CN108199392A - A kind of H ∞ decentralized controller design methods of the enhancing stability of power system based on multi-agent theory - Google Patents
A kind of H ∞ decentralized controller design methods of the enhancing stability of power system based on multi-agent theory Download PDFInfo
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- CN108199392A CN108199392A CN201810033886.8A CN201810033886A CN108199392A CN 108199392 A CN108199392 A CN 108199392A CN 201810033886 A CN201810033886 A CN 201810033886A CN 108199392 A CN108199392 A CN 108199392A
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- controller design
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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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Eletrric Generators (AREA)
Abstract
The invention discloses a kind of H ∞ decentralized controller design methods of the enhancing stability of power system based on multi-agent theory.This method includes the multi-agent modeling of electric system；Consider the output feedback controller design of communication topology；H ∞ are integrated；Four steps of decentralized controller design.The present invention can effectively enhance stability of power system, and the realization simple economy of controller, have important theory and application value.
Description
Technical field
The invention belongs to technical field of power systems more particularly to stability of power system control methods.
Background technology
With the constantly lasting access power grid of the new energy such as the continuous expansion of interconnected network, wind-power electricity generation, electric system
The requirement of reliable and stable operation constantly carries, and the transient stability of electric system increasingly attracts attention, and studies electric power system stability
Locking control method is also more and more important.Most of traditional controllers in electric system are all to control controller with local measurement
The subsystem closed on, but use Wide Area Measurement System may be more effective, and multiple agent method is in electric system
Using increasingly attracting attention, therefore we focus on the method application Wide Area Measurement System using multiple agent come Design assistant
Steam turbine/governor controller.
Invention content
The technical scheme is that a kind of H ∞ decentralized controllers of the stability of power system based on more intelligence body theories are set
Meter method.This method comprises the following steps：
Step 1, the multi-agent modeling of electric system
Using every generator as a multiple agent, the state equation of i-th of multiple agent：
Wherein Δ δiIt is i-th generator electrical angle Tiny increment dt, ωiIt is the angular rate of i-th generator, Δ ωiIt is
The angular rate Tiny increment dt of i platform generators, ωNIt is generator rated angular velocity, TiIt is the inertia time constant of i-th generator,
ΔPmiIt is the input mechanical output Tiny increment dt of i-th generator, Δ PeiIt is the output electromagnetic power Tiny increment dt of i-th generator,To disturb and damping.
Wherein xi=[Δ δi,Δωi]T,ΔAiFor different hairs
The systematic parameter perturbation of motor, meets Δ ATΔ A ＜ δ I, fi(x) it is nonlinear state variation amount, w1Represent disturbance and electromagnetic work
The sum of the deviations of rate variable quantity linearisation.
It can be obtained by (2),
Wherein, InUnit matrix is tieed up for n, K is system synchronization power coefficient matrix.
Step 2, the output feedback controller design for considering communication topology
Distributed output feedback controller for the Mechatronics is as follows：
Wherein viDevice state variable in order to control, aijFor the electrical link between two generators, Ak Bk Ck DkIn order to control
Device parameter.
Above controller can be abbreviated as：
It can obtain：
Wherein,
Above formula is written as：
Wherein：ζ=[x, v]T,
Step 3, H ∞ synthesis
The object function being defined as follows：
Wherein γ is a performance indicator constant.As can design controller Kc causes system (7) asymptotically stability, that is, | | ξ |
|2→ 0 can obtain | | x | |2→ 0 i.e. each synchronous machine, which is realized, to be synchronized, while cause J ＜ 0.That is synchronizing for each synchronous machine is expired
Sufficient H ∞ performance indicators.
Define Liapunov：WhereinFor symmetric positive definite matrix.The function against time is differentiated.
Wherein：
For the w of arbitrary non-zero1, formula (8) can be written as：
V (0)=0, V (∞) >=0 herein.IfThen J ＜ 0.
Due to：
It enablesHad according to the property of Kronecker product：
It manages, can obtain according to Schur complement fixed：
Step 4, decentralized controller design
Due to
It enablesV-T=(VT)-1,V is one
Nonsingular matrix.It is as follows that substitution (13) can obtain inequality：
P, Q can be obtained by solving linear matrix inequality (14).Due toK can be obtainedC.Utilize output feedback control
Device K processedcDefinition, can must disperse stability contorting rate is：
Description of the drawings
Fig. 1：δ during three-phase ground short trouble occurs for node 621Curve comparison
Specific embodiment
With reference to invention book content, preferred embodiment is briefly described.It is emphasized that the description below is only example
Property, the range being not intended to be limiting of the invention and its application.
