CN113488986B - VSC robust droop control method based on uncertainty and disturbance estimation - Google Patents

VSC robust droop control method based on uncertainty and disturbance estimation Download PDF

Info

Publication number
CN113488986B
CN113488986B CN202110963387.0A CN202110963387A CN113488986B CN 113488986 B CN113488986 B CN 113488986B CN 202110963387 A CN202110963387 A CN 202110963387A CN 113488986 B CN113488986 B CN 113488986B
Authority
CN
China
Prior art keywords
vsc
uncertain
droop control
current
uncertainty
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202110963387.0A
Other languages
Chinese (zh)
Other versions
CN113488986A (en
Inventor
林莉
谭惠丹
林雨露
王静芝
范米
马明辉
贾源琦
罗皓
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chongqing University
Original Assignee
Chongqing University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Chongqing University filed Critical Chongqing University
Priority to CN202110963387.0A priority Critical patent/CN113488986B/en
Publication of CN113488986A publication Critical patent/CN113488986A/en
Application granted granted Critical
Publication of CN113488986B publication Critical patent/CN113488986B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • H02J1/00—Circuit arrangements for dc mains or dc distribution networks
    • H02J1/14—Balancing the load in a network
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Power Engineering (AREA)
  • Computer Hardware Design (AREA)
  • Evolutionary Computation (AREA)
  • Geometry (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Electrical Variables (AREA)

Abstract

The invention discloses a VSC robust droop control method based on uncertainty and disturbance estimation, which comprises the following steps of: s1, determining a load current reference value; s2, determining a current mathematical model of each source converter branch; s3, determining an uncertain dynamic model of each source converter branch circuit based on uncertain and disturbance estimation; s4, determining a reference model and an error equation of VSC robust droop control based on uncertainty and disturbance estimation; s5, carrying out uncertain interference estimation according to the uncertain dynamic model of each source converter branch circuit to obtain an uncertain interference estimation result; and S6, calculating a control law of VSC robust droop control. The invention can ensure that the voltage of the common direct current bus is stabilized at a rated voltage value and has certain anti-interference capability, and simultaneously ensures that each source converter reasonably bears load according to the equal proportion of the capacity of the source converter.

