CN109638899A - A kind of economic optimum control method of more AC/DC bidirectional power inverter - Google Patents
A kind of economic optimum control method of more AC/DC bidirectional power inverter Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
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Abstract
A kind of economic optimum control method of more AC/DC bidirectional power inverter: the mathematical model of separate unit AC/DC bidirectional power inverter is established, the output quantity that DC bus-bar voltage departure is mathematical model is chosen, mathematical model is converted to the affine nonlinear form of separate unit AC/DC bidirectional power inverter；The efficiency curve for determining separate unit AC/DC bidirectional power inverter obtains the economic optimum allocation plan of n platform AC/DC bidirectional power inverter transimission power, including objective function and constraint condition according to efficiency curve；According to economic optimum allocation plan, the outer ring active power controller method of AC/DC bidirectional power inverter is provided；The inner ring nonlinear control method of AC/DC bidirectional power inverter is provided, DC bus-bar voltage is maintained to stablize, obtains the optimal dynamic response in voltage control process.The present invention is when emergent power disturbs, so that the transimission power between more AC/DC bidirectional power inverters realizes economic optimum distribution, is able to maintain that DC bus-bar voltage is stablized.
Description
Technical field
The present invention relates to a kind of control methods of AC/DC bidirectional power inverter.It is bis- more particularly to more AC/DC of one kind
To the economic optimum control method of power inverter.
Background technique
Alternating current-direct current mixing microgrid can make full use of AC microgrids and direct-current micro-grid respectively advantage, improve distributed generation resource infiltration
Rate and operational efficiency；Meanwhile ac-dc conversion link can be reduced for power mode using alternating current-direct current complementation, reduce multi-stage transformation
Energy loss, improve power quality and power supply reliability.Exchanging area and DC area are usually by more in alternating current-direct current mixing microgrid
The AC/DC bidirectional power inverter of parallel running is constituted, and by more AC/DC bidirectional power inverters of coordinated control, is rationally adjusted
Control transimission power, it can be achieved that between alternating current-direct current region power interconnection and mutually support, and to maintain alternating current-direct current mixing microgrid in
The dynamic equilibrium of portion's power, the power quality of improvement alternating current-direct current mixing microgrid play the role of vital.
Summary of the invention
The technical problem to be solved by the invention is to provide one kind being capable of more AC/DC bidirectional power changes of current of coordinated control
Device, more AC/DC bidirectional power inverters for distributing the transimission power economic optimum between more AC/DC bidirectional power inverters
Economic optimum control method.
The technical scheme adopted by the invention is that: a kind of economic optimum controlling party of more AC/DC bidirectional power inverters
Method includes the following steps:
1) mathematical model of separate unit AC/DC bidirectional power inverter is established, selection DC bus-bar voltage departure is separate unit
The mathematical model output quantity of AC/DC bidirectional power inverter, by the mathematical model of the separate unit AC/DC bidirectional power inverter of foundation
Be converted to the affine nonlinear form of separate unit AC/DC bidirectional power inverter；
2) efficiency curve for determining separate unit AC/DC bidirectional power inverter, according to separate unit AC/DC bidirectional power inverter
Efficiency curve, obtains the economic optimum allocation plan of n platform AC/DC bidirectional power inverter transimission power, including objective function and
Constraint condition；
3) according to the economic optimum allocation plan of n platform AC/DC bidirectional power inverter transimission power, it is two-way to provide AC/DC
The outer ring active power controller method of power inverter；
4) according to the affine nonlinear form of separate unit AC/DC bidirectional power inverter, AC/DC bidirectional power inverter is provided
Inner ring nonlinear control method, maintain DC bus-bar voltage stablize, obtain voltage control process in optimal dynamic response.
The mathematical model of separate unit AC/DC bidirectional power inverter is established described in step 1) are as follows:
idTo exchange direct-axis current；iqTo exchange quadrature axis current；udTo exchange direct-axis voltage；uqTo exchange quadrature-axis voltage；ed
To exchange side three-phase voltage direct-axis component；eqTo exchange side three-phase voltage quadrature axis component；udcFor DC bus-bar voltage；ILFor direct current
Electric current；For the derivative for exchanging direct-axis current；For the derivative for exchanging quadrature axis current；For the derivative of DC bus-bar voltage；R
For exchange side filtering loss equivalent resistance；L is exchange side filter inductance；C is dc-link capacitance；ω is angular frequency.
