CN113765451A - Control method of three-unit power system based on output feedback and computer equipment - Google Patents

Control method of three-unit power system based on output feedback and computer equipment Download PDF

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CN113765451A
CN113765451A CN202110957432.1A CN202110957432A CN113765451A CN 113765451 A CN113765451 A CN 113765451A CN 202110957432 A CN202110957432 A CN 202110957432A CN 113765451 A CN113765451 A CN 113765451A
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power system
unit power
observer
preset
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CN113765451B (en
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陈华昊
黄豫
聂金峰
梁宇
潘旭东
覃芸
施寅跃
刘亚波
张希
吴重沛
柯其志
苏禹宁
程守金
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Haikou Power Supply Bureau of Hainan Power Grid Co Ltd
Energy Development Research Institute of China Southern Power Grid Co Ltd
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Haikou Power Supply Bureau of Hainan Power Grid Co Ltd
Energy Development Research Institute of China Southern Power Grid Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
    • H02P9/14—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field
    • H02P9/26—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field using discharge tubes or semiconductor devices
    • H02P9/30—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field using discharge tubes or semiconductor devices using semiconductor devices

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Abstract

The application relates to a control method of a three-unit power system based on output feedback and computer equipment. The method comprises the following steps: acquiring the current state quantity of each generator in the three-unit power system through a preset observer; determining the operation error of the three-unit power system according to the current state quantity and the preset standard state quantity of each generator; and adjusting the state quantity of each generator at the next moment according to the operation error of the power system of the three units by a preset controller so as to control each generator to stably operate. By adopting the method, errors can be eliminated, the problem of unstable operation of the power system is solved, and the power system can operate stably and reliably.

Description

Control method of three-unit power system based on output feedback and computer equipment
Technical Field
The application relates to the technical field of power systems, in particular to a control method and computer equipment of a three-unit power system based on output feedback.
Background
With the rapid development of the grid structure, the number of the grid terminal devices is increased, and the pressure of the communication network is increased, so that the processing of massive information transmission challenges the efficiency and reliability of the communication network. Therefore, it becomes important to construct a fully-through, efficient and reliable communication transmission processing system.
The key characteristics of constructing a comprehensive through high-efficiency reliable communication transmission processing system are mainly represented as comprehensive through, high-speed broadband, open ubiquitous and emergency guarantee, and the core function of the system is to meet the data transmission requirements of comprehensive perception, efficient interaction and intelligent decision control, so that the problem that the construction of a reliable and efficient data communication system to maintain the stability of a power system needs to be solved urgently is solved.
Disclosure of Invention
In view of the above, it is necessary to provide a control method and a computer device for a three-unit power system based on output feedback, which can solve the instability of the power system.
In a first aspect, the present application provides a method for controlling a three-unit power system based on output feedback, the method including:
acquiring the current state quantity of each generator in the three-unit power system through a preset observer;
determining the operation error of the three-unit power system according to the current state quantity and the preset standard state quantity of each generator;
and adjusting the state quantity of each generator at the next moment according to the operation error of the power system of the three units by a preset controller so as to control each generator to stably operate.
In one embodiment, acquiring the current state quantity of each generator in the three-unit power system through a preset observer includes:
acquiring the current output quantity of each generator in the three-unit power system through a preset observer;
and obtaining the current state quantity of each generator according to the current output quantity of each generator based on a preset calculation method.
In one embodiment, the adjusting, by a preset controller, the state quantity of each generator at the next moment according to the operation error of the three-unit power system includes:
and judging whether the running error of the three-unit power system meets a preset trigger condition through a preset controller, and if so, outputting a control signal through the preset controller to control the state quantity of each generator at the next moment to reach the preset state quantity.
In one embodiment, before obtaining the current state quantity of each generator in the three-unit power system through a preset observer, the method further includes:
determining a gain matrix of an observer model and a gain matrix of a controller model according to a constructed dynamic model, a fuzzy state model and a Lyapunov function of the three-unit power system;
obtaining a preset observer according to an observer model determined by a gain matrix of the observer model;
and obtaining the preset controller according to the controller model determined by the gain matrix of the controller model.
In one embodiment, determining a gain matrix of the observer model and a gain matrix of the controller model according to a dynamic model, a fuzzy state model and a Lyapunov function of the constructed three-unit power system comprises:
according to the dynamics principle, a dynamics model of the three-unit power system is constructed;
according to the dynamic model and the fuzzy rule, an observer model and a controller model are constructed; the observer model comprises a gain matrix of the observer model, and the controller model comprises a gain matrix of the controller model;
determining a linear matrix inequality of a stability criterion function of the three-unit power system according to the observer model and the Lyapunov function;
and solving the linear matrix inequality to obtain a gain matrix of the controller model and a gain matrix of the observer model.