Description

VSC robust droop control method based on uncertainty and disturbance estimation
Technical Field
The invention relates to the field of direct-current power distribution networks, in particular to a VSC robust droop control method based on uncertainty and disturbance estimation.
Background
The direct current distribution network has certain flexibility and convenience to various new energy access, wherein, as the important component VSC (voltage source converter) who undertakes the rectification effect, its control is crucial to the steady operation of direct current distribution network.
At present, under the traditional droop control method, each VSC is difficult to accurately distribute load current according to capacity due to different branch impedances of each source converter, and uneven load distribution can affect the stability of a direct current bus voltage. The traditional droop control has the defect that the load current distribution precision is inconsistent with the voltage stability of a direct current bus.
Disclosure of Invention
In view of the above, the present invention aims to overcome the defects in the prior art, and provide a VSC robust droop control method based on uncertainty and disturbance estimation, which can ensure that the voltage of the common dc bus is stabilized at a rated voltage value and has a certain disturbance rejection capability, and simultaneously ensure that each source converter bears load reasonably in proportion to its own capacity.
The invention discloses a VSC robust droop control method based on uncertainty and disturbance estimation, which comprises the following steps of:
s1, determining a load current reference value;
s2, determining a current mathematical model of each source converter branch;
s3, according to the current mathematical model of each source converter branch, determining an uncertain dynamic model of each source converter branch based on uncertain and disturbance estimation;
s4, determining a reference model and an error equation of VSC robust droop control based on uncertainty and disturbance estimation according to the uncertainty dynamic model of each source converter branch;
s5, carrying out uncertain interference estimation according to the uncertain dynamic model of each source converter branch circuit to obtain an uncertain interference estimation result;
and S6, calculating a control law of the VSC robust droop control according to the load current reference value, the reference model of the VSC robust droop control, the error equation of the VSC robust droop control and the uncertain interference estimation result.
Further, the load current reference value is determined according to the following formula:
Figure BDA0003222918860000021
wherein, I iref Loading current reference values for each branch; i is load Is disclosedThe total load current borne on the common direct current bus;
Figure BDA0003222918860000022
setting a voltage value of a public direct current bus of the direct current power distribution network; v bus The actual voltage value of the common direct current bus is obtained; n is di A positive sag factor; n is a radical of an alkyl radical si Is the capacity scaling factor, n si Comprises the following steps:
Figure BDA0003222918860000023
S i for the capacity of each source converter,
Figure BDA0003222918860000024
the sum of the capacities of all the source converters participating in the operation of the system, l is the number of all the source converters, and i and k are identification symbols.
Further, a current mathematical model of each source converter branch is determined according to the following formula:
Figure BDA0003222918860000025
wherein, I dci Is the output current of the ith converter;
Figure BDA0003222918860000026
is the output voltage reference value of the ith converter; z o Is the total impedance of the branch.
Further, the step S3 specifically includes:
s31, improving the current mathematical model of each source converter branch to obtain an improved current mathematical model:
Figure BDA0003222918860000027
wherein L is -1 Is the inverse Laplace transform symbol; * Is a convolution symbol; tau is i Is the time constant of the ith converter; s is a complex variable; v dci Is as followsThe output voltages of the i converters; f. of i The uncertainty and disturbance in the operation process of the ith converter; the described
Figure BDA0003222918860000031
△Z oi ＝Z oi -Z o0 ，Z oi Is the total output impedance, Z, of the i-th inverter branch o0 A nominal value for the total output impedance of the ith converter leg; d i Are parameter inaccuracies and system unknown perturbations.
S32, deducing the improved current mathematical model to obtain an uncertain dynamic model of each source converter branch:
Figure BDA0003222918860000032
wherein the content of the first and second substances,
Figure BDA0003222918860000033
is the derivative of the output current of the ith converter; σ is the lumped uncertainty and disturbance in the operation process, and σ is:
Figure BDA0003222918860000034
further, the reference model of the VSC robust droop control based on the uncertainty and disturbance estimation is:
Figure BDA0003222918860000035
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003222918860000036
is the derivative of the reference model state variable at time t; x is the number of m (t) is the state variable of the reference model at time t; u. of m (t) is a reference instruction of the system at time t; a is m And b m Are all constant coefficients, and a m >0。
Further, in step S4, the current I is loaded by the branch circuit dci Asymptotically tracking load current reference value I iref Adjusting each parameter value in the uncertain dynamic model of each source converter branch circuit to control the target so as to lead the tracking error e of each branch circuit load current i Satisfy the dynamic equation based on the uncertainty and disturbance estimation theory
Figure BDA0003222918860000037
Wherein the tracking error e i Comprises the following steps: e.g. of the type i ＝I iref -I dci The dynamic equation
Figure BDA0003222918860000038
Comprises the following steps:
Figure BDA0003222918860000039
K i feedback a gain factor for the error, and K i >0。
Further, in step S5, the uncertain interference estimation result is determined according to the following formula:
Figure BDA0003222918860000041
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003222918860000042
a derivative of a load current reference value for an ith converter; k is an error feedback gain coefficient; g fi (s) a filter having a target bandwidth;
further, in step S6, the control law of the VSC robust droop control is determined according to the following formula:
Figure BDA0003222918860000043
the beneficial effects of the invention are: according to the VSC robust droop control method based on uncertain and disturbance estimation, a reasonable load current reference value is set through a droop principle, and a UDE control law is designed so that actual output load current of each source converter can gradually track the load current reference value, and therefore current distribution is not affected by different resistances of circuits of each source converter, the VSC robust droop control method has certain disturbance rejection capacity for disturbance occurring in a direct current power distribution network system, and the robustness of public direct current bus voltage is improved.
