CN107248742A - A kind of passive robust control method - Google Patents
A kind of passive robust control method Download PDFInfo
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- CN107248742A CN107248742A CN201710588930.7A CN201710588930A CN107248742A CN 107248742 A CN107248742 A CN 107248742A CN 201710588930 A CN201710588930 A CN 201710588930A CN 107248742 A CN107248742 A CN 107248742A
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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
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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
- H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
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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
- H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
- H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
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- Control Of Eletrric Generators (AREA)
- Feedback Control In General (AREA)
Abstract
This application discloses a kind of passive robust control method, three kinds of characteristics in power system are obtained, three kinds of characteristics include：Mission nonlinear a (x), parameter uncertainty b (x) and wind speed randomness d (t)；It polymerize three kinds of characteristics, obtains disturbance ψ (x, u, t)；Introduce virtual state xn+1Characterize the disturbance ψ (x, u, t)；Disturbance viewer is introduced, the disturbance after the sign is estimated in real time；Robust passive control device is introduced, the output of the active power and reactive power of double fed induction generators in the disturbance after the real-time estimation, also, the control power system is compensated.The method that the embodiment of the present application is provided, apply in the power system containing double fed induction generators, when the power system containing double fed induction generators is interfered, Robust passive control based on disturbance viewer is acted immediately, the output of double fed induction generators active power and reactive power is adjusted, to strengthen the stability of power system.
Description
Technical field
The application is related to technical field of electricity, more particularly to a kind of passive robust control method.
Background technology
In recent years, due to the surge of global power demand and the reserves limitation of fossil fuel and its to harmful shadow of environment
Ring, countries in the world are growing to the demand of regenerative resource.Wind energy is that reserves are huge in a kind of green, pollution-free and nature
The big energy, therefore, wind-power electricity generation proportion in power system are increasing.With the large-scale grid connection of wind power plant, protect
Barrier and the stability of enhancing power system seem most important.
Being used for strengthening the method for stability of power system in the prior art has a lot.From the point of view of control angle, there is feedback line
Property control, sliding mode are adaptively counter to push away control, fuzzy logic control, control based on liapunov function etc.；From hard
From the point of view of in part equipment, there are advanced harmonic compensation equipment, reactive-load compensation equipment, Power Quality Detection equipment and apply elder generation
Enter transverter equipment of power electronic devices etc..
However, at present in the power system containing double fed induction generators, it usually needs obtain accurate double-fed induction
After generator model, could further it be operated, to ensure the stability of power system, such process was both complicated
The uniformity of the overall situation is difficult to again.
The content of the invention
This application provides a kind of passive robust control method, to solve at present in the electric power containing double fed induction generators
The problem of global coherency being difficult in system.
This application provides a kind of passive robust control method, this method includes：
Three kinds of characteristics in power system are obtained, three kinds of characteristics include：Mission nonlinear a (x), parameter uncertainty b
(x) with wind speed randomness d (t)；
It polymerize three kinds of characteristics, obtains disturbance ψ (x, u, t)；
Introduce virtual state xn+1Characterize the disturbance ψ (x, u, t)；
Disturbance viewer is introduced, the disturbance after the sign is estimated in real time；
Robust passive control device is introduced, the disturbance after the real-time estimation is compensated, also, control double in the power system
Present the output of the active power and reactive power of influence generator.
Optionally, polymerization three kinds of characteristics, obtain disturbance ψ (x, u, t), including：By the amount of three kinds of characteristics
Value is added.
Optionally, the introducing virtual state xn+1Characterize the disturbance ψ (x, u, t), the virtual state xn+1=ψ (x,
u,t)。
Optionally, it is described to introduce disturbance viewer, the disturbance after the sign is estimated in real time, including：Seen to the disturbance
Introducing quantity of state x and control input amount u in device is examined, the disturbance after the sign is estimated in real time.
Optionally, the introducing Robust passive control device, compensates the disturbance after the real-time estimation, including：In the Shandong
The value after disturbance estimation in real time is subtracted in rod Passive Shape Control device.Disturbance after compensation estimation in real time, can fully suppress electricity
The non-linear of Force system, time-varying external disturbance, system do not model the bad shadow to control performance such as state and parameter uncertainty
Ring, so as to realize the global uniformity of control.