In one embodiment, constructing the observer model and the controller model based on the dynamics model and the fuzzy rules comprises:
constructing a fuzzy state model of the three-unit power system according to the dynamic model and the first fuzzy rule;
constructing an observer model and a controller model according to the fuzzy state model and a second fuzzy rule; the second fuzzy rule is a rule determined according to the normalized membership function.
In one embodiment, constructing a fuzzy state model of the three-unit power system according to the dynamic model and the first fuzzy rule comprises:
linearizing the dynamic model to obtain a linearized third-order dynamic model;
constructing a first fuzzy state model by adopting a preset first sub-rule according to the linearized third-order kinetic model;
constructing a second fuzzy state model by adopting a preset second sub-rule according to the linearized third-order kinetic model;
and determining a fuzzy state model of the three-unit power system according to the fuzzy membership function, the first fuzzy state model and the second fuzzy state model.
In one embodiment, determining a linear matrix inequality of a stability criterion function of a three-unit power system according to an observer model and a lyapunov function includes:
obtaining an observer error function according to the observer model;
correcting the Lyapunov function according to the error function of the observer to obtain a corrected Lyapunov function;
and obtaining a linear matrix inequality of a stability criterion function of the three-unit power system according to the Schur theorem and the corrected Lyapunov function.
In one embodiment, solving the linear matrix inequality to obtain a gain matrix of the controller model and a gain matrix of the observer model includes:
solving the linear matrix inequality to determine a positive definite matrix for triggering control of the error event;
and calculating according to the positive definite matrix of the error event trigger control to obtain a gain matrix of the controller model and a gain matrix of the observer model.
In a second aspect, the present application provides a control apparatus for a three-unit power system based on output feedback, the apparatus comprising:
the acquisition module is used for acquiring the current state quantity of each generator in the three-unit power system through a preset observer;
the determining module is used for determining the operation error of the three-unit power system according to the current state quantity and the preset standard state quantity of each generator;
and the adjusting module is used for adjusting the state quantity of each generator at the next moment according to the operation error of the three-unit power system through a preset controller so as to control each generator to stably operate.
In a third aspect, the present application provides a computer device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the steps of the method in any one of the above embodiments of the first aspect when executing the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method in any of the embodiments of the first aspect described above.
According to the control method and the computer equipment of the three-unit power system based on the output feedback, the current state quantity of each generator in the three-unit power system is obtained through a preset observer; determining the operation error of the three-unit power system according to the current state quantity and the preset standard state quantity of each generator; the state quantity of each generator at the next moment is adjusted according to the operation error of the three-unit power system through the preset controller so as to control each generator to stably operate, the problem that the power system is unstable in operation can be solved, and the power system can stably and reliably operate.
Drawings
FIG. 1 is a diagram of an exemplary implementation of a method for controlling a three-generation power system;
FIG. 2 is a schematic flow chart illustrating a method for controlling a three-unit power system according to an embodiment;
FIG. 3 is a schematic flow chart illustrating a method for controlling a three-unit power system according to another embodiment;
FIG. 4 is a schematic flow chart illustrating a method for controlling a three-unit power system according to another embodiment;
FIG. 5 is a schematic flow chart illustrating a method for controlling a three-unit power system according to another embodiment;
FIG. 6 is a schematic flow chart illustrating a method for controlling a three-unit power system according to another embodiment;
FIG. 7 is a schematic flow chart illustrating a method for controlling a three-unit power system according to another embodiment;
FIG. 8 is a schematic flow chart illustrating a method for controlling a three-unit power system according to another embodiment;
FIG. 9 is a schematic structural diagram of a three-unit power system in another embodiment;
FIG. 10 is a state response of a three-unit power system subsystem in one embodiment;
FIG. 11 is a control input for a three-unit power system subsystem in one embodiment;
FIG. 12 is an error response of a three unit power system subsystem in one embodiment;
FIG. 13 is an observer response of a three-unit electrical system subsystem in one embodiment;
FIG. 14 is an event trigger for a three-unit power system subsystem in one embodiment;
fig. 15 is a block diagram showing a control apparatus of a three-unit power system according to an embodiment;
fig. 16 is a block diagram showing a control apparatus of a three-unit power system according to an embodiment;
FIG. 17 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The control method of the three-unit power system can be applied to the application environment shown in fig. 1. Wherein the terminal 102 communicates with the synchronous generator of the power system 104 over a network. The terminal can acquire the current state quantity of each generator in the three-unit power system in real time, and adjust the state quantity of each generator of the three-unit power system at the next moment in real time according to the current state quantity, so that the operation error of the power system is eliminated, and the power system can operate stably and reliably. The terminal 102 may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices.
