CN109407509A - Interconnect double synchronous generator system adaptive optimal output feedback controller structures and its implementation - Google Patents

Interconnect double synchronous generator system adaptive optimal output feedback controller structures and its implementation Download PDF

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CN109407509A
CN109407509A CN201811323367.1A CN201811323367A CN109407509A CN 109407509 A CN109407509 A CN 109407509A CN 201811323367 A CN201811323367 A CN 201811323367A CN 109407509 A CN109407509 A CN 109407509A
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CN109407509B (en
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杨杨
徐闯
岳东
谈杰
李焱飞
刘奇东
司雪峰
戈井志
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Nanjing Post and Telecommunication University
Nanjing University of Posts and Telecommunications
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Abstract

Double synchronous generator system adaptive optimal output feedback controller structures and its implementation are interconnected present invention discloses a kind of, the controller architecture is for controlling generator system I and generator system II.The structure situation unobservable first against state in practical application, design Fuzzy Observer estimates to interconnect the power angle of double synchronous generator systems, the mechanical frequency of power angular speed and generator, the shortcomings that reduce the control cost for interconnecting double synchronous generators, overcome traditional STATE FEEDBACK CONTROL；Then, adaptive Backstepping Controller is designed using traditional adaptive Backstepping and the performance index function of double synchronous generator systems is interconnected by nerual network technique estimation and designs the optimal controller of system.Under the collective effect of adaptive Backstepping Controller and near-optimization controller, which not only can guarantee the stable operation of the generator system of two interconnections, moreover it is possible to so that the performance indicator of system, which reaches, to be reduced.

Description

Interconnect double synchronous generator system adaptive optimal output feedback controller structures and its Implementation method
Technical field
The present invention relates to a kind of double synchronous generator system adaptive optimal output feedback controller structures of interconnection and in fact Existing method, can be used for industrial stokehold technical field.
Background technique
In recent years, the research of micro-capacitance sensor technology just becomes the hot spot studied both at home and abroad.In micro-grid system, wind-powered electricity generation power generation Machine, photovoltaic generator, miniature gas turbine and diesel engine are main power supplys, they pass through inverter and access micro-capacitance sensor.For Make the stable operation of micro-capacitance sensor, the control strategy of synchronous generator is increasingly by the concern of scholar.Synchronous generator power Angle is an important measurable output quantity, very common in generator control system.The steam turbine valve aperture of generator It is the control amount being commonly used in generator system.
In past last decade, a large amount of scholars begin one's study the control problem of generator.The power generation of single-input single-output Machine system can no longer meet the paces of modern development, and traditional adaptive backstepping control method can guarantee more with multi input The stable operation of multiple synchronous generator systems of output.However, the performance index function of synchronous generator system is as a kind of The important function of evaluation system performance realizes that its optimization is one of current sync Generator system control device and important sets Count target.In recent years, micro grid control system is as the electric system for being isolated, capableing of autonomous operation with external electrical network, its hair Exhibition causes the concern of some scholars.Micro-capacitance sensor operation control key be to different types of power supplys a variety of in micro-grid system into Row control.Currently, ChafikEddahmani et al. studies the adaptive contragradience control for becoming wind speed blower based on magneto alternator System；Adaptive backstepping control method is put forward by IoannisKanellakopoulos, not only can solve nonlinear system The control problem of system, additionally it is possible to guarantee the stabilization of system.There is the non-thread of unknown nonlinear and Strict-feedback structure for a kind of Property Affine Incentive time lag system, Chen Bing et al. solve the problems, such as its Adaptive Fuzzy Control.Zhang Tianping et al. utilizes adaptive neural network Network technology designs a kind of adaptive contragradience fuzzy controller, it is non-linear to solve the multiple-input and multiple-output with unknown dead zone The tracking control problem of system；The above scholar is the non-linear Affine Incentive system of consideration, however, compared to Affine Incentive system, it is non- Linear nonaffine type system has widely application.Wang Huanqing et al. is considered on the basis of Adaptive Fuzzy Control technology The robustness of system realizes the tracking problem of the pure feedback nonaffine type system with random entry and input saturation；Magnificent Changchun Et al. pass through the Dynamic Output Feedback technique study kinds of robust control problems of a kind of Uncertain nonlinear time lag system；Although being directed to Strict feedback nonlinear systems propose a large amount of adaptive fuzzy or neural network is counter pushes away control design case method, but the above method Do not consider near-optimization control problem.Near-optimization control, i.e., design near-optimization control by the performance indicator of approximation system Device processed is optimal performance indicator, is of great significance in practical projects and will be to the hair of social life and national economy Exhibition generates tremendous influence.For n rank affine nonlinear system, Huang Yuzhu et al. proposes a kind of robust based on state feedback ADP controller；Yang Xiong et al. proposes a kind of on-line study method for optimally controlling of nonlinear system with control constraints；For The drawbacks of overcoming state to feed back, that is, need to measure whole status informations, Zhang Huaguang et al. has studied affine nonlinear system ADP control method based on output feedback.Due to single nonlinear system fuzzy self-adaption near-optimization control research Be not able to satisfy people development demand, many scholars begin one's study multiple interconnections nonlinear system control method.Liu De Honor et al. expands to the above method in the nonlinear system of multiple interconnections, and is proposed using on-line study method for optimally controlling A kind of stably dispersing method of continuous time nonlinear interconnected system is carried out.Li Yongming et al. is non-linear non-for multiple interconnections Affine Incentive system, has investigated adaptive fuzzy controller.
Summary of the invention
The object of the invention is to propose a kind of double synchronous hairs of interconnection to solve the above-mentioned problems in the prior art Electric system adaptive optimal output feedback controller structure and its implementation.
The purpose of the invention will be achieved through the following technical solutions: interconnects double synchronous generator system adaptive optimals Output feedback controller structure, the controller architecture is for controlling generator system I and generator system II, the generator system The I and generator system II that unites is connected by interaction unit between subsystem,
The controller architecture includes the first observer unit, the 1st, 1 contragradience approximation unit, first comparator unit B 1, the 1,2 contragradience approximation units, the second contragradience approximation unit of comparator unit B2, the 1st, 3, third comparator unit B3, the 1st, 1 contragradience Controller unit, the 4th Backstepping Controller unit of comparator unit B4, the 1st, 2, the 5th contragradience control of comparator unit B5, the 1st, 3 Device unit processed, the first approximation unit of ADP, the first arithmetic element of ADP, the 1st, 1ADP sub-controller unit, the 1st, the control of 2ADP Device unit, the 1st, 3ADP sub-controller unit, the 6th comparator unit B6, the second observer unit, the 2nd, 1 contragradience approach list Member, the 7th contragradience approximation unit of comparator unit B7, the 2nd, 2, the 8th contragradience approximation unit of comparator unit B8, the 2nd, 2, the 9th The Backstepping Controller unit of comparator unit B9, the 2nd, 1, the tenth Backstepping Controller unit of comparator unit B10, the 2nd, 2, the 11st The Backstepping Controller unit of comparator unit B11, the 2nd, 3, the second approximation unit of ADP, the second arithmetic element of ADP, the 2nd, 1ADP Controller unit, the 2nd, 2ADP sub-controller unit, the 2nd, 3ADP sub-controller unit and the 12nd comparator unit B12；
The input terminal of first observer unit respectively with the output x of generator system I1,1, the 1st, 1 contragradience approach list The output of memberThe output of 1st, 2 contragradience approximation unitsThe output of 1st, 3 contragradience approximation unitsFirst observer The output of unitThe output of first observer unitThe output of first observer unitAnd comparator unit Export u1It is connected；
The input terminal of first observer unit respectively with the output x of generator system I1,1, the 1st, 1 contragradience approach list The output of memberThe output of 1st, 2 contragradience approximation unitsThe output of 1st, 3 contragradience approximation unitsFirst observer The output of unitThe output of first observer unitThe output of first observer unitAnd comparator unit Export u1It is connected；
Described 1st, the input terminal of 1 contragradience approximation unit respectively with the output x of generator system I1,1, the first observer list The output of memberWith the output of the first observer unitIt is connected；The input terminal of the first comparator unit is respectively with 1, the output of 1 Backstepping approximation unitWith the output of the 1st, 1 Backstepping approximation unitIt is connected；
Described 1st, the input terminal of the 2 contragradience approximation units output u with the 1st, 1 contragradience sub-controller unit respectively1,1bs, The output of one observer unitThe output of first observer unitWith the output of the first observer unitIt is connected； The output with the 1st, 2 Backstepping approximation units respectively of the input terminal of second comparator unitIt is approached with the 1st, 2 Backsteppings The output of unitIt is connected；
Described 1st, the input terminal of the 3 contragradience approximation units output u with the 1st, 1 contragradience sub-controller unit respectively1,1bs, 1, the output u of 2 contragradience sub-controller units1,2bs, comparator unit output u1, the first observer unit outputFirst The output of observer unitWith the output of the first observer unitIt is connected；The input terminal of the third comparator unit Respectively with the output of the 1st, 3 Backstepping approximation unitsWith the output of the 1st, 3 Backstepping approximation unitsIt is connected；
The input terminal of described 1st, 1 contragradience sub-controller unit respectively with the output x of generator system I1,1It is anti-with the 1st, 1 Walk the output of approximation unitIt is connected；The input terminal of 4th comparator unit respectively with the 1st, 1 contragradience sub-controller list The output u of member1,1bsWith the output of the first observer unitIt is connected；The input terminal of described 1st, 2 contragradience sub-controller units Respectively with the output x of generator system I1,1, comparator unit output output1st, 1 contragradience sub-controller unit Export u1,1bsWith the output of the 1st, 2 contragradience approximation unitsIt is connected；
The input terminal of 5th comparator unit output u with the 1st, 2 contragradience sub-controller units respectively1,2bsWith first The output of observer unitIt is connected；The input terminal of described 1st, 3 contragradience sub-controller units is respectively with generator system I's Export x1,1, comparator unit output output z1,2, comparator unit output output z1,3, the 1st, 1 contragradience sub-controller The output u of unit1,1bs, the 1st, the output u of 2 contragradience sub-controller units1,2bsWith the output of the 1st, 3 contragradience approximation unitsPhase Connection；
The input terminal of first approximation unit of ADP respectively with the output x of generator system I1,1, comparator unit it is defeated Output z out1,2, comparator unit output output z1,3, comparator unit output outputComparator unit The output of outputThe output of the output of comparator unit1st, the output u of 1ADP sub-controller unit1,1ADP, the 1st, The output u of 2ADP sub-controller unit1,2ADPWith the 1st, the output u of 3ADP sub-controller unit1,3ADPIt is connected；
The output with the first approximation unit of ADP respectively of the input terminal of first arithmetic element of ADPGenerator system I Output x1,1, comparator unit output output z1,2, comparator unit output output z1,3, the 1st, 1ADP control The output u of device unit1,1ADP, the 1st, the output u of 2ADP sub-controller unit1,2ADPWith the 1st, output of 3ADP sub-controller unit u1,3ADPIt is connected；
Described 1st, the input terminal of the 1ADP sub-controller unit output with the first arithmetic element of ADP respectivelyIt is connected； Described 1st, the input terminal of 2ADP sub-controller unit respectively with the output with the first arithmetic element of ADPIt is connected；Described 1, the input terminal of 3ADP sub-controller unit respectively with the output with the first arithmetic element of ADPIt is connected；Described 6th compares The input terminal that device unit the approaches output u with the 1st, 3ADP sub-controller respectively1, adp3With the 1st, 3 contragradience sub-controller units Export u1,3bsIt is connected；
The input terminal of second observer unit respectively with the output x of generator system II2,1, the 2nd, 1 contragradience approach list The output of memberThe output of 2nd, 2 contragradience approximation unitsThe output of 2nd, 3 contragradience approximation unitsSecond observer The output of unitThe output of second observer unitThe output of second observer unitAnd comparator unit Export u2It is connected；
Described 2nd, the input terminal output with the second observer unit respectively of 1 contragradience approximation unitWith the second observation The output of device unitIt is connected；The input terminal of 7th comparator unit is defeated with the 2nd, 1 Backstepping approximation unit respectively OutWith the output of the 2nd, 1 Backstepping approximation unitIt is connected；
Described 2nd, the input terminal output with the second observer unit respectively of 2 contragradience approximation unitsSecond observer The output of unitWith the output of the second observer unitIt is connected；The input terminal of 8th comparator unit respectively with The output of 2nd, 2 Backstepping approximation unitsWith the output of the 2nd, 2 Backstepping approximation unitsIt is connected；
Described 2nd, the input terminal output with the second observer unit respectively of 3 contragradience approximation unitsSecond observer The output of unitWith the output of the second observer unitIt is connected；The input terminal of 9th comparator unit respectively with The output of 2nd, 3 Backstepping approximation unitsWith the output of the 2nd, 3 Backstepping approximation unitsIt is connected；
The input terminal of 2nd, 1 contragradience sub-controller unit respectively with the output x of generator system II2,1It is forced with the 2nd, 1 contragradience The output of nearly unitIt is connected；The input terminal of tenth comparator unit respectively with the 2nd, 1 contragradience sub-controller unit Export u2,1bsWith the output of the second observer unitIt is connected；
The input terminal of 2nd, 2 contragradience sub-controller units respectively with the output x of generator system II2,1, comparator unit The output z of output2,2, the 2nd, the output u of 1 contragradience sub-controller unit2,1bsWith the output of the 2nd, 2 contragradience approximation unitsPhase Connection；The input terminal of 11st comparator unit output u with the 2nd, 2 contragradience sub-controller units respectively2,2bsWith second The output of observer unitIt is connected；
The input terminal of 2nd, 3 Backstepping Controller units respectively with the output x of generator system II2,1, comparator unit it is defeated Output z out2,2, comparator unit output output z2,3, the 2nd, the output u of 1 Backstepping Controller unit2,1bs, the 2nd, 2 contragradiences The output u of sub-controller unit2,2bsWith the output of the 2nd, 3 contragradience approximation unitsIt is connected；The second approximation unit of ADP it is defeated Enter end respectively with the output x of generator system II2,1, comparator unit output output z2,2, comparator unit output Export z2,3, comparator unit output outputThe output of the output of comparator unitThe output of comparator unit Output2nd, the output u of 1ADP sub-controller unit2,1ADP, the 2nd, the output u of 2ADP sub-controller unit2,2ADPWith 2, the output u of 3ADP sub-controller unit2,3ADPIt is connected；
The output with the second approximation unit of ADP respectively of the input terminal of the second arithmetic element of ADPGenerator system II's is defeated X out2,1, comparator unit output output z2,2, comparator unit output output z2,3, the 2nd, 1ADP sub-controller list The output u of member2,1ADP, the 2nd, the output u of 2ADP sub-controller unit2,2ADPWith the 2nd, output of 3ADP sub-controller unit u2,3ADPIt is connected；
2nd, the input terminal of the 1ADP sub-controller unit output with the second arithmetic element of ADP respectivelyIt is connected；2nd, The output with the second arithmetic element of ADP respectively of the input terminal of 2ADP sub-controller unitIt is connected；2nd, 3ADP sub-controller The output with the second arithmetic element of ADP respectively of the input terminal of unitIt is connected；The input terminal of 12nd comparator unit Respectively with the output u of the 2nd, 3ADP sub-controller2,adp3With the output u of the 2nd, 3 Backstepping Controller units2,3bsIt is connected；
Preferably, the system model of double synchronous generator systems is interconnected are as follows:
Wherein i=1,2 indicate i-th of generator；δiIndicate the power angle of i-th of generator, i.e., generator voltage and Angle between no-load emf, Δ δiIndicate the deviation of generator rotor angle when the current generator rotor angle of i-th of generator and steady-state operation, ωiIndicate the The power angular speed of i generator, Δ ωiIndicate generator rotor angle speed when the power angular speed and steady-state operation of i-th of generator Deviation, PmiIndicate the mechanical output of i-th of generator, Δ PmiIndicate the mechanical output and steady-state operation opportunity of i-th of generator The deviation of tool power, PeiIndicate the electromagnetic power of i-th of generator, Δ PeiIndicate the electromagnetic power and stable state of i-th of generator The deviation of electromagnetic power when operation.