In step 1),
The DC bus-bar voltage departure Δ udcAre as follows: Δ udc=udc-udcref；
Wherein, udcFor DC bus-bar voltage；udcrefFor DC bus-bar voltage reference value；
The mathematical model of the separate unit AC/DC bidirectional power inverter by foundation is converted to the two-way function of separate unit AC/DC
The affine nonlinear form of rate inverter are as follows:
Wherein: x is the state variable under X-coordinate；For the derivative of the state variable under X-coordinate；xTFor the shape under X-coordinate
The transposition of state variable；U is the control variable under X-coordinate；uTFor the transposition of the control variable under X-coordinate；Y is defeated under X-coordinate
Variable out；udcrefFor DC bus-bar voltage reference value；iqrefTo exchange quadrature axis current reference value；F (x) be and the shape under X-coordinate
The directly related vector field of state variable；G (x) is the vector field directly related with the control variable under X-coordinate；H (x) is to sit with X
The directly related vector field of output variable under mark；HT(x) turn for the vector field directly related with the output variable under X-coordinate
It sets；idTo exchange direct-axis current；iqTo exchange quadrature axis current；udTo exchange direct-axis voltage；uqTo exchange quadrature-axis voltage；edFor exchange
Side three-phase voltage direct-axis component；eqTo exchange side three-phase voltage quadrature axis component；udcFor DC bus-bar voltage；ILFor DC current；R
For exchange side filtering loss equivalent resistance；L is exchange side filter inductance；C is dc-link capacitance；ω is angular frequency.
In step 2),
The efficiency curve of the separate unit AC/DC bidirectional power inverter are as follows:
J (x)=- 424.90117x9+1948.8495x8-3760.8806x7+3964.6601x6-2481.2928x5
+939.06544x4-209.74483x3+25.520245x2-1.3248863x+0.98461355
Wherein, j (x) is the value of the efficiency curve of the separate unit AC/DC bidirectional power inverter under X-coordinate；X is under X-coordinate
State variable；
The objective function are as follows:
The constraint condition are as follows:
Wherein, P*For n platform AC/DC bidirectional power inverter overall transmission power；PN(i)For i-th AC/DC bidirectional power change of current
The rated power of device；P(i)For the measured power of i-th AC/DC bidirectional power inverter；It is two-way for i-th AC/DC
The efficiency curve of power inverter；Pt *For t moment n platform AC/DC bidirectional power inverter overall transmission power；Pref(i)It is i-th
The reference value of AC/DC bidirectional power inverter transimission power.
Step 3) includes:
When there is load disturbance, in n platform AC/DC bidirectional power inverter for maintain DC bus-bar voltage it is stable one
Platform AC/DC bidirectional power inverter controls DC bus-bar voltage, and the transimission power undertaken changes, remaining n-1 platform
The transimission power of AC/DC bidirectional power inverter is constant；After reaching stable state, function is transmitted according to n platform AC/DC bidirectional power inverter
The economic optimum allocation plan of rate issues transimission power reference value to each AC/DC bidirectional power inverter, updates each AC/
The transimission power reference value of DC bidirectional power inverter；After more new transmission powers reference value, each AC/DC bidirectional power inverter
Outer ring takes constant dc power control strategy.
