CN106773707A - A kind of method of the control parameter feasible zone for determining to stabilize direct-current grid - Google Patents

Abstract

A kind of method of the control parameter feasible zone for determining to stabilize direct-current grid, it includes：Step one, the systematic parameter for obtaining direct-current grid；Step 2, based on predetermined DC micro-capacitance sensor distributed control model and Razumikhin Theory of Stability, the feasible zone of the control parameter of direct-current grid is calculated according to systematic parameter, wherein, control parameter includes the voltage integrating meter parameter and current integration parameter in predetermined DC micro-capacitance sensor distributed control model.Compared to the analysis method that transmission delay is processed as first order inertial loop, this method is more realistic, and it can provide a broader time lag scope for the stable operation of system, make the operation of controller more safe and reliable.

Description

A kind of method of the control parameter feasible zone for determining to stabilize direct-current grid

Technical field

The present invention relates to micro-capacitance sensor technical field, specifically, it is related to a kind of control for determining to stabilize direct-current grid The method of parameter feasible zone.

Background technology

Micro-capacitance sensor is a concept of relatively conventional bulk power grid, it refer to multiple distributed power sources and its related load according to The network of certain topological structure composition, and associated to normal grid by static switch.Because DC load is on the increase, and And the stationary problem between in direct-current grid need not considering distributed power source, and can provide the more preferable quality of power supply and With efficiency higher, therefore the rapid development that direct-current grid turns into the focus of research and obtains in recent years.

The stability i.e. voltage of micro-capacitance sensor and the stability of frequency and the continuation of power supply.Modern industry is especially The production such as precision instrument is high to the stability requirement of electric power.Ensureing the stability of micro-capacitance sensor can either provide the user with high-quality Electric energy, the dependence to bulk power grid can be reduced again.

The content of the invention

To solve the above problems, determine to stabilize the control parameter feasible zone of direct-current grid the invention provides a kind of Method, methods described includes：

Step one, the systematic parameter for obtaining direct-current grid；

Step 2, based on predetermined DC micro-capacitance sensor distributed control model and Razumikhin Theory of Stability, according to institute The feasible zone that systematic parameter calculates the control parameter of the direct-current grid is stated, wherein, the control parameter includes described default Voltage integrating meter parameter and current integration parameter in direct-current grid distributed control model.

According to one embodiment of present invention, the systematic parameter includes：The circuit resistance of voltage reference value, first micro- source The output current in anti-value, the line impedance value of second micro- source, load impedance value, first micro- source and second micro- source divides equally ratio；

The predetermined DC micro-capacitance sensor distributed control model is：

Wherein, v_{1_ref}And v_{2_ref}The reference output voltage in first micro- source and second micro- source, i are represented respectively₁(t- τ) represents the One delaying current, i₂(t- τ) represents the second delaying current, v₁And v₂The output voltage in first micro- source and second micro- source is represented respectively,WithThe initial voltage in first micro- source and second micro- source, i are represented respectively₁And i₂First micro- source and second micro- source are represented respectively Output current,WithFirst voltage average and second voltage average, p are expressed respectively_v1And m_v1Represent and first micro- source pair respectively The voltage ratio parameter and voltage integrating meter parameter answered, p_v2And m_v2Represent respectively voltage ratio parameter corresponding with the second micro- source and Voltage integrating meter parameter, p_i1And m_i1Current ratio parameter corresponding with the first micro- source and current integration parameter, p are represented respectively_i2And m_i2 Current ratio parameter corresponding with the second micro- source and current integration parameter, v are represented respectively_refRepresent reference voltage, k₁And k₂Respectively Represent the output current in first micro- source and second micro- source respectively ratio.

According to one embodiment of present invention, first voltage average is calculated according to following expressionWith second voltage average

Wherein, v₁(t- τ) represents the first time delay voltage, v₂(t- τ) represents the second time delay voltage, v₁And v₂Is represented respectively One micro- source and the output voltage in second micro- source.

According to one embodiment of present invention, the step of feasible zone of the control parameter being calculated according to the systematic parameter Including：

Step a, according to the predetermined DC micro-capacitance sensor distributed control model, generate corresponding time lag system model；

Step b, based on Razumikhin Theory of Stability, building the time lag system model has the ordinary of Uniformly stable The condition equation of solution；

Step c, according to the systematic parameter and condition equation, calculate the feasible zone of the control parameter.

According to one embodiment of present invention, in the step a, by the predetermined DC micro-capacitance sensor distributed AC servo system mould The value of voltage ratio parameter and voltage integrating meter parameter in type is 0.

According to one embodiment of present invention, the time lag system model is：

According to one embodiment of present invention, the condition equation is：

Wherein, R_line1Expression represents the line impedance between first micro- source and common load, R_line2Expression represents that second is micro- Line impedance between source and common load, R_loadRepresent common load.

