兆瓦级永磁直驱风电系统变流器并联技术研究
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摘要
随着社会的不断进步与发展,能源成了越来越让人们关心的问题,开发清洁可持续利用的能源已经迫在眉睫。我国风能资源非常丰富,而且风力发电技术的应用相对比较成熟,因此风力发电在我国的发展前景还是很好的。本文所研究的就是风力发电中的一种:永磁直驱风力发电系统。
由于受到电力电子器件耐压功率等级的影响,在大功率直驱系统中多采用背靠背并联变流器的结构。本文就是主要研究永磁直驱风力发电系统电机侧与电网侧并联变流器的控制方法,以及在并联系统中环流的控制思想。
首先在电机侧并联控制系统中建立并分析永磁电机的数学模型,在此基础上提出磁链观测的方法并实现角度的估计。磁链观测器有电压模型与电流模型组成,可以在电机低速与高速时准确的估计角度,避免了滑模观测器在低速时性能不好的缺点,有效抑制了转速和转子位置估测时的抖振现象,本文根据磁链观测器的原理进行了仿真验证,该方法大大提高了电机的控制性能。进而给出电机并联系统的结构,并给出电机并联系统控制策略,以磁链观测器作为角度估计实现电机的单位功率输出。
其次在电网侧并联系统中将建立变流器在静止坐标系与旋转坐标系下的数学模型,并对电网侧功率控制进行分析,实现有功功率与无功功率的功率解耦控制。由于电网侧并联系统与电机侧并联系统基本一致,对电网侧并联系统的控制给予简单分析介绍。
最后本文研究的重点就是并联变流器的环流产生的机理与控制方法。首先对并联变流器系统在静止坐标系与旋转坐标系下的数学模型进行分析,通过环流数学模型的建立与分析,提出并联变流器环流的控制方法,并对环流控制方法进行仿真实验,最后在直驱平台上对系统并联进行实验验证,由试验结果验证了环流控制方法的可行性与正确性。
With the development and progress of the society, energy has been concerned by more and more people, developing clean and sustainable utilization of energy is imminent. Wind resources are very rich in China and the application of wind power generation technology is relatively mature, therefore there will be good prospects to develop wind-power in our country in the future. This paper is about to introduce one of the wind power technology:Permanent-Mgnet Direct-Drive Wind Power Generation technology.
Due to the power rating of the power electronics device, in direct driving power system adopts parallel back-to-back structure of the converters. This paper is mainly about to introduce the control method of motor side paralle systems and grid side parallel systems in permanent-mgnet direct-drive wind power generation system,and the control method of circulation in parallel systems.
Firstly,the mathematical model of permanent magnet motor has been analyzed in parallel motor control system, based on the analysis flux observation method was raised. Flux observer can estimate angle accurately when the motor running in low speed,so it can avoid the bad performance of sliding-mode observer in low speed and inhibit the speed and the rotor position of valuation measure of chattering phenomena, the theory of magnetic flux observer has been simulated in Matlab, greatly improved the performance of motor control system. The motor parallel system structure and the motor control strategies was presented, and achieved motor unit power output.
Secondly,this paper analyzed the mathematical model of grid parallel system in the stationary frame and the rotation,also analyzed the power control of the grid, finally realized the active power and reactive power decoupling control. Grid side paralleling system with motor paralleling system are basically the same,so the control of grid side paralleling system was analyzed too.
Finally, this research is to focus on the circulation of parallel converter’s principle and the control methods.The thesis analyzed the mathematical model of parallel system in the stationary frame and the rotation and got the circulation model, through the analysis of the mathematical model of circulation forward the control method of circulation,based on the analysis of the mathematical model of circulation we did simulation experiment,at last in direct driving platform parallel system experiment is carried out, verify the feasibility of the control method of circulation.