In order to illustrate the convenience of the implementation of the method for the present invention, the present invention illustrates this hair with three machines, nine node power system
The design process and control effect of bright H ∞ decentralized controllers.
1. the multi-agent modeling of electric system
Generator node is only left, it is as follows that the system after intermediate node that eliminates shrinks matrix calculating：
Synchronous power coefficient matrix calculates as follows：
2. output feedback controller designs
Describe electrical link between different motors L matrixes calculate it is as follows：
3.H ∞ are integrated
Take performance indicator constant γ=1.2, nonsingular matrix
4. decentralized controller design
Correlation matrix coefficient result of calculation is as follows：
Solve linear inequality, output feedback controller：
Can must disperse stability contorting rate is：
Wherein, T1=47.28, T2=12.8, T3=6.02, ωN=120 π, aijIt is the matrix element for shrinking matrix Y
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, the change or replacement that can be readily occurred in,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
Subject to.
Claims (5)
1. a kind of H ∞ decentralized controller design methods of the enhancing stability of power system based on multi-agent theory, feature
It is that this method includes following four steps：1) multi-agent modeling of electric system；2) consider the output feedback of communication topology
Controller design；3) H ∞ are integrated；4) decentralized controller design.
2. the multi-agent modeling of electric system according to claim 1, it is characterized in that：
Using every generator as a multiple agent, state equation is：
Wherein, xi=[Δ δi,Δωi]T,ΔAiFor difference
The systematic parameter perturbation of generator, meets Δ ATΔ A ＜ δ I, fi(x) it is nonlinear state variation amount, w1Represent disturbance and electromagnetism
The summation of the error of power variation linearisation；
Then the state equation of n multiple agent is：
Wherein,。
3. the output feedback controller design according to claim 1 for considering communication topology, it is characterized in that：
Consider that the distributed output feedback controller of communication topology represents as follows：
Wherein viDevice state variable in order to control, aijFor the electrical link weight between two generators, Ak、Bk、Ck、DkDevice in order to control
Parameter.
4. H ∞ synthesis according to claim 1, it is characterized in that：
The controller of design makes system asymptotically stability, should meet following linear inequality：
Wherein Λ1=F0+F1KCF2, Λ2=F1KCF3,V-T=(VT)-1,V is a nonsingular matrix.
5. decentralized controller design according to claim 1, it is characterized in that：
K is obtained by solving above-mentioned linear matrix (4) inequalityC, can must disperse stability contorting rate is：
Wherein, ωNIt is generator rated angular velocity, TiIt is the inertia time constant of i-th generator, Δ PmiIt is i-th generator
Input mechanical output Tiny increment dt.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113156816A (en) * | 2021-03-18 | 2021-07-23 | 国网山东省电力公司莱芜供电公司 | Additional excitation controller design method based on H infinity |
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| CN103279031A (en) * | 2013-05-03 | 2013-09-04 | 北京航空航天大学 | Robust convergence control method of uncertain multi-agent system |
| CN106899026A (en) * | 2017-03-24 | 2017-06-27 | 三峡大学 | Intelligent power generation control method based on the multiple agent intensified learning with time warp thought |
| CN106972512A (en) * | 2017-05-16 | 2017-07-21 | 中国石油大学(华东) | A kind of decentralized controller design method of power system synchronism stability operation |
| CN107147102A (en) * | 2017-04-12 | 2017-09-08 | 南京邮电大学 | Direct-current grid networking distributed and coordinated control method based on multiple agent |
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2018
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| CN103279031A (en) * | 2013-05-03 | 2013-09-04 | 北京航空航天大学 | Robust convergence control method of uncertain multi-agent system |
| CN106899026A (en) * | 2017-03-24 | 2017-06-27 | 三峡大学 | Intelligent power generation control method based on the multiple agent intensified learning with time warp thought |
| CN107147102A (en) * | 2017-04-12 | 2017-09-08 | 南京邮电大学 | Direct-current grid networking distributed and coordinated control method based on multiple agent |
| CN106972512A (en) * | 2017-05-16 | 2017-07-21 | 中国石油大学(华东) | A kind of decentralized controller design method of power system synchronism stability operation |
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Application publication date: 20180622 |