CN103050967A - Active disturbance control method of flexible direct current power transmission system - Google Patents

Active disturbance control method of flexible direct current power transmission system Download PDF

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CN103050967A
CN103050967A CN2013100033706A CN201310003370A CN103050967A CN 103050967 A CN103050967 A CN 103050967A CN 2013100033706 A CN2013100033706 A CN 2013100033706A CN 201310003370 A CN201310003370 A CN 201310003370A CN 103050967 A CN103050967 A CN 103050967A
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power transmission
control
voltage
disturbance
inverter
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CN103050967B (en
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刘英培
栗然
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North China Electric Power University
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North China Electric Power University
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Abstract

The invention relates to an active disturbance control method of a flexible direct current power transmission system. The method adopts the technical scheme that the method comprises the following steps that a rectifier controller is arranged at the head end of a direct current power transmission line of the flexible direct current power transmission system to carry out the constant direct current voltage control on a rectifier at the alternating current system side, an inverter controller is arranged at the tail end of the direct current power transmission line to carry out the constant alternating current voltage control on an inverter, and a double-closed loop type vector control strategy is adopted for the constant alternating current voltage control of the inverter, wherein an outer loop of the voltage is controlled by an active disturbance controller, an inner loop is controlled by current decoupling, and the direction of bus voltage at the inverter alternating current side is fixed to the direction of an axis d. The method has the advantages that the overshoot of the bus voltage at the passive network alternating current side is reduced when the flexible direct current power transmission system starts to respond, the precision and the stability of the alternating current voltage control are improved, the inside and outside total disturbance of the flexible direct current power transmission system can be evaluated in a real-time way, the feedforward compensation can be timely carried out, the disturbance control capability of the flexible direct current power transmission system is improved, and the control requirements of a non-linear system can be met.

Description

A kind of flexible DC power transmission system Auto-disturbance-rejection Control
Technical field
The present invention relates to the HVDC Transmission Technology field, particularly the Auto-disturbance-rejection Control in the flexible DC power transmission system.
Background technology
Conventional high-tension direct current transportation (HVDC) has the unrivaled advantage of many ac transmission, and for example transmission capacity is not subjected to stability limit, can realize asynchronous networking, and there is not capacity current substantially in circuit, does not need reactive power compensation etc.But because traditional HVDC adopts thyristor as change of current device, and thyristor belongs to half control type device, needs AC that reverse voltage is provided during shutoff, and this just requires it to connect the interchange end and is necessary for active network; The faults such as commutation failure easily occur in HVDC when inverter operation simultaneously.
Flexible DC power transmission is namely based on the high voltage direct current transmission (VSC-HVDC) of voltage-source type converter, but is the VSC-HVDC technology that adopts PWM technology and turn-off type power electronic device (such as IGBT).It both can realize the independent control of active power and reactive power, can carry out deciding again alternating voltage and constant DC voltage control.When trend was reversed, direct current direction counter-rotating and direct voltage polarity is constant, and need not communication between the converter was conducive to consist of multi-terminal HVDC transmission in parallel system.Because VSC is turn-off device, so the outstanding feature of VSC-HVDC can be operated in the passive inverter mode exactly, namely receiving-end system can be passive network, and this becomes possibility so that direct current transportation is the power supply of far-end island load.
Decide alternating voltage control to the inversion side employing of passive network power supply VSC-HVDC system, in order to steady load voltage, improve the supply power voltage quality.Employing is based on two closed-loop vector controls of PID adjuster usually to decide the alternating voltage control strategy, and outer shroud is voltage control, and interior ring is Current Decoupling control.For the such multivariable of VSC-HVDC, close coupling, nonlinear system, the PID adjuster is difficult to satisfy the requirement of real system under different operating modes, mainly has following shortcoming:
(1) dynamic property of closed-loop system is very responsive to the variation of pid parameter.So when the residing environment of controlled device changed, pid parameter just need to be adjusted accordingly.
