CN112436520B - Feedback linearization decoupling control method for alternating-current power spring - Google Patents
Feedback linearization decoupling control method for alternating-current power spring Download PDFInfo
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Abstract
The application discloses a feedback linearization decoupling control method of an alternating-current power spring, 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 the alternating-current power spring; constructing an affine model of Li Daoshu with two inputs and two outputs of the alternating-current power spring according to the dynamic model of the alternating-current power spring; constructing a decoupling matrix and a state transformation matrix by combining the Li Daoshu affine model, 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. Aiming at the strong coupling and nonlinear characteristics of the alternating current power spring, the application 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 stability domain.
Description
Technical Field
The application relates to the technical field of operation and control of power systems, in particular to a feedback linearization decoupling control method for an alternating-current power spring.
Background
With the popularization and application of green power, renewable energy sources such as wind energy, solar energy and the like are connected into an alternating-current micro-grid in a large scale, but the fluctuation and randomness of high-permeability renewable energy source power generation can bring power quality problems such as busbar voltage fluctuation, active power harmonic waves and the like of the alternating-current micro-grid.
The alternating-current power spring is used as a novel demand-side management technology, so that active power fluctuation of an alternating-current micro-grid caused by high-permeability renewable energy power generation can be effectively restrained; however, the ac power spring is a typical strong-coupling nonlinear object, the traditional vector decoupling control relies on local linearization of a model, and is combined with the PI controller to realize dynamic adjustment of the ac power spring, and a part of coupling still exists in the system to influence the control performance, so that the complexity of the design of the power controller is increased, the stability domain is not wide, and the wide-range accurate power control is difficult to realize.
Disclosure of Invention
This section is intended to outline some aspects of embodiments of the application and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the description of the application and in the title of the application, which may not be used to limit the scope of the application.
The present application has been made in view of the above-described problems occurring in the prior art.
Therefore, the application provides the feedback linearization decoupling control method for the alternating-current power spring, which can solve the problem of poor power control effect in a wide range.
In order to solve the technical problems, the application 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 an alternating current power spring; constructing an affine model of Li Daoshu with two inputs and two outputs of the alternating-current power spring according to the dynamic model of the alternating-current power spring; constructing a decoupling matrix and a state transformation matrix by combining the Li Daoshu affine model, 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 application comprises the following steps: the ac power spring dynamic model includes,
wherein the coefficient matrix A 1 ＝Z C /L G (Z C +Z NC )，A 2 ＝(R G Z C +Z C Z NC +R G Z NC )/L G (Z C +Z NC )，A 3 ＝1/L G ，i d 、i q D and q components, v, of the ac busbar current i, respectively ES，d 、v ES，q Respectively the output voltage v of the alternating current power spring ES D, q components, v G，d 、v G，q Respectively the power supply voltage v of the AC micro-grid G D, q components of (d), ω is the system angular frequency, Z C Z is the critical load impedance NC As non-critical load impedance, R G Is the equivalent resistance of the circuit L G Is the equivalent inductance of the circuit.
As a preferable scheme of the alternating current power spring feedback linearization decoupling control method, the application comprises the following steps: the ac power spring two-input and two-output Li Daoshu affine model includes,
where h (x) is the output function, h (x) = [ h ] 1 (x)h 2 (x)] T ＝[i d i q ] T The method comprises the steps of carrying out a first treatment on the surface of the f (x) is a coupling function,g is affine function>u is a dynamic model input variable, u= [ u ] 1 u 2 ] T ＝[v ES，d v ES，q ] T The method comprises the steps of carrying out a first treatment on the surface of the x is a dynamic model state variable, x= [ i ] d i q ] T The method comprises the steps of carrying out a first treatment on the surface of the y is a dynamic model output variable, y= [ y ] 1 y 2 ] T ＝[i d i q ] T 。
As a preferable scheme of the alternating current power spring feedback linearization decoupling control method, the application comprises the following steps: the constructing the decoupling matrix includes defining h i (x) First order Li Daoshu L for the f (x) f h i (x) The method comprises the following steps:
definition of the L f h i (x) First order Li Daoshu L for the g g L f h i (x) The method comprises the following steps:
constructing the decoupling matrix E:
wherein, gamma 1 、γ 2 Respectively the h 1 (x)、h 2 (x) Is used for the relative order of (a),is L f h 1 (x) With respect to g 1 Of (gamma) 1 -1) order Li Daoshu,/i>For the L f h 1 (x) With respect to g 2 Of (gamma) 1 -1) order Li Daoshu,/i>Is L f h 2 (x) With respect to g 1 Of (gamma) 2 -1) order Li Daoshu,/i>For the L f h 2 (x) With respect to g 2 Of (gamma) 2 -1) stage Li Daoshu.
