CN104836233A - Multi-mode repetition controller considering power grid frequency offset - Google Patents
Multi-mode repetition controller considering power grid frequency offset Download PDFInfo
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- CN104836233A CN104836233A CN201510272092.3A CN201510272092A CN104836233A CN 104836233 A CN104836233 A CN 104836233A CN 201510272092 A CN201510272092 A CN 201510272092A CN 104836233 A CN104836233 A CN 104836233A
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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
- H02J3/01—Arrangements for reducing harmonics or ripples
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/40—Arrangements for reducing harmonics
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Abstract
The invention relates to a multi-mode repetition controller considering power grid frequency offset; the controller comprises a repetition control gain module, a frequency offset adjusting module, an adder, a feedback attenuation module, a time-delay link and proportion control gain module. The method uses a proportion control passage and a plurality of mutually parallel repetition control passages to form composite control, and can track a harmonic wave instruction with no static difference under a power grid frequency offset condition. The advantages are that the method can enlarge frequency band width of the controller close to a nominal frequency point, thus improving quality factor, improving controller harmonic wave tracking control performance under the power grid frequency offset condition, and improving repetition controller robustness against the power grid frequency offset.
Description
Technical field
The present invention proposes the multi-mode repetition controller considering mains frequency deviation, and main applicable object is Active Power Filter-APF, for suppressing the load harmonic of mains frequency deviation operating mode, belongs to the quality of power supply field of electrical engineering.
Background technology
In the harmonics restraint field of the quality of power supply, control to as if several times, Shi Jici, the harmonic current of tens times.Common PI controller bandwidth is narrower, and the effect causing tracing control harmonic wave is poor.And on control system forward path, increase Time-delayed Feedback branch road and other auxiliary branch, effectively can follow the tracks of the outer energizing signal of the periodicity being similar to harmonic wave, DAZ gene corresponds to the cyclical signal of operating frequency or multiple task frequency, and Here it is applies the general principle of Repetitive controller in harmonic track controls.
Repetitive controller is the control method based on internal model principle, and internal model principle is to form a kind of design principle of high accuracy feedback control system the dynamic property model implant controller of external action signal.Control theory based on internal model principle is realize providing foundation to the DAZ gene of arbitrary form reference-input signal, provides a kind of effective method for realizing high-precision FEEDBACK CONTROL.At present, internal model principle is effectively applied in the comprehensive Design of Linear Time-Invariant System and servomechanism.
Be applied in the harmonics restraint system of administering the quality of power supply, the input instruction of controller is the signal superposed by the SIN function of different frequency, but not constant.In the industry spot of reality, the frequency of electrical network neither be constant, but in allowed limits deviation occurs, and thus needs controller can according to the deviation characteristics of mains frequency, the change of effective Tracking Frequency of Power Grids, or under the operating mode of frequency departure, keep good harmonic track performance.
About the concept of frequency and frequency departure.In electrotechnics theory, sinusoidal quantity number of times of alternation within the unit interval is called frequency, represents with f, and unit is Hz (hertz).Alternation (change containing positive and negative half-wave) once required time is called the cycle, and represent with T, unit is s (second).Frequency and cycle are reciprocal each other, i.e. T=1/f.System frequency deviation Δ f=f
m-f
n, f in formula
mfor actual frequency (Hz), f
nfor system nominal frequency.In general, power system frequency only when all generators total meritorious exerts oneself equal with total burden with power (institute comprising electrical network is lossy), just can remain unchanged; And when total meritorious exert oneself to there is imbalance with total load time, the rotating speed of each generating set and accordingly frequency will change.The load of electric power system is moment conversion, and the change of any one load, all will cause the imbalance of total system power, causes the change of frequency.
About the scope of power system frequency deviation, according to the national standard (GB/T 15945-2008) of power system frequency deviation, in reality, network operation frequency is, in the scope that national standard allows, deviation occurs: electric power system normal frequency deviation allowable value is ± 0.2Hz; When power system capacity is less, deviate can be loosened to ± 0.5Hz.
Traditional repetitive controller only carries out tracing control for the multiple subharmonic of nominal frequency, and less for the investigation and application of network operation frequency departure operating mode harmonic track control.This status quo causes in mains frequency deviation operating mode, and the harmonic track control performance of existing repetitive controller obviously declines.
