CN102593833A - Method for designing frequency controller of independent micro-grid - Google Patents

Method for designing frequency controller of independent micro-grid Download PDF

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CN102593833A
CN102593833A CN2012100723675A CN201210072367A CN102593833A CN 102593833 A CN102593833 A CN 102593833A CN 2012100723675 A CN2012100723675 A CN 2012100723675A CN 201210072367 A CN201210072367 A CN 201210072367A CN 102593833 A CN102593833 A CN 102593833A
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grid
matrix
photovoltaic
load
diesel
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CN102593833B (en
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米阳
韩云昊
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Shanghai University of Electric Power
University of Shanghai for Science and Technology
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Abstract

The invention relates to a method for designing a frequency controller of an independent micro-grid. The method comprises the following steps of: establishing a mathematical model of a power generation system of the independent micro-grid, wherein the independent micro-grid comprises a photovoltaic power generation system and a diesel engine system hybrid power supply system; establishing a photovoltaic system mathematical model; establishing a diesel engine mathematical model comprising load disturbance; and designing an interference observer and a sliding mode controller. The output power of a diesel engine generator is regulated to reduce micro-grid frequency deviation caused by a load change and the power fluctuation of a photovoltaic system. By a designed sliding mode load frequency compensation controller, the micro-grid frequency deviation can be reduced, the maximal power output of the photovoltaic system is ensured, and the utilization rates of renewable energy sources are increased.

Description

A kind of method for designing frequency controller of independent micro-grid
Technical field
The present invention relates to a kind of power system frequency control technology, more particularly to a kind of method for designing frequency controller of independent micro-grid based on interference observer and sliding formwork control.
Background technology
Islet operation is the important operational mode of microgrid, is the important channel of army's electricity consumption etc. under local electricity consumption and war condition when solving China's electricity consumption from far-off regions, bulk power grid catastrophe.But under independent operation mode, microgrid must be able to maintain the voltage and frequency of oneself.And when accessing the new energy such as photovoltaic in microgrid, due to photovoltaic generating system by Changes in weather influenceed its power output have fluctuation, randomness, it is intermittent the features such as, so being continually changing for load may cause the active uneven and frequency of independent micro-grid significantly to offset in fluctuation and microgrid that power supply is exerted oneself, beyond operational envelope.Therefore, in the independent micro-grid comprising Photovoltaic new energy, in order to which the even running for keeping microgrid must take appropriate FREQUENCY CONTROL strategy.
In recent years, on having been achieved with certain achievement by reducing research of the new energy output-power fluctuation to suppress microgrid frequency deviation.Document proposes optimisation strategy for the control of photovoltaic maximal power tracing, reduce due to the fluctuation for the photovoltaic power output that weather influences and produces, so as to optimize the frequency of microgrid, but the influence of load variations in microgrid is not accounted for, and be not adjusted directly against microgrid frequency deviation.Document improves the quality of power supply of photovoltaic system by increasing batteries to store energy equipment, so that the output of photovoltaic system becomes more smooth, but when photovoltaic system capacity is larger, need the battery of installation Large Copacity, photovoltaic system installation cost will be caused to be significantly increased, and inevitable environmental problem can be brought using battery.The power of fluctuation is consumed in addition with the special design (calculated) load resistance of scholar, but this can not effectively suppress power swing.Document proposes the frequency optimization control strategy of the light bavin hybrid system based on minimal order observer.By designing minimal order observer forecasting system load value, the power output of photovoltaic system is adjusted using the load value of estimation, so as to reduce the frequency departure of microgrid.But minimal order observer designed in document is only applicable to deterministic linear system, and resulting photovoltaic power output is less than the photovoltaic power output that maximal power tracing controls to obtain, and is unfavorable for making full use of for new energy.
The content of the invention
The present invention be directed to influenceed greatly by photovoltaic output-power fluctuation by the independent microgrid system of power supply of photovoltaic generating system and diesel-driven generator, the problem of control is difficult, propose a kind of method for designing frequency controller of independent micro-grid, devise interference observer and sliding mode controller, by adjusting the power output of diesel-driven generator, reduce due to microgrid frequency deviation caused by load variations and photovoltaic system power swing.Designed sliding formwork LOAD FREQUENCY compensating controller, can not only reduce the deviation of microgrid frequency, while ensure that the maximum power output of photovoltaic system, improve renewable energy utilization rate.