Preferably, whereinΔPe2=-Δ Pe1, δ10And δ20Point Not Biao Shi first generator and the generator rotor angle when operation of second Generator Stable, E1And E2Respectively two constants；uiIt is i-th The control signal of a generator indicates generator steam turbine valve aperture, Di、Hi、ω0、kiAnd TiIt is the parameter of system respectively, is One constant.
Preferably, x is enabledi,1=Δ δi、xi,2=Δ δi,The state model of generator can be obtained are as follows:
Wherein f (xi,1,xi,2)=xi,2, And uiIt is the control input of i-th of generator.
Present invention further teaches a kind of double synchronous generator system adaptive optimal output feedback controller structures of interconnection Implementation method, this method comprises the following steps:
S1: interact unit between subsystem: the input terminal for the unit that interacts between subsystem is generator system The output x of system I1,1With the output x for generator system II2,1, by calculating below:
ΔPe2=-Δ Pe1
Obtain interacting between subsystem the output Δ P of unite1As mutual between the input and subsystem of generator system I The output Δ P of action celle2As the input of generator system II, wherein E1、E2It is respectively the constant for being greater than zero with X；
S2: the first observer unit: the input terminal of the first observer unit is respectively the output x of generator system I1,1, 1, the output of 1 contragradience approximation unitThe output of 1st, 2 contragradience approximation unitsThe output of 1st, 3 contragradience approximation unitsThe output of first observer unitThe output of first observer unitThe output of first observer unitWith And the output u of comparator unit1, by calculating below:
Obtain the output of the first observer unitWithWherein k1,1, k1,2And k1,3Respectively observer Gain is respectively greater than zero constant, the output for the observer unit that the input terminal of observer unit is accessedObserver The output of unitWith the output of observer unitWhen controller is run for the first time, the observer unit that is accessed it is defeated OutThe output of observer unitWith the output of observer unitIt is constant value；Operation after controller, institute The output of the observer unit of accessThe output of observer unitWith the output of observer unitIt is last fortune When row, the output valve of observer unit；
S3: the 1,1 Backstepping approximation unit: the 1st, the input terminal of 1 Backstepping approximation unit is respectively generator system I Export x1,1, the first observer unit outputWith the output of the first observer unitBy calculating below:
Obtain the output of the 1st, 1 Backstepping approximation unitWithWherein yd=0,List is approached for the 1st, 1 Backstepping The weights estimation matrix of member is the matrix that N row 1 arranges,r1,1Be greater than zero it is normal Number, z1,1=x1,1-yd,
L and N be respectively be greater than zero it is whole Number, and l≤N；When controller is run for the first time, the weights estimation matrix of the 1st, 1 Backstepping approximation unitFor constant value；
S4: first comparator unit: first comparator unit is respectively the output of the 1st, 1 Backstepping approximation unitWith The output of 1st, 1 Backstepping approximation unitBy calculating below:
Obtain the output of first comparator unit
S5: the 1,2 Backstepping approximation units: the 1st, the input terminal of 2 Backstepping approximation units is respectively the 1st, 1 contragradience sub- control The output u of device unit processed1,1bs, the first observer unit outputThe output of first observer unitFirst observer The output of unitBy calculating below:
Obtain the output of the 1st, 2 Backstepping approximation unitsWith
WhereinIt is the matrix that N row 1 arranges for the weights estimation matrix of the 1st, 2 Backstepping approximation units,r1,2It is greater than zero constant,
l Respectively it is greater than zero integer, and l≤N with N；When controller is run for the first time, the weight of the 1st, 2 Backstepping approximation units is estimated Count matrixFor constant value；
S6: the second comparator unit: the second comparator unit is respectively the output of the 1st, 2 Backstepping approximation unitsWith The output of 1st, 2 Backstepping approximation unitsBy calculating below:
Obtain the output of the second comparator unit
S7: the 1,3 Backstepping approximation units: the 1st, the input terminal of 3 Backstepping approximation units is respectively the 1st, 1 contragradience sub- control The output u of device unit processed1,1bs, the 1st, the output u of 2 contragradience sub-controller units1,2bs, comparator unit output u1, first see Survey the output of device unitThe output of first observer unitThe output of first observer unitBy meter below It calculates:
Obtain the output of the 1st, 3 Backstepping approximation unitsWithWhereinFor the 1st, 3 Backstepping approximation units Weights estimation matrix is the matrix that N row 1 arranges,
r1,3It is greater than zero Constant, L and N points Not Wei integer greater than zero, and l≤N；When controller is run for the first time, the weights estimation square of the 1st, 3 Backstepping approximation units Battle arrayFor constant value；
S8: third comparator unit: third comparator unit is respectively the output of the 1st, 3 Backstepping approximation unitsWith The output of 1st, 3 Backstepping approximation unitsBy calculating below:
Obtain the output of third comparator unit
S9: the 1,1 contragradience sub-controller unit: the 1st, the input terminal of 1 contragradience sub-controller unit respectively with generator system The output x of system I1,1With the output of the 1st, 1 contragradience approximation unitBy calculating below:
Obtain the output u of the 1st, 1 contragradience sub-controller unit1,1bs, in which:z1,1 =x1,1-yd, r1、p、γ1And σ1Respectively it is greater than zero constant；
S10: the four comparator unit: the 4th comparator unit is respectively the output of the 1st, 1 contragradience sub-controller unit u1,1bsWith the output of the first observer unitBy calculating below:
Obtain the output z of the 4th comparator unit1,2；
S11: the 1,2 contragradience sub-controller units: the 1st, the input terminal of 2 contragradience sub-controller units respectively with generator system The output x of system I1,1, the 4th comparator unit output z1,2, the 1st, the output u of 1 contragradience sub-controller unit1,1bsIt is anti-with the 1st, 2 Walk the output of approximation unitBy calculating below:
Obtain the output u of the 1st, 2 contragradience sub-controller units1,2bs, whereinr2And k1,1For greater than zero Constant；
S12: the five comparator unit: the 4th comparator unit is respectively the output of the 1st, 2 contragradience sub-controller units u1,2bsWith the output of the first observer unitBy calculating below:
Obtain the output z of the 5th comparator unit1,3；
S13: the 1,3 contragradience sub-controller units: the 1st, the input terminal of 3 contragradience sub-controller units is respectively generator system The output x of system I1,1, the 4th comparator unit output output z1,2, the 5th comparator unit output output z1,3, the 1st, The output u of 1 contragradience sub-controller unit1,1bs, the 1st, the output u of 2 contragradience sub-controller units1,2bsList is approached with the 1st, 3 contragradiences The output of memberBy calculating below:
Obtain the output u of the 1st, 3 contragradience sub-controller units1,3bs, wherein r3For the constant greater than zero；
The first approximation unit of S14:ADP: the input terminal of the first approximation unit of ADP is respectively the output of generator system I x1,1, the 4th comparator unit output output z1,2, the 5th comparator unit output output z1,3, first comparator list The output of the output of memberThe output of the output of second comparator unitThe output of the output of third comparator unit1st, the output u of 1ADP sub-controller unit1,1ADP, the 1st, the output u of 2ADP sub-controller unit1,2ADPWith the 1st, 3ADP The output u of sub-controller unit1,3ADP, by calculating below:
Obtain the output of the first approximation unit of ADPWhereinIt is arrived for neural network hidden layer in the first approximation unit of ADP The estimation weight matrix of output layer is 1 column matrix of P row, and P is the number of neural network hidden layer neuron in ADP approximation unit, It is greater than zero constant；
βcFor neural network Learning rate is greater than zero constant；∏=GTR-1G, C1、C2、C3、r′1、r′2 With r '3It is greater than zero constant respectively；M (Z)=V1,jZ, V1,jFor neural network input layer in the first updating unit of ADP to hide The weight matrix of layer, for the matrix that P row 6 arranges, Z=[z1,1 z1,2 z1,3 u1,1bs u1,2bs u1,3bs]T, φ1(m (Z)) is hyperbolic Tangent function is the matrix that P row 1 arranges,It is hyperbolic tangent function φ1(Z) rightLocal derviation matrix, q1And q2Respectively Constant greater than zero；When controller architecture is run for the first time,For constant matrices；
The first arithmetic element of S15:ADP: the input terminal of the first arithmetic element of ADP is respectively the defeated of the first approximation unit of ADP OutThe output x of generator system I1,1, the 4th comparator unit output output z1,2, the 5th comparator unit output Output z1,3, the 1st, the output u of 1ADP sub-controller unit1,1ADP, the 1st, the output u of 2ADP sub-controller unit1,2ADPWith 1, the output u of 3ADP sub-controller unit1,3ADP, by calculating below:
Obtain the output of the first arithmetic element of ADPWith
S16: the 1,1ADP sub-controller unit: the 1st, 1ADP sub-controller: the 1st, input of 1ADP sub-controller unit End is respectively the output of the first arithmetic element of ADPBy calculating below:
Obtain the output u of the 1st, 1ADP sub-controller1,adp1；
S17: the 1,2ADP sub-controller unit: the 1st, the input terminal of 2ADP sub-controller unit respectively with ADP first The output of arithmetic elementBy calculating below:
Obtain the output u of the 1st, 2ADP sub-controller1,adp2；
S18: the 1,3ADP sub-controller unit: the 1st, the input terminal of 3ADP sub-controller unit respectively with ADP first The output of arithmetic elementBy calculating below:
Obtain the output u of the 1st, 3ADP sub-controller1,adp3；
S19: the six comparing unit: the input terminal of the 6th comparing unit respectively with the 1st, output of 3ADP sub-controller u1, adp3With the output u of the 1st, 3 contragradience sub-controller units1,3bs, by calculating below:
u1=u1, adp3+u1,3bs
Obtain the output u of the 6th comparing unit1Input as generator system I；
S20: the second observer unit: the input terminal of the second observer unit is respectively the output x of generator system II2,1、 The output of 2nd, 1 contragradience approximation unitThe output of 2nd, 2 contragradience approximation unitsThe output of 2nd, 3 contragradience approximation unitsThe output of second observer unitThe output of second observer unitThe output of second observer unitWith And the output u of comparator unit2, by calculating below:
Obtain the output of the second observer unitWithWherein k2,1, k2,2And k2,3Respectively observe Device gain is respectively greater than zero constant, the output for the observer unit that the input terminal of the second observer unit is accessed The output of second observer unitWith the output of the second observer unitWhen controller is run for the first time, accessed The output of second observer unitThe output of second observer unitWith the output of the second observer unitIt is Constant value；Operation after controller, the output of the second observer unit accessedSecond observer unit it is defeated OutWith the output of the second observer unitWhen being last operation, the output valve of observer unit；
S21: the 2,1 contragradience approximation unit: the 2nd, the input terminal of 1 contragradience approximation unit is respectively the defeated of generator system II X out2,1, the second observer unit outputWith the output of the second observer unitBy calculating below:
Obtain the output of the 1st, 1 Backstepping approximation unitWithWhereinFor the 2nd, 1 Backstepping approximation unit Weights estimation matrix is the matrix that N row 1 arranges,r2,1It is greater than zero constant, L and N is respectively the integer for being greater than zero, and l≤ N；When controller is run for the first time, the weights estimation matrix of the 2nd, 1 Backstepping approximation unitFor constant value；