(2) since PID control directly given signal and controlled device are actual between exporting error as the signal that will compensate, so usually cause the controlled quentity controlled variable that the PID controller is exported when bringing into operation Excessive, so that overshoot appears in the controlled device real output signal.
(3) PID control is a kind of linear combination, is difficult to satisfy in the Practical Project non linear system to the requirement of high performance control.
(4) do the time spent when system is subject to random perturbation, PID control can not reach obvious control effect.
Summary of the invention
The object of the invention is to the drawback for prior art, provide a kind of flexible DC power transmission system Auto-disturbance-rejection Control, to satisfy the control requirement of real system under different operating modes.
Problem of the present invention realizes with following technical proposals:
A kind of flexible DC power transmission system Auto-disturbance-rejection Control, described method arranges rectifier controller at the DC power transmission line head end of flexible DC power transmission system, rectifier to the AC system side carries out constant DC voltage control, the DC power transmission line end arranges circuit control device, inverter is carried out deciding alternating voltage control, two closed-loop vector control strategies are adopted in described inverter alternating voltage control, wherein outer voltage adopts automatic disturbance rejection controller (ADRC) control, and interior ring is Current Decoupling control.
Above-mentioned flexible DC power transmission system Auto-disturbance-rejection Control is directed to the d direction of principal axis with inverter AC busbar voltage, then this moment
Figure 34774DEST_PATH_IMAGE002
The concrete steps of described inverter alternating voltage ADRC control are as follows:
A. the voltage effective value computing module calculates inverter AC busbar voltage effective value in real time
Figure 2013100033706100002DEST_PATH_IMAGE003
, given ac bus voltage reference value of while
Figure 531615DEST_PATH_IMAGE004
B. will
Figure 306673DEST_PATH_IMAGE003
With Input ADRC controller, ADRC controller output d axis AC current reference value
Figure 2013100033706100002DEST_PATH_IMAGE005
C. given inverter AC busbar voltage q axle component , the three-phase alternating voltage actual value is carried out the 3s/2r coordinate transform, obtain its q axle component
Figure 2013100033706100002DEST_PATH_IMAGE007
, and then obtain the error signal of alternating voltage q axle component
D. with the error signal input pi regulator of alternating voltage q axle component, pi regulator is exported q axis AC current reference value
E. will With
Figure 217997DEST_PATH_IMAGE009
Circular current decoupling controller in the input obtains d axis AC voltage reference value
Figure 605116DEST_PATH_IMAGE010
With q axis AC voltage reference value
Figure 2013100033706100002DEST_PATH_IMAGE011
F.
Figure 568393DEST_PATH_IMAGE010
With Be tied to the coordinate transform (2r/2s) of two-phase rest frame through the two-phase rotational coordinates, obtain the two-phase rest frame (
Figure 318360DEST_PATH_IMAGE012
Coordinate system) the d axis AC voltage reference value under
Figure 2013100033706100002DEST_PATH_IMAGE013
With q axis AC voltage reference value
G. adopt based on SVPWM (SVPWM) method pair
Figure 569530DEST_PATH_IMAGE013
With
Figure 173686DEST_PATH_IMAGE014
Process, resulting 6 road pwm signals are 6 IGBT operations of control inverter respectively.
Above-mentioned flexible DC power transmission system Auto-disturbance-rejection Control, in the described ADRC controller, the input signal of tracking-differentiator TD is given ac bus voltage reference value
Figure 141642DEST_PATH_IMAGE004
, output signal is
Figure 706616DEST_PATH_IMAGE004
Tracking signal
Figure 2013100033706100002DEST_PATH_IMAGE015
, the TD Mathematical Modeling of design is as follows:
Figure 11695DEST_PATH_IMAGE016
，
Wherein,
Figure 2013100033706100002DEST_PATH_IMAGE017
,
Figure 939200DEST_PATH_IMAGE018
Be velocity factor, determine the speed of following the tracks of;
Figure 2013100033706100002DEST_PATH_IMAGE019
Be filtering factor, noise is strobed.
