CN109672182A - A kind of control method for coordinating between more power converters - Google Patents
A kind of control method for coordinating between more power converters Download PDFInfo
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- CN109672182A CN109672182A CN201910065310.4A CN201910065310A CN109672182A CN 109672182 A CN109672182 A CN 109672182A CN 201910065310 A CN201910065310 A CN 201910065310A CN 109672182 A CN109672182 A CN 109672182A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/04—Circuit arrangements for ac mains or ac distribution networks for connecting networks of the same frequency but supplied from different sources
- H02J3/06—Controlling transfer of power between connected networks; Controlling sharing of load between connected networks
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
- H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
Abstract
A kind of control method for coordinating between more power converters: establishing the mathematical model of a power converter, and selection DC current is disturbance variable, and mathematical model is converted to the affine nonlinear form an of power converter；The n platform tuning controller of coordinated control between building n platform power converter, every tuning controller includes outer ring and inner ring；The adaptive droop control device for considering every power converter dynamic margin is constructed for outer ring, outer ring is according to the dynamic margin for corresponding to power converter, the sagging coefficient of this power converter is adaptively adjusted by corresponding adaptive droop control device, the transimission power of coordinated allocation alternating current-direct current trend section, the voltage compensation unit of every tuning controller is constructed based on first order inertial loop respectively；The gamma controller of every tuning controller inner ring is constructed for inner ring, realizes decoupling of the output quantity to interference volume.The present invention is able to maintain that DC bus-bar voltage is stablized, and realizes decoupling of the output quantity to interference volume.
Description
Technical field
The present invention relates to a kind of control methods of power converter.More particularly to the association between a kind of more power converters
Control method.
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 power converter of parallel running is constituted, and by more power converters of coordinated control, Reasonable Regulation And Control transimission power is, it can be achieved that hand over
Power interconnection and mutually support between direct current region, and the dynamic equilibrium to alternating current-direct current mixing microgrid internal power is maintained, change
The power quality of kind alternating current-direct current mixing microgrid plays 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 coordinated allocation alternating current-direct current trend section transimission power
More power converters between control method for coordinating.
The technical scheme adopted by the invention is that: the control method for coordinating between more power converters of one kind, including it is as follows
Step:
1) mathematical model of a power converter is established, selection DC current is disturbance variable, according to the interference
The mathematical model of one power converter of foundation is converted to the affine nonlinear form an of power converter by variable；
2) the n platform tuning controller of coordinated control between n platform power converter is constructed respectively, and every tuning controller includes outer
Ring and inner ring；For every tuning controller outer ring, respectively building consider every power converter dynamic margin it is adaptive under
Hang down controller, every tuning controller outer ring according to the dynamic margin of corresponding power converter, by it is corresponding it is adaptive under
The sagging coefficient of this power converter, the transmission function of coordinated allocation alternating current-direct current trend section is adaptively adjusted in vertical controller
Rate；
3) it is directed to every tuning controller outer ring, constructs the voltage of every tuning controller respectively based on first order inertial loop
Compensating unit guarantees the quality of voltage of DC bus；
4) it is directed to every tuning controller inner ring, is constructed respectively often according to the affine nonlinear form of a power converter
The gamma controller of platform tuning controller inner ring realizes decoupling of the output quantity to interference volume, improves every power converter and passes
The dynamic response performance of defeated power.
The mathematical model of a power converter 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 is
Exchange side filtering loss equivalent resistance；L is exchange side filter inductance；C is dc-link capacitance；ω is angular frequency.
The mathematical model of a power converter is converted into the affine non-of a power converter described in step 1)
Linear forms 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；P is dry under X-coordinate
Disturb variable；Y is the output variable under X-coordinate；idrefTo exchange direct-axis current reference value；iqrefTo exchange quadrature axis current reference value；
F (x) is the vector field directly related with the state variable under X-coordinate；G (x) is directly related with the control variable under X-coordinate
Vector field；D (x) is the vector field directly related with the disturbance variable under X-coordinate；H (x) is straight with the output variable under X-coordinate
Connect relevant vector field；HTIt (x) is the transposition of the vector field directly related with the output variable under X-coordinate；idFor exchange d-axis electricity
Stream；iqTo exchange quadrature axis current；udTo exchange direct-axis voltage；uqTo exchange quadrature-axis voltage；edFor exchange side three-phase voltage d-axis point
Amount；eqTo exchange side three-phase voltage quadrature axis component；udcFor DC bus-bar voltage；ILFor DC current；R is the filtering loss of exchange side
Equivalent resistance；L is exchange side filter inductance；C is dc-link capacitance；ω is angular frequency.
The control law of adaptive droop control device described in step 2) are as follows:
ΔP(i)=m(i)×Δudc
Δudc=udcref-udc
The positive direction for providing power transmission is to be transmitted from exchanging area to DC area；
Wherein, Δ P(i)The dynamic power undertaken for i-th power converter；m(i)For the sagging of i-th power converter
Coefficient；ΔudcFor DC bus-bar voltage departure；ΔP(i)maxFor i-th power converter power maximum deviation amount；Δudcmax
For DC bus-bar voltage maximum deviation amount；udcFor DC bus-bar voltage；Pre(i)For i-th power converter dynamic power allowance；
udcrefFor DC bus-bar voltage reference value；PN(i)For the rated power of i-th power converter；P(i)For i-th power converter
Measured power；P0(i)For the initial power of i-th power converter；ΔudcmaxFor DC bus-bar voltage maximum deviation amount；
udcmaxFor DC bus-bar voltage upper limit value；udcminFor DC bus-bar voltage lower limit value.
The mathematical model of the step 3) voltage compensation unit are as follows:
Wherein, G (s) is the ratio of the first order inertial loop output and input of definition；S is Laplace operator；kΔuFor electricity
Press gain；T is one order inertia time constant；
DC bus-bar voltage reference value udcrefWith DC bus-bar voltage udcDifference by after voltage compensation unit, to straight
Flow generatrix voltage compensation amount Δ u'dc。
Step 4) includes:
(1) coordinate transform is chosen are as follows:
(2) the affine nonlinear form of a power converter is converted into the Bu Shi standard type an of power converter such as
Under:
Wherein: Φ (x) is the infinitesimal homeomorphism under X-coordinate；Z is the state variable under Z coordinate；z1For under Z coordinate
First state variable；z2For second state variable under Z coordinate；For the derivative of the state variable under Z coordinate；h1(x) it is
First output variable under X-coordinate；h2It (x) is second output variable under X-coordinate；η (x) is that shape is tieed up in the increasing under X-coordinate
State variable；η is that state variable is tieed up in the increasing under Z coordinate；For the derivative of the increasing dimension state variable under Z coordinate；V is under Z coordinate
Pre-control variable；A is the coefficient matrix directly related with the state variable under Z coordinate；B is direct with the pre-control variable under Z coordinate
Relevant coefficient matrix；Q is the coefficient matrix directly related with the increasing dimension state variable under Z coordinate；S is and dry under X-coordinate
Disturb the directly related coefficient matrix of variable；
(3) the Nonlinear control law u of every gamma controller 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；R is exchange side filtering loss equivalent resistance；L is the filter of exchange side
Wave inductance；ω is angular frequency.
Control method for coordinating between a kind of more power converters of the invention, has the effect that
(1) the method for the invention can be when emergent power disturbs, certainly according to the dynamic margin of each power converter
Adaptively adjust the sagging coefficient of this power converter, the transimission power of coordinated allocation alternating current-direct current trend section；
(2) the method for the invention is able to maintain that DC bus-bar voltage is stablized, and contains voltage compensation unit by building
Tuning controller, guarantee the quality of voltage of DC bus；
(3) the method for the invention can be realized decoupling of the output quantity to interference volume, improve every power converter transmission
The dynamic response performance of power.
Detailed description of the invention
Fig. 1 is a power converter topological diagram；
Fig. 2 is the outer loop control block diagram of each tuning controller；
Fig. 3 is alternating current-direct current mixing microgrid topological structure
Fig. 4 is the transimission power change curve of three power converters；
Fig. 5 is the current curve of a power converter；
Fig. 6 is change curve power converter exchange direct-axis current reference value and exchange direct-axis current difference；
Fig. 7 is the DC bus-bar voltage change curve in the case of no-voltage compensating unit；
Fig. 8 is containing voltage compensation unit and without DC bus-bar voltage change curve in the case of voltage compensation unit.
Specific embodiment
The control method for coordinating a kind of more power converters of the invention is made below with reference to embodiment and attached drawing
It is described in detail
Control method for coordinating between a kind of more power converters of the invention, includes the following steps:
1) as shown in Figure 1, establishing the mathematical model of a power converter, selection DC current is disturbance variable, according to
The mathematical model of one power converter of foundation is converted to the affine non-thread of a power converter by the disturbance variable
Property form；Wherein,
The mathematical model of one power converter 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；Q1For power converter
No. 1 switch；Q2For No. 2 switches of power converter；Q3For No. 3 switches of power converter；Q4It is No. 4 of power converter
Switch；Q5For No. 5 switches of power converter；Q6For No. 6 switches of power converter.
The mathematical model by a power converter is converted to the affine nonlinear form an of power converter
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；P is dry under X-coordinate
Disturb variable；Y is the output variable under X-coordinate；idrefTo exchange direct-axis current reference value；iqrefTo exchange quadrature axis current reference value；
F (x) is the vector field directly related with the state variable under X-coordinate；G (x) is directly related with the control variable under X-coordinate
Vector field；D (x) is the vector field directly related with the disturbance variable under X-coordinate；H (x) is straight with the output variable under X-coordinate
Connect relevant vector field；HTIt (x) is the transposition of the vector field directly related with the output variable under X-coordinate；idFor exchange d-axis electricity
Stream；iqTo exchange quadrature axis current；udTo exchange direct-axis voltage；uqTo exchange quadrature-axis voltage；edFor exchange side three-phase voltage d-axis point
Amount；eqTo exchange side three-phase voltage quadrature axis component；udcFor DC bus-bar voltage；ILFor DC current；R is the filtering loss of exchange side
Equivalent resistance；L is exchange side filter inductance；C is dc-link capacitance；ω is angular frequency.
2) the n platform tuning controller of coordinated control between n platform power converter is constructed respectively, and every tuning controller includes outer
Ring and inner ring；For every tuning controller outer ring, respectively building consider every power converter dynamic margin it is adaptive under
Hang down controller, every tuning controller outer ring according to the dynamic margin of corresponding power converter, by it is corresponding it is adaptive under
The sagging coefficient of adaptive adjusting this power converter of the controller that hangs down, the transmission function of coordinated allocation alternating current-direct current trend section
Rate；
The control law of the adaptive droop control device are as follows:
ΔP(i)=m(i)×Δudc
Δudc=udcref-udc
The positive direction for providing power transmission is to be transmitted from exchanging area to DC area；
Wherein, Δ P(i)The dynamic power undertaken for i-th power converter；m(i)For the sagging of i-th power converter
Coefficient；ΔudcFor DC bus-bar voltage departure；ΔP(i)maxFor i-th power converter power maximum deviation amount；Δudcmax
For DC bus-bar voltage maximum deviation amount；udcFor DC bus-bar voltage；Pre(i)For i-th power converter dynamic power allowance；
udcrefFor DC bus-bar voltage reference value；PN(i)For the rated power of i-th power converter；P(i)For i-th power converter
Measured power；P0(i)For the initial power of i-th power converter；ΔudcmaxFor DC bus-bar voltage maximum deviation amount；
udcmaxFor DC bus-bar voltage upper limit value；udcminFor DC bus-bar voltage lower limit value.
3) it is directed to every tuning controller outer ring, constructs the voltage of every tuning controller respectively based on first order inertial loop
Compensating unit guarantees the quality of voltage of DC bus；The mathematical model of the voltage compensation unit are as follows:
Wherein, G (s) is the ratio of the first order inertial loop output and input of definition；S is Laplace operator；kΔuFor electricity
Press gain；T is one order inertia time constant；
DC bus-bar voltage reference value udcrefWith DC bus-bar voltage udcDifference by after voltage compensation unit, to straight
Flow generatrix voltage compensation amount Δ u'dc。
The outer loop control block diagram of each tuning controller is as shown in Fig. 2, in figure, Pref(i)For i-th power converter power
Reference value；idref(i)For the exchange direct-axis current reference value of i-th power converter.
4) it is directed to every tuning controller inner ring, is constructed respectively often according to the affine nonlinear form of a power converter
The gamma controller of platform tuning controller inner ring realizes decoupling of the output quantity to interference volume, improves every power converter and passes
The dynamic response performance of defeated power.Include:
(1) coordinate transform is chosen are as follows:
(2) the affine nonlinear form of a power converter is converted into the Bu Shi standard type an of power converter such as
Under:
Wherein: Φ (x) is the infinitesimal homeomorphism under X-coordinate；Z is the state variable under Z coordinate；z1For under Z coordinate
First state variable；z2For second state variable under Z coordinate；For the derivative of the state variable under Z coordinate；h1(x) it is
First output variable under X-coordinate；h2It (x) is second output variable under X-coordinate；η (x) is that shape is tieed up in the increasing under X-coordinate
State variable；η is that state variable is tieed up in the increasing under Z coordinate；For the derivative of the increasing dimension state variable under Z coordinate；V is under Z coordinate
Pre-control variable；A is the coefficient matrix directly related with the state variable under Z coordinate；B is direct with the pre-control variable under Z coordinate
Relevant coefficient matrix；Q is the coefficient matrix directly related with the increasing dimension state variable under Z coordinate；S is and dry under X-coordinate
Disturb the directly related coefficient matrix of variable；
(3) the Nonlinear control law u of every gamma controller 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；R is exchange side filtering loss equivalent resistance；L is the filter of exchange side
Wave inductance；ω is angular frequency.
Example is given below:
Simulation model is built referring to Fig. 3, there are 3 power converter parallel runnings in alternating current-direct current trend section.Wherein exchange
Network voltage is 10kV, and DC bus voltage rating is 560V, transformer voltage ratio 10kV/380V, the specified appearance of power converter
Amount is 250kVA, and exchange side filtering loss equivalent resistance is 0.5m Ω, and exchange side filter inductance is 160uH, and DC load is
450kW。
1) before 0.6 second, systematic steady state operation, DC load 450kW.At 0.6 second, DC side puts into load 200kW；
At 0.7 second, DC side cuts off load 200kW；At 0.8 second, DC side cuts off load 250kW；At 0.9 second, DC side investment is negative
Lotus 250kW.
It is available from figure 4, when putting into load (0.6 second) or excision load (0.8 second) on the basis of initial launch operating condition,
Three power converters distribute transimission power according to itself dynamic power allowance, and the power difference undertaken gradually decreases；When straight
It flows when side total load is greater than initial launch operating condition and cuts off load (0.7 second), or be less than initial launch operating condition in DC side total load
When put into load (0.9 second), three power converters will distribute transimission power, the transmission undertaken according to itself dynamic power allowance
Power difference gradually increases.Simulation results show the function of the tuning controller outer ring of design.Each power converter can assist
Adjust the transimission power of distribution alternating current-direct current trend section.
2) before 0.6 second, systematic steady state operation, DC load 450kW.At 0.6 second, DC side puts into 200kW load.
As seen from Figure 5, when DC side puts into load, cause to exchange direct-axis current reference value idrefVariation, exchange
Direct-axis current idExchange direct-axis current reference value i can rapidly be trackeddrefVariation, and in transient process, each electric power is changed
Stream device transimission power oscillation is small, and regulating time is short, embodies good dynamic response characteristic.
As seen from Figure 6, direct-axis current reference value i is exchangeddrefWith exchange direct-axis current idDifference idref-idStraight
Stream load occurs not change when step disturbance, realizes the decoupling exported to interference.
As seen from Figure 7, when DC side puts into load, the control method for coordinating between more power converters can be tieed up
It holds DC bus-bar voltage to stablize, and makes the DC bus-bar voltage dynamic regulation time short, dead-beat, dynamic response performance is good.
3) before 1 second, systematic steady state operation, DC load 450kW.At 1 second, DC side puts into 200kW load；2 seconds
When, DC side cuts off 350kW load；At 3 seconds, DC side cuts off 150kW load；
As seen from Figure 8, when step disturbance occurs for DC side load, voltage compensation unit, DC bus electricity are free of
Press departure larger；Containing voltage compensation unit, DC bus-bar voltage departure reduces.
Claims (6)
1. the control method for coordinating between a kind of more power converters, which comprises the steps of:
1) mathematical model of a power converter is established, selection DC current is disturbance variable, according to the disturbance variable
The mathematical model of one power converter of foundation is converted to the affine nonlinear form an of power converter；
2) respectively construct n platform power converter between coordinated control n platform tuning controller, every tuning controller include outer ring and
Inner ring；For every tuning controller outer ring, building considers the adaptive sagging control of every power converter dynamic margin respectively
Device processed, every tuning controller outer ring pass through corresponding adaptive sagging control according to the dynamic margin of corresponding power converter
The sagging coefficient of this power converter, the transimission power of coordinated allocation alternating current-direct current trend section is adaptively adjusted in device processed；
3) it is directed to every tuning controller outer ring, constructs the voltage compensation of every tuning controller respectively based on first order inertial loop
Unit guarantees the quality of voltage of DC bus；
4) it is directed to every tuning controller inner ring, every association is constructed according to the affine nonlinear form of a power converter respectively
The gamma controller of controller inner ring is adjusted, realizes decoupling of the output quantity to interference volume, improves every power converter and transmits function
The dynamic response performance of rate.
2. the control method for coordinating between more power converters of one kind according to claim 1, which is characterized in that step 1)
Described in a power converter mathematical model 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 to hand over
Flow side filtering loss equivalent resistance；L is exchange side filter inductance；C is dc-link capacitance；ω is angular frequency.
3. the control method for coordinating between more power converters of one kind according to claim 1, which is characterized in that step 1)
Described in the mathematical model by a power converter be converted to the affine nonlinear form an of power converter 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；P is that the interference under X-coordinate becomes
Amount；Y is the output variable under X-coordinate；idrefTo exchange direct-axis current reference value；iqrefTo exchange quadrature axis current reference value；f(x)
For the vector field directly related with the state variable under X-coordinate；G (x) is the vector directly related with the control variable under X-coordinate
?；D (x) is the vector field directly related with the disturbance variable under X-coordinate；H (x) be and the direct phase of output variable under X-coordinate
The vector field of pass；HTIt (x) is the transposition of the vector field directly related with the output variable under X-coordinate；idTo 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 exchange side filtering loss etc.
Imitate resistance；L is exchange side filter inductance；C is dc-link capacitance；ω is angular frequency.
4. the control method for coordinating between more power converters of one kind according to claim 1, which is characterized in that step 2)
The control law of the adaptive droop control device are as follows:
ΔP(i)=m(i)×Δudc
Δudc=udcref-udc
The positive direction for providing power transmission is to be transmitted from exchanging area to DC area；
Wherein, Δ P(i)The dynamic power undertaken for i-th power converter；m(i)For the sagging coefficient of i-th power converter；
ΔudcFor DC bus-bar voltage departure；ΔP(i)maxFor i-th power converter power maximum deviation amount；ΔudcmaxFor direct current
Busbar voltage maximum deviation amount；udcFor DC bus-bar voltage；Pre(i)For i-th power converter dynamic power allowance；udcrefFor
DC bus-bar voltage reference value；PN(i)For the rated power of i-th power converter；P(i)For the actual measurement of i-th power converter
Power；P0(i)For the initial power of i-th power converter；ΔudcmaxFor DC bus-bar voltage maximum deviation amount；udcmaxIt is straight
Flow bus voltage upper limit value；udcminFor DC bus-bar voltage lower limit value.
5. the control method for coordinating between more power converters of one kind according to claim 1, which is characterized in that step 3)
The mathematical model of the voltage compensation unit are as follows:
Wherein, G (s) is the ratio of the first order inertial loop output and input of definition；S is Laplace operator；kΔuFor voltage increasing
Benefit；T is one order inertia time constant；
DC bus-bar voltage reference value udcrefWith DC bus-bar voltage udcDifference by after voltage compensation unit, it is female to direct current
Line ' voltage compensation quantity Δ udc。
6. the control method for coordinating between more power converters of one kind according to claim 1, which is characterized in that step 4)
Include:
(1) coordinate transform is chosen are as follows:
(2) the Bu Shi standard type for the affine nonlinear form of a power converter being converted to a power converter 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；For the derivative of the state variable under Z coordinate；h1It (x) is X-coordinate
Under first output variable；h2It (x) is second output variable under X-coordinate；η (x) is that state change is tieed up in the increasing under X-coordinate
Amount；η is that state variable is tieed up in the increasing under Z coordinate；For the derivative of the increasing dimension state variable under Z coordinate；V is the pre-control under Z coordinate
Variable；A is the coefficient matrix directly related with the state variable under Z coordinate；B is directly related with the pre-control variable under Z coordinate
Coefficient matrix；Q is the coefficient matrix directly related with the increasing dimension state variable under Z coordinate；S is to become with the interference under X-coordinate
Measure directly related coefficient matrix；
(3) the Nonlinear control law u of every gamma controller 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；R is exchange side filtering loss equivalent resistance；L is exchange side filtered electrical
Sense；ω is angular frequency.
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