Doubly-fed motor control method and device based on residue method

Abstract

The invention provides a doubly-fed motor control method and device based on a residue method, and relates to the field of power system maintenance, and the method comprises the steps: carrying out the blocking processing of a predetermined actual value of the AC / DC current of a doubly-fed motor rotor, and obtaining a blocking current; performing phase compensation on the blocking current by using a pre-constructed residue damping controller to obtain a phase compensation current; wherein the residue damping controller is constructed according to residues in a system transfer function; performing gain amplitude limiting processing on the phase compensation current to obtain a compensation value of alternating current and direct current of the doubly-fed motor rotor; and controlling the doubly-fed motor according to the target value of the AC / DC current of the doubly-fed motor rotor and the compensation value of the AC / DC current of the doubly-fed motor rotor. According to the method, the parameters of the damping controller can be optimized according to the residue information of the system state equation so as to suppress the subsynchronous oscillation phenomenon of the system.

Description

Technical Field

[0001] This application relates to the field of power system maintenance, specifically a doubly-fed induction generator control method and device based on the residue method. Background Technology

[0002] In recent years, with the application of wind power generation technology, the construction of wind farms has gradually developed towards large-scale and long-distance development. The impact of high-penetration wind power access on grid stability has reached a level that cannot be ignored. Subsynchronous oscillation has become a typical power system instability accident in wind power systems.

[0003] The large-scale grid connection of new energy sources has significantly reduced system inertia and damping. The lack of system damping or the presence of negative damping is a major factor leading to instability. Additional damping controllers are simple in structure and easy to implement. By improving the unit's control strategy, they can enhance the damping of its oscillation modes, effectively reducing oscillation risks, and have been widely used in practical engineering.

[0004] The active disturbance rejection (ADDR) additional damping control strategy obtains a compensation amount after the feedback signal passes through the damping element and ADDR control, and this compensation is superimposed on the active or reactive power command value of the control loop to improve damping capability. The residue reflects the degree of influence of the controller on the modes. Based on the system transfer function, information such as the dominant oscillation mode and residue can be obtained, serving as the basis for selecting the parameters of the additional damping controller. The basic idea of ​​the residue method is to use the relationship between the residue, the change in system eigenvalues, and the transfer function of the additional damping controller to obtain the transfer function and internal parameters of the additional damping control device. However, current systems using the residue method rely heavily on algorithmic identification of the system transfer function, which lacks accuracy and results in inaccurate modeling.

[0005] This section is intended to provide background or context for the embodiments of the invention set forth in the claims. The description herein is not an admission that it is prior art simply because it is included in this section. Summary of the Invention

[0006] To address the problems in the prior art, this application provides a doubly fed motor control method and device based on the residue method, which can optimize the damping controller parameters according to the residue information of the system state equation to suppress the subsynchronous oscillation phenomenon of the system.

[0007] To solve the above-mentioned technical problems, this application provides the following technical solution:

[0008] In a first aspect, this application provides a doubly-fed induction generator (DFIG) control method based on the residue method, including:

[0009] The actual value of the predetermined AC / DC current of the doubly-fed motor rotor is subjected to DC blocking treatment to obtain the DC blocking current;

[0010] The phase compensation current is obtained by using a pre-constructed residue damping controller to perform phase compensation on the DC blocking current; wherein, the residue damping controller is constructed based on the residue in the system transfer function;

[0011] The phase compensation current is subjected to gain limiting processing to obtain the compensation value of the AC / DC current of the doubly fed motor rotor;

[0012] The doubly fed motor is controlled based on the target value of the rotor AC / DC current and the compensation value of the rotor AC / DC current.

[0013] Further, the step of performing DC blocking processing on the predetermined actual value of the doubly-fed motor rotor AC / DC current to obtain the DC blocking current includes:

[0014] A high-pass filter is constructed based on a preset first time constant;

[0015] The actual value of the AC / DC current of the doubly fed motor rotor is input into the high-pass filter to obtain the DC blocking current.

[0016] Further, the step of constructing the residue damping controller based on the residues in the system transfer function includes:

[0017] The phase compensation angle of the residue damping controller is determined based on the argument of the residue.

[0018] The number of lead and lag elements in the residue damping controller is determined based on the phase compensation angle.

[0019] The second time constant of the residue damping controller is determined based on the phase compensation angle and the number of lead-lag elements;

[0020] The third and fourth time constants of the residue damping controller are determined based on the second time constant.

[0021] Further, the gain limiting processing of the phase compensation current to obtain the compensation value of the doubly-fed motor rotor AC / DC current includes:

[0022] The gain coefficient is determined based on the damping angle of the residue damping controller and the residue.

[0023] The phase compensation current is processed using the gain coefficient to obtain the gain current;

[0024] The gain current is limited according to the preset maximum current value to obtain the compensation value of the AC / DC current of the doubly fed motor rotor.

[0025] Furthermore, the step of pre-determining the actual values ​​of the AC and DC currents of the doubly-fed motor rotor includes:

[0026] The actual values ​​of the three-phase rotor current of the doubly fed motor are converted into αβ current in a two-phase stationary coordinate system.

[0027] The αβ current is mapped to the dq coordinate system, which rotates synchronously with the rotor magnetic field, through the Park transformation to obtain the actual value of the AC / DC current of the doubly fed motor rotor.