S22: the seven comparator unit: the 7th comparator unit is respectively the output of the 2nd, 1 Backstepping approximation unitWith The output of 2nd, 1 Backstepping approximation unitBy calculating below:
Obtain the output of the 6th comparator unit
S23: the 2,2 contragradience approximation units: the 2nd, the input terminal of 2 contragradience approximation units is respectively the control of the 2nd, 1 contragradience The output u of device unit2,1bs, the second observer unit outputThe output of second observer unitWith the second observer The output of unitBy calculating below:
Obtain the output of the 1st, 2 Backstepping approximation unitsWith
WhereinIt is the matrix that N row 1 arranges for the weights estimation matrix of the 2nd, 2 Backstepping approximation units,r2,2It is greater than zero constant, L and N difference For the integer greater than zero, and l≤N；When controller is run for the first time, the weights estimation matrix of the 2nd, 2 Backstepping approximation unitsFor constant value；
S24: the eight comparator unit: the 8th comparator unit is respectively the output of the 2nd, 2 Backstepping approximation unitsWith The output of 2nd, 2 Backstepping approximation unitsBy calculating below:
Obtain the output of the 8th comparator unit
S25: the 2,3 contragradience approximation units: the 2nd, the input terminal of 3 contragradience approximation units distinguishes the 2nd, 1 contragradience sub-controller The output u of unit2,1bs, the 2nd, the output u of 2 contragradience sub-controller units2,2bs, the second observer unit outputSecond sees Survey the output of device unitWith the output of the second observer unitBy calculating below:
Obtain the output of the 2nd, 3 Backstepping approximation unitsWith
WhereinIt is the matrix that N row 1 arranges for the weights estimation matrix of the 2nd, 3 Backstepping approximation units,r1,3It is greater than zero constant, , l and N divide Not Wei integer greater than zero, and l≤N；When controller is run for the first time, the weights estimation square of the 2nd, 3 Backstepping approximation units Battle arrayFor constant value；
S26: the nine comparator unit: the 8th comparator unit is respectively the output of the 2nd, 3 Backstepping approximation unitsWith The output of 2nd, 3 Backstepping approximation unitsBy calculating below:
Obtain the output of the 9th comparator unit
S27: the 2,1 Backstepping Controller unit: the 2nd, the input terminal of 1 Backstepping Controller unit respectively with generator system II Output x2,1With the output of the 2nd, 1 contragradience approximation unitBy calculating below:
Obtain the output u of the 2nd, 1 contragradience sub-controller unit2,1bs, in which:z2,1 =x2,1-yd, r '1γ2And σ2Respectively it is greater than zero constant；
S28: the ten comparator unit: the 9th comparator unit is respectively the output of the 2nd, 1 contragradience sub-controller unit u2,1bsWith the output of the second observer unitBy calculating below:
Obtain the output z of the tenth comparator unit2,2；
S29: the 2,2 Backstepping Controller units: the 2nd, the input terminal of 2 Backstepping Controller units respectively with generator system II Output x2,1, comparator unit output output z2,2, the 2nd, the output u of 1 contragradience sub-controller unit2,1bsIt is anti-with the 2nd, 2 Walk the output of approximation unitBy calculating below:
Obtain the output u of the 1st, 2 contragradience sub-controller units2,2bs, whereinr′2It is normal greater than zero Number；
S30: the ten one comparator unit: the 11st comparator unit is respectively the defeated of the 2nd, 2 contragradience sub-controller units U out2,2bsWith the output of the second observer unitBy calculating below:
Obtain the output z of the tenth comparator unit2,3；
S31: the 2,3 Backstepping Controller units: the 2nd, the input terminal of 3 Backstepping Controller units respectively with generator system II Output x2,1, comparator unit output output z2,2, comparator unit output output z2,3, the 2nd, 1 Backstepping Controller The output u of unit2,1bs, the 2nd, the output u of 2 contragradience sub-controller units2,2bsWith the output of the 2nd, 3 contragradience approximation units By calculating below:
Obtain the output u of the 2nd, 3 contragradience sub-controller units1,3bs, wherein r '3For the constant greater than zero；
The second approximation unit of S32:ADP: the input terminal of the second approximation unit of the ADP output with generator system II respectively x2,1, comparator unit output output z2,2, comparator unit output output z2,3, comparator unit output it is defeated OutThe output of the output of comparator unitThe output of the output of comparator unit2nd, 1ADP sub-controller list The output u of member2,1ADP, the 2nd, the output u of 2ADP sub-controller unit2,2ADPWith the 2nd, output of 3ADP sub-controller unit u2,3ADP, by calculating below:
Obtain the output of the first approximation unit of ADP
WhereinIt is P row 1 for the estimation weight matrix of neural network hidden layer in the first approximation unit of ADP to output layer Column matrix, P are the number of neural network hidden layer neuron in ADP approximation unit, are greater than zero constant；βcFor the study of neural network Rate is greater than zero constant；Π=GTR-1G,C1、C2、C3、r′1、r′2With r′3It is greater than zero constant respectively；M (Z)=V1,jZ, V1,jFor neural network input layer in the first updating unit of ADP to hidden layer Weight matrix, for P row 6 arrange matrix, Z=[z2,1 z2,2 z2,3 u2,1bs u2,2bs u2,3bs]T, φ1(m (Z)) be hyperbolic just Function is cut, is the matrix that P row 1 arranges,It is hyperbolic tangent function φ1(Z) rightLocal derviation matrix, q1And q2Respectively it is greater than zero constant；When controller architecture is run for the first time,For constant matrices；
The second arithmetic element of S33:ADP: the input terminal of the second arithmetic element of ADP is defeated with the second approximation unit of ADP respectively OutThe output x of generator system II2,1, comparator unit output output z2,2, comparator unit output output z2,3, the 2nd, the output u of 1ADP sub-controller unit2,1ADP, the 2nd, the output u of 2ADP sub-controller unit2,2ADPWith the 2nd, 3ADP The output u of sub-controller unit2,3ADP, by calculating below:
Obtain the output of the first arithmetic element of ADPWith
S34: the 2, the output with the second arithmetic element of ADP, process are following respectively for the input terminal of 1ADP sub-controller unit Calculating:
Obtain the output u of the 1st, 1ADP sub-controller2,adp1；
S35: the 2,2ADP sub-controller unit: the 2nd, the input terminal of 2ADP sub-controller unit is transported with ADP second respectively The output for calculating unit, by calculating below:
Obtain the output u of the 1st, 2ADP sub-controller2,adp2；
S36: the 2,3ADP sub-controller unit: the 2nd, the input terminal of 3ADP sub-controller unit is transported with ADP second respectively The output for calculating unit, by calculating below:
Obtain the output u of the 1st, 3ADP sub-controller2, adp3；
S37: the ten two comparator unit: the input terminal of the 12nd comparator unit is the output of the 2nd, 3ADP sub-controller u2,adp3With the output u of the 2nd, 3 Backstepping Controller units2,3bs, by calculating below:
u2=u2,3bs+u2,adp3
Obtain the output u of the 12nd comparing unit2Input as generator system II.
The invention adopts the above technical scheme compared with prior art, has following technical effect that
1) present invention research interconnects double synchronous generator system adaptive optimal output feedback controller structures, compared to list A generator system, interconnecting double synchronous generators has more complicated characteristic, and the present invention passes through the control to steam valve aperture System has more extensive practical significance so that interconnecting double synchronous generators reaches steady-state operation simultaneously.
2) present invention research interconnects double synchronous generator system adaptive optimal output feedback controller structures, for reality In the case where state incomplete observability, using fuzzy close principle, the double synchronous hairs of Fuzzy Observer estimation interconnection are designed The mechanical frequency of the power angle of electric system, power angular speed and generator, compared to the controller fed back based on state, this hair The bright quantity that can be reduced system mode detection device, reduces hardware cost.
3) present invention research interconnects double synchronous generator system adaptive optimal output feedback controller structures, introduces mould Approximation technique and neural network approximation technique are pasted, the unknown function in system is estimated and interconnected by fuzzy close technology double The performance indicator of synchronous generator approaches out by neural network approximation technique, to solve the double synchronous generator systems of interconnection The near-optimal control problem of system.
To sum up, the present invention designs controller for two interconnection synchronous generator systems with connection relationship, and interconnection is double The power angle and power angular speed for interconnecting double synchronous generators in synchronous generator system using Fuzzy Observer estimation, using certainly Adaptive fuzzy control Technology design adaptive fuzzy controller, it is on this basis, double same using nerual network technique estimation interconnection The performance indicator and ADP design of control method for walking generator go out optimal controller, in adaptive fuzzy controller and optimum control Under the collective effect of device, while guaranteeing that interconnecting double synchronous generators stablizes, the performance for interconnecting double synchronous generator systems is reduced Index reduces the control cost of system.
Detailed description of the invention
Fig. 1 is the structural representation of the double synchronous generator system adaptive optimal output feedback controllers of interconnection of the invention Figure.
Fig. 2 is No. 1 in the double synchronous generator system adaptive optimal output feedback controller structures of interconnection of the invention Generator power angular observation effect picture.
Fig. 3 is No. 1 in the double synchronous generator system adaptive optimal output feedback controller structures of interconnection of the invention Generator power angular speed observation effect figure.
Fig. 4 is the double synchronous generator system adaptive optimal output feedback controller structures of interconnection of research of the invention In, No. 2 generator power angular observation effect pictures.
Fig. 5 is No. 2 hairs in the double synchronous generator system adaptive optimal output feedback controller structures of interconnection of the invention Power of motor angular speed observation effect figure.
Fig. 6 is in the double synchronous generator system adaptive optimal output feedback controller structures of interconnection of the invention, and No. 1 same Walk the valve opening effect picture of generator.
Fig. 7 is in the double synchronous generator system adaptive optimal output feedback controller structures of interconnection of the invention, and No. 2 same Walk the valve opening effect picture of generator.
Fig. 8 is that the adaptive Optimal Control method with ADP of the invention is closed with without the self-adaptation control method of ADP In the comparison diagram of the performance indicator of No. 1 generator.
Fig. 9 is that the adaptive Optimal Control method with ADP of the invention is closed with without the self-adaptation control method of ADP In the comparison diagram of the performance indicator of No. 2 generators.
Specific embodiment
The purpose of the present invention, advantage and feature, by by the non-limitative illustration of preferred embodiment below carry out diagram and It explains.These embodiments are only the prominent examples using technical solution of the present invention, it is all take equivalent replacement or equivalent transformation and The technical solution of formation, all falls within the scope of protection of present invention.