In one embodiment, as shown in fig. 2, a method for controlling a three-unit power system based on output feedback is provided, which is described by taking the method as an example applied to the terminal in fig. 1, and includes the following steps:
s202, acquiring the current state quantity of each generator in the three-unit power system through a preset observer.
The three-unit power system is a power system comprising a plurality of generators. The current state quantity of each generator may include: relative angle between q-axis potentials, rotational speed of the generator, generator mechanical power, generator active power, synchronous angular velocity, generator transient potentials, and the like. The preset observer may be an observer model or may be implemented by a hardware observer, which is not limited herein.
Specifically, the preset observer can acquire the current state quantity of each generator in the three-unit power system in real time.
And S204, determining the operation error of the three-unit power system according to the current state quantity and the preset standard state quantity of each generator.
Specifically, after the current state quantity of each generator is obtained, the operation error of the three-unit power system in actual operation can be determined by comparing the current state quantity with the standard state quantity, making a difference between the current state quantity and the standard state quantity, or making a quotient, which is not limited herein. The preset standard state quantity may be a state estimator, which is data that is verified by a person skilled in the art for many times.
And S206, adjusting the state quantity of each generator at the next moment according to the operation error of the power system of the three units by the preset controller so as to control each generator to stably operate.
Specifically, after the operation error of the three-unit power system in actual operation is determined, the operation error is transmitted to the preset controller, and the preset controller can adjust the state quantity of the generator at the next moment in real time according to the operation error, so that the operation error is eliminated, and the three-unit power system can stably operate.
In the control method of the three-unit power system based on output feedback, the current state quantity of each generator in the three-unit power system is obtained through a preset observer; determining the operation error of the three-unit power system according to the current state quantity and the preset standard state quantity of each generator; the state quantity of each generator at the next moment is adjusted according to the operation error of the three-unit power system through the preset controller so as to control each generator to stably operate, the problem that the power system is unstable in operation is solved, and the power system can stably and reliably operate.
The above embodiment describes a control method of a three-unit power system based on output feedback, and how to obtain the current state quantity of each generator in the method is further described by using an embodiment. In one embodiment, as shown in fig. 3, obtaining the current state quantity of each generator in the three-unit power system by a preset observer includes:
and S302, acquiring the current output quantity of each generator in the three-unit power system through a preset observer.
The current output quantity of each generator may include a relative angle between q-axis potentials of each generator, a rotation speed of each generator, and a mechanical power of each generator, which may be obtained through measurement.
Specifically, the relative angle between the q-axis potentials of the generators at the current moment when the three-unit power system operates, the rotating speed of the generators and the mechanical power of the generators can be measured in real time, and the measured data are transmitted to a preset observer, namely the current output quantity of each generator.
And S304, obtaining the current state quantity of each generator according to the current output quantity of each generator based on a preset calculation method.
Specifically, after the current output of each generator is obtained, a calculation method, such as formula y, may be preseti(t)＝Eihxi(t) wherein yi(t) is the measured current output of the generator, EihFor a known reference matrix, xiAnd (t) is the current state quantity.
In this embodiment, the current output quantity of each generator in the three-unit power system is obtained through a preset observer, and the current state quantity of each generator is obtained according to the current output quantity of each generator based on a preset calculation method. The method is simple and effective, and the current state quantity of the generator can be calculated so as to adjust the operation error.
The above embodiment describes how to obtain the current state quantity of each generator, and now describes how to adjust the state quantity of each generator at the next time by using an embodiment, in an embodiment, adjusting the state quantity of each generator at the next time according to the operation error of the three-unit power system by using a preset controller includes:
and judging whether the running error of the three-unit power system meets a preset trigger condition through a preset controller, and if not, outputting a control signal through the preset controller to control the state quantity of each generator at the next moment to reach the preset state quantity.
Wherein the preset trigger condition may be
Figure BDA0003217013360000071
Where ρ > 0, ei(t)＝xi(tk)-xi(t)，ei(t) is the running error, i.e. tkThe current state quantity and state estimator x at the momenti(t) difference. x is the number ofi1(t)＝δi(t) and GxAre two matrices set by the user himself.
Specifically, whether the running error of the three-unit power system meets the preset trigger condition or not is judged through the preset controller, namely, the current state quantity is substituted into a preset formula to judge whether the inequality is met or not, if the inequality is not met, the control is triggered, and the state quantity of each generator at the next moment is controlled to reach the preset state quantity through the output of a control signal of the preset controller.