Optionally, the introducing Robust passive control device, compensates the disturbance after the real-time estimation, also, control is described
In power system after the output of the active power and reactive power of double fed induction generators, in addition to：To the power system
Middle addition high-damping.High-damping is added, the stability of power system is conducive to provide.
Optionally, the introducing Robust passive control device, compensates the disturbance after the real-time estimation, also, control is described
In power system after the output of the active power and reactive power of double fed induction generators, in addition to：Remold the power train
The energy of closed-loop system in system.The energy of closed-loop system in power system is remolded, is conducive to improving generator under various operating modes
Dynamic response.
From above technical scheme, the application provides a kind of passive robust control method, obtains in power system three kinds
Characteristic, three kinds of characteristics include：Mission nonlinear a (x), parameter uncertainty b (x) and wind speed randomness d (t)；Polymerization institute
Three kinds of characteristics are stated, disturbance ψ (x, u, t) is obtained；Introduce virtual state xn+1Characterize the disturbance ψ (x, u, t)；Introduce disturbance observation
Device, estimates the disturbance after the sign in real time；Robust passive control device is introduced, the disturbance after the real-time estimation is compensated, and
And, control the output of the active power and reactive power of double fed induction generators in the power system.The embodiment of the present application is carried
The method of confession, is applied in the power system containing double fed induction generators, when the power system containing double fed induction generators
When being interfered, the Robust passive control for disturbing viewer based on property is acted immediately, adjusts double fed induction generators active power
With the output of reactive power, to strengthen the stability of power system.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme of the application, the required accompanying drawing used in case study on implementation will be made below
Simply introduce, it should be apparent that, for those of ordinary skills, do not paying the premise of creative labor
Under, other accompanying drawings can also be obtained according to these accompanying drawings.
A kind of flow chart for passive robust control method that Fig. 1 provides for the embodiment of the present application.
Embodiment
Referring to Fig. 1, a kind of flow chart of the passive robust control method provided for the embodiment of the present application.Methods described bag
Include：
Step 100, three kinds of characteristics in power system are obtained, three kinds of characteristics include：Mission nonlinear a (x), parameter are not
Certainty b (x) and wind speed randomness d (t)；
Step 200, it polymerize three kinds of characteristics, obtains disturbance ψ (x, u, t)；
Step 300, virtual state x is introducedn+1Characterize the disturbance ψ (x, u, t)；
Step 400, disturbance viewer is introduced, the disturbance after the sign is estimated in real time；
Step 500, Robust passive control device is introduced, the disturbance after the real-time estimation is compensated, also, control the electric power
The output of the active power and reactive power of double fed induction generators in system so that generator is during Voltage Drop and electric
After pressure is fallen, not off-grid operation is kept.
From above technical scheme, the application provides a kind of passive robust control method, obtains in power system three kinds
Characteristic, three kinds of characteristics include：Mission nonlinear a (x), parameter uncertainty b (x) and wind speed randomness d (t)；Polymerization institute
Three kinds of characteristics are stated, disturbance ψ (x, u, t) is obtained；Introduce virtual state xn+1Characterize the disturbance ψ (x, u, t)；Introduce disturbance observation
Device, estimates the disturbance after the sign in real time；Robust passive control device is introduced, the disturbance after the real-time estimation is compensated, and
And, control the output of the active power and reactive power of double fed induction generators in the power system.The embodiment of the present application is carried
The method of confession, is applied in the power system containing double fed induction generators, when the power system containing double fed induction generators
When being interfered, the Robust passive control for disturbing viewer based on property is acted immediately, adjusts double fed induction generators active power
With the output of reactive power, to strengthen the stability of power system.
Optionally, polymerization three kinds of characteristics, obtain disturbance ψ (x, u, t), including：By the amount of three kinds of characteristics
Value is added.ψ (x, u, t)=a (x)+(b (x)-b0) u+d (t), b0It is control gain.
Optionally, the introducing virtual state xn+1Characterize the disturbance ψ (x, u, t), the virtual state xn+1=ψ (x,
u,t)。
Optionally, it is described to introduce disturbance viewer, the disturbance after the sign is estimated in real time, including：Seen to the disturbance
Introducing quantity of state x and control input amount u in device is examined, the disturbance after the sign is estimated in real time.
