CN117411068B - Micro-grid energy storage converter complementary supercoiled control method based on hyperbolic observer - Google Patents
Micro-grid energy storage converter complementary supercoiled control method based on hyperbolic observer Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
The invention discloses a micro-grid energy storage converter complementary supercoiled control method based on a hyperbolic observer, which comprises the following steps of: establishing a mathematical model of the energy storage converter under a d-q axis rotation coordinate system; step 2: designing a controller; step 2.1: designing a power outer loop controller; step 2.2: designing a current inner loop controller; step 2.2.1: hyperbolic observer design; step 2.2.2: complementary supercoiled sliding mode controller design. The invention effectively solves the problems of poor control effect and low response speed caused by the influence of heavy load frequent switching, external disturbance and internal current loop d and q axis coupling in the grid connection process of the micro-grid energy storage converter.
Description
Technical Field
The invention belongs to the technical field of power electronic control, and particularly relates to a micro-grid energy storage converter complementary supercoiled control method based on a hyperbolic observer.
Background
In recent years, direct current micro-grids formed by distributed power sources such as photovoltaic power generation and wind power generation and energy storage systems are rapidly developed. Due to uncertainty and intermittence of renewable energy sources, the safe and stable operation of the system can be seriously affected. The energy storage system has the advantages of energy storage according to requirements, can effectively stabilize power fluctuation, improves system stability, has the effects of peak clipping and valley filling, improves electric energy quality and the like, and is widely studied.
The energy storage converter is a medium for energy flow between the energy storage system and the alternating current power grid, and is the most important ring in the micro power grid connection system. Therefore, in order to improve the power consumption capability, reduce grid-connected harmonics, inhibit fluctuation and ensure stable operation of the micro-grid, the energy storage converter control strategy becomes a current research hot spot problem. Because the energy storage converter is a time-varying nonlinear system with strong coupling, the dynamic performance of the system can be seriously affected when the energy storage converter is affected by external disturbance and internal coupling. Therefore, the conventional linear control method has difficulty in quickly stabilizing output power fluctuation caused by frequent switching of load, and also in effectively inhibiting direct current bus voltage fluctuation generated when high-power load changes. Aiming at the nonlinear system, the nonlinear control method can well improve the dynamic performance and stability of the system. Therefore, various nonlinear control methods typified by sliding mode control and active disturbance rejection control are applied to energy storage converter control. Han Gang and Cai Xu slip-mode current control of wind power grid-connected converter under unbalanced power grid [ J ]. Shanghai university of traffic report, 2018,52 (09): 1065-1071.) provides a slip-mode double-current inner loop-based control strategy for enhancing adaptability of unbalanced power grid and improving robustness of the system. However, the high frequency switching function in sliding mode control can cause buffeting to occur, which affects the dynamic performance of the system. The superconducting energy storage converter power control method based on the active disturbance rejection control comprises the steps of' Yang Chao, zhu Yingwei, lin Xiaodong. Superconducting energy storage converter design [ J ]. Low temperature physics report, 2017,39 (04): 65-71. The active disturbance rejection control strategy of the superconducting energy storage converter by adopting a combination of an extended state observer and nonlinear feedback control is provided, the defect of the traditional PI controller on the power control of the superconducting energy storage converter is overcome, the power of the superconducting energy storage converter can be controlled quickly and without overshoot, and the influence of disturbance can be effectively restrained. However, the linear extended state observer has limited observation accuracy under a large disturbance error, and the decoupling effect needs to be improved.
Disclosure of Invention
The invention aims to provide a micro-grid energy storage converter complementary supercoiled control method based on a hyperbolic observer, which effectively solves the problems of poor control effect and low response speed caused by the influence of heavy load frequent switching, external disturbance and internal current loop d and q axis coupling in the grid connection process of the micro-grid energy storage converter.