Step 4) includes:
(1) coordinate transform is chosen are as follows:
The affine nonlinear form of separate unit AC/DC bidirectional power inverter is converted into the separate unit AC/DC bidirectional power change of current
The Bu Lunuo Paderewski standard type of device is as follows:
Wherein:
Φ (x) is the infinitesimal homeomorphism under X-coordinate；Z is the state variable under Z coordinate；z1For first under Z coordinate
State variable；z2For second state variable under Z coordinate；z3For the third state variable under Z coordinate；z4For under Z coordinate
4th state variable；For the derivative of the state variable under Z coordinate；∫z4Dt is the product of the 4th state variable under X-coordinate
Point；h1It (x) is first output variable under X-coordinate；h2It (x) is second output variable under X-coordinate；Lfh1(x) it is sat for X
The Lie derivatives of first output variable under mark；V is the pre-control variable under Z coordinate；A is direct with the state variable under Z coordinate
Relevant coefficient matrix；B is the coefficient matrix directly related with the pre-control variable under Z coordinate；
(2) every AC/DC bidirectional power inverter inner ring Nonlinear control law u is providedkAre as follows:
uk=E-1(x)[v-A(x)]
By seeking Lie derivatives, obtain:
By seeking the linear optimal control problem of quadratic performance index, obtain:
V=-M-1BTPz
P is obtained by the Riccati equation of the linear optimal control problem of quadratic performance index, the side Li Kati
Journey
Are as follows:
ATP+PA-PBM-1BTP+Q=0
Wherein, A (x) is the Lie derivatives vector field about state variable under X-coordinate；E (x) is under X-coordinate about defeated
The Lie derivatives vector field of variable out；E-1It (x) is the inverse of the Lie derivatives vector field about output variable under X-coordinate；M-1For X seat
The lower weight matrix for controlling variable of mark it is inverse；Q is the weight matrix of the state variable under X-coordinate；ATTo become with the state under Z coordinate
Measure the transposition of directly related coefficient matrix；BTFor the transposition of the coefficient matrix directly related with the pre-control variable under Z coordinate；P
For the solution vector of the Riccati equation under Z coordinate；idTo exchange direct-axis current；iqTo exchange quadrature axis current；edTo exchange side three-phase
Voltage direct-axis component；eqTo exchange side three-phase voltage quadrature axis component；udcFor DC bus-bar voltage；ILFor DC current；R is exchange
Side filtering loss equivalent resistance；L is exchange side filter inductance；C is dc-link capacitance；ω is angular frequency.
A kind of economic optimum control method of more AC/DC bidirectional power inverters of the invention, has the effect that
(1) the method for the invention can be when emergent power disturbs, so that between more AC/DC bidirectional power inverters
Transimission power realizes economic optimum distribution；
(2) the method for the invention is able to maintain that DC bus-bar voltage is stablized, and improves DC bus-bar voltage control process
In dynamic response performance.
Detailed description of the invention
Fig. 1 is separate unit AC/DC bidirectional power inverter topological diagram；
Fig. 2 is the outer loop control block diagram of separate unit AC/DC bidirectional power inverter；
Fig. 3 is alternating current-direct current mixing microgrid topological structure
Fig. 4 is using traditional transmission function for determining three AC/DC bidirectional power inverters of power-constant voltage control method
Rate change curve；
The transimission power change curve of three AC/DC bidirectional power inverters when Fig. 5 is using method of the invention；
Fig. 6 is that PI control and DC bus-bar voltage change curve when nonlinear Control is respectively adopted.
Specific embodiment
Economic optimum control below with reference to embodiment and attached drawing to a kind of more AC/DC bidirectional power inverters of the invention
Method processed is described in detail.
A kind of economic optimum control method of more AC/DC bidirectional power inverters of the invention, which is characterized in that including
Following steps:
1) as shown in Figure 1, establishing the mathematical model of separate unit AC/DC bidirectional power inverter, it is inclined to choose DC bus-bar voltage
Residual quantity is the mathematical model output quantity of separate unit AC/DC bidirectional power inverter, by the separate unit AC/DC bidirectional power inverter of foundation
Mathematical model be converted to the affine nonlinear form of separate unit AC/DC bidirectional power inverter；Wherein,
The mathematical model for establishing separate unit AC/DC bidirectional power inverter are as follows:
idTo exchange direct-axis current；iqTo exchange quadrature axis current；udTo exchange direct-axis voltage；uqTo exchange quadrature-axis voltage；ed
To exchange side three-phase voltage direct-axis component；eqTo exchange side three-phase voltage quadrature axis component；udcFor DC bus-bar voltage；ILFor direct current
Electric current；For the derivative for exchanging direct-axis current；For the derivative for exchanging quadrature axis current；For the derivative of DC bus-bar voltage；R
For exchange side filtering loss equivalent resistance；L is exchange side filter inductance；C is dc-link capacitance；ω is angular frequency.
In Fig. 1, eaTo exchange side a phase voltage；ebTo exchange side b phase voltage；ecTo exchange side c phase voltage；iaTo exchange side
A phase current；ibTo exchange side b phase current；icTo exchange side c phase current；E is direct-current micro-grid equivalent voltage；Q1It is two-way for AC/DC
No. 1 switch of power inverter；Q2For No. 2 switches of AC/DC bidirectional power inverter；Q3For AC/DC bidirectional power inverter
No. 3 switches；Q4For No. 4 switches of AC/DC bidirectional power inverter；Q5For No. 5 switches of AC/DC bidirectional power inverter；Q6For
No. 6 switches of AC/DC bidirectional power inverter.
