CN114665515A - High voltage ride through control method introducing active disturbance rejection control - Google Patents

High voltage ride through control method introducing active disturbance rejection control Download PDF

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Publication number
CN114665515A
CN114665515A CN202210007336.5A CN202210007336A CN114665515A CN 114665515 A CN114665515 A CN 114665515A CN 202210007336 A CN202210007336 A CN 202210007336A CN 114665515 A CN114665515 A CN 114665515A
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control
axis
rotor
current
disturbance
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段建东
戚正浩
高桐
张阳
秦博
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Xian University of Technology
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Xian University of Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
    • H02J3/466—Scheduling the operation of the generators, e.g. connecting or disconnecting generators to meet a given demand
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/12—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load
    • H02J3/16—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load by adjustment of reactive power
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
    • H02J3/50—Controlling the sharing of the out-of-phase component
    • 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
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
    • H02J2300/20—The dispersed energy generation being of renewable origin
    • H02J2300/28—The renewable source being wind energy
    • 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
    • H02P2101/00—Special adaptation of control arrangements for generators
    • H02P2101/15—Special adaptation of control arrangements for generators for wind-driven turbines

Abstract

The invention discloses a high voltage ride through control method introducing active disturbance rejection control, which specifically comprises the following steps: analyzing the transient process of rotor side voltage, current and flux linkage when the DFIG is in fault; introducing active disturbance rejection control to control an inner loop transfer function in a double closed loop; and designing an extended observer to carry out real-time observation and estimation on the total disturbance f of the system, carrying out active feedback compensation on the system by using a disturbance compensation link, carrying out pole allocation on active disturbance rejection control, and calculating the bandwidth of a controller, the bandwidth of the observer and the gain of the controller. The active disturbance rejection control is introduced into the current inner ring at the rotor side, and simulation results show that the proposed high-voltage ride through control method can effectively reduce the current at the rotor side and reduce the fluctuation time.

Description

High voltage ride through control method introducing active disturbance rejection control
Technical Field
The invention belongs to the technical field of wind power generation grid connection, and relates to a high-voltage cross-over control method introducing active disturbance rejection control.
Background
The problems of environmental pollution, climate change, energy safety, sustainable development and the like are increasingly highlighted, most countries around the world already put new energy into the national energy priority development strategy, and new energy power generation meets the development opportunity. The high-proportion large-scale grid connection of the fans accelerates the construction steps of a low-carbon power grid, but more and more complex faults occur frequently, so that more severe requirements are provided for the development of a wind power generation technology and the fault ride-through of a wind power system. The continuous fault ride-through comprises low voltage ride-through and high voltage ride-through technologies, the low voltage ride-through technology is relatively early to start, the technology is more mature, and the national standard is more carefully established. However, the high voltage ride through control technology is not mature at present, and the national standard still needs to be supplemented, so that the DFIG high voltage ride through control technology needs to be researched with more energy.
The existing high voltage ride through control method for the doubly-fed wind generator mainly comprises the following steps: 1. according to the traditional control vector strategy, the control logic is simpler, the interference carrying capacity is weak, and no reactive current is injected into a power grid. 2. Considering the reactive support high voltage ride through technology, when a fault occurs, the active power and the reactive power of the rotor side and the network side are configured, so that the double-fed wind power generation system injects inductive reactive power into the power grid. 3. Transient state fluctuation and time at the time of fault occurrence and ending are solved based on a control strategy of dynamic voltage command value change. 4. The control strategy of stator flux linkage dynamic change is considered, and the problem of rotor overcurrent caused by stator flux linkage change when a fault occurs is solved. 5. And (3) reverse current tracking control: and when the tracking coefficient is negative, the rotor current can reversely track the change of the stator current, so that the overvoltage and overcurrent of the rotor are effectively inhibited.
Disclosure of Invention
The invention aims to provide a high voltage ride through control method introducing active disturbance rejection control, and solves the problem of overlarge transient current of a rotor in the prior art.
