CN104809296B - The robust Design of Reduced-Order Observers for Lipschitz method of the anti-communication delay of DC transmission system - Google Patents
The robust Design of Reduced-Order Observers for Lipschitz method of the anti-communication delay of DC transmission system Download PDFInfo
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Abstract
The invention discloses a kind of robust Design of Reduced-Order Observers for Lipschitz method for tackling the remote anti-communication delay of DC transmission system.Inverter side DC voltage, DC current signal for remote DC transmission system are transferred to the problem of rectification side has communication delay from inverter side, using robust reduced dimension observer, inverter side DC voltage, DC current are directly obtained by rectification side DC voltage, DC current computing.Building and emulating by observer, rectification side acquisition inverter side DC voltage, the time of DC current can significantly be shortened by demonstrating this method.
Description
Technical field
The present invention relates to a kind of robust Design of Reduced-Order Observers for Lipschitz side for tackling the remote anti-communication delay of DC transmission system
Method, belongs to technical field of electric power system control.
Background technology
DC transmission system transmission capacity is big, it is unrestricted that small, long lifespan, fed distance is lost, while in the absence of exchange
The stable problem of transmission system, thus be widely used in terms of long-distance and large-capacity power transmission.
Remote DC transmission system fed distance length (such as three wide engineering 976km, three Shanghai engineering 1040km, three normal engineerings
860km), from the lateral rectification side transmission of inversion there is longer time delay (if AC line in inverter side DC voltage, DC current signal
The long 1000km in road, is transmitted by optical fiber, there is 5.06ms time delays：5*1000+60=5060us=5.06ms), influence is controlled
Real-time.
The content of the invention
Goal of the invention：For problems of the prior art, the present invention provides a kind of remote DC power transmission system of reply
Unite the robust Design of Reduced-Order Observers for Lipschitz method of anti-communication delay, design point observer, directly by rectification side DC voltage, direct current
Current signal computing draws inverter side DC voltage, DC current signal, for tackling communication delay.
From control theory, in rectification side design point observer, inversion directly can be drawn by rectification side signal operation
Side DC voltage, DC current signal, and no longer need signal being transferred to rectification side from inverter side, thus this method can be used for
Overcome the influence of communication delay.
Technical scheme：A kind of robust Design of Reduced-Order Observers for Lipschitz side for tackling the remote anti-communication delay of DC transmission system
Method, the described method comprises the following steps：
Step 1：Discretization state equation is set up according to " DC transmission system equivalent circuit diagram ".
Discretization state equation is：
Wherein, x1=Idr, x2=[Idi VCL]T, k represents the k moment in discretization state equation；
Parameter Φ12∈R1×2,Φ21∈R2×1,Φ22∈R2×2,Γ2∈R2×1,θ2∈R2×1,Φ11、Γ1、θ1It is scalar.
By calculating the parameter obtained in above-mentioned equation, the specific formula for calculation of these parameters is normal in control theory
Know, the present invention is not repeated.
Step 2：Matrix L ∈ R are set respectively2×1、F∈R2×2、G∈R2×1, and L, H, F, G are calculated by following formula；
L=θ2θ1 -1
H=Γ2-LΓ1
F=Φ22-LΦ12
G=Φ21-LΦ11+FL
Step 3：Bring counted L, H, F, G into following formula, obtain x2, i.e. IdiAnd VCL；
Z (k+1)=Fz (k)+Gx1(k)+HVdr(k)
x2(k+1)=Lx1(k+1)+z(k+1)
Wherein x1=Idr, z be 2 rows 1 arrange vector variable；
Step 4：V is calculated to obtain according to following formuladi、Idi
Vdi=VCL-(jωL+R)Idi
Wherein, L is the equivalent reactance in " DC transmission system equivalent circuit diagram ", and R is " DC transmission system equivalent circuit
Equivalent resistance in figure ".
The present invention uses above-mentioned technical proposal, has the advantages that：
1. state observer is used, directly by rectification side DC voltage Vdr, DC current signal IdrComputing draws equivalent electric
Road middle point voltage VCLWith inverter side DC current signal Idi, then via simple circuit computing obtain inverter side DC voltage
Signal VdiWith inverter side DC current signal Idi, overcome signal and be transferred to rectification side from inverter side and there is longer transmission time delay
The problem of.
2. setting vector variable z, V in state equation is overcomediThe limitation that can not be known in rectification side, realizes observation
The robustness of device.
3. the state equation of the present invention is 3-dimensional, state observer is 2 dimensions, thus the observer is reduced dimension observer.
Brief description of the drawings
Fig. 1：DC transmission system equivalent circuit diagram；
Fig. 2：Robust reduced dimension observer structured flowchart of the present invention；
Fig. 3：The flow chart of the inventive method；
Fig. 4：Observer output signal V of the present inventionCLCurve；
Fig. 5：Observer output signal I of the present inventiondiCurve.
Embodiment
With reference to specific embodiment, the present invention is furture elucidated, it should be understood that these embodiments are merely to illustrate the present invention
Rather than limitation the scope of the present invention, after the present invention has been read, various equivalences of the those skilled in the art to the present invention
The modification of form falls within the application appended claims limited range.
Fig. 1 is DC transmission system equivalent circuit diagram, and Fig. 2 is robust reduced dimension observer structured flowchart of the present invention.
The flow chart of Fig. 3 the inventive method.Comprise the following steps that：
Step 1：Discretization state equation is set up according to Fig. 1 " DC transmission system equivalent circuit diagram ".
Discretization state equation is
Wherein, x1=Idr, x2=[Idi VCL]T,
Parameter Φ12∈R1×2,Φ21∈R2×1,Φ22∈R2×2,Γ2∈R2×1,θ2∈R2×1,Φ11、Γ1、θ1It is scalar.