Drawings
The invention is further described below with reference to the following figures and examples:
FIG. 1 is a schematic flow diagram of the process of the present invention;
FIG. 2 is a schematic diagram of the UDE-based robust droop control principle of the present invention;
FIG. 3 is a common DC bus voltage under operating conditions of a conventional droop controlled DC distribution network with increased load and photovoltaic unit access;
fig. 4 shows VSC load currents under operating conditions of a conventional droop controlled dc distribution network with increased load and photovoltaic unit access;
fig. 5 shows the common dc bus voltage under the operating condition of the UDE robust droop control dc distribution network when the load is increased and the photovoltaic unit is accessed;
fig. 6 shows VSC load currents under the operating condition of the UDE robust droop control dc distribution network when the load increases and the photovoltaic unit is connected.
Detailed Description
The invention is further described with reference to the accompanying drawings, in which:
the invention discloses a VSC robust droop control method based on uncertainty and disturbance estimation, which comprises the following steps of:
s1, determining a load current reference value;
s2, determining a current mathematical model of each source converter branch;
s3, according to the current mathematical model of each source converter branch, determining an uncertain dynamic model of each source converter branch based on uncertain and disturbance estimation;
s4, according to the uncertain dynamic model of each source converter branch, determining a reference model and an error equation of VSC robust droop control based on uncertain and disturbance estimation;
s5, carrying out uncertain interference estimation according to the uncertain dynamic model of each source converter branch circuit to obtain an uncertain interference estimation result;
and S6, calculating a control law of the VSC robust droop control according to the load current reference value, the reference model of the VSC robust droop control, the error equation of the VSC robust droop control and the uncertain interference estimation result.
The invention can ensure that the voltage of the common direct current bus is stabilized at a rated voltage value and has certain anti-interference capability, simultaneously ensures that each source current converter reasonably bears load according to the equal proportion of the capacity of the source current converter, and overcomes the defect that the traditional droop control is contradictory to the voltage stability of the common direct current bus in the load current distribution precision.
It should be noted that, in order to better understand the design concept of the present invention, the following modified portions of the present invention are described: as shown in fig. 2, the control method of the present invention is divided into two parts according to the control target: firstly, a load current reference value part sets a reasonable load current reference value I according to the droop principle iref (ii) a The other is an UDE control part, and the UDE control law is designed to ensure that the actual output load current I of each source converter i Capable of progressively tracking the load current reference value I obtained for the first part iref And provides a reference V required for outer loop control of the VSC voltage ref Thereby preventing current distribution from being affected by resistance R of each source converter circuit line The influence is different, and the disturbance resistance capability to the disturbance appearing in the direct current distribution network system is certain, the robustness of public direct current bus voltage has been improved. Wherein UDE is the abbreviation of Uncertainty and Disturbance Estimator, and the Chinese is: uncertainty and disturbance estimation.
In this embodiment, according to the droop principle, the load current reference value is determined:
Figure BDA0003222918860000061
wherein, I iref A load current reference value of the ith converter; i is load For loads borne on the common dc busThe total current;
Figure BDA0003222918860000062
a voltage set value of a public direct current bus of the direct current distribution network is usually 780V; v bus The actual voltage value of the common direct current bus is obtained; n is a radical of an alkyl radical di Setting a droop coefficient for the ith converter according to the capacity proportion of each source converter; n is si Is the capacity proportionality coefficient of the ith converter, n si Comprises the following steps:
Figure BDA0003222918860000063
S i is the capacity of the i-th converter,
Figure BDA0003222918860000064
the sum of the capacities of all the source converters participating in the operation of the system, and l is the number of all the source converters.
In this embodiment, a current mathematical model of each source converter branch is determined according to kirchhoff's law of the circuit:
Figure BDA0003222918860000065
wherein, I dci Is the output current of the ith converter;
Figure BDA0003222918860000066
is the output voltage reference value of the ith converter; z is a linear or branched member o Is the total impedance of the branch.
In this embodiment, the step S3 specifically includes:
s31. Since the bandwidth may become very large after measurement, the system state variable I dci An extra low-pass filter is needed
Figure BDA0003222918860000067
Then, improving the current mathematical model of each source converter branch to obtain an improved current mathematical model:
Figure BDA0003222918860000068
wherein L is -1 Is the inverse Laplace transform symbol; * Is a convolution symbol; tau is i Is the time constant of the ith converter; s is a complex variable; v dci Is the output voltage of the ith converter; f. of i The uncertainty and disturbance in the operation process of the ith converter; the described
Figure BDA0003222918860000071
△Z oi ＝Z oi -Z o0 ，Z oi Is the total output impedance, Z, of the i-th inverter branch o0 A nominal value for the total output impedance of the ith converter leg; d i Are parameter inaccuracies and system unknown perturbations.
S32, deducing the improved current mathematical model to obtain an uncertain dynamic model of the branch current of each source converter:
Figure BDA0003222918860000072
wherein the content of the first and second substances,
Figure BDA0003222918860000073
is the derivative of the output current of the ith converter; σ is the lumped uncertainty and disturbance in the operation process, and σ is:
Figure BDA0003222918860000074
in this embodiment, in step S4, the reference model of the VSC robust droop control based on the uncertainty and the disturbance estimation is:
Figure BDA0003222918860000075
wherein the content of the first and second substances,
Figure BDA0003222918860000076
is the derivative of the reference model state variable at time t; x is a radical of a fluorine atom m (t) is the state variable of the reference model at time t, i.e. the branch load current I dcm Control input vector u = V dcref ；u m (t) a reference instruction of the system at time t, a system reference instruction u m ＝I iref ，a m And b m Are all constant coefficients, and a m >0。