The technical scheme adopted by the invention is that the complementary supercoiled control method of the microgrid energy storage converter based on the hyperbolic observer is implemented according to the following steps:
step 1: establishing a mathematical model of the energy storage converter under a d-q axis rotation coordinate system;
step 2: controller design
Step 2.1: designing a power outer loop controller;
step 2.2: designing a current inner loop controller;
step 2.2.1: hyperbolic observer design;
step 2.2.2: complementary supercoiled sliding mode controller design.
The present invention is also characterized in that,
the step 1 is specifically that,
under the balance of three-phase voltages, the topology of the energy storage converter establishes a mathematical model under a three-phase static coordinate system described by a switching function:
in the formula (1), U dc C respectively represents the voltage and the capacitance of the direct current side bus; l and R respectively represent the filter inductance and the equivalent internal resistance of the alternating current side of the energy storage converter; i.e a 、i b 、i c Respectively representing the current of the alternating current side of the energy storage converter on the a, b and c axes; u (u) a 、u b 、u c Respectively representing three-phase grid voltages;
S j as a switching function, defined as:
obtaining an energy storage converter mathematical model under a d-q rotating coordinate system through Park transformation:
in the formula (3), u d 、u q Respectively representing components of alternating voltage on d and q axes, omega being angular frequency, i d 、i q The components of the alternating current side of the energy storage converter on the d and q axes are respectively.
The step 2.1 specifically comprises the following steps:
the power outer ring keeps the alternating current output power constant, provides a reference value for the current inner ring, and in order to enable the grid-connected power factor to be close to 1, enables reactive current to be 0, and according to the instantaneous power theory, the power equation is as follows:
calculating an active power current reference i according to (4) dref And reference value i of reactive power current qref ，
Reference value i of active power current dref And a reference value i of reactive power current qref Input to the current inner loop control.
Step 2.2.1 specifically comprises:
establishing a fitting model for d-axis current and q-axis current, separating the coupling influence of an internal model, parameter perturbation and external disturbance into lumped disturbance, and deriving the formula (3):
in the formula (6), D d Concentrated disturbance term for D axis, D q Lumped disturbance terms for the q-axis;
to simplify observer design and analysis, define x d1 ＝i d ，Fitting it to a second order auto-disturbance rejection paradigm, equation (6) is expressed as:
in the formula (7), B d 、B q The gain estimation values are input for positive real numbers, namely an a branch model and a b branch model respectively; v d 、v q Respectively representing d and q axis output voltages;
to further improve the accuracy of the observation, the lumped disturbance D is expanded to x according to equation (6) 3 The d-axis current model is reconstructed as:
the q-axis current model is reconstructed as:
definition of the definitionSubscript z denotes either the d-axis or the q-axis, and when subscript z is d,/is->I respectively d 、D d When the subscript z is q, < +.>I respectively q 、/>D q Setting an estimation error as:
obtaining hyperbolic observer kinetic equations according to formulas (8), (9) and (10):
in the formula (11) z1 、ξ z2 And xi z3 Is a positive real gain.
Step 2.2.2 is specifically:
the voltage expected values of d and q axes are defined to be uniformly equal to i zref The error state equation is constructed from equation (11):
definition of generalized sliding die surface as S g ：
The complementary sliding die surface is S c ：
In the formula (14), p is a differential operator, and n=1 is taken because the system is a first-order system;
obtaining generalized and complementary sliding die surfaces of the system:
according to S g And S is c Obtaining a total slip form surface:
S zm ＝S zg +S zc ＝2ε z (17)
determining S g And S is c Relationship of derivatives:
selecting a Lyapunov function:
deriving Lyapunov:
the complementary sliding mode control law can be obtained under the condition that the Lyapunov function meets the stability condition:
u tz ＝u ez +u rlz (21)
in the formula (21), u ez Representing the sliding mode equivalent control law:
u rlz the method is expressed as a sliding mode switching control law, selects a supercoiled sliding mode control law as a switching item on the basis of traditional complementary sliding mode control, eliminates a high-frequency switching item by an integral link, and is specifically expressed as follows:
the beneficial effects of the invention are as follows:
according to the micro-grid energy storage converter complementary supercoiled control method based on the hyperbolic observer, the hyperbolic observer is introduced into active disturbance rejection control instead of the traditional extended state observer, so that more accurate and quicker compensation of lumped disturbance when a large estimation error occurs can be realized, the capacity of inhibiting q-axis and d-axis cross influence is improved, and the observer has a simple structure, no additional parameters exist, and engineering realization is easy. The supercoiled feedback control law is used for replacing a sliding mode switching control part in the traditional complementary sliding mode control, so that the sliding mode stage and the arrival stage can be converged more quickly, buffeting generated by high-frequency switching is further eliminated, and the stability and the robustness of the system are enhanced.