由于受到电力电子器件耐压功率等级的影响,在大功率直驱系统中多采用背靠背并联变流器的结构。本文就是主要研究永磁直驱风力发电系统电机侧与电网侧并联变流器的控制方法,以及在并联系统中环流的控制思想。
首先在电机侧并联控制系统中建立并分析永磁电机的数学模型,在此基础上提出磁链观测的方法并实现角度的估计。磁链观测器有电压模型与电流模型组成,可以在电机低速与高速时准确的估计角度,避免了滑模观测器在低速时性能不好的缺点,有效抑制了转速和转子位置估测时的抖振现象,本文根据磁链观测器的原理进行了仿真验证,该方法大大提高了电机的控制性能。进而给出电机并联系统的结构,并给出电机并联系统控制策略,以磁链观测器作为角度估计实现电机的单位功率输出。
其次在电网侧并联系统中将建立变流器在静止坐标系与旋转坐标系下的数学模型,并对电网侧功率控制进行分析,实现有功功率与无功功率的功率解耦控制。由于电网侧并联系统与电机侧并联系统基本一致,对电网侧并联系统的控制给予简单分析介绍。
最后本文研究的重点就是并联变流器的环流产生的机理与控制方法。首先对并联变流器系统在静止坐标系与旋转坐标系下的数学模型进行分析,通过环流数学模型的建立与分析,提出并联变流器环流的控制方法,并对环流控制方法进行仿真实验,最后在直驱平台上对系统并联进行实验验证,由试验结果验证了环流控制方法的可行性与正确性。
With the development and progress of the society, energy has been concerned by more and more people, developing clean and sustainable utilization of energy is imminent. Wind resources are very rich in China and the application of wind power generation technology is relatively mature, therefore there will be good prospects to develop wind-power in our country in the future. This paper is about to introduce one of the wind power technology:Permanent-Mgnet Direct-Drive Wind Power Generation technology.
Due to the power rating of the power electronics device, in direct driving power system adopts parallel back-to-back structure of the converters. This paper is mainly about to introduce the control method of motor side paralle systems and grid side parallel systems in permanent-mgnet direct-drive wind power generation system,and the control method of circulation in parallel systems.
Firstly,the mathematical model of permanent magnet motor has been analyzed in parallel motor control system, based on the analysis flux observation method was raised. Flux observer can estimate angle accurately when the motor running in low speed,so it can avoid the bad performance of sliding-mode observer in low speed and inhibit the speed and the rotor position of valuation measure of chattering phenomena, the theory of magnetic flux observer has been simulated in Matlab, greatly improved the performance of motor control system. The motor parallel system structure and the motor control strategies was presented, and achieved motor unit power output.
Secondly,this paper analyzed the mathematical model of grid parallel system in the stationary frame and the rotation,also analyzed the power control of the grid, finally realized the active power and reactive power decoupling control. Grid side paralleling system with motor paralleling system are basically the same,so the control of grid side paralleling system was analyzed too.
Finally, this research is to focus on the circulation of parallel converter’s principle and the control methods.The thesis analyzed the mathematical model of parallel system in the stationary frame and the rotation and got the circulation model, through the analysis of the mathematical model of circulation forward the control method of circulation,based on the analysis of the mathematical model of circulation we did simulation experiment,at last in direct driving platform parallel system experiment is carried out, verify the feasibility of the control method of circulation.