Summary of the invention
For when mains frequency deviation, the problem that repetitive controller tracing control harmonic performance declines, the present invention proposes a kind of modified model repetitive controller, the deviation situation of mains frequency is included in the consideration of Controller gain variations.With the offset frequency of nominal frequency for tracing control object, the path of traditional repetitive controller add Repetitive controller path in parallel and designs corresponding frequency departure adjustment factor, improving repetitive controller in the tracing control performance of mains frequency deviation operating mode to harmonic wave.
In order to solve the problems of the technologies described above, the present invention adopts following technical scheme:
Consider a multi-mode repetition controller for mains frequency deviation, it is characterized in that, comprising:
A proportional control path: get harmonic wave instruction e as input variable;
Multiple Repetitive controller path be in parallel: get harmonic wave instruction e as input variable, this Repetitive controller path output variable connects second adder simultaneously, the output variable that output variable after cumulative connects first adder and proportional control path adds up, and obtains the comprehensive output variable of multi-mode repetition controller;
Wherein, described multiple Repetitive controller path be in parallel is made up of the control access that multiple structure is identical, and it is K that described each control access includes coefficient
s1repetitive controller gain module, coefficient be K
d1frequency departure adjustment module, the 3rd adder, coefficient be K
f1feedback attenuation module, two time delay processes; Parallel way is that the input side of each Repetitive controller path all gets harmonic wave instruction e as reference signal, be connected in series Repetitive controller gain module, frequency departure adjustment module successively, the output of frequency departure adjustment module is connected the input of the 3rd adder with the output of feedback attenuation module, output termination first time delay process of the 3rd adder and the input of the second time delay process, then the input of the output termination feedback attenuation module of the first time delay process, the input of the output termination second adder of the second time delay process.
At above-mentioned a kind of multi-mode repetition controller considering mains frequency deviation, the delay time length of Repetitive controller path time delay process is the inverse of equally distributed frequency values within the scope of offset frequency, the delay time length wherein acting on the leading Repetitive controller path of nominal frequency operating mode is the inverse of nominal frequency, and the delay time length of other auxiliary Repetitive controller paths is the inverse of offset frequency near nominal frequency.
At above-mentioned a kind of multi-mode repetition controller considering mains frequency deviation, it is three groups that described Repetitive controller path prolongs, and is the first Repetitive controller path, the second Repetitive controller path and the 3rd repetition control access respectively; Described first Repetitive controller path comprises the first time delay process, the second time delay process and Repetitive controller gain coefficient K
s1, frequency departure adjustment factor K
d1, feedback attenuation factor K
f1; Second Repetitive controller path comprises the 3rd time delay process, the 4th time delay process and Repetitive controller gain coefficient K
s2, frequency departure adjustment factor K
d2, feedback attenuation factor K
f2; 3rd repeats control access comprises the 5th time delay process, the 6th time delay process and Repetitive controller gain coefficient K
s3, frequency departure adjustment factor K
d3, feedback attenuation factor K
f3
Wherein, the delay time length of the first time delay process, the second time delay process is nominal frequency f
nthe inverse of=50Hz, the 3rd time delay process, the 4th time delay process are overgauge frequency f
+the inverse of=50.2Hz, the delay time length of the 5th time delay process, the 6th time delay process is minus deviation frequency f
-the inverse of=49.8Hz.
Repetitive controller gain coefficient K
s1=1.5, frequency departure adjustment factor K
d1=1, feedback attenuation factor K
f1=0.9;
Repetitive controller gain coefficient K
s2=1.5, frequency departure adjustment factor K
d2=0.3, feedback attenuation factor K
f2=0.9;
Repetitive controller gain coefficient K
s3=1.5, frequency departure adjustment factor K
d3=0.3, feedback attenuation factor K
f3=0.9.
The present invention has the following advantages and beneficial effect: the method for designing of the multi-mode repetition controller of consideration mains frequency deviation 1, proposed by the invention, can according to the deviation operating mode of mains frequency, flexible interpolation is applicable to the Repetitive controller path of offset frequency operating mode, thus in the instruction of frequency departure operating mode DAZ gene harmonic wave, improve the tracing control to harmonic wave and compensation effect; The multi-mode repetition controller of consideration mains frequency deviation 2, proposed by the invention, expand the frequency bandwidth of controller near nominal frequency point, improve quality factor, stability and the stable state accuracy of rated condition can be ensured, mainly improve tracing control and the compensation effect of harmonic wave in frequency departure operating mode; The multi-mode repetition controller of consideration mains frequency deviation 3, proposed by the invention, by adding frequency departure adjustment factor in the Repetitive controller path being applicable to frequency departure operating mode, the stability of multi-mode repetition controller in frequency departure operating mode can be improved, improve the stable state accuracy of multi-mode repetition controller in frequency departure operating mode.