The above embodiment describes a control method of a three-unit power system based on output feedback, and when the method is applied, it is most important to complete the process of the whole control method through an observer and a controller, and how to construct the observer and the controller is now described with an embodiment, as shown in fig. 4, before acquiring the current state quantities of each generator in the three-unit power system through a preset observer, the method further includes:
s402, determining a gain matrix of the observer model and a gain matrix of the controller model according to the established dynamic model, the fuzzy state model and the Lyapunov function of the three-unit power system.
Specifically, a fuzzy state model can be constructed according to a constructed dynamics model of the three-unit power system and a fuzzy rule, and a gain matrix of the observer model and a gain matrix of the controller model can be determined by utilizing a Lyapunov function.
Further, as shown in fig. 5, determining a gain matrix of the observer model and a gain matrix of the controller model according to the dynamic model, the fuzzy state model and the lyapunov function of the constructed three-unit power system includes:
and S502, constructing a dynamic model of the three-unit power system according to the dynamic principle.
Specifically, a third-order dynamics model of a three-unit power system is established by adopting a dynamics principle:
Figure BDA0003217013360000081
Figure BDA0003217013360000082
wherein, deltai(t) is the relative angle between the q-axis potentials of the ith generator, ωi(t) is the speed of the i-th generator, PmiFor the ith generator mechanical power, PeiActive power, ω, for the ith generator0Being synchronous angular velocity, E'qjFor the jth generator transient potential, HiIs moment of inertia, DiTo dampCoefficient, BijIs mutual susceptance, T, between the ith and jth generatorsdiAs excitation time constant, ugiAnd controlling the electric signal for the ith generator high-pressure servomotor.
S504, establishing an observer model and a controller model according to the dynamic model and the fuzzy rule; the observer model includes a gain matrix of the observer model, and the controller model includes a gain matrix of the controller model.
Specifically, as shown in fig. 6, determining a gain matrix of the observer model and a gain matrix of the controller model according to the dynamic model, the fuzzy state model and the lyapunov function of the constructed three-unit power system includes:
and S602, constructing a dynamic model of the three-unit power system according to the dynamic principle.
Specifically, a third-order dynamics model of a three-unit power system is established by adopting a dynamics principle:
Figure BDA0003217013360000091
Figure BDA0003217013360000092
wherein deltai(t) is the relative angle between the q-axis potentials of the ith generator, ωi(t) is the speed of the i-th generator, PmiFor the ith generator mechanical power, PeiActive power, ω, for the ith generator0Being synchronous angular velocity, E'qjFor the jth generator transient potential, HiIs moment of inertia, DiAs damping coefficient, BijIs mutual susceptance, T, between the ith and jth generatorsdiAs excitation time constant, ugiAnd controlling the electric signal for the ith generator high-pressure servomotor.
S604, constructing an observer model and a controller model according to the dynamic model and the fuzzy rule; the observer model includes a gain matrix of the observer model, and the controller model includes a gain matrix of the controller model.
Specifically, as shown in fig. 7, constructing the observer model and the controller model according to the dynamics model and the fuzzy rule includes:
according to the dynamic model and the first fuzzy rule, a fuzzy state model of the three-unit power system is constructed, and the method comprises the following steps:
and S702, linearizing the dynamic model to obtain a linearized third-order dynamic model.
In particular, the kinetic model may be linearized, let xi1(t)＝δi(t)，xi2(t)＝ωi(t)，xi3(t)＝Pmi(t)，
Figure BDA0003217013360000101
ugi(t)＝ui(t), the following nonlinear system can be obtained:
Figure BDA0003217013360000102
the nonlinear term sin (x) in the formulai1-xj1) According to the linearization process.
S704, constructing a first fuzzy state model by adopting a preset first sub-rule according to the linearized third-order dynamics model.
Specifically, a T-S fuzzy state model of the three-unit power system is established by using an If-Then modeling rule. If the first sub-rule is: if x11Is about 0, and x21Is approximately 0, …, and xi1Is about 0, xN1Is about 0, where i, N are the ith generator, the Nth generator, x11Is the state quantity of the ith generator under the rule 1, then
Figure BDA0003217013360000103
Wherein the content of the first and second substances,
Figure BDA0003217013360000104
Figure BDA0003217013360000105
xi(t)＝[xi1(t)，xi2(t)，xi3(t)]T，xi1(t)＝δi(t)，xi2(t)＝ωi(t)，xi3(t)＝Pmi(t) wherein xi1And (t) is the first state quantity of the ith generator. E11＝E12＝[0 0.01 0.01]、E21＝E22＝[0 0.015 0.015]，E31＝E32＝[0 0.023 0.02]。
Figure BDA0003217013360000106
And S706, constructing a second fuzzy state model by adopting a preset second sub-rule according to the linearized third-order kinetic model.