引文
1黄克伟,黄全权.可再生能源未来有可能过渡为主导能源.中国改革报. 2009年4月24日第007版
2郑言.世界各国劲吹“绿色风潮”.中国石化. 2010.1
3施鹏飞. 2008年国内外风电持续快速发展.可再生能源. 2009, 27(2): 45~47
4梁昌鑫,贾廷纲,陈孝祺.国内外风电的现状和发展趋势.上海电机学院学报. 2008, 12(1): 73~77
5申宽育.中国的风能资源与风力发电.西北水电. 2010, (1): 34~36
6朱卫东.国家科技计划与风电发展.可再生能源. 2009, 27(2): 55~57
7崔建红,许建,刘京爱.我国风力发电的现状与趋势.科技情报开发与经济. 2009, 19(10): 45~46
8姚兴佳,隋红霞,刘颖明.海上风电技术的发展与现状.海上风电场. 2007(2): 111~118
9李建林,高志刚,胡书举.并联背靠背PWM变流器在直驱型风力发电系统中的应用.电力系统自动化. 2008, 32(5): 59~62
10 Kawabata T, Higashino S. Parallel operation of voltage source inverters. IEEE Transactions on Industry Applications, 1988, 24(2): 281~287
11 Holtz J, Lotzkat W, Werner K H. A high-power multitransistorinverter uninterruptable power supply system. IEEE Transactions on Power Electronics, 1988, 3(3): 278~285
12 Fukuda S, Matsushita K. A control method for parallel-connected multiple inverter systems. 7th International Conference on Power Electronics and Variable Speed Drives, London, UK,1998
13 Ye Z, Boroyevich D, Choi J Y. Control of circulating current in two parallel three-phase boost rectifiers. IEEE Transactions on Power Electronics, 2002, 17(5): 609~615.
14王丽梅,郭庆鼎.永磁同步电机无传感器控制技术.综述. 2005, (9): 18~22
15王成元,夏加宽,杨俊友,等.电机现代控制技术.第1版.机械工业出版社, 2007
16张莹,李爱莲,张震.永磁电机无速度传感器仿真研究.软件导刊. 2009, 8(4): 66~68
17 Tero Halkosaari. Speed Sensorless Vector Control of a Redundant Permanent Magnet Wind Power Generator. IEEE International Symposium on Industrial Electronics. 2007: 2595~2600
18 Gilbert Foo, M.F.Rahman. Sensorless Direct Torque and Flux-Controlled IPM Synchronous Motor Drive at Very Low Speed Without Signal Injection. IEE Transactions on industrial electronics. 2010, 1(5): 395~403
19 Xianbing Wang, Heyun Lin, Ho, S.L.. Analysis of Dynamic Characteristics of Permanent Magnet Contactor With Sensorless Displacement Profile Control . IEEE Transactions on Magnetics. 2010: 1633~1636
20胡维昊,王跃,姚为正,等.直驱型变速恒频风力发电系统中零序环流的研究.中国电机工程学报. 2009, 29(27): 121~124
21肖友强.三相电磁量的综合相量在abc和dq0坐标系的表示.云南电力技术. 2004, 32: 9~11
22 Changjiang Zhan, Fitzer C, Ramachandaramurthy, etc. Software Phase Locked Loop Applied to Dynamic Voltage Restorer(DVR). IEEE Power Engineering Society Winter. 2001, 3: 1033~1038
23张建功,刘邦银,段善旭.基于独立光伏系统的三相三电平逆变器.高电压技术. 2006, 32(11): 103~106
24 Attaianese-V C, Nardi-G Tomasso. VSI Parallel Operation for Active Filtering in High Power Drives. IEEE Transactions on Power Electronics. 2005, 5(5): 1335~1340
25 Zhihong Ye, Dushan Boroyevich, Jae-Young Choi, etc. Control of Circulating Current in Two Parallel Three-phase Boost Rectifiers. IEEE Transactions on Power Electronics. 2002, 17(5): 609~615
26 Chuanwei Yang, Hui Liang, Jiuchun Jiang. Modeling and Simulation of AC-DC-AC Converter System for MW-level Direct-drive Wind Turbine Grid Interface. IEEE Applied Power Electronics Conference and Exposition. 2005, 1 (9): 327~333
