Multi-loop switching control system for doubly-fed wind turbine based on logic switch control

This application is the United States national phase of International Application No. PCT/CN2016/109193 filed Dec. 9, 2016, and claims priority to Chinese Patent Application No. 201610073358.6 filed Feb. 1, 2016, the disclosures of which are hereby incorporated in their entirety by reference.

Non-limiting embodiments or aspects relate to power system automation technology and, for example, to a multi-loop switching control system for a doubly-fed wind turbine based on logic switch control.

With the large-scale development of renewable energy, a proportion of wind power in power systems is increasing, which makes controlling a transient stability of traditional power systems more challenging. For example, an emergence of small-probability major failures places higher requirements on a low voltage ride through capability of a wind generator. Doubly-fed induction wind turbines account for a significant proportion of current wind power generation. Traditional vector control algorithms of doubly-fed wind turbines decouple active and reactive control loops based on a, stator flux linkage or a stator voltage coordinate system, and achieves a maximum power tracking and an active-reactive coordinated control of the doubly-fed wind turbine with proportional integral (PI) control. Tuning of a traditional PI control system considers a rapidity and steady-state error of a system response synthetically, and determines a compromise control parameter. However, after a power system is greatly disturbed (e.g., suffers a three-phase short circuit fault, etc.), a doubly-fed wind turbine deviates from the original operation point. Traditional vector control systems cannot exert a maximum control energy of the wind turbine converter, so that the wind turbine can return to the original balance point as fast as possible to continue running. Therefore, the traditional vector control systems cannot guarantee stable operation of a doubly-fed wind turbine when there is a small-probability major failure in the power system.

In some non-limiting embodiments or aspects, a control potential of a doubly-fed wind turbine converter is increased by providing a control system of the doubly-fed wind turbine as a switch control system. For example, a traditional method of switch control obtains a control law by solving the Hamiltonian equation of the system using the maximum principle. The switch control system can increase (e.g., increase, maximize, etc.) a performance of the control system to cause the controlled system to dynamically exhibit an optimal time. However, to build the Hamiltonian function of a large-scale power system, the traditional switch control system uses all state variables of all parameters of the entire system, and the resulting Hamiltonian equation is very complicated, which increases a difficulty of solving the canonical equation of the system. In some non-limiting embodiments or aspects, a switch control method based on logic operation avoids the problem of the traditional switch control method relying on the Hamiltonian equation of the system to obtain the control law, while maintaining the advantages of the time optimality of the traditional method. In this way, applying a switch control method based on logic operation to control of doubly-fed wind turbines greatly enhances a robustness of the doubly-fed wind turbines after the power system is disturbed (e.g., suffers a three-phase short circuit fault, etc.). Further, because the switch control system based on logic operation may only use the relative order information of the system, e.g., without the precise parameters of the system, the switch control system shows strong robustness to changes of system operating conditions.

According to some non-limiting embodiments or aspects, provided is a multi-loop switching control system for a doubly-fed wind turbine based on logic switch control that overcomes shortcomings and deficiencies of traditional or conventional control systems. For example, a control system according to a non-limiting embodiment or aspect enhances an ability of a doubly-fed wind turbine to maintain stable operation after being subjected to a large disturbance. In an early stage of power system transient oscillation, potentials of the doubly-fed wind turbine converter may be fully utilized, so that output of the doubly-fed wind turbine, for example, generator rotor speed, stator reactive power output, grid-side converter reactive power output, converter capacitor terminal voltage, and/or the like, converge to a vicinity of the balance point (e.g., to substantially equal to the balance point, to within a threshold level of the balance point, etc.) at a faster or fastest speed, and then the system can gradually stabilize to the original balance point through traditional vector control system.

According to some non-limiting embodiments or aspects, provided is a multi-loop switching control system for a doubly-fed wind turbine based on logic switch control having a control object of a doubly-fed wind turbine converter. The control system includes four input signals, respectively a doubly-fed wind turbine rotor speed deviation e ω r =ω r −ω r *, a doubly-fed wind turbine stator reactive power output deviation e Q s =Q s −Q s *, a doubly-fed wind turbine converter capacitor voltage deviation e V dc =V dc −V dc *, and a doubly-fed wind turbine grid-side converter reactive power output error e Q g =Q g −Q g *. The control system includes four output signals, respectively a doubly-fed wind turbine rotor-side converter q-axis control voltage v qr *, a doubly-fed wind turbine rotor-side converter d-axis control voltage v dr *, a doubly-fed wind turbine grid-side converter d-axis control voltage v dg *, and a doubly-fed wind turbine grid-side q-axis control voltage v qg *. The four output signals and the four input signals respectively correspond to four feedback control channels.

In some non-limiting embodiments or aspects, the control system includes a doubly-fed wind turbine rotor speed control loop based on traditional vector control method, a doubly-fed wind turbine rotor speed switch control loop based on second-order logic switch controller, a doubly-fed wind turbine stator reactive power control loop based on traditional vector control method, a doubly-fed wind turbine stator reactive power control loop based on first-order logic switch controller, a doubly-fed wind turbine converter capacitor voltage control loop based on traditional vector control method, a doubly-fed wind turbine capacitor voltage control loop based on second-order logic switch controller, a doubly-fed wind turbine grid-side converter reactive power control loop based on traditional vector control method, a doubly-fed wind turbine grid-side converter reactive power control loop based on first-order logic switch controller and a doubly-fed wind turbine rotor speed control loop switching control unit, a doubly-fed wind turbine stator reactive power control loop switching unit, a doubly-fed wind turbine converter capacitor voltage control loop switching control unit, a doubly-fed wind turbine grid-side reactive power control loop switching unit, wherein the doubly-fed wind turbine rotor speed deviation e ω r =ω r −ω r * signal passes through the doubly-fed wind turbine rotor speed control loop based on traditional vector control method, the doubly-fed wind turbine rotor speed switch control loop based on second-order logic switch controller and the doubly-fed wind turbine rotor speed control loop switching control unit, and then outputs the doubly-fed wind turbine rotor-side converter q-axis control voltage v qr * the doubly-fed wind turbine stator reactive power output deviation e Q s =Q s −Q s * passes through the doubly-fed wind turbine stator reactive power control loop based on traditional vector control method, and the doubly-fed wind turbine stator reactive power control loop based on first-order logic switch controller and the doubly-fed wind turbine stator reactive power control loop switching unit and then outputs the doubly-fed wind turbine rotor-side converter d-axis control voltage v dr *, the doubly-fed wind turbine converter capacitor voltage error e V dc =V dc −V dc * passes through the doubly-fed wind turbine converter capacitor voltage control loop based on traditional vector control method, the doubly-fed wind turbine converter capacitor voltage control loop based on second-order logic switch controller and the doubly-fed wind turbine converter capacitor voltage control loop switching control unit and then outputs the doubly-fed wind turbine grid-side converter d-axis control voltage v dg *, and the doubly-fed wind turbine grid-side converter output reactive power error e Q g =Q g −Q g passes through the doubly-fed wind turbine grid-side converter reactive power control loop based on traditional vector control method, the doubly-fed feeder grid-side converter reactive power control loop based on first-order logic switch controller, and the doubly-fed wind turbine grid-side reactive power control loop switching unit, and then outputs the doubly-fed wind turbine grid-side converter q-axis control voltage v qg *.

