CN112436520A - Alternating current power spring feedback linearization decoupling control method - Google Patents

Alternating current power spring feedback linearization decoupling control method Download PDF

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CN112436520A
CN112436520A CN202011359946.9A CN202011359946A CN112436520A CN 112436520 A CN112436520 A CN 112436520A CN 202011359946 A CN202011359946 A CN 202011359946A CN 112436520 A CN112436520 A CN 112436520A
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alternating current
power spring
current power
feedback linearization
decoupling
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CN112436520B (en
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薛花
王育飞
钦佳南
张晓雯
凌晨
张宇华
于艾清
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Shanghai Electric Power University
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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
    • H02J3/12—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load
    • H02J3/14—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load by switching loads on to, or off from, network, e.g. progressively balanced loading
    • H02J3/144—Demand-response operation of the power transmission or distribution network
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/18—Network design, e.g. design based on topological or interconnect aspects of utility systems, piping, heating ventilation air conditioning [HVAC] or cabling
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    • G06F2113/04—Power grid distribution 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
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Abstract

The invention discloses an alternating current power spring feedback linearization decoupling control method, which comprises the steps of constructing an alternating current power spring dynamic model under a dq rotating coordinate system according to an alternating current micro-grid structure containing alternating current power springs; according to the alternating current power spring dynamic model, building an alternating current power spring two-input and two-output plum derivative affine model; combining the lie derivative affine model to construct a decoupling matrix and a state transformation matrix, and solving a feedback linearization control law; and constructing a power loop PI controller, and dynamically adjusting the alternating current power spring by combining the alternating current power spring dynamic model. The invention aims at the strong coupling and nonlinear characteristics of the alternating current power spring, realizes the complete decoupling and complete linearization control of the alternating current power spring, simplifies the design of a power controller, and has the characteristics of good dynamic performance and wide stable field.

Description

Alternating current power spring feedback linearization decoupling control method
Technical Field
The invention relates to the technical field of operation and control of a power system, in particular to an alternating current power spring feedback linearization decoupling control method.
Background
With the popularization and application of green power, renewable energy sources such as wind energy and solar energy are connected to an alternating current micro-grid on a large scale, but the fluctuation and randomness of high-permeability renewable energy source power generation bring the problems of electric energy quality such as alternating current micro-grid bus voltage fluctuation and active power harmonic wave.
The alternating current power spring is used as a new demand side management technology, and can effectively inhibit active power fluctuation of an alternating current micro-grid caused by power generation of high-permeability renewable energy sources; however, the alternating current power spring is a typical strong coupling and nonlinear object, the traditional vector decoupling control depends on model local linearization, the dynamic adjustment of the alternating current power spring is realized by combining with a PI controller, a part of coupling still exists in the system to influence the control performance, the complexity of the design of the power controller is increased, the stable domain is not wide, and the precise control of the power in a wide range is difficult to realize.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The present invention has been made in view of the above-mentioned conventional problems.
Therefore, the invention provides an alternating current power spring feedback linearization decoupling control method, which can solve the problem of poor power control effect in a wide range.
In order to solve the technical problems, the invention provides the following technical scheme: constructing an alternating current power spring dynamic model under a dq rotating coordinate system according to an alternating current micro-grid structure containing alternating current power springs; according to the alternating current power spring dynamic model, building an alternating current power spring two-input and two-output plum derivative affine model; combining the lie derivative affine model to construct a decoupling matrix and a state transformation matrix, and solving a feedback linearization control law; and constructing a power loop PI controller, and dynamically adjusting the alternating current power spring by combining the alternating current power spring dynamic model.
As a preferable scheme of the alternating current power spring feedback linearization decoupling control method, the method comprises the following steps: the alternating current power spring dynamic model comprises,
Figure BDA0002803715700000021
wherein, the coefficient matrix A1＝ZC/LG(ZC+ZNC)，A2＝(RGZC+ZCZNC+RGZNC)/LG(ZC+ZNC)，A3＝1/LG，id、iqD, q components, v, of the AC bus current iES，d、vES，qRespectively, an AC power spring output voltage vESD, q components of (v)G，d、vG，qRespectively, a.c. microgrid supply voltage vGD, q components of (a), ω being the system angular frequency, ZCIs a critical load impedance, ZNCIs a non-critical load impedance, RGIs a line equivalent resistance, LGIs the equivalent inductance of the line.