27李淳,李建林,李彩霞等. DSP+CPLD实现CPS-SPWM下的单相多电平脉冲.高电压技术. 2006, 32(8): 76~80
28 Juan Manuel Carrasco, Leopoldo Garcia Franquelo, Jan TBialasiewicz, etc. Power-electronic Systems for The Grid Integration of Renewable Energy Sources: a survey. IEEE Transactions on Industrial Electronics. 2006, 53(4): 1002~1006
29李建林.基于级联H桥五电平变流器SAPF的应用研究.电工技术学报. 2006, 21(2): 79~82
30段大鹏,孙玉坤,潘春伟.基于三相VSI的SVG动态建模与仿真研究.高电压技术. 2006, 32(6): 84~88
31 Changjiang Zhan, Fitzer C, Ramachandaramurthy, etc. Software Phase Locked Loop Applied to Dynamic Voltage Restorer(DVR). IEEE Power Engineering Society Winter Meeting. 2001, 3: 1033~1038
32张崇巍,张兴. PWM整流器及其控制.机械工业出版社. 2003年出版:2~12, 112~117, 134~148
33杜新梅,刘坚栋,李泓.新型风力发电系统.高电压技术. 2005, 31(1): 63~66
34 Yu Zhang, Shanxu Duan, Yong Kang, and Jian Chen. The Restrain of Harmonic Circulating Currents between Parallel Inverters. Power Electronics and Motion Control Conference IPEMC . 2006: 1~5
35 Yang Chen and Keyue Ma Smedley. One-Cycle-Controlled Three-Phase Grid-Connected Inverters and Their Parallel Operation. IEE Transactions on Industry Applications. 2008, 44(2): 663~671
36张宇,段善旭,康永,等.逆变器并联系统中谐波环流抑制的研究.中国电机工程学报. 2006, 26(12): 56~59
37 Bin Shi, Giri Venkataramanan. Parallel Operation of Voltage Source Inverters with Minimal Intermodule Reactors. Industry Applications Conference of the 2004 IEEE. 2004
38 Shouchuan Chen, Xinjian Jiang, Jianyun Chai. Analysis of Harmonic and Circulating Current for Paralleling Inverters in MW-level Wind Energy Conversion System. International Conference on Electrical Machines and Systems. 2008: 2489~2492
39付勋波,鄂春良,李建林,等.直驱风电系统中并联逆变器的仿真建模与分析.高电压技术. 2008, 34(10): 78~81
40肖岚,陈良亮,李睿,等.基于有功和无功环流的DC-AC逆变器并联系统分析与实现.电工技术学报. 2005, 20(10): 43~46
41 Tsung-Po Chen. Common-Mode Ripple Current Estimation for Parallel Three-Phase Inverters. IEEE Transactions on Power Electronics. 2009, 5(24): 1330~1339
42 Tongzhen Wei, Yaohua Li, Gang Hu. Modeling and Control of Circulating Current in Parallel Three-Phase PWM Converters. The Fifth International Conference on Power Electronics and Drive Systems. 2003: 910~914
43杨恩星,仇志凌,陈国柱,等.基于载波移相并联的直驱风力发电并网变流器控制策略.中国电机工程学报. 2009, 29(21): 98~101
44 Tomonobu Senjyu, Atsushi Yona, Ahmed Yousuf. Operation Strategies for Stability of Gearless Wind Power Generation Systems. IEEE on Power and Energy Society General Meeting. 2008: 1~7
45 Weihao Hu, Yue Wang, Weizheng Yao. An Efficient Experimental Method for High Power Direct Drive Wind Energy Conversion Systems. Power Electronics Specialists Conference IEEE . 2008: 3955~3959
46杜新梅,刘坚栋,李泓.新型风力发电系统.高电压技术. 2005, 31(1): 63~66
47 Weihao Hu, Yue Wang, Xianwen Song. An Improved DC-Link Voltage Control Method for Multiple Grid Connected Converter in Direct Drive Wind Power Generation System. Applied Power Electronics Conference and Exposition IEEE . 2009: 1939~1944
48吕晓东,李武华,吴建德,等.电流瞬时值控制的逆变器并联系统.浙江大学学报(工学版). 2009, 43(1): 56~59