In some non-limiting embodiments or aspects, the doubly-fed wind turbine rotor speed control loop switching control unit is configured to control a switching action between the doubly-fed wind turbine rotor speed control loop based on traditional vector control method and the doubly-fed wind turbine rotor speed switch control loop based on second-order logic switch controller;

the doubly-fed wind turbine rotor speed control loop based on traditional vector control method is configured to, when the doubly-fed wind turbine rotor speed control loop switching control unit switches a control signal to the doubly-fed wind turbine rotor speed control loop based on traditional vector control method, provide the appropriate control voltage v qr_VC * according to the doubly-fed wind turbine rotor speed deviation;

the doubly-fed wind turbine rotor speed switch control loop based on second-order logic switch controller is configured to, when the doubly-fed wind turbine rotor speed switch control loop switches a control signal to a doubly-fed wind turbine rotor speed control loop based on second-order logic switch controller, provide the appropriate control voltage v qr_LB * according to the doubly-fed wind turbine rotor speed deviation;

the doubly-fed wind turbine stator reactive power control loop switching unit is configured to control a switching action between the doubly-fed wind turbine stator reactive power control loop based on traditional vector control method and the doubly-fed wind turbine stator reactive power control loop based on first-order logic switch controller;

the doubly-fed wind turbine stator reactive power control loop based on traditional vector control method is configured to, when the doubly-fed wind turbine stator reactive power control loop switching unit switches a control signal to the doubly-fed wind turbine stator reactive power control loop based on traditional vector control method, provide the appropriate control voltage v dr_VC * according to the doubly-fed wind turbine stator reactive power output error;

the doubly-fed wind turbine stator reactive power control loop based on first-order logic switch controller is configured to: when the doubly-fed wind turbine stator reactive power control loop switching unit switches a control signal to the doubly-fed wind turbine stator reactive power control loop based on first-order logic switch controller, provide the appropriate control voltage v dr_LB * according to the doubly-fed wind turbine stator reactive power output error;

the doubly-fed wind turbine converter capacitor voltage control loop switching control unit is configured to control a switching action between the doubly-fed wind turbine converter capacitor voltage control loop based on traditional vector control method and the doubly-fed wind turbine converter capacitor voltage control loop based on second-order logic switch controller;

the doubly-fed wind turbine converter capacitor voltage control loop based on traditional vector control method is configured to, when the doubly-fed wind turbine converter capacitor voltage control loop switching control unit switches a control signal to the doubly-fed wind turbine capacitor voltage control loop based on traditional vector control method, provide the appropriate control voltage v dg_VC * according to the doubly-fed wind turbine capacitor voltage deviation;

the doubly-fed wind turbine converter capacitor voltage control loop based on second-order logic switch controller is configured to, when the doubly-fed wind turbine converter capacitor voltage control loop switching control unit switches a control signal to the doubly-fed wind turbine converter capacitor voltage control loop based on second-order logic switch controller, provide the appropriate control voltage v dg_LB * according to the doubly-fed wind turbine converter capacitor voltage deviation;

the doubly-fed wind turbine grid-side converter reactive power control loop switching unit is configured to control a switching action between the doubly-fed wind turbine grid-side converter reactive power control loop based on traditional vector control method and the doubly-fed wind turbine grid-side converter reactive power control loop based on first-order logic switch controller;

the doubly-fed wind turbine grid-side converter reactive power control loop based on traditional vector control method is configured to, when the doubly-fed wind turbine grid-side converter reactive power control loop switching unit switches a control signal to the doubly-fed wind turbine grid-side converter reactive power control loop based on tradition vector control method, provide the appropriate control voltage v qg_VC * according to the doubly-fed wind turbine grid-side converter reactive power output error;

the doubly-fed wind turbine grid-side converter reactive power control loop based on first-order logic switch controller is configured to: when the doubly-fed wind turbine grid-side converter reactive power control loop switching unit switches a control signal to doubly-fed wind turbine grid-side converter reactive power control loop based on first-order logic switch controller, provide the appropriate control voltage v qg_LB * according to the doubly-fed wind turbine grid-side converter reactive power output error.

In some limiting embodiments or aspects, the first-order logic switch controller generates a control signal based on a logic operation, and the control logic is:

q ( t )= G ( e ( t ),φ 0 + −ε 0 + ,φ 0 − +ε 0 − ,q ( t −)), q (0−)= q 0 ∈{true,false}

where q(t) is the output of the control logic, G(e, ē, e , q old )=[e≥ē∨(e> e ∧q old )], e is the tracking error output by the system, ē is the upper bound of the tracking error, q old is the lower bound of the tracking error, q old is the logic value of the previous time step corresponding to the logic variable, ∧ is the logic AND operation, ∨ is the logic OR operation, φ 0 + and φ 0 − define the error interval of the tracking error of the output variable, i.e. F 0 :={e∈ |φ 0 − ≤e≤φ 0 + }, ε 0 + and ε 0 − define the safety distance within F 0 , and q (t−) is the logic value of q (t) at the previous moment.