Drawings
FIG. 1 is a graph of hyperbolic sine function versus linear function;
FIG. 2 is a topology of an energy storage converter;
FIG. 3 is a general control block diagram of a complementary supercoiled control method of a micro-grid energy storage converter based on a hyperbolic observer;
FIG. 4 is a complementary supercoiled control block diagram of a micro-grid energy storage converter based on a hyperbolic observer in the invention;
FIG. 5 is a graph comparing the control method control and PI control grid side output power response of the present invention;
FIG. 6 is a graph of d, q-axis current decoupling effect under PI control;
FIG. 7 is a graph of the effect of d, q-axis current decoupling under control of the control method of the present invention;
FIG. 8 is a graph of current harmonic analysis under PI control;
FIG. 9 is a graph of current harmonic analysis under control of the control method of the present invention;
fig. 10 is a graph of a grid-side current waveform under control of the control method of the present invention when power is suddenly changed.
Detailed Description
The invention will be described in detail below with reference to the drawings and the detailed description.
Example 1
The embodiment provides a micro-grid energy storage converter complementary supercoiled control method based on a hyperbolic observer, which is used for compensating external disturbance and lumped disturbance formed by d and q-axis coupling cross influence, as shown in fig. 1, a hyperbolic sine is an odd function and is more sensitive than a linear function, which means that when the error is increased, the response of the hyperbolic sine is more accurate and rapid than the linear function, and the capability of restraining cross influence and noise is improved; the complementary sliding mode and the supercoiled sliding mode feedback control law are combined and introduced into the energy storage converter control, so that the sliding mode stage and the arrival stage can be converged rapidly, and buffeting is eliminated more effectively, and the method is implemented according to the following steps:
step 1: establishing a mathematical model of the energy storage converter under a d-q axis rotation coordinate system;
under three-phase voltage balance, according to the figure 2, the energy storage converter topology builds a mathematical model of the three-phase stationary coordinate system described by the switching function:
in the formula (1), U dc C respectively represents the voltage and the capacitance of the direct current side bus; l and R respectively represent the filter inductance and the equivalent internal resistance of the alternating current side of the energy storage converter; i.e a 、i b 、i c Respectively representing the current of the alternating current side of the energy storage converter on the a, b and c axes; u (u) a 、u b 、u c Respectively representing three-phase grid voltages;
S j as a switching function, defined as:
obtaining an energy storage converter mathematical model under a d-q rotating coordinate system through Park transformation:
in the formula (3), u d 、u q Respectively representing components of alternating voltage on d and q axes, omega being angular frequency, i d 、i q The components of the alternating current side of the energy storage converter on the d and q axes are respectively.
Step 2: controller design
The total control block diagram is shown in figure 3, and the control thought of the energy storage converter adoptsThe power outer loop and the current inner loop are combined. The power outer loop calculates the reference value i of the current inner loop by utilizing the instantaneous power theory dref ，i qref . The current inner loop adopts a hyperbolic observer to track d, q-axis current and concentrated disturbance respectively and compensate the concentrated disturbance. The complementary supercoiled sliding mode control is adopted as a feedback control rate, high-frequency switching is restrained, buffeting is eliminated, and the robustness of the system is enhanced;
step 2.1: designing a power outer loop controller;
step 2.2: designing a current inner loop controller;
step 2.2.1: hyperbolic observer design;
step 2.2.2: complementary supercoiled sliding mode controller design.
