CN109149620A - One kind is from the soft straight system control method of energy storage multiterminal and system - Google Patents
One kind is from the soft straight system control method of energy storage multiterminal and system Download PDFInfo
- Publication number
- CN109149620A CN109149620A CN201811079353.XA CN201811079353A CN109149620A CN 109149620 A CN109149620 A CN 109149620A CN 201811079353 A CN201811079353 A CN 201811079353A CN 109149620 A CN109149620 A CN 109149620A
- Authority
- CN
- China
- Prior art keywords
- energy storage
- control
- self
- voltage source
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 63
- 238000004146 energy storage Methods 0.000 title claims description 121
- 230000003044 adaptive effect Effects 0.000 claims abstract description 47
- 238000003860 storage Methods 0.000 claims abstract description 27
- 238000013461 design Methods 0.000 claims abstract description 13
- 238000013178 mathematical model Methods 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000005457 optimization Methods 0.000 claims description 5
- 238000013016 damping Methods 0.000 claims description 4
- 239000003990 capacitor Substances 0.000 claims description 3
- 238000004088 simulation Methods 0.000 abstract description 13
- 238000004422 calculation algorithm Methods 0.000 abstract description 10
- 230000004044 response Effects 0.000 abstract description 4
- 230000002441 reversible effect Effects 0.000 abstract description 4
- 238000001914 filtration Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 16
- 230000006870 function Effects 0.000 description 16
- 238000004590 computer program Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 7
- 238000009826 distribution Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000009795 derivation Methods 0.000 description 3
- 230000004043 responsiveness Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical class C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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]
-
- 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]
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Supply And Distribution Of Alternating Current (AREA)
- Dc-Dc Converters (AREA)
Abstract
本发明公开了一种自储能多端柔直系统控制方法及系统,采用反推法设计系统控制器,实现直流电压的稳定和有功无功功率的快速独立控制,同时引入约束指令滤波器来解决反推控制的微分膨胀和控制饱和问题,并设计补偿信号解决滤波器的误差问题,引入自适应控制保证系统对不确定参数的鲁棒性,并使用投影算子对自适应不确定参数进行优化,基于Lyapunov稳定性理论设计系统的控制律,提高了系统的抗干扰能力,实现了整个系统的渐进稳定。最后在仿真软件中搭建了仿真模型,与传统PID控制算法、指令滤波反推算法进行比较,仿真结果表明本发明的控制方法具有更好的鲁棒性与动态响应性能,为自储能多端柔直系统的控制算法提供了理论依据和技术支持。
The invention discloses a control method and system for a self-storage multi-terminal flexible DC system. A system controller is designed by a reverse inference method to realize DC voltage stability and fast independent control of active and reactive power. At the same time, a constraint command filter is introduced to solve the problem. The differential expansion and control saturation problems of the inverse control, and design the compensation signal to solve the error problem of the filter, introduce the adaptive control to ensure the robustness of the system to the uncertain parameters, and use the projection operator to optimize the adaptive uncertain parameters , the control law of the system is designed based on the Lyapunov stability theory, which improves the anti-interference ability of the system and realizes the asymptotic stability of the whole system. Finally, a simulation model is built in the simulation software, and compared with the traditional PID control algorithm and the command filtering inverse algorithm, the simulation results show that the control method of the present invention has better robustness and dynamic response performance, and is a self-storage multi-terminal flexible The control algorithm of the direct system provides theoretical basis and technical support.
Description
技术领域technical field
本发明属于柔性直流输电控制技术领域,具体涉及一种自储能多端柔直系统控制方法及系统。The invention belongs to the technical field of flexible direct current transmission control, and in particular relates to a control method and system for a self-storage multi-terminal flexible direct current system.
背景技术Background technique
近年来,随着经济社会的持续高速发展,各级电网结构得到了显著地加强。随之而来的,高可靠性供电、高渗透率分布式能源友好接入对配电网电能传输技术提出了更高地要求。背靠背柔性直流(Back-to-Back VSC-HVDC)是最新发展的电网柔性控制技术,其基于共用直流母线的电压源换流器(Voltage Source Converter,VSC),将交流系统进行AC-DC-AC解耦互联,以实现任意馈线长期安全合环运行,大幅提升电网供电可靠性;PQ四象限控制,可精确调控电网潮流分布,提高电网运行经济性;省略直流线路环节,降低了控制系统的成本和复杂度,更适应配电网运行实际。以背靠背柔直为代表的潮流控制技术,本质依然是功率层面的调控,体现在能量层面是由电网在空间轴上提供“能量容器”,若互联馈线的可调容量较小,则会限制配电网运行优化效果。储能作为时间轴的“能量容器”,从本质上改变/改善了电能生产、传输和消费的同时性问题,可起到控制直流母线电压和电网削峰填谷能量平移的作用。In recent years, with the sustained and rapid economic and social development, the structure of power grids at all levels has been significantly strengthened. Subsequently, high-reliability power supply and friendly access to distributed energy with high penetration rate have put forward higher requirements for power transmission technology in distribution network. Back-to-Back VSC-HVDC is the latest developed power grid flexible control technology. Decoupling and interconnection can realize long-term safe closed loop operation of any feeder, greatly improving the reliability of power supply of the power grid; PQ four-quadrant control can precisely regulate the power flow distribution of the power grid and improve the economical operation of the power grid; omit the DC line link and reduce the cost of the control system and complexity, more suitable for the actual operation of the distribution network. The power flow control technology represented by back-to-back flexibility and straightness is still essentially the regulation at the power level. In the energy level, the power grid provides an "energy container" on the spatial axis. If the adjustable capacity of the interconnected feeder is small, the distribution will be limited. Grid operation optimization effect. As the "energy container" of the time axis, energy storage essentially changes/improves the simultaneity of electric energy production, transmission and consumption, and can play a role in controlling the DC bus voltage and the shift of the grid's peak-shaving and valley-filling energy.
自储能多端背靠背柔直技术,在空间轴和时间轴两个不同维度的能量调控技术实现了统一应用,可进一步加强多端柔直系统的控制能力,构建“源、网、荷、储、控”柔性互联配电网。对高渗透分布式能源友好并网,城市电网高可靠性供电等方面将起到巨大作用,直流输电系统传统多采用PID控制,存在控制器数量多、参数整定困难、暂态性能差等问题。当系统发生扰动或故障工况时,直流电压超调过大、系统响应时间长、难以快速恢复。Self-storage multi-terminal back-to-back flexible straightening technology realizes unified application of energy regulation technology in two different dimensions of space axis and time axis, which can further strengthen the control capability of multi-terminal flexible straightening system, and build a "source, network, load, storage, control system". "Flexible interconnected distribution network. It will play a huge role in friendly grid connection of high-penetration distributed energy and high-reliability power supply of urban power grids. Traditionally, PID control is used in DC transmission systems, which has problems such as a large number of controllers, difficulty in parameter tuning, and poor transient performance. When the system is disturbed or faulty, the overshoot of the DC voltage is too large, the system response time is long, and it is difficult to recover quickly.