[0028] Furthermore, controlling the doubly-fed motor based on the target value of the rotor AC / DC current and the compensation value of the rotor AC / DC current includes:

[0029] The target value of the AC / DC current of the doubly fed motor rotor is superimposed with the compensation value of the AC / DC current of the doubly fed motor rotor to obtain the superimposed current;

[0030] The doubly fed motor control command is generated based on the superimposed current.

[0031] The doubly fed motor is controlled using the doubly fed motor control commands.

[0032] Secondly, this application provides a doubly-fed motor control device based on the residue method, comprising:

[0033] The DC blocking processing unit is used to block the DC current of the rotor of the doubly fed motor from a predetermined value to obtain the DC blocking current.

[0034] A phase compensation unit is used to perform phase compensation on the DC blocking current using a pre-built residue damping controller to obtain a phase compensation current; wherein, the residue damping controller is constructed based on the residue in the system transfer function;

[0035] A gain limiting unit is used to perform gain limiting processing on the phase compensation current to obtain the compensation value of the AC / DC current of the doubly fed motor rotor.

[0036] The motor control unit is used to control the doubly fed motor according to the target value of the rotor AC / DC current and the compensation value of the rotor AC / DC current.

[0037] Further, the DC blocking processing unit includes:

[0038] A high-pass filter construction module is used to construct a high-pass filter based on a preset first time constant.

[0039] The DC blocking current generation module is used to input the actual value of the AC / DC current of the doubly fed motor rotor into the high-pass filter to obtain the DC blocking current.

[0040] Furthermore, the phase compensation unit includes:

[0041] The compensation angle determination module is used to determine the phase compensation angle of the residue damping controller based on the argument of the residue;

[0042] The module for determining the number of elements is used to determine the number of lead and lag elements of the residue damping controller based on the phase compensation angle.

[0043] The second constant determination module is used to determine the second time constant of the residue damping controller based on the phase compensation angle and the number of lead-lag elements;

[0044] The third and fourth constant determination module is used to determine the third and fourth time constants of the residue damping controller based on the second time constant.

[0045] Furthermore, the gain limiting unit includes:

[0046] The gain coefficient determination module is used to determine the gain coefficient based on the damping angle of the residue damping controller and the residue.

[0047] A gain current determination module is used to perform gain processing on the phase compensation current using the gain coefficient to obtain the gain current;

[0048] The current compensation determination module is used to limit the gain current according to the preset maximum current value to obtain the compensation value of the AC / DC current of the doubly fed motor rotor.

[0049] Further, the DC blocking processing unit includes:

[0050] The αβ current determination module is used to convert the actual values ​​of the acquired three-phase rotor current of the doubly fed motor into αβ current in a two-phase stationary coordinate system.

[0051] The DC blocking module is used to map the αβ current to the dq coordinate system that rotates synchronously with the rotor magnetic field through Park transformation, so as to obtain the actual value of the AC and DC current of the doubly fed motor rotor.

[0052] Furthermore, the motor control unit includes:

[0053] The superimposed current determination module is used to superimpose the target value of the AC / DC current of the doubly fed motor rotor with the compensation value of the AC / DC current of the doubly fed motor rotor to obtain the superimposed current.

[0054] A control command generation module is used to generate control commands for the doubly fed motor based on the superimposed current.

[0055] The motor control module is used to control the doubly fed motor using the doubly fed motor control commands.

[0056] Thirdly, this application provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the doubly fed motor control method based on the residue method.

[0057] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the doubly fed motor control method based on the residue method.

[0058] Fifthly, this application provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the steps of the doubly fed motor control method based on the residue method.

[0059] To address the problems in the prior art, this application provides a doubly-fed induction generator (DFIG) control method and apparatus based on the residue method, which can analyze and improve the control strategy of DFIG wind turbines. It replaces the rotor current PI loop with a linear active disturbance rejection controller, providing support for an accurate control model. It derives the state equation of the rotor current loop under linear active disturbance rejection control, designs damping controller parameters based on the residue information of the state equation and the residue method, and optimizes the parameters to suppress the occurrence of subsynchronous oscillation. Attached Figure Description

[0060] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0061] Figure 1 This is a flowchart of the doubly fed motor control method based on the residue method in the embodiments of this application;

[0062] Figure 2 This is a flowchart illustrating the process of obtaining the DC blocking current in the embodiments of this application;

[0063] Figure 3 This is a flowchart illustrating the construction of the residue damping controller in the embodiments of this application;

[0064] Figure 4 This is a flowchart illustrating the process of obtaining the compensation values ​​for the AC / DC current of the doubly-fed motor rotor in this embodiment of the application.

[0065] Figure 5 This is a flowchart illustrating the determination of the actual values ​​of the AC / DC current of the doubly-fed motor rotor in this embodiment of the application.