The DC bus-bar voltage departure Δ udcAre as follows: Δ udc=udc-udcref；
The mathematical model of the separate unit AC/DC bidirectional power inverter by foundation is converted to the two-way function of separate unit AC/DC
The affine nonlinear form of rate inverter are as follows:
Wherein: x is the state variable under X-coordinate；For the derivative of the state variable under X-coordinate；xTFor the shape under X-coordinate
The transposition of state variable；U is the control variable under X-coordinate；uTFor the transposition of the control variable under X-coordinate；Y is defeated under X-coordinate
Variable out；udcrefFor DC bus-bar voltage reference value；iqrefTo exchange quadrature axis current reference value；F (x) be and the shape under X-coordinate
The directly related vector field of state variable；G (x) is the vector field directly related with the control variable under X-coordinate；H (x) is to sit with X
The directly related vector field of output variable under mark；HT(x) turn for the vector field directly related with the output variable under X-coordinate
It sets；idTo exchange direct-axis current；iqTo exchange quadrature axis current；udTo exchange direct-axis voltage；uqTo exchange quadrature-axis voltage；edFor exchange
Side three-phase voltage direct-axis component；eqTo exchange side three-phase voltage quadrature axis component；udcFor DC bus-bar voltage；ILFor DC current；R
For exchange side filtering loss equivalent resistance；L is exchange side filter inductance；C is dc-link capacitance；ω is angular frequency.
2) efficiency curve for determining separate unit AC/DC bidirectional power inverter, according to separate unit AC/DC bidirectional power inverter
Efficiency curve, obtains the economic optimum allocation plan of n platform AC/DC bidirectional power inverter transimission power, including objective function and
Constraint condition；Wherein,
The efficiency curve of the separate unit AC/DC bidirectional power inverter are as follows:
J (x)=- 424.90117x9+1948.8495x8-3760.8806x7+3964.6601x6-2481.2928x5
+939.06544x4-209.74483x3+25.520245x2-1.3248863x+0.98461355
Wherein, j (x) is the value of the efficiency curve of the separate unit AC/DC bidirectional power inverter under X-coordinate；X is under X-coordinate
State variable；
The objective function are as follows:
The constraint condition are as follows:
Wherein, P*For n platform AC/DC bidirectional power inverter overall transmission power；PN(i)For i-th AC/DC bidirectional power change of current
The rated power of device；P(i)For the measured power of i-th AC/DC bidirectional power inverter；It is two-way for i-th AC/DC
The efficiency curve of power inverter；Pt *For t moment n platform AC/DC bidirectional power inverter overall transmission power；Pref(i)It is i-th
The reference value of AC/DC bidirectional power inverter transimission power.
3) according to the economic optimum allocation plan of n platform AC/DC bidirectional power inverter transimission power, it is two-way to provide AC/DC
The outer ring active power controller method of power inverter；Include:
When there is load disturbance, in n platform AC/DC bidirectional power inverter for maintain DC bus-bar voltage it is stable one
Platform AC/DC bidirectional power inverter controls DC bus-bar voltage, and the transimission power undertaken changes, remaining n-1 platform
The transimission power of AC/DC bidirectional power inverter is constant；After reaching stable state, function is transmitted according to n platform AC/DC bidirectional power inverter
The economic optimum allocation plan of rate issues transimission power reference value to each AC/DC bidirectional power inverter, updates each AC/
The transimission power reference value of DC bidirectional power inverter；After more new transmission powers reference value, each AC/DC bidirectional power inverter
Outer ring takes constant dc power control strategy.The outer loop control block diagram of each AC/DC bidirectional power inverter as shown in Fig. 2, in figure,
Pref(i)For i-th AC/DC bidirectional power converter power reference value；idref(i)For i-th AC/DC bidirectional power inverter
Exchange direct-axis current reference value.