Double synchronous generator system adaptive optimal output feedback controller structures are interconnected present invention discloses a kind of, are such as schemed Shown in 1, the controller architecture is for controlling generator system I and generator system II, the generator system I and generator system The II that unites is connected by interaction unit between subsystem,
The controller architecture includes the first observer unit, the 1st, 1 contragradience approximation unit, first comparator unit B 1, the 1,2 contragradience approximation units, the second contragradience approximation unit of comparator unit B2, the 1st, 3, third comparator unit B3, the 1st, 1 contragradience Controller unit, the 4th Backstepping Controller unit of comparator unit B4, the 1st, 2, the 5th contragradience control of comparator unit B5, the 1st, 3 Device unit processed, the first approximation unit of ADP, the first arithmetic element of ADP, the 1st, 1ADP sub-controller unit, the 1st, the control of 2ADP Device unit, the 1st, 3ADP sub-controller unit, the 6th comparator unit B6, the second observer unit, the 2nd, 1 contragradience approach list Member, the 7th contragradience approximation unit of comparator unit B7, the 2nd, 2, the 8th contragradience approximation unit of comparator unit B8, the 2nd, 2, the 9th The Backstepping Controller unit of comparator unit B9, the 2nd, 1, the tenth Backstepping Controller unit of comparator unit B10, the 2nd, 2, the 11st The Backstepping Controller unit of comparator unit B11, the 2nd, 3, the second approximation unit of ADP, the second arithmetic element of ADP, the 2nd, 1ADP Controller unit, the 2nd, 2ADP sub-controller unit, the 2nd, 3ADP sub-controller unit and the 12nd comparator unit B12.
The input terminal of first observer unit respectively with the output x of generator system I1,1, the 1st, 1 contragradience approach list The output of memberThe output of 1st, 2 contragradience approximation unitsThe output of 1st, 3 contragradience approximation unitsFirst observer The output of unitThe output of first observer unitThe output of first observer unitAnd comparator unit Export u1It is connected.
The input terminal of first observer unit respectively with the output x of generator system I1,1, the 1st, 1 contragradience approach list The output of memberThe output of 1st, 2 contragradience approximation unitsThe output of 1st, 3 contragradience approximation unitsFirst observer list The output of memberThe output of first observer unitThe output of first observer unitAnd comparator unit is defeated U out1It is connected.
Described 1st, the input terminal of 1 contragradience approximation unit respectively with the output x of generator system I1,1, the first observer list The output of memberWith the output of the first observer unitIt is connected；The input terminal of the first comparator unit is respectively with 1, the output of 1 Backstepping approximation unitWith the output of the 1st, 1 Backstepping approximation unitIt is connected.
Described 1st, the input terminal of the 2 contragradience approximation units output u with the 1st, 1 contragradience sub-controller unit respectively1,1bs, The output of one observer unitThe output of first observer unitWith the output of the first observer unitIt is connected； The output with the 1st, 2 Backstepping approximation units respectively of the input terminal of second comparator unitIt is approached with the 1st, 2 Backsteppings The output of unitIt is connected.
Described 1st, the input terminal of the 3 contragradience approximation units output u with the 1st, 1 contragradience sub-controller unit respectively1,1bs, 1, the output u of 2 contragradience sub-controller units1,2bs, comparator unit output u1, the first observer unit outputFirst The output of observer unitWith the output of the first observer unitIt is connected；The input terminal of the third comparator unit Respectively with the output of the 1st, 3 Backstepping approximation unitsWith the output of the 1st, 3 Backstepping approximation unitsIt is connected.
The input terminal of described 1st, 1 contragradience sub-controller unit respectively with the output x of generator system I1,1It is anti-with the 1st, 1 Walk the output of approximation unitIt is connected；The input terminal of 4th comparator unit respectively with the 1st, 1 contragradience sub-controller list The output u of member1,1bsWith the output of the first observer unitIt is connected；The input terminal of described 1st, 2 contragradience sub-controller units Respectively with the output x of generator system I1,1, comparator unit output output1st, 1 contragradience sub-controller unit Export u1,1bsWith the output of the 1st, 2 contragradience approximation unitsIt is connected.
The input terminal of 5th comparator unit output u with the 1st, 2 contragradience sub-controller units respectively1,2bsWith first The output of observer unitIt is connected；The input terminal of described 1st, 3 contragradience sub-controller units is respectively with generator system I's Export x1,1, comparator unit output output z1,2, comparator unit output output z1,3, the 1st, 1 contragradience sub-controller The output u of unit1,1bs, the 1st, the output u of 2 contragradience sub-controller units1,2bsWith the output of the 1st, 3 contragradience approximation unitsPhase Connection.
The input terminal of first approximation unit of ADP respectively with the output x of generator system I1,1, comparator unit it is defeated Output z out1,2, comparator unit output output z1,3, comparator unit output outputComparator unit The output of outputThe output of the output of comparator unit1st, the output u of 1ADP sub-controller unit1,1ADP, the 1st, The output u of 2ADP sub-controller unit1,2ADPWith the 1st, the output u of 3ADP sub-controller unit1,3ADPIt is connected.
The output with the first approximation unit of ADP respectively of the input terminal of first arithmetic element of ADPGenerator system I Output x1,1, comparator unit output output z1,2, comparator unit output output z1,3, the 1st, 1ADP control The output u of device unit1,1ADP, the 1st, the output u of 2ADP sub-controller unit1,2ADPWith the 1st, output of 3ADP sub-controller unit u1,3ADPIt is connected.
Described 1st, the input terminal of the 1ADP sub-controller unit output with the first arithmetic element of ADP respectivelyIt is connected； Described 1st, the input terminal of 2ADP sub-controller unit respectively with the output with the first arithmetic element of ADPIt is connected；Described 1, the input terminal of 3ADP sub-controller unit respectively with the output with the first arithmetic element of ADPIt is connected；Described 6th compares The input terminal that device unit the approaches output u with the 1st, 3ADP sub-controller respectively1, adp3With the 1st, 3 contragradience sub-controller units Export u1,3bsIt is connected.
The input terminal of second observer unit respectively with the output x of generator system II2,1, the 2nd, 1 contragradience approach list The output of memberThe output of 2nd, 2 contragradience approximation unitsThe output of 2nd, 3 contragradience approximation unitsSecond observer The output of unitThe output of second observer unitThe output of second observer unitAnd comparator unit Export u2It is connected.
Described 2nd, the input terminal output with the second observer unit respectively of 1 contragradience approximation unitWith the second observation The output of device unitIt is connected；The input terminal of 7th comparator unit is defeated with the 2nd, 1 Backstepping approximation unit respectively OutWith the output of the 2nd, 1 Backstepping approximation unitIt is connected.
Described 2nd, the input terminal output with the second observer unit respectively of 2 contragradience approximation unitsSecond observer The output of unitWith the output of the second observer unitIt is connected；The input terminal of 8th comparator unit respectively with The output of 2nd, 2 Backstepping approximation unitsWith the output of the 2nd, 2 Backstepping approximation unitsIt is connected.
Described 2nd, the input terminal output with the second observer unit respectively of 3 contragradience approximation unitsSecond observer The output of unitWith the output of the second observer unitIt is connected；The input terminal of 9th comparator unit respectively with The output of 2nd, 3 Backstepping approximation unitsWith the output of the 2nd, 3 Backstepping approximation unitsIt is connected.
The input terminal of 2nd, 1 contragradience sub-controller unit respectively with the output x of generator system II2,1It is forced with the 2nd, 1 contragradience The output of nearly unitIt is connected；The input terminal of tenth comparator unit respectively with the 2nd, 1 contragradience sub-controller unit Export u2,1bsWith the output of the second observer unitIt is connected.
The input terminal of 2nd, 2 contragradience sub-controller units respectively with the output x of generator system II2,1, comparator unit The output z of output2,2, the 2nd, the output u of 1 contragradience sub-controller unit2,1bsWith the output of the 2nd, 2 contragradience approximation unitsPhase Connection；The input terminal of 11st comparator unit output u with the 2nd, 2 contragradience sub-controller units respectively2,2bsWith second The output of observer unitIt is connected.
The input terminal of 2nd, 3 Backstepping Controller units respectively with the output x of generator system II2,1, comparator unit it is defeated Output z out2,2, comparator unit output output z2,3, the 2nd, the output u of 1 Backstepping Controller unit2,1bs, the 2nd, 2 contragradiences The output u of sub-controller unit2,2bsWith the output of the 2nd, 3 contragradience approximation unitsIt is connected；The second approximation unit of ADP it is defeated Enter end respectively with the output x of generator system II2,1, comparator unit output output z2,2, comparator unit output Export z2,3, comparator unit output outputThe output of the output of comparator unitThe output of comparator unit Output2nd, the output u of 1ADP sub-controller unit2,1ADP, the 2nd, the output u of 2ADP sub-controller unit2,2ADPWith 2, the output u of 3ADP sub-controller unit2,3ADPIt is connected.
The output with the second approximation unit of ADP respectively of the input terminal of the second arithmetic element of ADPGenerator system II's is defeated X out2,1, comparator unit output output z2,2, comparator unit output output z2,3, the 2nd, 1ADP sub-controller list The output u of member2,1ADP, the 2nd, the output u of 2ADP sub-controller unit2,2ADPWith the 2nd, output of 3ADP sub-controller unit u2,3ADPIt is connected.
2nd, the input terminal of the 1ADP sub-controller unit output with the second arithmetic element of ADP respectivelyIt is connected；2nd, The output with the second arithmetic element of ADP respectively of the input terminal of 2ADP sub-controller unitIt is connected；2nd, 3ADP sub-controller The output with the second arithmetic element of ADP respectively of the input terminal of unitIt is connected；The input terminal of 12nd comparator unit Respectively with the output u of the 2nd, 3ADP sub-controller2,adp3With the output u of the 2nd, 3 Backstepping Controller units2,3bsIt is connected.
Preferably, the system model of double synchronous generator systems is interconnected are as follows:
Wherein i=1,2 indicate i-th of generator；δiIndicate the power angle of i-th of generator, i.e., generator voltage and Angle between no-load emf, Δ δiIndicate the deviation of generator rotor angle when the current generator rotor angle of i-th of generator and steady-state operation, ωiIndicate the The power angular speed of i generator, Δ ωiIndicate generator rotor angle speed when the power angular speed and steady-state operation of i-th of generator Deviation, PmiIndicate the mechanical output of i-th of generator, Δ PmiIndicate the mechanical output and steady-state operation opportunity of i-th of generator The deviation of tool power, PeiIndicate the electromagnetic power of i-th of generator, Δ PeiIndicate the electromagnetic power and stable state of i-th of generator The deviation of electromagnetic power when operation.
WhereinΔPe2=-Δ Pe1, δ10And δ20Respectively indicate Generator rotor angle when one generator and second Generator Stable operation, E1And E2Respectively two constants；uiFor i-th of generator Control signal indicate generator steam turbine valve aperture, Di、Hi、ω0、kiAnd TiIt is the parameter of system respectively, is a constant.
Enable xi,1=Δ δi、xi,2=Δ δi,The state model of generator can be obtained are as follows:
Wherein f (xi,1,xi,2)=xi,2, And uiIt is the control input of i-th of generator.