[0066] Figure 6This is a flowchart illustrating the control of the doubly-fed motor in an embodiment of this application;

[0067] Figure 7 This is a structural diagram of the doubly fed motor control device based on the residue method in the embodiments of this application;

[0068] Figure 8 This is one of the structural diagrams of the DC blocking processing unit in the embodiments of this application;

[0069] Figure 9 This is a structural diagram of the phase compensation unit in an embodiment of this application;

[0070] Figure 10 This is a structural diagram of the gain limiting unit in the embodiments of this application;

[0071] Figure 11 This is the second structural diagram of the DC blocking processing unit in the embodiments of this application;

[0072] Figure 12 This is a structural diagram of the motor control unit in an embodiment of this application;

[0073] Figure 13 This is the closed-loop system structure in the embodiments of this application;

[0074] Figure 14 This is a diagram of the RSC control structure in the embodiments of this application;

[0075] Figure 15 This is a schematic diagram of the 35kV bus voltage variation in an embodiment of this application;

[0076] Figure 16 This is a schematic diagram of the change in active power of G2 in an embodiment of this application;

[0077] Figure 17 This is a schematic diagram illustrating the change in reactive power compensation of unit G2 in the embodiments of this application;

[0078] Figure 18 This is a schematic diagram of the DC bus voltage variation of the doubly fed wind turbine in an embodiment of this application;

[0079] Figure 19 This is a schematic diagram of the structure of the electronic device in the embodiments of this application. Detailed Implementation

[0080] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0081] The information collected in the technical solution of this application is information and data authorized by the user or fully authorized by all parties. The collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data all comply with the relevant laws, regulations and standards of the relevant countries and regions, necessary confidentiality measures have been taken, and they do not violate public order and good morals. Corresponding operation portals are provided for users to choose to authorize or refuse.

[0082] Provide users with corresponding operation entry points, allowing them to choose to agree to or reject the automated decision results; if the user chooses to reject, the process will proceed to the expert decision-making process.

[0083] In one embodiment, see Figure 1 In order to optimize the damping controller parameters based on the residue information of the system state equation and suppress the subsynchronous oscillation phenomenon of the system, this application provides a doubly-fed induction generator control method based on the residue method, including:

[0084] S101: The actual value of the predetermined AC / DC current of the doubly-fed motor rotor is subjected to DC blocking processing to obtain the DC blocking current;

[0085] S102: The phase compensation current is obtained by using a pre-constructed residue damping controller to perform phase compensation on the DC blocking current; wherein, the residue damping controller is constructed based on the residue in the system transfer function;

[0086] S103: Perform gain limiting processing on the phase compensation current to obtain the compensation value of the AC / DC current of the doubly fed motor rotor;

[0087] S104: Control the doubly fed motor according to the target value of the rotor AC / DC current and the compensation value of the rotor AC / DC current.

[0088] Understandably, see Figure 13 This application relates to an additional damping control method based on the residue method under Linear Active Disturbance Rejection Control (LADRC).

[0089] The method provided in this application offers a more reasonable feedback-type additional damping controller, while adding a phase compensation stage. The rotor current feedback value is superimposed on the active power command value through the damping stage, optimizing the control loop's setpoint and improving the system's damping capability. Furthermore, linear active disturbance rejection control replaces the original PI stage in the rotor-side and grid-side converter current loops, optimizing the disturbance rejection capability of the current loop control circuit and improving system stability.

[0090] Additional damping control based on the residue method under LADRC is based on the following theory:

[0091] The state equation of the d-axis current loop of the doubly-fed wind turbine rotor under linear active disturbance rejection control can be expressed as:

[0092]

[0093] To ensure the rotor-side converter operates at a unity power factor, i.e. rq =0, simplifying the rotor d-axis current control formula to:

[0094]

[0095] In the formula, u rd This is the system input quantity u.

[0096] Combining equation (2), equation (1) can be transformed into:

[0097]

[0098]

[0099] Known For ease of analysis, equation (3) can be written as:

[0100]

[0101] In the formula, L r The value is 3, σ is = 0.24, and R is... r It is 0.01.

[0102] For the form shown in equation (5) The system can be written as:

[0103]

[0104] Where A, B, and C are preset matrix coefficients.

[0105] The system transfer function can be expressed as:

[0106]

[0107] In the formula, n is the order of the system transfer function; R ijk λ is the residue associated with the i-th pattern, the j-th output, and the k-th input; i Let σ be the eigenvalue of pattern i, and let its real part and imaginary part be denoted as σ. i and ω i .

[0108] Therefore, the dominant eigenvalue of the rotor current loop system under linear active disturbance rejection control represented by equation (5) is -5.4716 + j8.2970, and the corresponding residue is 12.70∠32.40°. This dominant eigenvalue is shifted to the left plane of the s-plane using the residue-based pole placement method, providing positive damping to the system. For the design of the feedback control, see [reference needed]. Figure 13 , Figure 14 As shown, the damping capability of the system is improved, where the steady-state gain of H(s) is 1.

[0109] Figure 13 The characteristic root of the closed-loop system with added damping element shown is 1 + KH(s)G jk Find the solution for (s) = 0, i.e., solve for:

[0110]

[0111] Let λ be a certain eigenvalue of the original system at this time. i Transform into λ i2 Then the change in the characteristic roots of the wind power system is:

[0112]

[0113] When K,R mjk ,Δλ i When it was very small, with λ i Replace λ i2 Then we have:

[0114] Δλ i =KH(λ) i )R ijk (10)

[0115] Analysis of equation (10) shows that Δλ i The angle is the controller angle and the residue R. ijk The sum of the angles is generally taken as a negative real number, which shifts the characteristic roots to the left, thereby increasing the damping while keeping the oscillation frequency basically unchanged.

