CN107579526A - A kind of electric power spring voltage control method based on contragradience sliding formwork - Google Patents
A kind of electric power spring voltage control method based on contragradience sliding formwork Download PDFInfo
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Abstract
The invention discloses a kind of electric power spring voltage control method based on contragradience sliding formwork, first according to the circuit structure of electric power spring, the mathematical modeling of electric power spring is established；Then using electric power spring filter capacitor voltage and its derivative as state variable, electric power spring control system non-precision linear search equation of the structure comprising Parameter Perturbation and external disturbance；Finally Backstepping is combined with sliding mode variable structure control method as the input of controller using tracking error, design of feedback control law acts on pulse width modulation (PWM), and the inverter circuit of electric power spring is controlled.Contragradience sliding-mode control is applied in the control of electric power spring voltage by the present invention, with good stable state and dynamic characteristic, there is very strong robustness to Parameter Perturbation and external disturbance, provide a kind of thinking for the design of electric power spring control system, there is good future in engineering applications.
Description
Technical field
The invention belongs to intelligent power grid technology field, particularly a kind of electric power spring voltage controlling party based on contragradience sliding formwork
Method.
Background technology
In recent years, regenerative resource particularly photovoltaic and wind-power electricity generation is quickly grown, and micro-capacitance sensor is by distributed power source, energy storage
Device, load and control system etc. combine, and form that coordinations is controllable, system that be capable of self-management, are integrated and utilization
The effective means of regenerative resource.But one side renewable energy power generation is vulnerable to the influence of extraneous natural conditions, it is contributed
There is intermittent, randomness and unpredictability；On the other hand, because micro-capacitance sensor capacity and inertia are smaller, self
Regulating power deficiency.So voltage stability can be caused in microgrid when regenerative resource goes out fluctuation and the fluctuation of load
Influence.
In order to effectively solve the problems, such as the voltage pulsation in micro-capacitance sensor, the Xu Shuyuan of Hong Kong University is taught to be proposed in 2012
The concept of electric power spring, the thought of electric power spring is that load is divided into key load and nonessential load, in micro-capacitance sensor
Voltage pulsation, key load voltage is stable in target range, by voltage (energy) Wave transmission to nonessential
Load.Electric power spring allows the power consumption of load to change with the change of renewable energy power generation amount, can effectively overcome renewable
The unpredictability and intermittence that the energy generates electricity.Its essence is the stability in partial sacrifice non-critical loads, is ensured crucial negative
Carry the voltage stabilization with whole system.
In use, the final goal of electric power spring is the voltage-tracing on critical loads is given reference value, so as to protect
Demonstrate,prove the stability of voltage.The control method of electric power spring is mainly that PI and PR is controlled at present, but the inverter in electric power spring
It is a kind of typical switching mode nonlinear system, traditional linear control method is although simple in construction, but is applied to such system
When, its rapidity and accuracy can not reach desirable.
The content of the invention
It is an object of the invention to provide a kind of electric power spring access point electricity is realized with good stable state and dynamic characteristic
Press stable contragradience sliding-mode control.
The technical solution for realizing the object of the invention is：A kind of electric power spring voltage controlling party based on contragradience sliding formwork
Method, comprise the following steps：
Step 1, the circuit structure diagram according to electric power spring, establish the mathematical modeling of electric power spring；The model is：
In formula, C is AC filter capacitor, and L is AC filter inductance, uesFor the output voltage of electric power spring, iLFor
Filter inductance electric current, incTo flow through the electric current of electric power spring and non-critical loads, uinvFor inverter ac side output voltage.
Step 2, using filter capacitor voltage and its derivative as state variable, obtain non-comprising Parameter Perturbation and external disturbance
Exact state equation is：
Wherein, state variable x1For the output voltage u of electric power springes, state variable x2For electric power spring output voltage
Derivativeω (t) is the indeterminate summation comprising wave filter LC Parameter Perturbations and external disturbance.
Total indeterminate ω (t) of wave filter LC Parameter uncertainties item and external interference is：
In formula, Δ1、Δ2For the uncertain part of system filter parameter；Δ3For external interference, by inverter direct-flow side
Spread of voltage and the fluctuation of load cause.