Specifically, a T-S fuzzy state model of the three-unit power system is established by using an If-Then modeling rule. If the second sub-rule is: if x12About pi/4, …, x(i-1)2Is approximately pi/4, xi2Is approximately pi/4, x(i+1)2Is approximately pi/4, xN2Is about pi/4, wherein i and N are the ith generator, the Nth generator and x12Is the state quantity of the ith generator under the rule 2, then
Figure BDA0003217013360000111
Wherein the content of the first and second substances,
Figure BDA0003217013360000112
Figure BDA0003217013360000113
xi(t)＝[xi1(t)，xi2(t)，xi3(t)]T，xi1(t)＝δi(t)，xi2(t)＝ωi(t)，xi3(t)＝Pmi(t) wherein xi1And (t) is the first state quantity of the ith generator. E11＝E12＝[0 0.01 0.01]、E21＝E22＝[0 0.015 0.015]，E31＝E32＝[0 0.023 0.02]。
Figure BDA0003217013360000114
And S708, determining a fuzzy state model of the three-unit power system according to the fuzzy membership function, the first fuzzy state model and the second fuzzy state model.
Specifically, according to the property of the fuzzy membership function, it can be known that: mu.si1(xi1(t))+μi2(xi2(t)). 1. Wherein: membership function:
Figure BDA0003217013360000115
considering that the system modeling process is not completely accurate, the three-unit power system containing the interference can be expressed as an uncertain model, namely a fuzzy membership function, a first fuzzy state model and a second fuzzy state model, determining a fuzzy state model of the three-unit power system
Figure BDA0003217013360000121
Where, the sum h may represent rule 1 and rule 2.
S710, constructing an observer model and a controller model according to the fuzzy state model and a second fuzzy rule; the second fuzzy rule is a rule determined according to the normalized membership function.
Specifically, if the second fuzzy rule is: if x1(t) is about μi1lAnd x is2(t) is about μi2lAnd … and, xk(t) is about μiklThen the observer model is:
Figure BDA0003217013360000122
Figure BDA0003217013360000123
if the second fuzzy rule is: if x1(t) is about μi1lAnd x is2(t) is about μi2lAnd … and, xk(t) is about μiklThen the controller model is:
Figure BDA0003217013360000124
s506, determining a linear matrix inequality of a stability criterion function of the three-unit power system according to the observer model and the Lyapunov function.
Specifically, the lyapunov function can be modified according to the observer model to determine a linear matrix inequality of the stability criterion function of the three-unit power system.
Further, as shown in fig. 8, determining a linear matrix inequality of a stability criterion function of the three-unit power system according to the observer model and the lyapunov function includes:
and S802, obtaining an observer error function according to the observer model.
Specifically, an observer error function is determined according to an observer model, an observer error and an event trigger form:
Figure BDA0003217013360000125
s804, the Lyapunov function is corrected according to the error function of the observer, and the corrected Lyapunov function is obtained.
Specifically, the Lyapunov function (Lyapunov function) is expressed as
Figure BDA0003217013360000126
Calculating the derivative of V (t) to the time, and substituting the observer error function into the Lyapunov function expression to obtain a corrected Lyapunov function:
Figure BDA0003217013360000131
illustratively, the Lyapunov function expression form of the event trigger control of the three-unit power system is as follows:
Figure BDA0003217013360000132
and S806, obtaining a linear matrix inequality of the stability criterion function of the three-unit power system according to the Schur theorem and the corrected Lyapunov function.
Specifically, any one of the symmetric matrices S ═ S is given according to Schur' S theoremT。
Figure BDA0003217013360000133
Wherein S11∈Rr×r，S12，S21，S22Is a known matrix. The following three equations are equivalent and all hold.
(1)S＜0
(2)
Figure BDA0003217013360000134
(3)
Figure BDA0003217013360000135
According to the formulas (1), (2) and (3) and the corrected Lyapunov function, the linear matrix inequality of the stability criterion function of the three-unit power system can be obtained:
Figure BDA0003217013360000141
wherein Hih＝KihQix，
Figure BDA0003217013360000142
i＝1，2，3；i≠j，j＝1，2，3；j≠i，h＝1，2，Ki1、Ki2For a 1 x 3 dimensional control gain matrix corresponding to the respective fuzzy rule, LilFor a 3X 1 observation gain matrix, Pix、PieIs a 3 x 3 dimensional symmetric positive definite matrix.
And S508, solving the linear matrix inequality to obtain a gain matrix of the controller model and a gain matrix of the observer model.
Specifically, the linear matrix inequality can be solved to determine a positive definite matrix for error event trigger control;
and calculating according to the positive definite matrix of the error event trigger control to obtain the gain matrix of the controller model and the gain matrix of the observer model.