The technical scheme adopted by the invention is as follows: the high voltage ride through control method introducing active disturbance rejection control specifically comprises the following steps:
step 1, collecting d-axis active current, q-axis reactive current, d-axis voltage, q-axis voltage and stator flux linkage data of a rotor side of a doubly-fed fan at the moment of fault occurrence, and designing an outer ring control strategy;
step 2, analyzing the transient process of the rotor side voltage, current and flux linkage when the DFIG is in fault according to the data collected in the step 1, and calculating an inner loop transfer function;
and 3, introducing active disturbance rejection control to control the inner loop transfer function in the double closed loops.
The step 1 is as follows:
the reference value of the outer ring is the active power P of the statorsAnd reactive power Qs：
Figure BDA0003455463900000021
Designing a PI controller to control the power outer loop according to a formula (1):
Figure BDA0003455463900000022
irdfor the rotor side d-axis current, irqIs the rotor side q-axis current,
Figure BDA0003455463900000023
Is a reference current of a rotor side d axis,
Figure BDA0003455463900000024
A rotor side is a rotor side q-axis reference current;
Figure BDA0003455463900000025
is a reference value of the reactive power of the stator,
Figure BDA0003455463900000026
is a reference value of the active power of the stator,
Usis the stator voltage, ω1For synchronous angular velocity, LsIs stator side inductance, LmIs mutual inductance between stator and rotor, kpIs the proportional coefficient, k, of the PI controlleriIs the integral coefficient of the PI controller;
in order to operate the doubly-fed wind turbine at full power, an active power reference value is usually set
Figure BDA0003455463900000031
Is 1, reference value of reactive power
Figure BDA0003455463900000032
Is 0; and a dq axis current reference value is obtained through a PI control power outer ring and is used as the input of a current inner ring transfer function, and finally the high voltage ride through control capability is improved.
The step 2 is as follows:
the rotor dq axis voltage is expressed as follows:
Figure BDA0003455463900000033
in the formula (3), urdFor rotor d-axis voltage, urqIs the rotor q-axis voltage; l isrIs rotor inductance, RrIs the rotor resistance;
ωslip-angular frequency of rotation difference
ω1Synchronous angular velocity
Us-stator voltage
Figure BDA0003455463900000034
According to the formula (3), the dq axis component has a coupling phenomenon, so that decoupling is required in a feedback input mode, the d axis component of the rotor current controls the active power of the DFIG, and the q axis component controls the reactive power transmitted to a power grid by the DFIG;
Figure BDA0003455463900000035
udcomprepresenting d-axis feedback input, uqcompRepresenting the dq axis feedback input quantity, which is compensated before the signal is input into the SVPWM signal generator, so that the feedback compensation is ignored when calculating the inner loop transfer function;
Figure BDA0003455463900000041
from equation (4), the dq axis control strategy inner loop transfer function can be derived:
Figure BDA0003455463900000042
Gd(s) is d-axis inner ring transfer function, Gq(s) is the q-axis inner loop transfer function, RrRotor resistance, LrIs the rotor inductance.