发明内容SUMMARY OF THE INVENTION
针对上述问题,本发明提出一种自储能多端柔直系统控制方法及系统,首先建立了SES-MBTB非线性数学模型,采用反推法分别设计各子系统控制器。直流电压控制引入约束指令滤波器解决反推控制的微分膨胀问题,设计滤波补偿信号解决滤波器自身的误差与控制器输入饱和的问题。引入自适应控制保证系统对不确定参数的鲁棒性,并使用投影算子对自适应不确定参数进行优化,基于Lyapunov稳定性理论证明了系统渐进稳定。最后,仿真验证了投影自适应指令滤波反推控制具有良好的鲁棒性与动态响应性。Aiming at the above problems, the present invention proposes a control method and system for a self-storage multi-terminal flexible straight system. First, the SES-MBTB nonlinear mathematical model is established, and the back-calculation method is used to design the controllers of each subsystem respectively. The DC voltage control introduces a constraint command filter to solve the differential expansion problem of the reverse thrust control, and the filter compensation signal is designed to solve the problem of the error of the filter itself and the saturation of the controller input. The adaptive control is introduced to ensure the robustness of the system to uncertain parameters, and the projection operator is used to optimize the adaptive uncertain parameters. Based on the Lyapunov stability theory, the asymptotic stability of the system is proved. Finally, the simulation verifies that the projection-adaptive command filter-backward control has good robustness and dynamic responsiveness.
实现上述技术目的,达到上述技术效果,本发明通过以下技术方案实现:To achieve the above-mentioned technical purpose and achieve the above-mentioned technical effect, the present invention is realized through the following technical solutions:
第一方面,本发明提供了一种自储能多端柔直系统控制方法,包括:In a first aspect, the present invention provides a method for controlling a self-storage multi-terminal flexible straightening system, comprising:
采用反推法设计储能控制器和电压源换流器控制器,分别获得与储能控制器和电压源换流器控制器对应的控制律;The energy storage controller and the voltage source converter controller are designed by the inverse method, and the control laws corresponding to the energy storage controller and the voltage source converter controller are obtained respectively;
基于自适应控制,使用投影法分别对各所述控制律中的自适应参数进行优化,获得储能控制器和电压源换流器控制器;Based on the adaptive control, using the projection method to optimize the adaptive parameters in each of the control laws, respectively, to obtain the energy storage controller and the voltage source converter controller;
所述储能控制器输出控制参数至自储能多端柔直系统中的储能装置,实现对储能装置的控制;所述电压源换流器控制器输出控制参数至自储能多端柔直系统中对应的电压源换流器,实现对应电压源换流器的控制。The energy storage controller outputs the control parameters to the energy storage device in the self-storage multi-terminal flexible DC system to realize the control of the energy storage device; the voltage source converter controller outputs the control parameters to the self-energy storage multi-terminal flexible DC The corresponding voltage source converter in the system realizes the control of the corresponding voltage source converter.
进一步地,所述采用反推法设计储能控制器和/或电压源换流器控制器具体为:Further, the design of the energy storage controller and/or the voltage source converter controller using the inverse method is specifically:
分别设计Lyapunov函数和虚拟控制律,所述虚拟控制律用于保证自储能多端柔直系统中的储能装置或者电压源换流器的绝对收敛性。The Lyapunov function and the virtual control law are designed respectively. The virtual control law is used to ensure the absolute convergence of the energy storage device or the voltage source converter in the self-storage multi-terminal flexible DC system.
进一步地,所述自储能多端柔直系统为自储能背靠背多端柔直系统,Further, the self-energy storage multi-terminal flexible straightening system is a self-energy storage back-to-back multi-terminal flexible straightening system,
所述控制方法还包括获得自储能背靠背多端柔直系统的数学模型;所述自储能背靠背多端柔直系统的数学模型具体为:The control method further includes obtaining a mathematical model of the self-energy storage back-to-back multi-terminal flexible straight system; the mathematical model of the self-energy storage back-to-back multi-terminal flexible straight system is specifically:
式中,C表示直流侧电容,Udc表示直流母线电压,表示电压Udc对时间t导数,Usdi、idi分别表示电压源换流器交流电压与电流的d轴分量,Ub表示储能装置出口电压,ib表示储能装置出口侧电流。In the formula, C represents the DC side capacitance, U dc represents the DC bus voltage, represents the derivative of the voltage U dc with respect to time t, U sdi and i di represent the d-axis components of the AC voltage and current of the voltage source converter, respectively, U b represents the outlet voltage of the energy storage device, and i b represents the current on the outlet side of the energy storage device.
进一步地,所述采用反推法设计储能控制器,获得对应的控制律,包括:采用反推法设计储能控制器,首先得到储能控制器中的虚拟控制量为:Further, designing the energy storage controller by the inverse method to obtain the corresponding control law includes: designing the energy storage controller by using the inverse method, first obtaining the virtual control quantity in the energy storage controller. for:
式中:代表直流母线电压参考值,表示的一阶导数,k1代表大于0的可调参数,z1代表电压跟踪误差,Udc表示直流母线电压;where: represents the DC bus voltage reference value, express The first derivative of , k 1 represents an adjustable parameter greater than 0, z 1 represents the voltage tracking error, U dc represents the DC bus voltage;
所述虚拟控制量用于作为内环控制器的指令值,参与内环电流控制。the virtual control It is used as the command value of the inner loop controller and participates in the inner loop current control.
进一步地,所述自储能多端柔直系统控制方法还包括:Further, the control method of the self-energy storage multi-terminal flexible straightening system further includes:
使用自适应估计值替换储能控制器中电容C;Use adaptive estimates Replace the capacitor C in the energy storage controller;
得到考虑了自适应估计的新的虚拟控制量为:A new virtual control variable is obtained that takes into account the adaptive estimation for:
进一步地,所述的一种自储能多端柔直系统控制方法,还包括:向所述储能控制器中引入约束指令滤波器;所述新的虚拟控制量通过约束指令滤波器后输出信号及其导数所述约束指令滤波器的状态空间表达式为:Further, the control method for a self-storage multi-terminal flexible straightening system further includes: introducing a constraint command filter into the energy storage controller; the new virtual control variable Output signal after passing through constraint command filter and its derivatives The state space expression of the constraint instruction filter is:
式中:y1=xc,δ=xd,xd为输入量,xc为输出量,为输出量的导数,ξ为指令滤波器的阻尼,ωn为带宽,SR(·)和SM(·)分别代表速率和幅值约束;In the formula: y 1 =x c , δ=x d , x d is the input quantity, x c is the output quantity, is the derivative of the output quantity, ξ is the damping of the command filter, ω n is the bandwidth, SR ( ) and SM ( ) represent the rate and amplitude constraints, respectively;
设计补偿信号,以弥补约束指令滤波器的误差,所述补偿信号的计算公式为:A compensation signal is designed to compensate for the error of the constraint command filter, and the calculation formula of the compensation signal is:
式中:ε为补偿信号,为补偿信号的导数,k1代表大于0的可调参数,为储能电流参考值。In the formula: ε is the compensation signal, is the derivative of the compensation signal, k 1 represents an adjustable parameter greater than 0, is the reference value of the energy storage current.
进一步地,所述自储能多端柔直系统控制方法还包括:基于 以及正定Lyapunov函数采用反推法得到储能控制器的控制律为:Further, the control method for the self-energy storage multi-terminal flexible straightening system further includes: based on and the positive definite Lyapunov function The control law of the energy storage controller is obtained by using the inverse method:
式中,Urb代表储能装置桥臂侧电压,k1、k2为一个大于0的调节参数,为储能电流参考值的导数;Lb表示储能装置出口侧电感,Rb表示储能装置出口侧电阻,分别用于替换储能控制器中电阻R和电感L;z2代表储能装置的电流跟踪误差,的计算公式为:In the formula, U rb represents the bridge arm side voltage of the energy storage device, k 1 and k 2 are adjustment parameters greater than 0, is the derivative of the reference value of the energy storage current; L b represents the inductance on the outlet side of the energy storage device, and R b represents the resistance on the outlet side of the energy storage device, which are respectively used to replace the resistance R and the inductance L in the energy storage controller; z 2 represents the current tracking error of the energy storage device, The calculation formula is:
其中,为自适应估计值误差,e1为自适应估计值的参考值。in, is the adaptive estimate error, e 1 is the adaptive estimated value reference value.