Optionally, a positive definite matrix, an observer, and a controller matrix analysis in event-triggered control may be obtained through a function "feasp" (solving a linear inequality) in an LMI toolbox of MATLAB, and if a positive definite symmetric matrix solution P exists to make the linear matrix inequality established, a controller exists to make the whole three-unit power system progressively stable in the lyapunov meaning.
S404, obtaining a preset observer according to the observer model determined by the gain matrix of the observer model.
Specifically, since the observer model is:
Figure BDA0003217013360000151
can be according to LilAnd observing the gain matrix to determine an observer model as a preset observer.
Wherein, if the positive definite matrix of the three-unit power system is analyzed as:
Figure BDA0003217013360000152
Figure BDA0003217013360000153
Figure BDA0003217013360000154
then observeThe gain matrix of the device is:
L11＝[7.4455 81.8384 9.8972]T L12＝[7.3248 81.7965 9.6587]T
L21＝[7.0125 78.0145 10.3512]T L22＝[7.1254 80.0236 11.5423]T
L31＝[41.0059 23.1787 37.4662]T L32＝[41.9142 22.7586 36.4272]T。
and S406, obtaining a preset controller according to the controller model determined by the gain matrix of the controller model.
Specifically, since the controller model is:
Figure BDA0003217013360000155
the gain matrix K may be based on the controller modelihAnd determining the controller model as a preset controller.
Wherein, if the positive definite matrix of the three-unit power system is analyzed as:
Figure BDA0003217013360000161
Figure BDA0003217013360000162
Figure BDA0003217013360000163
the controller gain matrix is then:
K11＝[-615.8366 -255.0220 -95.6415]
K12＝[-613.4521 -252.8545 -94.2247]
K21＝[-616.2069 -253.6548 -94.1254]
K22＝[-618.3651 -254.3589 -95.3647]
K31＝[-791.9360 -436.5290 -124.4517]
K32＝[-790.1025 -431.9044-125.1824]。
an experiment was performed with a three-unit power system as shown in fig. 9, in which G1, G2, G3 are generators, and T1, T2, T3 are main transformers for wind power generation; the selected main technical performance indexes and equipment parameters are as follows: h1＝47.28s，H2＝12.8s，H3＝6.02s，D1＝D2＝D3＝1，ω0＝314.16，E′q1＝1.0566，E′q2＝1.0502，E′q3＝1.017，B11＝0.2537，B12＝0.1875，B13＝0.4132，B21＝0.1875，B22＝0.3927，B23＝0.2493，B31＝0.4132，B32＝0.2493，B33＝0.0545，Td1＝8.96s，Td2＝6s，Td3＝5.89s。
Figure BDA0003217013360000164
Figure BDA0003217013360000165
Figure BDA0003217013360000166
B11＝B12＝[0 0 0.1116]T，B21＝B22＝[0 0 0.1666]T，
B31＝B32＝[0 0 0.1698]T，
Figure BDA0003217013360000167
Figure BDA0003217013360000171
Figure BDA0003217013360000172
E11＝E12＝[0 0.01 0.01]，E21＝E22＝[0 0.015 0.015]，
E31＝E32＝[0 0.023 0.02]
Presetting a 1 x 3 dimensional control static gain feedback matrix corresponding to a fuzzy rule in a controller:
K11＝[-615.8366 -255.0220 -95.6415]
K12＝[-613.4521 -252.8545 -94.2247]
K21＝[-616.2069 -253.6548 -94.1254]
K22＝[-618.3651 -254.3589 -95.3647]
K31＝[-791.9360 -436.5290 -124.4517]
K32＝[-790.1025 -431.9044-125.1824]
a positive definite symmetric matrix obtained according to the parameters and the data:
Figure BDA0003217013360000173
Figure BDA0003217013360000174
Figure BDA0003217013360000175
the observer matrix is:
L11＝[7.4455 81.8384 9.8972]T L12＝[7.3248 81.7965 9.6587]T
L21＝[7.0125 78.0145 10.3512]T L22＝[7.1254 80.0236 11.5423]T
L31＝[41.0059 23.1787 37.4662]T L32＝[41.9142 22.7586 36.4272]T，
as can be seen from fig. 10 to 14, the state response curve of the three-unit power system in fig. 10 shows that a large fluctuation occurs at the beginning of each parameter of the three-unit power system, but the fluctuation range of each parameter is obviously reduced after 1s and tends to be stable, and each parameter is basically stable after 1.5s to 2 s; it can be seen from the error response curve of the three-unit power system in fig. 12 and the observer response curve of the three-unit power system in fig. 13 that the error of the three-unit power system can be substantially eliminated within 1-1.5s, which proves that the control method has the function of adjusting the error in a short time; in addition, from the control input response curve of the three-unit power system in fig. 11, it can be seen that the relevant parameters are stable within 1.5s, and the system is proved to have strong anti-interference capability; finally, it can be seen from the event trigger curve in fig. 14 that under the event trigger, when the actual value exceeds the preset value, the system will automatically adjust to perform effective control.