The step 3 is as follows:
step 3.1: the nonlinear factors and disturbance factors in the system are all summarized as system disturbance f, an extended observer is designed to carry out real-time observation and estimation on the total system disturbance f, a state variable is selected and a state equation of the state variable is calculated,
calculating the system output y versus total disturbance f using equation (7):
Figure BDA0003455463900000043
b is the gain of the control quantity, f is the total disturbance, and u is the system control quantity;
selecting a state variable:
Figure BDA0003455463900000044
designing an extended state observer state equation (9) using equation (8):
Figure BDA0003455463900000051
simplify equation (9):
Figure BDA0003455463900000052
β1、β2two parameters of the state observer, b0As an estimate of the gain of the control quantity, z1For extending the observer output value, for tracking y, z2A, B, C, which are used for expanding the output value of the observer and tracking the total disturbance f, are constant matrixes;
step 3.2: carrying out pole allocation on active disturbance rejection control, and calculating the bandwidth of a controller, the bandwidth of an observer and the gain of the controller so as to control the high voltage ride through capability;
calculating according to the formula (8) and the formula (10) to obtain a formula (11):
Figure BDA0003455463900000053
only if the characteristic value of A-LC needs to be less than 0, x-z can be delayed along with time and approaches to 0; configuring by adopting a bandwidth method to obtain:
Figure BDA0003455463900000054
wherein y is the system output, w is the external disturbance, t is the time-varying disturbance, and z is the output of the extended observerOut, beta1β2Respectively two parameters of a state observer, L is [ beta ]1β2]Transposition of, omega0Is the controller bandwidth;
since the system is of the first order
Figure BDA0003455463900000055
Simple PD control of the integrator tandem system:
u0＝kp(ref-z1) (13)
kp＝ωc (14)
ωcis the PD controller gain, u0The current error value is amplified, and ref is a current reference value obtained by the power outer ring through a PI controller;
therefore, the parameters that the active disturbance rejection control ultimately needs to adjust are as follows:
Figure BDA0003455463900000061
the active disturbance rejection control adopted by the invention can be used for reducing the non-linear factors and disturbance factors in the system into system disturbance f without depending on an accurate mathematical model of a controlled object, and the mathematical model of the double-fed fan is a complex system with strong coupling and nonlinearity, so the active disturbance rejection control is very suitable for the double-fed fan. Compared with the traditional PI control, the ADRC has stronger anti-interference capability and simpler parameter setting.
The high-voltage ride through control method with the introduced active disturbance rejection control has the beneficial effects. When the power grid is in fault and the voltage at the generator end rises, the rotor current of the power grid fluctuates in a transient state, and the fluctuation time is too long. If the current continues to be too large, it can cause damage to the power electronics. In order to solve the problem, active disturbance rejection control is introduced into a current inner ring at the side of the rotor, and simulation results show that the proposed high-voltage ride through control method can effectively reduce the current at the side of the rotor and reduce the fluctuation time.
Drawings
FIG. 1 is a block diagram of a rotor-side control strategy of the present invention;
fig. 2(a) - (c) are waveform diagrams of terminal voltage, rotor side current and reactive power respectively when the fault occurs in the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention relates to a high voltage ride through control method introducing active disturbance rejection control, which specifically comprises the following steps:
step 1, collecting d-axis active current, q-axis reactive current, d-axis voltage, q-axis voltage and stator flux linkage data of a rotor side of a doubly-fed fan at the moment of fault occurrence, and designing an outer ring control strategy;
the rotor side of the invention adopts stator voltage orientation, and as can be seen from figure 1, the reference value of the outer ring is the active power P of the statorsAnd reactive power Qs：
Figure BDA0003455463900000071
The outer loop power control is designed according to equation (1):
Figure BDA0003455463900000072
ird-rotor side d-axis current
irq-rotor side q-axis current
irdFor the rotor side d-axis current, irqIs the rotor side q-axis current,
Figure BDA0003455463900000073
Is a rotor side d-axis reference current,
Figure BDA0003455463900000074
A rotor side is a rotor side q-axis reference current;
Figure BDA0003455463900000075
is a reference value of the reactive power of the stator,
Figure BDA0003455463900000076
is the active power reference value of the stator,
Usis the stator voltage, omega1For synchronous angular velocity, LsIs stator side inductance, LmIs mutual inductance between stator and rotor, kpIs the proportional coefficient, k, of the PI controlleriIs the integral coefficient of the PI controller;
in order to operate the doubly-fed wind turbine at full power, an active power reference value is usually set to be 1, and a reactive power reference value is set to be 0. And a dq axis current reference value is obtained by controlling the power outer ring through a PI (proportional integral) and is used as the input of a current inner ring transfer function, and the improvement of the high voltage ride through control capability is finally realized.