4) according to the affine nonlinear form of separate unit AC/DC bidirectional power inverter, AC/DC bidirectional power inverter is provided
Inner ring nonlinear control method, maintain DC bus-bar voltage stablize, obtain voltage control process in optimal dynamic response.Packet
It includes:
(1) coordinate transform is chosen are as follows:
The affine nonlinear form of separate unit AC/DC bidirectional power inverter is converted into the separate unit AC/DC bidirectional power change of current
The Bu Lunuo Paderewski standard type of device is as follows:
Wherein:
Φ (x) is the infinitesimal homeomorphism under X-coordinate；Z is the state variable under Z coordinate；z1For first under Z coordinate
State variable；z2For second state variable under Z coordinate；z3For the third state variable under Z coordinate；z4For under Z coordinate
4th state variable；For the derivative of the state variable under Z coordinate；∫z4Dt is the product of the 4th state variable under X-coordinate
Point；h1It (x) is first output variable under X-coordinate；h2It (x) is second output variable under X-coordinate；Lfh1(x) it is sat for X
The Lie derivatives of first output variable under mark；V is the pre-control variable under Z coordinate；A is direct with the state variable under Z coordinate
Relevant coefficient matrix；B is the coefficient matrix directly related with the pre-control variable under Z coordinate；
(2) every AC/DC bidirectional power inverter inner ring Nonlinear control law u is providedkAre as follows:
uk=E-1(x)[v-A(x)]
By seeking Lie derivatives, obtain:
By seeking the linear optimal control problem of quadratic performance index, obtain:
V=-M-1BTPz
P is obtained by the Riccati equation of the linear optimal control problem of quadratic performance index, the side Li Kati
Journey are as follows:
ATP+PA-PBM-1BTP+Q=0
Wherein, A (x) is the Lie derivatives vector field about state variable under X-coordinate；E (x) is under X-coordinate about defeated
The Lie derivatives vector field of variable out；E-1It (x) is the inverse of the Lie derivatives vector field about output variable under X-coordinate；M-1For X seat
The lower weight matrix for controlling variable of mark it is inverse；Q is the weight matrix of the state variable under X-coordinate；ATTo become with the state under Z coordinate
Measure the transposition of directly related coefficient matrix；BTFor the transposition of the coefficient matrix directly related with the pre-control variable under Z coordinate；P
For the solution vector of the Riccati equation under Z coordinate；idTo exchange direct-axis current；iqTo exchange quadrature axis current；edTo exchange side three-phase
Voltage direct-axis component；eqTo exchange side three-phase voltage quadrature axis component；udcFor DC bus-bar voltage；ILFor DC current；R is exchange
Side filtering loss equivalent resistance；L is exchange side filter inductance；C is dc-link capacitance；ω is angular frequency.
Example is given below:
Simulation model is built referring to Fig. 3, there are 3 AC/DC bidirectional power inverter parallel runnings in alternating current-direct current trend section.
Wherein ac grid voltage is 10kV, and DC bus voltage rating is 560V, and transformer voltage ratio 10kV/380V, AC/DC is two-way
Power inverter rated capacity is 250kVA, and exchange side filtering loss equivalent resistance is 0.5m Ω, and exchange side filter inductance is
160uH, DC load 450kW.
1) before 0.8 second, systematic steady state operation, DC load 450kW.At 0.8 second, DC area puts into load 100kW；
At 1.2 seconds, DC area puts into load 50kW.
As seen from Figure 4,0.8 second when, due to DC area put into load 100kW, No. 1 AC/DC bidirectional power inverter
In order to maintain DC bus-bar voltage to stablize, the transimission power undertaken increases to 0.922.At 1.2 seconds, when DC area puts into load
50kW load, the transimission power overrate that No. 1 AC/DC bidirectional power inverter undertakes.
As seen from Figure 5,0.8 second when, due to DC area put into load 100kW, No. 1 AC/DC bidirectional power inverter
In order to maintain DC bus-bar voltage to stablize, the transimission power undertaken increases to 0.922, when running to 1 second, according to more a kind of
The economic optimum control method of AC/DC bidirectional power inverter updates the AC/DC bidirectional power inverter for determining power mode of operation
Transimission power reference value, the transimission power of 3 AC/DC bidirectional power inverters realizes economic optimum distribution in system；1.2 the second
When, DC area puts into 50kW load, the out-of-limit situation of each non-emergent power of AC/DC bidirectional power inverter, nothing in system
The control strategy that each AC/DC bidirectional power inverter need to be switched when running to 1.4 seconds, updates determine power mode of operation again
AC/DC bidirectional power inverter transimission power reference value, the transimission power of 3 AC/DC bidirectional power inverters is again in system
Secondary realization economic optimum distribution.