In this embodiment, a gain matrix of the observer model and a gain matrix of the controller model are determined according to a constructed dynamics model, a fuzzy state model and a lyapunov function of the three-unit power system, a preset observer is obtained according to the observer model determined by the gain matrix of the observer model, and a preset controller is obtained according to the controller model determined by the gain matrix of the controller model. The method has the advantages that overall design is carried out by starting from two aspects of fuzzy modeling and controller design of the three-unit power system, the event trigger control target of the three-unit power system can be realized, the high reliability of the operation of the three-unit power system is met, the error of the three-unit power system in the operation is reduced, the coordination optimization capability of the three-unit power system is improved, the efficiency of the information acquisition and alarm functions of the three-unit power system is improved, and the three-unit power system has high efficiency and high reliability.
It should be understood that although the various steps in the flow charts of fig. 2-8 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-8 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.
In one embodiment, as shown in fig. 15, there is provided a control apparatus of a three-unit power system based on output feedback, including:
the obtaining module 151 is configured to obtain current state quantities of generators in the three-unit power system through a preset observer;
the determining module 152 is configured to determine an operation error of the three-unit power system according to the current state quantity and a preset standard state quantity of each generator;
and the adjusting module 153 is configured to adjust a state quantity of each generator at the next time according to an operation error of the three-unit power system through a preset controller, so as to control each generator to operate stably.
In the embodiment, the current state quantity of each generator in the three-unit power system is acquired through the acquisition module preset observer; the determining module determines the operation error of the three-unit power system according to the current state quantity and the preset standard state quantity of each generator; the controller is preset through the adjusting module to adjust the state quantity of each generator at the next moment according to the operation error of the three-unit power system so as to control each generator to operate stably, the problem that the power system operates unstably can be solved, and the power system can operate stably and reliably.
In one embodiment, as shown in fig. 16, the obtaining module 151 includes:
the acquiring unit 1511 is configured to acquire the current output of each generator in the three-unit power system through a preset observer;
the calculating unit 1512 is configured to obtain a current state quantity of each generator according to the current output quantity of each generator based on a preset calculating method.
In an embodiment, the adjusting module is specifically configured to determine, by using a preset controller, whether an operation error of the three-unit power system meets a preset trigger condition, and if not, output a control signal by using the preset controller to control a state quantity of each generator at a next time to reach a preset state quantity.
In one embodiment, referring to fig. 16, the control device of the three-unit power system further includes:
a second determining module 154, configured to determine a gain matrix of the observer model and a gain matrix of the controller model according to the constructed dynamic model, the fuzzy state model, and the lyapunov function of the three-unit power system;
the third determining module 155 is configured to obtain a preset observer according to the observer model determined by the gain matrix of the observer model;
a fourth determining module 156, configured to obtain the preset controller according to the controller model determined by the gain matrix of the controller model.
In one embodiment, referring to fig. 16, the second determining module 154 includes:
the first building unit 1541 is configured to build a dynamic model of the three-unit power system according to a dynamic principle;
a second constructing unit 1542 configured to construct an observer model and a controller model according to the dynamics model and the fuzzy rule; the observer model comprises a gain matrix of the observer model, and the controller model comprises a gain matrix of the controller model;
the first determining unit 1543 is configured to determine a linear matrix inequality of a stability criterion function of the three-unit power system according to the observer model and the lyapunov function;
the second determining unit 1544 is configured to solve the linear matrix inequality to obtain a gain matrix of the controller model and a gain matrix of the observer model.
In one embodiment, the second constructing unit is specifically configured to construct a fuzzy state model of the three-unit power system according to the dynamics model and the first fuzzy rule; constructing an observer model and a controller model according to the fuzzy state model and a second fuzzy rule; the second fuzzy rule is a rule determined according to the normalized membership function.
In one embodiment, the second construction unit is specifically configured to linearize the dynamical model to obtain a linearized third-order dynamical model; constructing a first fuzzy state model by adopting a preset first sub-rule according to the linearized third-order kinetic model; constructing a second fuzzy state model by adopting a preset second sub-rule according to the linearized third-order kinetic model; and determining a fuzzy state model of the three-unit power system according to the fuzzy membership function, the first fuzzy state model and the second fuzzy state model.