The reference model may be designed according to the desired closed-loop behavior: the system also obtains a desired state response when the state variables of the system track the state variables of the reference model. I.e. by appropriately selecting the control input u (t) = I ref (t)，I ref (t) the load current reference value, so that there is a stable error between the state of the reference model and the state of the system, i.e. the state error e (t) = x m (t) -x (t) progressively converge to 0.
By-passing the load current I dci Asymptotically tracking load current reference value I iref Adjusting each parameter value in the uncertain dynamic model of each source converter branch circuit to control the target so as to lead the tracking error e of each branch circuit load current i Satisfy the dynamic equation based on the uncertainty and disturbance estimation theory
Figure BDA0003222918860000081
Wherein the tracking error e i Comprises the following steps: e.g. of the type i ＝I iref -I dci And will track the error e i As an error equation of VSC robust droop control; said dynamic equation
Figure BDA0003222918860000082
Comprises the following steps:
Figure BDA0003222918860000083
K i feedback a gain factor for the error, and K i >0，
In this embodiment, in step S5, V is obtained by combining the uncertain dynamic model of each source converter branch, the tracking error of each branch load current, and the dynamic equation dci The following equation is required:
Figure BDA0003222918860000084
according to the uncertain dynamic model of the branch current of the converter, the lumped uncertainty and disturbance defined in the uncertain dynamic model of each source converter branch can be expressed as
Figure BDA0003222918860000085
By the control theory of UDE, the σ can be predicted as:
Figure BDA0003222918860000086
using predicted values
Figure BDA0003222918860000087
In place of V dci Sigma in the equation needs to be satisfied, and an uncertain interference estimation result can be obtained:
Figure BDA0003222918860000088
wherein the content of the first and second substances,
Figure BDA0003222918860000089
a derivative of a load current reference value for the ith converter; k is an error feedback gain coefficient; g fi (s) a filter with a suitable bandwidth determined according to the actual operating conditions, with a time constant τ i The empirical value is generally about 0.04 s;
in this embodiment, in step S6, the control law of the VSC robust droop control is determined according to the following formula:
Figure BDA0003222918860000091
wherein a reference state variable is provided, i.e.Providing a load current reference I iref The requirement that the UDE control law of the second part in the UDE robust droop control can work normally is met, and the load current reference value I iref Provided by the load current reference of the first part.
In order to verify the control effect of the invention, the control method is compared with the traditional droop control, simulation analysis is carried out, and the stability of the public direct current bus voltage of the direct current distribution network and the realization condition of accurate distribution of load current according to the capacity of the source converter under the two control methods are compared. The total simulation time of the system was 6s. And at the moment of 0.2s, all control signals of the direct-current power distribution network are accessed into the system. A public direct current bus of the direct current distribution network is connected with a 0.28MW (2 omega) resistive load at the moment of 2s, and a photovoltaic unit is connected with the public direct current bus at the moment of 4 s.
Under the conditions of load increase and the operation of a traditional droop control direct current distribution network when a photovoltaic unit is connected, the voltage of a public direct current bus and the VSC load current are shown in attached figures 3 and 4;
under the conditions of load increase and UDE robust droop control direct current distribution network operation when a photovoltaic unit is connected in, public direct current bus voltage and VSC load current are shown in attached figures 5 and 6.
As is evident from fig. 3 and 4, the operating level of the common dc bus voltage fails to substantially maintain the set point 780V under various operating conditions. The system is unloaded in the period from 0.2s to 2s, and the voltage of the common direct current bus is maintained at 778.6V; due to the load effect and the droop effect, after the resistive load is switched in the period of 2s to 4s, the voltage of the public direct current bus is reduced to a certain degree to be 743.3V compared with the previous voltage. And when the photovoltaic unit is switched on at the moment of 4s, the voltage of the common direct current bus rises to about 776.8V again, and small-amplitude oscillation exists. This indicates that the robustness of the common dc bus voltage is not good, that is, the conventional droop control is easily affected by the droop effect in terms of the stability of the common dc bus voltage, so that a static error occurs between the voltage and a set value, and there is no good immunity to the access of new energy. The load current of the output of the VSC1 is different from that of the VSC2 and the VSC3, and the load current changes of the VSC2 and the VSC3 are substantially the same. This is because the VSC1 has a larger output impedance than the VSCs 2, 3 with the same output impedance in the case where the rated capacity and the control parameters are identical, indicating that the conventional droop control does not achieve an accurate distribution of load current in proportion to the source converter capacity, taking into account the different output impedances and the different line impedances of the VSCs.
As is apparent from fig. 5 and 6, the common dc bus voltage under the UDE robust droop control is maintained at 779.6V during the simulation, and the steady-state error is small. Although at times 2s and 4s, the bus voltage has some small oscillations due to the switching of the load and the photovoltaic unit, compared to fig. 4, the common dc bus voltage has stronger tracking to its rated value of 780V than when the conventional droop control is used. And the public direct current bus voltage also shows stronger robust performance than that of the traditional droop control in the period from 4s to 6s when the photovoltaic unit is connected. In the aspect of load current distribution, at the moments of 2s and 4s, the load currents of the three VSC outlets with the same capacity are not accurately distributed at the moment of load and distributed energy access, but under the action of the UDE control law, the load currents gradually track the load current reference values of all the branches, and ideal control effects can be guaranteed under the condition of distributed energy access. Taking the 2s moment as an example, because VSC1 output impedance is different with VSC2 and VSC3, VSC 1's current value is 0.221kA, and VSC2 and VSC3 are all 0.280kA, but at 3.2s moments, the output current of three VSC can be tracked for 0.256kA progressively, has reached the effect of flow equalizing.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, 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 to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.