Method provided by the present invention is recovered using the voltage that a kind of distributed AC servo system strategy realizes system and power is equal Divide, and analyze the influence of information transfer delay on system stability, with reference to Razumikhin Theory of Stability, by constructing just Fixed radially unbounded Lyapunov functions, it is proposed that the complete delay stability criterion of the system, and then derive related ginseng Several feasible zones.

Research shows that the feasible zone of the whole wet method control parameter obtained by this method can guarantee that system is prolonged in maximum When in the case of stable operation, can also reach accurate current uniform in the case where load changes and preferable voltage is extensive Multiple effect.Additionally, the method applies also for the different system of time delay between micro- source and time-delay/time-varying system.Meanwhile, compared to will pass Defeated delay process is the analysis method of first order inertial loop, and the analysis method based on time lag system is more realistic herein, to be The stable operation of system provides a broader time lag scope, makes the operation of controller more safe and reliable.

Other features and advantages of the present invention will be illustrated in the following description, also, the partly change from specification Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages can be by specification, rights Specifically noted structure is realized and obtained in claim and accompanying drawing.

Brief description of the drawings

In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is the accompanying drawing wanted needed for technology description to do simple introduction：

Fig. 1 is the structural representation of direct-current grid physical model according to an embodiment of the invention；

Fig. 2 is the structural representation of direct-current grid dcs according to an embodiment of the invention；

Fig. 3 is the specific electricity of the part-structure of direct-current grid dcs according to an embodiment of the invention Road schematic diagram；

Fig. 4 be direct-current grid stability according to an embodiment of the invention determine method realize flow chart；

Fig. 5 is the feasible zone schematic diagram of control parameter according to an embodiment of the invention；

Fig. 6 and Fig. 7 are simulation result schematic diagrams according to an embodiment of the invention；

Fig. 8 and Fig. 9 are simulation result schematic diagrams according to an embodiment of the invention；

Figure 10 and Figure 11 are simulation result schematic diagrams according to an embodiment of the invention；

Figure 12 and Figure 13 are simulation result schematic diagrams according to an embodiment of the invention；

Figure 14 and Figure 15 are simulation result schematic diagrams according to an embodiment of the invention.

Specific embodiment

Describe embodiments of the present invention in detail below with reference to drawings and Examples, how the present invention is applied whereby Technological means solves technical problem, and reaches the implementation process of technique effect and can fully understand and implement according to this.Need explanation As long as not constituting conflict, each embodiment in the present invention and each feature in each embodiment can be combined with each other, The technical scheme for being formed is within protection scope of the present invention.

Meanwhile, in the following description, many details are elaborated for illustrative purposes, to provide to of the invention real Apply the thorough understanding of example.It will be apparent, however, to one skilled in the art, that the present invention can be without tool here Body details or described ad hoc fashion are implemented.

Distributed micro-capacitance sensor with communication has certain advantage in the control aspect of voltage x current, yet with distribution Formula control needs to be realized by communication, therefore influence of the communication delay to the stability of a system of micro-capacitance sensor is also that can not ignore 's.

Based on the micro- electricity for containing the various communications facilitys such as Ethernet, Internet, WiMax and WiFi In net electric power system, inherently there is time delay in information in the transmission.Even the time delay (such as 25ms) of very little is it is also possible that obtain Controller failure of good performance in the system of time delay is not considered, so as to influence the stability of system.

Certainly, except transmission delay, the sample rate of communication system also can produce influence to systematic function.But, for micro- Data volume of the control signal less than 100bytes in power network, the influence of communications systems sample rate can be ignored.Therefore, it is of the invention Time delay refers mainly to the transmission delay in system.

Because time delay is inherently present in the communications facility of micro-capacitance sensor electric power system, therefore examined when controller is designed Consider delay on system stability influence it is critical that.In the prior art, some investigators are based on the friendship of FREQUENCY CONTROL The influence of delay on system stability in stream micro-capacitance sensor, it is proposed that a kind of gain scheduling method provides system controller to time delay Robustness.But this method does not analyze influence of the time-varying delays to the stability of a system.Some investigators propose one Kind using the design of Halanay inequality based on nonlinear multiple agent uniformity control method, but the method have it is larger Limitation, it is only used for each intelligent body time delay and is the same from situation.

It can thus be seen that not yet existing to time lag in the direct-current grid based on distributed AC servo system to being in the prior art The influence of stability of uniting is researched and analysed.For the above mentioned problem in the presence of prior art, present embodiments provide a kind of true Surely the method and one kind for stabilizing the control parameter feasible zone of direct-current grid are determined directly based on above-mentioned control parameter feasible zone The method for flowing micro-capacitance sensor stability.

Without loss of generality, existing direct-current grid physical model can be reduced to as shown in Figure 1.Wherein, the direct current is micro- Power network electric power system includes two micro- sources, i.e., first micro- source DG#1 and second micro- source DG#2, and the two micro- sources are by Dai Weinan The principle of equal effects simplifies the DC source for obtaining.