Step 3, using tracking error as control input amount, Backstepping is combined with sliding-mode control, build electric power
The contragradience sliding formwork control ratio of spring is：
In formula：uinvFeedback Control Laws i.e. to be obtained according to contragradience sliding-mode method；z1=x1+unc-us_refFor according to control
First tracking error of object definition, wherein, uncFor the voltage in non-critical loads, us_refFor the input electricity of electric power spring
Press reference value；Intermediate virtual to be designed in Backstepping controls variable, wherein, c1＞ 0 is controlled for feedback
Parameter processed；S=x2- α is second tracking error in Backstepping, and defined sliding-mode surface；c2＞ 0, η ＞ 0 is sliding formwork control
Parameter；Sgn is sign function.
Step 4, Feedback Control Laws are acted on into pulse width modulation (PWM), the inverter of electric power spring is controlled, with
The voltage of stable power spring access point.
Compared with prior art, advantages of the present invention is：1) present invention takes into full account that electric power spring inverter system is filtered
The influence of many factors such as the uncertainty of wave parameter and external interference, it is constant when having using the sliding mode of sliding moding structure
Property, it is low to system mathematic model degree of dependence, there is the spy of very strong robustness for systematic parameter perturbation and external interference
Point, Backstepping is combined with sliding-mode control, using filter capacitor voltage and its derivative as state variable, with critical loads
Voltage establish the mathematical modeling of electric power spring control system for output variable, using tracking error as the input of controller, push away
The Feedback Control Laws of export electric power spring inverter system act on pulse width modulation and inverter are controlled.The present invention is set
Meter is reasonable, considers engineer applied reality, has good stable state and dynamic characteristic, have to Parameter Perturbation and load disturbance
Very strong robustness, there is good future in engineering applications；2) this control method causes control system when reaching stable state, crucial
Voltage-tracing speed is fast in load, and waveform is undistorted, is power frequency sine wave and smooth, voltage floating；3) this control method
So that control system, in the case where inverter direct-current voltage is mutated, critical loads voltage is not influenceed by input direct voltage,
So as to improve antijamming capability of the electric power spring control system to input direct voltage；4) this control method causes control system
In the case where LC filtering parameters perturb, critical loads voltage is substantially unaffected, so as to improve electric power spring control system
To the antijamming capability of parameter uncertainty.
The present invention is described in further detail with reference to the accompanying drawings and detailed description.
Brief description of the drawings
Fig. 1 is existing electric power spring application circuit structural representation.
Fig. 2 is the connection diagram of existing electric power spring single-phase full-bridge inverter system.
Fig. 3 is the electric power spring voltage control system control block diagram of the present invention.
Fig. 4 is there is (electric power spring works are in inductive mode) critical loads voltage when the line voltage of the invention drawn is higher
Valid value oscillogram.
Fig. 5 is (electric power spring works are in resistance mode) critical loads electricity when the line voltage that the present invention is drawn is reference value
It is pressed with valid value oscillogram.
Fig. 6 is there is (electric power spring works are in capacitive) critical loads voltage when the line voltage of the invention drawn is relatively low
Valid value oscillogram.
Critical loads voltage oscillogram when Fig. 7 is the 0.8-0.9s DC voltages disturbance that the present invention is drawn, wherein figure (a)
For critical loads instantaneous voltage oscillogram, figure (b) is critical loads voltage effective value oscillogram.
Critical loads voltage oscillogram when Fig. 8 is the 1.1-1.2s filter parameters perturbation that the present invention is drawn, wherein figure (a)
For critical loads instantaneous voltage oscillogram, figure (b) is critical loads voltage effective value oscillogram.
Embodiment
With reference to accompanying drawing, a kind of electric power spring voltage control method based on contragradience sliding formwork of the invention, comprise the following steps：
Step 1, the circuit structure diagram according to electric power spring, the mathematical modeling of electric power spring is established, the electric power spring
Mathematical modeling is：
In formula, C is AC filter capacitor, and L is AC filter inductance, uinvFor inverter ac side output voltage, ues
For the output voltage of electric power spring, iLFor filter inductance electric current, incTo flow through the electric current of electric power spring and non-critical loads.