[0116] The symbols in the above formulas are explained as follows:

[0117] b0 is an estimate of b, where b is a non-zero constant;

[0118] β1,β2,......,β n+1 Z is a linear parameter; Z (including Z1 and Z2) is an estimate of X; X is a state-space variable;

[0119] The linear state error feedback law combines the given input signal v1 and the LESO output signal to output a control quantity u0, which is then used to compensate for the estimated total system disturbance z. n+1 The control signal u is then obtained. As shown in equation (4), e1,…,en Let k be the error and its derivatives. p ,k d1 ,……,k dn-1 is the proportionality derivative coefficient. rd i rq u rd u rq These are the d-axis and q-axis components of the rotor current and voltage, respectively; ω slip It is the slip angular velocity; u rd / σL r u rq / σL r To control the input quantity; R r i rd / σL r R r i rq / σL r For the rotor resistance voltage drop, ω slip ψ rd / σL r ω slip ψ rq / σL r L represents the cross-coupling amount between the d and q axes. m dψ sd / σL r L s dt、L m dψ sq / σL r L s dt represents the transient stator flux caused by the fault. z1 represents the output quantity i. rd The estimated value is z1, and z2 is the estimated value of the total system disturbance.

[0120] As can be seen from the above description, the doubly-fed induction generator control method based on the residue method provided in this application can analyze and improve the control strategy of doubly-fed wind turbine generators; it replaces the rotor current PI link with a linear active disturbance rejection controller, providing support for providing an accurate control model; it derives the state equation of the rotor current loop under linear active disturbance rejection control, designs the damping controller parameters based on the residue information of the state equation and the residue method, and optimizes the parameters, thereby suppressing the occurrence of subsynchronous oscillation.

[0121] In one embodiment, see Figure 2 The step of performing DC blocking processing on the predetermined actual value of the AC / DC current of the doubly-fed motor rotor to obtain the DC blocking current includes:

[0122] S201: Construct a high-pass filter based on a preset first time constant;

[0123] S202: Input the actual value of the AC / DC current of the doubly fed motor rotor into the high-pass filter to obtain the DC blocking current.

[0124] Understandably, based on the above theoretical research, an additional damping controller (also known as a residue damping controller) is constructed, such as... Figure 14 As shown in the figure. I rabc This represents the three-phase rotor current.

[0125] The DC blocking stage uses a high-pass filter to filter out the DC component in the feedback signal, as shown in equation (11):

[0126]

[0127] In the formula, W(s) is the high-pass filter transfer function, and the time constant T is... w Generally, 5 to 10 seconds is used, but 10 seconds is used in the embodiments of this application.

[0128] As can be seen from the above description, the doubly fed motor control method based on the residue method provided in this application can perform DC blocking processing on the actual value of the predetermined AC / DC current of the doubly fed motor rotor to obtain the DC blocking current.

[0129] In one embodiment, see Figure 3 The step of constructing the residue damping controller based on the residues in the system transfer function includes:

[0130] S301: Determine the phase compensation angle of the residue damping controller based on the argument of the residue;

[0131] S302: Determine the number of lead and lag elements of the residue damping controller based on the phase compensation angle;

[0132] S303: Determine the second time constant of the residue damping controller based on the phase compensation angle and the number of lead-lag elements;

[0133] S304: Determine the third and fourth time constants of the residue damping controller based on the second time constant.

[0134] It is understandable that the phase compensation stage uses a lead-lag correction network, as shown in equation (12):

[0135]

[0136] In the formula, A(s) is the phase compensation transfer function, T1 and T2 are time constants, and N is the number of lead-lag elements.

[0137] The controller parameters are set according to the residue method, as shown in equation (22):

[0138]

[0139] In the formula, φ is the phase compensation angle, α is the time constant, K is the gain coefficient, and H(λ) is the gain coefficient. i ) is the system transfer function.

[0140] As can be seen from the above description, the doubly fed motor control method based on the residue method provided in this application can construct the residue damping controller according to the residue in the system transfer function.

[0141] In one embodiment, see Figure 4 The step of performing gain limiting processing on the phase compensation current to obtain the compensation value of the doubly-fed motor rotor AC / DC current includes:

[0142] S401: Determine the gain coefficient (K) based on the damping angle of the residue damping controller and the residue;

[0143] S402: The phase compensation current is processed using the gain coefficient to obtain the gain current;

[0144] S403: The gain current is limited according to the preset maximum current value to obtain the compensation value of the AC / DC current of the doubly fed motor rotor.

[0145] Understandably, the limit setting is generally ±0.05 to 0.1 pu, depending on the specific stabilization control device.

[0146] In this embodiment of the application, T is taken. ω The time interval is 10s, N is 3, T1 is 0.326, T2 is 0.044, and K is -0.0104.

[0147] Building a 1.2GW wind power grid-connected system, such as Figure 14 As shown in Table 1, the main control parameters are as follows.

[0148] Table 1 Main parameters of the simulation model

[0149]

[0150] The wind turbine was set to operate at unity power factor. At 1.2 seconds into the simulation, a single-phase ground fault was applied to the 400kV bus, triggering a subsynchronous oscillation in the system. Linear active disturbance rejection control (ADC) was used to replace the PI loop in the rotor-side current loop. The control group directly used additional damping control, while the experimental group adopted the linear ADC with additional damping based on the residue method proposed in this application.

[0151] 1) 35kV bus voltage as Figure 15 As shown.