进一步地,使用投影法对储能控制器的控制律中自适应估计值进行优化得到的不确定参数的自适应律,具体为:Further, the adaptive law of uncertain parameters obtained by optimizing the adaptive estimated value in the control law of the energy storage controller using the projection method is specifically:
式中:Proj(,·,)为投影算子,γ1、γ2、γ3为误差系数。In the formula: Proj(,·,) is the projection operator, and γ 1 , γ 2 , and γ 3 are the error coefficients.
进一步地,定义自适应估计值为L1表示电网侧等效电感,R1表示电网侧等效电阻,估计值误差为e4和e5分别为自适应估计值和的参考值,正定Lyapunov函数为采用反推法设计电压源换流器控制器,得到电压源换流器控制器中的控制律为:Further, the adaptive estimation is defined as L 1 represents the grid-side equivalent inductance, R 1 represents the grid-side equivalent resistance, and the estimated value error is e 4 and e 5 are the adaptive estimated values, respectively and The reference value of , the positive definite Lyapunov function is The voltage source converter controller is designed by the inverse method, and the control law in the voltage source converter controller is obtained as follows:
式中:Urd1、Urq1分别为电压源换流器交流侧出口电压矢量d轴和q轴的分量,k3、k4为大于0的可调参数,id1、iq1分别为电压源换流器交流侧电流矢量d轴和q轴的分量,ω1为电网角频率;为电压源换流器交流侧电流矢量d轴分量的参考量,为的一阶导数;为电压源换流器交流侧电流矢量q轴分量的参考量,为的一阶导数;Usd1、Usq1分别为电压源换流器网侧电压矢量d轴和q轴的分量。In the formula: U rd1 and U rq1 are the components of the d-axis and q-axis of the AC side outlet voltage vector of the voltage source converter, respectively, k 3 and k 4 are adjustable parameters greater than 0, and i d1 and i q1 are the voltage source respectively The components of the d-axis and q-axis of the AC side current vector of the converter, ω 1 is the grid angular frequency; is the reference quantity of the d-axis component of the AC side current vector of the voltage source converter, for the first derivative of ; is the reference quantity of the q-axis component of the AC side current vector of the voltage source converter, for The first derivative of ; U sd1 and U sq1 are the components of the d-axis and q-axis of the grid-side voltage vector of the voltage source converter, respectively.
进一步地,使用投影法对电压源换流器控制器中的控制律自适应估计值进行优化,得到不确定参数的自适应律为:Further, using the projection method to adaptively estimate the control law in the voltage source converter controller After optimization, the adaptive law of uncertain parameters is obtained as:
式中,Proj(,·,)为投影算子,γ4、γ5为误差系数。In the formula, Proj(,·,) is the projection operator, and γ 4 and γ 5 are the error coefficients.
第二方面,本发明提供了一种自储能多端背靠背柔直系统控制系统,包括:In a second aspect, the present invention provides a self-energy storage multi-terminal back-to-back flexible straightening system control system, comprising:
控制器的控制律获取模块,用于采用反推法设计储能控制器和电压源换流器控制器,获得对应的控制律;The control law acquisition module of the controller is used to design the energy storage controller and the voltage source converter controller by using the inverse method to obtain the corresponding control law;
自适应参数优化模块;用于基于自适应控制,使用投影法对各所述控制律中的自适应参数进行优化,获得储能控制器和电压源换流器控制器。与现有技术相比,本发明的有益效果:The self-adaptive parameter optimization module is used to optimize the self-adaptive parameters in each of the control laws based on the self-adaptive control by using the projection method to obtain the energy storage controller and the voltage source converter controller. Compared with the prior art, the beneficial effects of the present invention:
本发明提出了一种自储能多端柔直系统控制方法及系统,首先将整个系统分解成多个子系统,所述子系统为储能装置或者电压源换流器;然后采用反推法分别设计各子系统的控制器。由于直流电压控制引入约束指令滤波器解决反推控制的微分膨胀问题,设计滤波补偿信号解决约束指令滤波器自身的误差与控制器输入饱和的问题;引入自适应控制保证自储能多端柔直系统对不确定参数的鲁棒性,使用投影算子对自适应不确定参数进行优化,并基于Lyapunov稳定性理论证明了自储能多端柔直系统的渐进稳定。最后,仿真验证了本发明的控制方法(即投影自适应指令滤波反推控制)具有良好的鲁棒性与动态响应性。The invention proposes a control method and system for a self-energy storage multi-terminal flexible DC system. First, the entire system is decomposed into multiple subsystems, and the subsystems are energy storage devices or voltage source converters; Controller for each subsystem. Because the DC voltage control introduces the constraint command filter to solve the differential expansion problem of the reverse control, the filter compensation signal is designed to solve the error of the constraint command filter itself and the problem of the controller input saturation; the introduction of the adaptive control ensures the self-storage multi-terminal flexible direct system For the robustness of uncertain parameters, the projection operator is used to optimize the adaptive uncertain parameters, and the asymptotic stability of the self-storage multi-terminal flexible straight system is proved based on the Lyapunov stability theory. Finally, simulation verifies that the control method of the present invention (ie, the projection adaptive command filtering inverse control) has good robustness and dynamic responsiveness.
附图说明Description of drawings
图1为本发明一种实施例的SES-MBTB系统结构示意图;1 is a schematic structural diagram of an SES-MBTB system according to an embodiment of the present invention;
图2为本发明一种实施例的储能装置的拓扑结构示意图;2 is a schematic diagram of a topology structure of an energy storage device according to an embodiment of the present invention;
图3为本发明一种实施例的VSC拓扑结构示意图;3 is a schematic diagram of a VSC topology structure according to an embodiment of the present invention;
图4为本发明一种实施例的系统控制框图;4 is a system control block diagram of an embodiment of the present invention;
图5为本发明一种实施例的约束指令滤波器结构示意图;5 is a schematic structural diagram of a constraint instruction filter according to an embodiment of the present invention;
图6为本发明一种实施例的PID与PACBC控制对比图;Fig. 6 is a PID and PACBC control comparison diagram of an embodiment of the present invention;
图7为本发明一种实施例的CBC与PACBC控制对比图。FIG. 7 is a comparison diagram of CBC and PACBC control according to an embodiment of the present invention.
具体实施方式Detailed ways
为了使本发明的目的、技术方案及优点更加清楚明白,以下结合实施例,对本发明进行进一步详细说明。应当理解,此处所描述的具体实施例仅仅用以解释本发明,并不用于限定本发明。In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.
下面结合附图对本发明的应用原理作详细的描述。The application principle of the present invention will be described in detail below with reference to the accompanying drawings.
本发明的主要构思为:The main idea of the present invention is:
(1)建立自储能多端柔直系统的非线性数学模型;(1) Establish the nonlinear mathematical model of the self-storage multi-terminal flexible straight system;
(2)将所述自储能多端柔直系统分解成若干个子系统,所述子系统为储能装置或电压源换流器;(2) Decomposing the self-energy storage multi-terminal flexible straight system into several subsystems, and the subsystems are energy storage devices or voltage source converters;
(3)利用采用反推法分别设计各子系统控制器;所述电压源换流器的端口采取定功率控制;所述储能装置由直流电压控制,并在直流电压控制中引入约束指令滤波器解决反推控制的微分膨胀问题,设计滤波补偿信号解决滤波器自身的误差与控制器输入饱和的问题;进一步地,引入自适应控制保证系统对不确定参数的鲁棒性,并使用投影算子对自适应不确定参数进行优化,基于Lyapunov稳定性理论证明了自储能多端柔直系统的渐进稳定。(3) The controller of each subsystem is designed respectively by adopting the reverse inference method; the port of the voltage source converter adopts constant power control; the energy storage device is controlled by the DC voltage, and a constraint command filter is introduced into the DC voltage control The controller solves the differential expansion problem of the inverse control, and the filter compensation signal is designed to solve the problem of the error of the filter itself and the saturation of the controller input; further, the adaptive control is introduced to ensure the robustness of the system to uncertain parameters, and the projection algorithm is used. The self-storage multi-terminal flexible straight system is proved to be asymptotically stable based on Lyapunov stability theory by optimizing the adaptive uncertain parameters.