2) before 0.8 second, systematic steady state operation, DC load 450kW.At 0.8 second, DC area puts into load 100kW；
At 1 second, each AC/DC bidirectional power inverter transimission power reference value is updated.
As seen from Figure 6, when 0.8 second DC area puts into load 100kW, DC bus-bar voltage falls when being controlled using PI
10V falls 6V using DC bus-bar voltage when nonlinear Control；Each AC/DC bidirectional power inverter transimission power was updated when 1 second
When, DC bus-bar voltage increases 4.5V when being controlled using PI, increases 3V using DC bus-bar voltage when nonlinear Control, but use
Voltage recovery time greatly reduces compared with PI control when nonlinear Control.
Claims (6)
1. a kind of economic optimum control method of more AC/DC bidirectional power inverters, which comprises the steps of:
1) mathematical model of separate unit AC/DC bidirectional power inverter is established, selection DC bus-bar voltage departure is separate unit AC/DC
The mathematical model output quantity of bidirectional power inverter converts the mathematical model of the separate unit AC/DC bidirectional power inverter of foundation
For the affine nonlinear form of separate unit AC/DC bidirectional power inverter；
2) efficiency curve for determining separate unit AC/DC bidirectional power inverter, according to the efficiency of separate unit AC/DC bidirectional power inverter
Curve obtains the economic optimum allocation plan of n platform AC/DC bidirectional power inverter transimission power, including objective function and constraint
Condition；
3) according to the economic optimum allocation plan of n platform AC/DC bidirectional power inverter transimission power, AC/DC bidirectional power is provided
The outer ring active power controller method of inverter；
4) according to the affine nonlinear form of separate unit AC/DC bidirectional power inverter, the interior of AC/DC bidirectional power inverter is provided
Ring nonlinear control method maintains DC bus-bar voltage to stablize, and obtains the optimal dynamic response in voltage control process.
2. the economic optimum control method of more AC/DC bidirectional power inverters of one kind according to claim 1, feature
It is, the mathematical model of separate unit AC/DC bidirectional power inverter is established described in step 1) are as follows:
idTo exchange direct-axis current；iqTo exchange quadrature axis current；udTo exchange direct-axis voltage；uqTo exchange quadrature-axis voltage；edTo hand over
Flow side three-phase voltage direct-axis component；eqTo exchange side three-phase voltage quadrature axis component；udcFor DC bus-bar voltage；ILFor direct current
Stream；For the derivative for exchanging direct-axis current；For the derivative for exchanging quadrature axis current；For the derivative of DC bus-bar voltage；R is
Exchange side filtering loss equivalent resistance；L is exchange side filter inductance；C is dc-link capacitance；ω is angular frequency.
3. the economic optimum control method of more AC/DC bidirectional power inverters of one kind according to claim 1, feature
It is, in step 1),
The DC bus-bar voltage departure Δ udcAre as follows: Δ udc=udc-udcref；
Wherein, udcFor DC bus-bar voltage；udcrefFor DC bus-bar voltage reference value；
The mathematical model of the separate unit AC/DC bidirectional power inverter by foundation is converted to separate unit AC/DC bidirectional power and changes
Flow the affine nonlinear form of device are as follows:
Wherein: x is the state variable under X-coordinate；For the derivative of the state variable under X-coordinate；xTBecome for the state under X-coordinate
The transposition of amount；U is the control variable under X-coordinate；uTFor the transposition of the control variable under X-coordinate；Y is that the output under X-coordinate becomes
Amount；udcrefFor DC bus-bar voltage reference value；iqrefTo exchange quadrature axis current reference value；F (x) is to become with the state under X-coordinate
Measure directly related vector field；G (x) is the vector field directly related with the control variable under X-coordinate；H (x) be under X-coordinate
The directly related vector field of output variable；HTIt (x) is the transposition of the vector field directly related with the output variable under X-coordinate；id
To exchange direct-axis current；iqTo exchange quadrature axis current；udTo exchange direct-axis voltage；uqTo exchange quadrature-axis voltage；edTo exchange side three
Phase voltage direct-axis component；eqTo exchange side three-phase voltage quadrature axis component；udcFor DC bus-bar voltage；ILFor DC current；R is to hand over
Flow side filtering loss equivalent resistance；L is exchange side filter inductance；C is dc-link capacitance；ω is angular frequency.
4. the economic optimum control method of more AC/DC bidirectional power inverters of one kind according to claim 1, feature
It is, in step 2),
The efficiency curve of the separate unit AC/DC bidirectional power inverter are as follows:
J (x)=- 424.90117x9+1948.8495x8-3760.8806x7+3964.6601x6-2481.2928x5+
939.06544x4-209.74483x3+25.520245x2-1.3248863x+0.98461355
Wherein, j (x) is the value of the efficiency curve of the separate unit AC/DC bidirectional power inverter under X-coordinate；X is the shape under X-coordinate
State variable；
The objective function are as follows:
The constraint condition are as follows:
Wherein, P*For n platform AC/DC bidirectional power inverter overall transmission power；PN(i)For i-th AC/DC bidirectional power inverter
Rated power；P(i)For the measured power of i-th AC/DC bidirectional power inverter；For i-th AC/DC bidirectional power
The efficiency curve of inverter；Pt *For t moment n platform AC/DC bidirectional power inverter overall transmission power；Pref(i)For i-th AC/DC
The reference value of bidirectional power inverter transimission power.
5. the economic optimum control method of more AC/DC bidirectional power inverters of one kind according to claim 1, feature
It is, step 3) includes:
When there is load disturbance, for maintaining stable one of DC bus-bar voltage in n platform AC/DC bidirectional power inverter
AC/DC bidirectional power inverter controls DC bus-bar voltage, and the transimission power undertaken changes, remaining n-1 platform AC/
The transimission power of DC bidirectional power inverter is constant；After reaching stable state, according to n platform AC/DC bidirectional power inverter transimission power
Economic optimum allocation plan, issue transimission power reference value to each AC/DC bidirectional power inverter, update each AC/DC
The transimission power reference value of bidirectional power inverter；After more new transmission powers reference value, outside each AC/DC bidirectional power inverter
Ring takes constant dc power control strategy.
6. the economic optimum control method of more AC/DC bidirectional power inverters of one kind according to claim 1, feature
It is, step 4) includes:
(1) coordinate transform is chosen are as follows:
The affine nonlinear form of separate unit AC/DC bidirectional power inverter is converted into separate unit AC/DC bidirectional power inverter
Bu Lunuo Paderewski standard type is as follows:
Wherein:
Φ (x) is the infinitesimal homeomorphism under X-coordinate；Z is the state variable under Z coordinate；z1For first state under Z coordinate
Variable；z2For second state variable under Z coordinate；z3For the third state variable under Z coordinate；z4For the 4th under Z coordinate
A state variable；For the derivative of the state variable under Z coordinate；∫z4Dt is the integral of the 4th state variable under X-coordinate；h1
It (x) is first output variable under X-coordinate；h2It (x) is second output variable under X-coordinate；Lfh1(x) under X-coordinate
The Lie derivatives of first output variable；V is the pre-control variable under Z coordinate；A is directly related with the state variable under Z coordinate
Coefficient matrix；B is the coefficient matrix directly related with the pre-control variable under Z coordinate；
(2) every AC/DC bidirectional power inverter inner ring Nonlinear control law u is providedkAre as follows:
uk=E-1(x)[v-A(x)]
By seeking Lie derivatives, obtain:
By seeking the linear optimal control problem of quadratic performance index, obtain:
V=-M-1BTPz
P is obtained by the Riccati equation of the linear optimal control problem of quadratic performance index, the Riccati equation are as follows:
ATP+PA-PBM-1BTP+Q=0
Wherein, A (x) is the Lie derivatives vector field about state variable under X-coordinate；E (x) is becoming under X-coordinate about output
The Lie derivatives vector field of amount；E-1It (x) is the inverse of the Lie derivatives vector field about output variable under X-coordinate；M-1For under X-coordinate
Control variable weight matrix it is inverse；Q is the weight matrix of the state variable under X-coordinate；ATIt is straight with the state variable under Z coordinate
Connect the transposition of relevant coefficient matrix；BTFor the transposition of the coefficient matrix directly related with the pre-control variable under Z coordinate；P is Z seat
The solution vector of Riccati equation under mark；idTo exchange direct-axis current；iqTo exchange quadrature axis current；edTo exchange side three-phase voltage
Direct-axis component；eqTo exchange side three-phase voltage quadrature axis component；udcFor DC bus-bar voltage；ILFor DC current；R is the filter of exchange side
Equivalent resistance is lost in wave；L is exchange side filter inductance；C is dc-link capacitance；ω is angular frequency.
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