In some non-limiting embodiments or aspects, the second-order logic switch controller generates a control signal based on a logic operation, and the control logic is:

where φ 1 + and φ 1 − define the error interval of the first derivative of the output variable, i.e. F 1 :={ė∈□|φ 1 − ≤ė≤φ 1 + }, ε 1 + and ε 1 − define the safe distance within F 1 , λ 1 + and λ 1 − are the increasing and decreasing velocity of ideal e within F 0 , and q 1 (t−) is the logic value of q 1 (t) at the previous moment.

In some non-limiting embodiments or aspects, the control law of the second-order logic switch controller in the doubly-fed wind turbine rotor speed switch control loop based on second-order logic switch controller is:

where v qr is the q-axis component of the rotor-side converter voltage, v qr_max is the maximum value of the q-axis component of the rotor-side converter voltage and v qr_min is the minimum value of the q-axis component of the rotor-side converter voltage.

In some non-limiting embodiments or aspects, the control law of the first-order logic switch controller in the doubly-fed wind turbine stator reactive power control loop based on first-order logic switch controller is:

where v dr is the d-axis component of the rotor-side converter voltage, v dr_max is the maximum value of the d-axis component of the rotor-side converter voltage and v dr_min is the minimum of the d-axis component of the rotor-side converter voltage.

In some non-limiting embodiments or aspects, the control law of the first-order logic switch controller in the doubly-fed wind turbine grid-side converter reactive power control loop is:

where v qg is the q-axis component of the grid-side converter voltage, v qg_max is the maximum value of the q-axis component of the grid-side converter voltage and v qg_min is the minimum value of the q-axis component of the grid-side converter voltage.

In some non-limiting embodiments or aspects, the control law of the second-order logic switch controller in the doubly-fed wind turbine converter capacitor voltage control loop based on second-order logic switch controller is:

where v dg is the d-axis component of the grid-side converter voltage, v dg_max is the maximum value of the d-axis component of the grid-side converter voltage and v dg_min is the minimum value of the d-axis component of the grid-side converter voltage.

In some non-limiting embodiments or aspects, the control system further includes a switching excitation controller, and the switching strategy is:

it is assumed that after the power system is perturbed, the extreme value sequence in the oscillation trajectory of the absolute value |e(t)| of the output variable of the doubly-fed wind turbine is Γ(t)={Γ 1 , Γ 2 , . . . , Γ j }, where Γ s =(s∈{1, 2, . . . , j}) is the maximum value in the sequence Γ(t), and the switching strategy of each loop in the control system is as follows: when switching condition 1 is met, the switching control system is switched from the conventional vector controller to the switch controller; when switching condition 2 is met, the switching control system is switched from the switch controller to the conventional vector controller,

switching condition 1: |e(t) ω ;

switching condition 2: {the switching excitation controller's switching frequency reaches the maximum value that the device can withstand} {{(Γ s −Γ j )/Γ s ≥τ}∧{e(t) converge to [2(φ 0 − +ε 0 − ), 2(φ 0 + −ε 0 + )]}}; where ω and τ are the parameters that the switching excitation controller.

According to some non-limiting embodiments or aspects, provided is a mufti-loop switching control system for a doubly-fed wind turbine based on logic switch control that enables improved performance (e.g. gives full play to a maximum performance) of the doubly-fed wind turbine converter. At an initial stage of transient oscillation of the power system, the four output variables of the doubly-fed wind turbine converge to the vicinity of the balance point through the switch control system at the fastest speed within a temporary area, and then switch to the conventional vector control system. An optimum of the conventional vector control system in the vicinity of the balance point can be achieved (e.g., is played the best, etc.), and the system gradually stabilizes to the original balance point.

According to some non-limiting embodiments or aspects, provided is a multi-loop switching control system for a doubly-fed wind turbine based on switch control that includes only logic operations so that a phase lag between the output and the input is smaller than that of a conventional vector control system. In this way, the switch control system can respond to the oscillation of the output variable of the doubly-fed wind turbine more quickly, and the control signal of the switch control system only has two values to facilitate the transmission of the control signal.

According to some non-limiting embodiments or aspects, provided is a multi-loop switching control system for a doubly-fed wind turbine based on logic switch control that when applied in coordinated control of a doubly-fed wind turbine can greatly improve the transient stability of the operation of a power system containing large-scale wind power.

FIG. 1 is a schematic structural diagram of a non-limiting embodiment or aspect of a multi-loop switching control system for a doubly-fed wind turbine based on logic switch control;

FIG. 2 is a block diagram of a non-limiting embodiment or aspect of a multi-loop switching control system for a doubly-fed wind turbine based on logic switch control;

FIG. 3 is a doubly-fed wind turbine rotor speed control loop of a non-limiting embodiment aspect based on a traditional vector control method of a multi-loop switching control system for a doubly-fed wind turbine based on logic switch control;

FIG. 4 is a double-fed wind turbine rotor speed switch control loop of a non-limiting embodiment or aspect based on a second-order logic switch controller of a multi-loop switching control system for a doubly-fed wind turbine based on logic switch control;

FIG. 5 is a doubly-fed wind turbine stator reactive power control loop of a non-limiting, embodiment or aspect based on a traditional vector control method of a multi-loop switching control system for a doubly-fed wind turbine based on logic switch control;

FIG. 6 is a doubly-fed wind turbine stator reactive power switch control loop of a non-limiting embodiment or aspect based on a first-order logic switch controller of a multi-loop switching control system for a doubly-fed wind turbine based on logic switch control;

FIG. 7 is a double-fed wind turbine converter capacitor voltage control loop of a non-limiting embodiment or aspect based on a traditional vector control method of a multi-loop switching control system for a doubly-fed wind turbine based on logic switch control;