[0152] In the control group, the system stabilized essentially within 1.6 seconds, or 0.4 seconds after the fault. LADRC and additional damping control provided some disturbance rejection and damping capabilities, but the control effect was still unsatisfactory. In the experimental group, the 35kV bus voltage oscillation amplitude decreased, the number of oscillations significantly decreased, and the convergence speed accelerated, reaching a stable state within 1.4 seconds. Compared to using LADRC alone, the convergence time was shortened by 66.7%, and the oscillation amplitude was reduced by 61.1%.

[0153] 2) Active power output of G2 unit as follows Figure 16 As shown.

[0154] from Figure 4 As can be seen from the data, due to the lack of improvement in the rotor control loop, the rotor loop's tracking of the given value is poor and the active power output oscillation amplitude is still obvious. However, the addition of the additional damping element improves the convergence speed of the system and the system enters a stable state more quickly.

[0155] The experimental group was able to quickly and effectively smooth the active power curve of the wind turbine, significantly reduce the number of oscillations, and demonstrate a clear damping effect.

[0156] 3) Reactive power compensation of G2 unit as follows Figure 17 As shown.

[0157] observe Figure 5 It can be seen that the reactive power output curve of the experimental group still has large fluctuations, while after using the control strategy proposed in the embodiment of this application, the oscillation amplitude of the reactive power response curve of the unit is significantly reduced and the oscillation time is significantly shortened.

[0158] 4) DC bus voltage of the doubly fed fan: Figure 18 As shown

[0159] observe Figure 18 As can be seen, after using the strategy proposed in the embodiments of this application, the stability of the DC bus voltage of the wind turbine is significantly improved, and the convergence speed is accelerated, and the stability of the DC bus voltage is not negatively affected.

[0160] In summary, the effectiveness of linear active disturbance rejection and damping control based on the residue method in suppressing synchronous oscillations of the subsystem has been demonstrated.

[0161] As can be seen from the above description, the doubly fed motor control method based on the residue method provided in this application can perform gain limiting processing on the phase compensation current to obtain the compensation value of the rotor AC / DC current of the doubly fed motor.

[0162] In one embodiment, see Figure 5 The steps for pre-determining the actual values ​​of the AC and DC currents of the doubly-fed motor rotor include:

[0163] S501: Convert the actual values ​​of the three-phase rotor current of the doubly fed motor into αβ current in a two-phase stationary coordinate system;

[0164] S502: Map the αβ current to the dq coordinate system that rotates synchronously with the rotor magnetic field through the Park transformation to obtain the actual value of the AC / DC current of the doubly fed motor rotor.

[0165] Understandably, in doubly-fed induction generator (DFIG) control, the rotor's three-phase current is first converted into αβ current in a two-phase stationary coordinate system using the Clarke transformation. This transformation simplifies the control algorithm based on the principles of magnetomotive force equivalence and power conservation. Subsequently, the αβ current is mapped to a dq coordinate system that rotates synchronously with the rotor's magnetic field using the Park transformation, yielding AC and DC currents. Here, the d-axis is aligned with the rotor's magnetic field, and the q-axis is orthogonal to the d-axis, achieving current decoupling and field-oriented control. This process, through the dynamic transformation of the synchronously rotating coordinate system, converts AC quantities into DC quantities, facilitating subsequent independent adjustment of torque and flux linkage.

[0166] As can be seen from the above description, the doubly fed motor control method based on the residue method provided in this application can determine the actual value of the rotor AC and DC current of the doubly fed motor in advance.

[0167] In one embodiment, see Figure 6 Controlling the doubly-fed motor based on the target value of the rotor AC / DC current and the compensation value of the rotor AC / DC current includes:

[0168] S601: The target value of the AC / DC current of the doubly fed motor rotor is superimposed with the compensation value of the AC / DC current of the doubly fed motor rotor to obtain the superimposed current;

[0169] S602: Generate doubly fed motor control commands based on the superimposed current;

[0170] S603: Control the doubly fed motor using the doubly fed motor control command.

[0171] Understandably, in a doubly-fed induction generator (DFIG) control system, the target value and the compensation value of the rotor AC / DC current are first superimposed to form a superimposed current, which eliminates steady-state errors and improves dynamic response performance. Subsequently, a DFIG control command is generated based on the superimposed current. This command, after inverse coordinate transformation (Park inverse transformation) and SVPWM modulation, drives the converter to output the required rotor voltage, achieving precise control of the DFIG torque and flux linkage. Finally, the control command is applied to the rotor side of the motor, and closed-loop regulation ensures that the actual current quickly tracks the target value, completing the optimization of power decoupling and bidirectional energy flow.

[0172] As can be seen from the above description, the doubly fed motor control method based on the residue method provided in this application can control the doubly fed motor according to the target value of the rotor AC / DC current of the doubly fed motor and the compensation value of the rotor AC / DC current of the doubly fed motor.

[0173] Based on the same inventive concept, this application also provides a doubly-fed motor control device based on the residue method, which can be used to implement the method described in the above embodiments, as described in the following embodiments. Since the principle of the doubly-fed motor control device based on the residue method is similar to that of the doubly-fed motor control method based on the residue method, the implementation of the doubly-fed motor control device based on the residue method can refer to the implementation of the software performance benchmark determination method, and will not be repeated. As used below, the terms "unit" or "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the system described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0174] In one embodiment, see Figure 7 In order to optimize the damping controller parameters based on the residue information of the system state equation to suppress the subsynchronous oscillation phenomenon of the system, this application provides a doubly fed motor control device based on the residue method, including: DC blocking processing unit 701, phase compensation unit 702, gain limiting unit 703 and motor control unit 704.

