CN112039084B - Improved second-order sliding mode control method for synchronous static compensator - Google Patents

Improved second-order sliding mode control method for synchronous static compensator Download PDF

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CN112039084B
CN112039084B CN202010642043.5A CN202010642043A CN112039084B CN 112039084 B CN112039084 B CN 112039084B CN 202010642043 A CN202010642043 A CN 202010642043A CN 112039084 B CN112039084 B CN 112039084B
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controller
sliding mode
current
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order
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CN112039084A (en
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林文威
董敏
何顺勇
黄晓波
刘舒怡
张�浩
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State Grid Zhejiang Ruian Power Supply Co ltd
Wenzhou Power Supply Co of State Grid Zhejiang Electric Power Co Ltd
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Wenzhou Power Supply Co of State Grid Zhejiang Electric Power Co Ltd
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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
    • H02J3/18—Arrangements for adjusting, eliminating or compensating reactive power in networks
    • H02J3/1821—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators
    • 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
    • H02J3/26—Arrangements for eliminating or reducing asymmetry in polyphase networks
    • 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
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/381—Dispersed generators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
    • Y02E40/30—Reactive power compensation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
    • Y02E40/50—Arrangements for eliminating or reducing asymmetry in polyphase networks

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Supply And Distribution Of Alternating Current (AREA)
  • Control Of Electrical Variables (AREA)

Abstract

The invention relates to an improved second-order sliding mode control method of a synchronous static compensator, which adopts a reactive current controller and a direct-current side capacitor voltage controller, wherein the reactive current controller adopts a sliding mode controller designed based on a supercoiling algorithm, a linear compensation term is introduced into a low-order term, and the reactive current controller is improved; the direct-current side capacitor voltage controller adopts a sliding mode controller designed based on a supercoiling algorithm, and the designed sliding mode surface is
Figure DDA0002571507440000011
The low-order term and the high-order term are respectively introduced into a linear compensation term and a direct-current side capacitor voltage controller. The advantages are that: the synchronous static compensator control system has the advantages that the accurate control of reactive compensation current is realized, the vibration output is avoided, the dynamic response capability of the reactive compensation current is improved, the dynamic response capability of the capacitor voltage on the direct current side of the step compensator is improved, the vibration output is reduced, the two controllers are applied to the synchronous static compensator control system, the voltage at the public coupling part can be quickly and stably controlled, the voltage overshoot is reduced, and the system robustness is enhanced.

Description

Improved second-order sliding mode control method for synchronous static compensator
Technical Field
The invention relates to an improved second-order sliding mode control method for a synchronous static compensator.
Background
The synchronous static compensator is a new reactive compensator using voltage-type or current-type three-phase bridge converter as core. The static var compensator has the functions of reactive compensation, voltage flicker suppression, three-phase imbalance and the like, and has the advantages of wide operation range, compact structure, rapid reactive compensation, difficult resonance generation and the like compared with the traditional static var compensator, so that the static var compensator becomes a hotspot in the field of flexible alternating current transmission of a power system.
The control system becomes the key influencing the running characteristic of the synchronous static compensator. The inverse system method can perform linear decoupling of the original system, and the PI controller is introduced to realize active current and reactive current decoupling, but the inverse system method has the defects of low control precision and poor disturbance resistance. The sliding mode can realize the nonlinear control of the current and the direct current voltage of the synchronous static compensator, and the traditional first-order sliding mode has the problems of discontinuous control and inherent buffeting, thereby influencing the control effect of the system. The high-order sliding mode can eliminate buffeting generated by switching of a traditional sliding mode control system, the linear compensation term can improve the convergence speed of the system when the system is far away from a balance point, the output shake is reduced, and the robustness of the system is enhanced.
Disclosure of Invention
The invention aims to provide an improved second-order sliding mode control method for a synchronous static compensator, which can effectively solve the problems.
In order to solve the technical problems, the invention is realized by the following technical scheme: a synchronous static compensator improves the control method of the second order sliding mode, adopt reactive current controller and direct current side capacitor voltage controller, it adopts sliding mode controller based on that the algorithm of the supercoiling is designed to control it of said reactive current, the low order term introduces the linear compensation term, improve the reactive current controller; direct current side capacitor voltage controller designed based on supercoiling algorithmThe sliding mode controller is designed with a sliding mode surface
Figure GDA0003690197060000021
The low-order term and the high-order term are respectively introduced into a linear compensation term and a direct-current side capacitor voltage controller.
Preferably, the sliding mode surfaces of the reactive current controller and the direct current side capacitor voltage controller are respectively designed to be s 1 、s 2 ：
Figure GDA0003690197060000022
Wherein the content of the first and second substances,
Figure GDA0003690197060000023
for a target reactive current, I eq For actual reactive current, e 1 The difference value of the two values;
Figure GDA0003690197060000024
is a DC side capacitor voltage target value, U dc Is the actual DC side capacitor voltage, e 2 The difference between the two values.
Preferably, the reactive current controller is designed to:
Figure GDA0003690197060000025
wherein sign(s) 1 ) As a function of the sign, γ 1 、λ 1 、λ 2 、λ 3 As a controller parameter, λ 3 s 1 Is a linear compensation term of a reactive current controller, v 1 Is a process control quantity.
Preferably, the dc-side capacitive current controller is designed to:
Figure GDA0003690197060000026
wherein sign(s) 2 ) As a function of the sign, γ 2 、λ 4 、λ 5 、λ 6 As a controller parameter, λ 7 s 2 Is a high-order linear compensation term of a DC side capacitance current controller, lambda 5 s 2 Is a linear compensation term of low order, v 2 Is a process control quantity.
Preferably, the control input U ═ U 1 u 2 ] T ＝[S d S q ] T Output Y ═ Y 1 y 2 ] T ＝[i q U dc ] T Control of
The input quantities found by the machine may be expressed as follows:
Figure GDA0003690197060000031
wherein, the first and the second end of the pipe are connected with each other,
Figure GDA0003690197060000032
u d and u q D-axis voltage and q-axis voltage at PCC are respectively; i.e. i d And i q D, q-axis currents, U, at PCC dc Is the dc side capacitor voltage.
Compared with the prior art, the invention has the advantages that:
1. the invention designs a reactive current controller of a synchronous static compensator, which realizes the accurate control of reactive compensation current, has no trembling output and improves the dynamic response capability of the reactive compensation current.
2. The invention designs a capacitor voltage controller on the direct current side of a synchronous static compensator, which improves the dynamic response capability of the capacitor voltage on the direct current side of the synchronous static compensator and reduces output shake.
3. The two controllers are applied to a synchronous static compensator control system, so that the voltage at the common coupling part can be quickly stabilized, the voltage overshoot is reduced, and the system robustness is enhanced.
Drawings
FIG. 1 is a schematic diagram of a synchronous statics circuit topology;
FIG. 2 is a schematic diagram of a synchronous static compensator controller in accordance with the present invention;
FIG. 3 is a DC side voltage simulation waveform for improved second order sliding mode control;
FIG. 4 is a reactive compensation current simulation waveform for improved second order sliding mode control in the case of a sudden change in voltage;
fig. 5 is a dc-side voltage simulation waveform for improved second-order sliding-mode control in the case of a sudden voltage change.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Fig. 1 is a schematic diagram of a circuit topology structure of a synchronous static compensator, a three-phase inverter is composed of 6 insulated gate bipolar transistors, Ug is a grid voltage, Uea, Ueb, and Uec are A, B, C phase voltages at a common coupling position respectively, I1a, I1b, and I1C are A, B, C phase currents respectively, Isa, Isb, and Isc are A, B, C phase compensation currents respectively, Udc is a direct current side capacitor voltage value, C is a direct current filter capacitance value, Ua, Ub, and Uc invert alternating current voltages, and L, R are a connection inductor and a resistance respectively. And the inverter injects reactive current into the power grid through the filter device and the transformer according to the running condition of the power grid and the controller.
For the synchronous static compensator reactive current controller shown in fig. 1 to 5, PARK transformation is performed on the alternating-current side voltage and the reactive compensation current, and a PARK transformation matrix is as follows:
Figure GDA0003690197060000041
to obtain u d And u q Is d, q-axis voltage at PCC; i.e. i d And i q Is the d, q-axis current at PCC.
Design of the controller is made with reference to the controller schematic diagram of the synchronous static compensator of FIG. 2, the common cross-point q-axis voltage U eq And a reference voltage U eq * The error of the q-axis target reactive current I is output by a PI controller eq * Adopting a supercoiling design synchronous static compensator reactive current controller, selecting a sliding mode surface as follows:
s 1 ＝e 1
wherein e 1 For reactive current error:
Figure GDA0003690197060000042
Figure GDA0003690197060000043
for a target reactive current, I eq Is the actual reactive current.
Introducing a linear compensation term λ 3 s 1 And improving a supercoiling algorithm, and designing a reactive current controller as follows:
Figure GDA0003690197060000051
wherein sign(s) 1 ) As a function of the sign, γ 1 、λ 1 、λ 2 、λ 3 As a controller parameter, v 1 Is a process control quantity.
And, adopt the idle current controller of the synchronous static compensator of the superspiral design, choose the slip form face to be:
Figure GDA0003690197060000052
wherein e 2 For dc side capacitance voltage error:
Figure GDA0003690197060000053
Figure GDA0003690197060000054
is a DC side capacitor voltage target value, U dc For actual DC side capacitive electricityAnd (6) pressing.
Introducing linear compensation term lambda into high-order term of supercoiling algorithm 7 s 2 Linear compensation term of lower order term 5 s 2 And improving a supercoiling algorithm, and designing a direct current side capacitor voltage controller as follows:
Figure GDA0003690197060000055
wherein sign(s) 2 ) As a function of the sign, γ 2 、λ 4 、λ 5 、λ 6 As a controller parameter, v 2 Is a process control quantity.
The input quantities determined by the controller can be expressed as follows:
Figure GDA0003690197060000056
wherein the content of the first and second substances,
Figure GDA0003690197060000057
u d and u q D-axis voltage and q-axis voltage at PCC are respectively; i.e. i d And i q D, q-axis currents, U, at the common coupling dc Is the DC side capacitor voltage u 1 、u 2 Respectively the control input of the reactive current and the voltage of the direct current capacitor.
Obtaining switching function S on inverter A, B, C phase by inverse PARK conversion a 、S b 、S c And the effective control of the synchronous static compensator is realized through an SVPWM control strategy.
Figure GDA0003690197060000061
Finally, the control method is verified through a SIMLINK simulation platform, and the direct-current voltage U of the synchronous static compensator obtained by adopting the controller of the invention dc Voltage U at common coupling eq Reactive current I q The effectiveness and the advantages of the invention are verifiedThe better the nature.
The above description is only an embodiment of the present invention, but the technical features of the present invention are not limited thereto, and any changes or modifications within the technical field of the present invention by those skilled in the art are covered by the claims of the present invention.

Claims (4)

1. An improved second-order sliding mode control method for a synchronous static compensator adopts a reactive current controller and a direct current side capacitor voltage controller, and is characterized in that: the reactive current control adopts a sliding mode controller designed based on a supercoiling algorithm, a linear compensation term is introduced into a low-order term, and the reactive current controller is improved; the direct-current side capacitor voltage controller adopts a sliding mode controller designed based on a supercoiling algorithm, and the designed sliding mode surface is
Figure FDA0003690197050000011
Linear compensation terms are respectively introduced into the low-order terms and the high-order terms; the sliding mode surfaces of the reactive current controller and the direct current side capacitor voltage controller are respectively designed to be s 1 、s 2 ：
Figure FDA0003690197050000012
Wherein the content of the first and second substances,
Figure FDA0003690197050000013
for a target reactive current, I eq For actual reactive current, e 1 The difference value of the two values;
Figure FDA0003690197050000014
is a DC side capacitor voltage target value, U dc Is the actual DC side capacitor voltage, e 2 The difference between the two values.
2. The improved second-order sliding-mode control method for the synchronous static compensator according to claim 1, characterized in that: the reactive current controller is designed as follows:
Figure FDA0003690197050000015
wherein sign(s) 1 ) As a function of the sign, γ 1 、λ 1 、λ 2 、λ 3 As a controller parameter, λ 3 s 1 Is a linear compensation term of a reactive current controller, v 1 Is a process control quantity.
3. The improved second-order sliding-mode control method for the synchronous static compensator according to claim 2, characterized in that: the DC side capacitance current controller is designed as follows:
Figure FDA0003690197050000016
wherein sign(s) 2 ) As a function of the sign, γ 2 、λ 4 、λ 5 、λ 6 As a controller parameter, λ 7 s 2 Is a high-order linear compensation term of a DC side capacitance current controller, lambda 5 s 2 Linear compensation term of low order, v 2 Is a process control quantity.
4. The improved second-order sliding-mode control method of the synchronous static compensator according to claim 3, characterized in that: control input U ═ U 1 u 2 ] T ＝[S d S q ] T Output Y ═ Y 1 y 2 ] T ＝[i q U dc ] T The input quantity found by the controller may be expressed as follows:
Figure FDA0003690197050000021
wherein the content of the first and second substances,
Figure FDA0003690197050000022
u d and u q D-axis voltage and q-axis voltage at PCC are respectively; i.e. i d And i q D, q-axis currents, U, at PCC dc The dc side capacitor voltage, C the dc filter capacitance, and L, R the connecting inductor and resistor, respectively.
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Citations (2)

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CN109495048A (en) * 2018-11-26 2019-03-19 天津大学 Permanent magnet synchronous motor Speed Sensorless Control Method based on MRAC observer

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CN105977996A (en) * 2016-06-17 2016-09-28 江苏科技大学 DSP-based static var generator control system and control method
CN109164702A (en) * 2018-07-26 2019-01-08 西北工业大学 A kind of adaptive Multivariable Generalized supercoil method

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