Above-mentioned flexible DC power transmission system Auto-disturbance-rejection Control, in the described ADRC controller, the input signal of extended state observer ESO is actual alternating voltage effective value
Figure 546899DEST_PATH_IMAGE003
And controlled quentity controlled variable
Figure 130327DEST_PATH_IMAGE020
, the ESO Mathematical Modeling of design is as follows:
Figure 2013100033706100002DEST_PATH_IMAGE021
，
Wherein ,
Figure 2013100033706100002DEST_PATH_IMAGE023
, Be filtering factor;
Figure 2013100033706100002DEST_PATH_IMAGE025
,
Figure 799708DEST_PATH_IMAGE026
Be the width between linear zone;
Figure 2013100033706100002DEST_PATH_IMAGE027
Be actual alternating voltage effective value
Figure 463908DEST_PATH_IMAGE003
Pursuit gain;
Figure 986156DEST_PATH_IMAGE028
Estimated value for the suffered inside and outside total disturbance of system;
Figure 2013100033706100002DEST_PATH_IMAGE029
, K 1, K 2Be coefficient.
Above-mentioned flexible DC power transmission system Auto-disturbance-rejection Control, described ADRC controller is according to given alternating voltage Tracking signal
Figure 900072DEST_PATH_IMAGE015
Tracking signal with actual alternating voltage effective value
Figure 661354DEST_PATH_IMAGE027
Obtain state error
Figure 111927DEST_PATH_IMAGE030
, nonlinear state Error Feedback (NLSEF) Mathematical Modeling of design is as follows:
Figure 2013100033706100002DEST_PATH_IMAGE031
?，
Wherein
Figure 275055DEST_PATH_IMAGE032
Be initial controlled quentity controlled variable; Be filtering factor;
Figure 520092DEST_PATH_IMAGE034
Be the width between linear zone; K 3Be coefficient.
Above-mentioned flexible DC power transmission system Auto-disturbance-rejection Control, in order to realize the active disturbance rejection function of system, the suffered inside and outside total disturbance of system that estimates in real time according to the ESO of ADRC controller
Figure 34250DEST_PATH_IMAGE028
Carry out disturbance feedback compensation, obtain final controlled quentity controlled variable
Figure 429459DEST_PATH_IMAGE020
, the expression formula of disturbance feedback compensation signal is as follows:
Figure 2013100033706100002DEST_PATH_IMAGE035
?。
The present invention can reasonably be that given ac voltage arranges transient process according to the ability to bear of system, obtain the tracking signal of given alternating voltage, utilize this tracking signal to carry out subsequent calculations, reduce the overshoot of passive network AC busbar voltage when system begins to respond, improved the precision and stability of alternating voltage control; Described method can estimate in real time the suffered inside and outside total disturbance of system and in time carry out feedforward compensation, has improved the antijamming capability of system; Described method has been abandoned the Linear Control of traditional PI adjuster, adopts the nonlinear combination of state error, can satisfy the control requirement of non linear system in the Practical Project.
Description of drawings
The invention will be further described below in conjunction with accompanying drawing.
Fig. 1 is flexible DC power transmission system of the present invention and inverter control theory structure block diagram;
Fig. 2 is for deciding alternating voltage ADRC control principle schematic diagram;
Fig. 3 is the control system hardware circuit implementation schematic diagram of flexible DC power transmission system inverter;
Fig. 4 is ADRC control subroutine flow chart.