As a preferable scheme of the alternating current power spring feedback linearization decoupling control method, the method comprises the following steps: the two-input and two-output litude derivative affine model of the alternating current power spring comprises,
Figure BDA0002803715700000022
where h (x) is an output function, h (x) is [ h1(x)h2(x)]T＝[id iq]T(ii) a (x) is a coupling function of (f),
Figure BDA0002803715700000023
g is an affine function and the function is,
Figure BDA0002803715700000024
u is the dynamic model input variable, u ═ u1 u2]T＝[vES，d vES，q]T(ii) a x is a dynamic model state variable, x ═ id iq]T(ii) a y is the dynamic model output variable, y ═ y1 y2]T＝[id iq]T。
As a preferable scheme of the alternating current power spring feedback linearization decoupling control method, the method comprises the following steps: the construction of the decoupling matrix comprises defining hi(x) First order lie derivatives L with respect to said f (x)fhi(x) Comprises the following steps:
Figure BDA0002803715700000025
defining said Lfhi(x) First order lie derivative L with respect to said ggLfhi(x) Comprises the following steps:
Figure BDA0002803715700000026
constructing the decoupling matrix E:
Figure BDA0002803715700000027
wherein, γ1、γ2Are respectively the h1(x)、h2(x) The relative order of the two or more of the first,
Figure BDA0002803715700000031
is Lfh1(x) With respect to g1Of (gamma)1-1) a derivative of lie of order,
Figure BDA0002803715700000032
is said Lfh1(x) With respect to g2Of (gamma)1-1) a derivative of lie of order,
Figure BDA0002803715700000033
is Lfh2(x) With respect to g1Of (gamma)2-1) a derivative of lie of order,
Figure BDA0002803715700000034
is said Lfh2(x) With respect to g2Of (gamma)2-1) lie derivatives of order.
As a preferable scheme of the alternating current power spring feedback linearization decoupling control method, the method comprises the following steps: when the decoupling matrix and the alternating current power spring coupling model are jointly observed, the alternating current power spring can be equivalent to a fully decoupled d-q two-phase current integrator, and therefore complete decoupling control of the alternating current power spring is completed.
As a preferable scheme of the alternating current power spring feedback linearization decoupling control method, the method comprises the following steps: the state transition matrix comprises a matrix of state transitions,
Figure BDA0002803715700000035
wherein T (x) is the state transition matrix,
Figure BDA0002803715700000036
is the h1(x) γ with respect to said f (x)1The derivative of the order of the lie is,
Figure BDA0002803715700000037
is the h2(x) γ with respect to said f (x)2The derivative of the order lie.
As a preferable scheme of the alternating current power spring feedback linearization decoupling control method, the method comprises the following steps: the feedback-linearized control law includes,
u＝E-1[v-T(x)]
wherein E is-1In order to decouple the inverse of the matrix E,
Figure BDA0002803715700000038
for feedback linearization of the control input variable, y1,ref＝iref,d、y2,ref＝iref,qRespectively as the output variable i of the AC power springd、iqDesired current trajectory; k is a radical of11、k21、k12、k22To accurately feed back linear controller parameters; e.g. of the type1＝y1,ref-y1、e2＝y2,ref-y2Respectively the desired current trajectory y1,ref、y2,refThe tracking error of (2).
As a preferable scheme of the alternating current power spring feedback linearization decoupling control method, the method comprises the following steps: and when the feedback linearization control law and the nonlinear model of the alternating current power spring are jointly observed, the alternating current power spring can be equivalent to a completely linearized model, and then the completely linearized control of the alternating current power spring is completed.
As a preferable scheme of the alternating current power spring feedback linearization decoupling control method, the method comprises the following steps: the method for constructing the power loop PI controller comprises the steps of setting a key load voltage vCQ-axis voltage component v ofC,q At 0, the active power P at the point of common coupling is injectedinReactive power QinRespectively as follows:
Pin＝vC,did
Qin＝-vC,diq；
the power loop PI controller is as follows:
Figure BDA0002803715700000041
wherein v isC,dFor the critical load voltage vCD-axis voltage component of (P)in,refAnd Qin,refProgressively tracking reference power values, k, for active power and reactive power of an AC power spring, respectivelyPAnd kIThe power PI controller is respectively a proportional coefficient and an integral coefficient, and s is an integral operator.
The invention has the beneficial effects that: the invention aims at the strong coupling and nonlinear characteristics of the alternating current power spring, realizes the complete decoupling and complete linearization control of the alternating current power spring, simplifies the design of a power controller, and has the characteristics of good dynamic performance and wide stable field.