[0175] DC blocking processing unit 701 is used to perform DC blocking processing on the actual value of the predetermined AC / DC current of the doubly fed motor rotor to obtain the DC blocking current;

[0176] Phase compensation unit 702 is used to perform phase compensation on the DC blocking current using a pre-built residue damping controller to obtain a phase compensation current; wherein, the residue damping controller is constructed based on the residue in the system transfer function;

[0177] The gain limiting unit 703 is used to perform gain limiting processing on the phase compensation current to obtain the compensation value of the AC / DC current of the doubly fed motor rotor.

[0178] The motor control unit 704 is used to control the doubly fed motor according to the target value of the rotor AC / DC current and the compensation value of the rotor AC / DC current.

[0179] In one embodiment, see Figure 8 The DC blocking processing unit 701 includes a high-pass filter construction module 801 and a DC blocking current generation module 802.

[0180] The high-pass filter construction module 801 is used to construct a high-pass filter based on a preset first time constant.

[0181] The DC blocking current generation module 802 is used to input the actual value of the AC / DC current of the doubly fed motor rotor into the high-pass filter to obtain the DC blocking current.

[0182] In one embodiment, see Figure 9 The phase compensation unit 702 includes: a compensation angle determination module 901, a number of links determination module 902, a second constant determination module 903, and a third and fourth constant determination module 904.

[0183] The compensation angle determination module 901 is used to determine the phase compensation angle of the residue damping controller based on the argument of the residue;

[0184] The module 902 for determining the number of elements is used to determine the number of lead and lag elements of the residue damping controller based on the phase compensation angle.

[0185] The second constant determination module 903 is used to determine the second time constant of the residue damping controller based on the phase compensation angle and the number of lead-lag elements.

[0186] The third and fourth constant determination module 904 is used to determine the third and fourth time constants of the residue damping controller based on the second time constant.

[0187] In one embodiment, see Figure 10 The gain limiting unit 703 includes: a gain coefficient determination module 1001, a gain current determination module 1002, and a current compensation determination module 1003.

[0188] The gain coefficient determination module 1001 is used to determine the gain coefficient based on the damping angle of the residue damping controller and the residue.

[0189] The gain current determination module 1002 is used to perform gain processing on the phase compensation current using the gain coefficient to obtain the gain current;

[0190] The current compensation determination module 1003 is used to limit the gain current according to the preset maximum current value to obtain the compensation value of the AC / DC current of the doubly fed motor rotor.

[0191] In one embodiment, see Figure 11 The DC blocking processing unit 701 includes: an αβ current determination module 1101 and a DC blocking processing module 1102.

[0192] The αβ current determination module 1101 is used to convert the actual values ​​of the acquired three-phase rotor current of the doubly fed motor into αβ current in a two-phase stationary coordinate system.

[0193] The DC blocking processing module 1102 is used to map the αβ current to the dq coordinate system that rotates synchronously with the rotor magnetic field through Park transformation, so as to obtain the actual value of the AC and DC current of the doubly fed motor rotor.

[0194] In one embodiment, see Figure 12 The motor control unit 704 includes: a superimposed current determination module 1201, a control command generation module 1202, and a motor control module 1203.

[0195] The superimposed current determination module 1201 is used to superimpose the target value of the AC / DC current of the doubly fed motor rotor with the compensation value of the AC / DC current of the doubly fed motor rotor to obtain the superimposed current.

[0196] Control command generation module 1202 is used to generate doubly fed motor control commands based on the superimposed current;

[0197] The motor control module 1203 is used to control the doubly fed motor using the doubly fed motor control commands.

[0198] From a hardware perspective, in order to optimize the damping controller parameters based on the residue information of the system state equation to suppress the subsynchronous oscillation phenomenon of the system, this application provides an embodiment of an electronic device for implementing all or part of the doubly fed motor control method based on the residue method. The electronic device specifically includes the following:

[0199] The system comprises a processor, a memory, a communications interface, and a bus; wherein the processor, memory, and communications interface communicate with each other via the bus; the communications interface is used to realize information transmission between the doubly-fed motor control device based on the residue method and core business systems, user terminals, and related databases and other related devices; the logic controller can be a desktop computer, tablet computer, or mobile terminal, etc., and this embodiment is not limited to these. In this embodiment, the logic controller can be implemented with reference to the embodiments of the doubly-fed motor control method based on the residue method and the embodiments of the doubly-fed motor control device based on the residue method in the embodiments, the contents of which are incorporated herein, and repeated parts will not be described again.

[0200] It is understood that the user terminal may include smartphones, tablet computers, network set-top boxes, portable computers, desktop computers, personal digital assistants (PDAs), in-vehicle devices, smart wearable devices, etc. Among these, the smart wearable devices may include smart glasses, smartwatches, smart bracelets, etc.

[0201] In practical applications, the doubly-fed motor control method based on the residue method can be partially executed on the electronic device side as described above, or all operations can be completed in the client device. The choice can be made based on the processing power of the client device and the limitations of the user's usage scenario. This application does not impose any limitations on this. If all operations are completed in the client device, the client device may further include a processor.

