CN111665721A - 用于脉冲功率负载调节的飞轮储能控制系统设计方法 - Google Patents
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Abstract
本发明公开了一种用于脉冲功率负载调节的飞轮储能控制系统设计方法,包括以下步骤:①、将原始的非线性舰船电源系统SPS转换为无约束的等效模型,转换后的等效模型的系统稳定性等同于原始非线性舰船电源系统SPS的瞬态稳定性和瞬态性能;②、利用反推的方法,分别针对等效模型中的发电控制系统和充电控制系统设定相应的自适应控制器;③、借助标准的Lyapunov方法,证明所有闭环信号都是有界的。采用本发明的设计方法使得舰船电源系统SPS的总体控制问题被建模为约束控制问题,通过模型转换和高级控制设计,可以在飞轮储能系统FESS的快速充电的同时将其对系统频率的干扰降至最低,从而确保飞轮储能系统FESS的瞬态响应保持在用户定义的时变范围内。
Description
技术领域
本发明涉及飞轮储能控制系统技术领域,确切地说是涉及一种用于脉冲功率负载调节的飞轮储能控制系统设计方法。
背景技术
现如今的军用舰船上安装了许多先进的设施,包括轨道炮、飞机发射器和其他一些脉冲功率负载PPL。在使用PPL的过程中,在很短的时间内就需要大量的能量。与地面电源系统不同,一旦触发PPL,舰船的电源系统SPS就无法保持恒定的频率和电压输出。由于发电功率和斜坡率的限制,同步发电机SG无法提供足够的电能来满足PPL的瞬时能量需求。因此,如果将PPL直接连接到SPS,则可能会发生SPS的系统范围的不稳定性。
为了保证PPL直接连接到SPS时,SPS的系统的稳定性。作为储能系统ESS的重要类别,飞轮储能系统FESS是PPL容纳的理想来源。通过足够充电的FESS为PPL供电,可以避免PPL对SPS的负面影响,但目前尚缺乏用飞轮储能系统FESS为脉冲功率负载PPL稳定供电的控制方法。
发明内容
本发明的目的是:针对现有技术的不足,提供一种用于脉冲功率负载调节的飞轮储能控制系统设计方法,以实现FESS的快速充电并同时将其对系统频率的干扰降至最低,确保瞬态响应保持在用户定义的时变范围内。
本发明的技术方案是:一种用于脉冲功率负载调节的飞轮储能控制系统设计方法,包括以下步骤:
①、将原始的非线性舰船电源系统SPS转换为无约束的等效模型,转换后的等效模型的系统稳定性等同于原始非线性舰船电源系统SPS的瞬态稳定性和瞬态性能;
②、利用反推的方法,分别针对等效模型中的发电控制系统和充电控制系统设定相应的自适应控制器,使得变换后的系统稳定性得到保证;
③、借助标准的Lyapunov方法,证明所有闭环信号都是有界的。
进一步的,所述的步骤①中,SPS等效模型包含发电控制系统和充电控制系统,其中,发电控制系统的简单SG模型为:
充电控制系统中的SPM永磁电机和飞轮建立动力学模型为:
式中:f是系统频率;PM是机械输入功率;PL为剩余总负载和有功功率损耗;PFESS是馈入电流的电能;Vpm和Ipm分别是定子电压和电流的矢量;Λpm是SPM电机磁链的向量;L为SPM电机定子电感;TL为负载转矩,充电过程中为0;B是位置阻尼系数;k为未知常数
在所述步骤②中,发电控制系统的Lyapunov函数为:
充电控制系统中对转速控制的Lyapunov函数为:
对d轴电流id控制的Lyapunov函数为:
式(5)-(7)中,θ1,θ2,θ3,θ4,θ5均为自适应调优变量;
在所述的步骤③中,整体的Lyapunov函数为:
V=V12+V24+V32 (8)
其时间导数为:
设定在式(8)中Lyapunov函数是正定的,且其对时间的导函数为正半定,进而可以进一步的推导得出所有闭环信号都是有界的,从而可以始终保证原始的非线性舰船电源系统SPS的时变输出受约束。
本发明的有益效果是:采用本发明的设计方法使得总体控制问题被建模为约束控制问题,通过模型转换和高级控制设计,其设计出的飞轮储能控制系统可以克服现有控制方法的不足,在飞轮储能系统FESS的快速充电的同时将其对系统频率的干扰降至最低,从而确保飞轮储能系统FESS的瞬态响应保持在用户定义的时变范围内,本发明实用性强,易于实现。
附图说明
图1为使用飞轮储能系统FESS简化了的非线性舰船电源系统SPS拓扑示意图;
图2为图1中发电控制系统的控制原理框图;
图3为图1中充电控制系统的控制原理框图。
具体实施方式
本发明提供了一种用于脉冲功率负载调节的飞轮储能控制系统设计方法,其包括以下步骤:
①、将原始的非线性舰船电源系统SPS转换为无约束的等效模型,转换后的等效模型的系统稳定性等同于原始非线性舰船电源系统SPS的瞬态稳定性和瞬态性能;
②、利用反推的方法,分别针对等效模型中的发电控制系统和充电控制系统设定相应的自适应控制器,使得变换后的系统稳定性得到保证;
③、借助标准的Lyapunov方法,证明所有闭环信号都是有界的。
下面结合附图对本发明作更进一步的说明。
在步骤①中,将原始的非线性舰船电源系统SPS转换为无约束的等效模型,其使用飞轮储能系统FESS简化了的非线性舰船电源系统SPS拓扑图如图1所示,为建立发电控制系统,简单SG模型为:
充电控制系统中的SPM永磁电机和飞轮建立动力学模型为:
式中:f是系统频率;PM是机械输入功率;PL为剩余总负载和有功功率损耗;PFESS是馈入电流的电能;Vpm和Ipm分别是定子电压和电流的矢量;Λpm是SPM电机磁链的向量;L为SPM电机定子电感;TL为负载转矩,充电过程中为0;B是位置阻尼系数;k为未知常数
在步骤②中,其利用反推的方法,分别针对等效模型中的发电控制系统和充电控制系统设定相应的自适应控制器,其中,发电控制系统的控制原理框图如图2所示,该发电控制系统的Lyapunov函数为:
充电控制系统的控制原理框图如图3所示,该充电控制系统对转速控制的Lyapunov函数为:
对d轴电流id控制的Lyapunov函数为:
式(5)-(7)中,θ1,θ2,θ3,θ4,θ5均为自适应调优变量;
在所述的步骤③中,需借助标准的Lyapunov方法,证明所有闭环信号都是有界的,这可以始终保证原始系统的时变输出约束,包括发电机惯性常数和飞轮参数在内的未知系统参数也可通过在线自适应定律进行补偿,而无需离线训练阶段。其整体的Lyapunov函数为:
V=V12+V24+V32 (8)
其时间导数为:
设定在式(8)中Lyapunov函数是正定的,且其对时间的导函数为正半定,进而可以进一步的推导得出所有闭环信号都是有界的,从而可以始终保证原始的非线性舰船电源系统SPS的时变输出受约束。
采用本发明的设计方法使得舰船电源系统SPS的总体控制问题被建模为约束控制问题,通过模型转换和高级控制设计,其设计出的飞轮储能控制系统可以克服现有控制方法的不足,在飞轮储能系统FESS的快速充电的同时将其对系统频率的干扰降至最低,从而确保飞轮储能系统FESS的瞬态响应保持在用户定义的时变范围内,本发明实用性强,易于实现。
应当指出,对于本技术领域的普通技术人员来说,在不脱离本发明原理的前提下,还可以做出若干改进和润饰,这些改进和润饰也应视为本发明的保护范围。本实施例中未明确的各组成部分均可用现有技术加以实现。
Claims (2)
1.一种用于脉冲功率负载调节的飞轮储能控制系统设计方法,其特征在于,包括以下步骤:
①、将原始的非线性舰船电源系统SPS转换为无约束的等效模型,转换后的等效模型的系统稳定性等同于原始非线性舰船电源系统SPS的瞬态稳定性和瞬态性能;
②、利用反推的方法,分别针对等效模型中的发电控制系统和充电控制系统设定相应的自适应控制器,使得变换后的系统稳定性得到保证;
③、借助标准的Lyapunov方法,证明所有闭环信号都是有界的。
2.根据权利要求1所述的用于脉冲功率负载调节的飞轮储能控制系统设计方法,其特征在于,所述的步骤①中,SPS等效模型包含发电控制系统和充电控制系统,其中,发电控制系统的简单SG模型为:
充电控制系统中的SPM永磁电机和飞轮建立动力学模型为:
式中:f是系统频率;PM是机械输入功率;PL为剩余总负载和有功功率损耗;PFESS是馈入电流的电能;Vpm和Ipm分别是定子电压和电流的矢量;Λpm是SPM电机磁链的向量;L为SPM电机定子电感;TL为负载转矩,充电过程中为0;B是位置阻尼系数;k为未知常数
在所述步骤②中,发电控制系统的Lyapunov函数为:
充电控制系统中对转速控制的Lyapunov函数为:
对d轴电流id控制的Lyapunov函数为:
式(5)-(7)中,θ1,θ2,θ3,θ4,θ5均为自适应调优变量;
在所述的步骤③中,整体的Lyapunov函数为:
V=V12+V24+V32 (8)
其时间导数为:
设定在式(8)中Lyapunov函数是正定的,且其对时间的导函数为正半定,进而可以进一步的推导得出所有闭环信号都是有界的,从而可以始终保证原始的非线性舰船电源系统SPS的时变输出受约束。
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