CN105896613A - Microgrid distributed finite time control method based on communication lag - Google Patents

Microgrid distributed finite time control method based on communication lag Download PDF

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CN105896613A
CN105896613A CN201610353634.4A CN201610353634A CN105896613A CN 105896613 A CN105896613 A CN 105896613A CN 201610353634 A CN201610353634 A CN 201610353634A CN 105896613 A CN105896613 A CN 105896613A
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voltage
control
current
controller
frequency
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CN105896613B (en
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陈刚
郭志军
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Chongqing University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/539—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency
    • H02M7/5395—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency by pulse-width modulation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P80/00—Climate change mitigation technologies for sector-wide applications
    • Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier
    • Y02P80/14—District level solutions, i.e. local energy networks

Abstract

The invention discloses a microgrid distributed finite time control method based on a communication lag. The microgrid distributed finite time control method comprises the following steps of acquiring an output current voltage of an inverter end and an input current voltage of a load end by a voltage/current acquisition module, and outputting the output current voltage and the input current voltage to a primary controller of the voltage/current acquisition module, a secondary controller of the voltage/current acquisition module and a secondary controller of a neighboring power generation unit; processing the voltage current information of the secondary controllers and the voltage current information of a neighboring node by the secondary controller, and generating voltage and frequency reference information of the primary controller; generating a sinusoidal pulse width modulation (SPWM) wave by the primary controller through power calculation, droop control and voltage current control according to the reference information given by the secondary controllers, and controlling the output voltage of an inverter. In actual secondary control of a microgrid, the communication lag will necessarily exist, and by the method, the lag problem can be effectively solved.

