CN105119318B - Homochronousness machine additional longitudinal forces method based on grid-connected converter interference rejection ability - Google Patents
Homochronousness machine additional longitudinal forces method based on grid-connected converter interference rejection ability Download PDFInfo
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Abstract
A kind of homochronousness machine additional longitudinal forces method based on grid-connected converter interference rejection ability, belongs to the static stability analysis of when containing grid-connected converter and control technology field in power system.It is characterized in that first anticipation system stable case, make system stable using limit mirror configuration for time-dependent system, the characteristic root that the Synchronous Motor System containing PSS is selected under stable condition is target signature root, the characteristic of system damping containing grid-connected converter is reached the effect of similar Synchronous Motor System.Solve system damping containing grid-connected converter small, the problem of interference rejection ability is poor.Controllability judgement especially is carried out to system under instability condition, uncontrollable state variable is separated, then using limit mirror configuration.The invention has the advantages that proposing the system of selection of target signature root when Method of Pole Placement is applied.For the unstable situation of system, propose that mirror image POLE PLACEMENT USING adjusts unstable limit, the system containing grid-connected converter is increased system damping by Method of Pole Placement, strengthen anti-interference.
Description
Technical field
The invention belongs to the static stability analysis of when containing grid-connected converter and control technology field in power system.It is related to
The stability analysis of power system and automation field correlation theory, are related specifically to when controlled device is unstable, add
Mirror image POLE PLACEMENT USING improves power system steady-state stability.
Background technology
At present, grid-connected converter main function is to complete the transmission of power, ensure stability of grid connection operation.Distributed power source,
Such as wind-power electricity generation, photovoltaic generation device by current transformer it is grid-connected when, its direct-coupling relation between power network is by electric power electricity
Sub- equipment blocking, does not reach as synchronous machine and to provide corresponding damping for the low-frequency oscillation of system.
Document P. elder brothers moral (U.S.), Kundur P. power system stability and controls:English copy [M] China Powers are published
Society, 2001. describe the stability index and control strategy of power system in detail, it is proposed that a kind of raising power system steady-state stability
Pole-assignment.But antipodal points configuration when target signature root selection and not deployed research, target signature root be not
Left half-plane is more remote better from the imaginary axis, it is necessary to be determined according to the situation and performance indications of system total damping.In addition, working as system
When there is unstable limit, directly progress POLE PLACEMENT USING system is still unstable, and one-sided raising system damping is nonsensical.
The content of the invention
It is an object of the invention to provide a kind of homochronousness machine additional longitudinal forces side based on grid-connected converter interference rejection ability
Method.When proposing to use Method of Pole Placement to high order system, anticipation system stable case is needed, limit mirror is utilized for time-dependent system
As configuration makes system stable, the characteristic root of the Synchronous Motor System containing PSS is selected under stable condition for target signature root.Make containing simultaneously
The damping characteristic of net converter system convergence synchronous machine.Solve system damping containing grid-connected converter small, the problem of interference rejection ability is poor.
The technical scheme is that：
Step 1. sets up the state-space expression containing grid-connected converter system according to formula (1), obtains ssystem transfer function G
(s)。
Step 2. judges system according to the characteristic root of state-space expression factor arrays or transmission function G (s) limit
Stability.If system is stable, step 6 is turned to.
When step 3. system is unstable, System Controllability matrix Q is asked forc(Qc=[B AB ... An-1B], n is equation group
Exponent number) order (rank (Qc)), decision-making system controllability.As rank (QCDuring)=n, system is fully controllable, turns to step 5；When
0<rank(QC)<During n, system not exclusively controllable carry out step 4.
Step 4. determines uncontrollable state variable, is isolated out original system according to PBH order criterions, obtains controllable system
System.
Unstable positive limit in controllable system is mirrored to S Left half-planes by step 5., and utilization state feedback carries out limit and matched somebody with somebody
Put the system stablized.
Step 6. designs additional damping controller to systems stabilisation using Method of Pole Placement, and controller is by gain and one
Row lead-lag link is constituted, and shown in basic structure such as formula (2), transfer function H (s) is used as feedback element and original system G (s)
Between constitute closed-loop control.
Wherein, KD, Tw, T1, T2..., T2nIt is controller parameter.
Step 7. sets up the Synchronous Motor System state equation of the controller containing PSS, the characteristic root of design factor matrix, and with this
Characteristic root as POLE PLACEMENT USING target signature root λ0。
Step 8. is by target signature root λ0Substitute into following phase and amplitude expression formula：
arg(H(λ0))=180 ° of-arg (G (λ0)) (3)
Controller H (s) parameters are determined, the design of additional damping controller is completed.
The invention has the advantages that：Propose the system of selection of target signature root when Method of Pole Placement is applied.For
The unstable situation of system, proposes that mirror image POLE PLACEMENT USING adjusts unstable limit, the system containing grid-connected converter is passed through limit
Collocation method increases system damping, strengthens anti-interference.
Brief description of the drawings
Fig. 1 is the double-fed blower fan grid-connected system structure chart containing grid-connected converter.