Present invention further teaches a kind of double synchronous generator system adaptive optimal output feedback controller structures of interconnection Implementation method, this method comprises the following steps:
S1: interact unit between subsystem: the input terminal for the unit that interacts between subsystem is generator system The output x of system I1,1With the output x for generator system II2,1, by calculating below:
ΔPe2=-Δ Pe1
Obtain interacting between subsystem the output Δ P of unite1As mutual between the input and subsystem of generator system I The output Δ P of action celle2As the input of generator system II, wherein E1、E2It is respectively the constant for being greater than zero with X；
S2: the first observer unit: the input terminal of the first observer unit is respectively the output x of generator system I1,1, 1, the output of 1 contragradience approximation unitThe output of 1st, 2 contragradience approximation unitsThe output of 1st, 3 contragradience approximation unitsThe output of first observer unitThe output of first observer unitThe output of first observer unitWith And the output u of comparator unit1, by calculating below:
Obtain the output of the first observer unitWithWherein k1,1, k1,2And k1,3Respectively observer Gain is respectively greater than zero constant, the output for the observer unit that the input terminal of observer unit is accessedObserver The output of unitWith the output of observer unitWhen controller is run for the first time, the observer unit that is accessed it is defeated OutThe output of observer unitWith the output of observer unitIt is constant value；Operation after controller, institute The output of the observer unit of accessThe output of observer unitWith the output of observer unitIt is last fortune When row, the output valve of observer unit；
S3: the 1,1 Backstepping approximation unit: the 1st, the input terminal of 1 Backstepping approximation unit is respectively generator system I Export x1,1, the first observer unit outputWith the output of the first observer unitBy calculating below:
Obtain the output of the 1st, 1 Backstepping approximation unitWithWherein yd=0,List is approached for the 1st, 1 Backstepping The weights estimation matrix of member is the matrix that N row 1 arranges,r1,1Be greater than zero it is normal Number, z1,1=x1,1-yd, L and N is respectively greater than zero integer, and l≤N； When controller is run for the first time, the weights estimation matrix of the 1st, 1 Backstepping approximation unitFor constant value；
S4: first comparator unit: first comparator unit is respectively the output of the 1st, 1 Backstepping approximation unitWith The output of 1st, 1 Backstepping approximation unitBy calculating below:
Obtain the output of first comparator unit
S5: the 1,2 Backstepping approximation units: the 1st, the input terminal of 2 Backstepping approximation units is respectively the 1st, 1 contragradience sub- control The output u of device unit processed1,1bs, the first observer unit outputThe output of first observer unitFirst observer The output of unitBy calculating below:
Obtain the output of the 1st, 2 Backstepping approximation unitsWithWhereinFor the 1st, 2 Backstepping approximation units Weights estimation matrix is the matrix that N row 1 arranges, r1,2It is greater than zero constant, L and N difference For the integer greater than zero, and l≤N；When controller is run for the first time, the weights estimation matrix of the 1st, 2 Backstepping approximation unitsFor constant value；
S6: the second comparator unit: the second comparator unit is respectively the output of the 1st, 2 Backstepping approximation unitsWith The output of 1st, 2 Backstepping approximation unitsBy calculating below:
Obtain the output of the second comparator unit
S7: the 1,3 Backstepping approximation units: the 1st, the input terminal of 3 Backstepping approximation units is respectively the 1st, 1 contragradience sub- control The output u of device unit processed1,1bs, the 1st, the output u of 2 contragradience sub-controller units1,2bs, comparator unit output u1, first see Survey the output of device unitThe output of first observer unitThe output of first observer unitBy meter below It calculates:
Obtain the output of the 1st, 3 Backstepping approximation unitsWithWhereinFor the 1st, 3 Backstepping approximation units Weights estimation matrix is the matrix that N row 1 arranges,r1,3It is greater than zero constant,
L and N is respectively greater than zero integer, and l≤N；Controller for the first time run when, the 1st, 3 Backsteppings approach list The weights estimation matrix of memberFor constant value；
S8: third comparator unit: third comparator unit is respectively the output of the 1st, 3 Backstepping approximation unitsWith The output of 1st, 3 Backstepping approximation unitsBy calculating below:
Obtain the output of third comparator unit
S9: the 1,1 contragradience sub-controller unit: the 1st, the input terminal of 1 contragradience sub-controller unit respectively with generator system The output x of system I1,1With the output of the 1st, 1 contragradience approximation unitBy calculating below:
Obtain the output u of the 1st, 1 contragradience sub-controller unit1,1bs, in which:z1,1 =x1,1-yd, r1、p、γ1And σ1Respectively it is greater than zero constant；
S10: the four comparator unit: the 4th comparator unit is respectively the output of the 1st, 1 contragradience sub-controller unit u1,1bsWith the output of the first observer unitBy calculating below:
Obtain the output z of the 4th comparator unit1,2；
S11: the 1,2 contragradience sub-controller units: the 1st, the input terminal of 2 contragradience sub-controller units respectively with generator system The output x of system I1,1, the 4th comparator unit output z1,2, the 1st, the output u of 1 contragradience sub-controller unit1,1bsIt is anti-with the 1st, 2 Walk the output of approximation unitBy calculating below:
Obtain the output u of the 1st, 2 contragradience sub-controller units1,2bs, whereinr2And k1,1For greater than zero Constant；
S12: the five comparator unit: the 4th comparator unit is respectively the output of the 1st, 2 contragradience sub-controller units u1,2bsWith the output of the first observer unitBy calculating below:
Obtain the output z of the 5th comparator unit1,3；
S13: the 1,3 contragradience sub-controller units: the 1st, the input terminal of 3 contragradience sub-controller units is respectively generator system The output x of system I1,1, the 4th comparator unit output output z1,2, the 5th comparator unit output output z1,3, the 1st, The output u of 1 contragradience sub-controller unit1,1bs, the 1st, the output u of 2 contragradience sub-controller units1,2bsList is approached with the 1st, 3 contragradiences The output of memberBy calculating below:
Obtain the output u of the 1st, 3 contragradience sub-controller units1,3bs, wherein r3For the constant greater than zero；
The first approximation unit of S14:ADP: the input terminal of the first approximation unit of ADP is respectively the output of generator system I x1,1, the 4th comparator unit output output z1,2, the 5th comparator unit output output z1,3, first comparator list The output of the output of memberThe output of the output of second comparator unitThe output of the output of third comparator unit 1st, the output u of 1ADP sub-controller unit1,1ADP, the 1st, the output u of 2ADP sub-controller unit1,2ADPWith the 1st, 3ADP control The output u of device unit processed1,3ADP, by calculating below:
Obtain the output of the first approximation unit of ADPWhereinIt is arrived for neural network hidden layer in the first approximation unit of ADP The estimation weight matrix of output layer is 1 column matrix of P row, and P is the number of neural network hidden layer neuron in ADP approximation unit, It is greater than zero constant；
βcFor neural network Learning rate is greater than zero constant；Π=GTR-1G,C1、C2、C3、r′1、 r′2With r '3It is greater than zero constant respectively；M (Z)=V1,jZ, V1,jIt is neural network input layer in the first updating unit of ADP to hidden The weight matrix of layer is hidden, for the matrix that P row 6 arranges, Z=[z1,1 z1,2 z1,3 u1,1bs u1,2bs u1,3bs]T, φ1(m (Z)) is double Bent tangent function is the matrix that P row 1 arranges,It is hyperbolic tangent function φ1(Z) rightLocal derviation matrix, q1And q2Respectively it is greater than zero constant；When controller architecture is run for the first time,For constant matrices；
The first arithmetic element of S15:ADP: the input terminal of the first arithmetic element of ADP is respectively the defeated of the first approximation unit of ADP OutThe output x of generator system I1,1, the 4th comparator unit output output z1,2, the 5th comparator unit output Output z1,3, the 1st, the output u of 1ADP sub-controller unit1,1ADP, the 1st, the output u of 2ADP sub-controller unit1,2ADPWith 1, the output u of 3ADP sub-controller unit1,3ADP, by calculating below:
Obtain the output of the first arithmetic element of ADPWith
S16: the 1,1ADP sub-controller unit: the 1st, 1ADP sub-controller: the 1st, input of 1ADP sub-controller unit End is respectively the output of the first arithmetic element of ADPBy calculating below:
Obtain the output u of the 1st, 1ADP sub-controller1,adp1；
S17: the 1,2ADP sub-controller unit: the 1st, the input terminal of 2ADP sub-controller unit respectively with ADP first The output of arithmetic elementBy calculating below:
Obtain the output u of the 1st, 2ADP sub-controller1,adp2；
S18: the 1,3ADP sub-controller unit: the 1st, the input terminal of 3ADP sub-controller unit respectively with ADP first The output of arithmetic elementBy calculating below:
Obtain the output u of the 1st, 3ADP sub-controller1,adp3；
S19: the six comparing unit: the input terminal of the 6th comparing unit respectively with the 1st, output of 3ADP sub-controller u1,adp3With the output u of the 1st, 3 contragradience sub-controller units1,3bs, by calculating below:
u1=u1,adp3+u1,3bs
Obtain the output u of the 6th comparing unit1Input as generator system I；
S20: the second observer unit: the input terminal of the second observer unit is respectively the output x of generator system II2,1、 The output of 2nd, 1 contragradience approximation unitThe output of 2nd, 2 contragradience approximation unitsThe output of 2nd, 3 contragradience approximation unitsThe output of second observer unitThe output of second observer unitThe output of second observer unitWith And the output u of comparator unit2, by calculating below:
Obtain the output of the second observer unitWithWherein k2,1, k2,2And k2,3Respectively observer Gain is respectively greater than zero constant, the output for the observer unit that the input terminal of the second observer unit is accessedThe The output of two observer unitsWith the output of the second observer unitWhen controller is run for the first time, accessed the The output of two observer unitsThe output of second observer unitWith the output of the second observer unitIt is normal Numerical value；Operation after controller, the output of the second observer unit accessedThe output of second observer unitWith the output of the second observer unitWhen being last operation, the output valve of observer unit；
S21: the 2,1 contragradience approximation unit: the 2nd, the input terminal of 1 contragradience approximation unit is respectively the defeated of generator system II X out2,1, the second observer unit outputWith the output of the second observer unitBy calculating below:
Obtain the output of the 1st, 1 Backstepping approximation unitWithWhereinFor the 2nd, 1 Backstepping approximation unit Weights estimation matrix is the matrix that N row 1 arranges,r2,1It is greater than zero constant, L and N is respectively greater than zero integer, and l≤N； When controller is run for the first time, the weights estimation matrix of the 2nd, 1 Backstepping approximation unitFor constant value；
S22: the seven comparator unit: the 7th comparator unit is respectively the output of the 2nd, 1 Backstepping approximation unitWith The output of 2nd, 1 Backstepping approximation unitBy calculating below:
Obtain the output of the 6th comparator unit
S23: the 2,2 contragradience approximation units: the 2nd, the input terminal of 2 contragradience approximation units is respectively the control of the 2nd, 1 contragradience The output u of device unit2,1bs, the second observer unit outputThe output of second observer unitWith the second observer The output of unitBy calculating below:
Obtain the output of the 1st, 2 Backstepping approximation unitsWithWhereinFor the 2nd, 2 Backstepping approximation units Weights estimation matrix is the matrix that N row 1 arranges,r2,2It is greater than zero constant, L and N difference For the integer greater than zero, and l≤N；When controller is run for the first time, the weights estimation matrix of the 2nd, 2 Backstepping approximation unitsFor constant value；
S24: the eight comparator unit: the 8th comparator unit is respectively the output of the 2nd, 2 Backstepping approximation unitsWith The output of 2nd, 2 Backstepping approximation unitsBy calculating below:
Obtain the output of the 8th comparator unit
S25: the 2,3 contragradience approximation units: the 2nd, the input terminal of 3 contragradience approximation units distinguishes the 2nd, 1 contragradience sub-controller The output u of unit2,1bs, the 2nd, the output u of 2 contragradience sub-controller units2,2bs, the second observer unit outputSecond The output of observer unitWith the output of the second observer unitBy calculating below:
Obtain the output of the 2nd, 3 Backstepping approximation unitsWith
WhereinIt is the matrix that N row 1 arranges for the weights estimation matrix of the 2nd, 3 Backstepping approximation units,r1,3It is greater than zero constant, , l and N divide Not Wei integer greater than zero, and l≤N；When controller is run for the first time, the weights estimation square of the 2nd, 3 Backstepping approximation units Battle arrayFor constant value；
S26: the nine comparator unit: the 8th comparator unit is respectively the output of the 2nd, 3 Backstepping approximation unitsWith The output of 2nd, 3 Backstepping approximation unitsBy calculating below:
Obtain the output of the 9th comparator unit
S27: the 2,1 Backstepping Controller unit: the 2nd, the input terminal of 1 Backstepping Controller unit respectively with generator system II Output x2,1With the output of the 2nd, 1 contragradience approximation unitBy calculating below:
Obtain the output u of the 2nd, 1 contragradience sub-controller unit2,1bs, in which:z2,1 =x2,1-yd, r '1γ2And σ2Respectively it is greater than zero constant；
S28: the ten comparator unit: the 9th comparator unit is respectively the output of the 2nd, 1 contragradience sub-controller unit u2,1bsWith the output of the second observer unitBy calculating below:
Obtain the output z of the tenth comparator unit2,2；
S29: the 2,2 Backstepping Controller units: the 2nd, the input terminal of 2 Backstepping Controller units respectively with generator system II Output x2,1, comparator unit output output z2,2, the 2nd, the output u of 1 contragradience sub-controller unit2,1bsIt is anti-with the 2nd, 2 Walk the output of approximation unitBy calculating below:
Obtain the output u of the 1st, 2 contragradience sub-controller units2,2bs, whereinr′2It is normal greater than zero Number；
S30: the ten one comparator unit: the 11st comparator unit is respectively the defeated of the 2nd, 2 contragradience sub-controller units U out2,2bsWith the output of the second observer unitBy calculating below:
Obtain the output z of the tenth comparator unit2,3；
S31: the 2,3 Backstepping Controller units: the 2nd, the input terminal of 3 Backstepping Controller units respectively with generator system II Output x2,1, comparator unit output output z2,2, comparator unit output output z2,3, the 2nd, 1 Backstepping Controller The output u of unit2,1bs, the 2nd, the output u of 2 contragradience sub-controller units2,2bsWith the output of the 2nd, 3 contragradience approximation units By calculating below:
Obtain the output u of the 2nd, 3 contragradience sub-controller units1,3bs, wherein r '3For the constant greater than zero；
The second approximation unit of S32:ADP: the input terminal of the second approximation unit of the ADP output with generator system II respectively x2,1, comparator unit output output z2,2, comparator unit output output z2,3, comparator unit output it is defeated OutThe output of the output of comparator unitThe output of the output of comparator unit2nd, 1ADP sub-controller list The output u of member2,1ADP, the 2nd, the output u of 2ADP sub-controller unit2,2ADPWith the 2nd, output of 3ADP sub-controller unit u2,3ADP, by calculating below:
Obtain the output of the first approximation unit of ADPWhereinIt is arrived for neural network hidden layer in the first approximation unit of ADP The estimation weight matrix of output layer is 1 column matrix of P row, and P is the number of neural network hidden layer neuron in ADP approximation unit, It is greater than zero constant；
βcFor neural network Learning rate, be greater than zero constant；Π=GTR-1G,C1、C2、C3、r′1、 r′2With r '3It is greater than zero constant respectively；M (Z)=V1,jZ, V1,jIt is neural network input layer in the first updating unit of ADP to hidden The weight matrix of layer is hidden, for the matrix that P row 6 arranges, Z=[z2,1 z2,2 z2,3 u2,1bs u2,2bs u2,3bs]T, φ1(m (Z)) is double Bent tangent function is the matrix that P row 1 arranges,It is hyperbolic tangent function φ1(Z) rightLocal derviation matrix, q1And q2Respectively it is greater than zero constant；When controller architecture is run for the first time,For constant matrices；
The second arithmetic element of S33:ADP: the input terminal of the second arithmetic element of ADP is defeated with the second approximation unit of ADP respectively OutThe output x of generator system II2,1, comparator unit output output z2,2, comparator unit output output z2,3, the 2nd, the output u of 1ADP sub-controller unit2,1ADP, the 2nd, the output u of 2ADP sub-controller unit2,2ADPWith the 2nd, 3ADP The output u of sub-controller unit2,3ADP, by calculating below:
Obtain the output of the first arithmetic element of ADPWith
S34: the 2, the output with the second arithmetic element of ADP, process are following respectively for the input terminal of 1ADP sub-controller unit Calculating:
Obtain the output u of the 1st, 1ADP sub-controller2,adp1；
S35: the 2,2ADP sub-controller unit: the 2nd, the input terminal of 2ADP sub-controller unit is transported with ADP second respectively The output for calculating unit, by calculating below:
Obtain the output u of the 1st, 2ADP sub-controller2,adp2；
S36: the 2,3ADP sub-controller unit: the 2nd, the input terminal of 3ADP sub-controller unit is transported with ADP second respectively The output for calculating unit, by calculating below:
Obtain the output u of the 1st, 3ADP sub-controller2,adp3；
S37: the ten two comparator unit: the input terminal of the 12nd comparator unit is the output of the 2nd, 3ADP sub-controller u2,adp3With the output u of the 2nd, 3 Backstepping Controller units2,3bs, by calculating below:
u2=u2,3bs+u2,adp3
Obtain the output u of the 12nd comparing unit2Input as generator system II.