Example 2
The embodiment provides a micro-grid energy storage converter complementary supercoiled control method based on a hyperbolic observer, which is implemented on the basis of embodiment 1 specifically according to the following steps:
step 1: establishing a mathematical model of the energy storage converter under a d-q axis rotation coordinate system;
step 2: controller design
Step 2.1: designing a power outer loop controller;
the power outer ring keeps the alternating current output power constant, provides a reference value for the current inner ring, and in order to enable the grid-connected power factor to be close to 1, enables reactive current to be 0, and according to the instantaneous power theory, the power equation is as follows:
calculating an active power current reference i according to (4) dref And reference value i of reactive power current qref ，
Reference value i of active power current dref And reactive powerReference value i of power current qref Input to the current inner loop control.
Step 2.2: designing a current inner loop controller;
step 2.2.1: hyperbolic observer design;
step 2.2.2: complementary supercoiled sliding mode controller design.
Example 3
The embodiment provides a micro-grid energy storage converter complementary supercoiled control method based on a hyperbolic observer, on the basis of the embodiment 1 and the embodiment 2,
step 1: establishing a mathematical model of the energy storage converter under a d-q axis rotation coordinate system;
step 2: controller design
Step 2.1: designing a power outer loop controller;
step 2.2: designing a current inner loop controller;
step 2.2.1: hyperbolic observer design;
establishing a fitting model for d-axis current and q-axis current, separating the coupling influence of an internal model, parameter perturbation and external disturbance into lumped disturbance, and deriving the formula (3):
in the formula (6), D d Concentrated disturbance term for D axis, D q Lumped disturbance terms for the q-axis;
to simplify observer design and analysis, define x d1 ＝i d ，x q1 ＝i q ，/>Fitting it to a second order auto-disturbance rejection paradigm, equation (6) is expressed as:
in the formula (7), B d 、B q The gain estimation values are input for positive real numbers, namely an a branch model and a b branch model respectively; v d 、v q Respectively representing d and q axis output voltages;
to further improve the accuracy of the observation, the lumped disturbance D is expanded to x according to equation (6) 3 The d-axis current model is reconstructed as:
the q-axis current model is reconstructed as:
definition of the definitionSubscript z denotes either the d-axis or the q-axis, and when subscript z is d,/is->I respectively d 、D d When the subscript z is q, < +.>I respectively q 、/>D q Setting an estimation error as:
obtaining hyperbolic observer kinetic equations according to formulas (8), (9) and (10):
in the formula (11) z1 、ξ z2 And xi z3 Is a positive real gain.
Step 2.2.2: designing a complementary supercoiled sliding mode controller;
the voltage expected values of d and q axes are defined to be uniformly equal to i zref The error state equation is constructed from equation (11):
definition of generalized sliding die surface as S g ：
The complementary sliding die surface is S c ：
In the formula (14), p is a differential operator, and n=1 is taken because the system is a first-order system;
obtaining generalized and complementary sliding die surfaces of the system:
according to S g And S is c Obtaining a total slip form surface:
S zm ＝S zg +S zc ＝2ε z (17)
determining S g And S is c Relationship of derivatives:
selecting a Lyapunov function:
deriving Lyapunov:
the complementary sliding mode control law can be obtained under the condition that the Lyapunov function meets the stability condition:
u tz ＝u ez +u rlz (21)
in the formula (21), u ez Representing the sliding mode equivalent control law:
u rlz the method is expressed as a sliding mode switching control law, the supercoiled sliding mode control law is selected as a switching item on the basis of the traditional complementary sliding mode control, and an integration link is used for eliminating a high-frequency switching item, so that the control can well eliminate buffeting while keeping the advantages of the traditional complementary sliding mode, and the method is specifically expressed as follows:
in summary, a complementary supercoiled control block diagram of the micro-grid energy storage converter based on the hyperbolic observer is shown in fig. 4.