As a preferable scheme of the alternating current power spring feedback linearization decoupling control method, the application comprises the following steps: and 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 d-phase current integrator and a q-phase current integrator which are completely decoupled, so that the 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 application comprises the following steps: the state-transition matrix comprises a matrix of states,
wherein T (x) is the state transformation matrix,for said h 1 (x) Gamma with respect to said f (x) 1 Order Li Daoshu, < >>For said h 2 (x) Gamma with respect to said f (x) 2 Step Li Daoshu.
As a preferable scheme of the alternating current power spring feedback linearization decoupling control method, the application comprises the following steps: the feedback linearization control law includes,
u＝E -1 [v-T(x)]
wherein E is -1 For the inverse of the decoupling matrix E,to feedback linearize the control input variable, y 1,ref ＝i ref,d 、y 2,ref ＝i ref,q Respectively outputting variable i of the alternating current power spring d 、i q Is provided for the desired current trajectory of (a); k (k) 11 、k 21 、k 12 、k 22 The parameters of the linear controller are fed back accurately; e, e 1 ＝y 1,ref -y 1 、e 2 ＝y 2,ref -y 2 Respectively the expected current tracks y 1,ref 、y 2,ref Is used for tracking errors of the optical system.
As a preferable scheme of the alternating current power spring feedback linearization decoupling control method, the application comprises the following steps: and when the feedback linearization control law and the alternating current power spring nonlinear model are jointly observed, the alternating current power spring can be equivalent to a complete linearization model, so that complete linearization 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 application comprises the following steps: the construction of the power loop PI controller comprises setting a key load voltage v C Q-axis voltage component v of (2) C,q =0, then the active power P at the point of common coupling is injected in Reactive power Q in The method comprises the following steps of:
P in ＝v C,d i d
Q in ＝-v C,d i q ；
the power loop PI controller is as follows:
wherein v is C,d For the critical load voltage v C D-axis voltage component, P in,ref And Q in,ref The active power and reactive power of the alternating current power spring gradually track the power reference value, k P And k I And the proportional coefficient and the integral coefficient of the power PI controller are respectively, and s is an integral operator.
The application has the beneficial effects that: aiming at the strong coupling and nonlinear characteristics of the alternating current power spring, the application 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 stability domain.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:
fig. 1 is a schematic flow chart of a feedback linearization decoupling control method for an ac power spring according to a first embodiment of the present application;
fig. 2 is a schematic diagram of an ac micro-grid structure including an ac power spring according to a first embodiment of the present application;
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 application;
fig. 4 is a schematic diagram of a waveform of power of an ac micro-grid power supply according to a second embodiment of the present application;
fig. 5 shows an ac power spring output active power P according to a second embodiment of the present application ES Reactive power Q ES A waveform schematic;
fig. 6 shows an ac busbar current component i of an ac power spring feedback linearization decoupling control method according to a second embodiment of the application d 、i q A waveform schematic;
fig. 7 shows a key load power P of an ac power spring feedback linearization decoupling control method according to a second embodiment of the application in Reactive power Q in A waveform schematic;
fig. 8 shows a non-critical load active power P of an ac power spring feedback linearization decoupling control method according to a second embodiment of the application NC Reactive power Q NC Schematic waveform diagram.