Accompanying drawing explanation
Fig. 1 is the structure chart of the multi-mode repetition controller considering mains frequency deviation.
Fig. 2 is the amplitude-frequency characteristic figure of the multi-mode repetition controller considering mains frequency deviation.
Fig. 3 is under nominal frequency operating mode, after compensating based on the Active Power Filter-APF only containing the repetitive controller being applicable to nominal frequency Repetitive controller path, and the oscillogram of grid side electric current and spectrum analysis figure thereof.
Fig. 4 is under nominal frequency operating mode, after the Active Power Filter-APF compensation of the multi-mode repetition controller of proposed consideration mains frequency deviation, and the oscillogram of grid side electric current and spectrum analysis figure thereof.
Fig. 5 is under the higher operating mode of frequency, after compensating based on the Active Power Filter-APF only containing the repetitive controller being applicable to nominal frequency Repetitive controller path, and the oscillogram of grid side electric current and spectrum analysis figure thereof.
Fig. 6 is under the higher operating mode of frequency, after the Active Power Filter-APF compensation of the multi-mode repetition controller of proposed consideration mains frequency deviation, and the oscillogram of grid side electric current and spectrum analysis figure thereof.
Fig. 7 is under frequency minus deviation operating mode, after compensating based on the Active Power Filter-APF only containing the repetitive controller being applicable to nominal frequency Repetitive controller path, and the oscillogram of grid side electric current and spectrum analysis figure thereof.
Fig. 8 is under frequency minus deviation operating mode, after the Active Power Filter-APF compensation of the multi-mode repetition controller of proposed consideration mains frequency deviation, and the current waveform figure of grid side and spectrum analysis figure thereof.
Embodiment
Elaborate below in conjunction with the technical scheme of accompanying drawing to invention.
Figure 1 shows that the structure chart of the multi-mode repetition controller of consideration mains frequency deviation proposed by the invention, comprising:
A proportional control path: get harmonic wave instruction e as input variable;
Multiple Repetitive controller path be in parallel: get harmonic wave instruction e as input variable, this Repetitive controller path output variable connects second adder simultaneously, the output variable that output variable after cumulative connects first adder and proportional control path adds up, and obtains the comprehensive output variable of multi-mode repetition controller;
Wherein, multiple Repetitive controller path be in parallel is made up of the control access that multiple structure is identical, and it is K that described each control access includes coefficient
s1repetitive controller gain module, coefficient be K
d1frequency departure adjustment module, the 3rd adder, coefficient be K
f1feedback attenuation module, two time delay processes; Parallel way is that the input side of each Repetitive controller path all gets harmonic wave instruction e as reference signal, be connected in series Repetitive controller gain module, frequency departure adjustment module successively, the output of frequency departure adjustment module is connected the input of the 3rd adder with the output of feedback attenuation module, output termination first time delay process of the 3rd adder and the input of the second time delay process, then the input of the output termination feedback attenuation module of the first time delay process, the input of the output termination second adder of the second time delay process.
In figure, e is the input variable of repetitive controller, and u is the output variable of multi-mode repetition controller.Overgauge frequency f
+with minus deviation frequency f
-all set according to the national standard (GB/T15945-2008) of power system frequency deviation.The delay time length of the first time delay process, the second time delay process is nominal frequency f
nthe inverse of=50Hz, the 3rd time delay process, the 4th time delay process are overgauge frequency f
+the inverse of=50.2Hz, the delay time length of the 5th time delay process, the 6th time delay process is minus deviation frequency f
-the inverse of=49.8Hz.
In the present embodiment, the Repetitive controller gain coefficient K of the Repetitive controller path of nominal frequency operating mode is applicable to
s1=1.5, frequency departure adjustment factor K
d1=1, feedback attenuation factor K
f1=0.9; Be applicable to the Repetitive controller gain coefficient K of the Repetitive controller path 2 of frequency overgauge operating mode
s2=1.5, frequency departure adjustment factor K
d2=0.3, feedback attenuation factor K
f2=0.9; Be applicable to the Repetitive controller gain coefficient K of the Repetitive controller path 3 of frequency minus deviation operating mode
s3=1.5, frequency departure adjustment factor K
d3=0.3, feedback attenuation factor K
f3=0.9.
Fig. 2 be consideration mains frequency deviation proposed by the invention multi-mode repetition controller with only containing the amplitude-frequency characteristic comparison diagram of repetitive controller of Repetitive controller path being applicable to nominal frequency operating mode.Fig. 2 shows that the frequency bandwidth of multi-mode repetition controller near nominal frequency point of proposed consideration mains frequency deviation is wider, and quality factor are higher, can extract harmonic signal better in frequency departure operating mode.
Contrast the multi-mode repetition controller of consideration mains frequency deviation that proposes below and only act on Active Power Filter-APF containing the repetitive controller of the Repetitive controller path being applicable to nominal frequency operating mode when nominal frequency operating mode and frequency departure operating mode, the harmonic track of generation controls and harmonic compensation effect.The harmonic wave compensated hinders the harmonic current of the three-phase uncontrollable rectifier device AC of inductive load (R=4 Ω, L=0.1mH) to liking band, the index of measurement is the total harmonic distortion (THD) of grid side electric current after compensating.
First, during contrast nominal frequency operating mode, the multi-mode repetition controller of the consideration mains frequency deviation proposed and only containing the performance of repetitive controller of Repetitive controller path being applicable to nominal frequency operating mode.Figure 3 shows that nominal frequency operating mode (f=f
n=50Hz) time, grid side current waveform figure after compensating based on the Active Power Filter-APF only containing the repetitive controller being applicable to nominal frequency Repetitive controller path and spectrum analysis figure thereof, after compensating, the total harmonic distortion (THD) of grid side electric current is 2.17%.Figure 4 shows that the grid side current waveform figure after based on the Active Power Filter-APF compensation of the multi-mode repetition controller of proposed consideration mains frequency deviation and spectrum analysis figure thereof, after compensating, the total harmonic distortion (THD) of grid side electric current is 2.18%.
Harmonic compensation effect shown in comparison diagram 3 and Fig. 4, during nominal frequency operating mode, the harmonic track control performance of two kinds of controllers is substantially suitable, show that the Repetitive controller path being applicable to mains frequency deviation operating mode added does not affect the performance of controller in nominal frequency operating mode substantially, the multi-mode repetition controller demonstrating proposed consideration mains frequency deviation has good stability and stable state accuracy in nominal frequency operating mode.
Then, during contrast frequency departure operating mode, the multi-mode repetition controller of the consideration mains frequency deviation proposed and only containing the performance of repetitive controller of Repetitive controller path being applicable to nominal frequency operating mode.
Figure 5 shows that frequency overgauge operating mode (f=f
+=50.2Hz) time, based on only containing be applicable to nominal frequency operating mode Repetitive controller path repetitive controller Active Power Filter-APF compensate after, the oscillogram of grid side electric current and spectrum analysis figure, after compensating, the total harmonic distortion (THD) of grid side electric current is 4.27%.Figure 6 shows that frequency overgauge operating mode (f=f
+=50.2Hz) time, after the Active Power Filter-APF compensation of the multi-mode repetition controller of proposed consideration mains frequency deviation, the oscillogram of grid side electric current and spectrum analysis figure thereof, after compensating, the total harmonic distortion (THD) of grid side electric current is 2.53%.
Harmonic compensation effect shown in comparison diagram 5 and Fig. 6, the multi-mode repetition controller of the consideration mains frequency deviation proposed during frequency overgauge operating mode relative to only containing the repetitive controller of Repetitive controller path being applicable to nominal frequency operating mode, improves 40.75% in the inhibition of harmonic track compensation effect and total harmonic distortion.This comparing result shows the multi-mode repetition controller of proposed consideration mains frequency deviation, the harmonic track that can significantly improve repetitive controller in frequency overgauge operating mode controls stable state accuracy, improves the robustness of repetitive controller in mains frequency overgauge operating mode.
Figure 7 shows that frequency minus deviation operating mode (f=f
-=49.8Hz) time, based on only containing be applicable to nominal frequency operating mode Repetitive controller path repetitive controller Active Power Filter-APF compensate after, the oscillogram of grid side electric current and spectrum analysis figure, after compensating, the total harmonic distortion (THD) of grid side electric current is 4.45%.Figure 8 shows that frequency minus deviation operating mode (f=f
-=49.8Hz) time, after the Active Power Filter-APF compensation of the multi-mode repetition controller of proposed consideration mains frequency deviation, the oscillogram of grid side electric current and spectrum analysis figure thereof, after compensating, the total harmonic distortion (THD) of grid side electric current is 2.66%.