By calculating the parameter obtained in above-mentioned equation, the specific formula for calculation of these parameters is normal in control theory
Know, the present invention is not repeated.
Step 2：Matrix L ∈ R are set respectively2×1、F∈R2×2、G∈R2×1, and L, H, F, G are calculated by following formula
L=θ2θ1 -1
H=Γ2-LΓ1
F=Φ22-LΦ12
G=Φ21-LΦ11+FL
Step 3：Bring counted L, H, F, G into following formula, obtain x2, i.e. IdiAnd VCL
Z (k+1)=Fz (k)+Gx1(k)+HVdr(k)
x2(k+1)=Lx1(k+1)+z(k+1)
Wherein x1=Idr, z be 2 rows 1 arrange vector variable
Step 4：V is calculated to obtain according to following formuladi、Idi
Vdi=VCL-(jωL+R)Idi
Wherein, L is the equivalent reactance in " DC transmission system equivalent circuit diagram ", and R is " DC transmission system equivalent circuit
Equivalent resistance in figure ".
One embodiment of the present of invention is described below：
With international conference on large HV electric systems direct current transportation modular system (CIGRE HVDC Benchmark Model) for diagnostic cast
Type, carries out circuit equivalent, obtains L=0.5968H, R=2.5 Ω, C=26 μ F.
Discretization state equation is set up according to equivalent circuit and its parameter, the sampling time takes 0.0001s.
Obtain Φ12=[0.418 0.0037],
Φ11=0.2398, Γ1=0.0666, θ1=-0.0703 calculates L, H, F, G by following formula again
L=θ2θ1 -1
H=Γ2-LΓ1
F=Φ22-LΦ12
G=Φ21-LΦ11+FL
According to calculation
State observer each parameter L, H, F, the G and its state equation obtained, builds observer.As shown in following Fig. 2.
V is inputted to observerdr、IdrRated value Vdr=500kV, Idr=2kA, observed and recorded observer output signal
VCl、IdiCurve.
VClCurve by figure as shown in figure 4, known, VClTend towards stability value after 2ms；IdiCurve by figure as shown in figure 5, known, Idi
Tend towards stability value after 1.6ms.In view of by VCl、IdiComputing draws Vdi、IdiHardly holding time, it is known that the observer exists
The i.e. V of exportable stabilization in 2msdi、IdiValue, the time is significantly less than original Vdi、IdiSignal is transferred to rectification side institute from inverter side
(if the long 1000km of DC line, is transmitted by optical fiber, there is 5.06ms time delays in the time needed：5*1000+60=5060us=
5.06ms)。
Knowable to summary embodiment result, a kind of Shandong for tackling the remote anti-communication delay of DC transmission system of the present invention
Rod Design of Reduced-Order Observers for Lipschitz method significantly reduces converting plant and obtains Inverter Station DC voltage Vdi, DC current IdiNeeded for signal
Time, improve the real-time of control.
Claims (1)
1. a kind of robust Design of Reduced-Order Observers for Lipschitz method of the anti-communication delay of DC transmission system, it is characterised in that methods described is
Realize according to the following steps successively：
Step 1：Discretization state equation is set up according to " DC transmission system equivalent circuit diagram "；
Discretization state equation is
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Wherein, x1=Idr, x2=[Idi VCL]T,
Parameter Φ12∈R1×2,Φ21∈R2×1,Φ22∈R2×2,Γ2∈R2×1,θ2∈R2×1,Φ11、Γ1、θ1It is scalar；IdrTable
Show rectification side DC current, VdrRepresent rectification side DC voltage, IdiRepresent inverter side DC current, VdiRepresent inverter side
DC voltage, VCLEquivalent circuit middle point voltage is represented, k represents the k moment in discretization state equation；
Step 2：Matrix L ∈ R are set respectively2×1、F∈R2×2、G∈R2×1, and L, H, F, G are calculated by following formula
L=θ2θ1 -1
H=Γ2-LΓ1
F=Φ22-LΦ12
G=Φ21-LΦ11+FL
Step 3：Bring counted L, H, F, G into following formula, obtain x2, i.e. IdiAnd VCL
Z (k+1)=Fz (k)+Gx1(k)+HVdr(k)
x2(k+1)=Lx1(k+1)+z(k+1)
Wherein x1=Idr, z be 2 rows 1 arrange vector variable
Step 4：V is calculated to obtain according to following formuladi、Idi
Vdi=VCL-(jωL+R)Idi
Wherein, L is the equivalent reactance in " DC transmission system equivalent circuit diagram ", and R is " DC transmission system equivalent circuit diagram "
In equivalent resistance.
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| JP2003308357A (en) * | 2002-04-12 | 2003-10-31 | Matsushita Electric Ind Co Ltd | Logic circuit simulation method, logic circuit simulation program, and logic circuit simulation device |
| KR20050077836A (en) * | 2004-01-28 | 2005-08-04 | 삼성전자주식회사 | Simulation method for accelerating simulation speed |
| WO2013044494A1 (en) * | 2011-09-30 | 2013-04-04 | 中国科学院微电子研究所 | Integrated circuit simulation method and system |
| CN103151781A (en) * | 2013-03-19 | 2013-06-12 | 河海大学常州校区 | Self-adaptive fuzzy control method for active power filter based on feedback linearization |
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| 海上风电场柔性直流送电并网控制研究;石磊 等;《华东电力》;20140430;第42卷(第4期);第674-679页 * |
| 适用于电压源换流器型高压直流输电的模块化多电平换流器最新研究进展;韦延方 等;《高电压技术》;20120531;第38卷(第5期);第1243-1252页 * |
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