CN111431168A - Output feedback control method of non-linear multi-machine power system containing interference - Google Patents
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Abstract
The invention provides a non-linear multi-machine power system H containing interference∞An output feedback control method comprising the steps of: the method comprises the steps of performing local linearization on a nonlinear multi-machine power system dynamic equation, establishing a fuzzy model equation of the multi-machine power system containing interference based on a fuzzy rule, and obtaining a global fuzzy model of the multi-machine power system containing interference according to the fuzzy model equation; designing an output feedback controller of the global fuzzy model; defining observer errors, event trigger forms and trigger conditions of a multi-machine electric power system containing interference and performance indexes in a zero initial state; and the output feedback controller performs feedback control on the multi-machine power system according to the event trigger form, the trigger condition and the performance index in the zero initial state, so that the multi-machine power system is gradually stable and meets the condition that the inhibition index of external interference is smaller than a reference value.
Description
Technical Field
The invention relates to the technical field of control of multi-machine power systems, in particular to an output feedback control method of a nonlinear multi-machine power system containing interference.
Background
In practical situations most power systems are often subjected to various stochastic disturbances during operation. In addition, the distributed clean energy is greatly influenced by external factors such as weather and environment, and has great volatility, randomness and intermittency, and when a large amount of distributed clean energy is incorporated into a power system, certain influence is brought to the stability of a power grid. In addition, the electric vehicle serves as a load during charging of the power system, and can be regarded as a distributed power source during operation, so that the power consumption at the load end of the power system is increased rapidly when the electric vehicle is charged intensively in a large scale, and the situation of peak-to-peak occurs when the electric vehicle is charged intensively in a large scale during a load peak period, which is extremely disadvantageous to the stability of the power system. Therefore, the stability of the power system is seriously affected by large-scale distributed clean energy grid connection and large-scale electric vehicle centralized charging, and a control mode capable of effectively improving the stability of the power system during the distributed clean energy grid connection and the large-scale electric vehicle charging is urgently needed. In recent years, different control methods are proposed for improving the performance of the power system, and the control methods include traditional PID control and optimal control, and also include intelligent control methods such as adaptive control and robust control.
Due to technical difficulties, it is still very difficult to design the membership functions and fuzzy rules of the fuzzy logic system to generate the appropriate parameters for subsequent control design. On the other hand, the existing fuzzy control method adopts a state feedback controller, which requires that all system state variables can be measured on line; due to many factors such as measurement and control technology and economy, all the actual state variables of the power system can not be measured on line. That is, the modeling and control problems of the existing power system are not well solved. Therefore, the fuzzy control technology of the power system becomes a challenging technical problem.
Disclosure of Invention
The invention aims to provide a non-linear multi-machine power system H containing interference∞The output feedback control method can realize the high-performance optimization control target of a multi-machine power system, meet the high safety and high reliability of the operation of a power grid and solve the problems in the background technology.
The invention is realized by the following technical scheme: the output feedback control method of the nonlinear multi-machine power system containing the interference is characterized by comprising the following steps of:
s1, establishing a nonlinear multi-machine power system dynamic equation containing interference;
s2, carrying out local linearization on a nonlinear multi-machine power system kinetic equation, establishing a fuzzy model equation of the multi-machine power system containing the interference based on a fuzzy rule, and obtaining a global fuzzy model of the multi-machine power system containing the interference according to the fuzzy model equation;
s3, designing an output feedback controller of the global fuzzy model;
s4, defining observer errors, event trigger forms, trigger conditions and performance indexes of a multi-machine electric power system containing interference under a zero initial state;
and S5, the output feedback controller performs feedback control on the multi-machine power system according to the event trigger form, the trigger condition and the performance index in the zero initial state, so that the multi-machine power system is gradually stable and meets the condition that the suppression index for external interference is smaller than a reference value, and a group of positive definite symmetric matrix solutions are obtained to ensure that the linear matrix inequality is established.
Preferably, the nonlinear multi-machine power system dynamics equation including the interference is as follows:
whereini(t) is the relative angle between q-axis potentials of the ith equivalent generator, ωi(t) is the speed of the i-th generator, PmiFor the ith generator mechanical power, PeiActive power, ω, for the ith generator0Being synchronous angular velocity, E'qjFor the transient potential of the jth unit synchronous machine, HiIs moment of inertia, DiAs damping coefficient, BijIs the mutual susceptance, T, between the ith node and the jth nodediAs excitation time constant, ugiAnd controlling the electric signal for the ith generator high-pressure servomotor.