Used list of reference numerals is in accompanying drawing or the literary composition:
HVDC: high voltage direct current transmission, VSC-HVDC: flexible DC power transmission,
Figure 40569DEST_PATH_IMAGE004
: inverter ac bus voltage reference value,
Figure 128610DEST_PATH_IMAGE003
: inverter ac bus voltage actual value,
: inverter ac bus voltage q axle component reference value,
Figure 188019DEST_PATH_IMAGE007
: inverter ac bus voltage q axle component actual value,
: d axis AC current reference value,
Figure 912579DEST_PATH_IMAGE009
: q axis AC current reference value,
Figure 666908DEST_PATH_IMAGE010
: d axis AC voltage reference value,
Figure 872761DEST_PATH_IMAGE011
: q axis AC voltage reference value,
: α axis AC voltage reference value,
Figure 419466DEST_PATH_IMAGE014
: β axis AC voltage reference value,
TD: tracking-differentiator, ESO: extended state observer,
NLSEF: nonlinear state Error Feedback
Figure 395513DEST_PATH_IMAGE015
:
Figure 405057DEST_PATH_IMAGE004
Tracking signal,
Figure 642003DEST_PATH_IMAGE018
: velocity factor,
Figure 977170DEST_PATH_IMAGE019
: the filtering factor of TD,
Figure 174933DEST_PATH_IMAGE023
,
Figure 253747DEST_PATH_IMAGE024
: the filtering factor of ESO,
Figure 345200DEST_PATH_IMAGE025
, : the width between the linear zone of ESO,
Figure 536327DEST_PATH_IMAGE027
: actual alternating voltage effective value Pursuit gain,
Figure 364792DEST_PATH_IMAGE028
: the estimated value of the suffered inside and outside total disturbance of system,
Figure 776181DEST_PATH_IMAGE029
, K 1, K 2: the coefficient of ESO;
K 3: the coefficient of NLSEF,
Figure 2013100033706100002DEST_PATH_IMAGE037
: state error,
Figure 807591DEST_PATH_IMAGE030
,
Figure 697050DEST_PATH_IMAGE032
: initial controlled quentity controlled variable,
Figure 169620DEST_PATH_IMAGE033
: the filtering factor of NLSEF,
Figure 610965DEST_PATH_IMAGE034
: the width between the linear zone of NLSEF;
1, AC system, 2, the AC filter, 3, converter reactor, 4, rectifier, 5, capacitor, 6, DC power transmission line, 7, capacitor, 8, inverter, 9, converter reactor, 10, the AC filter, 11, the far-end load.
Embodiment
The present invention is described in further detail below in conjunction with drawings and embodiments.
Referring to Fig. 1, the flexible DC power transmission system comprises:
AC system 1 is the system of three-phase symmetrical.
AC filter 2 is connected with converter reactor 3 with AC system 1, is used for filtering AC harmonic wave.
Converter reactor 3 is connected with rectifier 4 with AC filter 2, is the tie of AC and converter energy exchange, also plays certain filter action simultaneously.
Rectifier 4 is connected with converter reactor 3, electric capacity 5 and DC power transmission line 6, and change of current device is full-control type device IGBT, adopts three phase bridge circuit to carry out the PWM rectification, is used for the alternating current of AC system is converted to direct current, is transported on the DC power transmission line.
Capacitor 5 is connected with DC power transmission line 6 with rectifier 4, supports for two ends rectifier and inverter provide direct voltage, and the impulse current when simultaneous buffering converter IGBT turn-offs also can play certain filter action.
DC power transmission line 6 is connected with rectifier 4, capacitor 5, capacitor 7 and inverter 8, is used for connecting rectifier and inverter, carries out the direct current power transmission.
Inverter 8, be connected with DC power transmission line 6, capacitor 7 and converter reactor 9, change of current device is full-control type device IGBT, adopts three phase bridge circuit to carry out the PWM inversion, be used for the direct current on the DC power transmission line is converted to alternating current, supply with the far-end island load.
Far-end load 11 is one and exchanges power load.