(4)仿真验证了投影自适应指令滤波反推控制具有良好的鲁棒性与动态响应性。(4) The simulation verifies that the projection adaptive command filter inverse control has good robustness and dynamic responsiveness.
实施例1Example 1
本发明实施例中以自储能多端背靠背柔直系统为例进行本发明的控制方法的说明。In the embodiment of the present invention, the control method of the present invention is described by taking the self-energy storage multi-terminal back-to-back flexible straightening system as an example.
步骤一、建立自储能多端背靠背柔直系统(self-energy storage basedmultiport back-to-back VSC-HVDC,SES-MBTB)的非线性数学模型Step 1. Establish a nonlinear mathematical model of the self-energy storage based multiport back-to-back VSC-HVDC (SES-MBTB) system
现有技术中的自储能多端背靠背柔直系统有串、并、混联三种接线方式,本发明实施例提出的自储能多端背靠背柔直系统采用并联方式,省略了直流线路环节。所述储能装置中设有DC/DC换流器,所述DC/DC换流器与所有电压源换流器的直流侧共用,有利于柔直系统直流侧电压的稳定,控制简单灵活且易于拓展,五端口的SES-MBTB装置结构拓扑如图1所示。The self-energy storage multi-terminal back-to-back flexible direct system in the prior art has three wiring modes: series, parallel, and mixed connection. The self-energy storage multi-terminal back-to-back flexible direct system proposed in the embodiment of the present invention adopts the parallel mode, omitting the DC line link. The energy storage device is provided with a DC/DC converter, and the DC/DC converter is shared with the DC side of all voltage source converters, which is conducive to the stability of the DC side voltage of the flexible DC system, and the control is simple and flexible. Easy to expand, the five-port SES-MBTB device structure topology is shown in Figure 1.
该自储能背靠背柔直系统由4端电压源换流器与1端储能装置构成,正常运行状态下,储能装置作为松弛节点采用定直流电压控制,同时实现系统有功平衡;电压源换流器的交流侧分别与配电网各馈线相连,实现多条馈线之间的柔性互联(交-直—交解耦),电压源换流器采用定功率控制。本发明实施例中的SES-MBTB系统由于增加储能装置,且储能装置具有能量的时序调节能力,因此,整个柔直系统成为了高度集成的综合能量变换装置。The self-storage back-to-back flexible direct system is composed of a 4-terminal voltage source converter and a 1-terminal energy storage device. Under normal operation, the energy storage device is used as a slack node for constant DC voltage control, and at the same time, the active power balance of the system is realized; The AC side of the converter is respectively connected with each feeder of the distribution network to realize flexible interconnection (AC-DC-AC decoupling) between multiple feeders, and the voltage source converter adopts constant power control. Since the SES-MBTB system in the embodiment of the present invention adds an energy storage device, and the energy storage device has the ability to adjust the energy sequence, the entire flexible direct system becomes a highly integrated comprehensive energy conversion device.
储能装置以充电为正方向,其拓扑结构如图2所示,由图2可得储能装置的数学模型为:The energy storage device takes charging as the positive direction, and its topology is shown in Figure 2. The mathematical model of the energy storage device can be obtained from Figure 2 as follows:
式中,Lb为等效阻抗,ib为储能装置出口侧电流,表示电流ib对时间t的导数,Rb为等效电阻,Ub为储能装置出口电压,Urb为储能装置桥臂侧电压,Urb=dUdc,其中d为占空比,Udc为直流母线电压。where L b is the equivalent impedance, i b is the current at the outlet side of the energy storage device, represents the derivative of current i b with respect to time t, R b is the equivalent resistance, U b is the outlet voltage of the energy storage device, U rb is the side voltage of the bridge arm of the energy storage device, Ur rb =dU dc , where d is the duty cycle, U dc is the DC bus voltage.
电压源换流器以注入交流网络的功率为正方向,其拓扑结构如图3所示,由图3可得电压源换流器的数学模型为:The voltage source converter takes the power injected into the AC network as the positive direction, and its topology is shown in Figure 3. The mathematical model of the voltage source converter can be obtained from Figure 3:
式中,L为交流侧电抗器等效电抗,ii为交流侧电网电流,表示电流ii对时间t的导数,R为交流侧电抗器等效电阻,Uri为电压源换流器交流侧电压值,Usi为交流侧电网电压。In the formula, L is the equivalent reactance of the AC side reactor, i i is the grid current on the AC side, Represents the derivative of current i i to time t, R is the equivalent resistance of the AC side reactor, U ri is the AC side voltage value of the voltage source converter, and U si is the AC side grid voltage.
将式(2)转换到dq同步旋转坐标系下,以电压源换流器为例,对于输出功率的电压源换流器(即电压源换流器输出的是功率),其数学模型为:Converting equation (2) into the dq synchronous rotating coordinate system, taking the voltage source converter as an example, for the voltage source converter that outputs power (that is, the output of the voltage source converter is power), the mathematical model is:
式中,分别表示电流id1、iq1对时间t的导数,id1、iq1分别为电压源换流器网侧电流矢量d轴和q轴的分量,ω1为电网角频率,Usd1、Usq1分别为电压源换流器网侧电压矢量d轴和q轴的分量,Urd1、Urq1分别为电压源换流器交流侧出口电压矢量d轴和q轴的分量,L1代表电网侧等效电感值;R1代表电网侧等效电阻值。In the formula, respectively represent the derivatives of currents i d1 and i q1 to time t, i d1 and i q1 are the components of the d-axis and q-axis of the grid-side current vector of the voltage source converter, respectively, ω 1 is the grid angular frequency, U sd1 , U sq1 are the d-axis and q-axis components of the grid-side voltage vector of the voltage source converter, respectively, U rd1 and U rq1 are the d-axis and q-axis components of the AC side outlet voltage vector of the voltage source converter, respectively, L 1 represents the grid side, etc. Effective inductance value; R 1 represents the equivalent resistance value on the grid side.
对于吸收功率型的电压源换流器,电流反向。For voltage source converters of the absorbing power type, the current flow is reversed.