According to Fig. 1, following expression can be obtained：

v_load=v₁-i₁·R_line1 (1)

v_load=v₂-i₂·R_line2 (2)

Wherein, v_loadRepresent the common load R between two micro- sources_loadBetween voltage, R_line1Expression represents that first is micro- Line impedance between source DG#1 and common load, R_line2Expression represents the circuit resistance between second micro- source DG#2 and common load It is anti-, v₁And i₁The output voltage and output current of first micro- source DG#1, v are represented respectively₂And i₂Represent second micro- source DG#2's respectively Output voltage and output current.

And then the output current expression formula in the micro- source of following first and second micro- source can be obtained：

i₁=α₁·v₁-λ·v₂ (3)

i₂=α₂·v₂-λ·v₁ (4)

Wherein,

It is micro- in order to clearly illustrate direct-current grid distributed control method that the present embodiment provided and direct current The realization principle of power network dcs, implementation process and advantage, simplify mould with the direct-current grid shown in Fig. 1 below Type is described to the method.

Fig. 2 shows the structural representation of the direct-current grid dcs that the present embodiment is provided, and Fig. 3 shows The physical circuit schematic diagram of the part-structure of the direct-current grid dcs that the present embodiment is provided.

As shown in Fig. 2 the system is preferably included：Voltage measuring apparatus 201, current measuring device 202, first voltage are adjusted Entire signal generating means 203, second voltage adjustment signal generating apparatus 204, Voltage Reference value generation device 205 and voltage are adjusted Regulating device 206.

In the present embodiment, the in the measured direct-current grid for obtaining of voltage measuring apparatus 201 and current measuring device 202 The output voltage signal and output current signal in one micro- source are transmitted to the electricity of first voltage adjustment signal generating apparatus 203 and second Inevitably there is time delay during pressure adjustment signal generating apparatus 204, therefore voltage measuring apparatus 201 and current measurement are filled Put 202 and transmit to first voltage the voltage letter for adjusting signal generating apparatus 203 and second voltage adjustment signal generating apparatus 204 Number and current signal be referred to as the first time delay voltage v₁(t- τ) and the first time delay electric current i₁(t-τ).Wherein, τ (t) >=0 is letter Number by communication line when time delay.

First voltage adjusts the output end of signal generating apparatus 203 and the micro- source DG#2 of voltage measuring apparatus 201 and second Connection, its can according to voltage measuring apparatus 201 transmission come the first time delay voltage v₁(t- τ) and the output voltage in second micro- source v₂, generation first voltage adjustment signal v_2a。

As shown in figure 3, in the present embodiment, first voltage adjustment signal generating apparatus 203 are preferably included：Average circuit 301 and voltage PI controls circuit 302.Average circuit 301 includes two signal input parts, one of signal input part and voltage Measurement apparatus 201 are connected, for voltage signal (i.e. the first time delay voltage v that the transmission of receiving voltage measurement apparatus 201 comes₁(t- τ)), another signal input part is connected with the voltage measuring apparatus of the output end for being arranged at second micro- source, for obtaining second micro- source Output voltage v₂.The output end of average circuit 301 is connected with the input of voltage PI control circuits 302.

In the present embodiment, average circuit 301 includes adder 301a and multiplication factor is 1/2 proportional amplifier 301b.Its In, adder 301a is used for the first time delay voltage v₁(t- τ) and the output voltage v in second micro- source₂Sued for peace, and will summation Result is input into proportional amplifier 301b, so as to calculate the first time delay voltage according to above-mentioned summed result by proportional amplifier 301b v₁(t- τ) and the output voltage v in second micro- source₂Average value, obtain second voltage average valueExist：

Obtaining average voltageAfterwards, average circuit 301 can be by average voltageTransmit to voltage PI and control circuit 302, circuit 302 is controlled according to average voltage with by voltage PIWith predetermined reference voltage v_refGeneration first voltage adjustment letter Number v_2a。

Specifically, as shown in figure 3, in the present embodiment, voltage PI control circuits 302 preferably include the first subtracter 302a With voltage PI controllers 302b.Wherein, the normal phase input end of the first subtracter 302a is used to receive predetermined reference voltage v_ref, bear Phase input is connected with the output end of average circuit 301.So, the first subtracter also can just be calculated average voltage With predetermined reference voltage v_refVoltage difference Δ v₂, that is, exist：

First subtracter 302a can be by above-mentioned voltage difference Δ v₂Transmit into voltage PI controllers 302b, such voltage PI Controller 302b also just can be according to above-mentioned voltage difference Δ v₂Generation first voltage adjustment signal v_2a.Specifically, the present embodiment In, voltage PI controllers 302b calculates first voltage adjustment signal v advantageously according to following expression_2a：

Wherein, p_v2And m_v2The scale parameter and integral parameter of voltage PI controllers 302b are represented respectively.

Again as shown in Fig. 2 in the present embodiment, second voltage adjusts signal generating apparatus 204 and current measuring device 202 Connection, it is used to be measured according to circuit measuring circuit 202 the first delaying current i for obtaining₁(t- τ), the second micro- source for getting Output current i₂And predetermined current ratio, generation second voltage adjustment signal v_2b。

Specifically, as shown in figure 3, in the present embodiment, second voltage adjustment signal generating apparatus 204 preferably include ratio Adjuster 303 and electric current PI control circuits 304.Wherein, proportional controller 303 and current measuring device 202 and it is arranged on the Correlated current measurement apparatus connection at two micro- source output terminal positions, it can be based on predetermined current than respectively to the first time delay electricity Stream i₁(t- τ) and the output current i in second micro- source₂Carry out scale operation.

Proportional controller 303 can by scale operation after the first delaying current i₁The output electricity in (t- τ) and second micro- source Stream i₂Transmit to electric current PI and control circuit 304, with the first delaying current after controlling circuit 304 according to scale operation by electric current PI i₁(t- τ) and the output current i in second micro- source₂Generation second voltage adjustment signal v_2b。

Specifically, in the present embodiment, electric current PI control circuits 304 preferably include the second subtracter 304a and electric current PI controls Device 304b processed.Wherein, the normal phase input end of the second subtracter 304a is used to receive the first delaying current i after scale operation₁(t- τ), negative-phase input is used to receive the output current i in second micro- source after scale operation₂, its output end is for exporting itself life Into current differential Δ i₂, that is, exist：

Δi₂=i₁(t-τ)/k₁-i₂/k₂(11)

Wherein, i₁(t-τ)/k₁Represent the first delaying current i after scale operation₁The corresponding current value of (t- τ), i₂/k₂Table Show the output current i in second micro- source after scale operation₂Corresponding current value, k₁/k₂Represent predetermined current ratio (i.e. first micro- source Output current and second micro- source output current ratio).

Second subtracter 304a can be by above-mentioned current differential Δ i₂Transmit into electric current PI controllers 304b, such electric current PI Controller 304b also just can be according to above-mentioned current differential Δ i₂Generation second voltage adjustment signal v_2b.Specifically, the present embodiment In, electric current PI controllers 304b calculates second voltage adjustment signal v advantageously according to following expression_2b：

v_2b=p_i2(i₁(t-τ)/k₁-i₂/k₂)+m_i2∫(i₁(t-τ)/k₁-i₂/k₂) (12)

Wherein, p_i2And m_i2The scale parameter and integral parameter of electric current PI controllers are represented respectively.

Again as shown in Fig. 2 Voltage Reference value generation device 205 and first voltage adjust signal generating apparatus 203 and the Two voltage signals adjustment signal generating apparatus 204 are connected, and it is used to be generated according to first voltage adjustment signal generating apparatus 203 First voltage adjustment signal v_2aAnd the second voltage adjustment signal that second voltage adjustment signal generating apparatus 204 are generated v_2bGenerate the voltage reference value v in second micro- source_{2_ref}。

Specifically, as shown in figure 3, in the present embodiment, the voltage reference value v in second micro- source_{2_ref}Believe for first voltage is adjusted Number v_2a, second voltage adjustment signal v_2bWith the Initial Voltage Value sum in second micro- source, that is, exist：

I.e.：

It is pointed out that in the present embodiment, Voltage Reference value generation device 205 preferably can be using adder come real Existing, in other embodiments of the invention, Voltage Reference value generation device 205 can also use other rational devices or circuit To realize, the invention is not restricted to this.

Obtaining the voltage reference value v in second micro- source_{2_ref}Afterwards, Voltage Reference value generation device 205 can be by the Voltage Reference Value v_{2_ref}Export to voltage regulating device 206.Specifically, in the present embodiment, voltage regulating device 206 preferably includes the 3rd and subtracts Musical instruments used in a Buddhist or Taoist mass 305, voltage regulator 306 and DC/DC converter (not shown)s.Wherein, the positive input of the 3rd subtracter 305 End is connected with Voltage Reference value generation device 205, and negative-phase input is measured with the relevant voltage for being arranged on second micro- source output terminal Circuit is connected, and its output end is connected with voltage regulator 306, voltage regulator 306 can by the output voltage of itself adjust to With voltage reference value v_{2_ref}It is equal or approximate.The input of DC/DC converters and voltage regulator 306, its output end form whole The output end in individual second micro- source.From figure 3, it can be seen that in the present embodiment, the side that voltage regulating device 206 is adjusted using closed loop Formula carrys out the output voltage to adjusting second micro- source.

In the present embodiment, the direct-current grid dcs also includes current reference value generation device 207 and electricity Flow modulation device 208.Wherein, current reference value generation device 207 is connected with current measurement circuit 202, and it can receive electric current The first delaying current i that the transmission of measuring circuit 202 comes₁(t- τ), electricity is measured by the correlated current for being arranged on second micro- source output terminal The output current i in second micro- source that drive test is measured₂, and according to above-mentioned current value and predetermined current than second micro- source of generation Current reference value i_{2_ref}。

Specifically, in the present embodiment, it is micro- that current reference value generation device 207 calculates second advantageously according to following expression The current reference value i in source_{2_ref}：

Wherein, i_{2_ref}Represent the current reference value in second micro- source, k₁/k₂Represent predetermined current ratio, i₁(t- τ) represents first Delaying current.

Obtaining the current reference value i in second micro- source_{2_ref}Afterwards, current reference value generation device 207 can be by the current reference Value i_{2_ref}Transmit to regulating current device 208.Wherein, regulating current device 208 preferably includes the 4th subtracter 208a and electricity Throttle regulator 208b.The normal phase input end of the 4th subtracter 208a is connected with current reference value generation device 207, negative-phase input Connected to the corresponding current measurement circuit for being arranged on second micro- source output terminal, its output end is connected with current regulator 208b, electricity Throttle regulator 208b can by the output voltage of itself adjust to current reference value i_{2_ref}It is equal or approximate.

It is pointed out that the above is illustrated so that second micro- source in direct-current grid is as control object as an example , the control principle and control process to other the micro- sources in direct-current grid are similar with the above, therefore no longer right herein The control principle and control process in other micro- sources are repeated.

For example, if with first micro- source in direct-current grid as control object, its reference voltage v_{1_ref}Can be with root It is calculated according to following expression：

Wherein,Represent the initial voltage in first micro- source, p_v1And m_v1Voltage ratio corresponding with the first micro- source is represented respectively Parameter and voltage integrating meter parameter, p_i1And m_i1Current ratio parameter corresponding with the first micro- source and current integration parameter are represented respectively, i₂(t- τ) represents the second delaying current signal,Represent first voltage average value.

If with first micro- source if control object, v₁And i₁Not consider the local information of time delay, v₂(t- τ) and i₂ (t- τ) is then second micro- source by the next information of time delay process transmission；Conversely, if with second micro- source if control object, v₂And i₂It is then the local information for not considering time delay, v₁(t- τ) and i₁(t- τ) is then for first micro- source is come by time delay process transmission Information.

Compared to existing direct-current grid dcs, the direct-current grid that the present embodiment is provided is distributed Control system introduces communication line to voltage data and the time-lag action of circuit data, and it can exactly realize that voltage recovers And current uniform.

For distributed DC micro-capacitance sensor, when time delay is smaller, time delay process can use an one order inertia ring Save to replace.But, if time delay is larger, then above-mentioned first order inertial loop then cannot truly reflect micro-grid system Practical operation situation.The direct-current grid stability that the present embodiment is provided determines that method is managed using Razumikhin stability The stability analysis of correlation is carried out by, micro-capacitance sensor models based on above-mentioned foundation.

It can be seen from Razumikhin Theory of Stability, for general time lag system, it is assumed that it is：

Here, x ∈ Rⁿ,f∈C[I×Rⁿ×Rⁿ,Rⁿ], and meet：

F (x, 0,0) 0,0≤τ of ≡ (t)≤τ ＜+∞ (19)

A, for above-mentioned time lag system, if meeting following condition：

1) existence functionWithSo that：

If 2) V (t- τ (t), x (t- τ (t)))≤V (t, x (t)), is present：

D⁺V(t,x)|₍₁₀₎≤g(t)F(V(t),x(t)) (21)

Wherein, as V ＞ 0, F (V) ＞ 0；As V=0, F (0)=0.

3)

Then the trivial solution of expression formula (18) is Uniformly stable.

B, for above-mentioned time lag system, if meeting following condition：

1) condition 1 in A) set up；

2)D⁺V(t,x)|₍₁₀₎≤0

Then the trivial solution of expression formula (18) is Uniformly stable.

C, for above-mentioned time lag system, if meeting following condition：

1) condition 1 in A) set up；

2) there is nonneggative continuous function F (t, x) and ψ (t, x) so thatAs | | x | | ＞ δ, t >=t₀When, expression formula (21) set up,

F(t,x(t))≥ψ(t,δ)≥0 (22)

Also, as t →+∞, on t₀Expression formula (22) is unanimously set up；

3) there is continuous function p (s) ＞ s, as s ＞ 0, there is expression formula (24) such that expression formula (25) is set up：

D⁺V(t,x)|₍₁₀₎≤-F(t,x(t)) (24)

V(t-τ(t),x(t-τ(t)))≤pV(t,x(t)) (25)

Then the trivial solution of expression formula (18) is Uniformly stable.

In the present embodiment, based on above-mentioned control method, on the premise of the stability of a system is not influenceed, voltage ratio can be made Parameter and current ratio parameter are 0, that is, exist：

p_v1=p_v2=p_i1=p_i2=0 (26)

Predetermined DC micro-capacitance sensor distribution total Time Lag Controlling model (i.e. expression formula (14) and expression so in the present embodiment Formula (16)) can be reduced to：

Expression formula (3) and expression formula (4) are substituted into expression formula (27) can obtain：

In order to determine the coefficient range that the trivial solution in expression formula (28) determines, ignore the constant term in expression formula (28), And construct the Lyapunov functions of the radially unbounded of positive definite and can obtain：

As V (v₁(t-τ(t)),v₂(t-τ(t)))≤V(v₁(t),v₂(t)) when, have：

From above-mentioned Razumikhin Theory of Stability, when meeting condition D⁺V(v₁(t),v₂(t))|₍₁₁₎≤ 0, i.e., it is full During sufficient expression formula (32), the trivial solution of systematic (27) is Uniformly stable.

Wherein,

According to above-mentioned principle, the direct-current grid stability that the present embodiment is provided determines that method also just can be according to expression Formula (32) and expression formula (33) calculate the feasible zone of associated control parameters, and determine direct-current grid according to the feasible zone Stability.

Specifically, Fig. 4 shows that what direct-current grid stability that the present embodiment is provided determined method implements stream Cheng Tu.

As shown in figure 4, the method that the present embodiment is provided obtains the system ginseng of direct-current grid first in step S401 Number.Specifically, in the present embodiment, the systematic parameter of the direct-current grid accessed by the method is preferably included：Voltage Reference Value, the line impedance value of first micro- source, the line impedance value of second micro- source, load impedance value and first micro- source and second The output current in micro- source divides equally ratio.

For example, in the present embodiment, the systematic parameter accessed by the method can be with as shown in the table：

After the systematic parameter for obtaining direct-current grid, the method is distributed in step S402 based on predetermined DC micro-capacitance sensor Formula Controlling model, the feasible zone of the control parameter of direct-current grid is calculated according to said system parameter.In the present embodiment, direct current is micro- The control parameter of power network preferably includes voltage integrating meter parameter (the i.e. m in predetermined DC micro-capacitance sensor distributed control model_v1With m_v2) and current integration parameter (i.e. m_i1And m_i2)。

According to systematic parameter accessed in step S401, above-mentioned control can be calculated based on above-mentioned expression formula (32) The feasible zone of parameter processed.Specifically, based on above-mentioned theory, the method can be first in step a according to predetermined DC micro-capacitance sensor point Cloth Controlling model generates corresponding time lag system model, then Razumikhin Theory of Stability in stepb, builds institute Stating time lag system model has the condition equation of trivial solution of Uniformly stable, finally according to said system parameter in step c And condition equation, calculate the feasible zone of above-mentioned control parameter.

In the present embodiment, the systematic parameter value according to upper table, the method can be obtained in step S402 as The span (i.e. the feasible zone of control parameter) of the control parameter that ensure that system whole wet method shown in Fig. 5.Wherein, In Figure 5, the region of two concave curved surfaces below zero plane is the feasible zone of control parameter.

Work as k₁:k₂=1:When 1, in order to simplify inequality (32), control parameter m is made_v1=m_i1=m₁And m_v2=m_i2=m₂, can ：

m₁∈ [1.25,13.08], m₂∈ [1.29,13.59]

Take m₁=m₂=3, although the time delay of the communication system being made up of different communication medias is different, but its time delay Substantially all in 100ms or so, for satellite communication system, its time delay may be up to 700ms.

After the feasible zone for obtaining above-mentioned control parameter, the method obtains the current control of direct-current grid in step S403 Parameter processed, and judge above-mentioned current control parameter whether in feasible zone in step s 404.If current control parameter is can In row domain, then the method also just can judge that now direct-current grid has complete delay stability in step S405；Otherwise Just can be determined that now direct-current grid does not have complete delay stability.

In order to further demonstrate that the advantage of the method that the present embodiment is provided, below time delay situation higher (such as τ= 1) emulation experiment is carried out under, its result is as shown in Figure 6 and Figure 7.It can be seen from figures 6 and 7 that the DC micro power grid system exists Stabilization is can reach in 10s, its voltage overshoot is only 5.3% or so, and two voltages in micro- source can return to reference voltage 48V or so, and its electric current can realize more accurate respectively effect.

And in the case where systematic parameter is not changed, time delay is equivalent to first order inertial loop, its simulation result such as Fig. 8 and Shown in Fig. 9.As can be seen that the DC micro power grid system can reach stabilization in 4s from Fig. 8 and Fig. 9, voltage overshoot is 12.2% or so.Knowable to comparison diagram 6 to Fig. 9, when time delay is larger, first order inertial loop cannot truly reflect the reality of system Operation conditions.In the case of multiple micro- sources, the problem will be more serious.It follows that the method institute that the present embodiment is provided The model of foundation is more accurate.

In the case where system other parameters are not changed, in t=12s, R is made_loadFrom 10 Ω saltus steps to 20 Ω, obtain Simulation result is as shown in Figure 10 and Figure 11.It can be seen that when load occurs saltus step, system voltage is in 8.5s or so Stabilization can be recovered, electric current can reach stable state in 4s.This also demonstrates the method that the present embodiment provided and ensure that system The feasible zone of the control parameter of whole wet method is still applicable when load occurs saltus step.

And in order to study micro- source between time delay different system ruuning situation, make the information in second micro- source reach first micro- source Transmission delay τ₂₁=1s, the information in first micro- source reaches the transmission delay τ in second micro- source₁₂=0.5s, can so obtain such as figure Simulation result shown in 12 and Figure 13.It can be seen that the output voltage and output current of system reach in 6s or so Stabilization, thus demonstrate the control parameter obtained by this method feasible zone be applied equally to time delay between micro- source it is different be System.

In order to study usable condition of the feasible zone of control parameter in time-delay/time-varying system, make τ (t)=| sin (4 π t) |, simulation result as shown in Figure 14 and Figure 15 can be obtained.It can be seen that in the case where time delay is changed over time, Although voltage overshoot increased, system is final can to recover stable state in 5s, and this is also same with regard to demonstrating this method in eye Sample is applied to time-delay/time-varying system.

As can be seen that the method that the present embodiment is provided is realized using a kind of distributed AC servo system strategy from foregoing description The voltage of system recovers and power-sharing, and analyzes the influence of information transfer delay on system stability, with reference to Razumikhin Theory of Stability, by the radially unbounded Lyapunov functions for constructing positive definite, it is proposed that the total Time Lag of the system Determination of stability standard, and then derive the feasible zone of relevant parameter.

Research shows that the feasible zone of the whole wet method control parameter obtained by this method can guarantee that system is prolonged in maximum When in the case of stable operation, can also reach accurate current uniform in the case where load changes and preferable voltage is extensive Multiple effect.Additionally, the method applies also for the different system of time delay between micro- source and time-delay/time-varying system.Meanwhile, compared to will pass Defeated delay process is the analysis method of first order inertial loop, and the analysis method based on time lag system is more realistic herein, to be The stable operation of system provides a broader time lag scope, makes the operation of controller more safe and reliable.

It should be understood that disclosed embodiment of this invention is not limited to ad hoc structure disclosed herein or treatment step Suddenly, the equivalent substitute of these features that those of ordinary skill in the related art are understood should be extended to.It should also be understood that It is that term as used herein is only used for describing the purpose of specific embodiment, and is not intended to limit.

" one embodiment " or " embodiment " mentioned in specification means special characteristic, the structure for describing in conjunction with the embodiments Or characteristic is included at least one embodiment of the present invention.Therefore, the phrase " reality that specification various places throughout occurs Apply example " or " embodiment " same embodiment might not be referred both to.

Although above-mentioned example is used to illustrate principle of the present invention in one or more applications, for the technology of this area For personnel, in the case of without departing substantially from principle of the invention and thought, hence it is evident that can in form, the details of usage and implementation It is upper various modifications may be made and without paying creative work.Therefore, the present invention is defined by the appended claims.

Claims (7)

1. a kind of method that determination stabilizes the control parameter feasible zone of direct-current grid, it is characterised in that methods described includes：

Step one, the systematic parameter for obtaining direct-current grid；

Step 2, based on predetermined DC micro-capacitance sensor distributed control model and Razumikhin Theory of Stability, according to the system System parameter calculates the feasible zone of the control parameter of the direct-current grid, wherein, the control parameter includes the predetermined DC Voltage integrating meter parameter and current integration parameter in micro-capacitance sensor distributed control model.

2. the method for claim 1, it is characterised in that the systematic parameter includes：Voltage reference value, first micro- source Line impedance value, the line impedance value of second micro- source, load impedance value, the output current in first micro- source and second micro- source it is equal Divide ratio；

The predetermined DC micro-capacitance sensor distributed control model is：

$v_{1\_ref}=v_1^{*}+p_{v1}(v_{ref}-{\stackrel{\‾}{v}}_1)+p_{i1}\left(i_2\right(t-\mathrm{\τ})/k_2-i_1/k_1)+m_{v1}\∫(v_{ref}-{\stackrel{\‾}{v}}_1)+m_{i1}\∫\left(i_2\right(t-\mathrm{\τ})/k_2-i_1/k_1)$