The technical scheme is that：A kind of method for designing frequency controller of independent micro-grid, specifically includes following steps：
1）The Mathematical Modeling of independent micro-grid electricity generation system is set up, independent micro-grid includes photovoltaic generating system and diesel engine system mixed power supply system；
2）Set up photovoltaic system Mathematical Modeling
,
Figure 2012100723675100002DEST_PATH_IMAGE004
,
Figure 2012100723675100002DEST_PATH_IMAGE006
,
Figure 2012100723675100002DEST_PATH_IMAGE008
,
Wherein
Figure 2012100723675100002DEST_PATH_IMAGE010
With
Figure 2012100723675100002DEST_PATH_IMAGE012
It is the output current and output voltage of solar module respectively,It is photogenerated current,
Figure 2012100723675100002DEST_PATH_IMAGE016
It is photocell reverse saturation current,It is electron charge,
Figure 2012100723675100002DEST_PATH_IMAGE020
It is Boltzmann constant,
Figure 2012100723675100002DEST_PATH_IMAGE022
It is Diode Ideality Factor,
Figure 2012100723675100002DEST_PATH_IMAGE024
It is batteries in parallel connection number,
Figure 2012100723675100002DEST_PATH_IMAGE026
It is series-connected cell number,
Figure 2012100723675100002DEST_PATH_IMAGE028
It is photocell internal resistance electric current,
Figure 2012100723675100002DEST_PATH_IMAGE030
It is that temperature exists
Figure 2012100723675100002DEST_PATH_IMAGE032
When saturation current,
Figure 2012100723675100002DEST_PATH_IMAGE034
It is the temperature of photovoltaic array,
Figure 2012100723675100002DEST_PATH_IMAGE036
It is reference temperature,
Figure 2012100723675100002DEST_PATH_IMAGE038
It is energy needed for material bridges energy rank,It is short circuit current flow temperature coefficient,
Figure 2012100723675100002DEST_PATH_IMAGE042
It is the short circuit current flow of solar module,It is intensity of sunshine,
Figure 2012100723675100002DEST_PATH_IMAGE046
It is solar module internal resistance；
3）Set up the diesel engine Mathematical Modeling for including load disturbance
Figure 2012100723675100002DEST_PATH_IMAGE048
, wherein matrix
Figure 2012100723675100002DEST_PATH_IMAGE050
,
Figure 2012100723675100002DEST_PATH_IMAGE052
With
Figure 2012100723675100002DEST_PATH_IMAGE054
For nominal constant matrices,
Figure 2012100723675100002DEST_PATH_IMAGE056
It is load disturbance value, wherein
Figure 2012100723675100002DEST_PATH_IMAGE058
,
Figure 2012100723675100002DEST_PATH_IMAGE060
,
Figure 2012100723675100002DEST_PATH_IMAGE062
,
Wherein
Figure 2012100723675100002DEST_PATH_IMAGE066
It is frequency departure,
Figure 2012100723675100002DEST_PATH_IMAGE068
It is the change of diesel-driven generator power output,
Figure 2012100723675100002DEST_PATH_IMAGE070
It is the change of speed regulator valve positional increment,
Figure 2012100723675100002DEST_PATH_IMAGE072
It is the change of integration control increment,
Figure 2012100723675100002DEST_PATH_IMAGE074
It is load disturbance,
Figure 2012100723675100002DEST_PATH_IMAGE076
It is speed regulator time constant,
Figure 2012100723675100002DEST_PATH_IMAGE078
It is the time constant of diesel-driven generator,
Figure 2012100723675100002DEST_PATH_IMAGE080
It is that diesel-driven generator connects power system time constant,
Figure 2012100723675100002DEST_PATH_IMAGE082
It is related gain,
Figure 2012100723675100002DEST_PATH_IMAGE084
It is speed regulator speed adjustment factor,
Figure 2012100723675100002DEST_PATH_IMAGE086
For integration control gain；
4）Design interference observer
Figure 2012100723675100002DEST_PATH_IMAGE088
Wherein
Figure 2012100723675100002DEST_PATH_IMAGE090
It is system mode observation vector,
Figure 2012100723675100002DEST_PATH_IMAGE092
It is disturbance-observer value,
Figure 2012100723675100002DEST_PATH_IMAGE094
It is 4 rank unit constant value matrixes,
Figure 2012100723675100002DEST_PATH_IMAGE096
With
Figure 2012100723675100002DEST_PATH_IMAGE098
It is the observer gain matrix to be designed；
5）Design diverter surface
Figure 2012100723675100002DEST_PATH_IMAGE100
, wherein matrix
Figure 2012100723675100002DEST_PATH_IMAGE102
Matrix and matrix