In an embodiment, the first determining unit is specifically configured to obtain an observer error function according to an observer model; correcting the Lyapunov function according to the error function of the observer to obtain a corrected Lyapunov function; and obtaining a linear matrix inequality of a stability criterion function of the three-unit power system according to the Schur theorem and the corrected Lyapunov function.
In an embodiment, the second determining unit is specifically configured to solve the linear matrix inequality, and determine a positive definite matrix for error event trigger control; and calculating according to the positive definite matrix of the error event trigger control to obtain a gain matrix of the controller model and a gain matrix of the observer model.
For specific limitations of the control device of the three-unit power system based on the output feedback, reference may be made to the above limitations of the control method of the three-unit power system based on the output feedback, and details are not repeated here. The modules in the control device of the three-unit power system based on output feedback can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 17. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a method of a three-unit power system. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 17 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the above-described method embodiments when executing the computer program.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A control method of a three-unit power system based on output feedback is characterized by comprising the following steps:
acquiring the current state quantity of each generator in the three-unit power system through a preset observer;
determining the operation error of the three-unit power system according to the current state quantity and the preset standard state quantity of each generator;
and adjusting the state quantity of each generator at the next moment according to the operation error of the three-unit power system through a preset controller so as to control each generator to stably operate.
2. The method according to claim 1, wherein the obtaining the current state quantity of each generator in the three-unit power system through a preset observer comprises:
acquiring the current output quantity of each generator in the three-unit power system through the preset observer;
and obtaining the current state quantity of each generator according to the current output quantity of each generator based on a preset calculation method.
3. The method according to claim 1, wherein the adjusting, by a preset controller, the state quantity of each generator at the next moment according to the operation error of the three-unit power system comprises:
and judging whether the running error of the three-unit power system meets a preset trigger condition through the preset controller, and if not, outputting a control signal through the preset controller to control the state quantity of each generator at the next moment to reach the preset state quantity.
4. The method according to claim 1, wherein before the obtaining of the current state quantity of each generator in the three-unit power system through the preset observer, the method further comprises:
determining a gain matrix of an observer model and a gain matrix of a controller model according to a constructed dynamic model, a fuzzy state model and a Lyapunov function of the three-unit power system;
obtaining the preset observer according to the observer model determined by the gain matrix of the observer model;
and obtaining the preset controller according to the controller model determined by the gain matrix of the controller model.
5. The method of claim 4, wherein determining the gain matrix of the observer model and the gain matrix of the controller model from the constructed dynamics model, the fuzzy state model, and the Lyapunov function of the three-unit power system comprises:
according to a dynamics principle, a dynamics model of the three-unit power system is constructed;
according to the dynamic model and the fuzzy rule, an observer model and a controller model are constructed; the observer model comprises a gain matrix of the observer model, and the controller model comprises a gain matrix of the controller model;
determining a linear matrix inequality of a stability criterion function of the three-unit power system according to the observer model and the Lyapunov function;
and solving the linear matrix inequality to obtain a gain matrix of the controller model and a gain matrix of the observer model.
6. The method of claim 5, wherein constructing an observer model and a controller model from the dynamics model and fuzzy rules comprises:
constructing a fuzzy state model of the three-unit power system according to the dynamic model and a first fuzzy rule;
according to the fuzzy state model and a second fuzzy rule, an observer model and a controller model are constructed; the second fuzzy rule is a rule determined according to the normalized membership function.
7. The method of claim 6, wherein constructing the fuzzy state model of the three-unit power system according to the dynamical model and a first fuzzy rule comprises:
linearizing the dynamic model to obtain a linearized third-order dynamic model;
according to the linearized third-order dynamics model, a first fuzzy state model is constructed by adopting a preset first sub-rule;
according to the linearized third-order kinetic model, a second fuzzy state model is constructed by adopting a preset second sub-rule;
and determining the fuzzy state model of the three-unit power system according to the fuzzy membership function, the first fuzzy state model and the second fuzzy state model.
8. The method of claim 5, wherein the determining a linear matrix inequality of a stability criterion function of the three-unit power system from the observer model and the Lyapunov function comprises:
obtaining an observer error function according to the observer model;
correcting the Lyapunov function according to the observer error function to obtain a corrected Lyapunov function;
and obtaining a linear matrix inequality of the stability criterion function of the three-unit power system according to the Schur theorem and the corrected Lyapunov function.
9. The method of claim 5, wherein solving the linear matrix inequality to obtain the gain matrix of the controller model and the gain matrix of the observer model comprises:
solving the linear matrix inequality to determine a positive definite matrix for triggering control by an error event;
and calculating to obtain a gain matrix of the controller model and a gain matrix of the observer model according to the positive definite matrix of the error event trigger control.
10. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method of any one of claims 1 to 9 when executing the computer program.
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