The present invention decides alternating voltage control and adopts two closed-loop vector control strategies, and voltage vector is directed, is about to inverter AC busbar voltage and is directed to the d direction of principal axis, then this moment
Figure 536196DEST_PATH_IMAGE038
Concrete steps are as follows:
The first step: voltage effective value U sComputing module calculates inverter AC busbar voltage effective value in real time
Figure 229345DEST_PATH_IMAGE003
, given ac bus voltage reference value of while
Figure 149897DEST_PATH_IMAGE004
Second step: with
Figure 434248DEST_PATH_IMAGE003
With
Figure 315616DEST_PATH_IMAGE004
As the input signal of ADRC controller, ADRC controller output d axis AC current reference value
Figure 78036DEST_PATH_IMAGE005
The 3rd step: given inverter AC busbar voltage q axle component , coordinate transform obtains its q axle component through 3s/2r according to the three-phase alternating voltage actual value
Figure 777187DEST_PATH_IMAGE007
, the error signal that can get alternating voltage q axle component this moment is
Figure 677010DEST_PATH_IMAGE008
The 4th step: the error signal of alternating voltage q axle component is exported q axis AC current reference value through pi regulator
Figure 836596DEST_PATH_IMAGE009
The 5th step:
Figure 872685DEST_PATH_IMAGE005
With
Figure 967680DEST_PATH_IMAGE009
Through interior circular current decoupling zero control output d axis AC voltage reference value
Figure 948274DEST_PATH_IMAGE010
With q axis AC voltage reference value
Figure 52497DEST_PATH_IMAGE011
The 6th step:
Figure 677513DEST_PATH_IMAGE010
With Through the two-phase rotational coordinates be tied to the two-phase rest frame coordinate transform (2r/2s) output two-phase rest frame ( Coordinate system) under
Figure 319213DEST_PATH_IMAGE013
With
Figure 329894DEST_PATH_IMAGE014
The 7th step:
Figure 891326DEST_PATH_IMAGE013
With Adopt based on SVPWM (SVPWM) method, export the operation of 6 road PWM control inverters.
Described employing SVPWM method has guaranteed that inverter switching frequency is constant, and produced simultaneously harmonic wave is less.
Above-mentioned seven steps are decided alternating voltage ADRC control by the software programming realization, and are realized by digital signal processor (DSP).
Referring to Fig. 2, Fig. 2 is for deciding alternating voltage ADRC control principle schematic diagram.The ADRC controller with With
Figure 638285DEST_PATH_IMAGE003
As input signal, with
Figure 777142DEST_PATH_IMAGE005
As output signal, formed by tracking-differentiator (TD), extended state observer (ESO), nonlinear state Error Feedback (NLSEF) and disturbance compensation four parts.The below analyzes this four part respectively:
(1) with given alternating voltage reference value
Figure 829412DEST_PATH_IMAGE004
As the input signal of TD, the TD Mathematical Modeling of design is as follows:
，
Wherein,
Figure 657877DEST_PATH_IMAGE017
Figure 436477DEST_PATH_IMAGE018
Be velocity factor, determine the speed of following the tracks of;
Figure 507201DEST_PATH_IMAGE019
Be filtering factor, noise is strobed.
TD can according to the ability to bear arranged rational transient process of controlled device, obtain given alternating voltage
Figure 154083DEST_PATH_IMAGE004
Tracking signal
Figure 993863DEST_PATH_IMAGE015
Since PI control directly the error between the actual output of given Signals ﹠ Systems as the signal that will compensate, so usually cause the controlled quentity controlled variable that the PI controller is exported when bringing into operation
Figure 943365DEST_PATH_IMAGE001
Excessive, so that overshoot appears in system's real output signal.And TD adopts tracking signal
Figure 829281DEST_PATH_IMAGE015
Carry out subsequent calculations, reduced the overshoot of AC busbar voltage when system responses begins, improved the precision and stability of alternating voltage control.