Claims (6)

1. A VSC robust droop control method based on uncertainty and disturbance estimation is characterized in that: the method comprises the following steps:
s1, determining a load current reference value;
s2, determining a current mathematical model of each source converter branch;
determining a current mathematical model of each source converter branch according to the following formula:
Figure FDA0003931042090000011
wherein, I dci Is the output current of the ith converter;
Figure FDA0003931042090000012
is the output voltage reference value of the ith converter; z o Is the total impedance of the branch; v bus The actual voltage value of the common direct current bus is obtained;
s3, according to the current mathematical model of each source converter branch, determining an uncertain dynamic model of each source converter branch based on uncertain and disturbance estimation;
the step S3 specifically includes:
s31, improving the current mathematical model of each source converter branch to obtain an improved current mathematical model:
Figure FDA0003931042090000013
wherein L is -1 Is the inverse Laplace transform symbol; * Is a convolution symbol; tau. i Is the time constant of the ith converter; s is a complex variable; v dci Is the output voltage of the ith converter; f. of i The uncertainty and disturbance in the operation process of the ith converter; the described
Figure FDA0003931042090000014
ΔZ oi ＝Z oi -Z o0 ，Z oi For the total output impedance, Z, of the ith converter branch o0 A nominal value for the total output impedance of the ith converter leg; d i For parameter inaccuracies and systemsUnknown disturbance;
s32, deducing the improved current mathematical model to obtain an uncertain dynamic model of each source converter branch:
Figure FDA0003931042090000021
wherein, the first and the second end of the pipe are connected with each other,
Figure FDA0003931042090000022
is the derivative of the output current of the ith converter; σ is the lumped uncertainty and disturbance in the operation process, and σ is:
Figure FDA0003931042090000023
s4, according to the uncertain dynamic model of each source converter branch, determining a reference model and an error equation of VSC robust droop control based on uncertain and disturbance estimation;
s5, carrying out uncertain interference estimation according to the uncertain dynamic model of each source converter branch circuit to obtain an uncertain interference estimation result;
and S6, calculating a control law of the VSC robust droop control according to the load current reference value, the reference model of the VSC robust droop control, the error equation of the VSC robust droop control and the uncertain interference estimation result.
2. The uncertain and disturbance estimation-based VSC robust droop control method according to claim 1, wherein: determining a load current reference value according to the following formula:
Figure FDA0003931042090000024
wherein, I iref Loading current reference values for each branch; i is load The load total current borne by the common direct current bus;
Figure FDA0003931042090000025
setting a voltage value of a public direct current bus of the direct current power distribution network; v bus The actual voltage value of the common direct current bus is obtained; n is a radical of an alkyl radical di A positive sag factor; n is si Is the capacity scaling factor, n si Comprises the following steps:
Figure FDA0003931042090000026
S i for the capacity of each source converter it is,
Figure FDA0003931042090000027
the sum of the capacities of all the source converters participating in the operation of the system, l is the number of all the source converters, and i and k are identification symbols.
3. The robust droop control method for VSC based on uncertainty and disturbance estimation according to claim 1, wherein: the reference model of VSC robust droop control based on uncertainty and disturbance estimation is as follows:
Figure FDA0003931042090000031
wherein, the first and the second end of the pipe are connected with each other,
Figure FDA0003931042090000032
is the derivative of the reference model state variable at time t; x is the number of m (t) is the state variable of the reference model at time t; u. of m (t) is a reference instruction of the system at time t; a is m And b m Are all constant coefficients, and a m ＞0。
4. The uncertain and disturbance estimation-based VSC robust droop control method according to claim 1, wherein: in step S4, the current I is loaded by branch circuit dci Asymptotically tracking load current reference value I iref Adjusting each parameter value in the uncertain dynamic model of each source converter branch circuit to control the target so that each branch circuitTracking error e of load current i Satisfy the dynamic equation based on the uncertainty and disturbance estimation theory
Figure FDA0003931042090000033
Wherein the tracking error e i Comprises the following steps: e.g. of a cylinder i ＝I iref -I dci The dynamic equation
Figure FDA0003931042090000034
Comprises the following steps:
Figure FDA0003931042090000035
K i feedback a gain factor for the error, and K i ＞0。
5. The robust droop control method for VSC based on uncertainty and disturbance estimation according to claim 4, wherein: in step S5, an uncertain interference estimation result is determined according to the following formula:
Figure FDA0003931042090000036
wherein the content of the first and second substances,
Figure FDA0003931042090000037
a derivative of a load current reference value for the ith converter; k is an error feedback gain coefficient; g fi (s) is a filter having a target bandwidth.
6. The robust droop control method for VSC based on uncertainty and disturbance estimation according to claim 5, wherein: in step S6, the control law of the VSC robust droop control is determined according to the following formula:
Figure FDA0003931042090000038
CN202110963387.0A 2021-08-20 2021-08-20 VSC robust droop control method based on uncertainty and disturbance estimation Active CN113488986B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110963387.0A CN113488986B (en) 2021-08-20 2021-08-20 VSC robust droop control method based on uncertainty and disturbance estimation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110963387.0A CN113488986B (en) 2021-08-20 2021-08-20 VSC robust droop control method based on uncertainty and disturbance estimation