Figure 2012100723675100002DEST_PATH_IMAGE104
It is constant matrices, matrix
Figure 2012100723675100002DEST_PATH_IMAGE106
Meet
Figure 2012100723675100002DEST_PATH_IMAGE108
And selection matrix
Figure 2012100723675100002DEST_PATH_IMAGE110
So that
Figure 2012100723675100002DEST_PATH_IMAGE112
It is nonsingular matrix；
6）Design controller
Figure 2012100723675100002DEST_PATH_IMAGE114
, wherein
Figure 2012100723675100002DEST_PATH_IMAGE116
It is the load value of interference observer estimation, wherein
Figure 2012100723675100002DEST_PATH_IMAGE118
With
Figure 2012100723675100002DEST_PATH_IMAGE120
It is nonnegative constant,It is sign function.
The beneficial effects of the present invention are：Method for designing frequency controller of independent micro-grid of the present invention, the controller according to said method designed can not only reduce the deviation of system frequency, while ensure that the maximum power output of photovoltaic system, improve renewable energy utilization rate.
Brief description of the drawings
Fig. 1 is that independent micro-grid frequency controller of the present invention designs microgrid dynamic model structure block diagram；
Fig. 2 is load actual power and interference observer estimation load value analogous diagram in independent micro-grid frequency controller of the present invention design；
Fig. 3 is the error change analogous diagram of interference observer load actual value and estimate during independent micro-grid frequency controller of the present invention is designed；
Fig. 4 is the intensity of sunshine change analogous diagram in micro-grid system of the present invention；
Fig. 5 is individually for microgrid frequency deviation analogous diagram when load is powered for diesel-driven generator in independent micro-grid of the present invention；
Fig. 6 is individually for diesel engine power output analogous diagram when load is powered for diesel-driven generator in independent micro-grid of the present invention；
Fig. 7 is photovoltaic generating system of the present invention and diesel engine collective effect to power microgrid frequency deviation analogous diagram to load；
Fig. 8 is that photovoltaic of the present invention hair system and diesel engine collective effect are powered photovoltaic power output analogous diagram to load；
Fig. 9 is photovoltaic generating system of the present invention and diesel engine collective effect to power diesel engine power output analogous diagram to load；
Figure 10 is that invention photovoltaic generating system and diesel engine collective effect are powered to load and add sliding formwork frequency compensation control strategy diesel engine power output analogous diagram；
Figure 11 is that invention photovoltaic generating system and diesel engine collective effect are powered to load and add sliding formwork frequency compensation control strategy microgrid frequency deviation analogous diagram；
Figure 12 is that invention photovoltaic generating system and diesel engine collective effect are powered to load and add sliding formwork frequency compensation control strategy photovoltaic power output and the photovoltaic power output analogous diagram of bibliography；
Figure 13 is invention bibliography frequency departure analogous diagram.
Embodiment
(1) Mathematical Modeling of the independent micro-grid of energy mix access is considered：The dynamic model of microgrid is as shown in figure 1, Fig. 1 is the dynamic structure model of the complementary independent micro-grid of light bavin.Including diesel generating system, photovoltaic generating system, interference observer and sliding formwork frequency compensation controller.The main load value design sliding formwork frequency compensation controller estimated using interference observer, the power output of diesel-driven generator is adjusted using the controller, so as to suppress in independent micro-grid because photovoltaic output-power fluctuation and load are continually changing caused microgrid frequency deviation.It is the detail mathematic model of modules in Fig. 1 separately below.
Solar module is significant to design inverter and control system, traditional I-V characteristic of solar module, the saturation current of solar module
Figure 2012100723675100002DEST_PATH_IMAGE124
Situation about varying with temperature, photocell internal resistance electric current can be expressed by following formula：
Figure 2012100723675100002DEST_PATH_IMAGE126
         
Figure 2012100723675100002DEST_PATH_IMAGE128
Figure 2012100723675100002DEST_PATH_IMAGE130
Figure 227851DEST_PATH_IMAGE008
Wherein
Figure 2012100723675100002DEST_PATH_IMAGE132
WithIt is the output current and output voltage of solar module respectively,
Figure 2012100723675100002DEST_PATH_IMAGE136
It is photogenerated current,
Figure 96581DEST_PATH_IMAGE124
It is photocell reverse saturation current,It is electron charge,
Figure 2012100723675100002DEST_PATH_IMAGE140
It is Boltzmann constant,
Figure 2012100723675100002DEST_PATH_IMAGE142
It is Diode Ideality Factor,
Figure 2012100723675100002DEST_PATH_IMAGE144
It is batteries in parallel connection number,It is series-connected cell number,
Figure 2012100723675100002DEST_PATH_IMAGE148
It is photocell internal resistance electric current,
Figure 2012100723675100002DEST_PATH_IMAGE150
It is that temperature exists
Figure 601642DEST_PATH_IMAGE032
When saturation current,
Figure 2012100723675100002DEST_PATH_IMAGE152
It is the temperature of photovoltaic array,It is reference temperature,
Figure 2012100723675100002DEST_PATH_IMAGE154
It is energy needed for material bridges energy rank,
Figure 2012100723675100002DEST_PATH_IMAGE156
It is short circuit current flow temperature coefficient,
Figure 2012100723675100002DEST_PATH_IMAGE158
It is the short circuit current flow of solar module,
Figure DEST_PATH_IMAGE160
It is intensity of sunshine,
Figure 672159DEST_PATH_IMAGE046
It is solar module internal resistance.The power output of photovoltaic can be drawn by following formula：
In order to design the sliding formwork control of diesel-driven generator, its state-space model satisfaction is set up
Figure DEST_PATH_IMAGE164
, wherein matrix
Figure DEST_PATH_IMAGE166
, With
Figure 977370DEST_PATH_IMAGE054
For nominal constant matrices,
Figure DEST_PATH_IMAGE170
It is load disturbance, order
Figure DEST_PATH_IMAGE172
The interference indeterminate of model can be regarded as,
Wherein
Figure 94361DEST_PATH_IMAGE058
,
Figure 369485DEST_PATH_IMAGE060
,
Figure 950639DEST_PATH_IMAGE062
,
Wherein
Figure 949480DEST_PATH_IMAGE066
It is frequency departure,
Figure 28295DEST_PATH_IMAGE068
It is the change of diesel-driven generator power output,It is the change of speed regulator valve positional increment,
Figure 235602DEST_PATH_IMAGE072
It is the change of integration control increment,
Figure 123924DEST_PATH_IMAGE074
It is load disturbance,
Figure 6429DEST_PATH_IMAGE076
It is speed regulator time constant,It is the time constant of diesel-driven generator,
Figure 239144DEST_PATH_IMAGE080
It is that diesel-driven generator connects power system time constant,
Figure 614762DEST_PATH_IMAGE082
It is related gain,
Figure 35379DEST_PATH_IMAGE084
It is speed regulator speed adjustment factor,
Figure 445632DEST_PATH_IMAGE086
For integration control gain.
(2) design principle of the independent micro-grid frequency controller based on interference observer and sliding formwork control of the invention：
For the completely known controller of design information, it is necessary first to design the load value being continually changing in interference observer estimation microgrid, design interference observer for this and meet state equation：
Figure DEST_PATH_IMAGE174
With
Figure DEST_PATH_IMAGE178
It is the observer gain matrix of design.By the observer designed, load disturbance can be estimatedValue.
Integral form sliding-mode surface is designed for diesel-electric system model
Figure DEST_PATH_IMAGE182
Meet equation：
Figure DEST_PATH_IMAGE184
Wherein
Figure DEST_PATH_IMAGE186
With
Figure DEST_PATH_IMAGE188
It is constant matrices, matrix
Figure DEST_PATH_IMAGE190
Meet
Figure DEST_PATH_IMAGE192
.Designed integration diverter surface can ensure that system has good dynamic property in the arrival stage.
Existence condition based on sliding mode is
Figure DEST_PATH_IMAGE194
 (
Figure 244567DEST_PATH_IMAGE118
WithIt is nonnegative constant,
Figure 331789DEST_PATH_IMAGE122
It is sign function), design sliding formwork compensating controller is met：
Figure DEST_PATH_IMAGE196
Wherein
Figure 330969DEST_PATH_IMAGE092
It is the load value of interference observer estimation, designed observation gain
Figure DEST_PATH_IMAGE198
、
Figure DEST_PATH_IMAGE200
, observation error can be made
Figure DEST_PATH_IMAGE202
With satisfied precision.
(3) method for designing of the independent micro-grid frequency controller based on interference observer and sliding formwork control of the invention：
The method for designing of the independent micro-grid frequency controller of energy mix access proposed by the present invention, after the Mathematical Modeling of the light bavin electricity generation system in establishing microgrid, is carried out according to the following steps：
1）Set up photovoltaic system Mathematical Modeling
Figure 490686DEST_PATH_IMAGE002
,
Figure 840896DEST_PATH_IMAGE004
,
Figure 868895DEST_PATH_IMAGE006
,
Figure 985231DEST_PATH_IMAGE008
。
2）Set up the diesel engine Mathematical Modeling for including load disturbance
Figure DEST_PATH_IMAGE204
, wherein matrix
Figure 112587DEST_PATH_IMAGE166
,
Figure 12410DEST_PATH_IMAGE168
With
Figure 516203DEST_PATH_IMAGE054
For nominal constant matrices,
Figure 817872DEST_PATH_IMAGE172
It is load disturbance value.
3）Design interference observer
Figure 116129DEST_PATH_IMAGE088
Wherein
Figure 503248DEST_PATH_IMAGE090
It is system mode observation vector,
Figure 810733DEST_PATH_IMAGE092
It is disturbance-observer value,
Figure DEST_PATH_IMAGE206
It is 4 rank unit constant value matrixes,
Figure 639011DEST_PATH_IMAGE176
With
Figure DEST_PATH_IMAGE208
It is the observer gain matrix to be designed.
4）Design diverter surface
Figure 373749DEST_PATH_IMAGE100
, wherein matrix
Figure DEST_PATH_IMAGE210
Matrix and matrixIt is constant matrices, matrix
Figure 878459DEST_PATH_IMAGE106
Meet
Figure DEST_PATH_IMAGE214
And selection matrix
Figure 989635DEST_PATH_IMAGE110
So thatIt is nonsingular matrix.
5）Design following controller
Figure DEST_PATH_IMAGE216
, whereinIt is the load value of interference observer estimation, and can be by suitably choosing observation gain
Figure 939770DEST_PATH_IMAGE198
、, observation error can be made
Figure 454245DEST_PATH_IMAGE202
With satisfied precision.
(4) sample calculation analysis：
The present invention considers that the rated output power of photovoltaic generator and the rated output power of diesel-driven generator are 225KW and 750KW respectively.The parameter of photovoltaic array and power inverter is shown in Table 1, and simulation time is 30 minutes.Design parameter in model is：
Figure DEST_PATH_IMAGE218
,,
Figure DEST_PATH_IMAGE222
Corresponding to interference observer model parameter is：
,
Figure DEST_PATH_IMAGE226
,
Figure DEST_PATH_IMAGE228
In order to prove the validity of designed frequency controller, it will be proved by carrying out simulation comparison under three kinds of different conditions to micro-grid system model.
Load actual power
Figure DEST_PATH_IMAGE230
With estimate as shown in Fig. 2 Fig. 3 is the error change of load actual value and estimate, illustrate that designed interference observer can accurately estimate the load value in micro-grid system by Fig. 2 and Fig. 3 simulated effect.Fig. 4 is the intensity of sunshine change in this micro-grid system。
（1）Example 1：
As shown in Fig. 5-6, system is individually for load for diesel-driven generator and powered.Wherein Fig. 5 is microgrid frequency deviation, and Fig. 6 is diesel engine power output.It can be seen that the fluctuation of load was very big at 700 to 100 seconds, corresponding frequency change is also very greatly.
（2) example 2：
The system is powered by photovoltaic generator and diesel engine collective effect to load.Photovoltaic generation uses mppt control algolithms, although can be seen that photovoltaic energy is fully used by emulating 7-9, the frequency departure of whole system is very big.Therefore when photovoltaic system permeates on a large scale, if not taking any indemnifying measure, it will the frequency stabilization and the quality of power supply of the whole micro-grid system of influence.
（3) example 3：
The system is powered by photovoltaic generator and diesel engine collective effect to load, but is the increase in sliding formwork frequency compensation control strategy, can be seen that frequency is varied less and very smooth by analogous diagram 10-12.Therefore set forth herein LOAD FREQUENCY robust controller be effectively.Compared with Figure 13 bibliography frequency departure analogous diagrams, this paper sliding formwork frequency compensation control strategy has more preferable effect.

Claims (1)

1. a kind of method for designing frequency controller of independent micro-grid, it is characterised in that specifically include following steps：
1）The Mathematical Modeling of the electricity generation system of independent micro-grid is set up, independent micro-grid includes photovoltaic generating system and diesel power generation system mixed power supply system；
2）Set up photovoltaic system Mathematical Modeling
Figure 516201DEST_PATH_IMAGE002
,
Figure 56511DEST_PATH_IMAGE004
,
,
Figure 293774DEST_PATH_IMAGE008
,
WhereinWith
Figure 743658DEST_PATH_IMAGE012
It is the output current and output voltage of solar module respectively,
Figure 10691DEST_PATH_IMAGE014
It is photogenerated current,
Figure 209591DEST_PATH_IMAGE016
It is photocell reverse saturation current,
Figure 2012100723675100001DEST_PATH_IMAGE018
It is electron charge,
Figure 2012100723675100001DEST_PATH_IMAGE020
It is Boltzmann constant,
Figure 2012100723675100001DEST_PATH_IMAGE022
It is Diode Ideality Factor,
Figure 2012100723675100001DEST_PATH_IMAGE024
It is batteries in parallel connection number,
Figure 2012100723675100001DEST_PATH_IMAGE026
It is series-connected cell number,
Figure 2012100723675100001DEST_PATH_IMAGE028
It is photocell internal resistance electric current,
Figure 2012100723675100001DEST_PATH_IMAGE030
It is that temperature existsWhen saturation current,
Figure 2012100723675100001DEST_PATH_IMAGE034
It is the temperature of photovoltaic array,
Figure 2012100723675100001DEST_PATH_IMAGE036
It is reference temperature,
Figure 2012100723675100001DEST_PATH_IMAGE038
It is energy needed for material bridges energy rank,
Figure 2012100723675100001DEST_PATH_IMAGE040
It is short circuit current flow temperature coefficient,It is the short circuit current flow of solar module,It is intensity of sunshine,
Figure 2012100723675100001DEST_PATH_IMAGE046
It is solar module internal resistance；
3）Set up the diesel engine Mathematical Modeling for including load disturbance
Figure 2012100723675100001DEST_PATH_IMAGE048
, wherein matrix
Figure 2012100723675100001DEST_PATH_IMAGE050
,
Figure 2012100723675100001DEST_PATH_IMAGE052
With
Figure 2012100723675100001DEST_PATH_IMAGE054
For nominal constant matrices,
Figure 2012100723675100001DEST_PATH_IMAGE056
It is load disturbance value, wherein
Figure 2012100723675100001DEST_PATH_IMAGE058
,
Figure 2012100723675100001DEST_PATH_IMAGE060
,
Figure 2012100723675100001DEST_PATH_IMAGE062
,
Figure 2012100723675100001DEST_PATH_IMAGE064
Wherein
Figure 2012100723675100001DEST_PATH_IMAGE066
It is frequency departure,It is the change of diesel-driven generator power output,
Figure 2012100723675100001DEST_PATH_IMAGE070
It is the change of speed regulator valve positional increment,
Figure 2012100723675100001DEST_PATH_IMAGE072
It is the change of integration control increment,It is load disturbance,
Figure 2012100723675100001DEST_PATH_IMAGE076
It is speed regulator time constant,It is the time constant of diesel-driven generator,
Figure 2012100723675100001DEST_PATH_IMAGE080
It is that diesel-driven generator connects power system time constant,
Figure 2012100723675100001DEST_PATH_IMAGE082
It is related gain,
Figure 2012100723675100001DEST_PATH_IMAGE084
It is speed regulator speed adjustment factor,
Figure 2012100723675100001DEST_PATH_IMAGE086
For integration control gain；
4）Design interference observer
Figure 2012100723675100001DEST_PATH_IMAGE088
Wherein
Figure 2012100723675100001DEST_PATH_IMAGE090
It is system mode observation vector,
Figure 2012100723675100001DEST_PATH_IMAGE092
It is disturbance-observer value,It is 4 rank unit constant value matrixes,
Figure 2012100723675100001DEST_PATH_IMAGE096
With
Figure 2012100723675100001DEST_PATH_IMAGE098
It is the observer gain matrix to be designed；
5）Design diverter surface
Figure 2012100723675100001DEST_PATH_IMAGE100
, wherein matrixMatrix and matrix
Figure 2012100723675100001DEST_PATH_IMAGE104
It is constant matrices, matrix
Figure 2012100723675100001DEST_PATH_IMAGE106
Meet
Figure 2012100723675100001DEST_PATH_IMAGE108
And selection matrixSo that
Figure 2012100723675100001DEST_PATH_IMAGE112
It is nonsingular matrix；
6）Design controller
Figure 2012100723675100001DEST_PATH_IMAGE114
, whereinIt is the load value of interference observer estimation, whereinWithIt is nonnegative constant,
Figure 2012100723675100001DEST_PATH_IMAGE122
It is sign function.
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CN102820650A (en) * 2012-08-24 2012-12-12 上海电力学院 Method for designing electric power system load frequency controller on basis of disturbance estimation
CN102868207A (en) * 2012-09-13 2013-01-09 上海电力学院 Frequency optimizing method for photovoltaic-diesel complementary independent micro power grid
CN103001224A (en) * 2012-11-21 2013-03-27 上海电力学院 Control method for regulating island light diesel micro-network frequency on basis of robust control and super-capacitor
CN103032265A (en) * 2012-12-12 2013-04-10 天津市电力公司 Maximum output tracking control method of wind generation unit based on extremum research
CN103032265B (en) * 2012-12-12 2014-11-05 天津市电力公司 Maximum output tracking control method of wind generation unit based on extremum research
CN103019212A (en) * 2012-12-19 2013-04-03 上海电力学院 Multi-photovoltaic solar-diesel hybrid system coordination control method based on disturbance observer
CN103606919A (en) * 2013-11-28 2014-02-26 上海电力学院 Method for designing frequency controller of electric system containing multi-load disturbance
CN103606919B (en) * 2013-11-28 2017-01-04 上海电力学院 A kind of frequency controller method for designing of the power system containing many load disturbances
CN106208116A (en) * 2016-08-20 2016-12-07 国网山西省电力公司电力科学研究院 The device and method of its system inertia is increased during microgrid isolated power grid
CN107317345A (en) * 2017-08-10 2017-11-03 武汉大学 It is a kind of to be electrolysed the method that type load participates in island network FREQUENCY CONTROL
CN107317345B (en) * 2017-08-10 2020-01-24 武汉大学 Method for controlling frequency of isolated power grid by participation of electrolysis load
CN108933440A (en) * 2018-07-13 2018-12-04 华东理工大学 Using the micro-capacitance sensor communication delay state estimations method of sliding formwork Prediction Control algorithm

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