Step 2, analyzing the transient process of the rotor side voltage, current and flux linkage when the DFIG is in fault according to the data collected in the step 1, and calculating an inner loop transfer function;
the rotor dq axis voltage is expressed as follows:
Figure BDA0003455463900000081
u in formula (3)rdFor rotor d-axis voltage, urqIs the rotor q-axis voltage; l isrIs rotor inductance, RrIs the rotor resistance;
ωslip-angular frequency of rotation difference
ω1Synchronous angular velocity
Us-stator voltage
Figure BDA0003455463900000082
According to the formula (3), the dq axis component has a coupling phenomenon, so that decoupling is required to be performed in a feedback input mode, the d axis component of the rotor current controls the active power of the DFIG, and the q axis component controls the reactive power transmitted to a power grid by the DFIG.
Figure BDA0003455463900000083
udcompRepresenting d-axis feedback input, uqcompRepresenting the dq axis feedback input, it can be seen from fig. 1 that the feedback input is compensated before the signal is input to the SVPWM signal generator. Thus, feedback compensation is ignored in calculating the inner loop transfer function.
Figure BDA0003455463900000084
From equation (4), the dq axis control strategy inner loop transfer function can be derived:
Figure BDA0003455463900000091
Gd(s) is d-axis inner ring transfer function, Gq(s) is the q-axis inner loop transfer function, RrRotor resistance, LrIs the rotor inductance.
Step 3, introducing active disturbance rejection control to control an inner loop transfer function in the double closed loops;
3.1, all nonlinear factors and disturbance factors in the system are summarized as system disturbance f, an expansion observer is designed to carry out real-time observation and estimation on the total disturbance f of the system, and a state variable is selected and a state equation of the state variable is calculated;
calculating the system output y versus total disturbance f using equation (7):
Figure BDA0003455463900000092
b is the gain of the control quantity, f is the total disturbance, and u is the system control quantity;
selecting a state variable:
Figure BDA0003455463900000093
designing an extended state observer state equation (9) using equation (8):
Figure BDA0003455463900000094
simplify equation (9):
Figure BDA0003455463900000095
β1、β2two parameters of the state observer, b0As an estimate of the gain of the control quantity, z1For extending the observer output value, for tracking y, z2A, B, C are constant matrixes for expanding the output value of the observer and tracking the total disturbance f;
3.2. and carrying out pole allocation on the active disturbance rejection control, calculating the bandwidth of the controller, the bandwidth of the observer and the gain of the controller so as to control the high voltage ride through capability.
Calculating according to the formula (8) and the formula (10) to obtain a formula (11):
Figure BDA0003455463900000101
only if the characteristic value of (A-LC) needs to be less than 0, x-z can be delayed with time, approaching 0
Configuring by adopting a bandwidth method to obtain:
Figure BDA0003455463900000105
wherein the content of the first and second substances,y is the system output, w is the external disturbance, t is the time-varying disturbance, Z is the output of the extended observer, β1β2Two parameters of the state observer, L is [ beta ]1β2]Transposition of, omega0Is controller bandwidth
Since the system is of the first order
Figure BDA0003455463900000103
Simple PD control of the integrator tandem system:
u0＝kp(ref-z1) (13)
kp＝ωc (14)
ωcis the PD controller gain.
In summary, the parameters that the active disturbance rejection control ultimately needs to adjust are as follows:
Figure BDA0003455463900000106
the principle of the high voltage ride through control method introducing active disturbance rejection control comprises the following steps:
the doubly-fed wind generator adopts a wound induction generator, the stator side is directly connected with a power grid, and the rotor side is connected with the power grid through a back-to-back converter, namely a Rotor Side Converter (RSC) and a Grid Side Converter (GSC). The rotor and stator of which can both feed electrical energy into the grid, are called "doubly-fed" generators. Part of the present invention study is a rotor-side control strategy, as shown in fig. 1, with the inner loop using auto-disturbance rejection instead of the traditional PI control.