(2) with actual alternating voltage effective value
Figure 686378DEST_PATH_IMAGE003
And controlled quentity controlled variable
Figure 849507DEST_PATH_IMAGE020
As the ESO input signal, the ESO Mathematical Modeling of design is as follows:
Figure 94543DEST_PATH_IMAGE021
，
Wherein
Figure 139859DEST_PATH_IMAGE022
,
Figure 3910DEST_PATH_IMAGE023
,
Figure 146179DEST_PATH_IMAGE024
Be filtering factor;
Figure 234220DEST_PATH_IMAGE025
,
Figure 970095DEST_PATH_IMAGE026
Be the width between linear zone; Be actual alternating voltage effective value
Figure 165770DEST_PATH_IMAGE003
Pursuit gain;
Figure 424713DEST_PATH_IMAGE028
Estimated value for the suffered inside and outside total disturbance of system;
Figure 382305DEST_PATH_IMAGE029
, K 1, K 2Be coefficient.
As mentioned above, ESO can be according to the output signal of controlled device
Figure 978371DEST_PATH_IMAGE003
And controlled quentity controlled variable
Figure 970598DEST_PATH_IMAGE001
Estimate in real time the state of controlled device
Figure 134863DEST_PATH_IMAGE027
With the suffered inside and outside total disturbance summation of system
Figure 969964DEST_PATH_IMAGE028
(3) according to given alternating voltage
Figure 510667DEST_PATH_IMAGE004
Tracking signal
Figure 357400DEST_PATH_IMAGE015
Tracking signal with actual alternating voltage effective value
Figure 551621DEST_PATH_IMAGE027
Obtain state error
Figure 14963DEST_PATH_IMAGE030
, the NLSEF Mathematical Modeling of design is as follows:
Figure 828199DEST_PATH_IMAGE031
，
Wherein Be initial controlled quentity controlled variable;
Figure 425719DEST_PATH_IMAGE033
Be filtering factor;
Figure 110778DEST_PATH_IMAGE034
Be the width between linear zone; K 3Be coefficient.
As seen, preliminary controlled quentity controlled variable
Figure 993284DEST_PATH_IMAGE032
With state error
Figure 939243DEST_PATH_IMAGE037
Between be nonlinear combination, this has replaced the linear combination of conventional PI control, can satisfy in the Practical Project non linear system to the requirement of high performance control.
(4) in order to realize the active disturbance rejection function of system, most importantly to compensate the suffered disturbance of system exactly.The suffered inside and outside total disturbance of the system that estimates in real time according to ESO
Figure 616212DEST_PATH_IMAGE028
Carry out disturbance feedback compensation, obtain final controlled quentity controlled variable
Figure 522988DEST_PATH_IMAGE020
, expression formula is as follows:
，
To sum up, the effect of each part of ADRC is respectively:
(1) TD: according to set-point
Figure 9650DEST_PATH_IMAGE004
Be the suitable transient process of system arrangement
Figure 591941DEST_PATH_IMAGE015
, the overshoot of reduction system.
(2) ESO: according to the output signal of system
Figure 517172DEST_PATH_IMAGE003
And controlled quentity controlled variable
Figure 334955DEST_PATH_IMAGE001
Estimate in real time the state of system
Figure 662031DEST_PATH_IMAGE027
With the suffered inside and outside total disturbance summation of system
Figure 415224DEST_PATH_IMAGE028
(3) NLSEF: the state error of system is
Figure 155647DEST_PATH_IMAGE030
, utilize nonlinear function that state error is become initial controlled quentity controlled variable Output.
(4) disturbance compensation: with the real-time estimated value of disturbance
Figure 834070DEST_PATH_IMAGE028
Pass through formula
Figure 289322DEST_PATH_IMAGE035
Carry out disturbance compensation, the final controlled quentity controlled variable of output system Improved the system rejection to disturbance ability.
Fig. 3 is the control system hardware circuit implementation schematic diagram of flexible DC power transmission system inverter, and the function of each module is as follows among the figure:
Voltage detecting: for detection of AC system voltage
Figure 2013100033706100002DEST_PATH_IMAGE039
, to calculate voltage effective value U s
Voltage modulate circuit: the magnitude of voltage of voltage detecting circuit output is transformed into the receptible voltage range of digital signal processor (DSP) (within 0 ~ 3V).