Optionally, the introducing Robust passive control device, compensates the disturbance after the real-time estimation, including：In the Shandong
The value after disturbance estimation in real time is subtracted in rod Passive Shape Control device.Disturbance after compensation estimation in real time, can fully suppress electricity
The non-linear of Force system, time-varying external disturbance, system do not model the bad shadow to control performance such as state and parameter uncertainty
Ring, so as to realize the global uniformity of control.
Optionally, the introducing Robust passive control device, compensates the disturbance after the real-time estimation, also, control is described
In power system after the output of the active power and reactive power of double fed induction generators, in addition to：To the power system
Middle addition high-damping.High-damping is added, the stability of power system is conducive to provide.
Optionally, the introducing Robust passive control device, compensates the disturbance after the real-time estimation, also, control is described
In power system after the output of the active power and reactive power of double fed induction generators, in addition to：Remold the power train
The energy of closed-loop system in system.The energy of closed-loop system in power system is remolded, is conducive to improving generator under various operating modes
Dynamic response.
Consider following n ranks standard controlled system：
Wherein, x=[x1,x2,…xn]T∈ Rn represent system state vector, and u ∈ R and y ∈ R are respectively system input and defeated
Go out,WithFor unknown smooth function,Disturbed for outside time-varying.By system
(1) disturbance is defined as：ψ (x, u, t)=a (x)+(b (x)-b0)u+d(t).Define a virtual state to represent disturbance, i.e.,
xn+1=ψ (x, u, t), former n levels system is extended to (n+1) rank augmented system and made the following assumptions：
A.1 gain b is controlled0Meet | b (x)/b0- 1 |≤θ ＜ 1, wherein θ are a normal number.
A.2 functionWithMeet local Lipchitz
(Lipschitz) condition, and meet ψ (0,0,0)=0 HeMost harsh situation, i.e. only one of which system shape
State amount x1Measurable, one (n+1) rank sliding mode state disturbances viewer of design comes estimating system state and disturbance.
Wherein,It is Luenberger disturbance viewer gains, its selection makes multinomial
Formula sn+1+ α1sn+α2sn-1+…+αn+1=(s+ λα)n+1=0 limit is positioned over the-λ α on the Left half-plane of complex plane.In addition,
Normal number kiFor slip plane gain and satisfactionWherein ratio ki/k1The selection of (i=2,3 ..., n+1) causes
Multinomial pn +(k2/k1)pn-1+…+(kn/k1)p+(kn+1/k1)=(p+ λk)n=0 limit is positioned over the left partly flat of complex plane
- λ on facek, hereinFurther, useFunction replaces routineFunction is so as to reduce the influence caused by its discontinuity.Finally, ∈oRepresent the slice width coefficient of viewer.
Use state and disturbance estimate, can design as follows for the Robust passive control of n rank modular systems：
Wherein, v is additional input；φ (y) is when being to all y ≠ 0 while meeting 0 two bars of φ (0)=0 and y φ (y) ＞
The smooth function of part so that closed-loop system can be converted into output Strictly passive control system；Feedback control gain K=[k1,
k2..., kn], make matrix A1=A-BK meets Hurwitzian conditions.
Choose the tracking error e=[e of active power and reactive power1e2]T, exported as system
Wherein, Pe *WithActive power reference value and reactive power reference qref are represented respectively.
To above formula derivation until control input vqrAnd vdrIt is explicit to occur, it can obtain：
Wherein,
Matrix B is control gain matrix.
Due to,
Therefore the matrix's reversibility and global available linearization.
The disturbance ψ of definition system (5)1() and ψ2() is：
Wherein permanent numerical control gain matrix B0Choose as follows：
Therefore, system (5) can be equivalent to：
One second order sliding mode of design disturbs viewer to estimate ψ1(), can obtain：
Wherein, viewer gain k11,k12,α11,α12It is normal number.
Similarly, a second order sliding mode disturbance viewer is designed to estimate ψ2(), can obtain：
Wherein, viewer gain k21,k22,α21,α22It is normal number.
So far, the Robust passive control of double fed induction generators can design as follows：
Simultaneously
Wherein, normal number gain K1And K2It can ensure that the stability of closed-loop system.Additional input parameters λ1And λ2Selection to
Suitable damping is injected in closed-loop system, so as to realize satisfied system response.
