A control method for grid-connected full-power wind turbine converter based on internal model control

Abstract

The present invention discloses a control method for a grid-type full-power wind power converter based on internal model control, comprising: collecting control quantities of the grid-type full-power wind power converter; determining an active power current set value according to the control quantity by using a preset internal model control; determining a modulation voltage of a machine-side converter of the wind power converter according to the active power current set value by using current loop control; outputting a control synchronization angle according to the control quantity by using DC voltage synchronous control; outputting a control output voltage according to the control quantity by using voltage and current dual-loop control; 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 particularly to a control method for a grid-connected full-power wind power converter based on internal model control. Background Art

[0002] To address energy challenges, the use of renewable energy sources such as solar and wind power has become an important technological solution. Amidst the rapid development of new energy, my country's abundant onshore and offshore wind resources, along with their high safety and low cost, offer significant advantages for practical application. Currently, full-power wind turbines and doubly-fed wind turbines are the most common motors using variable speed constant frequency control in wind power generation systems. Full-power wind turbines are typically based on permanent magnet wind turbines, characterized by a rotor directly driven by a wind wheel and gearbox, while the stator is connected to the grid via a back-to-back converter.

[0003] The advantages of this structure lie in its simple control system and high output power per unit. With the vigorous development of renewable energy, the installed capacity of wind power generation continues to increase, but this also brings with it the impact of weak grid conditions on traditional control strategies. In such weak grid environments, the use of a grid-connected full-power wind turbine converter control structure is essential. The traditional PI-based speed loop system has poor robustness and lacks positive damping. Therefore, a better control method is needed to optimize the system's resistance to disturbances. Summary of the Invention

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

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

[0006] Collect control quantities of full-power wind power converters in grid-type configuration;

[0007] Using the preset internal model control to determine the active power and current set values according to the control quantity;

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

[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] Where λ is the filtering time constant, a m ,b m ,c m is the simplified transfer function coefficient 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 transformed from the abc coordinate system to the dq coordinate system;

[0023] The controlled output voltage U is used 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 achieve the tracking of the outer loop instruction 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 variables of the full-power wind power converter of the grid;

[0026] A first determining module is used to determine an active power current set value according to a control variable 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 DC voltage synchronous control and outputting a control synchronization angle according to a control amount;

[0029] The second output module is used to output a controlled output voltage according to the control amount by using the voltage and 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 according to 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; and the processor for reading the executable instructions from the memory and executing 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 changes in the controlled object, thereby improving the robustness and anti-interference performance of the system and 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 requires changing the control structure of the grid-side converter of the unit, with relatively small changes to the machine-side converter, making it more convenient to upgrade and transform 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 1 is a flow chart of a method for controlling a grid-type full-power wind power converter based on internal model control according to an exemplary embodiment of the present invention;

[0036] Figure 2 This is a control block diagram of a machine-side converter of a full-power wind turbine converter based on internal model control according to 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 This is a block diagram of a grid-side converter control based on DC voltage synchronous control provided by an exemplary embodiment of the present invention;

[0039] Figure 5 1 is a schematic structural 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 herein.

[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 will understand that the terms "first" and "second" in the embodiments of the present invention are only used to distinguish different steps, devices or modules, 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, “a plurality of” 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 this invention merely describes an association relationship between related objects, indicating that three possible relationships exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. Furthermore, the character " / " in this invention generally indicates that the related objects 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 with each other. 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 like 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, and servers, and can operate in conjunction with numerous other general-purpose or specialized computing system environments or configurations. Examples of well-known terminal devices, computing systems, environments, and / or configurations suitable for use with terminal devices, computer systems, servers, and other electronic devices 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, minicomputer systems, mainframe computer systems, and distributed cloud computing technology environments including any of the above.

[0053] Electronic devices such as terminal devices, computer systems, and servers can be described in the general context of computer system-executable instructions (such as program modules) executed by a computer system. 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 via 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 This 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 grid-type full-power wind power converter;

[0057] Step 102: Determine the active power current set value based on the control variable using a preset internal model control;

[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 active power current value;

[0059] Step 104: Using DC voltage synchronous control, output a control synchronization angle according to the control amount;

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

[0061] Step 106 : controlling the generator-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, to address the shortcomings of the existing technology, this invention proposes a full-power wind turbine 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 performance of the system. The specific steps are as follows:

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

[0064] Step 1: Measure the speed and capacitor voltage on the generator side;

[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 formula (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] Internal model control (IMC) is used as the speed control loop for wind turbines. By sampling the actual rotor speed and comparing it with the set rotor speed, the IMC loop calculates the set stator current. This stator current is then compared with the actual turbine current and the difference is calculated. The current inner loop then generates the converter modulation voltage, which serves as the switch control signal for the wind turbine converter, thereby controlling the wind turbine converter. Next, a small-signal model is established for the speed loop based on the IMC.

[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 based on the relationship between 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 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 achieve 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, providing voltage support through reactive power control. The reactive power control solution 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 grid point voltage to the outer loop instruction.

[0093] In one embodiment of the present invention, reference Figures 2 to 4 As shown, Figure 2 This is the control block diagram of the full-power wind turbine 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, as shown in Figure 2. Figure 4As 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. 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. Its switching signal is obtained after SVPWM modulation.