When the power grid fails and the voltage at the generator terminal rises instantly, the stator flux linkage of the doubly-fed fan cannot change suddenly, so that the current at the side of the rotor is too high, the power electronic device is damaged, and the high-voltage ride-through control strategy is provided for solving the problem.
Example 1
In order to verify the performance of the proposed high voltage ride through control method, an electromagnetic transient model of the doubly-fed wind power generation system is established in simulink. The double-fed fan and the line parameters refer to an actual line and are reasonably modified to meet simulation requirements.
The design steps of the high-voltage control strategy introducing active disturbance rejection control are as follows:
1) acquiring d-axis active current, q-axis reactive current, d-axis voltage, q-axis voltage and stator flux linkage data of the rotor side of the doubly-fed fan at the moment of fault occurrence;
2) analyzing the transient process of the rotor side voltage, current and flux linkage when the DFIG is in fault aiming at the data acquired in the step (1), and calculating an inner ring transfer function;
3) and introducing Active Disturbance Rejection Control (ADRC) to control an inner loop transfer function in the double closed loops: the method comprises the following steps of (1) completely resolving nonlinear factors and disturbance factors in a system into system disturbance f, designing an extended observer to carry out real-time observation and estimation on the total system disturbance f, selecting state variables and calculating a state equation of the state variables; performing active feedback compensation on the signal by using a disturbance compensation link; carrying out pole allocation on active disturbance rejection control, and calculating controller bandwidth, observer bandwidth and controller gain
And carrying out simulation test by using simulink, and carrying out performance verification on the high voltage ride through control method aiming at different voltage lifting degrees.
FIG. 2(a) is a diagram of a terminal voltage raising waveform. FIG. 2(b) is a waveform diagram of the current at the rotor side, and FIG. 2(c) is a waveform diagram of the reactive power output by the doubly-fed wind power generation system
Through fig. 2(a), the instantaneous rise degree of the terminal voltage can be obtained;
from fig. 2(b), it can be obtained that the rotor side overcurrent does not exceed 1.2 pu;
from fig. 2(c), it can be obtained that when the terminal voltage is raised instantaneously, the system injects reactive power into the grid to recover the grid voltage.

Claims (4)

1. The high voltage ride through control method introducing active disturbance rejection control is characterized by comprising the following steps:
step 1, collecting d-axis active current, q-axis reactive current, d-axis voltage, q-axis voltage and stator flux linkage data of a rotor side of a doubly-fed fan at the moment of fault occurrence, and designing an outer ring control strategy;
step 2, analyzing the transient process of the rotor side voltage, current and flux linkage when the DFIG is in fault according to the data collected in the step 1, and calculating an inner loop transfer function;
and 3, introducing active disturbance rejection control to control the inner loop transfer function in the double closed loops.
2. The method for controlling high voltage ride through with introduced active disturbance rejection control according to claim 1, wherein the step 1 is as follows:
the reference value of the outer ring is the active power P of the statorsAnd reactive power Qs：
Figure FDA0003455463890000011
Designing a PI controller to control the power outer loop according to a formula (1):
Figure FDA0003455463890000012
irdfor the rotor side d-axis current, irqIs the rotor side q-axis current,
Figure FDA0003455463890000013
Is a rotor side d-axis reference current,
Figure FDA0003455463890000014
A rotor side is a rotor side q-axis reference current;
Figure FDA0003455463890000015
is a reference value of the reactive power of the stator,
Figure FDA0003455463890000016
is the active power reference value of the stator,
Usis the stator voltage, ω1For synchronous angular velocity, LsStator side inductance, LmIs mutual inductance between stator and rotor, kpIs the proportional coefficient, k, of the PI controlleriIs the integral coefficient of the PI controller;
in order to operate the doubly-fed wind turbine at full power, an active power reference value is usually set
Figure FDA0003455463890000017
Is 1, reactive power reference value
Figure FDA0003455463890000021
Is 0; and a dq axis current reference value is obtained through a PI control power outer ring and is used as the input of a current inner ring transfer function, and finally the high voltage ride through control capability is improved.