[0202] The aforementioned client device may have a communication module (i.e., a communication unit) that can communicate with a remote server to achieve data transmission. The server may include a server on the task scheduling center side; in other implementation scenarios, it may also include a server on an intermediate platform, such as a server on a third-party server platform that has a communication link with the task scheduling center server. The server may include a single computer device, a server cluster consisting of multiple servers, or a distributed server structure.

[0203] Figure 19 This is a schematic block diagram illustrating the system configuration of the electronic device 9600 according to an embodiment of this application. Figure 19 As shown, the electronic device 9600 may include a central processing unit 9100 and a memory 9140; the memory 9140 is coupled to the central processing unit 9100. It is worth noting that... Figure 19 This is an example; other types of structures can also be used to supplement or replace this structure to achieve telecommunications functions or other functions.

[0204] In one embodiment, the doubly-fed motor control method based on residue method can be integrated into the central processing unit 9100. The central processing unit 9100 can be configured to perform the following control:

[0205] S101: The actual value of the predetermined AC / DC current of the doubly-fed motor rotor is subjected to DC blocking processing to obtain the DC blocking current;

[0206] S102: The phase compensation current is obtained by using a pre-constructed residue damping controller to perform phase compensation on the DC blocking current; wherein, the residue damping controller is constructed based on the residue in the system transfer function;

[0207] S103: Perform gain limiting processing on the phase compensation current to obtain the compensation value of the AC / DC current of the doubly fed motor rotor;

[0208] S104: Control the doubly fed motor according to the target value of the rotor AC / DC current and the compensation value of the rotor AC / DC current.

[0209] As can be seen from the above description, the doubly-fed induction generator control method based on the residue method provided in this application can analyze and improve the control strategy of doubly-fed wind turbine generators; it replaces the rotor current PI link with a linear active disturbance rejection controller, providing support for providing an accurate control model; it derives the state equation of the rotor current loop under linear active disturbance rejection control, designs the damping controller parameters based on the residue information of the state equation and the residue method, and optimizes the parameters, thereby suppressing the occurrence of subsynchronous oscillation.

[0210] In another embodiment, the doubly fed motor control device based on the residue method can be configured separately from the central processing unit 9100. For example, the data composite transmission device based on the residue method can be configured as a chip connected to the central processing unit 9100, and the function of the doubly fed motor control method based on the residue method can be realized through the control of the central processing unit.

[0211] like Figure 19 As shown, the electronic device 9600 may further include: a communication module 9110, an input unit 9120, an audio processor 9130, a display 9160, and a power supply 9170. It is worth noting that the electronic device 9600 does not necessarily need to include these components. Figure 19 All components shown; in addition, the electronic device 9600 may also include Figure 19 For components not shown, please refer to existing technologies.

[0212] like Figure 19 As shown, the central processing unit 9100, sometimes also referred to as a controller or operating control, may include a microprocessor or other processor device and / or logic device, which receives inputs and controls the operation of various components of the electronic device 9600.

[0213] The memory 9140 may be, for example, one or more of a cache, flash memory, hard drive, removable media, volatile memory, non-volatile memory, or other suitable devices. It may store the aforementioned failure-related information, and also store a program for executing that information. The central processing unit 9100 may execute the program stored in the memory 9140 to perform information storage or processing, etc.

[0214] Input unit 9120 provides input to central processing unit 9100. Input unit 9120 may be, for example, a keypad or touch input device. Power supply 9170 provides power to electronic device 9600. Display 9160 displays images and text. Display may be, for example, an LCD display, but is not limited thereto.

[0215] The memory 9140 can be a solid-state memory, such as a read-only memory (ROM), random access memory (RAM), a SIM card, etc. It can also be a memory that retains information even when power is off, can be selectively erased, and contains more data; examples of this type of memory are sometimes referred to as EPROMs. The memory 9140 can also be some other type of device. The memory 9140 includes a buffer memory 9141 (sometimes referred to as a buffer). The memory 9140 may include an application / function storage unit 9142 for storing application programs and function programs or processes for executing the operation of the electronic device 9600 via the central processing unit 9100.

[0216] The memory 9140 may also include a data storage unit 9143 for storing data, such as contacts, digital data, pictures, sounds, and / or any other data used by the electronic device. The driver storage unit 9144 of the memory 9140 may include various drivers for the electronic device's communication functions and / or for performing other functions of the electronic device (such as messaging applications, address book applications, etc.).

[0217] The communication module 9110 is a transmitter / receiver that sends and receives signals via the antenna 9111. The communication module (transmitter / receiver) 9110 is coupled to the central processing unit 9100 to provide input signals and receive output signals, which is the same as in a conventional mobile communication terminal.

[0218] Based on different communication technologies, multiple communication modules 9110 can be configured in the same electronic device, such as cellular network modules, Bluetooth modules, and / or wireless LAN modules. The communication module (transmitter / receiver) 9110 is also coupled to a speaker 9131 and a microphone 9132 via an audio processor 9130 to provide audio output via the speaker 9131 and receive audio input from the microphone 9132, thereby realizing typical telecommunications functions. The audio processor 9130 may include any suitable buffer, decoder, amplifier, etc. Additionally, the audio processor 9130 is also coupled to a central processing unit 9100, enabling on-device recording via the microphone 9132 and on-device playback of stored sound via the speaker 9131.