Step 2, using filter capacitor voltage and its derivative as state variable, obtain non-comprising Parameter Perturbation and external disturbance
Exact state equation, the non-precision linear search equation comprising Parameter Perturbation and external disturbance are：
Wherein, state variable x1For the output voltage u of electric power springes, state variable x2For electric power spring output voltage
Derivativeω (t) is the indeterminate summation comprising wave filter LC Parameter Perturbations and external disturbance.
Total indeterminate ω (t) of the filter parameter indeterminate and external interference is：
In formula, Δ1、Δ2For the uncertain part of system filter parameter；Δ3It is mainly straight by inverter for external interference
Stream side spread of voltage and the fluctuation of load cause.
Step 3, using tracking error as control input amount, Backstepping is combined with sliding-mode control, design electric power
The contragradience sliding formwork control ratio of spring, the contragradience sliding formwork control ratio are：
In formula：uinvFeedback Control Laws i.e. to be obtained according to contragradience sliding-mode method；z1=x1+unc-us_refFor according to control
First tracking error of object definition, wherein, uncFor the voltage in non-critical loads, us_refFor the input electricity of electric power spring
Press reference value；Intermediate virtual to be designed in Backstepping controls variable, wherein, c1＞ 0 is controlled for feedback
Parameter processed；S=x2- α is second tracking error in Backstepping, and defined sliding-mode surface；c2＞ 0, η ＞ 0 is sliding formwork control
Parameter；Sgn is sign function.
Step 4, Feedback Control Laws are acted on to pulse width modulation (PWM), the inverter of electric power spring is controlled：
Make the voltage-tracing reference voltage of electric power spring access point, with the voltage on this stable critical loads.
A kind of electric power spring voltage control method realized based on contragradience sliding formwork of the present invention, being should in as shown in Figure 1
With what is realized on circuit and electric power spring inverter system as shown in Figure 2, mainly by unstable system voltage source uG, transmission of electricity
Circuit, critical loads Zc, electric power spring and non-critical loads ZncComposition.Wherein electric power spring main circuit is as shown in Figure 2
Single-phase electricity die mould full bridge inverter and AC LC filter circuits composition, single-phase electricity die mould full bridge inverter are inverse by DC/AC
Become device to form with control loop, the circuit includes six switching tube S1-S4.In use, electric power spring passes through AC filtered electrical
Appearance is connected with non-critical loads accesses circuit, and critical loads are then in parallel with electric power spring and non-critical loads, sent out in system voltage
When giving birth to fluctuation, the voltage by adjusting electric power spring changes the reactive power of electric power spring-compensating, stablizes the electricity on critical loads
Pressure, and the voltage of system and power swing are transferred in non-critical loads.
The present invention is a kind of electric power spring voltage control method realized based on contragradience sliding formwork.First, according to electric power spring
Operation principle, establish the mathematical modeling of electric power spring；Then using inverter filtering capacitance voltage and its derivative as state variable,
Obtain the non-precision linear search equation comprising Parameter Perturbation and external disturbance；According to state equation and control targe, with tracking error
As control input amount, Backstepping is combined with sliding-mode control, designs the contragradience sliding formwork control ratio of electric power spring, is realized
Asymptotic Stability under whole system global sense；Feedback Control Laws are finally acted on into pulse width modulation (PWM), to electric power bullet
The inverter of spring is controlled.The electric power spring governor designed by the above method, can effectively improve inverter system
Robustness, the perturbation of resistance filtering parameter and external interference, improve the stable state and dynamic property of system.
The control method of the present invention comprises the following steps：
Step 1:Electric power spring is by controlling the conducting and shut-off of 4 switching tubes in single-phase full bridge inverter circuit, by direct current
Voltage inversion is alternating voltage and access circuit of being connected by filter capacitor with non-critical loads.Assuming that S1-S4For perfect switch,
Switching frequency is sufficiently high, while the dead resistance on its dead time, inductance and electric capacity is ignored.Then can by Kirchhoff's law
Establish the mathematical modeling of electric power spring：
In formula, L, C are the inductance and electric capacity of wave filter；uinvFor inverter ac side output voltage, iL、incRespectively filter
Ripple inductive current and the electric current for flowing through electric power spring, uesFor the output voltage of electric power spring.
