CN108429277A - Control method of high-voltage direct-current transmission system of two-end voltage source type converter based on fuzzy active disturbance rejection control - Google Patents
Control method of high-voltage direct-current transmission system of two-end voltage source type converter based on fuzzy active disturbance rejection control Download PDFInfo
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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
- H02J3/36—Arrangements for transfer of electric power between ac networks via a high-tension dc link
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/60—Arrangements for transfer of electric power between AC networks or generators via a high voltage DC link [HVCD]
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Abstract
A control method of a high-voltage direct-current transmission system of a two-end voltage source type converter based on fuzzy active disturbance rejection control comprises the following steps of 1, establishing a transient mathematical model of the high-voltage direct-current transmission system of the two-end voltage source type converter; step 2, designing an active disturbance rejection controller; and 3, designing a fuzzy rule. The invention designs a fuzzy active disturbance rejection controller in the system to realize the decoupling of direct axis and quadrature axis currents. The extended state observer is designed to estimate the uncertainty and disturbance of the system and compensate, so that the robustness and the anti-interference performance of the system are improved, and meanwhile, the fuzzy rule is designed to set the parameters of the extended state observer, so that the robustness and the anti-interference performance of the system are effectively improved.
Description
Technical field
The present invention designs a kind of both end voltage source type transverter HVDC transmission system based on fuzzy Active Disturbance Rejection Control
Control method, especially for the both end voltage source type transverter high voltage direct current that there is the problems such as uncertain and disturbance in system
Transmission system control method.
Background technology
High voltage direct current (Voltage source converter high voltage based on voltage source converter
Direct current, VSC-HVDC) technology of transmission of electricity wind-electricity integration be generally considered realize large fan group it is grid-connected
Most stablize most potential electric energy transmission mode.Because VSC-HVDC systems are the coupling time-varying of a multi input, multi output
Nonlinear system, operation rule principle is particularly complicated, only by selecting suitable control method to control transverter
The performance of system could be improved.Domestic and foreign scholars have done a large amount of Zhuos in nonlinear control method and intelligent control method etc.
Fruitful work, including PI controls, sliding formwork control and robust control etc..
In view of being the mathematical models for being strongly dependent upon controlled device based on exact linearization method decoupling control policy, tradition
PI controller anti-interference abilities it is limited, and parameter can not make adjustment equal spies with the mechanically and electrically Parameters variation of system
Point cannot meet the stable operation of voltage source converter HVDC transmission system well.
Invention content
There is uncertain and disturbance to overcome in existing both end voltage source type transverter HVDC transmission system
Deficiency, the present invention designs fuzzy automatic disturbance rejection controller, realizes the decoupling to d-axis and quadrature axis current in systems.Design expansion
State observer link estimating system is uncertain and disturbs and compensates so that the robustness and anti-interference ability of system
Be improved, while designing fuzzy rule and extended state observer parameter is adjusted, effectively improve the robustness of system with
And anti-interference.
In order to solve the above-mentioned technical problem the technical solution proposed is as follows：
A kind of both end voltage source type transverter HVDC transmission system control method based on fuzzy Active Disturbance Rejection Control, institute
Control method is stated to include the following steps：
Step 1, both end voltage source type transverter HVDC transmission system mathematics transient Model is established；
Both end voltage source type transverter HVDC transmission system mathematics transient Model can be expressed as form
Wherein, d axis is electric current d-axis, and q axis is electric current quadrature axis；usd, usqRespectively alternating current source voltage d and q axis component；isd,
isqThe respectively d and q axis components of ac-side current；ucd, ucqThe respectively d and q axis components of current conversion station exchange side voltage；ω is
The angular frequency of AC system；R is the equivalent resistance of converter power transformer and reactor；L is the equivalent of converter power transformer and reactor
Inductance；
Step 2, automatic disturbance rejection controller is designed, process is as follows：
2.1 are transformed to formula (1) normalized form of automatic disturbance rejection controller, i.e.,
Wherein,
In the case where considering external disturbance and parameter uncertainty, formula (3) is rewritten as
Wherein, definition status variable x1=[isd,isq]T；Y=[y1,y2]TFor the output current of system, y1, y2Respectively d
The output current of axis and q axis；F (x)=[f1,f2]TFor system known disturbance, f1, f2Respectively disturbed known to the system of d axis and q axis
It is dynamic；W (t) is system unknown disturbance；U=[ucd,ucq]TThe output quantity of device in order to control；b1=Δ b+b0, b0For b1Estimated value, one
As rule of thumb obtain, Δ b be Parameter Perturbation value；
2.2 define x2=d=[d1,d2]T=w (t)+Δ bu is that system always disturbs；Wherein d1, d2Respectively d axis and q axis
System disturbance and indeterminate；
Since formula (4) regards two first-order systems as, automatic disturbance rejection controller need to only design extended state observer with
Nonlinear Feedback Control is restrained；
2.3 design extended state observers
Wherein, z1, z3Respectively y1And y2Observation signal；ed, eqFor observation error signal；z2, z4Respectively d1And d2's
Observation signal；β1, β2Respectively positive observer gain coefficient；G (e) is nonlinear function form, i.e.,
2.4 design Nonlinear state feedback controllers
Wherein,For d shaft current reference values；For q shaft current reference values；e0, e2For tracking error；K is proportionality coefficient；
δ is filtering factor；α is nonlinear constant, influences control accuracy；u1, u2Respectively d axis and q axis Nonlinear state feedback controllers
Output signal；Fal (e, α, δ) function is the performance with Fast Convergent and has the certain filter effect, expression-form to be
Wherein, sign () is sign function；
D axis first order nonlinear state error Feedback Control Laws are taken as
Q axis first order nonlinear state error Feedback Control Laws are taken as
Step 3, fuzzy rule is designed, process is as follows：
With tracking error e0And e0Differential signal e1For performance indicator, by e0And e1As the input of fuzzy controller,
Pass through fuzzy rule on-line tuning observer gain parameter beta1And β2；Wherein, e0, e1Respectively fuzzy variable；Δβ1, Δ β2For mould
The regular output quantity of paste, represents observer gain parameter beta1And β2Variable quantity；And define 5 language respectively on its respectively domain
Subset is { negative big (NB), bear small (NS), zero (ZO) is just small (PS), honest (PB) }；Select input quantity e0And e1Degree of membership letter
Number is Gaussian, output quantity Δ β1With Δ β2Membership function be triangle；Due to e0Measured value has certain shake, therefore differential
Signal e1Gain link is first passed through to be then input in fuzzy controller；Here e is taken0, e1Basic domain be respectively [- 1 ,+1]
[- 1 ,+1]；Fuzzy reasoning uses Mamdani types, de-fuzzy algorithm to use weighted mean method；Fuzzy rule is as shown in table 1；
Table 1
Corrected parameter in table 1 is substituted into following expression, then is had
Wherein, β1', β2' for the observer gain parameter after adjusting.
Further, in the step 3, e is selected0Scale factor be 0.01, e1Scale factor is 0.02, takes Δ β1, Δ β2
Basic domain be respectively [- 200 ,+200] and [- 2000 ,+2000]；Take k3It is 1,/10 000.
The present invention designs a kind of both end voltage source type transverter HVDC transmission system based on fuzzy Active Disturbance Rejection Control
Control method controls compared to traditional PI, improves the robustness and anti-interference of system.
The present invention technical concept be：For both end voltage source type transverter HVDC transmission system be more than one it is defeated
Enter, the nonlinear system of the coupling time-varying of multi output, operation rule principle is particularly complicated, and traditional PI controllers are anti-interference
The features such as ability is limited, and parameter can not make adjustment with the mechanically and electrically Parameters variation of system.The present invention is in system
Middle design obscures automatic disturbance rejection controller, realizes the decoupling to d-axis and quadrature axis current.Design the estimation of extended state observer link
Systematic uncertainty and disturbance simultaneously compensate so that the robustness and anti-interference ability of system are improved, and are designed simultaneously
Fuzzy rule adjusts extended state observer parameter, effectively improves the robustness and anti-interference of system.
Beneficial effects of the present invention are：It is controlled compared to traditional PI, the present invention can realize the quick tracking of power, improve
The robustness and anti-interference of system.
Description of the drawings
Fig. 1 is the control flow chart of the present invention；
The controller architecture figure of Fig. 2 present invention；
Fig. 3 is startup stage, the oscillogram of active power and reactive power；
Fig. 4 is three phase short circuit fault stage, the oscillogram of active power and reactive power；
When Fig. 5 changes for inner parameter, the oscillogram of active power.
Specific implementation mode
The present invention will be further described below in conjunction with the accompanying drawings.
- Fig. 5 referring to Fig.1, a kind of both end voltage source type transverter D.C. high voltage transmission system based on fuzzy Active Disturbance Rejection Control
System control method, the control method include the following steps：
Step 1, both end voltage source type transverter HVDC transmission system mathematics transient Model is established；
Both end voltage source type transverter HVDC transmission system mathematics transient Model can be expressed as form
Wherein, d axis is electric current d-axis, and q axis is electric current quadrature axis；usd, usqRespectively alternating current source voltage d and q axis component；isd,
isqThe respectively d and q axis components of ac-side current；ucd, ucqThe respectively d and q axis components of current conversion station exchange side voltage；ω is
The angular frequency of AC system；R is the equivalent resistance of converter power transformer and reactor；L is the equivalent of converter power transformer and reactor
Inductance；
Step 2, automatic disturbance rejection controller is designed, process is as follows：
2.1 are transformed to formula (1) normalized form of automatic disturbance rejection controller, i.e.,
Wherein,
Since in actual moving process, external disturbance is inevitable, therefore considering that external disturbance and parameter be not true
In the case of qualitatively, formula (3) is rewritten as
Wherein, x is defined1=[isd,isq]T；Y=[y1,y2]TFor the output current of system, y1, y2Respectively d axis and q axis
Output current；F (x)=[f1,f2]TFor system known disturbance, f1, f2The respectively system known disturbance of d axis and q axis；W (t) is
System unknown disturbance；U=[ucd,ucq]TThe output quantity of device in order to control；b1=Δ b+b0, b0For b1Estimated value, generally according to warp
Acquisition is tested, Δ b is Parameter Perturbation value；
2.2 define x2=d=[d1,d2]T=w (t)+Δ bu is that system always disturbs；Wherein d1, d2Respectively d axis and q axis
System disturbance and indeterminate；
Since formula (4) regards two first-order systems as, automatic disturbance rejection controller need to only design extended state observer with
Nonlinear Feedback Control is restrained；
2.3 design extended state observers
Wherein, z1, z3Respectively y1And y2Observation signal；ed, eyFor observation error signal；z2, z4Respectively d1And d2's
Observation signal；β1, β2Respectively positive observer gain coefficient selects suitable parameter value to can be realized as preferable state estimation；
G (e) is nonlinear function form, i.e.,
2.4 design Nonlinear state feedback controllers
Wherein,For d shaft current reference values；For q shaft current reference values；e0, e2For tracking error；K is proportionality coefficient；
δ is filtering factor, selects suitable parameter can be to avoid the generation of high frequency oscillation；α is nonlinear constant, influences control accuracy；
u1, u2Respectively d axis and q axis Nonlinear state feedback controller output signals；Fal (e, α, δ) function is with Fast Convergent
Performance and there are the certain filter effect, expression-form to be
Wherein, sign () is sign function；
D axis first order nonlinear state error Feedback Control Laws are taken as
Q axis first order nonlinear state error Feedback Control Laws are taken as
Step 3, fuzzy rule is designed, process is as follows：
With tracking error e0And e0Differential signal e1For performance indicator, by e0And e1As the input of fuzzy controller,
Pass through fuzzy rule on-line tuning observer gain parameter beta1And β2；Wherein, e0, e1Respectively fuzzy variable；Δβ1, Δ β2For mould
The regular output quantity of paste, represents observer gain parameter beta1And β2Variable quantity；And define 5 language respectively on its respectively domain
Subset is { negative big (NB), bear small (NS), zero (ZO) is just small (PS), honest (PB) }；Select input quantity e0And e1Degree of membership letter
Number is Gaussian, output quantity Δ β1With Δ β2Membership function be triangle；Due to e0Measured value has certain shake, therefore differential
Signal e1Gain link is first passed through to be then input in fuzzy controller；Here e is taken0, e1Basic domain be respectively [- 1 ,+1]
[- 1 ,+1] selectes e according to actual conditions0Scale factor be 0.01, e1Scale factor is 0.02, therefore takes Δ β1, Δ β2
Basic domain be respectively [- 200 ,+200] and [- 2000 ,+2000]；Take k3It is 1,/10 000；Fuzzy reasoning uses Mamdani
Type, de-fuzzy algorithm use weighted mean method；Fuzzy rule is as shown in table 1；
Table 1
Corrected parameter in table 1 is substituted into following expression, then is had
Wherein, β1', β2' for the observer gain parameter after adjusting.