[0219] Embodiments of this application also provide a computer-readable storage medium capable of implementing all steps of the doubly-fed motor control method based on the residue method, where the execution subject is a server or client, as described in the above embodiments. The computer-readable storage medium stores a computer program that, when executed by a processor, implements all steps of the doubly-fed motor control method based on the residue method, where the execution subject is a server or client, as described in the above embodiments. For example, when the processor executes the computer program, it implements the following steps:

[0220] S101: The actual value of the predetermined AC / DC current of the doubly-fed motor rotor is subjected to DC blocking processing to obtain the DC blocking current;

[0221] S102: The phase compensation current is obtained by using a pre-constructed residue damping controller to perform phase compensation on the DC blocking current; wherein, the residue damping controller is constructed based on the residue in the system transfer function;

[0222] S103: Perform gain limiting processing on the phase compensation current to obtain the compensation value of the AC / DC current of the doubly fed motor rotor;

[0223] S104: Control the doubly fed motor according to the target value of the rotor AC / DC current and the compensation value of the rotor AC / DC current.

[0224] As can be seen from the above description, the doubly-fed induction generator control method based on the residue method provided in this application can analyze and improve the control strategy of doubly-fed wind turbine generators; it replaces the rotor current PI link with a linear active disturbance rejection controller, providing support for providing an accurate control model; it derives the state equation of the rotor current loop under linear active disturbance rejection control, designs the damping controller parameters based on the residue information of the state equation and the residue method, and optimizes the parameters, thereby suppressing the occurrence of subsynchronous oscillation.

[0225] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0226] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (devices), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0227] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0228] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0229] Specific embodiments have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this invention. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A doubly-fed induction generator (DFIG) control method based on the residue method, characterized in that, include: The actual value of the predetermined AC / DC current of the doubly-fed motor rotor is subjected to DC blocking treatment to obtain the DC blocking current; The phase compensation current is obtained by using a pre-constructed residue damping controller to perform phase compensation on the DC blocking current; wherein, the residue damping controller is constructed based on the residue in the system transfer function; The phase compensation current is subjected to gain limiting processing to obtain the compensation value of the AC / DC current of the doubly fed motor rotor; The doubly fed motor is controlled based on the target value of the rotor AC / DC current and the compensation value of the rotor AC / DC current.

2. The doubly-fed motor control method based on the residue method according to claim 1, characterized in that, The process of blocking DC current by processing the predetermined actual value of the AC / DC current of the doubly-fed motor rotor to obtain the DC-blocked current includes: A high-pass filter is constructed based on a preset first time constant; The actual value of the AC / DC current of the doubly fed motor rotor is input into the high-pass filter to obtain the DC blocking current.

3. The doubly-fed motor control method based on the residue method according to claim 1, characterized in that, The steps for constructing the residue damping controller based on the residues in the system transfer function include: The phase compensation angle of the residue damping controller is determined based on the argument of the residue; The number of lead and lag elements in the residue damping controller is determined based on the phase compensation angle. The second time constant of the residue damping controller is determined based on the phase compensation angle and the number of lead-lag elements. The third and fourth time constants of the residue damping controller are determined based on the second time constant.

4. The doubly-fed motor control method based on the residue method according to claim 3, characterized in that, The step of performing gain limiting processing on the phase compensation current to obtain the compensation value of the AC / DC current of the doubly-fed motor rotor includes: The gain coefficient is determined based on the damping angle of the residue damping controller and the residue. The phase compensation current is processed using the gain coefficient to obtain the gain current; The gain current is limited according to the preset maximum current value to obtain the compensation value of the AC / DC current of the doubly fed motor rotor.

5. The doubly-fed motor control method based on the residue method according to claim 1, characterized in that, The steps for pre-determining the actual values ​​of the AC and DC currents of a doubly-fed motor rotor include: The actual values ​​of the three-phase rotor current of the doubly fed motor are converted into αβ current in a two-phase stationary coordinate system. The αβ current is mapped to the dq coordinate system, which rotates synchronously with the rotor magnetic field, through the Park transformation to obtain the actual value of the AC / DC current of the doubly fed motor rotor.

6. The doubly-fed motor control method based on the residue method according to claim 1, characterized in that, Controlling the doubly-fed motor based on the target value of the rotor AC / DC current and the compensation value of the rotor AC / DC current includes: The target value of the AC / DC current of the doubly fed motor rotor is superimposed with the compensation value of the AC / DC current of the doubly fed motor rotor to obtain the superimposed current; The doubly fed motor control command is generated based on the superimposed current. The doubly fed motor is controlled using the doubly fed motor control commands.

7. A doubly-fed motor control device based on the residue method, characterized in that, include: The DC blocking processing unit is used to block the DC current of the rotor of the doubly fed motor from a predetermined value to obtain the DC blocking current. A phase compensation unit is used to perform phase compensation on the DC blocking current using a pre-built residue damping controller to obtain a phase compensation current; wherein, the residue damping controller is constructed based on the residue in the system transfer function; A gain limiting unit is used to perform gain limiting processing on the phase compensation current to obtain the compensation value of the AC / DC current of the doubly fed motor rotor. The motor control unit is used to control the doubly fed motor according to the target value of the rotor AC / DC current and the compensation value of the rotor AC / DC current.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the doubly fed motor control method based on the residue method as described in any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the doubly fed motor control method based on the residue method as described in any one of claims 1 to 6.

10. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instruction is executed by the processor, it implements the steps of the doubly fed motor control method based on the residue method as described in any one of claims 1 to 6.

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