Fig. 2 is the homochronousness machine additional longitudinal forces method flow diagram based on grid-connected converter interference rejection ability.
Fig. 3 is synchronous machine PSS System Small Disturbance transmission function block diagrams.M is generator amature inertia time constant, D in figure
For damped coefficient, T 'do, TA, TR, TLIt is the time constant of adjustment of field excitation part, KR, K1, K2, K3, K4, K5, K6It is proportionality coefficient,
T, T1a, T2aIt is PSS part-time constants, KcIt is PSS fraction coefficients, Δ ω is system frequency variable quantity, and Δ δ is generator
Angle of torsion variable quantity, Δ UtIt is voltage variety, Δ EfdIt is the no-load emf variable quantity determined by excitation voltage, Δ Eq' it is temporary
State potential change amount.
Fig. 4 (a) is the unit-step nsponse curve figure under the double-fed blower fan grid-connected system stable case containing grid-connected converter,
Fig. 4 (b) is that the unit step under stable case after the double-fed blower fan grid-connected system additional damping controller containing grid-connected converter is rung
Answer curve map.
Fig. 5 (a) be the double-fed blower fan grid-connected system containing grid-connected converter it is unstable in the case of unit-step nsponse curve
Figure, Fig. 5 (b) be it is unstable in the case of unit rank after the double-fed blower fan grid-connected system additional damping controller containing grid-connected converter
Jump response curve.
Embodiment
Describe the embodiment of the present invention in detail below in conjunction with technical scheme and accompanying drawing.
According to Fig. 1, double-fed blower fan is by wind energy conversion system, gear-box, generator and current transformer composition.Grid-connected converter is divided into pusher side
Current transformer and net side current transformer, net side current transformer access power network by transformer.The flow according to Fig. 2, ignores wind energy conversion system
Input power changes, and sets up the mathematical modeling of each several part.Machine driving shafting model is as follows：
Wherein, ωw, ωgIt is the angular speed of wind energy conversion system and double-fed generator (DFIG) respectively；Hw, HgBe respectively wind energy conversion system and
DFIG inertia time constant；θbIt is shafting torsion angle；kghIt is axis rigidity coefficient, Dw, DhgIt is two equivalent mass blocks respectively
Itself damped coefficient；Tw, TgIt is machine torque and electromagnetic torque.The differential equation of generator electromagnetic torque is as follows：
N in formulapIt is power generator electrode logarithm.
According to double-fed blower voltage and flux linkage equations, voltage magnetic linkage differential equation group is set up：
L in formulas, lrAnd lmIt is stator and rotor self-induction and mutual inductance；Rs, RrIt is stator and rotor electricity
Resistance；ω1And ω10It is the initial value of synchronous rotational speed and synchronous rotational speed；WithIt is the output quantity of current transformer control loop.
Grid-connected converter uses double circle controling mode, and outer shroud is by gathering the generated output and reference power of double-fed blower fan
Compare to form power closed loop；Inner ring is by accordingly calculating the current closed-loop formed by rotor and stator current.Double-closed-loop control
Strategy, is realized by four control loops, is respectively：Active loop current ring, idle loop current ring, active power ring is idle
Power ring.Four control loops correspond to four PI controllers：
According to formula (7), (8), following state equation is obtained：
Wherein,Respectively
For intermediate variable.
Simultaneous formula (4), (6), (9), (10) obtain 11 rank state equations of system, and state variable is Δ ωw, Δ ωg, Δ
θb, Δ ψds, Δ ψqs, Δ idr, Δ iqr, Δ x1, Δ x2, Δ x3, Δ x4.Known by Li Yapu love First Laws, if factor arrays
Characteristic root has negative real part, then system is systems stabilisation.
Bring double-fed fan motor unit systematic parameter into：Rr=0.005, Rs=0.0071, lm=2.9, ls=3.071, lr=
3.056, Hw=4.54, Hg=0.5, ks=0.3, Dw=2, Dhg=1, Dg=1, np=2.Each initial value is after magnetic linkage d axles orientation：
uds0=0, uqs0=1, ψds0=1, uqs0=0, ω10=1.Grid-connected converter parameter：①KQ=0.001, KQI=0.5, KP=
0.001, KPI=0.5, cP=0.003, cPI=-0.003, cQ=0.003, cQI=-0.003, system is stable；②KQ=0.1, KQI
=0.5, KP=0.1, KPI=0.5, cP=0.3, cPI=0.3, cQ=0.3, cQI=0.3, system is unstable.Try to achieve characteristic root such as
Shown in table 1.
The blower fan system of double-fed containing grid-connected converter characteristic root in the case of 1 two kinds of table
In the case of unstable, System Controllability rank of matrix rank (QC)=10<11, illustrate that system is not exclusively controllable, contain
One uncontrollable state variable.According to PBH order criterions, by characteristic root λiRank ([λ are substituted into successivelyiI-A B]), wherein rank
([λ9I-A B])=10, illustrate λ9For uncontrollable point.Non-singular transformation matrix P is selected, formula (1) is transformed to following formula：
xc,Controllable state variable and uncontrollable state variable are represented respectively.Formula (11), (12) are deployed, respectively
Obtain xcCorresponding controllable system withCorresponding uncontrollable system, mirror image is carried out by obtained controllable system utilization state feedback
Assigned pole, obtains stable subsystem.