Detailed Description
So that the manner in which the above recited objects, features and advantages of the present application can be understood in detail, a more particular description of the application, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present application is not limited to the specific embodiments disclosed below.
Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be included in at least one implementation of the application. 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.
While the embodiments of the present application have been illustrated and described in detail in the drawings, the cross-sectional view of the device structure is not to scale in the general sense for ease of illustration, and the drawings are merely exemplary and should not be construed as limiting the scope of the application. In addition, the three-dimensional dimensions of length, width and depth should be included in actual fabrication.
Also in the description of the present application, it should be noted that the orientation or positional relationship indicated by the terms "upper, lower, inner and outer", etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application. 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 coupled" should be construed broadly in this disclosure unless otherwise specifically indicated and defined, such as: can be fixed connection, detachable connection or integral connection; it may also be a mechanical connection, an electrical connection, or a direct connection, or may be indirectly connected through an intermediate medium, or may be a communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
Example 1
Referring to fig. 1 to 3, a first embodiment of the present application provides an ac power spring feedback linearization decoupling control method, including:
s1: and constructing an alternating current power spring dynamic model under the dq rotating coordinate system according to an alternating current micro-grid structure containing the alternating current power spring.
According to the ac micro-grid structure including the ac power spring, as shown in fig. 1, and according to KCL (Kirchhoff's Current Law, kirchhoff Current Law), KVL (Kirchhoff Voltage Laws, kirchhoff voltage Law), a dynamic mathematical model of the ac power spring under dq rotation coordinate system is defined:
wherein the coefficient matrix A 1 ＝Z C /L G (Z C +Z NC )，A 2 ＝(R G Z C +Z C Z NC +R G Z NC )/L G (Z C +Z NC )，A 3 ＝1/L G ，i d 、i q D and q components, v, of the ac busbar current i, respectively ES，d 、v ES，q Respectively the output voltage v of the alternating current power spring ES D, q components, v G，d 、v G，q Respectively the power supply voltage v of the AC micro-grid G D, q components of (d), ω is the system angular frequency, Z C Is key toLoad impedance, Z NC As non-critical load impedance, R G Is the equivalent resistance of the circuit L G Is the equivalent inductance of the circuit.
S2: and constructing a Li Daoshu affine model with two inputs and two outputs of the alternating-current power spring according to the alternating-current power spring dynamic model.
Specifically, the affine model for the ac power spring for both input and output Li Daoshu is as follows:
where h (x) is the output function, h (x) = [ h ] 1 (x)h 2 (x)] T ＝[i d i q ] T The method comprises the steps of carrying out a first treatment on the surface of the f (x) is a coupling function,
g is affine function>u is a dynamic model input variable, u= [ u ] 1 u 2 ] T ＝[v ES，d v ES，q ] T The method comprises the steps of carrying out a first treatment on the surface of the x is a dynamic model state variable, x= [ i ] d i q ] T The method comprises the steps of carrying out a first treatment on the surface of the y is a dynamic model output variable, y= [ y ] 1 y 2 ] T ＝[i d i q ] T 。
Preferably, the transformation between the nonlinear model and the linear model is accomplished by solving Li Daoshu an affine model.
S3: and constructing a decoupling matrix and a state transformation matrix by combining the Li Daoshu affine model, 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, so that the system is said to realize complete decoupling.
Specifically, constructing the decoupling matrix includes the following steps:
(1) definition of h i (x) First order Li Daoshu L for f (x) f h i (x) The method comprises the following steps:
(2) definition L f h i (x) First order Li Daoshu L for g g L f h i (x) The method comprises the following steps:
(3) constructing a decoupling matrix E:
wherein, gamma 1 、γ 2 Respectively is h 1 (x)、h 2 (x) Is used for the relative order of (a),is L f h 1 (x) With respect to g 1 Of (gamma) 1 -1) order Li Daoshu,/i>Is L f h 1 (x) With respect to g 2 Of (gamma) 1 -1) order Li Daoshu,/i>Is L f h 2 (x) With respect to g 1 Of (gamma) 2 -1) order Li Daoshu,/i>Is L f h 2 (x) With respect to g 2 Of (gamma) 2 -1) stage Li Daoshu.
Preferably, when the decoupling matrix is observed in combination with the ac power spring coupling model, the ac power spring can be equivalently a fully decoupled d-phase current integrator and a fully decoupled q-phase current integrator, so that the fully decoupled control of the ac power spring is realized.
The state transition matrix is designed as follows:
wherein T (x) is a state transition matrix,is h 1 (x) Gamma with respect to f (x) 1 Order Li Daoshu, < >>Is h 2 (x) Gamma with respect to f (x) 2 Step Li Daoshu.
Further, calculate the accurate feedback linearization control law u of the ac power spring:
u＝E -1 [v-T(x)]
wherein E is -1 For the inverse of the decoupling matrix E,to feedback linearize the control input variable, y 1,ref ＝i ref,d 、y 2,ref ＝i ref,q Output variables i of alternating current power spring respectively d 、i q Is provided for the desired current trajectory of (a); k (k) 11 、k 21 、k 12 、k 22 The parameters of the linear controller are fed back accurately; e, e 1 ＝y 1,ref -y 1 、e 2 ＝y 2,ref -y 2 Respectively the desired current trajectories y 1,ref 、y 2,ref Is used for tracking errors of the optical system.
Preferably, 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 complete linearization model, so that complete linearization control of the alternating current power spring is realized.
S4: and constructing a power loop PI controller, and dynamically adjusting the alternating current power spring by combining an alternating current power spring dynamic model.
Wherein the active power P at the point of common coupling is injected in Reactive power Q in Can be expressed as:
wherein v is C Is the critical load voltage, i.e. the voltage at the point of common coupling;for critical load voltage v C Vector form of (a); />In the form of a conjugate vector of an alternating bus current i; v C,d 、v C,q Respectively the critical load voltage v C D, q components of (c).
Set v C The voltage vector coincides with its d-axis voltage component in the dq rotational coordinate system, i.e. the q-axis voltage component v C,q =0, then the active power P at the point of common coupling is injected in Reactive power Q in The method comprises the following steps of:
P in ＝v C,d i d
Q in ＝-v C,d i q
wherein v is C,d For critical load voltage v C D-axis voltage component of (c).
Further, a power loop PI controller is designed:
wherein P is in,ref And Q in,ref The active power and reactive power of the alternating current power spring gradually track the power reference value, k P And k I The proportional coefficient and the integral coefficient of the power PI controller are respectively, and s is an integral operator.
Example 2
In order to verify and explain the technical effects adopted in the method, the method for vector decoupling control (vector decoupling control, VDC) is selected and compared by the method, and test results are compared by means of scientific demonstration to verify the true effects of the method.
The vector decoupling control method has poor dynamic performance and stability.
In order to verify that the method has shorter adjustment time and better stability than 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 in the embodiment.
Setting experimental parameters: setting an alternating-current micro-grid power supply voltage v G The device consists of a stable alternating current power supply, a renewable power supply such as wind power generation, photovoltaic power generation and the like, and is used for simulating source side active power fluctuation caused by high-permeability renewable energy power generation; setting the active power reference value P of the power outer loop in,ref =60W, reactive power reference value Q in,ref =0var; setting AC micro-grid power supply to output active power P G A mutation occurs every 0.25s, i.e. the active power P at the source side at t=0.25 s G Source side active power P when ramping from 60.4W to 66.6W, t=0.5 s G From 66.6W suddenly drop to 53.9W, source side reactive power Q G =0 remains unchanged, fluctuating ac microgrid supply power is shown in fig. 4; simulation system parameters are shown in the following table.
Table 1: a simulation system parameter table.
| System parameters | Numerical value | System parameters | Numerical value |
| AC micro-grid supply voltage v G /V | 155.5 | Filter inductance L f /mH | 2.4 |
| Ac micro-grid frequency f G /Hz | 50 | Filter capacitor C f /uF | 13 |
| Energy storage power supply voltage V dc /V | 200 | Critical load Z C /Ω | 200 |
| Line impedance Z G /Ω | 0.1+j0.754 | Non-critical load Z NC /Ω | 50 |
The control performance of the alternating current power spring is respectively simulated and displayed through the MATLAB platform, and simulation results are respectively shown in fig. 5, 6, 7 and 8.
(1) Referring to fig. 5, at t=0.25 s, the source side active power P G From 60.4W to 66.6W, ACES maintains the output active power unchangedSo as to output reactive power Q ES Sudden rise from 4var to 8.6var, transferring source side active ripple to non-critical load;
at t=0.5 s, the source side active power P G The voltage drops from 66.6W to 53.9W, and the AC power spring still maintains the output active power unchanged, so that the reactive power Q is output ES Sudden drop from 8.6var to-11.4 var; from the comparative waveform analysis of the present method and the VDC method, the VDC method is more sensitive to the perception of source side power variation, and the start-up is quick, but the present method has shorter adjustment time.
(2) From the analysis of FIG. 6, the present method implements i d 、i q Complete decoupling control, i d Quick response, i q Substantially ripple free and superior transient control performance than VDC methods where partial coupling still exists with the current inner loop.
(3) As can be seen from the analysis of fig. 7, the method can realize that the key load active power and reactive power are subjected to fast transient adjustment when the active power of the source side fluctuates, and the method has a better source side power fluctuation suppression function compared with the VDC method.
(4) As can be seen from the analysis of fig. 8, at t=0.25 s, the source side active power P G Sudden rise from 60.4W to 66.6W, non-critical load active power P NC The power is increased from 121W to 185.2W, source side active power fluctuation is born, and key load active power is maintained stable; at t=0.5 s, the source side active power P G From 66.6W suddenly to 53.9W, the non-critical load carries the active power P NC And the power is reduced from 185.2W to 54W, source side active power fluctuation is transferred, the key load active power is ensured to be maintained at a desired value of 60W, and the source side active power fluctuation is effectively restrained.
In summary, as can be seen from fig. 5 to 8, the method realizes the complete decoupling and complete linearization decoupling control of the ac power spring, and has better dynamic performance and good stability compared with the vector decoupling control method.
It should be noted that the above embodiments are only for illustrating the technical solution of the present application and not for limiting the same, and although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present application may be modified or substituted without departing from the spirit and scope of the technical solution of the present application, which is intended to be covered in the scope of the claims of the present application.
Claims (7)
1. A feedback linearization decoupling control method for an alternating current power spring is characterized by comprising the following steps of: comprising the steps of (a) a step of,
constructing an alternating current power spring dynamic model under a dq rotating coordinate system according to an alternating current micro-grid structure containing an alternating current power spring;
constructing an affine model of Li Daoshu with two inputs and two outputs of the alternating-current power spring according to the dynamic model of the alternating-current power spring;
constructing a decoupling matrix and a state transformation matrix by combining the Li Daoshu affine model, and solving a feedback linearization control law;
constructing a power loop PI controller, and dynamically adjusting an alternating current power spring by combining the alternating current power spring dynamic model;
the ac power spring dynamic model includes,
wherein the coefficient matrix A 1 ＝Z C /L G (Z C +Z NC )，A 2 ＝(R G Z C +Z C Z NC +R G Z NC )/L G (Z C +Z NC )，A 3 ＝1/L G ，i d 、i q D and q components, v, of the ac busbar current i, respectively ES，d 、v ES，q Respectively the output voltage v of the alternating current power spring ES D, q components, v G，d 、v G，q Respectively the power supply voltage v of the AC micro-grid G D, q components of (d), ω is the system angular frequency, Z C Z is the critical load impedance NC As non-critical load impedance, R G Is the equivalent resistance of the circuit L G The equivalent inductance of the circuit;
the ac power spring two-input and two-output Li Daoshu affine model includes,
where h (x) is the output function, h (x) = [ h ] 1 (x) h 2 (x)] T ＝[i d i q ] T The method comprises the steps of carrying out a first treatment on the surface of the f (x) is a coupling function,g is affine function>u is a dynamic model input variable, u= [ u ] 1 u 2 ] T ＝[v ES，d v ES，q ] T The method comprises the steps of carrying out a first treatment on the surface of the x is a dynamic model state variable, x= [ i ] d i q ] T The method comprises the steps of carrying out a first treatment on the surface of the y is a dynamic model output variable, y= [ y ] 1 y 2 ] T ＝[i d i q ] T 。
2. The alternating current power spring feedback linearization decoupling control method of claim 1, wherein: the construction of the decoupling matrix includes,
definition of h i (x) First order Li Daoshu L for the f (x) f h i (x) The method comprises the following steps:
definition of the L f h i (x) First order Li Daoshu L for the g g L f h i (x) The method comprises the following steps:
constructing the decoupling matrix E:
wherein, gamma 1 、γ 2 Respectively the h 1 (x)、h 2 (x) Is used for the relative order of (a),is L f h 1 (x) With respect to g 1 Of (gamma) 1 -1) order Li Daoshu,/i>For the L f h 1 (x) With respect to g 2 Of (gamma) 1 -1) order Li Daoshu,/i>Is L f h 2 (x) With respect to g 1 Of (gamma) 2 -1) order Li Daoshu,/i>For the L f h 2 (x) With respect to g 2 Of (gamma) 2 -1) stage Li Daoshu.
3. The alternating current power spring feedback linearization decoupling control method of claim 2, wherein: also included is a method of manufacturing a semiconductor device,
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 d-phase current integrator and a q-phase current integrator which are completely decoupled, and then complete decoupling control of the alternating current power spring is completed.
4. A feedback linearization decoupling control method for an ac power spring as in claim 1 or 3, wherein: the state-transition matrix comprises a matrix of states,
wherein T (x) is the state transformation matrix,for said h 1 (x) Gamma with respect to said f (x) 1 The step Li Daoshu of the design is,for said h 2 (x) Gamma with respect to said f (x) 2 Step Li Daoshu.
5. The ac power spring feedback linearization decoupling control method of claim 4, wherein: the feedback linearization control law includes,
u＝E -1 [v-T(x)]
wherein E is -1 For the inverse of the decoupling matrix E,to feedback linearize the control input variable, y 1,ref ＝i ref,d 、y 2,ref ＝i ref,q Respectively outputting variable i of the alternating current power spring d 、i q Is provided for the desired current trajectory of (a); k (k) 11 、k 21 、k 12 、k 22 The parameters of the linear controller are fed back accurately; e, e 1 ＝y 1,ref -y 1 、e 2 ＝y 2,ref -y 2 Respectively the expected current tracks y 1,ref 、y 2,ref Is used for tracking errors of the optical system.
6. The ac power spring feedback linearization decoupling control method of claim 5, wherein: also included is a method of manufacturing a semiconductor device,
when the feedback linearization control law and the alternating current power spring dynamic model are jointly observed, the alternating current power spring can be equivalent to a complete linearization model, and complete linearization control of the alternating current power spring.
7. The ac power spring feedback linearization decoupling control method of claim 6, wherein: the constructing of the power loop PI controller includes,
setting critical load voltage v C Q-axis voltage component v of (2) C,q =0, then the active power P at the point of common coupling is injected in Reactive power Q in The method comprises the following steps of:
P in ＝v C,d i d
Q in ＝-v C,d i q ；
the power loop PI controller is as follows:
wherein v is C,d For the critical load voltage v C D-axis voltage component, P in,ref And Q in,ref The active power and reactive power of the alternating current power spring gradually track the power reference value, k P And k I And the proportional coefficient and the integral coefficient of the power PI controller are respectively, and s is an integral operator.
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