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

[0096] A grid-based internal model control method for full-power wind turbine converters is proposed. The generator-side speed loop uses internal model control to improve system robustness, and the grid-side converter uses DC voltage synchronization control to ensure stable system power transmission. The implementation steps are as follows:

[0097] Step 1: Measure the speed and capacitor voltage on the generator side;

[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 synchronization control and voltage and current dual loop for control. The speed n of the permanent magnet synchronous motor and the stator side output voltage U are sampled. 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 formula (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, 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;

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

[0102] Internal model control (IMC) is used as the speed control loop for wind turbines. A more precise control model is used to optimize the system, improving both damping and robustness. By sampling the actual rotor speed and comparing it with the set rotor speed, the IMC loop calculates the wind turbine's stator current setpoint. The difference between the set stator current and the actual wind turbine current is then calculated and applied to the current inner loop to derive the converter modulation voltage, the switch control signal for the wind turbine converter, thereby achieving control of the wind turbine converter. Next, a small-signal model is established for the speed loop based on the IMC.

[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 m (s) can be simplified as:

[0110]

[0111] 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:

[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] By performing Taylor expansion on Equation (8), it 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, 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 the 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 better system control performance, and a smaller M value indicates better system robustness, and vice versa.

[0121] Step 3: Current loop control;

[0122] The speed loop controlled by the internal model can obtain the given value of 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 achieve synchronous control of the DC voltage on the grid side. The control principle is as follows:

[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, providing voltage support through reactive power control. The reactive power control solution 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 grid point voltage to the outer loop instruction.

[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 changes in the controlled object, thereby improving the robustness and anti-interference performance of the system and 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 requires changing the control structure of the grid-side converter of the unit, with relatively small changes to the machine-side converter, making it more convenient to upgrade and transform 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 apparatus 500 includes:

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

[0134] A first determining module 520 is configured to determine an active power current set value according to a control variable using a preset internal model control;

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

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

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

[0138] The control module 560 is configured to control the generator-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] Where λ is the filtering time constant, a m ,b m ,c m is the simplified transfer function coefficient 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 controls the grid-side converter of the wind power converter according to the control synchronization angle and the control 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 abcThe coordinate transformation angle is transformed from the abc coordinate system to the dq coordinate system;

[0150] The tracking submodule is used to control the 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 outer loop instruction by the grid connection point voltage.

[0151] Exemplary electronic devices

[0152] Figure 6 This is the 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, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may, for example, include read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 61 may execute 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 further 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. The output device 64 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 perform the steps of the method according to various embodiments of the present invention described in the above "Exemplary Method" section of this specification.

[0160] The computer program product may be written in any combination of one or more programming languages to implement the operations of embodiments of the present invention, including object-oriented programming languages such as Java, C++, and conventional procedural programming languages such as C or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a stand-alone software package, partially on the user's 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, for example, include but is not limited to a system, system or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. 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 thereof.

[0163] The basic principles of the present invention have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in the present invention are merely illustrative and non-limiting, and should not be construed as necessarily possessed by each embodiment of the present invention. Furthermore, the specific details disclosed above are provided for illustrative purposes and to facilitate understanding, and are not intended to be limiting. These details do not necessarily limit the present invention to being implemented using these specific details.

[0164] Each embodiment in this specification is described in a progressive manner, with each embodiment focusing on its differences from the other embodiments. Reference can be made to the descriptions of the identical or similar parts between the various embodiments. For system embodiments, since they are essentially identical to the method embodiments, their description is relatively simple. For relevant parts, refer to the descriptions of the method embodiments.

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

[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, and firmware. The above sequence of steps for the method is for illustration only, and the steps of the method of the present invention are not limited to the sequence specifically described above, unless otherwise specified. 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 recording media that store programs 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 this field to make or use the present invention. Various modifications to these aspects will be 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 according to the widest scope consistent with the principles disclosed here and novel features.

[0168] The above description has been presented for purposes of illustration and description. Furthermore, 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, alterations, additions, and sub-combinations thereof.

Claims

1. A control method for a grid-type full-power wind power converter based on internal model control, characterized in that: include: Collect control quantities of full-power wind power converters in grid-type configuration; Determining the active power current set value according to the control variable using a preset internal model control; Determining a modulation voltage of a machine-side converter of the wind power converter according to the given active power current value by using a current loop control; Using DC voltage synchronous control, outputting a control synchronization angle according to the control quantity; Using voltage and current dual-loop control, outputting a controlled output voltage according to the control quantity; Implementing control of a machine-side converter of the wind power converter according to the modulation voltage, and implementing control of a grid-side converter of the wind power converter according to the control synchronization angle and the control output voltage; The transfer function of the internal model control in the speed loop is: Where λ is the filtering time constant, a m ,b m ,c m is the simplified transfer function coefficient 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.

2. 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.

3. 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.

4. The method according to claim 1, wherein 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 transformed 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 in the dq coordinate system, and the grid voltage d-axis orientation is adopted to achieve the tracking of the outer loop instruction by the grid connection point voltage.

5. 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 variables of the full-power wind power converter of the grid; A first determining module, configured to determine an active power current set value according to the control variable by utilizing a preset internal model control; a second determining module, configured to determine a modulation voltage of a machine-side converter of the wind power converter according to the given active power current value by using current loop control; A first output module is used for utilizing DC voltage synchronous control to output a control synchronization angle according to the control amount; A second output module is used to output a controlled output voltage according to the control variable by using a voltage-current dual-loop control; a control module, configured to control a generator-side converter of the wind power converter according to the modulation voltage, and control a grid-side converter of the wind power converter according to the control synchronization angle and the control output voltage; The transfer function of the internal model control in the speed loop is: Where λ is the filtering time constant, a m ,b m ,c m is the simplified transfer function coefficient 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.

6. The device according to claim 5, characterized in that The control module implements 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 transformed 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 outer loop instruction by the grid point voltage.

7. 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 4.

8. An electronic device, characterized in that: The electronic device comprises: 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 according to any one of claims 1 to 4.

Images