Preferably, the fuzzy rule includes a first fuzzy rule and a second fuzzy rule, and a first fuzzy state equation is obtained according to the first fuzzy rule:
zi(t)＝Ci1*xi(t)+Dwi1*wi(t)
yi(t)＝Ei2*xi(t)；
obtaining a second fuzzy state equation according to the second fuzzy rule:
zi(t)＝Ci2*xi(t)+Dwi2*wi(t)
yi(t)＝Ei2*xi(t)；
wherein x isi(t)＝[x1(t) x2(t) x3(t)]TAnd x is1(t)＝i(t)，x2(t)＝ωi(t)，x3(t)＝ Pmi(t)，
Preferably, the output feedback controller is constructed as follows:
wherein KihAnd controlling the static gain feedback matrix in 1-by-3 dimensions.
Preferably, the error of the defined multi-machine power system observer is as follows:
wherein ei(t) observer error of i motor, ej(t) is the observer error for the j motor.
Preferably, the defined multi-machine power system event trigger form is as follows:
wherein the content of the first and second substances,
is an event-triggered version of the motor,
is the event-triggered form of the j motor, tkIs the time when the kth event triggers.
Preferably, the defined multi-machine power system event triggering conditions are as follows:
wherein the value of rho is given according to a high-performance control target of the multi-machine power system, HeAnd HxFor a predetermined momentAnd (5) arraying.
Preferably, the performance indexes of the defined multi-machine power system in the zero initial state are as follows:
where γ is a constant and is a suppression index reference value of the external disturbance.
Preferably, the output feedback controller makes the multi-machine power system meet the condition that the suppression index of the external interference is smaller than the reference value gamma, and obtains a group of positive definite symmetric matrix solutions Pix、PieThe following linear matrix inequality holds:
wherein Qxi＝Pxi -1，Qei＝Pei -1，Hih＝Kih*Qi，i＝1，2，3；i≠j，j＝1，2，3；j≠i， h＝1，2，Ki1、Ki2For a 1-by-3-dimensional control gain matrix, P, corresponding to a fuzzy ruleix、PieAs a 3 x 3 dimensional symmetric positive definite matrix, LijThe gain matrix was observed for 3 x 1.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides an H of a non-linear multi-machine power system containing interference∞The output feedback control method starts with the fuzzy modeling and the optimization control design of the multi-machine power system to carry out the coordinated optimization design, can realize the high-performance optimization control target of the multi-machine power system, and meets the high safety and the high reliability of the power grid operation; meanwhile, the method does not need to obtain accurate mathematical model parameters of the multi-machine power system, has strong stability, reduces system control errors, improves the system control precision, completely meets the high-efficiency requirement of the multi-machine power system on optimized output feedback control, and realizes the improvement of the stability and the reliability of the multi-machine power system.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only preferred embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a flowchart of an output feedback control method of a non-linear multi-machine power system with interference according to the present invention;
fig. 2 is a state response diagram of a first subsystem in a three-machine power system according to an embodiment of the present invention;
FIG. 3 is a control input diagram for a first subsystem of a three-machine power system according to an embodiment of the present invention;
FIG. 4 is an error response diagram of a first subsystem of a three-machine power system according to an embodiment of the present invention;
FIG. 5 is a response diagram of an observer of a first subsystem of a three-machine electrical system according to an embodiment of the present invention;
FIG. 6 is a diagram of the optimized output of the first subsystem of the three-machine power system provided by the embodiment of the invention;
fig. 7 is a diagram of an event trigger signal of a first subsystem of a three-machine power system according to an embodiment of the present invention;
FIG. 8 is a state response diagram of a second subsystem of the three-machine power system provided by the embodiments of the present invention;
FIG. 9 is a control input diagram for a second subsystem of the three-machine power system provided by an embodiment of the present invention;
FIG. 10 is an error response diagram of a second subsystem of a three machine power system according to an embodiment of the present invention;
FIG. 11 is a response diagram of an observer of a second subsystem of a three-machine electrical system according to an embodiment of the present invention;
FIG. 12 is a diagram of the optimized output of the second subsystem of the three-machine power system provided by the embodiment of the invention;
fig. 13 is a diagram of an event trigger signal of a second subsystem of a three-machine power system according to an embodiment of the present invention;
FIG. 14 is a state response diagram of a third subsystem of the three-machine power system provided by the embodiments of the present invention;
FIG. 15 is a control input diagram for a third subsystem of the three-machine power system provided by the present invention;
FIG. 16 is an error response diagram of a third subsystem of a three-machine power system according to an embodiment of the present invention;
FIG. 17 is an observer response diagram for a third subsystem of the three-machine electrical system provided by the embodiment of the present invention;
FIG. 18 is a diagram of an optimized output of a third subsystem of a three-machine power system according to an embodiment of the present invention;
fig. 19 is an event trigger signal of a third subsystem of the three-machine power system according to the embodiment of the present invention.
Detailed Description
In order to better understand the technical content of the invention, specific embodiments are provided below, and the invention is further described with reference to the accompanying drawings.
Referring to fig. 1, the present embodiment provides an output feedback control method for a nonlinear multi-machine power system with interference, wherein the multi-machine power system described in the present embodiment mainly includes a three-machine power system, the three-machine power system mainly includes interference generated after a distributed micro grid is connected to a grid and interference is easily caused when a load end is suddenly increased, the three-machine power system includes three subsystems, and a specific working method for performing feedback control on the three-machine power system including the interference includes the following steps:
s1, establishing a nonlinear multi-machine power system dynamic equation containing interference;
wherein the nonlinear multi-machine power system dynamic equation containing the interference is as follows:
whereini(t) is the relative angle between q-axis potentials of the ith equivalent generator, ωi(t) is the speed of the i-th generator, PmiFor the ith generator mechanical power, PeiActive power, ω, for the ith generator0Being synchronous angular velocity, E'qjFor the transient potential of the jth unit synchronous machine, HiIs moment of inertia, DiAs damping coefficient, BijIs the mutual susceptance, T, between the ith node and the jth nodediAs excitation time constant, ugiAnd controlling the electric signal for the ith generator high-pressure servomotor. In this embodiment, the main technical performance indexes and equipment parameters of the three-machine power system including the stochastic interference are as follows: h1＝47.28s，H2＝12.8s，H3＝6.02s，D1＝ D2＝D3＝1，ω0＝314.16，E′q1＝1.0566，E′q2＝1.0502，E′q3＝1.017，B11＝0.2537，B12＝0.1875，B13＝0.4132，B21＝0.1875，B22＝0.3927，B23＝ 0.2493，B31＝0.4132，B32＝0.2493，B33＝0.0545，Ta1＝8.96s，Td2＝6s， Td3＝5.89s。
S2, carrying out local linearization on the nonlinear kinetic equation, wherein the process is as follows: let xi1(t)＝i(t)， xi2(t)＝ωi(t)，xi3(t)＝Pmmi(t)，
ugi(t)＝ui(t), substituting the above equation into the nonlinear dynamical equation, the following nonlinear system can be obtained:
passing the nonlinear system through the fuzzy ruleConstructing a fuzzy state equation, wherein the fuzzy rules comprise a first fuzzy rule and a second fuzzy rule, and the first fuzzy rule is as follows: when x is11、x21、...、 xi1、xN1When the value is 0, obtaining a first fuzzy state equation according to the first fuzzy rule:
zi(t)＝Ci1*xi(t)+Dwi1*wi(t)
yi(t)＝Ei2*xi(t)；
wherein xN1Indicating rule 1 for the nth motor subsystem.
Wherein the second fuzzy rule is: when x is11、...、x(i-1)1、xi1、x(i+1)1、xN1Is that
And then, obtaining a second fuzzy state equation according to the second fuzzy rule as follows:
zi(t)＝Ci2*xi(t)+Dwi2*wi(t)
yi(t)＝Ei2*xi(t)；
wherein x isi(t)＝[x1(t) x2(t) x3(t)]T，
The parameters in step S1 are substituted to obtain:
B11＝B12＝[0 0 0.1116]T，B21＝B22＝[0 0 0.1666]T，B31＝B32＝ [0 0 0.1698]T；
meanwhile, when taking values, the following values are adopted: c11＝C12＝[0.002 0.001 0.005]，C21＝ C22＝[0.003 0.002 0.004]，C31＝C32＝[0.004 0.003 0.001]，E11＝ E12＝[0 0.01 0.01]，E21＝E22＝[0 0.015 0.015]，E31＝E32＝ [0 0.023 0.02]。
According to the fuzzy model equation, a global fuzzy model of the multi-machine power system with the interference can be obtained as follows:
wherein muilThe function is normalized membership function and has the following characteristics:
μil(xi(t))≥0
αil(xi(t))≥0
wherein h (t) ═ h1(t)，...，hi(t)]tIs a measurable multi-machine power system variable.
S3, designing an output feedback controller of the global fuzzy model, and under the condition that the state is completely measurable, aiming at the global fuzzy model of the multi-machine power system with interference S2, designing the following fuzzy optimization output feedback controller by adopting a Parallel Distribution Compensation (PDC) technology:
wherein KihAnd controlling the static gain feedback matrix in 1-by-3 dimensions.
S4, defining observer errors, event trigger forms and trigger conditions of the multi-machine electric power system containing interference, and performance indexes under a zero initial state;
the error of the multi-machine power system observer defined in this embodiment is:
wherein ei(t) observer error of i motor, ej(t) is the observer error for the j motor.
The event triggering mode of the multi-machine power system defined in the present embodiment is as follows:
wherein the content of the first and second substances,
is an event-triggered version of the motor,
is the event-triggered form of the j motor, tkIs the time when the kth event triggers.
The event triggering conditions of the multi-machine power system defined in the present embodiment are as follows:
wherein the value of rho is given according to a high-performance control target of the multi-machine power system and can be set according to use experience, HeAnd HxFor the predetermined matrix, H is set in this embodimente＝Kih，Hx＝Pi。
The performance indexes of the multi-machine power system defined in this embodiment in the zero initial state are as follows:
where γ is a constant and is a reference value of the suppression index of the external interference, and γ is 1.019 in this embodiment.
S5, the output feedback controller performs feedback control on the multi-machine power system according to the event trigger form, the trigger condition and the performance index in the zero initial state, so that the multi-machine power system is gradually stable and meets the condition that the suppression index for external interference is smaller than a reference value, and a set of positive definite symmetric matrix solutions are obtained to ensure that a linear matrix inequality is established;
substituting the parameters of the steps S1-S5 into the following linear matrix inequality, and simultaneously substituting the following 1 × 3 dimensional control gain matrix into the linear matrix inequality:
K11＝[-650.7841-311.2475-86.6217]
K12＝[-646.6218-309.2884-86.0745]
K21＝[-773.4317-319.0203-126.3030]
K22＝[-2849.7561-318.5845-126.1276]
K31＝[-2882.3376-1575.7250-530.6744]
K32＝[-2849.7561-1557.9293-524.6849]substituting the following 3 x 1 observation gain matrix Lij：
L11＝[-482.5814 2293.3637 1138.0938]T
L12＝[-487.2796 2308.4109 1145.5453]T
L21＝[11.0009 79.4495 14.6765]T
L22＝[10.9704 81.5276 14.9232]T
L31＝[23.0283 218.1034 183.5780]T
L32＝[21.8803 220.9064 184.4861]T
In the above formula, Qxi＝Pxi -1，Qei＝Pei -1，Hih＝Kih*Qi，i＝1，2，3；i≠j， j＝1，2，3；j≠i，h＝1，2。
When the linear matrix inequality is established as above, the following 3 x 3 dimensional symmetric positive definite matrix solution P can be obtainedix、Pie：
The effectiveness of the present invention is discussed by combining the parameter data and fig. 2-19, fig. 2-19 show a state response curve chart, and it can be seen from the curve chart that each parameter starts to fluctuate greatly at the moment when the three-machine power system is interfered, but the fluctuation range of each parameter is obviously reduced after 1s and tends to be stable, and each parameter is basically stable after 1.5-2 s; 2-19, it can be seen from the error response curves and observer response curves that the error of the three-machine electric system can be eliminated basically within 1-2s, and it can be proved that the control method has the function of adjusting the error in a short time; in addition, it can be seen from the control response curves and the optimized output curves of fig. 2-19 that the relevant parameters are stable within 0.5-1s, and the system is proved to have strong anti-interference capability; finally, it can be seen from the event trigger curves of fig. 2-19 that under the action of event trigger, when the actual value exceeds the preset value, the system will automatically adjust to perform effective control. As can be seen from fig. 2 to fig. 19, the method of the present invention effectively suppresses the influence of external interference on the power system, and finally improves the anti-interference capability of the power system, thereby achieving the goal of improving the stability and efficiency of the power system.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. The output feedback control method of the nonlinear multi-machine power system containing the interference is characterized by comprising the following steps of:
s1, establishing a nonlinear multi-machine power system dynamic equation containing interference;
s2, carrying out local linearization on a nonlinear multi-machine power system kinetic equation, establishing a fuzzy model equation of the multi-machine power system containing the interference based on a fuzzy rule, and obtaining a global fuzzy model of the multi-machine power system containing the interference according to the fuzzy model equation;
s3, designing an output feedback controller of the global fuzzy model;
s4, defining observer errors, event trigger forms and trigger conditions of the multi-machine electric power system containing interference, and performance indexes under a zero initial state;
and S5, the output feedback controller performs feedback control on the multi-machine power system according to the event trigger form, the trigger condition and the performance index in the zero initial state, so that the multi-machine power system is gradually stable and meets the condition that the suppression index for external interference is smaller than a reference value, and a group of positive definite symmetric matrix solutions are obtained to ensure that the linear matrix inequality is established.
2. The output feedback control method of the nonlinear multi-machine power system with the disturbance according to claim 1, wherein the nonlinear multi-machine power system dynamics equation with the disturbance is as follows:
whereini(t) is the relative angle between q-axis potentials of the ith equivalent generator, ωi(t) is the speed of the i-th generator, PmiFor the ith generator mechanical power, PeiActive power, ω, for the ith generator0Being synchronous angular velocity, E'qjFor the transient potential of the jth unit synchronous machine, HiIs moment of inertia, DiAs damping coefficient, BijIs the mutual susceptance, T, between the ith node and the jth nodediAs excitation time constant, ugiAnd controlling the electric signal for the ith generator high-pressure servomotor.
3. The output feedback control method of the nonlinear multi-machine power system with disturbance according to claim 2, wherein the fuzzy rule comprises a first fuzzy rule and a second fuzzy rule, and a first fuzzy state equation is obtained according to the first fuzzy rule:
zi(t)＝Ci1*xi(t)+Dwi1*wi(t)
yi(t)＝Ei2*xi(t)；
obtaining a second fuzzy state equation according to the second fuzzy rule:
zi(t)＝Ci2*xi(t)+Dwi2*wi(t)
yi(t)＝Ei2*xi(t)；
wherein x isi(t)＝[x1(t) x2(t) x3(t)]TAnd x is1(t)＝i(t)，x2(t)＝ωi(t)，x3(t)＝Pmi(t)，
4. The output feedback control method of the nonlinear multi-machine power system with the disturbance according to claim 3, wherein the constructed output feedback controller is:
wherein KihAnd controlling the static gain feedback matrix in 1-by-3 dimensions.
5. The method as claimed in claim 4, wherein the error of the observer of the multi-machine power system is defined as:
wherein ei(t) observer error of i motor, ej(t) is the observer error for the j motor.
6. The method as claimed in claim 5, wherein the event trigger of the multi-machine power system is defined as:
wherein the content of the first and second substances,
is an event-triggered version of the motor,
is the event-triggered form of the j motor, tkIs the time when the kth event triggers.
7. The method as claimed in claim 6, wherein the defined multi-machine power system event triggering condition is:
wherein the value of rho is given according to a high-performance control target of the multi-machine power system, HeAnd HxIs a preset matrix.
8. The method as claimed in claim 7, wherein the performance index of the multi-machine power system in the zero initial state is defined as:
where γ is a constant and is a suppression index reference value of the external disturbance.
9. The method as claimed in claim 8, wherein the output feedback controller makes the multi-machine power system satisfy the suppression index of external interference smaller than the reference value γ, and obtains a set of positive definite symmetric matrix solutions Pix、PieThe following linear matrix inequality holds:
wherein Q isxi＝Pxi -1，Qei＝Pei -1，Hih＝Kih*Qi，i＝1，2，3；i≠j，j＝1，2，3；j≠i，h＝1，2，Ki1、Ki2For a 1-by-3-dimensional control gain matrix, P, corresponding to a fuzzy ruleix、PieIs a 3 x 3 dimensional symmetrical positive definite matrix, N is the number of subsystems of the multi-machine power system, LijThe gain matrix was observed for 3 x 1.
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| CN113410851A (en) * | 2021-05-28 | 2021-09-17 | 杭州电子科技大学 | Self-adaptive valve control method of nonlinear power system |
| CN113410851B (en) * | 2021-05-28 | 2022-03-15 | 杭州电子科技大学 | Self-adaptive valve control method of nonlinear power system |
| CN113642143A (en) * | 2021-06-16 | 2021-11-12 | 南方电网能源发展研究院有限责任公司 | Power system control method and device, computer equipment and storage medium |
| CN113765451A (en) * | 2021-08-18 | 2021-12-07 | 南方电网能源发展研究院有限责任公司 | Control method of three-unit power system based on output feedback and computer equipment |
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