电压源换流器的交流出口电抗器主要起限流与滤波作用,实际电抗器呈弱阻性,电阻R很小,损耗可不计,稳态情况下电压源换流器有功、无功功率可以表示为:The AC outlet reactor of the voltage source converter mainly plays the role of current limiting and filtering. The actual reactor is weak resistance, the resistance R is very small, and the loss can be ignored. In the steady state, the active and reactive power of the voltage source converter can be Expressed as:
d轴通过锁相环位于电网电压矢量方向上,所以Usq1=0,Usd1=Us,Us代表电网电压,式(4)可表示为:The d-axis is located in the direction of the grid voltage vector through the phase-locked loop, so U sq1 =0, U sd1 =U s , U s represents the grid voltage, and equation (4) can be expressed as:
由式(5)可知通过对电压源换流器电流dq轴分量的控制可以独立地控制有功功率和无功功率。不计换流器损耗,自储能多端柔直系统的交直流两端功率相等,因此,得到自储能多端背靠背柔直系统的数学模型为:It can be known from equation (5) that active power and reactive power can be independently controlled by controlling the current dq-axis component of the voltage source converter. Excluding the converter loss, the powers at both ends of the AC and DC terminals of the self-storage multi-terminal flexible direct system are equal. Therefore, the mathematical model of the self-storage multi-terminal back-to-back flexible direct system is obtained as follows:
式中,C为自储能多端背靠背柔直系统直流侧电容,Udc为自储能多端背靠背柔直系统的直流母线电压,表示电压Udc对时间t导数,Usdi、idi表示电压源换流器交流电压与电流的d轴分量,Ub为储能装置出口侧电压,ib为储能装置出口侧电流。In the formula, C is the DC side capacitance of the self-energy storage multi-terminal back-to-back flexible direct system, U dc is the DC bus voltage of the self-energy storage multi-terminal back-to-back flexible direct system, represents the derivative of the voltage U dc with respect to time t, U sdi and i di represent the d-axis components of the AC voltage and current of the voltage source converter, U b is the voltage at the outlet side of the energy storage device, and i b is the current at the outlet side of the energy storage device.
由(6)式可知,通过对电流的控制可维持直流电压的稳定,稳态运行模式下,直流电压保持恒定可知各端口(即储能端口和柔直端口)流入功率等于流出功率,所以为了自储能多端柔直系统有功功率的平稳传输,必须保持直流电压的稳定。当功率不平衡时直流电压会出现波动,定直流电压的储能装置是一个功率平衡点,储能装置的充放电特性可平衡系统功率,减弱功率不平衡对直流电压的影响。It can be seen from equation (6) that the stability of the DC voltage can be maintained by controlling the current. In the steady-state operation mode, the DC voltage remains constant. It can be known that the inflow power of each port (that is, the energy storage port and the flexible DC port) is equal to the outflow power. Therefore, in order to smoothly transmit the active power of the self-storage multi-terminal flexible DC system, the DC voltage must be kept stable. When the power is unbalanced, the DC voltage will fluctuate. The energy storage device with a constant DC voltage is a power balance point. The charging and discharging characteristics of the energy storage device can balance the system power and reduce the impact of power imbalance on the DC voltage.
步骤二、采用反推法设计储能控制器和电压源换流器控制器,在本发的其他实施例中,可以只单独对储能控制器或电压源换流器控制器利用本发明中的反推法进行设计;In step 2, the energy storage controller and the voltage source converter controller are designed using the inverse method. designed by the inverse method;
由于功率波动时直流电压会出现波动甚至越限的问题,本发明实施例将反推法应用于控制器设计,对于定直流电压控制同时增加约束指令滤波器解决反推控制的微分膨胀和约束问题,并设计补偿信号解决滤波器自身的误差问题,对自储能多端柔直系统中的不确定参数引入自适应投影算子保证估计值的有界性。Since the DC voltage may fluctuate or even exceed the limit when the power fluctuates, the embodiment of the present invention applies the inverse method to the controller design, and adds a constraint command filter for the constant DC voltage control to solve the differential expansion and constraint problems of the inverse control. , and design a compensation signal to solve the error problem of the filter itself, and introduce an adaptive projection operator to the uncertain parameters in the self-storage multi-terminal flexible straight system to ensure the boundedness of the estimated value.
首先,将完整的自储能多端柔直系统分解成几个子系统,所述的子系统为储能装置或者电压源换流器;First, the complete self-energy storage multi-terminal flexible direct system is decomposed into several subsystems, and the subsystems are energy storage devices or voltage source converters;
然后,在各子系统中设计Lyapunov函数和虚拟控制律,最后反推得到完整的控制系统,虚拟控制律用于保证子系统的绝对收敛性,自储能多端柔直系统由此获得期望的快速跟踪性能与较好的稳定性,自储能多端柔直系统整体控制框图如图4所示。Then, the Lyapunov function and the virtual control law are designed in each subsystem, and the complete control system is obtained by inversion. With tracking performance and better stability, the overall control block diagram of the self-energy storage multi-terminal flexible straight system is shown in Figure 4.
储能控制器的具体设计如下所示:The specific design of the energy storage controller is as follows:
定义电压与电流跟踪误差:Define the voltage and current tracking errors:
式中,Udc为直流母线电压,为直流母线参考值,ib为储能装置的出口侧电流,为储能装置的出口侧电流参考值,根据式(6)和(7),电压跟踪误差的导数可表示为:where U dc is the DC bus voltage, is the reference value of the DC bus, i b is the outlet side current of the energy storage device, is the current reference value of the outlet side of the energy storage device. According to equations (6) and (7), the derivative of the voltage tracking error can be expressed as:
设定第一个正定Lyapunov函数为:Let the first positive definite Lyapunov function be:
对式(10)进行求导,得到:Taking the derivative of formula (10), we get:
式中,k1为一个大于0的可调参数,令得到虚拟控制量为:In the formula, k 1 is an adjustable parameter greater than 0, let get virtual control for:
将式(12)代入式(11)可知因此,符合Lyapunov函数控制律。Substituting Equation (12) into Equation (11), we can see that Therefore, it conforms to the Lyapunov function control law.
第四、在实际控制系统中,由于电容C、电阻R和电感L无法获得精确值,本发明实施例中使用自适应估计值进行替换,其中,Lb表示储能装置出口侧电感,Rb表示储能装置出口侧电阻,分别用于替换储能控制器中电阻R和电感L,同时定义自适应估计值误差为e1、e2和e3分别为和的参考值,故式(12)可改写为:Fourth, in the actual control system, since the capacitance C, the resistance R and the inductance L cannot obtain accurate values, the self-adaptive estimated value is used in the embodiment of the present invention. Replace, where L b represents the inductance on the outlet side of the energy storage device, and R b represents the resistance on the outlet side of the energy storage device, which are respectively used to replace the resistance R and the inductance L in the energy storage controller, and the error of the adaptive estimated value is defined as e 1 , e 2 and e 3 are respectively and The reference value of , so equation (12) can be rewritten as:
第五步:引入约束指令滤波器来解决反推控制的微分膨胀和控制饱和问题,并设计补偿信号解决滤波器的误差问题;Step 5: Introduce a constrained command filter to solve the differential expansion and control saturation problems of the inverse control, and design a compensation signal to solve the error problem of the filter;
为得到输出信号,需要对虚拟控制量进行求导,不仅增加了系统的复杂度,求导也会增加测量噪声的影响。约束指令滤波器可用来解决反推控制的微分膨胀和控制饱和问题。基本思想是:将虚拟控制量通过二阶约束滤波器得到滤波后的输出信号及其导数滤波器结构如图5所示,xd为输入量,ξ为指令滤波器的阻尼,ωn为带宽,xc为输出量,为输出量的导数,表示积分过程,虚拟控制量的求导过程在约束指令滤波器中通过积分过程得到,避免了对虚拟控制量的直接求导。所述的约束指令滤波器的状态空间表达式表示为:In order to obtain the output signal, the virtual control variable needs to be derived, which not only increases the complexity of the system, but also increases the influence of measurement noise. Constrained command filters can be used to solve the differential expansion and control saturation problems of inverse control. The basic idea is: the virtual control The filtered output signal is obtained by a second-order constrained filter and its derivatives The filter structure is shown in Figure 5, x d is the input quantity, ξ is the damping of the command filter, ω n is the bandwidth, x c is the output quantity, is the derivative of the output quantity, Represents the integral process. The derivation process of the virtual control variable is obtained through the integration process in the constraint command filter, which avoids the direct derivation of the virtual control variable. The state space expression of the constraint instruction filter is expressed as:
式中,y1=xc,δ=xd,ξ为指令滤波器的阻尼,ωn为带宽,SR(·)和SM(·)分别代表速率和幅值约束,当虚拟控制量的幅值和速率大于系统所能承受的最大值时,必然存在误差xc-xd,通过对带宽ωn的调整虚拟控制信号xd可以更快更准确地收敛。ωn需要根据输入信号xd的频率范围选取一个合理的值,当ωn的值远大于输入信号xd的频率,输入信号xd可以无衰减的通过滤波器,大幅减少高频噪声的影响。In the formula, y 1 =x c , δ=x d , ξ is the damping of the command filter, ω n is the bandwidth, S R ( ) and S M ( ) represent the rate and amplitude constraints, respectively. When the amplitude and rate of the virtual control variable are greater than the system can When the maximum value it bears, there must be an error x c -x d , and the virtual control signal x d can converge faster and more accurately by adjusting the bandwidth ω n . ω n needs to select a reasonable value according to the frequency range of the input signal x d . When the value of ω n is much larger than the frequency of the input signal x d , the input signal x d can pass through the filter without attenuation, greatly reducing the impact of high-frequency noise. .