2郑言.世界各国劲吹“绿色风潮”.中国石化. 2010.1
3施鹏飞. 2008年国内外风电持续快速发展.可再生能源. 2009, 27(2): 45~47
4梁昌鑫,贾廷纲,陈孝祺.国内外风电的现状和发展趋势.上海电机学院学报. 2008, 12(1): 73~77
5申宽育.中国的风能资源与风力发电.西北水电. 2010, (1): 34~36
6朱卫东.国家科技计划与风电发展.可再生能源. 2009, 27(2): 55~57
7崔建红,许建,刘京爱.我国风力发电的现状与趋势.科技情报开发与经济. 2009, 19(10): 45~46
8姚兴佳,隋红霞,刘颖明.海上风电技术的发展与现状.海上风电场. 2007(2): 111~118
9李建林,高志刚,胡书举.并联背靠背PWM变流器在直驱型风力发电系统中的应用.电力系统自动化. 2008, 32(5): 59~62
10 Kawabata T, Higashino S. Parallel operation of voltage source inverters. IEEE Transactions on Industry Applications, 1988, 24(2): 281~287
11 Holtz J, Lotzkat W, Werner K H. A high-power multitransistorinverter uninterruptable power supply system. IEEE Transactions on Power Electronics, 1988, 3(3): 278~285
12 Fukuda S, Matsushita K. A control method for parallel-connected multiple inverter systems. 7th International Conference on Power Electronics and Variable Speed Drives, London, UK,1998
13 Ye Z, Boroyevich D, Choi J Y. Control of circulating current in two parallel three-phase boost rectifiers. IEEE Transactions on Power Electronics, 2002, 17(5): 609~615.
14王丽梅,郭庆鼎.永磁同步电机无传感器控制技术.综述. 2005, (9): 18~22
15王成元,夏加宽,杨俊友,等.电机现代控制技术.第1版.机械工业出版社, 2007
16张莹,李爱莲,张震.永磁电机无速度传感器仿真研究.软件导刊. 2009, 8(4): 66~68
17 Tero Halkosaari. Speed Sensorless Vector Control of a Redundant Permanent Magnet Wind Power Generator. IEEE International Symposium on Industrial Electronics. 2007: 2595~2600
18 Gilbert Foo, M.F.Rahman. Sensorless Direct Torque and Flux-Controlled IPM Synchronous Motor Drive at Very Low Speed Without Signal Injection. IEE Transactions on industrial electronics. 2010, 1(5): 395~403
19 Xianbing Wang, Heyun Lin, Ho, S.L.. Analysis of Dynamic Characteristics of Permanent Magnet Contactor With Sensorless Displacement Profile Control . IEEE Transactions on Magnetics. 2010: 1633~1636
20胡维昊,王跃,姚为正,等.直驱型变速恒频风力发电系统中零序环流的研究.中国电机工程学报. 2009, 29(27): 121~124
21肖友强.三相电磁量的综合相量在abc和dq0坐标系的表示.云南电力技术. 2004, 32: 9~11
22 Changjiang Zhan, Fitzer C, Ramachandaramurthy, etc. Software Phase Locked Loop Applied to Dynamic Voltage Restorer(DVR). IEEE Power Engineering Society Winter. 2001, 3: 1033~1038
23张建功,刘邦银,段善旭.基于独立光伏系统的三相三电平逆变器.高电压技术. 2006, 32(11): 103~106
24 Attaianese-V C, Nardi-G Tomasso. VSI Parallel Operation for Active Filtering in High Power Drives. IEEE Transactions on Power Electronics. 2005, 5(5): 1335~1340
25 Zhihong Ye, Dushan Boroyevich, Jae-Young Choi, etc. Control of Circulating Current in Two Parallel Three-phase Boost Rectifiers. IEEE Transactions on Power Electronics. 2002, 17(5): 609~615
26 Chuanwei Yang, Hui Liang, Jiuchun Jiang. Modeling and Simulation of AC-DC-AC Converter System for MW-level Direct-drive Wind Turbine Grid Interface. IEEE Applied Power Electronics Conference and Exposition. 2005, 1 (9): 327~333
27李淳,李建林,李彩霞等. DSP+CPLD实现CPS-SPWM下的单相多电平脉冲.高电压技术. 2006, 32(8): 76~80