FIG. 8 is a double-fed wind turbine converter capacitor voltage switch control loop of a non-limiting embodiment or aspect based on a second-order logic switch controller of a multi-loop switching control system for a doubly-fed wind turbine based on logic switch control;

FIG. 9 is a doubly-fed wind turbine grid-side converter reactive power control loop of a non-limiting embodiment or aspect based on a traditional vector control method of a multi-loop switching control system for a doubly-fed wind turbine based on logic switch control;

FIG. 10 is a doubly-fed wind turbine grid-side converter reactive power switch control loop of a non-limiting embodiment or aspect based on a first-order logic switch controller of a multi-loop switching control system for a doubly-fed wind turbine based on logic switch control;

FIG. 11 is a graph of a rotation speed curve of an implementation of a non-limiting embodiment or aspect of a doubly-fed wind turbine after a three-phase short circuit fault occurs in an external power grid in a multi-loop switching control system for a doubly-fed wind turbine based on logic switch control;

FIG. 12 is a graph of a curve of a converter capacitor voltage of an implementation of a non-limiting embodiment or aspect of a doubly-fed wind turbine after three-phase short-circuit faults occur in an external power grid of the multi-loop switching control system for a doubly-fed wind turbine based on logic switch control;

FIG. 13 is a graph of a curve of an active power output of an implementation of a non-limiting embodiment or aspect of a doubly-fed wind turbine after three-phase short-circuit faults occur in the external power network of the multi-loop switching control system for a doubly-fed wind turbine based on logic switch control; and

FIG. 14 is a graph of a curve of a reactive power of an implementation of a non-limiting embodiment or aspect of a doubly-fed wind turbine wind turbine after three-phase short circuits occur in the external power grid of the multi-loop switching control system for a doubly-fed wind turbine wind turbine based on logic switch control.

The following detailed description of non-limiting embodiments refers to the accompanying drawings. The same reference numbers in different drawings may identify the same or similar elements.

To make the objects, technical solutions, and advantages of the present invention clearer and more explicit, the present invention will be further described in detail below with reference to the accompanying drawings and by way of embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not intended to limit the present invention.

With reference to FIGS. 1 and 2 , FIG. 1 is a structural diagram and a block diagram of a multi-loop switching control system for a doubly-fed wind turbine based on logic switch control. The multi-loop switching control system may include a plurality of control loops, for example, eight control loops, and/or the like. For example, the multi-loop control system may include a doubly-fed wind turbine rotor speed control loop based on a vector control method, a doubly-fed wind turbine rotor speed switch control loop based on a second-order logic switch controller, a doubly-fed wind turbine stator reactive power control loop based on a vector control method, a doubly-fed wind turbine stator reactive power control loop based on a first-order logic switch controller, a doubly-fed wind turbine converter capacitor voltage control loop based on a vector control method, a doubly-fed wind turbine capacitor voltage control loop based on a second-order logic switch controller, a doubly-fed wind turbine grid-side converter reactive power control loop based on a vector control method, and a doubly-fed wind turbine grid-side converter reactive power control loop based on a first-order logic switch controller. As an example, a control loop may include a controller, a programmable logic device, a computer including one or more processors, one or more electrical components (e.g., resistors, capacitors, and inductors, etc.), and/or the like programmed or configured to provide a control signal or output based on an input signal or input. The multi-look switching control system may include a plurality of switching units, for example, four switching units, and/or the like. For example, the multi-loop control system may include a doubly-fed wind turbine rotor speed control loop switching control unit, a doubly-fed wind turbine stator reactive power control loop switching control unit, a doubly-fed wind turbine converter capacitor voltage control loop switching control unit, and a doubly-fed wind turbine grid-side reactive power control loop switching unit.

In FIG. 1 , the parameters are defined as follows: is i dr rotor current d-axis component, i qr is rotor current q-axis component, i dg is grid-side converter current d-axis component, i qg is grid-side converter current q-axis component, V dc is converter capacitor terminal voltage, Q s is stator reactive power output, Q g is grid-side converter reactive power output, ω r is generator rotor speed, ω ref is reference value of generator rotor speed, Q sref is reference value of stator reactive power output, Q gref is reference value of grid-side converter reactive power output, V dcref is reference value of converter capacitor terminal voltage, L m is rotor-side winding mutual inductance, v s is doubly-fed wind turbine terminal voltage, and L s is stator winding inductance value.

The doubly-fed wind turbine rotor speed control loop switching control unit is configured to control a switching action between the doubly-fed wind turbine rotor speed control loop based on a vector control method, such as a traditional vector control method as described herein, and the doubly-fed wind turbine rotor speed switch control loop based on second-order logic switch controller.

The doubly-fed wind turbine rotor speed control loop based on traditional vector control method is configured to, when the doubly-fed wind turbine rotor speed control loop switching control unit switches a control signal to the doubly-fed wind turbine rotor speed control loop based on traditional vector control method, provide the appropriate control voltage v qr_VC * according to the doubly-fed wind turbine rotor speed deviation.

The doubly-fed wind turbine rotor speed switch control loop based on second-order logic switch controller is configured to, when the doubly-fed wind turbine rotor speed switch control loop switches a control signal to a doubly-fed wind turbine rotor speed control loop based on second-order logic switch controller, provide the appropriate control voltage v qr_LB * according to the doubly-fed wind turbine rotor speed deviation.

The doubly-fed wind turbine stator reactive power control loop switching unit is configured to control a switching action between the doubly-fed wind turbine stator reactive power control loop based on traditional vector control method and the doubly-fed wind turbine stator reactive power control loop based on first-order logic switch controller.

The doubly-fed wind turbine stator reactive power control loop based on traditional vector control method is configured to, when the doubly-fed wind turbine stator reactive power control loop switching unit switches a control signal to the doubly-fed wind turbine stator reactive power control loop based on traditional vector control method, provide the appropriate control voltage v dr_VC * according to the doubly-fed wind turbine stator reactive power output error.

