Control of Generator- and Grid-side Converter for the Interior Permanent Magnet Synchronous Generator

Transcription

1 Control o Generator- an Gr-e Converter or the Interor Permanent Magnet Synchrono Generator n Barša, Damr Smna, Martna Ktja Unverty o Zagreb, Faclty o Electrcal Engneerng an Comptng Unka, Zagreb, Croata tn.bara@er.hr, amr.mna@er.hr, martna.ktja@er.hr Abtract Permanent magnet ynchrono generator have we applcaton n wn energy converon ytem. I nteror permanent magnet ynchrono generator (IPMSG) connecte to the gr by a ll cale AC-DC-AC converter, the wn trbne can be operate to extract maxmm wn power at erent wn pee by optmally ajtng hat pee. In th paper the moel o the AC-DC-AC converter an relate control trctre or the control o IPMSG were evelope n MALAB/Smlnk. Control o generator-e converter wa acheve ng el orente control (FOC) whch eparately control the electromagnetc tore an the magnetc lx. Optmal tator crrent reerence were calclate ng maxmm tore per ampere algorthm (MPA) whch enre mnmm tator crrent magnte or electromagnetc tore reerence. Control o gr-e converter wa acheve ng voltage orente control (VOC) whch eparately control actve an reactve power njecte to the gr. Oter control loop, wth lower ynamc, enre that DC crct voltage kept at reerence vale whch enre traner o the actve power rom the DC crct to the gr. Inner control loop, wth ater ynamc, control the - an the -ax gr crrent. Ung evelope control trctre, the tator an the gr crrent controller were egne ng techncal optmm whle DC voltage controller wa egne ng ymmetrcal optmm. Propoe control metho were vere by mlaton ng laboratory moel parameter. Keywor-AC-DC-AC converter; el orente control; nteror permanent magnet ynchrono generator; voltage orente control I. INRODUCION In recent year, wn energy converon ytem (WECS) have gane gncant attenton a clean an ae renewable power orce. Along wth rrel cage ncton generator (SCIG) an oble e ncton generator (DFIG), permanent magnet ynchrono generator (PMSG) have we applcaton n WECS []-[]. Man charactertc o an nteror permanent magnet ynchrono generator (IPMSG) are hgh power actor, hgh power enty, compact egn, hgh ecency an we pee operatng range. I IPMSG connecte to the gr by a ll cale AC-DC-AC converter, the wn trbne can be operate to extract maxmm wn power at erent wn pee by optmally ajtng hat pee [4]. Generator-e converter control trategy am to control eparately magnetc lx an electromagnetc tore. h control trategy can be acheve by ng rect tore control (DC) or el orente control (FOC). Man eatre o DC are rect control o tator lx an electromagnetc tore, hgh tator crrent an tore rpple, excellent tore ynamc an varable wtchng reency [5]. Fel orente control, oten reerre to a vector control, acheve tator crrent control ng the ynchronoly rotatng reerence rame. Gr-e converter control trategy am to control nepenently actve an reactve power tranerre rom the DC crct to the gr. h control trategy can be acheve by ng rect power control (DPC) or voltage orente control (VOC). Man eatre o DPC are mplcty, at ynamc repone an varable wtchng reency [5]. Voltage orente control cont o oter control loop whch keep DC crct voltage at reerence vale an nner control loop that control crrent njecte to the gr. he LCL gr lter ally e to elmnate harmonc cae by ple wh molaton () o the gr-e converter [6]. In th paper the moel o the AC-DC-AC converter an relate control trctre or the control o IPMSG were evelope n MALAB/Smlnk. Control o the generatore converter wa acheve ng el orente control whle control o the gr e-converter wa acheve ng voltage orente control. Propoe control trctre were e to egn the tator an the gr crrent controller ng techncal optmm an the DC crct voltage controller ng ymmetrcal optmm. Smlaton wa concte ng laboratory moel ata. II. GENERAOR-SIDE CONVERER CONROL A. Mathematcal moel o an IPMSG he mathematcal moel o an IPMSG n ynchronoly rotatng reerence rame can be expree a ollow: = R L ω e L () = R L ω e L ψ mωe () e = p( ψ m ( L L ) ) () where an are the - an the -ax tator crrent, an are the - an the -ax tator voltage, e the electromagnetc tore, ω e rotor anglar electrcal pee, R the tator retance, L an L are the - an the -ax nctance, ψ m the permanent magnet lx lnkage, an p

2 the nmber o pole par. B. Fel orente control (FOC) In Fg. el orente control trctre o an IPMSG hown. For gven electromagnetc tore reerence, optmal tator crrent reerence were calclate ng maxmm tore per ampere (MPA) algorthm. Vector agram o an IPMSG hown n Fg.. I tator crrent n the - an the -ax are expree epenng on the tator crrent angle, the electromagnetc tore eaton () can be wrtten a ollow [7]: ( L L ) I n = ψ coγ e p m I γ (4) where I the tator crrent magnte an γ the tator crrent angle. Accorng to MPA algorthm, optmal tator crrent n the - an the -ax enre mnmm tator crrent magnte or gven electromagnetc tore reerence. Optmal tator crrent angle on by calclatng e / γ = : m 8I ( L L ) ( L L ) I ψ m ψ γ = arcn (5) 4 Ung (5) the optmal -ax crrent can be expree a a ncton o the -ax crrent [7]: m ψ m ψ = ( L L ) 4( L L ) For the gven electromagnetc tore reerence, (6) bttte nto the electromagnetc tore eaton () whch lea to aratc eaton. Solton to that eaton the optmal -ax tator crrent. Ater the optmal -ax tator crrent obtane, the optmal -ax tator crrent ealy calclate ng () or (6). C a b c MPA e a b c θ e a b c IPMSG ωe Fgre. Fel orente control o an IPMSG (6) γ ψ ψ m Fgre. Vector agram o an IPMSG L L Calclate optmal tator crrent reerence are npt to controller. In orer to acheve ecople control n the - an the -ax, ecoplng gnal are ae to otpt o controller a ollow: = ω L (7) e e =ω L ψ ω (8) where an are ecoplng gnal n the - an the - ax, repectvely. Otpt o the controller wth ecoplng gnal orm the - an the -ax generator-e converter voltage reerence. Ater nvere Clark an Park tranormaton, voltage reerence are orware to. C. controller egn Block agram o the tator crrent control loop hown n Fg.. Ung ecoplng gnal (7)-(8) mathematcal moel o an IPMSG can be expree a [8]: m = R L (9) = R L () Decople relaton (9)-() are table or controller egn. Gan an tme contant o the IPMSG traner ncton can be expree a ollow: k, = () R controller, K ( ),,,,,, amplng, e, IPMSG k, τ, Fgre. Block agram o the tator crrent control loop,

3 L,, = R τ () All meare vale are ample ng amplng tme. Samplng an are moelle a rt-orer element wth tme contant an /, repectvely. o mply the block agram, two mallet tme contant are grope together a ollow: = () Snce the IPMSG tme contant gncantly bgger than the m o an amplng tme contant, techncal optmm e or controller egn. he omnant pole o the open loop traner ncton can be cancelle by ettng the ntegral tme contant o the controller eal to the tme contant o an IPMSG a ollow [8]:, τ, = (4) Gan o controller can be calclate a ollow [8]: III. K, τ = k,, CONROL OF GRID-SIDE CONVERER (5) A. Mathematcal moel o the LCL lter an the gr Gr-e converter wth LCL lter hown n Fg. 4. Voltage eaton between the gr-e converter an the gr can be expree n tatonary reerence rame a ollow [9]: L k = k k R ck (6) C ck = k gk (7) gk L = ck gk R gk (8) k = a, b, c (9) where k the gr-e converter voltage, k the gr-e converter crrent, ck voltage at the lter capactor, gk the gr crrent, gk the gr voltage, L an L are lter nctance, R an R are lter paratc retance an C the lter capactor. At reence that are lower than hal o t reonance reency, LCL lter can be moelle a L lter [9]. Retance an nctance o the mple moel o the LCL lter can be expree a: R R R = () L L L = () where L an R are nctance an retance o the evalent L lter, repectvely. Ung mple lter moel an (6)- (9) voltage eaton between the gr-e converter an the gr can be can be expree n reerence rame, whch rotate wth the gr voltage anglar pee, a ollow [9]: L = R ω L g () g L = g R g ω L () where an are the - an the -ax gr-e converter voltage, an g are the - an the -ax gr voltage, an g are the - an the -ax gr crrent, ω the gr voltage anglar pee, L an R are nctance an retance o the lter, repectvely. B. Voltage orente control In Fg. 5 voltage orente control o the gr-e converter hown. Propoe control trctre acheve n reerence rame whch rotate wth gr voltage anglar reency. In orer to etect the gr voltage angle, phae locke loop (PLL) [] e. he -ax o the reerence rame algne wth the gr voltage vector o the -ax gr voltage eal to t magnte ( = g) whle the -ax gr voltage eal to zero ( g = ). C c a b c a b c R θ PLL L ga gb gc g ga gb gc 4V 5 Hz Gr C c R L C LCL lter L R 4V 5 Hz Gr g / g Fgre 4. Gr-e converter wth LCL lter Q g Fgre 5. Voltage orente control []

4 he oter DC voltage control loop keep DC voltage at reerence vale whch enre that proce actve power tranerre rom the DC crct to the gr. Otpt o the DC voltage controller the -ax gr crrent reerence. he -ax gr crrent reerence can be calclate rom the gr reactve power reerence. Inner control loop, wth ater ynamc, control the - an the -ax gr crrent []. Calclate gr crrent reerence are npt to controller. In orer to acheve ecople control n the - an the -ax, ecoplng gnal are ae to otpt o controller a ollow: = ω L (4) g g = ω L (5) where an are ecoplng gnal n the - an the - ax, repectvely. Otpt o the controller wth ecoplng gnal orm the - an the -ax gr-e converter voltage reerence. Ater nvere Clark an Park tranormaton voltage reerence are orware to. C. controller egn Block agram o the gr crrent control loop hown n Fg. 6. Ung ecoplng gnal (4)-(5) voltage eaton between gr-e converter an the gr can be expree a: = R L (6) g = g R L (7) Decople relaton (6)-(7) are table or controller egn. Snce the - an the -ax nctance are the ame, gan an the tme contant o the gr crct traner ncton are the ame or both ax a ollow: k = (8) R L τ = (9) R Samplng an are moelle a rt-orer element wth tme contant an /, repectvely. wo mallet tme contant are grope a ollow: controller, K ( ),, = (),,, Evalent RL crct k τ, me contant o the evalent RL crct between the gre converter an the gr gncantly bgger than m o an amplng tme contant o techncal optmm table or controller egn. Integral tme o controller e to cancel the omnant pole o the open loop traner ncton a ollow []: = τ () Gan o controller calclate a ollow []: τ K = k () Smple traner ncton o the cloe loop gr crrent control can be expree a ollow []: G c ( ) () Block agram o DC crct voltage control loop hown n Fg. 7. Actve power o the DC crct can be expree a ollow [8]: C P gen = P P (4) g = Pgen (5) Lnearzaton perorme aron = U, = U, P g = P,g, P gen = P,gen. Lnearze power balance eaton, takng nto accont that generator an gr power are balance n the teay tate P,g = P,gen, can be expree a [8]: = U C P gen U C P g (6) raner ncton o the DC crct voltage can be on ng (6) a ollow: ( ) = P ( ) U C g (7) Gr crrent control loop moelle ng mple expreon () whle amplng moelle a rt-orer element wth tme contant /. controller ( ) K -ax gr crrent control loop U g P P gen DC crct capactor C U amplng Fgre 6. Block agram o the gr crrent control loop amplng Fgre 7. Block agram o the DC voltage control loop

5 Open loop traner ncton obtane a ollow [8]: ABLE I. IPMSG PARAMEERS G o K ( ) = ( ) U U C (8) Snce the open loop traner ncton ncle ntegrator, ymmetrcal optmm e or controller egn. wo mallet tme contant are grope a ollow: = (9) Gan an ntegral tme contant o the controller can be expree a ollow [8]: K = a (4) = a U U C where a parameter relate to the phae margn. IV. SIMULAION RESULS (4) he moel o the AC-DC-AC converter an relate control trctre or the control o IPMSG were evelope n MALAB/Smlnk a hown n Fg. 8. Parameter o the IPMSG are preente n able I whle parameter o the gr, AC-DC-AC converter an the LCL lter are preente n able II. Gven parameter were obtane rom the laboratory moel. Fel orente control ecrbe n Secton II wa e or the generator-e converter control. MPA wa e to calclate tator crrent reerence. Voltage orente control ecrbe n Secton III wa e or the gr-e converter control. echncal an ymmetrcal optmm, ecrbe n Secton II an III, were e or controller egn. he electromagnetc tore reerence wa ntally zero, t change to -89 Nm at. an back to zero at.. Reactve gr power reerence wa ntally zero, t change to kvar at. an back to zero at.. he electromagnetc tore, the DC voltage, the -ax gr crrent, actve gr power, mechancal power an reactve gr power are hown n Fg. 9. Fg.. ABLE II. Parameter Nomnal power Back EMF contant Nomnal crrent Nomnal tore Nomnal reency Nomnal pee Stator retance -ax nctance -ax nctance Permanent magnet lx lnkage Vale Pn = 75 kw 66 V/krpm In = 596 A n = 89 Nm n = 75 Hz nn = 5 rpm R = 8.5 mω L =.7 mh L =.6 mh ψm =.69 Wb AC-DC-AC CONVERER AND LCL FILER PARAMEERS Parameter Vale Gr voltage Ug = 4 V Gr reency g = 5 Hz DC crct nomnal voltage U = 75 V DC crct capactance C =.76 mf wtchng reency = khz Flter capactance C = 6 µf Converter-e lter nctance L = 45.6 µh Gr-e lter nctance L =.85 µh Converter-e lter paratc retance R =. mω Gr-e lter paratc retance R =.97 mω Electromagnetc tore e, Nm me t, 8 Fgre 9. Electromagnetc tore e e 8 78 DC crct voltage, V Fgre 8. Smlnk moel o AC-DC-AC converter control me t, Fgre. DC crct voltage

6 8 IPMSG, AC-DC-AC converter an LCL lter. In the teay tate, mechancal power wa 75 kw whle actve gr power wa 6 kw. ax gr crrent, A Mechancal power an actve gr power P m, P g, kw me t, 5 4 Fgre. -ax gr crrent P m P g V. CONCLUSION In th paper mlaton moel or the generator- an the gr e converter control o the IPMSG wa evelope n Matlab/Smlnk. Parameter o the laboratory moel were e n mlaton. Develope mlaton moel wa e to etermne optmal parameter o controller. he tator an the gr crrent controller were egne ng techncal optmm whle the DC crct voltage controller wa egne ng ymmetrcal optmm. Ftre work ncle mplementaton o el orente control or the generator e converter an voltage orente control or the gr e converter. he propoe algorthm wll be mplemente on the gtal control ytem bae on ADSP-99. Implemente algorthm wll be vere on the laboratory moel whch cont o IPMSG, AC-DC-AC converter an ncton motor whch emlate wn trbne. ACKNOWLEDGMEN h work ha been lly pporte by the Croatan Scence Fonaton ner the project nmber UIP Reactve gr power Q g, kvar me t, Fgre. Mechancal power an actve gr power Q g Q g me t, Fgre. Reactve gr power At. actve power wa tranerre rom the IPMSG to the DC crct whch cae DC crct voltage to re. DC crct voltage controller et the -ax gr crrent reerence to 7 A whch enre traner o the actve power rom the DC crct to the gr an retorng DC crct voltage to reerence vale. he -ax gr crrent reerence wa calclate ng the reactve gr power reerence an gr voltage mearement. For the reactve gr power reerence kvar an gr voltage 4 V, the -ax gr crrent reerence wa -5 A. Actve gr power maller than mechancal power nce there are power loe n the REFERENCES [] M. Chnchlla, S. Arnalte, J.C. Brgo, Control o permanent-magnet generator apple to varable-pee wn-energy ytem connecte to the gr, IEEE ran. on Energy Converon, vol., no., pp. - 5, Mar. 6 [] S. Mormoto, H. Nakayama, M.Sanaa, Y. akea, Senorle otpt maxmzaton control or varable-pee wn generaton ytem ng IPMSG, IEEE ran. In. Appl., vol. 4, no., pp. 6-67, Jan./Feb. 5. [] S. Br, N. Celanovc, V. A. Katc, Permanent magnet ynchrono generator or wn trbne applcaton, IEEE ran. Power Electron., vol., no., pp. 6 4, May 8. [4] W. Qao, L. Q, R.G. Harley, Control o IPM ynchrono generator or maxmm wn power generaton conerng magnetc atraton, IEEE ran. In. Appl., vol. 45, no., pp. 95-5, May/Jne 9. [5] N. Frere, Falt-tolerant permanent magnet ynchrono generator rve or wn trbne applcaton, Ph.D. ertaton, Dept. Elect. Eng., Combra Unv., Combra, Portgal. [6] J. Dannehl, F. Fch, P.hogeren, tate pace crrent control o gr-connecte converter wth LCL lter, IEEE ran. Power Electron., vol. 5, no. 9, pp. -, Sept. [7] G. Kang, J. Lm, K. Nam, H.B. Ihm, H.-G. Km, A MPA control cheme or an IPM ynchrono motor conerng magnet lx varaton cae by temperatre, APEC 4 nneteenth annal IEEE, vol., pp. 67-6, Feb. 4. [8] V. Lešć, Falt-tolerant control o a wn trbne bject to generator electromechancal alt, Ph.D. ertaton, Dept. Contr. Eng., Zagreb Unv., Zagreb, Croata 4 [9]. Hajna, M. Baotć, N. Perć, Control o the gr e converter n a wn trbne, MIPRO, pp. 95-9, May [] V. Kara, V. Blaško, Operaton o a phae locke loop ytem ner torte tlty conton, IEEE ran. In. Electron., vol., no., pp. 58-6, Jan./Feb. 997 [] B. W, Y. Lang, N. Zargar, S. Koro, Control o gr connecte nverter, Power Converon an Control o Wn Energy Sytem, USA [] V. Blaško, V. Kara, New mathematcal moel an control o a three phae AC-DC voltage orce converter, IEEE ran. Power Electron., vol., no., pp. 6-, Jan. 997