The double synchronous generator system adaptive optimal output feedback controller structures of the interconnection, first against in practical application The unobservable situation of state designs Fuzzy Observer to estimate that the power angle, the power angle that interconnect double synchronous generator systems are fast The mechanical frequency of degree and generator overcomes traditional state to feed back control to reduce the control cost for interconnecting double synchronous generators The shortcomings that processed；Then, adaptive Backstepping Controller is designed using traditional adaptive Backstepping and estimated by nerual network technique Meter interconnects the performance index function of double synchronous generator systems and designs the optimal controller of system.In adaptive Reverse Step Control Under the collective effect of device and near-optimization controller, the control method designed not only can guarantee the generator system of two interconnections Stable operation, moreover it is possible to so that the performance indicator of system up to reduce.
For the system, device structure control as follows can be designed according to Fig. 1:
Above formula is that the formula of controller design is summarized, i.e., the formula inside each unit module, using the think of of " modularization " Want to adjust parameter, is connected each other by existing between parameter in each module, determined by emulation experiment repeatedly The value of relative adaptation is: interconnecting the state x of double synchronous generator systems1,1、x1,2、x1,3、x2,1、x2,2And x2,3Initial value difference It is 0,0.1, -0.1, -0.01,0.1 and -0.1；C2=1, C3=10, Di=3, Hi=12, ω0=314.159rad/s, ki=0 And Ti=15.The initial value of observer unit state is all 0, k1,1=10, k1,2=120, k1,3=200, k2,1=10, k2,2= 120, k2,3=200；In approximation unit, r1,1=1, r1,2=1r1,3=1r2,1=1, r2,2=1r2,3=1N=5, weights estimation square Battle arrayIn each element initial value be 0；In contragradience sub-controller unit, r1=10, r2=3, r3=40, r '1=10, r '2= 3、r′3=40, p=2, γ1=0.5 and σ1=0.5；
Simulation result
Simulation result can be seen that as shown in Fig. 2-Fig. 9 from Fig. 2-Fig. 5, interconnect the respective output power of double synchronous generators Angle and power angular speed be able to quickly reach interconnect double synchronous generators respectively steady-state operation when power perspective and function Rate angular speed, and can effectively estimate to interconnect in double synchronous generator systems using the observer unit of fuzzy close technology Power perspective and power angular speed.
Fig. 6 is No. 1 synchronous generator valve opening effect picture；Fig. 7 is No. 2 synchronous generator valve opening effect pictures；Fig. 8 For No. 1 generator with ADP controller with without the performance indicator of the controller of ADP compared with figure, Fig. 9 be No. 2 generator bands There is the controller of ADP figure compared with without the performance indicator of the controller of ADP, as seen from the figure, when the controller for having ADP Performance indicator as the time will be well below the performance indicator of the controller without ADP.
The present invention is in controller design, and interconnection is double synchronous when offset, i.e. actual motion based on output power angle Generator power angle and the difference for interconnecting power perspective when double synchronous generators reach steady-state operation, utilize fuzzy logic system With adaptive Reverse Step Control design method, Backstepping controller is designed, is reached so that interconnecting double synchronous generator power perspective deviations To 0, followed by adaptive dynamic programming method (AdaptiveDynamicProgramming, ADP) and nerual network technique ADP controller is designed, so that the performance indicator of multiple synchronous generator systems with multiple-input and multiple-output is optimal, in conjunction with Backstepping controller and ADP controller design go out a kind of adaptive fuzzy optimal controller based on output power angle.The control Device relies on its very practical realistic meaning, is of great practical significance to the research and development of future sync generator.
In actual application, based on the near-optimization control problem for interconnecting double synchronous generator systems, present invention design Interconnect double synchronous generator system adaptive optimal output feedback controller structures.Firstly, not for state in practical application Observable situation designs Fuzzy Observer to estimate to interconnect power angle, power angular speed and the hair of double synchronous generator systems The mechanical frequency of motor overcomes lacking for traditional STATE FEEDBACK CONTROL to reduce the control cost for interconnecting double synchronous generators Point；Then, adaptive Backstepping Controller is designed using traditional adaptive Backstepping and estimate to interconnect by nerual network technique The performance index function of double synchronous generator systems and the optimal controller for designing system.In adaptive Backstepping Controller and closely Under collective effect like optimal controller, the control method designed not only can guarantee the stabilization for interconnecting double synchronous generator systems Operation, moreover it is possible to so that the performance indicator of system, which reaches, to be reduced.
The present invention is adaptive using adaptive backstepping control method and the double synchronous generator systems of ADP design of control method interconnection Answer optimal output feedback controller.Compared to single generator system, double synchronous generator systems are interconnected with more complicated Characteristic and more wide significance.The present invention is designed using interconnecting double respective power perspectives of synchronous generator system as output quantity Fuzzy Observer carrys out the mechanical frequency of the power angle of estimating system, power angular speed and generator, reduces and interconnects double synchronous generators The control cost of machine.Then, it is utilizing the adaptive Backstepping Controller of traditional adaptive Backstepping design and is utilizing ADP method Under the collective effect of the optimal controller of design, the stabilization that adaptive optimal output feedback controller not only guarantees system is designed Operation, and reduce the performance indicator of system.
Still there are many embodiment, all technical sides formed using equivalents or equivalent transformation by the present invention Case is within the scope of the present invention.

Claims (5)

1. interconnecting double synchronous generator system adaptive optimal output feedback controller structures, it is characterised in that: the controller knot Structure passes through between subsystem for controlling generator system I and generator system II, the generator system I and generator system II Interact unit connection；
The controller architecture is anti-including the first observer unit, the 1st, 1 contragradience approximation unit, first comparator unit B 1, the 1st, 2 Walk approximation unit, the second contragradience approximation unit of comparator unit B2, the 1st, 3, third comparator unit B3, the 1st, 1 Reverse Step Control Device unit, the 4th Backstepping Controller unit of comparator unit B4, the 1st, 2, the 5th comparator unit B5, the 1st, 3 Backstepping Controllers Unit, the first approximation unit of ADP, the first arithmetic element of ADP, the 1st, 1ADP sub-controller unit, the 1st, 2ADP sub-controller list Member, the 1st, 3ADP sub-controller unit, the 6th comparator unit B6, the second observer unit, the 2nd, 1 contragradience approximation unit, the The seven contragradience approximation units of comparator unit B7, the 2nd, 2, the 8th contragradience approximation unit of comparator unit B8, the 2nd, 2, the 9th compare 9, the 2nd, 1 Backstepping Controller unit of device unit B, the tenth Backstepping Controller unit of comparator unit B10, the 2nd, 2, the 11st are compared 11, the 2nd, 3 Backstepping Controller unit of device unit B, the second approximation unit of ADP, the second arithmetic element of ADP, the 2nd, the control of 1ADP Device unit, the 2nd, 2ADP sub-controller unit, the 2nd, 3ADP sub-controller unit and the 12nd comparator unit B12；
The input terminal of first observer unit respectively with the output x of generator system I1,1, the 1st, 1 contragradience approximation unit OutputThe output of 1st, 2 contragradience approximation unitsThe output of 1st, 3 contragradience approximation unitsFirst observer unit OutputThe output of first observer unitThe output of first observer unitAnd the output of comparator unit u1It is connected；
The input terminal of first observer unit respectively with the output x of generator system I1,1, the 1st, 1 contragradience approximation unit OutputThe output of 1st, 2 contragradience approximation unitsThe output of 1st, 3 contragradience approximation unitsFirst observer unit OutputThe output of first observer unitThe output of first observer unitAnd the output of comparator unit u1It is connected；
Described 1st, the input terminal of 1 contragradience approximation unit respectively with the output x of generator system I1,1, first observer unit OutputWith the output of the first observer unitIt is connected；The input terminal of the first comparator unit respectively with the 1st, 1 The output of Backstepping approximation unitWith the output of the 1st, 1 Backstepping approximation unitIt is connected；
Described 1st, the input terminal of the 2 contragradience approximation units output u with the 1st, 1 contragradience sub-controller unit respectively1,1bs, first see Survey the output of device unitThe output of first observer unitWith the output of the first observer unitIt is connected；It is described The output with the 1st, 2 Backstepping approximation units respectively of the input terminal of second comparator unitWith the 1st, 2 Backstepping approximation units OutputIt is connected；
Described 1st, the input terminal of the 3 contragradience approximation units output u with the 1st, 1 contragradience sub-controller unit respectively1,1bs, the 1st, 2 The output u of contragradience sub-controller unit1,2bs, comparator unit output u1, the first observer unit outputFirst sees Survey the output of device unitWith the output of the first observer unitIt is connected；The input terminal of the third comparator unit point Not with the output of the 1st, 3 Backstepping approximation unitsWith the output of the 1st, 3 Backstepping approximation unitsIt is connected；
The input terminal of described 1st, 1 contragradience sub-controller unit respectively with the output x of generator system I1,1It is forced with the 1st, 1 contragradience The output of nearly unitIt is connected；The input terminal of 4th comparator unit respectively with the 1st, 1 contragradience sub-controller unit Output u1,1bsWith the output of the first observer unitIt is connected；The input terminal of described 1st, 2 contragradience sub-controller units point Not with the output x of generator system I1,1, comparator unit output output1st, 1 contragradience sub-controller unit it is defeated U out1,1bsWith the output of the 1st, 2 contragradience approximation unitsIt is connected；
The input terminal of 5th comparator unit output u with the 1st, 2 contragradience sub-controller units respectively1,2bsWith the first observation The output of device unitIt is connected；The input terminal of described 1st, 3 contragradience sub-controller units is defeated with generator system I respectively X out1,1, comparator unit output output z1,2, comparator unit output output z1,3, the 1st, 1 contragradience sub-controller list The output u of member1,1bs, the 1st, the output u of 2 contragradience sub-controller units1,2bsWith the output of the 1st, 3 contragradience approximation unitsPhase Connection；
The input terminal of first approximation unit of ADP respectively with the output x of generator system I1,1, comparator unit output Export z1,2, comparator unit output output z1,3, comparator unit output outputThe output of comparator unit OutputThe output of the output of comparator unit1st, the output u of 1ADP sub-controller unit1,1ADP, the 1st, 2ADP The output u of sub-controller unit1,2ADPWith the 1st, the output u of 3ADP sub-controller unit1,3ADPIt is connected；
The output with the first approximation unit of ADP respectively of the input terminal of first arithmetic element of ADPGenerator system I's is defeated X out1,1, comparator unit output output z1,2, comparator unit output output z1,3, the 1st, 1ADP sub-controller list The output u of member1,1ADP, the 1st, the output u of 2ADP sub-controller unit1,2ADPWith the 1st, output of 3ADP sub-controller unit u1,3ADPIt is connected；