Description

A kind of micro-capacitance sensor distributed finite-time control method considering communication time lag
Technical field
The present invention relates to microgrid Two-stage control field, be applied to distributed power generation, intelligent grid, based on droop characteristic micro- Net voltage and FREQUENCY CONTROL；It is specifically related to a kind of micro-capacitance sensor distributed finite-time control method considering communication time lag.
Background technology
Along with the fast development of modern industry, people are the most increasing for the demand of the energy, and traditional energy is not because Renewable, and a lot of environmental problem can be caused, the such as problem such as haze, greenhouse effect, promote people to look for new forms of energy and take Consumption for a part of traditional energy.
Typical new forms of energy have solar energy, wind energy etc., but these energy are owing to being limited by the Nature condition, height to be obtained Imitate the stable energy relatively difficult, generally, the energy that these are novel is combined according to a certain method, constitute distributed Electric network is a kind of effective solution.
Microgrid as the advanced form of distributed power generation, be one group by micro battery, load, energy-storage system and control device structure The system unit become, is an autonomous system being capable of self-protection, self-contr ol and management.With tradition bulk power grid not With, the system inertia of microgrid is little, and owing to micro-source is affected relatively strong by natural conditions, therefore, stable in order to obtain high-quality Electric energy, it is necessary to microgrid is controlled by.Control for microgrid is generally divided into three layers, i.e. primary control, Two-stage control and three grades Control.In the control structure of this kind of layering, parameter information, by going down layer by layer, reaches final control and optimization mesh , and in transmittance process, every layer has the characteristic ensureing system stability.
Primary control is the control of the bottom, and the output with each micro-source has and directly contacts, and general uses sagging control Distributed power source access point is controlled by system on the spot.Primary control has makes system voltage and frequency keep stable characteristic, There is preferable power splitting/synthesis network simultaneously, owing to using local control, it may have the characteristic of " plug and play ".Although just Level controls to can be good at stablizing of guarantee system, but due to non-linear, the inherent shortcoming of droop characteristic of power electronic devices Etc. making primary control for there being poor control so that voltage and frequency do not reach rated value set in primary control.In order to Solve this and have poor control problem, after primary control, generally add a two-level controller so that the voltage in micro-grid system With frequency retrieval to rated value.Three class control namely optimal dispatch control, in this layer, pursuit is economic maximization, i.e. Under conditions of meeting the equilibrium of supply and demand and generated energy restriction, by the output of each generator unit of rational management, to reach benefit Maximize.
Distributed AC servo system need not central controller, greatly reduces the traffic of system, and therefore existing many scholars carry Go out and distributed and coordinated control strategy is incorporated in the Two-stage control of micro-capacitance sensor, improve the stability of system and meet and be The characteristic of system " plug and play ".For the Two-stage control strategy of microgrid, more existing pertinent literature is open.These documents are not examined Consider the impact that the communication in Two-stage control is delayed and information transfer lag brings to system, when dysentery is limited when more not accounting for Between the design problem of two-level controller.
Summary of the invention
In consideration of it, it is an object of the invention to provide a kind of distributed finite-time control side of micro-capacitance sensor considering communication time lag Method.
It is an object of the invention to be achieved through the following technical solutions, a kind of consider that the micro-capacitance sensor of communication time lag is distributed and have Limit duration control method, comprises the following steps:
Voltage x current acquisition module gathers inverter end output current/voltage and load end input current voltage, and output is arrived Own primary controller, self two-level controller and the two-level controller of neighbours' generator unit；Two-level controller is to self electricity Current voltage information and neighbor node voltage x current information process, and generate voltage and the frequency reference information of Docket No； The reference information that Docket No gives according to two-level controller, controls to generate by power calculation, droop control, voltage x current SPWM ripple, controls the output voltage of inverter.
Further, the model of described droop control is:
Vi=Vni-nQiQi (1)
ωi=ωni-mPiPi (2)
N in formulaQi、mPiFor droop control coefficient, Qi、PiIt is respectively idle and active power, Vi、ωiIt is respectively system busbar Upper voltage and frequency, Vni、ωniIt is respectively linear quadratic control voltage and rate-adaptive pacemaker item, namely primary control electric voltage frequency reference Value.
Further, described two-level controller includes secondary voltage control device, described secondary voltage control device uViFor:
Wherein, aijFor in adjacency matrix Element, giFor the weight being connected with leader's bus nodes, τ is permanent communication time-delay, and α is fractional order parameter, ViRepresent this node Output voltage, VjRepresent the output voltage of neighbor node, VrefRepresent reference voltage.
Further, described two-level controller also includes Second Level Frequency controller, described Second Level Frequency controller uωiFor:
Wherein, aijFor in adjacency matrix Element, giFor the weight being connected with leader's bus nodes, τ is permanent communication time-delay, ωiRepresent the output frequency of this node, ωjFor the output frequency of neighbor node, ωrefRepresenting reference frequency, β is fractional order parameter.
Further, to formula (2) derivation, thenOrderThen
Wherein PiRepresent the active power of this node, PjRepresent The active power of neighbor node.
Owing to have employed technique scheme, present invention have the advantage that:
1, in actual microgrid Two-stage control, will necessarily there is communication delayed, the present invention can effectively solve delayed asking Topic.
2, ensure that theoretically, isolated island micro-grid system voltage and frequency can return to specified within the limited time Value.
3, having distributed feature due to two-level controller of the present invention, therefore the method meets plug and play characteristic.
Accompanying drawing explanation
In order to make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing the present invention made into The detailed description of one step, wherein:
Fig. 1 is that common micro-capacitance sensor constitutes block diagram；
Fig. 2 is micro-capacitance sensor primary control block diagram；
Fig. 3 is power controller block diagram；
Fig. 4 is secondary voltage control block diagram；
Fig. 5 is secondary frequency control block diagram；
Fig. 6 is system the general frame.
Detailed description of the invention
Below with reference to accompanying drawing, the preferred embodiments of the present invention are described in detail；Should be appreciated that preferred embodiment Only for the explanation present invention rather than in order to limit the scope of the invention.
By inspection information, finding in most technical literature, microgrid Two-stage control strategy the most all ignores communication There is the impact that time delay is brought, and the two-level controller put forward can only ensure to converge in infinite time theoretically Stationary value, it is impossible to the finite time convergence control of dysentery when realizing.
Although along with the progress of mechanics of communication, little communication time-delay is acceptable in some cases.For some Requiring higher occasion, when communication link is more complicated, the impact of communication time lag can not be ignored often.Therefore, design During communication, the secondary controller of dysentery not only has important theory significance, more can provide the theoretical foundation of necessity for practice.
On the other hand, from the angle of control performance, microgrid controls not only there is preferable static properties, it is also desirable to have preferably Dynamic property, at present the controller of design is the most all when the time tends to infinite, and system can be only achieved required static state Performance.But, if it is possible to ensureing theoretically, in the given time, system can reach required static properties, this nothing Doubt and also there is good theory significance and practice significance.
The composition of micro-capacitance sensor has generally comprised micro battery, inverter, load, energy storage device etc..Substantially constitute such as Fig. 1 institute Show.
As it is shown in figure 1, source micro-for direct current part, it is only necessary to DC/DC inverter, for exchanging micro-source module, typically Firstly the need of being transformed into direct current, the most again by DC/AC inverter.Two controls are comprised by figure it is recognised that each micro-source Device processed: Docket No realizes this locality and controls the output in micro-source；Two-level controller is by gathering self relevant information (voltage, electricity Stream) and the micro-source information of neighbours calculate, then result is exported to Docket No, as the input of Docket No, this Sample can more preferably control the output in micro-source.
Microgrid bottom primary control block diagram is as shown in Figure 2.
As in figure 2 it is shown, primary control module block diagram mainly comprises three parts, power controller, voltage controller, electric current Controller.Power controller in Fig. 3 comprises two parts, power computation module and classical droop control device, power calculation Module according to sensor acquisition to voltage x current value carry out power calculation, droop control device is according to the output of two-level controller Vn、ωnCalculating voltage and frequency values, and the input of voltage controller is become by Park Transformation, voltage x current controller is according to collection The voltage and current signal arrived and the output of power controller, produce SPWM ripple, and then control the output of inverter.
As shown in Figure 2, the target of Two-stage control is to design suitable controller to calculate variable Vn、ωn, it is inputted primary In controller, the output of inverter is made to meet specified imposing a condition.
Therefore, the present invention provides a kind of micro-capacitance sensor distributed finite-time control method considering communication time lag, including with Lower step:
First, voltage x current acquisition module gathers inverter end output current/voltage and load end input current voltage, and Output is to own primary controller, self two-level controller and the two-level controller of neighbours' generator unit.
Secondly, its voltage current information and neighbor node voltage x current information are processed by two-level controller, generate The voltage of Docket No and frequency reference information.Being different from traditional two-level controller, the secondary controller of the present invention is not only Can solve the problem that the impact that communication time lag is brought also has the characteristic of finite time convergence control simultaneously, this is the emphasis of the present invention.One side Face, it is considered to communication time lag, utilizes the delayed transmission information sampled in the design of controller；On the other hand, in order to improve system The dynamic property of system so that system voltage and frequency, at Finite-time convergence to rated value, introduce in controller ground designs Fractional order function.
Finally, the reference information that Docket No gives according to two-level controller, by power calculation, droop control, electricity Current voltage controls to generate SPWM ripple, controls the output voltage of inverter.
Droop control model:
Vi=Vni-nQiQi (1)
ωi=ωni-mPiPi (2)
N in above formulaQi、mPiFor droop control coefficient, the target of Two-stage control is to design suitable Vni、ωniMake Vi、ωi At Finite-time convergence to rated value, and meet the power splitting/synthesis network set.
Formula (1) derivation is obtained,Introduce assist control variable uVi, and make
V · i = u V i - - - ( 3 )
Then haveTherefore problem below is how to design controller uVi.Propose following Controller designs:
u V i = s i g { Σ j ∈ N i a i j [ V j ( t - τ ) - V i ( t - τ ) ] + g i [ V r e f - V i ( t - τ ) ] } α - - - ( 4 )
A in above formulaijFor the element in adjacency matrix, giFor the weight being connected with leader's bus nodes, τ represents permanent logical News time delay, α is fractional order parameter, sig (x)α=sign (x) | x |αAs long as time delay bounded and in certain limit, microgrid voltage will At Finite-time convergence to rated value.From control strategy (4) it can be seen that first, by controlling local tracking error thus Realize the tracing control of global error, and then ensure that system voltage converges to rated value；Secondly, fractional order function is used to be conducive to System voltage at Finite-time convergence to rated value.Secondary voltage controller block diagram is as shown in Figure 4.
Consistent with voltage controller design procedure, formula (2) is carried out derivation and obtains,Introduce assist control variable uωi, order
ω · i = u ω i - - - ( 5 )
Design uωiAs shown in formula (6),
u ω i = s i g { Σ j ∈ N i a i j [ ω j ( t - τ ) - ω i ( t - τ ) ] + g i [ ω r e f - ω i ( t - τ ) ] } β - - - ( 6 )
In formula, β is fractional order parameter.Controller (6) can only ensure that frequency, at Finite-time convergence, but it cannot be guaranteed that sets Fixed power splitting/synthesis network.In order to ensure that accurate power distributes, orderAnd by upiShown in a design accepted way of doing sth (7),
u p i = s i g { Σ j ∈ N i a i j [ m p j P j ( t - τ ) - m p i P i ( t - τ ) ] } γ - - - ( 7 )
According to formula (6) and formula (7), it is known that ωni=∫ uωi+upidt.Second Level Frequency controller block diagram is as shown in Figure 5.
As shown in Figure 6, two-level controller is according to self relevant information and information of neighbor nodes, and passes through secondary voltage frequency Control algolithm, produces the voltage required for Docket No and frequency reference, and Docket No exports according to two-level controller Reference information and self information control the output of inverter.Owing to two-level controller can make electric voltage frequency receive in finite time Hold back rated value, and consider the impact that in Two-stage control, communication time lag is brought, therefore greatly improve the reliability of system And stability.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, it is clear that those skilled in the art Member can carry out various change and modification without departing from the spirit and scope of the present invention to the present invention.So, if the present invention These amendments and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these Change and including modification.

Claims (5)

1. the micro-capacitance sensor distributed finite-time control method considering communication time lag, it is characterised in that: comprise the following steps:
Voltage x current acquisition module gathers inverter end output current/voltage and load end input current voltage, and exports self Docket No, self two-level controller and the two-level controller of neighbours' generator unit；
Its voltage current information and neighbor node voltage x current information are processed by two-level controller, generate Docket No Voltage and frequency reference information；
The reference information that Docket No gives according to two-level controller, is controlled by power calculation, droop control, voltage x current Generate SPWM ripple, control the output voltage of inverter.
The micro-capacitance sensor distributed finite-time control method of consideration communication time lag the most according to claim 1, its feature exists In: the model of described droop control is:
Vi=Vni-nQiQi (1)
ωi=ωni-mPiPi (2)
N in formulaQi、mPiFor droop control coefficient, Qi、PiIt is respectively idle and active power, Vi、ωiIt is respectively system busbar to power on Pressure and frequency, Vni、ωniIt is respectively linear quadratic control voltage and rate-adaptive pacemaker item, namely primary control electric voltage frequency reference value.
The micro-capacitance sensor distributed finite-time control method of consideration communication time lag the most according to claim 2, its feature exists In: described two-level controller includes secondary voltage control device, described secondary voltage control device uViFor:
Wherein, aijFor the element in adjacency matrix, giFor the weight being connected with leader's bus nodes, τ is permanent communication time-delay, and α is fractional order parameter, ViRepresent the defeated of this node Go out voltage, VjRepresent the output voltage of neighbor node, VrefRepresent reference voltage.
The micro-capacitance sensor distributed finite-time control method of consideration communication time lag the most according to claim 2, its feature exists In: described two-level controller also includes Second Level Frequency controller, described Second Level Frequency controller uωiFor:
Wherein, aijFor the unit in adjacency matrix Element, giFor the weight being connected with leader's bus nodes, τ is permanent communication time-delay, ωiRepresent the output frequency of this node, ωj For the output frequency of neighbor node, ωrefRepresenting reference frequency, β is fractional order parameter, NiFor the neighbor node of node i, i.e. with i Node has all nodes of communication.
The micro-capacitance sensor distributed finite-time control method of consideration communication time lag the most according to claim 4, it is characterised in that: To formula (2) derivation, thenOrderThen Wherein PiRepresent the active power of this node, PjRepresenting the active power of neighbor node, τ is permanent communication time-delay, mpi, mpjUnder for Hang down control coefrficient.
CN201610353634.4A 2016-05-25 2016-05-25 A kind of micro-capacitance sensor distribution finite-time control method for considering communication time lag Expired - Fee Related CN105896613B (en)

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