Control circuit: the present invention adopts DSP TMS320F2812 as control chip, and there are ADC module, EV module etc. in its inside.Adopt the inner ADC module of DSP to realize U sAnalog signal to the conversion of digital signal.DSP exports 6 road PWM by the EV module, because the supply power voltage of dsp chip is 0 ~ 3V, this 6 road PWM can not directly drive inverter.
Driving isolation circuit: be used for inverter is raised and then driven to 6 road PWM level of DSP output; Play simultaneously the buffer action of weak electric signal and forceful electric power, avoid forceful electric power to affect weak electric signal.
Inverter alternating voltage control strategy adopts the ccstudio software programming to realize, is carried out the program of writing by DSP, and wherein the ADRC subroutine flow chart is referring to shown in Figure 4.
In sum, compared with prior art, inverter employing of the present invention is decided alternating voltage and is controlled to stablize the supply power voltage of passive network, improves the supply power voltage quality.Decide outer voltage employing ADRC control in the alternating voltage control.Described method can reasonably be that given ac voltage arranges transient process according to the ability to bear of system, obtain the tracking signal of given alternating voltage, utilize this tracking signal to carry out subsequent calculations, reduce the overshoot of passive network AC busbar voltage when system begins to respond, improved the precision and stability of alternating voltage control; Have and to estimate in real time the suffered inside and outside total disturbance of system and can in time carry out feedforward compensating function, improved the antijamming capability of system; Abandon simultaneously the Linear Control of traditional PI adjuster, adopted the nonlinear combination of state error, can satisfy in the Practical Project non linear system to the requirement of high performance control.

Claims (6)

1. flexible DC power transmission system Auto-disturbance-rejection Control, it is characterized in that, described method arranges rectifier controller at the DC power transmission line head end of flexible DC power transmission system, rectifier to the AC system side carries out constant DC voltage control, the DC power transmission line end arranges circuit control device, inverter is carried out deciding alternating voltage control, two closed-loop vector control strategies are adopted in described inverter alternating voltage control, wherein outer voltage adopts automatic disturbance rejection controller (ADRC) control, and interior ring is Current Decoupling control.
2. a kind of flexible DC power transmission according to claim 1 system Auto-disturbance-rejection Control is directed to the d direction of principal axis with inverter AC busbar voltage, then this moment
Figure 2013100033706100001DEST_PATH_IMAGE001
The concrete steps of described inverter alternating voltage ADRC control are as follows:
A. the voltage effective value computing module calculates inverter AC busbar voltage effective value in real time
Figure 796887DEST_PATH_IMAGE002
, given ac bus voltage reference value of while
Figure 2013100033706100001DEST_PATH_IMAGE003
B. will
Figure 182869DEST_PATH_IMAGE002
With
Figure 556081DEST_PATH_IMAGE003
Input ADRC controller, ADRC controller output d axis AC current reference value
Figure 951290DEST_PATH_IMAGE004
C. given inverter AC busbar voltage q axle component , the three-phase alternating voltage actual value is carried out the 3s/2r coordinate transform, obtain its q axle component , and then obtain the error signal of alternating voltage q axle component
Figure 2013100033706100001DEST_PATH_IMAGE007
D. with the error signal input pi regulator of alternating voltage q axle component, pi regulator is exported q axis AC current reference value
E. will
Figure 386317DEST_PATH_IMAGE004
With
Figure 178692DEST_PATH_IMAGE008
Circular current decoupling controller in the input obtains d axis AC voltage reference value
Figure 2013100033706100001DEST_PATH_IMAGE009
With q axis AC voltage reference value
Figure 316413DEST_PATH_IMAGE010
F.