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In order to more clearly illustrate the technical solutions of 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 some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
fig. 1 is a schematic flowchart of an ac power spring feedback linearization decoupling control method according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of an ac microgrid with ac power springs according to a first embodiment of the present invention, and a feedback linearization decoupling control method for ac power springs is described;
fig. 3 is a schematic diagram of an ac power spring precise feedback linearization control structure of an ac power spring feedback linearization decoupling control method according to a first embodiment of the invention;
fig. 4 is a schematic diagram of a fluctuating power waveform of an ac microgrid power supply according to a second embodiment of the present invention, in which the decoupling control method for feedback linearization of ac power springs is implemented;
fig. 5 shows an ac power spring output active power P of an ac power spring feedback linearization decoupling control method according to a second embodiment of the present inventionESReactive power QESA waveform schematic diagram;
FIG. 6 shows an AC bus current component i of an AC power spring feedback linearization decoupling control method according to a second embodiment of the present inventiond、iqA waveform schematic diagram;
fig. 7 shows a critical load active power P of an ac power spring feedback linearization decoupling control method according to a second embodiment of the present inventioninReactive power QinA waveform schematic diagram;
fig. 8 shows non-critical load active power P of an ac power spring feedback linearization decoupling control method according to a second embodiment of the present inventionNCReactive power QNCAnd (5) a waveform schematic diagram.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, specific embodiments accompanied with figures are described in detail below, and it is apparent that the described embodiments are a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention, shall fall within the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
The present invention will be described in detail with reference to the drawings, wherein the cross-sectional views illustrating the structure of the device are not enlarged partially in general scale for convenience of illustration, and the drawings are only exemplary and should not be construed as limiting the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Meanwhile, in the description of the present invention, it should be noted that the terms "upper, lower, inner and outer" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation and operate, and thus, cannot be construed as limiting the present invention. Furthermore, the terms first, second, or third are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The terms "mounted, connected and connected" in the present invention are to be understood broadly, unless otherwise explicitly specified or limited, for example: can be fixedly connected, detachably connected or integrally connected; they may be mechanically, electrically, or directly connected, or indirectly connected through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
Referring to fig. 1 to 3, a first embodiment of the present invention provides an ac power spring feedback linearization decoupling control method, including:
s1: and constructing an alternating current power spring dynamic model under a dq rotating coordinate system according to an alternating current micro-grid structure containing the alternating current power spring.
According to the alternating Current microgrid structure containing the alternating Current power springs, as shown in fig. 1, and according to KCL (Kirchhoff's Current Law), KVL (Kirchhoff Voltage Law), a dynamic mathematical model of the alternating Current power springs under a dq rotation coordinate system is defined:
Figure BDA0002803715700000061
wherein, the coefficient matrix A1＝ZC/LG(ZC+ZNC)，A2＝(RGZC+ZCZNC+RGZNC)/LG(ZC+ZNC)，A3＝1/LG，id、iqD, q components, v, of the AC bus current iES，d、vES，qRespectively, an AC power spring output voltage vESD, q components of (v)G，d、vG，qRespectively, a.c. microgrid supply voltage vGD, q components of (a), ω being the system angular frequency, ZCIs a critical load impedance, ZNCIs a non-critical load impedance, RGIs a line equivalent resistance, LGIs the equivalent inductance of the line.
S2: according to the alternating current power spring dynamic model, an alternating current power spring two-input and two-output plum derivative affine model is constructed.
Specifically, the two-input and two-output lie derivative affine models of the alternating current power spring are as follows:
Figure BDA0002803715700000062
where h (x) is an output function, h (x) is [ h1(x)h2(x)]T＝[id iq]T(ii) a (x) is a coupling function of (f),
Figure BDA0002803715700000063
g is an affine function and the function is,
Figure BDA0002803715700000064
u is the dynamic model input variable, u ═ u1 u2]T＝[vES，d vES，q]T(ii) a x is a dynamic model state variable, x ═ id iq]T(ii) a y is the dynamic model output variable, y ═ y1 y2]T＝[id iq]T。
Preferably, the conversion between the non-linear model and the linear model is achieved by solving a lie derivative affine model.
S3: and (3) combining the lie derivative affine model to construct a decoupling matrix and a state transformation matrix, and solving a feedback linearization control law.
It should be noted that, for a system with the same number of output and input variables, if a proper control rule is introduced, the transfer function matrix of the control system is a non-singular diagonal matrix, which means that the system is completely decoupled.
Specifically, the construction of the decoupling matrix comprises the following steps:
defining hi(x) First order lie derivatives L with respect to f (x)fhi(x) Comprises the following steps:
Figure BDA0002803715700000071
② define Lfhi(x) First order lie derivative L with respect to ggLfhi(x) Comprises the following steps:
Figure BDA0002803715700000072
thirdly, constructing a decoupling matrix E:
Figure BDA0002803715700000073
wherein, γ1、γ2Are respectively h1(x)、h2(x) The relative order of the two or more of the first,
Figure BDA0002803715700000074
is Lfh1(x) With respect to g1Of (gamma)1-1) a derivative of lie of order,
Figure BDA0002803715700000075
is Lfh1(x) With respect to g2Of (gamma)1-1) a derivative of lie of order,
Figure BDA0002803715700000076
is Lfh2(x) With respect to g1Of (gamma)2-1) a derivative of lie of order,
Figure BDA0002803715700000077
is Lfh2(x) With respect to g2Of (gamma)2-1) lie derivatives of order.
Preferably, when the decoupling matrix and the alternating current power spring coupling model are jointly observed, the alternating current power spring can be equivalent to a fully decoupled d-q two-phase current integrator, and the fully decoupled control of the alternating current power spring is realized.
The state transition matrix is designed as follows:
Figure BDA0002803715700000081
wherein T (x) is a state transition matrix,
Figure BDA0002803715700000082
is h1(x) γ with respect to f (x)1The derivative of the order of the lie is,
Figure BDA0002803715700000083
is h2(x) γ with respect to f (x)2The derivative of the order lie.
Further, an accurate feedback linearization control law u of the alternating current power spring is obtained:
u＝E-1[v-T(x)]
wherein E is-1In order to decouple the inverse of the matrix E,
Figure BDA0002803715700000084
for feedback linearization of the control input variable, y1,ref＝iref,d、y2,ref＝iref,qAre respectively an alternating currentForce spring output variable id、iqDesired current trajectory; k is a radical of11、k21、k12、k22To accurately feed back linear controller parameters; e.g. of the type1＝y1,ref-y1、e2＝y2,ref-y2Respectively, desired current trace y1,ref、y2,refThe tracking error of (2).
Preferably, when the feedback linear control law and the nonlinear model of the ac power spring are jointly observed, the ac power spring can be equivalent to a completely linear model, thereby realizing completely linear control of the ac power spring.
S4: and constructing a power loop PI controller, and dynamically adjusting the alternating current power spring by combining with the alternating current power spring dynamic model.
Wherein, it is required to be noted that the active power P injected into the common coupling pointinReactive power QinCan be respectively expressed as:
Figure BDA0002803715700000085
Figure BDA0002803715700000086
wherein v isCIs the critical load voltage, i.e. the voltage at the point of common coupling;
Figure BDA0002803715700000087
is a critical load voltage vCThe vector form of (1);
Figure BDA0002803715700000088
in the form of a conjugate vector of the alternating bus current i; v. ofC,d、vC,qRespectively, the critical load voltage vCD, q components of (1).
Setting vCThe voltage vector coincides with its d-axis voltage component in the dq-rotation coordinate system, i.e. the q-axis voltage component vC,qAt the point of common coupling, 0Active power PinReactive power QinRespectively as follows:
Pin＝vC,did
Qin＝-vC,diq
wherein v isC,dIs a critical load voltage vCThe d-axis voltage component of (a).
Further, designing a power loop PI controller:
Figure BDA0002803715700000091
wherein, Pin,refAnd Qin,refProgressively tracking reference power values, k, for active power and reactive power of an AC power spring, respectivelyPAnd kIThe power PI controller is respectively a proportional coefficient and an integral coefficient, and s is an integral operator.
Example 2
In order to verify and explain the technical effects adopted in the method, the embodiment selects a Vector Decoupling Control (VDC) method and performs a comparison test by adopting the method, and compares test results by a scientific demonstration means to verify the real effects of the method.
The dynamic performance and stability of the vector decoupling control method are poor.
In order to verify that the method has shorter adjustment time and better stability compared with the vector decoupling control method, the vector decoupling control method and the method are adopted to respectively measure and compare the control performance of the alternating current power spring.
Setting experimental parameters: setting the supply voltage v of an alternating-current microgridGThe system consists of a stable alternating current power supply and renewable power supplies such as wind power generation and photovoltaic power generation and is used for simulating source-side active power fluctuation caused by high-permeability renewable energy power generation; setting a power outer loop active power reference value Pin,ref60W, reactive power reference Q in,ref0 var; setting output active power P of alternating-current micro-grid power supplyGMutations occurred every 0.25sI.e. source side active power P when t is 0.25sGThe source side active power P is increased from 60.4W to 66.6W when t is 0.5sGSuddenly reduced from 66.6W to 53.9W, and the source side reactive power QGWhen the value is 0, the fluctuating power of the alternating current microgrid power supply is shown in fig. 4; the simulated system parameters are shown in the following table.
Table 1: and (5) simulating a system parameter table.
System parameter Numerical value System parameter Numerical value
Ac microgrid supply voltage vG/V 155.5 Filter inductance Lf/mH 2.4
Frequency f of AC microgridG/Hz 50 Filter capacitor Cf/uF 13
Voltage V of energy storage power supplydc/V 200 Critical load ZC/Ω 200
Line impedance ZG/Ω 0.1+j0.754 Non-critical load ZNC/Ω 50
The control performance of the alternating current power spring is respectively shown by simulation through an MATLAB platform, and the simulation results are respectively shown in FIG. 5, FIG. 6, FIG. 7 and FIG. 8.
(1) Referring to fig. 5, when t is 0.25s, the source side active power PGThe voltage is increased from 60.4W to 66.6W, ACES keeps the output active power unchanged, so that the output reactive power Q is outputESThe active fluctuation at the source side is transferred to a non-critical load from 4var to 8.6 var;
when t is 0.5s, the source side active power PGThe voltage is suddenly reduced from 66.6W to 53.9W, the alternating current power spring still keeps the output active power unchanged, and the output reactive power Q is enabled to be outputESSuddenly reduced from 8.6var to-11.4 var; from the comparative waveform analysis of the method and the VDC method, the VDC method is more sensitive to the perception of the source side power change and starts quickly, but the method has shorter adjusting time.
(2) As can be seen from the analysis of FIG. 6, the method implements id、iqFully decoupled control, idFast response, iqThere is substantially no ripple and the transient control performance is better than the VDC method where there is still partial coupling in the current inner loop.
(3) As can be seen from the analysis of fig. 7, the method can achieve that the active power and the reactive power of the key load are adjusted in a fast transient state and the stable operation is restored when the active power at the source side fluctuates, and compared with the VDC method, the method has a better function of suppressing the fluctuation of the source side power.
(4) As can be analyzed from fig. 8, when t is 0.25s, the source side active power PGThe active power P of the non-critical load is increased from 60.4W to 66.6WNCThe active power fluctuation of the source side is borne by increasing the active power from 121W to 185.2W, and the stability of the active power of the key load is maintained; when t is 0.5s, the source side active power PGThe pressure drops from 66.6W to 53.9W,active power P of non-critical loadNCAnd the source side active power fluctuation is reduced from 185.2W to 54W, so that the active power of the critical load is maintained at a desired value of 60W, and the source side active power fluctuation is effectively inhibited.
In summary, as can be seen from fig. 5 to 8, the method realizes complete decoupling and complete linearization decoupling control of the alternating current power spring, and has better dynamic performance and good stability compared with a vector decoupling control method.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.

Claims (9)

1. An alternating current power spring feedback linearization decoupling control method is characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
constructing an alternating current power spring dynamic model under a dq rotating coordinate system according to an alternating current micro-grid structure containing alternating current power springs;
according to the alternating current power spring dynamic model, building an alternating current power spring two-input and two-output plum derivative affine model;
combining the lie derivative affine model to construct a decoupling matrix and a state transformation matrix, and solving a feedback linearization control law;
and constructing a power loop PI controller, and dynamically adjusting the alternating current power spring by combining the alternating current power spring dynamic model.
2. The alternating current power spring feedback linearization decoupling control method of claim 1, wherein: the alternating current power spring dynamic model comprises,
Figure FDA0002803715690000011
wherein, the coefficient matrix A1＝ZC/LG(ZC+ZNC)，A2＝(RGZC+ZCZNC+RGZNC)/LG(ZC+ZNC)，A3＝1/LG，id、iqD, q components, v, of the AC bus current iES，d、vES，qRespectively, an AC power spring output voltage vESD, q components of (v)G，d、vG，qRespectively, a.c. microgrid supply voltage vGD, q components of (a), ω being the system angular frequency, ZCIs a critical load impedance, ZNCIs a non-critical load impedance, RGIs a line equivalent resistance, LGIs the equivalent inductance of the line.
3. The alternating current power spring feedback linearization decoupling control method of claim 2, wherein: the two-input and two-output litude derivative affine model of the alternating current power spring comprises,
Figure FDA0002803715690000012
where h (x) is an output function, h (x) is [ h1(x) h2(x)]T＝[id iq]T(ii) a (x) is a coupling function of (f),
Figure FDA0002803715690000013
g is an affine function and the function is,
Figure FDA0002803715690000014
u is the dynamic model input variable, u ═ u1 u2]T＝[vES，d vES，q]T(ii) a x is a dynamic model state variable, x ═ id iq]T(ii) a y is the dynamic model output variable, y ═ y1 y2]T＝[id iq]T。
4. The alternating current power spring feedback linearization decoupling control method of claim 1 or 2, characterized by: the constructing of the decoupling matrix includes constructing a decoupling matrix,
definition hi(x) First order lie derivatives L with respect to said f (x)fhi(x) Comprises the following steps:
Figure FDA0002803715690000021
defining said Lfhi(x) First order lie derivative L with respect to said ggLfhi(x) Comprises the following steps:
Figure FDA0002803715690000022
constructing the decoupling matrix E:
Figure FDA0002803715690000023
wherein, γ1、γ2Are respectively the h1(x)、h2(x) The relative order of the two or more of the first,
Figure FDA0002803715690000024
is Lfh1(x) With respect to g1Of (gamma)1-1) a derivative of lie of order,
Figure FDA0002803715690000025
is said Lfh1(x) With respect to g2Of (gamma)1-1) a derivative of lie of order,
Figure FDA0002803715690000026
is Lfh2(x) With respect to g1Of (gamma)2-1) a derivative of lie of order,
Figure FDA0002803715690000027
is said Lfh2(x) With respect to g2Of (gamma)2-1) lie derivatives of order.
5. The alternating current power spring feedback linearization decoupling control method of claim 4, wherein: also comprises the following steps of (1) preparing,
when the decoupling matrix and the alternating current power spring coupling model are jointly observed, the alternating current power spring can be equivalent to a fully decoupled d-q two-phase current integrator, and therefore the full decoupling control of the alternating current power spring is completed.
6. The alternating current power spring feedback linearization decoupling control method of claim 2 or 5, wherein: the state transition matrix comprises a matrix of state transitions,
Figure FDA0002803715690000028
wherein T (x) is the state transition matrix,
Figure FDA0002803715690000029
is the h1(x) γ with respect to said f (x)1The derivative of the order of the lie is,
Figure FDA00028037156900000210
is the h2(x) γ with respect to said f (x)2The derivative of the order lie.
7. The alternating current power spring feedback linearization decoupling control method of claim 6, wherein: the feedback-linearized control law includes,
u＝E-1[v-T(x)]
wherein E is-1In order to decouple the inverse of the matrix E,
Figure FDA0002803715690000031
for feedback linearization of the control input variable, y1,ref＝iref,d、y2,ref＝iref,qRespectively as the output variable i of the AC power springd、iqDesired current trajectory; k is a radical of11、k21、k12、k22To accurately feed back linear controller parameters; e.g. of the type1＝y1,ref-y1、e2＝y2,ref-y2Respectively the desired current trajectory y1,ref、y2,refThe tracking error of (2).
8. The alternating current power spring feedback linearization decoupling control method of claim 7, wherein: also comprises the following steps of (1) preparing,
when the feedback linearization control law and the nonlinear model of the alternating current power spring are jointly observed, the alternating current power spring can be equivalent to a completely linearized model, and then complete linearization control of the alternating current power spring is completed.
9. An alternating current power spring feedback linearization decoupling control method as claimed in any one of claims 5, 7 and 8, wherein: the build power loop PI controller includes a power loop PI controller,
setting a critical load voltage vCQ-axis voltage component v ofC,qAt 0, the active power P at the point of common coupling is injectedinReactive power QinRespectively as follows:
Pin＝vC,did
Qin＝-vC,diq；
the power loop PI controller is as follows:
Figure FDA0002803715690000032
wherein v isC,dFor the critical load voltage vCD-axis voltage component of (P)in,refAnd Qin,refProgressively tracking reference power values, k, for active power and reactive power of an AC power spring, respectivelyPAnd kIThe power PI controller is respectively a proportional coefficient and an integral coefficient, and s is an integral operator.
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