Simulation analysis
In order to verify the effectiveness of the control method designed by the invention, a simulation circuit is built in MATLAB/Simulink simulation software, and is compared and analyzed with a traditional PI control strategy, when the voltage and current directions are consistent, the power is positive, and simulation parameters are set as shown in Table 1.
Table 1 circuit parameters
The invention introduces the hyperbolic observer into the active disturbance rejection control instead of the traditional extended state observer, can realize more accurate and quicker compensation of lumped disturbance when large estimation errors occur, improves the capability of inhibiting the cross influence of q and d axes, has simple structure, does not have additional parameters, and is easy to realize engineering. The supercoiled feedback control law is used for replacing a sliding mode switching control part in the traditional complementary sliding mode control, so that the sliding mode stage and the arrival stage can be converged more quickly, buffeting generated by high-frequency switching is further eliminated, and the stability and the robustness of the system are enhanced;
as shown in fig. 5, under both controls, when the load power is suddenly changed, the output 30kW from the steady operation is suddenly increased to 50kW at 0.2s, and the output 50kW is suddenly decreased to 20kW at 0.3s, resulting in dynamic response of the output power of the ac side of the energy storage converter. There is an overshoot of the output power response under PI control of 7 to 8kW and the desired power is reached after 22 to 20 ms. The invention controls the response without overshoot under power jump, and the response time is only 10 to 12ms. Compared with the prior art, the control strategy of the invention reduces transient time to a large extent and improves the stability of the system;
as shown in FIG. 6, when i is under conventional PI control d When mutation occurs, pair i q Cross-coupling effects of (a) are described. It can be seen that i is at 2s d A sudden increase occurs due to coupling effects i q Overshoot of 16.8A, and stabilization only after 20 ms; i at 3s d Sudden decrease, i q There is an overshoot of 27.4A and stabilization occurs after 18 ms. As shown in FIG. 7, under the control of the present invention, when i d When mutation occurs, pair i q Cross-coupling of (a)And (5) sounding. It can be seen that i is at 2s d Sudden increase, i q Only 0.93A overshoot and stable over 1 ms; i at 3s d Sudden decrease, i q Only 1A overshoot and also stabilized over 1 ms. Compared with the prior art, the control method has obvious decoupling effect on d and q-axis currents, but realizes more accurate and rapid control.
As shown in fig. 8, the THD is 1.08% which is a harmonic analysis of the grid-connected current of the energy storage converter under the conventional PI control. Fig. 9 shows harmonic analysis of grid-connected current of the energy storage converter under the control of the present invention, and THD is 0.47%. Compared with the prior art, the control method has stronger harmonic suppression capability, and improves the grid-connected power quality.
Fig. 10 shows the current waveform of the grid side under the control strategy of the present invention when the load power suddenly changes, it can be seen that the current waveform is stable, no waveform distortion exists, and the ac current under the expected power can be achieved, thus verifying the feasibility of the control of the present invention.
In summary, the micro-grid energy storage converter complementary supercoiled control method based on the hyperbolic observer effectively solves the problems of poor control effect and low response speed caused by frequent switching of heavy load, external disturbance and the coupling influence of the d and q axes of the internal current loops during the grid connection process of the micro-grid energy storage converter.