Because the maximum compensation rate of the single lead-lag link phase of damping controller is 60 °, two-stage compensation is up to
120 °, the compensation condition of double-fed blower fan system is met, damping controller selects following form：
Synchronous Motor System spatial expression containing PSS, factor arrays A are set up according to Fig. 30Expression formula it is as follows：
The excitation parameter of synchronous machine：M=9.26, T 'do=7.76s, TA=0.05s, TR=0.06s, TL=0.002~
0.05s, KR=1.0, K1=0.5542, K2=1.2120, K3=0.6584, K4=0.7037, K5=0.0945, K6=
0.8150, ω0=1；The factor arrays characteristic root for trying to achieve the Synchronous Motor System containing PSS is as shown in table 2.
The characteristic value of the Synchronous Motor System containing PSS of table 2
| Characteristic root | Damping ratio | Natural frequency of oscillation | |
| λ01 | -18.0633 | 1.00e+000 | 1.81e+001 |
| λ02 | -4.7573+8.8833i | 4.72e-001 | 1.01e+001 |
| λ03 | -4.7573-8.8833i | 4.72e-001 | 1.01e+001 |
| λ04 | -1.3952+3.9881i | 3.30e-001 | 4.23e+000 |
| λ05 | -1.3952-3.9881i | 3.30e-001 | 4.23e+000 |
| λ06 | -0.3393 | 1.00e+000 | 3.39e-001 |
When real root is as target signature root, arg (H)=± 180 ° of feedback element transmission function, it is impossible to carried out to system
Lead-lag is corrected.Therefore λ is selected02~λ05Transmission function formula (3) is brought into as target signature root, obtains proportionality constant KDAnd
Controller parameter Tw, T1, T2.Ssystem transfer function is as follows after additional damping controller：
System features root situation and system damping are as shown in table 3 after additional control.
Table 3 adjusts the characteristic root situation of latter two situation
Table 3, Fig. 4, Fig. 5 illustrate that homochronousness machine additional longitudinal forces method can improve the damping of original system, to shakiness
Determine system equally effective.
Claims (1)
1. a kind of homochronousness machine additional longitudinal forces method based on grid-connected converter interference rejection ability, is anticipation system stable case
Afterwards, make system stable using limit mirror configuration for time-dependent system, the Synchronous Motor System containing PSS is selected under stable condition
Characteristic root be target signature root pole-assignment, its characterization step is as follows：
Step 1. sets up the state-space expression containing grid-connected converter system, obtains ssystem transfer function G (s)；
Step 2. judges the steady of system according to the characteristic root of state-space expression factor arrays or transmission function G (s) limit
It is qualitative, if system is stable, turn to step 6；
When step 3. system is unstable, according to System Controllability rank of matrix decision-making system controllability, System Controllability matrix
When order is full rank, system is fully controllable, turns to step 5, system not exclusively controllable carry out step 4；
Step 4. determines uncontrollable state variable, is isolated out original system, obtain controllable system according to PBH order criterions；
Unstable positive limit in controllable system is mirrored on the left of S planes by step 5., and utilization state feedback carries out POLE PLACEMENT USING and obtained
To stable system；
Step 6. designs additional damping controller to systems stabilisation using Method of Pole Placement, and controller is by gain and a series of super
Preceding and/or delay component is constituted, and its transfer function H (s) is as constituting closed-loop control between feedback element and original system G (s)；
Step 7. sets up the Synchronous Motor System state equation of the controller containing PSS, the characteristic root of design factor matrix, and with this feature
Root as POLE PLACEMENT USING target signature root λ0；
Step 8. is by target signature root λ0Controller parameter is determined in the phase and amplitude expression formula for substituting into controller H (s), is completed
The design of additional damping controller.
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| CN201813171U (en) * | 2010-10-08 | 2011-04-27 | 天津理工大学 | Two-stage photovoltaic grid-connected control device based on pole assignment and repetitive control combination |
| CN103475029A (en) * | 2013-09-27 | 2013-12-25 | 重庆大学 | Three-phase LCL type grid-connected inverter control system and method based on pole assignment |
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| CN201813171U (en) * | 2010-10-08 | 2011-04-27 | 天津理工大学 | Two-stage photovoltaic grid-connected control device based on pole assignment and repetitive control combination |
| CN103475029A (en) * | 2013-09-27 | 2013-12-25 | 重庆大学 | Three-phase LCL type grid-connected inverter control system and method based on pole assignment |
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| 新型拓扑滤波器的双馈风电网侧变流器阻尼策略;张宪平等;《中国电机工程学报》;20090725;第29卷(第21期);1-6 * |
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