Figure 903252DEST_PATH_IMAGE009
With
Figure 126423DEST_PATH_IMAGE010
Be tied to the coordinate transform (2r/2s) of two-phase rest frame through the two-phase rotational coordinates, obtain the two-phase rest frame (
Figure 2013100033706100001DEST_PATH_IMAGE011
Coordinate system) the d axis AC voltage reference value under
Figure 456910DEST_PATH_IMAGE012
With q axis AC voltage reference value
Figure 2013100033706100001DEST_PATH_IMAGE013
G. adopt based on SVPWM (SVPWM) method pair
Figure 449137DEST_PATH_IMAGE012
With
Figure 472456DEST_PATH_IMAGE013
Process, resulting 6 road pwm signals are 6 IGBT operations of control inverter respectively.
3. a kind of flexible DC power transmission according to claim 2 system Auto-disturbance-rejection Control is characterized in that, in the described ADRC controller, the input signal of tracking-differentiator TD is given ac bus voltage reference value
Figure 714082DEST_PATH_IMAGE003
, output signal is
Figure 458047DEST_PATH_IMAGE003
Tracking signal
Figure 694993DEST_PATH_IMAGE014
, the TD Mathematical Modeling of design is as follows:
Figure 2013100033706100001DEST_PATH_IMAGE015
，
Wherein,
Figure 499001DEST_PATH_IMAGE016
Be velocity factor, determine the speed of following the tracks of;
Figure 821398DEST_PATH_IMAGE018
Be filtering factor, noise is strobed.
4. a kind of flexible DC power transmission according to claim 3 system Auto-disturbance-rejection Control is characterized in that, in the described ADRC controller, the input signal of extended state observer ESO is actual alternating voltage effective value
Figure 900213DEST_PATH_IMAGE002
And controlled quentity controlled variable
Figure 2013100033706100001DEST_PATH_IMAGE019
, the ESO Mathematical Modeling of design is as follows:
Figure 460507DEST_PATH_IMAGE020
，
Wherein
Figure 2013100033706100001DEST_PATH_IMAGE021
,
Figure 700995DEST_PATH_IMAGE022
,
Figure 2013100033706100001DEST_PATH_IMAGE023
Be filtering factor;
Figure 245109DEST_PATH_IMAGE024
, Be the width between linear zone;
Figure 596456DEST_PATH_IMAGE026
Be actual alternating voltage effective value
Figure 542415DEST_PATH_IMAGE002
Pursuit gain;
Figure 2013100033706100001DEST_PATH_IMAGE027
Estimated value for the suffered inside and outside total disturbance of system;
Figure 953805DEST_PATH_IMAGE028
, K 1, K 2Be coefficient.
5. a kind of flexible DC power transmission according to claim 4 system Auto-disturbance-rejection Control is characterized in that, the ADRC controller is according to given alternating voltage
Figure 391740DEST_PATH_IMAGE003
Tracking signal
Figure 405832DEST_PATH_IMAGE014
Tracking signal with actual alternating voltage effective value
Figure 347243DEST_PATH_IMAGE026
Obtain state error
Figure 2013100033706100001DEST_PATH_IMAGE029
, the nonlinear state Error Feedback NLSEF Mathematical Modeling of design is as follows:
?，
Wherein
Figure 2013100033706100001DEST_PATH_IMAGE031
Be initial controlled quentity controlled variable; Be filtering factor;
Figure 2013100033706100001DEST_PATH_IMAGE033
Be the width between linear zone; K 3Be coefficient.
6. a kind of flexible DC power transmission according to claim 5 system Auto-disturbance-rejection Control is characterized in that, the suffered inside and outside total disturbance of system that estimates in real time according to the ESO of ADRC controller
Figure 266024DEST_PATH_IMAGE027
Carry out disturbance feedback compensation, obtain final controlled quentity controlled variable
Figure 796362DEST_PATH_IMAGE019
, the expression formula of disturbance feedback compensation signal is as follows:
Figure 80713DEST_PATH_IMAGE034
?。
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