According to formula (1), inductive current i is eliminatedLAfter can obtain：
Step 2：The state variable of selecting systemAnd consider that inverter parameters perturbation and outside are disturbed
Dynamic, the state equation that can obtain the tight parameter feedback form of system is：
In formula,
Wherein, Δ1And Δ2For filter capacitor and the Parameter Perturbation of inductance, Δ3Disturbed for its exterior.ω (t) is above-mentioned
The summation of Parameter uncertainties item and external interference.
Because the final control targe of system is to stablize the voltage on critical loads, make the voltage u of electric power spring access pointsWith
The given Voltage Reference u of tracks_ref, therefore the output equation that row write system is：
Y=us=ues+unc=x1+unc (5)
In formula, uncFor the voltage in non-critical loads.
Step 3：Control system for meeting strict parameter feedback form, when designing control system using Backstepping, its
Basic ideas be by complexity system decomposition be no more than systematic education subsystem, part is designed by reverse recursion
Lyapunov functions and intermediate virtual control variable, to complete the design of whole controller.By Backstepping design and sliding formwork control side
Method is combined, and is exactly to carry out the final step of Backstepping design, using sliding mode variable structure control method, is chosen sliding-mode surface and sliding formwork
Reaching Law, design final contragradience sliding formwork Feedback Control Laws.
From formula (3), the control system of electric power spring is a second-order system, therefore need to be carried out in two steps Backstepping design, is entered
And whole contragradience sliding-mode control is divided into three steps.
Step 3-1：First tracking error is defined according to the control targe of system：
z1=y-us_ref=x1+unc-us_ref (6)
First part Lyapunov function is defined according to first tracking error：
Derivation then is carried out to formula (7), and convolution (6) can obtain：
Virtual controlling variable is designed according to above formula
And define second tracking error z2=x2- α, wherein c1For positive constant, then
Formula (10) is substituted into formula (8) to obtain：
From above formula, if z2=0, thenFor this reason, it may be necessary to carry out next step design.
Step 3-2:Define second Lyapunov function
To V2Derivation is carried out, is obtained
It can be obtained by formula (10) convolution (3)
Formula (14) is substituted into formula (13) to obtain
Step 3-3：In the final step of Backstepping design, sliding-mode surface is introduced
S=z2 (16)
Sliding formwork Reaching Law is elected as：
Parameter η ＞ 0, c in formula2＞ 0, sgn are sign function.
According to formula (16) and (17) and convolution (15), following Feedback Control Laws can be designed
Formula (18) is substituted into formula (15) to obtain
Because indeterminate ω (t) is limited, if | ω (t) |≤F, F are ω (t) upper limit.Selection control parameter η >=
F, it can be obtained by formula (19)
It can be seen from Lyapunov stability theorems, system is asymptotically stable under global sense.
Step 4:Feedback Control Laws are acted on into pulse width modulation (PWM), inverter in electric power spring is controlled,
Make the given reference value of the voltage-tracing on critical loads, so as to realize the electric power spring voltage control based on contragradience sliding formwork.
In summary, it is as shown in Figure 3 to can obtain electric power spring contragradience sliding formwork voltage control block diagram.