Described 1st, the input terminal of the 1ADP sub-controller unit output with the first arithmetic element of ADP respectivelyIt is connected；It is described 1st, the input terminal of 2ADP sub-controller unit respectively with the output with the first arithmetic element of ADPIt is connected；Described 1st, The input terminal of 3ADP sub-controller unit respectively with the output with the first arithmetic element of ADPIt is connected；6th comparator The input terminal that unit the approaches output u with the 1st, 3ADP sub-controller respectively1,adp3It is defeated with the 1st, 3 contragradience sub-controller units U out1,3bsIt is connected；
The input terminal of second observer unit respectively with the output x of generator system II2,1, the 2nd, 1 contragradience approximation unit OutputThe output of 2nd, 2 contragradience approximation unitsThe output of 2nd, 3 contragradience approximation unitsSecond observer unit OutputThe output of second observer unitThe output of second observer unitAnd the output of comparator unit u2It is connected；
Described 2nd, the input terminal output with the second observer unit respectively of 1 contragradience approximation unitWith the second observer unit OutputIt is connected；The output with the 2nd, 1 Backstepping approximation unit respectively of the input terminal of 7th comparator unit With the output of the 2nd, 1 Backstepping approximation unitIt is connected；
Described 2nd, the input terminal output with the second observer unit respectively of 2 contragradience approximation unitsSecond observer unit OutputWith the output of the second observer unitIt is connected；The input terminal of 8th comparator unit respectively with the 2nd, The output of 2 Backstepping approximation unitsWith the output of the 2nd, 2 Backstepping approximation unitsIt is connected；
Described 2nd, the input terminal output with the second observer unit respectively of 3 contragradience approximation unitsSecond observer unit OutputWith the output of the second observer unitIt is connected；The input terminal of 9th comparator unit respectively with the 2nd, The output of 3 Backstepping approximation unitsWith the output of the 2nd, 3 Backstepping approximation unitsIt is connected；
The input terminal of 2nd, 1 contragradience sub-controller unit respectively with the output x of generator system II2,1List is approached with the 2nd, 1 contragradience The output of memberIt is connected；The input terminal of tenth comparator unit is defeated with the 2nd, 1 contragradience sub-controller unit respectively U out2,1bsWith the output of the second observer unitIt is connected；
The input terminal of 2nd, 2 contragradience sub-controller units respectively with the output x of generator system II2,1, comparator unit output Output z2,2, the 2nd, the output u of 1 contragradience sub-controller unit2,1bsWith the output of the 2nd, 2 contragradience approximation unitsIt is connected； The input terminal of 11st comparator unit output u with the 2nd, 2 contragradience sub-controller units respectively2,2bsWith the second observer The output of unitIt is connected；
The input terminal of 2nd, 3 Backstepping Controller units respectively with the output x of generator system II2,1, comparator unit output Export z2,2, comparator unit output output z2,3, the 2nd, the output u of 1 Backstepping Controller unit2,1bs, the 2nd, 2 contragradience sub- controls The output u of device unit processed2,2bsWith the output of the 2nd, 3 contragradience approximation unitsIt is connected；The input terminal of the second approximation unit of ADP Respectively with the output x of generator system II2,1, comparator unit output output z2,2, comparator unit output output z2,3, comparator unit output outputThe output of the output of comparator unitThe output of comparator unit it is defeated Out2nd, the output u of 1ADP sub-controller unit2,1ADP, the 2nd, the output u of 2ADP sub-controller unit2,2ADPWith the 2nd, The output u of 3ADP sub-controller unit2,3ADPIt is connected；
The output with the second approximation unit of ADP respectively of the input terminal of the second arithmetic element of ADPThe output of generator system II x2,1, comparator unit output output z2,2, comparator unit output output z2,3, the 2nd, 1ADP sub-controller unit Output u2,1ADP, the 2nd, the output u of 2ADP sub-controller unit2,2ADPWith the 2nd, the output u of 3ADP sub-controller unit2,3ADP It is connected；
2nd, the input terminal of the 1ADP sub-controller unit output with the second arithmetic element of ADP respectivelyIt is connected；2nd, 2ADP The output with the second arithmetic element of ADP respectively of the input terminal of sub-controller unitIt is connected；2nd, 3ADP sub-controller unit The input terminal output with the second arithmetic element of ADP respectivelyIt is connected；The input terminal of 12nd comparator unit is distinguished With the output u of the 2nd, 3ADP sub-controller2,adp3With the output u of the 2nd, 3 Backstepping Controller units2,3bsIt is connected.
2. according to claim 1 interconnect double synchronous generator system adaptive optimal output feedback controller structures, It is characterized in that: interconnecting the system model of double synchronous generator systems are as follows:
Wherein i=1,2 indicate i-th of generator；δiIndicate the power angle of i-th of generator, i.e. generator voltage and zero load Angle between potential, Δ δiIndicate the deviation of generator rotor angle when the current generator rotor angle of i-th of generator and steady-state operation, ωiIt indicates i-th The power angular speed of generator, Δ ωiIndicate the power angular speed of i-th of generator with when steady-state operation generator rotor angle speed it is inclined Difference, PmiIndicate the mechanical output of i-th of generator, Δ PmiIndicate mechanical when the mechanical output and steady-state operation of i-th of generator The deviation of power, PeiIndicate the electromagnetic power of i-th of generator, Δ PeiThe electromagnetic power and stable state for indicating i-th of generator are transported The deviation of electromagnetic power when row.
3. according to claim 2 interconnect double synchronous generator system adaptive optimal output feedback controller structures, It is characterized in that:
WhereinΔPe2=-Δ Pe1, δ10And δ20Respectively indicate first Generator rotor angle when generator and second Generator Stable operation, E1And E2Respectively two constants；uiFor the control of i-th of generator Signal processed indicates generator steam turbine valve aperture, Di、Hi、ω0、kiAnd TiIt is the parameter of system respectively, is a constant.
4. according to claim 2 interconnect double synchronous generator system adaptive optimal output feedback controller structures, It is characterized in that: enabling xi,1=Δ δi、xi,2=Δ δi,The state model of generator can be obtained are as follows:
Wherein f (xi,1,xi,2)=xi,2, And uiIt is the control input of i-th of generator.
5. interconnecting the implementation method of double synchronous generator system adaptive optimal output feedback controller structures, it is characterised in that: This method comprises the following steps:
S1: interact unit between subsystem: the input terminal for the unit that interacts between subsystem is generator system I's Export x1,1With the output x for generator system II2,1, by calculating below:
ΔPe2=-Δ Pe1
Obtain interacting between subsystem the output Δ P of unite1It interacts as between the input and subsystem of generator system I The output Δ P of unite2As the input of generator system II, wherein E1、E2It is respectively the constant for being greater than zero with X；
S2: the first observer unit: the input terminal of the first observer unit is respectively the output x of generator system I1,1, the 1st, 1 The output of contragradience approximation unitThe output of 1st, 2 contragradience approximation unitsThe output of 1st, 3 contragradience approximation units The output of first observer unitThe output of first observer unitThe output of first observer unitAnd ratio Compared with the output u of device unit1, by calculating below:
Obtain the output of the first observer unitWithWherein k1,1, k1,2And k1,3Respectively observer increases Benefit is respectively greater than zero constant, the output for the observer unit that the input terminal of observer unit is accessedObserver list The output of memberWith the output of observer unitWhen controller is run for the first time, the output of the observer unit accessedThe output of observer unitWith the output of observer unitIt is constant value；Operation after controller, is connect The output of the observer unit enteredThe output of observer unitWith the output of observer unitIt is last operation When, the output valve of observer unit；
S3: the 1,1 Backstepping approximation unit: the 1st, the input terminal of 1 Backstepping approximation unit is respectively the output of generator system I x1,1, the first observer unit outputWith the output of the first observer unitBy calculating below:
Obtain the output of the 1st, 1 Backstepping approximation unitWithWherein yd=0,For the 1st, 1 Backstepping approximation unit Weights estimation matrix is the matrix that N row 1 arranges,r1,1It is greater than zero constant, z1,1=x1,1-yd, L and N is respectively greater than zero integer, and l≤N； When controller is run for the first time, the weights estimation matrix of the 1st, 1 Backstepping approximation unitFor constant value；
S4: first comparator unit: first comparator unit is respectively the output of the 1st, 1 Backstepping approximation unitWith the 1st, 1 The output of Backstepping approximation unitBy calculating below:
Obtain the output of first comparator unit
S5: the 1,2 Backstepping approximation units: the 1st, the input terminal of 2 Backstepping approximation units is respectively the 1st, 1 contragradience sub-controller The output u of unit1,1bs, the first observer unit outputThe output of first observer unitFirst observer unit OutputBy calculating below:
Obtain the output of the 1st, 2 Backstepping approximation unitsWith
WhereinIt is the matrix that N row 1 arranges for the weights estimation matrix of the 1st, 2 Backstepping approximation units,r1,2It is greater than zero constant, L and N difference For the integer greater than zero, and l≤N；When controller is run for the first time, the weights estimation matrix of the 1st, 2 Backstepping approximation unitsFor constant value；
S6: the second comparator unit: the second comparator unit is respectively the output of the 1st, 2 Backstepping approximation unitsWith the 1st, 2 The output of Backstepping approximation unitBy calculating below:
Obtain the output of the second comparator unit
S7: the 1,3 Backstepping approximation units: the 1st, the input terminal of 3 Backstepping approximation units is respectively the 1st, 1 contragradience sub-controller The output u of unit1,1bs, the 1st, the output u of 2 contragradience sub-controller units1,2bs, comparator unit output u1, the first observer The output of unitThe output of first observer unitThe output of first observer unitBy calculating below:
Obtain the output of the 1st, 3 Backstepping approximation unitsWithWhereinFor the weight of the 1st, 3 Backstepping approximation units Estimated matrix is the matrix that N row 1 arranges,r1,3It is greater than zero constant, L and N points Not Wei integer greater than zero, and l≤N；When controller is run for the first time, the weights estimation square of the 1st, 3 Backstepping approximation units Battle arrayFor constant value；
S8: third comparator unit: third comparator unit is respectively the output of the 1st, 3 Backstepping approximation unitsWith the 1st, 3 The output of Backstepping approximation unitBy calculating below:
Obtain the output of third comparator unit
S9: the 1,1 contragradience sub-controller unit: the 1st, the input terminal of 1 contragradience sub-controller unit is respectively with generator system I's Export x1,1With the output of the 1st, 1 contragradience approximation unitBy calculating below:
Obtain the output u of the 1st, 1 contragradience sub-controller unit1,1bs, in which:z1,1=x1,1- yd, r1、p、γ1And σ1Respectively it is greater than zero constant；
S10: the four comparator unit: the 4th comparator unit is respectively the output u of the 1st, 1 contragradience sub-controller unit1,1bsWith The output of first observer unitBy calculating below:
Obtain the output z of the 4th comparator unit1,2；
S11: the 1,2 contragradience sub-controller units: the 1st, the input terminal of 2 contragradience sub-controller units respectively with generator system I Output x1,1, the 4th comparator unit output z1,2, the 1st, the output u of 1 contragradience sub-controller unit1,1bsWith the 1st, 2 contragradiences The output of approximation unitBy calculating below:
Obtain the output u of the 1st, 2 contragradience sub-controller units1,2bs, whereinr2And k1,1It is normal greater than zero Number；
S12: the five comparator unit: the 4th comparator unit is respectively the output u of the 1st, 2 contragradience sub-controller units1,2bsWith The output of first observer unitBy calculating below:
Obtain the output z of the 5th comparator unit1,3；
S13: the 1,3 contragradience sub-controller units: the 1st, the input terminal of 3 contragradience sub-controller units is respectively generator system I Output x1,1, the 4th comparator unit output output z1,2, the 5th comparator unit output output z1,3, the 1st, it is 1 anti- The output u of step controller unit1,1bs, the 1st, the output u of 2 contragradience sub-controller units1,2bsWith the 1st, 3 contragradience approximation units OutputBy calculating below:
Obtain the output u of the 1st, 3 contragradience sub-controller units1,3bs, wherein r3For the constant greater than zero；
The first approximation unit of S14:ADP: the input terminal of the first approximation unit of ADP is respectively the output x of generator system I1,1, The output z of the output of four comparator units1,2, the 5th comparator unit output output z1,3, first comparator unit it is defeated Output outThe output of the output of second comparator unitThe output of the output of third comparator unit1st, The output u of 1ADP sub-controller unit1,1ADP, the 1st, the output u of 2ADP sub-controller unit1,2ADPWith the 1st, 3ADP sub-controller The output u of unit1,3ADP, by calculating below:
Obtain the output of the first approximation unit of ADPWhereinFor neural network hidden layer in the first approximation unit of ADP to output The estimation weight matrix of layer is 1 column matrix of P row, and it is big that P, which is the number of neural network hidden layer neuron in ADP approximation unit, In zero constant；
βcFor the study of neural network Rate is greater than zero constant；Π=GTR-1G,C1、C2、C3、r1'、r′2With r′3It is greater than zero constant respectively；M (Z)=V1,jZ, V1,jFor neural network input layer in the first updating unit of ADP to hidden layer Weight matrix, for P row 6 arrange matrix, Z=[z1,1 z1,2 z1,3 u1,1bs u1,2bs u1,3bs]T, φ1(m (Z)) be hyperbolic just Function is cut, is the matrix that P row 1 arranges,It is hyperbolic tangent function φ1(Z) rightLocal derviation matrix,
q1And q2 Respectively it is greater than zero constant；When controller architecture is run for the first time,For constant matrices；
The first arithmetic element of S15:ADP: the input terminal of the first arithmetic element of ADP is respectively the output of the first approximation unit of ADP The output x of generator system I1,1, the 4th comparator unit output output z1,2, the 5th comparator unit output output z1,3, the 1st, the output u of 1ADP sub-controller unit1,1ADP, the 1st, the output u of 2ADP sub-controller unit1,2ADPWith the 1st, 3ADP The output u of sub-controller unit1,3ADP, by calculating below:
Obtain the output of the first arithmetic element of ADPWith
S16: the 1,1ADP sub-controller unit: the 1st, 1ADP sub-controller: the 1st, input terminal of 1ADP sub-controller unit point Not Wei the first arithmetic element of ADP outputBy calculating below:
Obtain the output u of the 1st, 1ADP sub-controller1,adp1；
S17: the 1,2ADP sub-controller unit: the 1st, the input terminal of 2ADP sub-controller unit respectively with the first operation of ADP The output of unitBy calculating below:
Obtain the output u of the 1st, 2ADP sub-controller1,adp2；
S18: the 1,3ADP sub-controller unit: the 1st, the input terminal of 3ADP sub-controller unit respectively with the first operation of ADP The output of unitBy calculating below:
Obtain the output u of the 1st, 3ADP sub-controller1,adp3；
S19: the six comparing unit: the input terminal of the 6th comparing unit output u with the 1st, 3ADP sub-controller respectively1,adp3With The output u of 1st, 3 contragradience sub-controller units1,3bs, by calculating below:
u1=u1,adp3+u1,3bs
Obtain the output u of the 6th comparing unit1Input as generator system I；
S20: the second observer unit: the input terminal of the second observer unit is respectively the output x of generator system II2,1, the 2nd, The output of 1 contragradience approximation unitThe output of 2nd, 2 contragradience approximation unitsThe output of 2nd, 3 contragradience approximation unitsThe output of second observer unitThe output of second observer unitThe output of second observer unit And the output u of comparator unit2, by calculating below:
Obtain the output of the second observer unitWithWherein k2,1, k2,2And k2,3Respectively observer increases Benefit is respectively greater than zero constant, the output for the observer unit that the input terminal of the second observer unit is accessedSecond The output of observer unitWith the output of the second observer unitController for the first time run when, accessed second The output of observer unitThe output of second observer unitWith the output of the second observer unitIt is constant Value；Operation after controller, the output of the second observer unit accessedThe output of second observer unit With the output of the second observer unitWhen being last operation, the output valve of observer unit；
S21: the 2,1 contragradience approximation unit: the 2nd, the input terminal of 1 contragradience approximation unit is respectively the output of generator system II x2,1, the second observer unit outputWith the output of the second observer unitBy calculating below:
Obtain the output of the 1st, 1 Backstepping approximation unitWithWhereinFor the weight of the 2nd, 1 Backstepping approximation unit Estimated matrix is the matrix that N row 1 arranges,r2,1It is greater than zero constant,
L and N is respectively greater than zero integer, and l≤N； When controller is run for the first time, the weights estimation matrix of the 2nd, 1 Backstepping approximation unitFor constant value；
S22: the seven comparator unit: the 7th comparator unit is respectively the output of the 2nd, 1 Backstepping approximation unitWith the 2nd, The output of 1 Backstepping approximation unitBy calculating below:
Obtain the output of the 6th comparator unit
S23: the 2,2 contragradience approximation units: the 2nd, the input terminal of 2 contragradience approximation units is respectively the 2nd, 1 contragradience sub-controller list The output u of member2,1bs, the second observer unit outputThe output of second observer unitWith the second observer unit OutputBy calculating below:
Obtain the output of the 1st, 2 Backstepping approximation unitsWith
WhereinIt is the matrix that N row 1 arranges for the weights estimation matrix of the 2nd, 2 Backstepping approximation units,r2,2It is greater than zero constant, L and N difference For the integer greater than zero, and l≤N；When controller is run for the first time, the weights estimation matrix of the 2nd, 2 Backstepping approximation unitsFor constant value；
S24: the eight comparator unit: the 8th comparator unit is respectively the output of the 2nd, 2 Backstepping approximation unitsWith the 2nd, The output of 2 Backstepping approximation unitsBy calculating below:
Obtain the output of the 8th comparator unit
S25: the 2,3 contragradience approximation units: the 2nd, the input terminal of 3 contragradience approximation units distinguishes the 2nd, 1 contragradience sub-controller unit Output u2,1bs, the 2nd, the output u of 2 contragradience sub-controller units2,2bs, the second observer unit outputSecond observation The output of device unitWith the output of the second observer unitBy calculating below:
Obtain the output of the 2nd, 3 Backstepping approximation unitsWith
WhereinIt is the matrix that N row 1 arranges for the weights estimation matrix of the 2nd, 3 Backstepping approximation units,r1,3It is greater than zero constant, L and N points Not Wei integer greater than zero, and l≤N；When controller is run for the first time, the weights estimation square of the 2nd, 3 Backstepping approximation units Battle arrayFor constant value；
S26: the nine comparator unit: the 8th comparator unit is respectively the output of the 2nd, 3 Backstepping approximation unitsWith the 2nd, The output of 3 Backstepping approximation unitsBy calculating below:
Obtain the output of the 9th comparator unit
S27: the 2,1 Backstepping Controller unit: the 2nd, the input terminal of 1 Backstepping Controller unit is defeated with generator system II respectively X out2,1With the output of the 2nd, 1 contragradience approximation unitBy calculating below:
Obtain the output u of the 2nd, 1 contragradience sub-controller unit2,1bs, in which:z2,1= x2,1-yd, r1'γ2And σ2Respectively it is greater than zero constant；
S28: the ten comparator unit: the 9th comparator unit is respectively the output u of the 2nd, 1 contragradience sub-controller unit2,1bsWith The output of second observer unitBy calculating below:
Obtain the output z of the tenth comparator unit2,2；
S29: the 2,2 Backstepping Controller units: the 2nd, the input terminal of 2 Backstepping Controller units is defeated with generator system II respectively X out2,1, comparator unit output output z2,2, the 2nd, the output u of 1 contragradience sub-controller unit2,1bsIt is forced with the 2nd, 2 contragradiences The output of nearly unitBy calculating below:
Obtain the output u of the 1st, 2 contragradience sub-controller units2,2bs, whereinr2' for constant greater than zero；
S30: the ten one comparator unit: the 11st comparator unit is respectively the output of the 2nd, 2 contragradience sub-controller units u2,2bsWith the output of the second observer unitBy calculating below:
Obtain the output z of the tenth comparator unit2,3；
S31: the 2,3 Backstepping Controller units: the 2nd, the input terminal of 3 Backstepping Controller units is defeated with generator system II respectively X out2,1, comparator unit output output z2,2, comparator unit output output z2,3, the 2nd, 1 Backstepping Controller unit Output u2,1bs, the 2nd, the output u of 2 contragradience sub-controller units2,2bsWith the output of the 2nd, 3 contragradience approximation unitsBy Calculating below:
Obtain the output u of the 2nd, 3 contragradience sub-controller units1,3bs, wherein r '3For the constant greater than zero；
The second approximation unit of S32:ADP: the input terminal of the second approximation unit of ADP respectively with the output x of generator system II2,1, ratio Compared with the output z of the output of device unit2,2, comparator unit output output z2,3, comparator unit output output The output of the output of comparator unitThe output of the output of comparator unit2nd, 1ADP sub-controller unit is defeated U out2,1ADP, the 2nd, the output u of 2ADP sub-controller unit2,2ADPWith the 2nd, the output u of 3ADP sub-controller unit2,3ADP, pass through Calculating below:
Obtain the output of the first approximation unit of ADPWhereinFor neural network hidden layer in the first approximation unit of ADP to output The estimation weight matrix of layer is 1 column matrix of P row, and it is big that P, which is the number of neural network hidden layer neuron in ADP approximation unit, In zero constant；
βcFor neural network Habit rate is greater than zero constant；Π=GTR-1G,C1、C2、C3、r1'、r′2 With r '3It is greater than zero constant respectively；
M (Z)=V1, jZ, V1, jIt is P row 6 for the weight matrix of neural network input layer in the first updating unit of ADP to hidden layer The matrix of column, Z=[z2,1 z2,2 z2,3 u2,1bs u2,2bs u2,3bs]T, φ1(m (Z)) is hyperbolic tangent function, is that P row 1 arranges Matrix,It is hyperbolic tangent function φ1(Z) rightLocal derviation matrix,
q1And q2 Respectively it is greater than zero constant；When controller architecture is run for the first time,For constant matrices；
The second arithmetic element of S33:ADP: the input terminal of the second arithmetic element of the ADP output with the second approximation unit of ADP respectively The output x of generator system II2,1, comparator unit output output z2,2, comparator unit output output z2,3, 2, the output u of 1ADP sub-controller unit2,1ADP, the 2nd, the output u of 2ADP sub-controller unit2,2ADPIt is controlled with the 2nd, 3ADP The output u of device unit2,3ADP, by calculating below:
Obtain the output of the first arithmetic element of ADPWith
S34: the 2, the input terminal of the 1ADP sub-controller unit output with the second arithmetic element of ADP respectively, by meter below It calculates:
Obtain the output u of the 1st, 1ADP sub-controller2, adp1；
S35: the 2,2ADP sub-controller unit: the 2nd, the input terminal of 2ADP sub-controller unit respectively with ADP the second operation list The output of member, by calculating below:
Obtain the output u of the 1st, 2ADP sub-controller2, adp2；
S36: the 2,3ADP sub-controller unit: the 2nd, the input terminal of 3ADP sub-controller unit respectively with ADP the second operation list The output of member, by calculating below:
Obtain the output u of the 1st, 3ADP sub-controller2,adp3；
S37: the ten two comparator unit: the input terminal of the 12nd comparator unit is the output of the 2nd, 3ADP sub-controller u2,adp3With the output u of the 2nd, 3 Backstepping Controller units2,3bs, by calculating below:
u2=u2,3bs+u2,adp3
Obtain the output u of the 12nd comparing unit2Input as generator system II.
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