当柔直系统不能追踪实际给定值时,会造成误差累积,降低柔直系统的动态响应性能,甚至导致柔直系统发散,因此,在控制器设计中需要考虑约束指令滤波器误差的影响,重新定义电压跟踪误差为:When the flexible straightening system cannot track the actual given value, it will cause error accumulation, reduce the dynamic response performance of the flexible straightening system, and even lead to the divergence of the flexible straightening system. Therefore, the influence of the constraint command filter error needs to be considered in the controller design. Redefine the voltage tracking error as:
补偿信号设计为:The compensation signal is designed as:
式中:ε为补偿信号,为补偿信号的导数,k1代表大于0的可调参数,为储能电流参考值。In the formula: ε is the compensation signal, is the derivative of the compensation signal, k 1 represents an adjustable parameter greater than 0, is the reference value of the energy storage current.
(6)引入自适应控制保证系统对不确定参数的鲁棒性,并使用参数投影法对自适应控制进行优化,具体为:(6) The adaptive control is introduced to ensure the robustness of the system to uncertain parameters, and the parameter projection method is used to optimize the adaptive control, specifically:
根据式(6)、(13)和(16)可得:According to equations (6), (13) and (16), we can get:
根据式(1)和(8)可得电流跟踪误差的导数为:According to equations (1) and (8), the derivative of the current tracking error can be obtained as:
设定第二个正定Lyapunov函数为:Let the second positive definite Lyapunov function be:
式中,γ1、γ2、γ3为误差系数,对式(19)进行求导得:In the formula, γ 1 , γ 2 , and γ 3 are the error coefficients, and the derivation of formula (19) can be obtained:
其中k1、k2为一个大于0的调节参数,由式(20)计算得到控制律为:where k 1 and k 2 are adjustment parameters greater than 0, and the control law calculated from equation (20) is:
使用参数投影法对式(21)中的控制律中的自适应参数进行优化,得到自适应参数的自适应律为:The parameter projection method is used to optimize the adaptive parameters in the control law in equation (21), and the adaptive law of the adaptive parameters is obtained as:
式中,Proj(,·,)为投影算子。In the formula, Proj(,·,) is the projection operator.
本发明的控制器与传统控制器相比,简化了程序,降低了运算量,可以获得更好的稳定性和动态追踪效果,更适用于工程应用。Compared with the traditional controller, the controller of the present invention simplifies the program, reduces the calculation amount, can obtain better stability and dynamic tracking effect, and is more suitable for engineering applications.
在本发明实施例中,所述的电压源换流器采取定功率控制,以VSC1为例,定义自适应估计值自适应估计值误差为e4和e5分别为和的参考值,下面给出VSC1控制器设计过程:In the embodiment of the present invention, the voltage source converter adopts constant power control, and takes VSC1 as an example to define an adaptive estimated value The adaptive estimator error is e 4 and e 5 are respectively and The reference value of the VSC1 controller design process is given below:
(1)定义VSC1电流跟踪误差:(1) Define the VSC1 current tracking error:
式中,为电流参考值,根据式(3)、(23)和(24),跟踪误差的导数可表示为:In the formula, is the current reference value, according to equations (3), (23) and (24), the derivative of the tracking error can be expressed as:
(2)设定第三个正定Lyapunov函数为:(2) Set the third positive definite Lyapunov function as:
式中,γ4、γ5为误差系数;In the formula, γ 4 and γ 5 are error coefficients;
(3)对式(27)进行求导,得到:(3) Differentiate formula (27) to get:
其中,k3、k4为大于0的可调参数,由式(28)计算得到控制律为:Among them, k 3 and k 4 are adjustable parameters greater than 0, and the control law calculated by equation (28) is:
使用参数投影法对电压源换流器控制器中的控制律中的自适应参数进行优化,得到自适应参数的自适应律为:The parameter projection method is used to optimize the adaptive parameters in the control law of the voltage source converter controller, and the adaptive law of the adaptive parameters is obtained as:
剩余的VSC的电压源换流器控制器均与VSC1的电压源换流器控制器设计相同,此处不再赘述。The voltage source converter controllers of the remaining VSCs are of the same design as the voltage source converter controllers of the VSC1, and will not be repeated here.
下面对储能控制器稳定性进行分析,投影算子定义如下:The stability of the energy storage controller is analyzed below, and the projection operator is defined as follows:
其中为θ的估计值,为的最大值与最小值,x为一个确定的自适应函数,投影算子的两条重要性质为:in is the estimated value of θ, for The maximum and minimum values of , x is a definite adaptive function, and two important properties of the projection operator are:
性质1 property 1
性质2 nature 2
Ωθ为定义的约束集,根据性质1可知:Ω θ is the defined constraint set, according to property 1, it can be known that:
由性质2可知,自适应函数在投影算子的修正下能够使得保证了不确定参数的有界性。From property 2, it can be seen that the adaptive function can make The boundedness of uncertain parameters is guaranteed.
根据式(20)、(21)和(33)可得:According to equations (20), (21) and (33), we can get:
由式(19)可知,V2为正定函数,由式(34)可知为负定函数,对储能控制器V2≥0、因此,根据Lyapunov稳定性理论,在控制量Urb的作用下,储能装置最终会渐进稳定,同理可证得V3≥0、VSC1在控制量Urd1、Urq1的作用下最终会渐进稳定,综上所述,整个自储能多端柔直系统符合稳定性条件。It can be known from equation (19) that V 2 is a positive definite function, and it can be known from equation (34) that is a negative definite function, for the energy storage controller V 2 ≥ 0, Therefore, according to the Lyapunov stability theory, under the action of the control quantity U rb , the energy storage device will eventually become asymptotically stable. Similarly, it can be proved that V 3 ≥ 0, VSC1 will eventually be gradually stabilized under the action of control quantities U rd1 and U rq1 . To sum up, the whole self-storage multi-terminal flexible straightening system meets the stability conditions.
实施例2Example 2
为了验证本发明所提控制算法的可行性和有效性,基于Matlab/Simulink搭建了如图1所示的五端SES-MBTB系统仿真模型。In order to verify the feasibility and effectiveness of the control algorithm proposed in the present invention, a five-terminal SES-MBTB system simulation model as shown in Figure 1 is built based on Matlab/Simulink.