3. The method for controlling high voltage ride through with introduced active disturbance rejection control according to claim 1, wherein the step 2 is as follows:
the rotor dq axis voltage is expressed as follows:
Figure FDA0003455463890000022
in the formula (3), urdFor rotor d-axis voltage, urqIs the rotor q-axis voltage; l is a radical of an alcoholrIs rotor inductance, RrIs a rotor resistance;
ωslip-angular frequency of rotation difference
ω1Synchronous angular velocity
Us-stator voltage
Figure FDA0003455463890000023
According to the formula (3), the dq axis component has a coupling phenomenon, so that decoupling is required in a feedback input mode, the d axis component of the rotor current controls the active power of the DFIG, and the q axis component controls the reactive power transmitted to a power grid by the DFIG;
Figure FDA0003455463890000024
udcomprepresenting d-axis feedback input, uqcompRepresenting the dq axis feedback input quantity, which is compensated before the signal is input into the SVPWM signal generator, so that the feedback compensation is ignored when calculating the inner loop transfer function;
Figure FDA0003455463890000031
from equation (4), the dq axis control strategy inner loop transfer function can be derived:
Figure FDA0003455463890000032
Gd(s) is d-axis inner ring transfer function, Gq(s) is the q-axis inner loop transfer function, RrRotor resistance, LrIs the rotor inductance.
4. The method for controlling high voltage ride through with introduced active disturbance rejection control according to claim 3, wherein the step 3 is as follows:
step 3.1: the nonlinear factors and disturbance factors in the system are all summarized as system disturbance f, an extended observer is designed to carry out real-time observation and estimation on the total system disturbance f, a state variable is selected and a state equation of the state variable is calculated,
calculating the system output y versus total disturbance f using equation (7):
Figure FDA0003455463890000033
b is the gain of the control quantity, f is the total disturbance, and u is the system control quantity;
selecting a state variable:
Figure FDA0003455463890000034
designing an extended state observer state equation (9) using equation (8):
Figure FDA0003455463890000041
simplify equation (9):
Figure FDA0003455463890000042
β1、β2two parameters of the state observer, b0As an estimate of the gain of the control quantity, z1For extending the observer output value, for tracking y, z2A, B, C, which are used for expanding the output value of the observer and tracking the total disturbance f, are constant matrixes;
step 3.2: carrying out pole allocation on active disturbance rejection control, and calculating the bandwidth of a controller, the bandwidth of an observer and the gain of the controller so as to control the high voltage ride through capability;
calculating according to the formula (8) and the formula (10) to obtain a formula (11):
Figure FDA0003455463890000043
only if the characteristic value of A-LC needs to be less than 0, x-z can be delayed along with time and approaches to 0; configuring by adopting a bandwidth method to obtain:
β1＝2ω0
Figure FDA0003455463890000044
wherein y is the system output, w is the external disturbance, t is the time-varying disturbance, z is the output of the extended observer, β1、β2Respectively two parameters of a state observer, L is [ beta ]1 β2]Transposition of, omega0Is the controller bandwidth;
since the system is of the first order
Figure FDA0003455463890000045
Simple PD control for integrator tandem systems:
u0＝kp(ref-z1) (13)
kp＝ωc (14)
ωcis the PD controller gain, u0The current error value is amplified, and ref is a current reference value obtained by the power outer ring through a PI controller;
therefore, the parameters that the active disturbance rejection control ultimately needs to adjust are as follows:
β1＝2ω0
Figure FDA0003455463890000051
kp＝ωc。
CN202210007336.5A 2022-01-04 2022-01-04 High voltage ride through control method introducing active disturbance rejection control Pending CN114665515A (en)

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