It is described in more detail with reference to embodiment：
Embodiment
The simulation model of electric power spring shown in Fig. 1 is built based on MATLAB/Simulink software platforms to test controller
Card, the input of an enabled switch S control electric power spring is added in the model of electric power spring.Simulation parameter is as follows：
The target voltage amplitude of key load is 220V, the phase angle of reference voltage, can only provide nothing in electric power spring
On the premise of work(compensates, solve to obtain according to circuit equation；Critical loads are 2000 Ω resistance；Non-critical loads are 100 Ω
Resistance；The impedance of transmission line is (4+j15.71) Ω；Voltage on line side value：The reference value for defining voltage on line side is electric power spring
U when middle capacitance voltage value is 0GMagnitude of voltage, the rated operational voltage in key load is set to 220V, is computed obtaining uG=
232.3V.With 1.05uG(243V) simulation voltage on line side is higher than the operating mode of reference value；With 0.9uG(209V) simulation voltage on line side is low
Operating mode when reference value.Electric power spring inverter parameters：DC voltage udc=360V, PWM switching frequency are fs=
10kHz, filter inductance L=3mH, filter capacitor C=50 μ F；Feedback Control Laws parameter：c1=80000, c2=60000, η=
50000.The ability of the stable critical loads voltage of electric power spring is verified first, with uGDuring=243V, analog voltage is higher
Situation, now for electric power spring works in inductive mode, sending inductive reactive power reduces voltage；With uGDuring=232.3V, simulation electricity
Pressure is just the situation of grid voltage reference value, and now electric power spring works are not sent idle in resistance mode；With uG=209V
When, the relatively low situation of analog voltage, now electric power spring works send capacitive reactive power rise voltage in capacitive.In 0.2s
Before, enable switch S to disconnect, electric power spring only has electric capacity access, during 0.2s, enables switch closure, will use contragradience sliding formwork electricity
The electric power spring access circuit of voltage-controlled system, stablizes the voltage on critical loads, and by control effect compared with PI controls.Figure
4 be (electric power spring works are in inductive mode) critical loads voltage effective value waveform when line voltage is higher.Fig. 5 is line voltage
For reference value when (electric power spring works are in resistance mode) critical loads voltage effective value waveform.When Fig. 6 is that line voltage is relatively low
(electric power spring works are in capacitive) critical loads voltage effective value waveform.From simulation waveform, using contragradience sliding formwork electricity
When voltage-controlled processed, after enabling switch closure electric power spring access, system transient modelling transit time is about under inductance and resistance mode
20ms, critical loads voltage waveform are transitted smoothly to stable state, and the transit time under capacitive is slightly long, about 40ms, but
Under Three models, crucial load voltage ratio can be transitioned into stable state, table faster using PI controls under contragradience sliding formwork control
Bright this paper, which carries control strategy, has quick dynamic characteristic；It is further seen that under three kinds of running statuses, slided using contragradience
When mould controls, voltage effective value ratio using PI controls closer to reference value (220V) there is smaller stable state to miss on critical loads
Difference, show that carrying control strategy has good static characteristic herein.
Simulating, verifying is carried out to the anti-external disturbance ability of electric power spring control system.Electric power spring DC side voltage of converter
320V is sported by 360V during 0.5-0.6s, critical loads voltage and its virtual value waveform such as Fig. 7 institutes when DC voltage disturbs
Show.From simulation waveform it can be seen that：When DC voltage is mutated, the instantaneous value waveform of critical loads voltage is smooth sine
Ripple, do not disturb substantially, voltage effective value is also stabilized in 220V, does not fluctuate substantially, illustrates contragradience sliding mode control strategy to straight
It is very strong to flow side voltage change disturbance resistivity.
Simulating, verifying is carried out to electric power spring control system anti-systematic parameter perturbation ability.Electric power spring inverter ac side
Filter capacitor sports 55 μ F in 0.8-0.9s by 50 μ F, and filter inductance sports 5mH, wave filter in 1-1.1s by 3mH
Critical loads voltage and its virtual value waveform are as shown in Figure 8 during LC Parameter Perturbations.From simulation waveform it can be seen that：Wave filter LC joins
During number perturbation, the instantaneous value waveform of critical loads voltage is smooth sine wave, and substantially without interruption, voltage effective value is also stablized
In 220V, do not fluctuate substantially, illustrate that contragradience sliding mode control strategy is very strong to systematic parameter perturbation resistivity.
The present invention takes into full account shadow of the electric power spring control system by many factors such as filtering parameter perturbation and external interferences
Ring, there is consistency using the sliding mode of sliding formwork control, it is low to system mathematic model degree of dependence, perturbed for systematic parameter
And external interference has the characteristics of very strong robustness, and Backstepping is combined with sliding formwork control, with filter capacitor voltage and
Its derivative establishes the state equation of electric power spring control system for control variable, using tracking error as the input of controller, pushes away
Export Feedback Control Laws act on pulse width modulation and the inverter of electric power spring are controlled.The present invention is reasonable in design, comprehensive
Close and consider that engineer applied is actual, there is good stable state and dynamic characteristic, there is very strong Shandong to Parameter Perturbation and external disturbance
Rod, there is good future in engineering applications.