该仿真模型的参数设置如表1所示:The parameter settings of the simulation model are shown in Table 1:
表1仿真参数Table 1 Simulation parameters
表2给出了VSC1、VSC2、VSC3、VSC4不同时段有功功率变化,分别在传统PID控制算法与本发明的投影自适应指令滤波反推控制(PACBC)算法下进行仿真,对仿真结果进行比较。Table 2 shows the active power changes of VSC1, VSC2, VSC3, and VSC4 in different time periods. The simulation results are compared under the traditional PID control algorithm and the projection adaptive command filter-backward control (PACBC) algorithm of the present invention.
表2仿真条件Table 2 Simulation conditions
如图6所示为PID控制与PACBC效果对比图,图6中(a)(c)(e)为PID控制各换流站有功功率、直流母线电压、交流侧电流谐波畸变率(THD)控制效果图,图6中(b)(d)(f)为PACBC各换流器有功功率、直流母线电压、交流侧电流THD控制效果图。由于实际损耗,各换流器不能完全按照指令值发出功率,图6中功率值均在指令值附近轻微波动,储能装置通过充放电弥补功率缺额。0.4s时VSC1功率由2MW突变为4MW,储能装置为保持系统功率平衡向下波动2MW补偿功率缺额,0.6s时VSC2功率由3MW突变为1MW,储能装置发生动作,功率由-2MW上升为0,有效平衡了系统功率。从图6中可以看出,PACBC比PID控制具有更好的功率跟踪性能与动态响应能力,功率波动更小。自储能多端柔直系统直流母线电压在0.4s、0.6s两个时刻因功率变化均有波动,从图6中可以看到,PACBC电压过冲明显比PID控制小,跟踪误差更小。PID控制VSC交流侧电流THD为5.38%,没有达到国标5%的标准,PACBC算法交流侧电流THD达到了1.50%,得到了很好的控制效果。Figure 6 shows the comparison of the effects of PID control and PACBC. In Figure 6, (a) (c) (e) are the active power, DC bus voltage, and AC side current harmonic distortion (THD) of each converter station controlled by PID. Control effect diagram, Figure 6(b)(d)(f) is the control effect diagram of active power, DC bus voltage, and AC side current THD of each PACBC converter. Due to the actual loss, each converter cannot fully emit power according to the command value. In Figure 6, the power value fluctuates slightly around the command value, and the energy storage device compensates for the power shortage by charging and discharging. At 0.4s, the power of VSC1 suddenly changes from 2MW to 4MW, and the energy storage device fluctuates downward by 2MW to maintain the system power balance to compensate for the power shortage. At 0.6s, the power of VSC2 suddenly changes from 3MW to 1MW, and the energy storage device operates, and the power rises from -2MW to 0, which effectively balances the system power. As can be seen from Figure 6, PACBC has better power tracking performance and dynamic response capability than PID control, and the power fluctuation is smaller. The DC bus voltage of the self-storage multi-terminal flexible DC system fluctuates at 0.4s and 0.6s due to power changes. It can be seen from Figure 6 that the PACBC voltage overshoot is significantly smaller than that of the PID control, and the tracking error is smaller. The PID control VSC AC side current THD is 5.38%, which does not meet the national standard of 5%. The PACBC algorithm AC side current THD reaches 1.50%, and a good control effect is obtained.
直流侧电容起到维持母线电压的作用,工程应用中难以获取精确值。为验证PACBC对不确定参数的鲁棒性,将直流侧电容C增加为原来的两倍,在指令滤波反推控制(CBC)与PACBC算法下分别进行仿真,对直流电压误差z1进行分析。图7(a)图为不同电容参数下CBC电压误差仿真结果,图7(b)图为不同电容参数下PACBC电压误差仿真结果。The DC side capacitor plays a role in maintaining the bus voltage, and it is difficult to obtain an accurate value in engineering applications. In order to verify the robustness of PACBC to uncertain parameters, the DC side capacitance C was increased by twice the original value, and simulations were carried out under the command filter inverse control (CBC) and PACBC algorithms, respectively, and the DC voltage error z 1 was analyzed. Figure 7(a) shows the simulation results of the CBC voltage error under different capacitance parameters, and Figure 7(b) shows the simulation results of the PACBC voltage error under different capacitance parameters.
由图7(a)图可知,在不同电容参数下直流电压在稳态与扰动时均有较大误差,说明CBC对参数较为敏感,图7(b)图中电容参数的变化对电压的影响较小,经过对比可知PACBC比CBC算法对不确定参数具有更好的鲁棒性,更适用于工程应用。It can be seen from Figure 7(a) that the DC voltage has a large error in steady state and disturbance under different capacitance parameters, indicating that CBC is more sensitive to parameters, and the change of capacitance parameters in Figure 7(b) affects the voltage. The comparison shows that PACBC has better robustness to uncertain parameters than CBC algorithm, and is more suitable for engineering applications.
本领域内的技术人员应明白,本申请的实施例可提供为方法、系统、或计算机程序产品。因此,本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且,本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。As will be appreciated by those skilled in the art, the embodiments of the present application may be provided as a method, a system, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
本申请是参照根据本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器,使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It will be understood that each process and/or block in the flowchart illustrations and/or block diagrams, and combinations of processes and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中,使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品,该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions The apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上,使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理,从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.
以上结合附图对本发明的实施例进行了描述,但是本发明并不局限于上述的具体实施方式,上述的具体实施方式仅仅是示意性的,而不是限制性的,本领域的普通技术人员在本发明的启示下,在不脱离本发明宗旨和权利要求所保护的范围情况下,还可做出很多形式,这些均属于本发明的保护之内。The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-mentioned specific embodiments. The above-mentioned specific embodiments are only illustrative rather than restrictive. Under the inspiration of the present invention, without departing from the scope of protection of the present invention and the claims, many forms can be made, which all belong to the protection of the present invention.
Claims (11)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811079353.XA CN109149620B (en) | 2018-09-17 | 2018-09-17 | A kind of self-energy storage multi-terminal flexible straight system control method and system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811079353.XA CN109149620B (en) | 2018-09-17 | 2018-09-17 | A kind of self-energy storage multi-terminal flexible straight system control method and system |
Publications (2)
Publication Number | Publication Date |
---|---|
CN109149620A true CN109149620A (en) | 2019-01-04 |
CN109149620B CN109149620B (en) | 2021-05-11 |
Family
ID=64814288
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201811079353.XA Active CN109149620B (en) | 2018-09-17 | 2018-09-17 | A kind of self-energy storage multi-terminal flexible straight system control method and system |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN109149620B (en) |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110007594A (en) * | 2019-03-19 | 2019-07-12 | 江苏大学 | An adaptive robust sliding mode control method for a hybrid robot for automobile electrocoating and conveying |
CN110086207A (en) * | 2019-04-29 | 2019-08-02 | 国网江苏省电力有限公司电力科学研究院 | A kind of grid-connected converter Control method, apparatus of energy storage and computer storage medium |
CN110365051A (en) * | 2019-07-31 | 2019-10-22 | 南京工程学院 | A virtual synchronous motor control method based on adaptive command filter inversion |
CN111564850A (en) * | 2020-06-11 | 2020-08-21 | 王业勤 | Virtual synchronous generator type inverter based on bounded PID control |
CN112072639A (en) * | 2020-08-11 | 2020-12-11 | 东南大学 | Grid flexible closed loop controller topology shared by modules |
CN112467766A (en) * | 2020-10-26 | 2021-03-09 | 南京工程学院 | Control method of optical storage system in micro-grid |
CN112701702A (en) * | 2020-12-09 | 2021-04-23 | 华南理工大学 | Robust distributed dual-target control method of energy storage system |
CN113488986A (en) * | 2021-08-20 | 2021-10-08 | 重庆大学 | VSC robust droop control method based on uncertainty and disturbance estimation |
CN113809767A (en) * | 2021-07-14 | 2021-12-17 | 国网江苏省电力有限公司电力科学研究院 | Novel multi-terminal flexible direct-current power distribution system coordination control method |
CN118944104A (en) * | 2024-10-14 | 2024-11-12 | 河南才鸿电力安装有限公司 | Cold Region Power System and Voltage Automatic Control Method |
CN119298254A (en) * | 2024-09-19 | 2025-01-10 | 天津大学 | AC/DC distribution network control method and system for active power interactive management |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105305410A (en) * | 2015-10-16 | 2016-02-03 | 国网上海市电力公司 | DC distribution system energy storage device adaptive virtual impedance droop control method |
CN106230257A (en) * | 2016-08-12 | 2016-12-14 | 南京理工大学 | A kind of two-way DC converter feedback linearization contragradience sliding-mode control |
KR20170048983A (en) * | 2015-10-27 | 2017-05-10 | 엘에스산전 주식회사 | Controlling apparatus in hvdc system and operating method of thereof |
-
2018
- 2018-09-17 CN CN201811079353.XA patent/CN109149620B/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105305410A (en) * | 2015-10-16 | 2016-02-03 | 国网上海市电力公司 | DC distribution system energy storage device adaptive virtual impedance droop control method |
KR20170048983A (en) * | 2015-10-27 | 2017-05-10 | 엘에스산전 주식회사 | Controlling apparatus in hvdc system and operating method of thereof |
CN106230257A (en) * | 2016-08-12 | 2016-12-14 | 南京理工大学 | A kind of two-way DC converter feedback linearization contragradience sliding-mode control |
Non-Patent Citations (2)
Title |
---|
JIE HUANG等: "Nonlinear Control of Back-to-Back VSC-HVDC System via Command-Filter Backstepping", 《JOURNAL OF CONTROL SCIENCE AND ENGINEERING》 * |
WENXU YAN等: "Adaptive Command-Filtered Backstepping Control for Linear Induction Motor via Projection Algorithm", 《MATHEMATICAL PROBLEMS IN ENGINEERING》 * |
Cited By (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110007594B (en) * | 2019-03-19 | 2022-03-18 | 江苏大学 | Self-adaptive robust sliding mode control method of series-parallel robot for automobile electrophoretic coating and conveying |
CN110007594A (en) * | 2019-03-19 | 2019-07-12 | 江苏大学 | An adaptive robust sliding mode control method for a hybrid robot for automobile electrocoating and conveying |
CN110086207A (en) * | 2019-04-29 | 2019-08-02 | 国网江苏省电力有限公司电力科学研究院 | A kind of grid-connected converter Control method, apparatus of energy storage and computer storage medium |
CN110365051A (en) * | 2019-07-31 | 2019-10-22 | 南京工程学院 | A virtual synchronous motor control method based on adaptive command filter inversion |
CN111564850A (en) * | 2020-06-11 | 2020-08-21 | 王业勤 | Virtual synchronous generator type inverter based on bounded PID control |
CN111564850B (en) * | 2020-06-11 | 2023-11-10 | 王业勤 | Virtual synchronous generator type inverter based on bounded PID control |
CN112072639A (en) * | 2020-08-11 | 2020-12-11 | 东南大学 | Grid flexible closed loop controller topology shared by modules |
CN112072639B (en) * | 2020-08-11 | 2022-04-08 | 东南大学 | Grid flexible closed loop controller topology shared by modules |
CN112467766B (en) * | 2020-10-26 | 2023-04-07 | 南京工程学院 | Control method of optical storage system in micro-grid |
CN112467766A (en) * | 2020-10-26 | 2021-03-09 | 南京工程学院 | Control method of optical storage system in micro-grid |
CN112701702A (en) * | 2020-12-09 | 2021-04-23 | 华南理工大学 | Robust distributed dual-target control method of energy storage system |
CN113809767A (en) * | 2021-07-14 | 2021-12-17 | 国网江苏省电力有限公司电力科学研究院 | Novel multi-terminal flexible direct-current power distribution system coordination control method |
CN113809767B (en) * | 2021-07-14 | 2024-09-13 | 国网江苏省电力有限公司电力科学研究院 | Novel multi-terminal flexible direct current distribution system coordination control method |
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 | Robust Droop Control Method for VSC Based on Uncertainty and Disturbance Estimation |
CN119298254A (en) * | 2024-09-19 | 2025-01-10 | 天津大学 | AC/DC distribution network control method and system for active power interactive management |
CN118944104A (en) * | 2024-10-14 | 2024-11-12 | 河南才鸿电力安装有限公司 | Cold Region Power System and Voltage Automatic Control Method |
CN118944104B (en) * | 2024-10-14 | 2025-03-25 | 河南才鸿电力安装有限公司 | Cold Region Power System and Voltage Automatic Control Method |
Also Published As
Publication number | Publication date |
---|---|
CN109149620B (en) | 2021-05-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN109149620B (en) | A kind of self-energy storage multi-terminal flexible straight system control method and system | |
CN109586269B (en) | Direct-current micro-grid virtual inertia control method and system considering parameter self-optimization | |
CN108964040B (en) | Power-current coordinated control method of virtual synchronous generator under grid unbalance | |
CN110323749B (en) | Interference Suppression Method of LCL Filter Grid-connected Inverter | |
CN105958515B (en) | Fixed time dynamic surface high-order sliding-mode suppression method for chaotic oscillation of power system | |
CN103324828B (en) | Low-frequency oscillation of electric power system aid decision-making method based on method of operation sensitivity | |
CN110460099A (en) | Public load public connection point PCC voltage transient compensation feedforward control method and system | |
CN110266044A (en) | A microgrid grid-connected control system and method based on energy storage converters | |
CN105720851B (en) | A kind of enhanced droop control method improving inverter transient stability | |
CN110149066A (en) | A kind of MMC bridge arm current control method and system based on model cootrol prediction | |
CN105024390B (en) | Micro-grid battery energy storage system frequency modulation control method based on BP neural network | |
CN114709807A (en) | Direct-current micro-grid flexible virtual inertia control method based on energy storage converter | |
CN117691648A (en) | A network type energy storage converter control method, system, equipment and storage medium | |
CN109659978B (en) | Parameter-adaptive virtual synchronous generator control method and control system | |
CN104362653A (en) | Power system stabilizer | |
An et al. | Tube-based MPC strategy for load frequency control of multi-area interconnected power system with HESS | |
Zheng et al. | Research on control strategy for improving stability of multi-inverter parallel system under weak grid condition | |
Fu et al. | Nonsingular fast terminal control for the DFIG-based variable-speed hydro-unit | |
CN114552572A (en) | Photovoltaic support power grid frequency method and device based on optimal control and predictive tracking | |
CN115940683A (en) | A Control Method of Photovoltaic Grid-connected Inverter Based on Improved Sliding Mode Control | |
Si et al. | Design of an adaptive frequency control for flywheel energy storage system based on model predictive control to suppress frequency fluctuations in microgrids | |
CN117458534A (en) | Novel liquid flow energy storage peak regulation and frequency modulation method and device | |
CN117977540A (en) | An impedance reshaping strategy for AC microgrid composed of VSG and CPL | |
CN114637204B (en) | Virtual synchronous machine control parameter setting method based on mixed H2/H infinity performance index | |
CN114865719B (en) | Wind turbine generator configuration method, device and system of hybrid wind farm grid-connected system |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |