combination of software, hardware, firmware. The above order of steps for the method is only for illustration, and the steps of the method of the present invention are not limited to the order specifically described above, unless otherwise specifically stated. In addition, in some embodiments, the present invention may also be implemented as a program recorded in a recording medium, which includes machine-readable instructions for implementing the method according to the present invention. Thus, the present invention also covers a recording medium storing a program for executing the method according to the present invention.

[0167] It should also be noted that in the system, device and method of the present invention, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. The above description of the disclosed aspects is provided to enable any technician in the field to make or use the present invention. Various modifications to these aspects are very obvious to those skilled in the art, and the general principles defined here can be applied to other aspects without departing from the scope of the present invention. Therefore, the present invention is not intended to be limited to the aspects shown here, but in accordance with the widest range consistent with the principles and novel features disclosed here.

[0168] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present invention to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A grid-type full-power wind power converter control method based on internal model control, characterized in that: include: Collect the control quantity of the full-power wind power converter of the grid-forming type; Determining the active power current given value according to the control quantity by using a preset internal model control; Determining the modulation voltage of the machine-side converter of the wind power converter according to the given value of the active power current by using the current loop control; Using direct current voltage synchronous control, outputting a control synchronous angle according to the control amount; Using voltage and current dual-loop control, outputting a controlled output voltage according to the control quantity; The machine-side converter control of the wind power converter is implemented according to the modulation voltage, and the grid-side converter control of the wind power converter is implemented according to the control synchronization angle and the control output voltage.

2. The method according to claim 1, characterized in that The transfer function of the internal model control in the speed loop is: In the formula, λ is the filtering time constant, a m ,b m ,c m is the simplified coefficient of the transfer function of the speed loop small signal model based on internal model control, K1 is the equivalent internal model controller coefficient, and s is the Laplace operator.

3. The method according to claim 1, characterized in that The principle of the DC voltage synchronous control is: Where, θ is the control synchronization angle; ω g is the grid angular frequency; T is the time constant of DC voltage control; J is the inertia parameter of DC voltage control; D is the damping parameter of DC voltage control; It is the given value of DC voltage control; s is the Laplace operator.

4. The method according to claim 1, characterized in that: The principle of the voltage and current dual-loop control is: Where U ref is the voltage given value, K Qp ,K Qi is the PI parameter of the reactive loop, Q ref is the given value of reactive power, Q is the actual reactive power, and s is the Laplace operator.

5. The method according to claim 1, characterized in that Implementing grid-side converter control of the wind power converter according to the control synchronization angle and the control output voltage includes: The control synchronization angle θ is used as the abc voltage u abc and abc current i abc The coordinate transformation angle is from the abc coordinate system to the dq coordinate system; The control output voltage U is used as the d-axis given signal of the AC voltage loop of the dq coordinate system, and the grid voltage d-axis orientation is adopted to achieve the tracking of the external loop instruction by the grid connection point voltage.

6. A grid-type full-power wind power converter control device based on internal model control, characterized in that: include: The acquisition module is used to collect the control quantity of the full-power wind power converter of the grid-forming type; A first determination module, used to determine an active power current given value according to the control amount by using a preset internal model control; A second determination module is used to determine the modulation voltage of the machine-side converter of the wind power converter according to the active power current given value by using current loop control; A first output module, used for utilizing direct current voltage synchronous control and outputting a control synchronous angle according to the control amount; A second output module is used to output a controlled output voltage according to the control amount by using voltage and current dual-loop control; A control module is used to implement the machine-side converter control of the wind power converter according to the modulation voltage, and to implement the grid-side converter control of the wind power converter according to the control synchronization angle and the control output voltage.

7. The device according to claim 6, characterized in that The control module implements the grid-side converter control of the wind power converter according to the control synchronization angle and the control output voltage, including: The conversion submodule is used to convert the control synchronization angle θ into the abc voltage u abc and abc current i abc The coordinate transformation angle is from the abc coordinate system to the dq coordinate system; The tracking submodule is used to use the control output voltage U as the AC voltage loop d-axis given signal of the dq coordinate system, adopt the grid voltage d-axis orientation, and realize the tracking of the grid point voltage to the outer loop instruction.

8. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program is used to execute the method according to any one of claims 1 to 5.

9. An electronic device, characterized in that: The electronic device comprises: processor; a memory for storing instructions executable by the processor; The processor is used to read the executable instructions from the memory and execute the instructions to implement the method described in any one of claims 1 to 5.

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