The doubly-fed wind turbine stator reactive power control loop based on first-order logic switch controller is configured to: when the doubly-fed wind turbine stator reactive power control loop switching unit switches a control signal to the doubly-fed wind turbine stator reactive power control loop based on first-order logic switch controller, provide the appropriate control voltage v dr_LB * according to the doubly-fed wind turbine stator reactive power output error.

The doubly-fed wind turbine converter capacitor voltage control loop switching control unit is configured to control a switching action between the doubly-fed wind turbine converter capacitor voltage control loop based on traditional vector control method and the doubly-fed wind turbine converter capacitor voltage control loop based on second-order logic switch controller.

The doubly-fed wind turbine converter capacitor voltage control loop based on traditional vector control method is configured to, when the doubly-fed wind turbine converter capacitor voltage control loop switching control unit switches a control signal to the doubly-fed wind turbine capacitor voltage control loop based on traditional vector control method, provide the appropriate control voltage v dg_VC * according to the doubly-fed wind turbine capacitor voltage deviation.

The doubly-fed wind turbine converter capacitor voltage control loop based on second-order logic switch controller is configured to, when the doubly-fed wind turbine converter capacitor voltage control loop switching control unit switches a control signal to the doubly-fed wind turbine converter capacitor voltage control loop based on second-order logic switch controller, provide the appropriate control voltage v dg_LB * according to the doubly-fed wind turbine converter capacitor voltage deviation.

The doubly-fed wind turbine grid-side converter reactive power control loop switching unit is configured to control a switching action between the doubly-fed wind turbine grid-side converter reactive power control loop based on traditional vector control method and the doubly-fed wind turbine grid-side converter reactive power control loop based on first-order logic switch controller.

The doubly-fed wind turbine grid-side converter reactive power control loop based on traditional vector control method is configured to, when the doubly-fed wind turbine grid-side converter reactive power control loop switching unit switches a control signal to the doubly-fed wind turbine grid-side converter reactive power control loop based on tradition vector control method, provide the appropriate control voltage v qg_VC * according to the doubly-fed wind turbine grid-side converter reactive power output error.

The doubly-fed wind turbine grid-side converter reactive power control loop based on first-order logic switch controller is configured to: when the doubly-fed wind turbine grid-side converter reactive power control loop switching unit switches a control signal to doubly-fed wind turbine grid-side converter reactive power control loop based on first-order logic switch controller, provide the appropriate control voltage v qg_LB * according to the doubly-fed wind turbine grid-side converter reactive power output error.

The multi-loop switching control system for a doubly-fed wind turbine based on logic switch control has a control object of a doubly-fed wind turbine converter. The control system includes four input signals, respectively a doubly-fed wind turbine rotor speed deviation e ω r =ω r −ω r *, a doubly-fed wind turbine stator reactive power output deviation e Q s =Q s −Q s *, a doubly-fed wind turbine converter capacitor voltage deviation e V dc =V dc −V dc *, and a doubly-fed wind turbine grid-side converter reactive power output error e Q g =Q g −V g *. The four input signals respectively correspond to four control loops. The multi-loop switching control system for a doubly-fed wind turbine based on logic switch control includes four output signals, respectively a doubly-fed wind turbine rotor-side converter q-axis control voltage v qr *, a doubly-fed wind turbine rotor-side converter d-axis control voltage v dr *, a doubly-fed wind turbine grid-side converter d-axis control voltage v dg *, and a doubly-fed wind turbine grid-side q-axis control voltage v qg *. The four output signals respectively correspond to four feedback control channels. The doubly-fed wind turbine rotor speed deviation e ω r =ω r −ω r * signal passes through the doubly-fed wind turbine rotor speed control loop based on traditional vector control method, the doubly-fed wind turbine rotor speed switch control loop based on second-order logic switch controller and the doubly-fed wind turbine rotor speed control loop switching control unit, and then outputs the doubly-fed wind turbine rotor-side converter q-axis control voltage v qr *. The doubly-fed wind turbine stator reactive power output deviation e Q s =Q s −Q s *: passes through the doubly-fed wind turbine stator reactive power control loop based on traditional vector control method, the doubly-fed wind turbine stator reactive power control loop based on first-order logic switch controller and the doubly-fed wind turbine stator reactive power control loop switching unit and then outputs the doubly-fed wind turbine rotor-side converter d-axis control voltage v dr * . The doubly-fed wind turbine converter capacitor voltage error e V dc =V dc −V dc * passes through the doubly-fed wind turbine converter capacitor voltage control loop based on traditional vector control method, the doubly-fed wind turbine converter capacitor voltage control loop based on second-order logic switch controller and the doubly-fed wind turbine converter capacitor voltage control loop switching control unit and then outputs the doubly-fed wind turbine grid-side converter d-axis control voltage v dg *. The doubly-fed wind turbine grid-side converter output reactive power error e Q g =Q g −Q g * passes through the doubly-fed wind turbine grid-side converter reactive power control loop based on traditional vector control method, the doubly-fed feeder grid-side converter reactive power control loop based on first-order logic switch controller, and the doubly-fed wind turbine grid-side reactive power control loop switching unit, and then outputs the doubly-fed wind turbine grid-side converter q-axis control voltage v qg * . Accordingly, four control loops are formed.

The structure of the doubly-fed wind turbine rotor speed control loop based on traditional vector control method is as shown in FIG. 3 . ω r is the generator rotor speed, ω ref is generator rotor speed reference value, i qr is the rotor current q-axis component, i qrref is the reference value of the rotor current q-axis component, s=(ω s −ω r )/ω s is the induction generator slip, ω s =2πf is synchronous speed, f (Hz) is the system frequency, L r is the rotor winding inductance value, L m is the induction generator winding mutual inductance, i dr is the rotor current d-axis component,

i ms = v s - R s ⁢ i qs ω s ⁢ L m

is the magnetizing current of the induction generator, where v s is the doubly-fed motor stator winding terminal voltage and R s is the stator winding resistance,

i qs = - L m ⁢ i qr L s

is stator current q-axis component, L s is the stator winding inductance value,

σ = 1 - L m 2 L s ⁢ L r ,

and PI 1 and PI 2 are two proportional integral control systems, and the control parameters thereof are respectively set to: P 1 =5, I 1 =0.1, P 2 =10, I 2 =70.

The structure of the doubly-fed wind turbine rotor speed switch control loop based on second-order logic switch controller is as shown in FIG. 4 . v qr_min is the minimum value of the rotor-side converter q-axis control voltage, v qr_max is the maximum value of the rotor-side converter q-axis control voltage, v qr_LB * is a control signal generated by the doubly-fed wind turbine rotor speed switch control loop based on second-order logic switch controller, and

where q(t) is the output of the second-order logic switch controller system, q(t) can be calculated by the following formula

where e(t)=e ω r (t), G(e, ē, e , q old )=[e≥ē∨(e> e ∧q old )], ē is the upper bound of the output tracking error, e is the lower bound of the output tracking error, q(t−) is the logic value of the previous time step corresponding to the logic variable, ∧ is the logic AND operation, ∨ is the logic OR operation, φ 0 + and φ 0 − define the error interval of the tracking error of the output variable, i.e. F 0 :={e∈□|φ 0 − ≤e≤φ 0 + }, ε 0 + and ε 0 − define the safety distance within F 0 , and q (t−) is the logic value of q (t) at the previous moment, q 1 0 is the initial value of q 1 (t) when t=0, φ 1 + and φ 1 − define the error interval of the first derivative of the output variable, i.e. F 1 :={ė∈ |φ 1 − ≤ė≤φ 1 + }, ε 1 + and ε 1 − define the safe distance within F 1 , λ 1 + and λ 1 − are the increasing and decreasing velocity of ideal e within F 0 , and q 1 (t−) is the logic value of q 1 (t) at the previous moment, and q 0 is the initial value of q (t) when t=0. The parameters of the above control system are set as: φ 0 + =4, φ 0 − =−4, ε 0 + =3.9, ε 0 − =3.9, φ 1 + =50, φ 1 − −50, ε 1 + =0.4, ε 1 − =0.4, λ 1 + +=49, λ 1 − =49, q 1 0 =q 0 =true, v qr_min =−5, v qr_max =5.

The doubly-fed wind turbine rotor speed control loop switching control unit is v qr *=γ(t)v qr_LB *+(1−γ(t))v qr_VC *. v qr_LB * is a control signal obtained after the doubly-fed wind turbine rotor speed deviation e ω r =ω r −ω r * passes through the doubly-fed wind turbine rotor speed switch control loop based on second-order logic switch controller, v qr_VC * is a control signal obtained after the doubly-fed wind turbine rotor speed deviation e ω r =ω r −ω r * passes through the doubly-fed wind turbine rotor speed control loop based on traditional vector control method, and γ ω r (t) is the switching control strategy of the doubly-fed wind turbine rotor speed control loop

where,

T 1 :={e ω r ( t )>φ 0 + or e ω r ( t )<φ 0 − };

T 2 ={{(Γ s −Γ j )/Γ s ≥τ}∧{e ω r ( t ) converges to the interval [2(φ 0 − +ε 0 + ),2(φ 0 + −ε 0 + )]}};

where Γ(t)={Γ 1 , Γ 2 , . . . , Γ j } is the extreme value of the sequence |e ω r (t)|, where Γ s (s∈{1, 2, . . . , j}) is the maximum value in the sequence Γ(t), and τ=0.5 is the reduction proportion of Γ j relative to Γ s .

The structure of the doubly-fed wind turbine stator reactive power control loop based on traditional vector control method is as shown in FIG. 5 . Q sref is the stator reactive power output reference value, PI 3 and PI 4 are two proportional integral control systems, and the control parameters selected as: P 3 =5, I 3 =0.5, P 4 =10, P 5 =5.

The structure of the doubly-fed wind turbine stator reactive power control loop based on first-order logic switch controller is as shown in FIG. 6 . v dr_min is the minimum value of the rotor-side converter d-axis control voltage, v dr_max is the maximum value of the rotor-side converter d-axis control voltage, and v dr_LB * is a control signal generated by the doubly-fed wind turbine stator reactive power control loop based on second-order logic switch controller, and

where q(t) is the output of the first-order logic switch controller system, q(t) can be calculated by the following formula

q ( t )= G ( e ( t ),φ 0 + −ε 0 + ,φ 0 − +ε 0 − ,q ( t −)), q (0−)= q 0 ∈{true,false}

where e(t)=e Q s (t), the parameters of the control system are set: v dr_max =1.5, v dr_min =−1.5, φ 0 + =4, φ 0 − =−4, ε 0 + =3.9, ε 0 − =3.9, q 0 =true.

The doubly-fed wind turbine stator reactive power control loop switching control unit is v dr *=γQ Q s (t)v dr_LB *+(1−γ Q s (t))v dr_VC *. v dr_LB * is a control signal obtained after the doubly-fed wind turbine stator reactive power deviation e Q s =Q s −Q s *passes through the doubly-fed wind turbine stator reactive power switch control loop based on first-order logic switch controller, v dr_VC * is a control signal obtained after the doubly-fed wind turbine stator reactive power deviation e Q s =Q s −Q s * passes through the doubly-fed wind turbine stator reactive power control loop based on traditional vector control method and γ Q s (t) is a switching control strategy of the doubly-fed wind turbine stator reactive power control loop

where,

T 1 : ={e ω r ( t )>φ 0 + or e ω r ( t )<φ 0 − };

T 2 :={{(Γ s −Γ j )/Γ s ≥τ}∧{e ω r ( t ) converges to the interval [2(φ 0 − +ε 0 − ),2(φ 0 + −ε 0 + )]}};

where Γ(t)={Γ 1 , Γ 2 , . . . , Γ j } is the extreme value of the sequence |e ω r (t)|, where Γ s (s∈{1, 2, . . . , j}) is the maximum value in the sequence Γ(t), and τ=0.5 is the reduction proportion of Γ j relative to Γ s .