For the validity of verification institute extracting method, terminal voltage source type transverter high pressure has been built by Matlab/Simulink
DC transmission system system, system model use Silvano Casoria (Hydro-Quebec) model.2 current conversion stations connect
The AC system that frequency is 50Hz is connect, the capacity of AC system is 2000MVA, voltage class 230kV；Equivalent resistance R=0.1
Ω, C=70 μ F L=7.5mH；DC voltage value udc=100kV；Parameter beta1=20000, β2=100000, b0=150, k=
1, α=0.65, δ=0.2；
It is emulated for ring controller in 3 kinds of differences, automatic disturbance rejection controller has given above, PI controller parameters P
=0.6, I=6.0.Wherein Ref is value and power reference；M1Represent inner ring PI controls；M2Inner ring Active Disturbance Rejection Control is represented,；M3It represents
Fuzzy Active Disturbance Rejection Control.
Fig. 2 is controller architecture figure of the present invention.Fig. 3 is startup stage, the oscillogram of active power and reactive power, Fig. 4
For the three phase short circuit fault stage, the oscillogram of active power and reactive power when Fig. 5 changes for Internal system parameters, has
The oscillogram of work(power.As seen from Figure 3, in startup stage, Active Disturbance Rejection Control and fuzzy Active Disturbance Rejection Control can quick nothings
The tracking value and power reference of overshoot, and PI controls then will appear overshoot, wherein obviously (peak value is about higher by for reactive power overshoot
20MW).As seen from Figure 4, when three phase short circuit fault occurs in system, use the regulating time of fuzzy automatic disturbance rejection controller for
0.3s, overshoot 13.3%, and conventional PI control device regulating time is 0.7s, overshoot 36.6%, therefore the method for the present invention
It being capable of effective lifting system robust performance.It can be seen from Fig. 5 that when Internal system parameters change, PI controls have prodigious wave
Dynamic amplitude, and fuzzy Active Disturbance Rejection Control hardly causes to change.Demonstrate fuzzy Active Disturbance Rejection Control have stronger robustness and
Anti-interference ability effectively inhibits systematic parameter and changes the influence brought.
Described above is three simulation comparison experiments providing of the present invention to show the superiority of designed method, is shown
So the present invention is not only limited to examples detailed above, without departing from essence spirit of the present invention and without departing from involved by substantive content of the present invention
It can make various deformations under the premise of range to it to be implemented.Control program designed by the present invention is to containing uncertainty and disturbing
Dynamic both end voltage source type transverter HVDC transmission system has good control effect, compared to conventional PI control, energy
It realizes the quick tracking of power, and enhances the robustness and anti-interference of system.
Claims (2)
1. a kind of both end voltage source type transverter HVDC transmission system control method based on fuzzy Active Disturbance Rejection Control, special
Sign is：The control method includes the following steps：
Step 1, both end voltage source type transverter HVDC transmission system mathematics transient Model is established；
Both end voltage source type transverter HVDC transmission system mathematics transient Model can be expressed as form
Wherein, d axis is electric current d-axis, and q axis is electric current quadrature axis；usd, usqRespectively alternating current source voltage d and q axis component；isd, isqPoint
Not Wei ac-side current d and q axis components；ucd, ucqThe respectively d and q axis components of current conversion station exchange side voltage；ω is exchange
The angular frequency of system；R is the equivalent resistance of converter power transformer and reactor；L is the equivalent inductance of converter power transformer and reactor；
Step 2, automatic disturbance rejection controller is designed, process is as follows：
2.1 are transformed to formula (1) normalized form of automatic disturbance rejection controller, i.e.,
Wherein,
In the case where considering external disturbance and parameter uncertainty, formula (3) is rewritten as
Wherein, definition status variable x1=[isd,isq]T；Y=[y1,y2]TFor the output current of system, y1, y2Respectively d axis and q
The output current of axis；F (x)=[f1,f2]TFor system known disturbance, f1, f2The respectively system known disturbance of d axis and q axis；w
(t) it is system unknown disturbance；U=[ucd,ucq]TThe output quantity of device in order to control；b1=Δ b+b0, b0For b1Estimated value, general root
It is obtained according to experience, Δ b is Parameter Perturbation value；
2.2 define x2=d=[d1,d2]T=w (t)+Δ bu is that system always disturbs；Wherein d1, d2The respectively system of d axis and q axis
Disturbance and indeterminate；
Since formula (4) regards two first-order systems as, automatic disturbance rejection controller need to only design extended state observer with it is non-thread
Property Feedback Control Laws；
2.3 design extended state observers
Wherein, z1, z3Respectively y1And y2Observation signal；ed, eqFor observation error signal；z2, z4Respectively d1And d2Observation
Signal；β1, β2Respectively positive observer gain coefficient；G (e) is nonlinear function form, i.e.,
2.4 design Nonlinear state feedback controllers
Wherein,For d shaft current reference values；For q shaft current reference values；e0, e2For tracking error；K is proportionality coefficient；δ is
Filtering factor；α is nonlinear constant, influences control accuracy；u1, u2Respectively d axis and q axis Nonlinear state feedback controllers is defeated
Go out signal；Fal (e, α, δ) function is the performance with Fast Convergent and has the certain filter effect, expression-form to be
Wherein, sign () is sign function；
D axis first order nonlinear state error Feedback Control Laws are taken as
Q axis first order nonlinear state error Feedback Control Laws are taken as
Step 3, fuzzy rule is designed, process is as follows：
With tracking error e0And e0Differential signal e1For performance indicator, by e0And e1As the input of fuzzy controller, pass through
Fuzzy rule on-line tuning observer gain parameter beta1And β2；Wherein, e0, e1Respectively fuzzy variable；Δβ1, Δ β2For fuzzy rule
Then output quantity represents observer gain parameter beta1And β2Variable quantity；And define 5 language subsets respectively on its respectively domain
For { negative big (NB), bear small (NS), zero (ZO) is just small (PS), honest (PB) }；Select input quantity e0And e1Membership function be
Gaussian, output quantity Δ β1With Δ β2Membership function be triangle；Due to e0Measured value has certain shake, therefore differential signal
e1Gain link is first passed through to be then input in fuzzy controller；Here e is taken0, e1Basic domain be respectively [- 1 ,+1] and [-
1 ,+1], fuzzy reasoning uses Mamdani types, de-fuzzy algorithm to use weighted mean method；Fuzzy rule is as shown in table 1；
Table 1
Corrected parameter in table 1 is substituted into following expression, then is had
Wherein, β1', β2' for the observer gain parameter after adjusting.
2. a kind of both end voltage source type transverter D.C. high voltage transmission based on fuzzy Active Disturbance Rejection Control as described in claim 1
System control method, it is characterised in that：In the step 3, e is selected0Scale factor be 0.01, e1Scale factor is 0.02, is taken
Δβ1, Δ β2Basic domain be respectively [- 200 ,+200] and [- 2000 ,+2000]；Take k3It is 1,/10 000.
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| CN109599889A (en) * | 2018-10-25 | 2019-04-09 | 湖南工业大学 | DFIG low voltage traversing control method, system under unbalance voltage based on fuzzy active disturbance rejection |
| CN109599889B (en) * | 2018-10-25 | 2022-10-18 | 湖南工业大学 | Fuzzy active disturbance rejection based ride-through control method and system under unbalanced voltage |
| CN110752616A (en) * | 2019-09-11 | 2020-02-04 | 国电南瑞科技股份有限公司 | Direct-current power transmission system control method and system based on adaptive active disturbance rejection proportional-integral |
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| CN113488986A (en) * | 2021-08-20 | 2021-10-08 | 重庆大学 | VSC robust droop control method based on uncertainty and disturbance estimation |
| CN113488986B (en) * | 2021-08-20 | 2022-12-23 | 重庆大学 | VSC robust droop control method based on uncertainty and disturbance estimation |
| CN117394421A (en) * | 2023-09-28 | 2024-01-12 | 陕西理工大学 | Improved active disturbance rejection control method of energy storage converter based on supercoiled sliding mode observer |
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