Harmonic compensation effect shown in comparison diagram 7 and Fig. 8, the multi-mode repetition controller of the consideration mains frequency deviation proposed during frequency minus deviation operating mode relative to only containing the repetitive controller of Repetitive controller path being applicable to nominal frequency operating mode, improves 40.22% in the inhibition of harmonic track compensation effect and total harmonic distortion.This comparing result shows the multi-mode repetition controller of proposed consideration mains frequency deviation, the harmonic track that also can significantly improve repetitive controller in frequency minus deviation operating mode controls stable state accuracy, improves the robustness of repetitive controller in mains frequency minus deviation operating mode.
Comprehensive above-mentioned Contrast on effect, can draw to draw a conclusion:
(1) in nominal frequency operating mode, the multi-mode repetition controller of the consideration mains frequency deviation proposed with only containing the repetitive controller (i.e. existing repetitive controller) being applicable to nominal frequency operating mode Repetitive controller path, there is substantially identical stability and stable state accuracy;
(2) in frequency departure operating mode (comprising frequency overgauge and minus deviation operating mode), the multi-mode repetition controller of the consideration mains frequency deviation proposed, relative to only containing the repetitive controller (i.e. existing repetitive controller) being applicable to nominal frequency operating mode Repetitive controller path, has better harmonic track and controls stable state accuracy.The deviation of multi-mode repetition controller to mains frequency of the consideration mains frequency deviation proposed has more excellent robustness.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present invention or surmount the scope that appended claims defines.
Claims (3)
1. consider a multi-mode repetition controller for mains frequency deviation, it is characterized in that, comprising:
A proportional control path: get harmonic wave instruction e as input variable;
Multiple Repetitive controller path be in parallel: get harmonic wave instruction e as input variable, this Repetitive controller path output variable connects second adder simultaneously, the output variable that output variable after cumulative connects first adder and proportional control path adds up, and obtains the comprehensive output variable of multi-mode repetition controller;
Wherein, described multiple Repetitive controller path be in parallel is made up of the control access that multiple structure is identical, and it is K that described each control access includes coefficient
s1repetitive controller gain module, coefficient be K
d1frequency departure adjustment module, the 3rd adder, coefficient be K
f1feedback attenuation module, two time delay processes; Parallel way is that the input side of each Repetitive controller path all gets harmonic wave instruction e as reference signal, be connected in series Repetitive controller gain module, frequency departure adjustment module successively, the output of frequency departure adjustment module is connected the input of the 3rd adder with the output of feedback attenuation module, output termination first time delay process of the 3rd adder and the input of the second time delay process, then the input of the output termination feedback attenuation module of the first time delay process, the input of the output termination second adder of the second time delay process.
2. a kind of multi-mode repetition controller considering mains frequency deviation according to claim 1, it is characterized in that, the delay time length of Repetitive controller path time delay process is the inverse of equally distributed frequency values within the scope of offset frequency, the delay time length wherein acting on the leading Repetitive controller path of nominal frequency operating mode is the inverse of nominal frequency, and the delay time length of other auxiliary Repetitive controller paths is the inverse of offset frequency near nominal frequency.
3. a kind of multi-mode repetition controller considering mains frequency deviation according to claim 1, is characterized in that, it is three groups that described Repetitive controller path prolongs, and is the first Repetitive controller path, the second Repetitive controller path and the 3rd repetition control access respectively; Described first Repetitive controller path comprises the first time delay process, the second time delay process and Repetitive controller gain coefficient K
s1, frequency departure adjustment factor K
d1, feedback attenuation factor K
f1; Second Repetitive controller path comprises the 3rd time delay process, the 4th time delay process and Repetitive controller gain coefficient K
s2, frequency departure adjustment factor K
d2, feedback attenuation factor K
f2; 3rd repeats control access comprises the 5th time delay process, the 6th time delay process and Repetitive controller gain coefficient K
s3, frequency departure adjustment factor K
d3, feedback attenuation factor K
f3;
Wherein, the delay time length of the first time delay process, the second time delay process is nominal frequency f
nthe inverse of=50Hz, the 3rd time delay process, the 4th time delay process are overgauge frequency f
+the inverse of=50.2Hz, the delay time length of the 5th time delay process, the 6th time delay process is minus deviation frequency f
-the inverse of=49.8Hz;
Repetitive controller gain coefficient K
s1=1.5, frequency departure adjustment factor K
d1=1, feedback attenuation factor K
f1=0.9;
Repetitive controller gain coefficient K
s2=1.5, frequency departure adjustment factor K
d2=0.3, feedback attenuation factor K
f2=0.9;
Repetitive controller gain coefficient K
s3=1.5, frequency departure adjustment factor K
d3=0.3, feedback attenuation factor K
f3=0.9.
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