The structure of the doubly-fed wind turbine converter capacitor voltage control loop based on traditional vector control method is as shown in FIG. 7 . V dcref is the converter capacitor voltage reference, i dg is the d-axis component of the grid-side converter current, i qg is the q-axis component of the grid-side converter current, L g is the inductive reactance of the grid-side filter inductor, and PI 6 and PI 7 are two proportional integral control systems, and the parameters thereof are set as follows: P 6 =10, I 6 =0.5, P 7 =11, I 7 =5.

The structure of the doubly-fed wind turbine converter capacitor voltage control loop based on second-order logic switch controller is as shown in FIG. 8 . v dg_min is the minimum value of the grid-side converter d-axis control voltage, v dg_max is the maximum value of the grid-side converter d-axis control voltage, v dg_LB * is a control signal generated by the doubly-fed wind turbine rotor speed switch control loop based on second-order logic switch controller, and

where q(t) is the output of the second-order logic switch controller system, and q(t) can be calculated by the following formula

where e(t)=e V dc (t), the parameters of the control system are set: φ 0 + =4, φ 0 − =−4, ε 0 + =3.9, ε 0 − =3.9, φ 1 + =50, φ 1 − =−50, ε 1 + =0.4, ε 1 − =0.4, λ 1 + =49, λ 1 − =49, q 1 0 =q 0 =true, v dg_min =−1.5, v dg_max =1.5.

The doubly-fed wind turbine converter capacitor voltage control loop switching control unit is v dg *=γ V dc (t)v dg_LB *+(1−γ V dc (t))v dg_VC *. v dg_LB * is a control signal obtained after the doubly-fed wind turbine converter capacitor voltage deviation e V dc =V dc −V dc * passes through the doubly-fed wind turbine converter capacitor voltage switch control loop based on second-order logic switch controller, v dg_VC * is a control signal obtained after the doubly-fed wind turbine converter capacitor voltage deviation e V dc =V dc −V dc * passes through the doubly-fed wind turbine converter capacitor voltage control loop based on traditional vector control method, and γ V dc (t) is a switching control strategy of the doubly-fed wind turbine converter capacitor voltage control loop

where,

T 1 :={e ω r ( t )>φ 0 + or e ω r ( t )<φ 0 − };

T 2 :={{(Γ s −Γ j )/Γ s ≥τ}∧{e ω r ( t ) converges to the interval [2(φ 0 − +ε 0 − ),2(φ 0 + −ε 0 + )]}};

where Γ(t)={Γ 1 , Γ 2 , . . . , Γ j } is the extreme value of the sequence |e ω r (t)|, where Γ s (s∈{1, 2, . . . , j}) is the maximum value in the sequence Γ(t), and τ=0.5 is the reduction proportion of Γ j relative to Γ s .

The structure of the doubly-fed wind turbine grid-side converter reactive power control loop based on traditional vector control method is as shown in FIG. 9 . Q gref is the doubly-fed wind turbine grid-side converter reactive power output, V s is the magnitude of the stator voltage, PI 5 is the proportional-integral control system, i qg is q-axis component of the grid-side converter filter current, L g is filter inductance of the grid-side converter filter, i qgref is the reference value of the q-axis component of the grid-side converter filter current, and PI 5 is the proportional integral control system, and the parameters thereof are set as: P 5 =10, I 5 5=5

The structure of the doubly-fed wind turbine grid-side converter reactive power control loop based on first-order logic switch controller is as shown in FIG. 10 . v qg_min is the minimum value of the grid-side converter q-axis control voltage, v qg_max is the maximum value of the grid-side converter q-axis control voltage, v qg_LB * is a control signal generated by the doubly-fed wind turbine grid-side converter reactive power control loop based on first-order logic switch controller, and

where q(t) is the output of the second-order logic switch controller system, and q(t) can be calculated by the following formula

q ( t )= G ( e ( t ),φ 0 + −ε 0 + ,φ 0 − +ε 0 − ,q ( t −)), q (0−)= q 0 ∈{true,false}

where e(t)=e Qg (t), the parameters of the control system are set: v qg_max =1.5, v qg_min =−1.5, φ 0 + =4, φ 0 − =−4, ε 0 + =3.9, ε 0 + =3.9, q 0 =true.

The doubly-fed wind turbine grid-side converter reactive power control loop switching control unit is v qg *=γ Q g (t)v qg_LB *+(1−γ Q g (t))v qg_VC *. v qg_LB * is a control signal obtained after the doubly-fed wind turbine grid-side converter reactive power deviation e Q g =Q g −Q g * passes through the doubly-fed wind turbine grid-side converter reactive power switch control loop based on first-order logic switch controller, v qg_VC * is a control signal obtained after the doubly-fed wind turbine stator reactive power deviation e Q g =Q g −Q g * passes through the doubly-fed wind turbine grid-side converter reactive power control loop of based on traditional vector control method, and γ Q g (t) is a switching control strategy of the doubly-fed wind turbine stator reactive power control loop

where,

T 1 :={e ω r ( t )>φ 0 + or e ω r ( t )<φ 0 − };

T 2 :={{(Γ s −Γ j )/Γ s ≥τ}∧{e ω r ( t ) converges to the interval [2(φ 0 − +ε 0 − ),2(φ 0 + −ε 0 + )]}};

where Γ(t)={Γ 1 , Γ 2 , . . . , Γ j } is the extreme value of the sequence |ε ω r (t)|, where Γ s (s∈{1, 2, . . . , j}) is the maximum value in the sequence Γ(t), and τ=0.5 is the reduction proportion of Γ j relative to Γ s .

The control system further includes a switching excitation controller, the switching strategy is:

it is assumed that after the power system is perturbed, the extreme value sequence in the oscillation trajectory of the absolute value |e(t)| of the output variable of the doubly-fed wind turbine is Γ(t)={Γ 1 , Γ 2 , . . . , Γ j }, where Γ s =(s∈{1, 2, . . . , j}) is the maximum value in the sequence Γ(t), and the switching strategy of each loop in the control system is as follows: when switching condition 1 is met, the switching control system is switched from the conventional vector controller to the switch controller; when the switching condition 2 is met, the switching control system is switched from the switch controller to the conventional vector controller,

switching condition 1: |e(t)|≥ ω ;

switching condition 2: {the switching excitation controller's switching frequency reaches the maximum value that the device can withstand} {{(Γ s −Γ j )/Γ s ≥τ}∧{e(t) converges to [2(φ 0 − +ε 0 − ), 2(φ 0 + −ε 0 + )]}};

where ω and τ are the parameters of the switching excitation controller to be designed.