$v_{2\_ref}=v_2^{*}+p_{v2}(v_{ref}-{\stackrel{\‾}{v}}_2)+p_{i2}\left(i_1\right(t-\mathrm{\τ})/k_1-i_2/k_2)+m_{v2}\∫(v_{ref}-{\stackrel{\‾}{v}}_2)+m_{i2}\∫\left(i_1\right(t-\mathrm{\τ})/k_1-i_2/k_2)$

Wherein, v_{1_ref}And v_{2_ref}The reference output voltage in first micro- source and second micro- source, i are represented respectively₁(t- τ) represents that first prolongs When electric current, i₂(t- τ) represents the second delaying current, v₁And v₂The output voltage in first micro- source and second micro- source is represented respectively,WithThe initial voltage in first micro- source and second micro- source, i are represented respectively₁And i₂The output in first micro- source and second micro- source is represented respectively Electric current,WithFirst voltage average and second voltage average, p are expressed respectively_v1And m_v1Represent respectively corresponding with first micro- source Voltage ratio parameter and voltage integrating meter parameter, p_v2And m_v2Voltage ratio parameter corresponding with the second micro- source and voltage are represented respectively Integral parameter, p_i1And m_i1Current ratio parameter corresponding with the first micro- source and current integration parameter, p are represented respectively_i2And m_i2Respectively Represent current ratio parameter corresponding with the second micro- source and current integration parameter, v_refRepresent reference voltage, k₁And k₂Represent respectively The output current in first micro- source and second micro- source divides equally ratio.

3. method as claimed in claim 2, it is characterised in that first voltage average is calculated according to following expressionWith second Average voltage

${\stackrel{\‾}{v}}_1=\frac{v_1+v_2(t-\mathrm{\τ})}{2}$

${\stackrel{\‾}{v}}_2=\frac{v_2+v_1(t-\mathrm{\τ})}{2}$

Wherein, v₁(t- τ) represents the first time delay voltage, v₂(t- τ) represents the second time delay voltage, v₁And v₂First micro- source is represented respectively With the output voltage in second micro- source.

4. method as claimed in claim 2 or claim 3, it is characterised in that the control parameter is calculated according to the systematic parameter The step of feasible zone, includes：

Step a, according to the predetermined DC micro-capacitance sensor distributed control model, generate corresponding time lag system model；

Step b, based on Razumikhin Theory of Stability, building the time lag system model has the trivial solution of Uniformly stable Condition equation；

Step c, according to the systematic parameter and condition equation, calculate the feasible zone of the control parameter.

5. method as claimed in claim 4, it is characterised in that in the step a, by predetermined DC micro-capacitance sensor distribution The value of voltage ratio parameter and voltage integrating meter parameter in formula Controlling model is 0.

6. the method as described in claim 4 or 5, it is characterised in that the time lag system model is：

$\left\{\begin{array}{c}\frac{{\mathrm{dv}}_{1\_ref}}{dt}=m_{v1}(v_{ref}-\frac{v_1+v_2(t-\mathrm{\τ})}{2})+m_{i1}(\frac{i_2(t-\mathrm{\τ})}{k_2}-\frac{i_1}{k_1})\\ \frac{{\mathrm{dv}}_{2\_ref}}{dt}=m_{v2}(v_{ref}-\frac{v_1(t-\mathrm{\τ})+v_2}{2})+m_{i2}(\frac{i_1(t-\mathrm{\τ})}{k_1}-\frac{i_2}{k_2})\end{array}\right..$

7. method as claimed in claim 6, it is characterised in that the condition equation is：

$\left\{\begin{array}{c}(A+1)\≤0\\ (B+1)\≤0\end{array}\right.$

$A={(\frac{{\mathrm{\α}}_2}{k_2}{m}_{i1}-\frac{m_{v1}}{2})}^2+\frac{{\mathrm{\λ}}^2}{{k_1}^2}{m_{i1}}^2-m_{v1}-\frac{2{\mathrm{\α}}_1}{k_1}{m}_{i1}+1$

$B={(\frac{{\mathrm{\α}}_1}{k_1}{m}_{i2}-\frac{m_{v2}}{2})}^2+\frac{{\mathrm{\λ}}^2}{{k_2}^2}{m_{i2}}^2-m_{v2}-\frac{2{\mathrm{\α}}_2}{k_2}{m}_{i2}+1$

${\mathrm{\α}}_1=\frac{R_{line2}+R_{load}}{R_{line1}{R}_{line2}+R_{line2}{R}_{load}+R_{line1}{R}_{load}}$

${\mathrm{\α}}_2=\frac{R_{line1}+R_{load}}{R_{line1}{R}_{line2}+R_{line2}{R}_{load}+R_{line1}{R}_{load}}$

$\mathrm{\λ}=\frac{R_{load}}{R_{line1}{R}_{line2}+R_{line2}{R}_{load}+R_{line1}{R}_{load}}$

Wherein, R_line1Expression represents the line impedance between first micro- source and common load, R_line2Expression represent second micro- source with Line impedance between common load, R_loadRepresent common load.