Claims (3)
1. The micro-grid energy storage converter complementary supercoiled control method based on the hyperbolic observer is characterized by comprising the following steps of:
step 1: establishing an energy storage converter ind-qA mathematical model under an axis rotation coordinate system;
step 2: controller design
Step 2.1: designing a power outer loop controller;
the power outer ring keeps the AC output power constant, provides a reference value for the current inner ring, enables the grid-connected power factor to be close to 1, enables reactive current to be 0, and enables the active power current to be the reference valuei dref And reference value of reactive power currenti qref Input to the current inner loop control;
step 2.2: designing a current inner loop controller;
step 2.2.1: hyperbolic observer design;
the step 2.2.1 specifically comprises the following steps:
for a pair ofdShaft currentqThe shaft current builds a fitting model, the coupling influence of the internal model is separated into lumped disturbance by parameter perturbation and external disturbance, and the derivation of the formula (3) is obtained:
(6)
in the formula (6), the amino acid sequence of the compound,D d is thatdThe axis concentrates the disturbance term(s),D q is thatqShaft lumped disturbance terms;
to simplify observer design and analysis, definition，/>，/>，/>Fitting it to a second order auto-disturbance rejection paradigm, equation (6) is expressed as:
(7)
in the formula (7), the amino acid sequence of the compound,B d 、B q is a positive real number, respectivelyd、qInputting a gain estimation value by an axis;v d 、v q respectively representd、qA shaft output voltage;
to further improve the accuracy of the observation, the lumped disturbance is calculated according to equation (6)DExpanded intox 3 ThendThe shaft current model is reconstructed as:
(8)
qthe shaft current model is reconstructed as:
(9)
definition of the definition、/>、/>Subscript of (2)zRepresentation ofdShafts orqShaft, as subscriptzIs thatdWhen (I)>、/>、/>Respectively->、/>、D d Is the subscript of the estimate of (2)zIs thatqWhen (I)>、/>、/>Respectively->、/>、D q Setting an estimation error as:
(10)
obtaining hyperbolic observer kinetic equations according to formulas (8), (9) and (10):
(11)
in the middle of、/>And->Is a positive real gain;
step 2.2.2: designing a complementary supercoiled sliding mode controller;
the step 2.2.2 specifically comprises the following steps:
definition of the definitiond，qThe voltage expected value of the shaft is uniformly calculated byi zref The error state equation is constructed from equation (11):
(12)
definition of generalized sliding surface asS g ：
(13)
The complementary sliding die surfaces areS c ：
(14)
In the method, in the process of the invention,pis a differential operator, and because the system is a first-order system, the method takesn=1；
Obtaining generalized and complementary sliding die surfaces of the system:
(15)
(16)
according toS zg AndS zc obtaining a total slip form surface:
(17)
determination ofS zg AndS zc relationship of derivatives:
(18)
selecting a Lyapunov function:
(19)
deriving Lyapunov:
(20)
the complementary sliding mode control law can be obtained under the condition that the Lyapunov function meets the stability condition:
(21)
in the formula (21), the amino acid sequence of the amino acid,u ez representing the sliding mode equivalent control law:
(22)
u rlz the method is expressed as a sliding mode switching control law, selects a supercoiled sliding mode control law as a switching item on the basis of traditional complementary sliding mode control, eliminates a high-frequency switching item by an integral link, and is specifically expressed as follows:
(23)。
2. the method for complementary supercoiled control of a microgrid energy storage converter based on a hyperbolic observer according to claim 1, wherein step 1 is specifically,
under the balance of three-phase voltages, the topology of the energy storage converter establishes a mathematical model under a three-phase static coordinate system described by a switching function:
(1)
in the formula (1), the components are as follows,U dc 、Crespectively representing the voltage and the capacitance of the bus at the direct current side;LandRrespectively representing the filter inductance and the equivalent internal resistance of the alternating current side of the energy storage converter;i a 、i b 、i c respectively show that the alternating current sides of the energy storage converters are ona、b、cCurrent on the shaft;u a 、u b 、u c respectively representing three-phase grid voltages;
S j as a switching function, defined as:
j=a，b，c(2)
obtained by Park conversiond-qMathematical model of energy storage converter under rotating coordinate system:
(3)
in the formula (3), the amino acid sequence of the compound,u d 、u q respectively represent the alternating voltage ind、qThe component on the axis of the shaft,in order to be of an angular frequency,i d 、i q respectively at the alternating current side of the energy storage converterd、qComponents on the axis.
3. The complementary supercoiled control method of a microgrid energy storage converter based on a hyperbolic observer according to claim 2, wherein the step 2.1 is specifically:
according to the instantaneous power theory, the power equation is:
(4)
calculating an active power current reference value according to (4)i dref And reference value of reactive power currenti qref ，
(5)。
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