FIG. 11 is a graph of a rotation speed curve of an implementation of a non-limiting embodiment or aspect of a doubly-fed wind turbine after a three-phase short circuit fault occurs in an external power grid in the multi-loop switching control system for a doubly-fed wind turbine based on logic switch control. It can be seen that under the same disturbance, the doubly-fed wind turbine based on traditional vector control algorithm has instability, and the doubly-fed wind turbine controlled by the multi-loop switching control system for a doubly-fed wind turbine based on logic switch control can return to the original balance point to continue running after the system is disturbed.

FIG. 12 is a graph of a curve of a converter capacitor voltage of an implementation of a non-limiting embodiment or aspect of a doubly-fed wind turbine after three-phase short-circuit faults occur in an external power grid of the multi-loop switching control system for a doubly-fed wind turbine based on logic switch control.

FIG. 13 is a graph of a curve of an active power output of an implementation of a non-limiting embodiment or aspect of a doubly-fed wind turbine after three-phase short-circuit faults occur in the external power network of a multi-loop switching control system for a doubly-fed wind turbine based on logic switch control.

FIG. 14 is a graph of a curve of a reactive power of an implementation of a non-limiting embodiment or aspect of a doubly-fed wind turbine wind turbine after three-phase short circuits occur in the external power grid of a multi-loop switching control system for a doubly-fed wind turbine wind turbine based on logic switch control.

Accordingly, in a multi-loop switching controller for a doubly-fed wind turbine based on switch control according to some non-limiting embodiments or aspects, output variables of the doubly-fed wind turbine include generator rotor speed, stator-side reactive power output, grid-side converter reactive power output, back-to-back converter DC capacitor terminal voltage, and/or the like. Four feedback control channels are formed using four inputs and output variables. Each control channel switches between a switch controller and a conventional vector controller to form a four-loop switch controller. The switching strategy is as follows: when the power system where the doubly-fed wind turbine is subjected to a large external disturbance, the state variables and output variables of the wind turbine will deviate from the original balance point. At this time, the four control loops of the doubly-fed wind turbine are switched by a conventional vector controller switch to the switch controller; under the action of the switch controller, the state variables and output variables of the wind turbine will return to the vicinity of the original balance point. At this time, the four control loops of the wind turbine are switched from the switch controller to the conventional vector controller. One characteristic of a multi-loop control system according to some non-limiting embodiments or aspects is that the design of the switch controller does not depend on the exact model of the system, but only needs to know the relative order of the system model. Further, the switch controller may only have two values, i.e., the maximum value and the minimum value of the corresponding control variable. Therefore, the switch controller can give full play to the maximum energy of the doubly-fed wind turbine converter so that the system can return to the original balance point to continue running with the fastest speed. With the switch controller, the multi-loop switching controller has strong robustness to the outside disturbance.

The above embodiments are the preferred embodiments of the present invention. However, the embodiments of the present invention are not limited to the above embodiments. Any other changes, modifications, replacements, combinations, and modifications without departing from the spirit and principle of the present invention, all simplifications shall be equivalent substitutions, and are all included in the protection scope of the present invention.

The foregoing disclosure provides illustration and description, but is not intended to be exhaustive or to limit the implementations to the precise form disclosed. Modifications and variations are possible in light of the above disclosure or may be acquired from practice of the implementations.

Some implementations are described herein in connection with thresholds. As used herein, satisfying a threshold may refer to a value being greater than the threshold, more than the threshold, higher than the threshold, greater than or equal to the threshold, less than the threshold, fewer than the threshold, lower than the threshold, less than or equal to the threshold, equal to the threshold, etc.

It will be apparent that systems and/or methods, described herein, can be implemented in different forms of hardware, software, or a combination of hardware and software. The actual specialized control hardware or software code used to implement these systems and/or methods is not limiting of the implementations. Thus, the operation and behavior of the systems and/or methods are described herein without reference to specific software code; it being understood that software and hardware can be designed to implement the systems and/or methods based on the description herein.

Even though particular combinations of features are recited in the claims and/or disclosed in the specification, these combinations are not intended to limit the disclosure of possible implementations. In fact, many of these features can be combined in ways not specifically recited in the claims and/or disclosed in the specification. Although each dependent claim listed below may directly depend on only one claim, the disclosure of possible implementations includes each dependent claim in combination with every other claim in the claim set.

Unless otherwise indicated, all ranges or ratios disclosed herein are to be understood to encompass any and all subranges or sub-ratios subsumed therein. For example, a stated range or ratio of “1 to 10” should be considered to include any and all subranges between (and inclusive of) the minimum value of 1 and the maximum value of 10; that is, all subranges or subratios beginning with a minimum value of 1 or more and ending with a maximum value of 10 or less, such as but not limited to, 1 to 6.1, 3.5 to 7.8, and 5.5 to 10.

All documents, such as but not limited to issued patents and patent applications, referred to herein, and unless otherwise indicated, are to be considered to be “incorporated by reference” in their entirety.

No element, act, or instruction used herein should be construed as critical or essential unless explicitly described as such. Also, as used herein, the articles “a” and “an” are intended to include one or more items, and may be used interchangeably with “one or more.” Furthermore, as used herein, the term “set” is intended to include one or more items (e.g., related items, unrelated items, a combination of related and unrelated items, etc.), and may be used interchangeably with “one or more.” Where only one item is intended, the term “one” or similar language is used. Also, as used herein, the terms “has,” “have,” “having,” and/or the like are intended to be open-ended terms. Further, the phrase “based on” is intended to mean “based, at least in part, on” unless explicitly stated otherwise.