Claims (5)
1. a kind of electric power spring voltage control method based on contragradience sliding formwork, it is characterised in that comprise the following steps：
Step 1, the circuit structure diagram according to electric power spring, establish the mathematical modeling of electric power spring；
Step 2, using filter capacitor voltage and its derivative as state variable, obtain non-precision comprising Parameter Perturbation and external disturbance
State equation；
Step 3, using tracking error as control input amount, Backstepping is combined with sliding-mode control, build electric power spring
Contragradience sliding formwork control ratio；
Step 4, Feedback Control Laws are acted on into pulse width modulation (PWM), the inverter of electric power spring is controlled, with stable
The voltage of electric power spring access point.
2. the electric power spring voltage control method according to claim 1 based on contragradience sliding formwork, it is characterised in that step 1
Described according to the circuit structure diagram of electric power spring, the mathematical modeling for establishing electric power spring is：
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In formula, C is AC filter capacitor, and L is AC filter inductance, uesFor the output voltage of electric power spring, iLFor filtering
Inductive current, incTo flow through the electric current of electric power spring and non-critical loads, uinvFor inverter ac side output voltage.
3. the electric power spring voltage control method according to claim 1 based on contragradience sliding formwork, it is characterised in that step 2
In using filter capacitor voltage and its derivative as state variable, obtain the non-precision linear search equation comprising Parameter Perturbation and external disturbance
For：
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Wherein, state variable x1For the output voltage u of electric power springes, state variable x2For the derivative of electric power spring output voltageω (t) is the indeterminate summation comprising wave filter LC Parameter Perturbations and external disturbance.
4. electric power spring voltage control method of the realization based on contragradience sliding formwork according to claim 3, it is characterised in that filter
Total indeterminate ω (t) of ripple device LC Parameter uncertainties item and external interference is：
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In formula, Δ1、Δ2For the uncertain part of system filter parameter；Δ3For external interference, by DC side voltage of converter
The unstable and fluctuation of load causes.
5. the electric power spring voltage control method according to claim 1 based on contragradience sliding formwork, it is characterised in that：Step 3
In using tracking error as control input amount, Backstepping is combined with sliding-mode control, design electric power spring contragradience slide
Mould control law is：
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</mover>
<mo>-</mo>
<msub>
<mi>z</mi>
<mn>1</mn>
</msub>
<mo>-</mo>
<mi>&eta;</mi>
<mi>sgn</mi>
<mo>(</mo>
<mi>s</mi>
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<mo>-</mo>
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In formula：uinvFeedback Control Laws i.e. to be obtained according to contragradience sliding-mode method；z1=x1+unc-us_refFor according to control targe
First tracking error of definition, wherein, uncFor the voltage in non-critical loads, us_refJoin for the input voltage of electric power spring
Examine value；Intermediate virtual to be designed in Backstepping controls variable, wherein, c1＞ 0 joins for feedback control
Number；S=x2- α is second tracking error in Backstepping, and defined sliding-mode surface；c2＞ 0, η ＞ 0 joins for sliding formwork control
Number；Sgn is sign function.
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| CN110134004A (en) * | 2019-04-09 | 2019-08-16 | 上海电力学院 | A kind of PI control parameter setting method based on electric power spring circuit structure |
| CN110137971A (en) * | 2019-05-10 | 2019-08-16 | 上海电力学院 | A kind of steady control method of voltage of three-phase ac power spring |
| CN110165677A (en) * | 2019-05-10 | 2019-08-23 | 上海电力学院 | A kind of steady control method of voltage of single phase ac electric power spring |
| CN110212541A (en) * | 2019-06-27 | 2019-09-06 | 上海电力学院 | A kind of direct current power spring control method based on prediction model |
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| CN110137971A (en) * | 2019-05-10 | 2019-08-16 | 上海电力学院 | A kind of steady control method of voltage of three-phase ac power spring |
| CN110165677A (en) * | 2019-05-10 | 2019-08-23 | 上海电力学院 | A kind of steady control method of voltage of single phase ac electric power spring |
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| CN111628525A (en) * | 2020-05-29 | 2020-09-04 | 辽宁工业大学 | Switching system-based micro-grid dual-mode stable control method |
| CN111628525B (en) * | 2020-05-29 | 2022-03-08 | 辽宁工业大学 | Switching system-based micro-grid dual-mode stable control method |
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