Publications (2)

Publication Number Publication Date
CN113488986A CN113488986A (en) 2021-10-08
CN113488986B true CN113488986B (en) 2022-12-23

Family

ID=77945925

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110963387.0A Active CN113488986B (en) 2021-08-20 2021-08-20 VSC robust droop control method based on uncertainty and disturbance estimation

Country Status (1)

Country Link
CN (1) CN113488986B (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108429277A (en) * 2018-01-29 2018-08-21 浙江工业大学 Control method of high-voltage direct-current transmission system of two-end voltage source type converter based on fuzzy active disturbance rejection control
KR101892123B1 (en) * 2017-06-02 2018-08-30 서울과학기술대학교 산학협력단 Hybrid Uninterruptible Power System Capable Of Being Connected To Unbalanced Grid
CN109066756A (en) * 2018-08-01 2018-12-21 华南理工大学 A kind of VSC-HVDC linear active disturbance rejection control method improving power system transient stability
CN109149620A (en) * 2018-09-17 2019-01-04 国网江苏省电力有限公司电力科学研究院 One kind is from the soft straight system control method of energy storage multiterminal and system
CN109327043A (en) * 2018-10-24 2019-02-12 中国电力科学研究院有限公司 A kind of voltage source converter grid-connected system inner loop control parsing transfer function modeling method and system
CN111695221A (en) * 2020-05-20 2020-09-22 重庆大学 Robust controller design method for ensuring stable operation of direct current bus voltage
CN113162021A (en) * 2021-05-08 2021-07-23 重庆大学 VSC inner loop current control method based on uncertain interference estimation