28 Juan Manuel Carrasco, Leopoldo Garcia Franquelo, Jan TBialasiewicz, etc. Power-electronic Systems for The Grid Integration of Renewable Energy Sources: a survey. IEEE Transactions on Industrial Electronics. 2006, 53(4): 1002~1006
29李建林.基于级联H桥五电平变流器SAPF的应用研究.电工技术学报. 2006, 21(2): 79~82
30段大鹏,孙玉坤,潘春伟.基于三相VSI的SVG动态建模与仿真研究.高电压技术. 2006, 32(6): 84~88
31 Changjiang Zhan, Fitzer C, Ramachandaramurthy, etc. Software Phase Locked Loop Applied to Dynamic Voltage Restorer(DVR). IEEE Power Engineering Society Winter Meeting. 2001, 3: 1033~1038
32张崇巍,张兴. PWM整流器及其控制.机械工业出版社. 2003年出版:2~12, 112~117, 134~148
33杜新梅,刘坚栋,李泓.新型风力发电系统.高电压技术. 2005, 31(1): 63~66
34 Yu Zhang, Shanxu Duan, Yong Kang, and Jian Chen. The Restrain of Harmonic Circulating Currents between Parallel Inverters. Power Electronics and Motion Control Conference IPEMC . 2006: 1~5
35 Yang Chen and Keyue Ma Smedley. One-Cycle-Controlled Three-Phase Grid-Connected Inverters and Their Parallel Operation. IEE Transactions on Industry Applications. 2008, 44(2): 663~671
36张宇,段善旭,康永,等.逆变器并联系统中谐波环流抑制的研究.中国电机工程学报. 2006, 26(12): 56~59
37 Bin Shi, Giri Venkataramanan. Parallel Operation of Voltage Source Inverters with Minimal Intermodule Reactors. Industry Applications Conference of the 2004 IEEE. 2004
38 Shouchuan Chen, Xinjian Jiang, Jianyun Chai. Analysis of Harmonic and Circulating Current for Paralleling Inverters in MW-level Wind Energy Conversion System. International Conference on Electrical Machines and Systems. 2008: 2489~2492
39付勋波,鄂春良,李建林,等.直驱风电系统中并联逆变器的仿真建模与分析.高电压技术. 2008, 34(10): 78~81
40肖岚,陈良亮,李睿,等.基于有功和无功环流的DC-AC逆变器并联系统分析与实现.电工技术学报. 2005, 20(10): 43~46
41 Tsung-Po Chen. Common-Mode Ripple Current Estimation for Parallel Three-Phase Inverters. IEEE Transactions on Power Electronics. 2009, 5(24): 1330~1339
42 Tongzhen Wei, Yaohua Li, Gang Hu. Modeling and Control of Circulating Current in Parallel Three-Phase PWM Converters. The Fifth International Conference on Power Electronics and Drive Systems. 2003: 910~914
43杨恩星,仇志凌,陈国柱,等.基于载波移相并联的直驱风力发电并网变流器控制策略.中国电机工程学报. 2009, 29(21): 98~101
44 Tomonobu Senjyu, Atsushi Yona, Ahmed Yousuf. Operation Strategies for Stability of Gearless Wind Power Generation Systems. IEEE on Power and Energy Society General Meeting. 2008: 1~7
45 Weihao Hu, Yue Wang, Weizheng Yao. An Efficient Experimental Method for High Power Direct Drive Wind Energy Conversion Systems. Power Electronics Specialists Conference IEEE . 2008: 3955~3959
46杜新梅,刘坚栋,李泓.新型风力发电系统.高电压技术. 2005, 31(1): 63~66
47 Weihao Hu, Yue Wang, Xianwen Song. An Improved DC-Link Voltage Control Method for Multiple Grid Connected Converter in Direct Drive Wind Power Generation System. Applied Power Electronics Conference and Exposition IEEE . 2009: 1939~1944
48吕晓东,李武华,吴建德,等.电流瞬时值控制的逆变器并联系统.浙江大学学报(工学版). 2009, 43(1): 56~59