Further, the control method that the embodiment of the present application is provided, compared to existing proportional integral differential control
And modified feedback linearization control, it can effectively suppress the vibration of active power and reactive power, while reducing overshoot, can show
Write the stability of enhancing power system.
From above technical scheme, the application provides a kind of passive robust control method, obtains in power system three kinds
Characteristic, three kinds of characteristics include：Mission nonlinear a (x), parameter uncertainty b (x) and wind speed randomness d (t)；Polymerization institute
Three kinds of characteristics are stated, disturbance ψ (x, u, t) is obtained；Introduce virtual state xn+1Characterize the disturbance ψ (x, u, t)；Introduce disturbance observation
Device, estimates the disturbance after the sign in real time；Robust passive control device is introduced, the disturbance after the real-time estimation is compensated, and
And, control the output of the active power and reactive power of double fed induction generators in the power system.The embodiment of the present application is carried
The method of confession, is applied in the power system containing double fed induction generators, when the power system containing double fed induction generators
When being interfered, the Robust passive control for disturbing viewer based on property is acted immediately, adjusts double fed induction generators active power
With the output of reactive power, to strengthen the stability of power system.
Those skilled in the art will readily occur to its of the application after considering specification and putting into practice application disclosed herein
Its embodiment.The application is intended to any modification, purposes or the adaptations of the application, these modifications, purposes or
Person's adaptations follow the general principle of the application and including the undocumented common knowledge in the art of the application
Or conventional techniques.Description and embodiments are considered only as exemplary, and the true scope of the application is referred to by claim
Go out.
It should be appreciated that the precision architecture that the application is not limited to be described above and is shown in the drawings, and
And various modifications and changes can be being carried out without departing from the scope.Invention described above embodiment is not constituted to this
The restriction of invention protection domain.
Claims (7)
1. a kind of passive robust control method, it is characterised in that methods described includes：
Three kinds of characteristics in power system are obtained, three kinds of characteristics include：Mission nonlinear a (x), parameter uncertainty b (x) and
Wind speed randomness d (t)；
It polymerize three kinds of characteristics, obtains disturbance ψ (x, u, t)；
Introduce virtual state xn+1Characterize the disturbance ψ (x, u, t)；
Disturbance viewer is introduced, the disturbance after the sign is estimated in real time；
Robust passive control device is introduced, the disturbance after the real-time estimation is compensated, also, control double-fed sense in the power system
Answer the output of the active power and reactive power of generator.
2. according to the method described in claim 1, it is characterised in that polymerization three kinds of characteristics, obtain disturbance ψ (x, u,
T), including：The value of three kinds of characteristics is added.
3. according to the method described in claim 1, it is characterised in that the introducing virtual state xn+1The sign disturbance ψ (x,
U, t), the virtual state xn+1=ψ (x, u, t).
4. according to the method described in claim 1, it is characterised in that described to introduce disturbance viewer, the sign is estimated in real time
Disturbance afterwards, including：Quantity of state x and control input amount u is introduced into the disturbance viewer, is estimated in real time after the sign
Disturbance.
5. according to the method described in claim 1, it is characterised in that the introducing Robust passive control device, compensate described real-time
Disturbance after estimation, including：The value after disturbance estimation in real time is subtracted in the Robust passive control device.
6. according to the method described in claim 1, it is characterised in that the introducing Robust passive control device, compensate described real-time
The output of the active power and reactive power of double fed induction generators in disturbance after estimation, also, the control power system
Afterwards, in addition to：High-damping is added into the power system.
7. according to the method described in claim 1, it is characterised in that the introducing Robust passive control device, compensate described real-time
The output of the active power and reactive power of double fed induction generators in disturbance after estimation, also, the control power system
Afterwards, in addition to：Remold the energy of closed-loop system in the power system.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113490267A (en) * | 2021-05-18 | 2021-10-08 | 浙江传媒学院 | Generalized pre-control method for robust stability |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113490267A (en) * | 2021-05-18 | 2021-10-08 | 浙江传媒学院 | Generalized pre-control method for robust stability |
| CN113490267B (en) * | 2021-05-18 | 2023-11-07 | 浙江传媒学院 | Generalized pre-control method for robust stability |
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