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113113928B (en) * 2021-04-12 2022-09-09 国网江苏省电力有限公司电力科学研究院 Flexible-direct system direct-current bus voltage control method and device based on deep reinforcement learning

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101892123B1 (en) * 2017-06-02 2018-08-30 서울과학기술대학교 산학협력단 Hybrid Uninterruptible Power System Capable Of Being Connected To Unbalanced Grid
CN108429277A (en) * 2018-01-29 2018-08-21 浙江工业大学 Control method of high-voltage direct-current transmission system of two-end voltage source type converter based on fuzzy active disturbance rejection control
CN109066756A (en) * 2018-08-01 2018-12-21 华南理工大学 A kind of VSC-HVDC linear active disturbance rejection control method improving power system transient stability
CN109149620A (en) * 2018-09-17 2019-01-04 国网江苏省电力有限公司电力科学研究院 One kind is from the soft straight system control method of energy storage multiterminal and system
CN109327043A (en) * 2018-10-24 2019-02-12 中国电力科学研究院有限公司 A kind of voltage source converter grid-connected system inner loop control parsing transfer function modeling method and system
CN111695221A (en) * 2020-05-20 2020-09-22 重庆大学 Robust controller design method for ensuring stable operation of direct current bus voltage
CN113162021A (en) * 2021-05-08 2021-07-23 重庆大学 VSC inner loop current control method based on uncertain interference estimation

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
"孤立交直流混合微电网双向AC/DC换流器功率控制与电压波动抑制策略";刘子文等;《中国电机工程学报》;20191105;第39卷(第21期);6225-6238 *

Also Published As

Publication number Publication date
CN113488986A (en) 2021-10-08

Similar Documents

Publication Publication Date Title
Escobar et al. An adaptive controller in stationary reference frame for D-statcom in unbalanced operation
US10298146B2 (en) Systems and methods for short-time fourier transform spectrogram based and sinusoidality based control
CN106370912B (en) Method and system for improving current sampling precision of MOSFET (metal oxide semiconductor field effect transistor) tube and motor driving system
Wong et al. Consensus virtual output impedance control based on the novel droop equivalent impedance concept for a multi-bus radial microgrid
CN108777493B (en) Sensitivity matrix-based low-voltage microgrid secondary voltage control method
CN106169754B (en) Active Power Filter-APF neural network dynamic PID total-sliding-mode control methods
CN108899907A (en) Based on the LCLCL type Control Method of Active Power Filter for repeating sliding formwork control
CN112688295B (en) Direct-current micro-grid self-adaptive droop control method based on current consistency
CN113488986B (en) VSC robust droop control method based on uncertainty and disturbance estimation
CN108521143B (en) Alternating current-direct current hybrid micro-grid-connected robust control method considering uncertainty
CN115441710B (en) Inverter isolated-grid split-phase output voltage direct-current component suppression method and photovoltaic system
CN111695221A (en) Robust controller design method for ensuring stable operation of direct current bus voltage
Wang et al. Generalized proportional integral observer based backstepping control for DC-DC buck converters with mismatched disturbances
Kissaoui et al. Output-feedback nonlinear adaptive control strategy of three-phase AC/DC boost power converter for on-line UPS systems
CN113949265B (en) Self-adaptive backstepping control method for Buck type converter with uncertain parameters
Abdurraqeeb et al. Stabilization of constant power loads and dynamic current sharing in DC microgrid using robust control technique
Li et al. A new distributed control strategy for DC microgrids with droop coefficient correction and DC bus voltage restoration
Coral-Enriquez et al. Power factor correction and harmonic compensation in an active filter application through a discrete-time active disturbance rejection control approach
CN113533998A (en) Predictive control method for three-phase alternating current electronic load
Yu et al. Extended state observer based nonsingular terminal sliding mode control for voltage source Converter Station with uncertain disturbances
CN110661248B (en) Self-adaptive robust power coordination distribution method for multi-source direct-current micro-grid
CN116470773B (en) Proportional-integral parameter calculation method and system of converter
Ramirez-Lopez et al. Input-output linearization and generalized PI control of a single-phase active multilevel rectifier
CN113193571A (en) Non-communication control method and system for offshore wind farm to participate in frequency modulation
CN112909915A (en) Stability analysis method and system for direct-current voltage control system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant