CN107248742B - A kind of passive robust control method - Google Patents
A kind of passive robust control method Download PDFInfo
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- CN107248742B CN107248742B CN201710588930.7A CN201710588930A CN107248742B CN 107248742 B CN107248742 B CN 107248742B CN 201710588930 A CN201710588930 A CN 201710588930A CN 107248742 B CN107248742 B CN 107248742B
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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
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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
- H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
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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
- H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
- H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
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- Control Of Eletrric Generators (AREA)
- Feedback Control In General (AREA)
Abstract
This application discloses a kind of passive robust control methods, obtain three kinds of characteristics in electric system, and three kinds of characteristics include：Mission nonlinear a (x), parameter uncertainty b (x) and wind speed randomness d (t)；It polymerize three kinds of characteristics, obtains disturbance ψ (x, u, t)；Introduce virtual state xn+1Characterize the disturbance ψ (x, u, t)；Introduce disturbance viewer, the disturbance after being characterized described in real-time estimation；Robust passive control device is introduced, compensates the disturbance after the real-time estimation, also, control the output of the active power and reactive power of double fed induction generators in the electric system.Method provided by the embodiments of the present application, it applies in the electric system containing double fed induction generators, when the electric system containing double fed induction generators is interfered, Robust passive control based on disturbance viewer acts immediately, the output of double fed induction generators active power and reactive power is adjusted, to enhance the stability of electric system.
Description
Technical field
This application involves technical field of electricity more particularly to a kind of passive robust control methods.
Background technology
In recent years, harmful shadow due to the limitation of the reserves of the surge of global power demand and fossil fuel and its to environment
It rings, demand of the countries in the world to regenerative resource is growing.Wind energy is that reserves are huge in a kind of green, pollution-free and nature
The energy, therefore, wind-power electricity generation proportion in electric system is increasing.With the large-scale grid connection of wind power plant, ensure
Seem most important with the stability of enhancing electric system.
The method for being used for enhancing stability of power system in the prior art has very much.From the point of view of angle is controlled, there is feedback line
Property control, sliding mode are adaptively counter to push away control, fuzzy logic control, control based on liapunov function etc.；From hard
From the point of view of in part equipment, there are advanced harmonic compensation equipment, reactive-load compensation equipment, Power Quality Detection equipment and apply advanced
Transverter equipment of power electronic devices etc..
However, at present in the electric system containing double fed induction generators, it usually needs obtain accurate double-fed induction
After generator model, could further be operated, to ensure the stability of electric system, such process it is not only complicated but also
It is difficult to realize global consistency.
Invention content
This application provides a kind of passive robust control method, to solve at present in the electric power containing double fed induction generators
The problem of global coherency is difficult to realize in system.
This application provides a kind of passive robust control method, this method includes：
Three kinds of characteristics in electric system are obtained, three kinds of characteristics include：Mission nonlinear a (x), parameter uncertainty b
(x) and wind speed randomness d (t)；
It polymerize three kinds of characteristics, obtains disturbance ψ (x, u, t)；
Introduce virtual state xn+1Characterize the disturbance ψ (x, u, t)；
Introduce disturbance viewer, the disturbance after being characterized described in real-time estimation；
Robust passive control device is introduced, compensates the disturbance after the real-time estimation, also, is controlled double in the electric system
Present the output of the active power and reactive power of influence generator.
Optionally, polymerization three kinds of characteristics, obtain disturbance ψ (x, u, t), including：By the amount of three kinds of characteristics
Value is added.
Optionally, the introducing virtual state xn+1Characterize the disturbance ψ (x, u, t), the virtual state xn+1=ψ (x,
u,t)。
Optionally, described introduce disturbs viewer, the disturbance after characterization described in real-time estimation, including：It is seen to the disturbance
It examines and quantity of state x and control input quantity u is introduced in device, the disturbance after characterization described in real-time estimation.
Optionally, the introducing Robust passive control device, compensates the disturbance after the real-time estimation, including：In the Shandong
The value after the disturbance real-time estimation is subtracted in stick Passive Shape Control device.The disturbance after real-time estimation is compensated, can fully inhibit electricity
The non-linear of Force system, time-varying external disturbance, system do not model the bad shadow to control performance such as state and parameter uncertainty
It rings, so as to fulfill the consistency that control is global.
Optionally, the introducing Robust passive control device, compensates the disturbance after the real-time estimation, also, described in control
In electric system after the output of the active power and reactive power of double fed induction generators, further include：To the electric system
Middle addition high-damping.High-damping is added in, is conducive to provide the stability of electric system.
Optionally, the introducing Robust passive control device, compensates the disturbance after the real-time estimation, also, described in control
In electric system after the output of the active power and reactive power of double fed induction generators, further include：Remold the power train
The energy of closed-loop system in system.The energy of closed-loop system in electric system is remolded, is conducive to improve generator under various operating modes
Dynamic response.
By above technical scheme it is found that the application provides a kind of passive robust control method, three kinds are obtained in electric system
Characteristic, three kinds of characteristics include：Mission nonlinear a (x), parameter uncertainty b (x) and wind speed randomness d (t)；Polymerization institute
Three kinds of characteristics are stated, obtain disturbance ψ (x, u, t)；Introduce virtual state xn+1Characterize the disturbance ψ (x, u, t)；Introduce disturbance observation
Device, the disturbance after characterization described in real-time estimation；Robust passive control device is introduced, compensates the disturbance after the real-time estimation, also,
Control the output of the active power and reactive power of double fed induction generators in the electric system.It is provided by the embodiments of the present application
Method is applied in the electric system containing double fed induction generators, when the electric system containing double fed induction generators by
During interference, the Robust passive control based on property disturbance viewer acts immediately, adjusts double fed induction generators active power and nothing
The output of work(power, to enhance the stability of electric system.
Description of the drawings
In order to illustrate more clearly of the technical solution of the application, attached drawing needed in case study on implementation will be made below
Simply introduce, it should be apparent that, for those of ordinary skills, in the premise of not making the creative labor property
Under, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is a kind of flow chart of passive robust control method provided by the embodiments of the present application.
Specific embodiment
It is a kind of flow chart of passive robust control method provided by the embodiments of the present application referring to Fig. 1.The method packet
It includes：
Step 100, three kinds of characteristics in electric system are obtained, three kinds of characteristics include：Mission nonlinear a (x), parameter are not
Certainty b (x) and wind speed randomness d (t)；
Step 200, it polymerize three kinds of characteristics, obtains disturbance ψ (x, u, t)；
Step 300, virtual state x is introducedn+1Characterize the disturbance ψ (x, u, t)；
Step 400, disturbance viewer, the disturbance after being characterized described in real-time estimation are introduced；
Step 500, Robust passive control device is introduced, compensates the disturbance after the real-time estimation, also, control the electric power
The output of the active power and reactive power of double fed induction generators in system so that generator is during Voltage Drop and electric
After pressure is fallen, not off-grid operation is kept.
By above technical scheme it is found that the application provides a kind of passive robust control method, three kinds are obtained in electric system
Characteristic, three kinds of characteristics include：Mission nonlinear a (x), parameter uncertainty b (x) and wind speed randomness d (t)；Polymerization institute
Three kinds of characteristics are stated, obtain disturbance ψ (x, u, t)；Introduce virtual state xn+1Characterize the disturbance ψ (x, u, t)；Introduce disturbance observation
Device, the disturbance after characterization described in real-time estimation；Robust passive control device is introduced, compensates the disturbance after the real-time estimation, also,
Control the output of the active power and reactive power of double fed induction generators in the electric system.It is provided by the embodiments of the present application
Method is applied in the electric system containing double fed induction generators, when the electric system containing double fed induction generators by
During interference, the Robust passive control based on property disturbance viewer acts immediately, adjusts double fed induction generators active power and nothing
The output of work(power, to enhance the stability of electric system.
Optionally, polymerization three kinds of characteristics, obtain disturbance ψ (x, u, t), including：By the amount of three kinds of characteristics
Value is added.ψ (x, u, t)=a (x)+(b (x)-b0) u+d (t), b0It is control gain.
Optionally, the introducing virtual state xn+1Characterize the disturbance ψ (x, u, t), the virtual state xn+1=ψ (x,
u,t)。
Optionally, described introduce disturbs viewer, the disturbance after characterization described in real-time estimation, including：It is seen to the disturbance
It examines and quantity of state x and control input quantity u is introduced in device, the disturbance after characterization described in real-time estimation.
Optionally, the introducing Robust passive control device, compensates the disturbance after the real-time estimation, including：In the Shandong
The value after the disturbance real-time estimation is subtracted in stick Passive Shape Control device.The disturbance after real-time estimation is compensated, can fully inhibit electricity
The non-linear of Force system, time-varying external disturbance, system do not model the bad shadow to control performance such as state and parameter uncertainty
It rings, so as to fulfill the consistency that control is global.
Optionally, the introducing Robust passive control device, compensates the disturbance after the real-time estimation, also, described in control
In electric system after the output of the active power and reactive power of double fed induction generators, further include：To the electric system
Middle addition high-damping.High-damping is added in, is conducive to provide the stability of electric system.
Optionally, the introducing Robust passive control device, compensates the disturbance after the real-time estimation, also, described in control
In electric system after the output of the active power and reactive power of double fed induction generators, further include：Remold the power train
The energy of closed-loop system in system.The energy of closed-loop system in electric system is remolded, is conducive to improve generator under various operating modes
Dynamic response.
Consider following n ranks standard controlled system：
Wherein, x=[x1,x2,…xn]T∈RnRepresent system state vector, u ∈ R and y ∈ R be respectively system input and it is defeated
Go out,WithFor unknown smooth function,It is disturbed for external time-varying.By system
(1) disturbance is defined as：ψ (x, u, t)=a (x)+(b (x)-b0)u+d(t).Define a virtual state to represent to disturb, i.e.,
xn+1=ψ (x, u, t), former n levels system are extended to (n+1) rank augmented system and make the following assumptions：
A.1 control gain b0Meet | b (x)/b0- 1 |≤θ ＜ 1, wherein θ are a normal number.
A.2 functionWithMeet local Lipchitz
(Lipschitz) condition, and meet ψ (0,0,0)=0 HeMost harsh situation, i.e., only there are one system modes
Measure x1It can measure, one (n+1) rank sliding mode state disturbances viewer of design comes estimating system state and disturbance.
Wherein,I=1,2 ..., n+1, are Luenberger disturbance viewer gains, and selection makes multinomial
sn+1+α1sn+α2sn-1+…+αn+1=(s+ λα)n+1=0 pole is positioned over the-λ α on the Left half-plane of complex plane.In addition, just
Constant kiFor slip plane gain and satisfactionWherein ratio ki/k1The selection of (i=2,3 ..., n+1) causes multinomial
Formula pn+(k2/k1)pn-1+…+(kn/k1)p+(kn+1/k1)=(p+ λk)n=0 pole is positioned on the Left half-plane of complex plane
- λk, hereinI=1,2 ..., n.Further, it usesFunction replaces routineFunction
So as to reduce the influence caused by its discontinuity.Finally, ∈oRepresent the slice width coefficient of viewer.
Use state and disturbance estimated value, for n rank modular systems Robust passive control can design it is as follows：
Wherein, v is additional input；φ (y) is to meeting 0 two items of φ (0)=0 and y φ (y) ＞ simultaneously during all y ≠ 0
The smooth function of part so that closed-loop system can be converted into output Strictly passive control system；Feedback control gain K=[k1, k2...,
kn], make matrix A1=A-BK meets Hurwitzian conditions.
Choose the tracking error e=[e of active power and reactive power1 e2]T, exported as system
Wherein, Pe *WithActive power reference value and reactive power reference qref are represented respectively.
To above formula derivation until control input vqrAnd vdrIt is explicit to occur, it can obtain：
Wherein,
Matrix B gain matrix in order to control.
Due to,
Therefore the matrix's reversibility and global available linearization.
The disturbance ψ of definition system (5)1() and ψ2() is：
Wherein permanent number control gain matrix B0It chooses as follows：
Therefore, system (5) can be equivalent to：
One second order sliding mode of design disturbs viewer to estimate ψ1() can obtain：
Wherein, viewer gain k11,k12,α11,α12It is normal number.
Similarly, a second order sliding mode disturbance viewer is designed to estimate ψ2() can obtain：
Wherein, viewer gain k21,k22,α21,α22It is normal number.
So far, the Robust passive control of double fed induction generators can design as follows：
Simultaneously
Wherein, normal number gain K1And K2It can ensure that the stability of closed-loop system.Additional input parameters λ1And λ2Selection to
Suitable damping is injected in closed-loop system, is responded so as to fulfill satisfied system.
Further, the control method that the embodiment of the present application is provided, compared to existing proportional integral differential control
And modified feedback linearization control, the oscillation of active power and reactive power can be effectively inhibited, while reduce overshoot, it can be significantly
Enhance the stability of electric system.
By above technical scheme it is found that the application provides a kind of passive robust control method, three kinds are obtained in electric system
Characteristic, three kinds of characteristics include：Mission nonlinear a (x), parameter uncertainty b (x) and wind speed randomness d (t)；Polymerization institute
Three kinds of characteristics are stated, obtain disturbance ψ (x, u, t)；Introduce virtual state xn+1Characterize the disturbance ψ (x, u, t)；Introduce disturbance observation
Device, the disturbance after characterization described in real-time estimation；Robust passive control device is introduced, compensates the disturbance after the real-time estimation, also,
Control the output of the active power and reactive power of double fed induction generators in the electric system.It is provided by the embodiments of the present application
Method is applied in the electric system containing double fed induction generators, when the electric system containing double fed induction generators by
During interference, the Robust passive control based on property disturbance viewer acts immediately, adjusts double fed induction generators active power and nothing
The output of work(power, to enhance the stability of electric system.
Those skilled in the art will readily occur to the application its after considering specification and putting into practice application disclosed herein
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the application, these modifications, purposes or
Person's adaptive change follows the general principle of the application and including the undocumented common knowledge in the art of the application
Or conventional techniques.Description and embodiments are considered only as illustratively, and the true scope of the application is pointed out by claim.
It should be understood that the precision architecture that the application is not limited to be described above and be shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.Invention described above embodiment is not formed to this hair
The restriction of bright protection domain.
Claims (6)
1. a kind of passive robust control method, which is characterized in that the method includes：
Three kinds of characteristics in electric system are obtained, three kinds of characteristics include：Mission nonlinear a (x), parameter uncertainty b (x) and
Wind speed randomness d (t)；
It polymerize three kinds of characteristics, obtains disturbance ψ (x, u, t), described disturbance ψ (x, u, t)=a (x)+(b (x)-b0) u+d (t),
Wherein, b0Gain in order to control, x are quantity of state, u input quantities in order to control；
Introduce virtual state xn+1Characterize the disturbance ψ (x, u, t)；
Introduce disturbance viewer, the disturbance after being characterized described in real-time estimation；
Robust passive control device is introduced, compensates the disturbance after the real-time estimation, also, control double-fed sense in the electric system
Answer the output of the active power and reactive power of generator.
2. the according to the method described in claim 1, it is characterized in that, introducing virtual state xn+1Characterize it is described disturbance ψ (x,
U, t), the virtual state xn+1=ψ (x, u, t).
3. according to the method described in claim 1, it is characterized in that, described introduce disturbance viewer, characterization described in real-time estimation
Disturbance afterwards, including：Quantity of state x and control input quantity u are introduced into the disturbance viewer, after being characterized described in real-time estimation
Disturbance.
4. according to the method described in claim 1, it is characterized in that, the introducing Robust passive control device, compensates described real-time
Disturbance after estimation, including：The value after the disturbance real-time estimation is subtracted in the Robust passive control device.
5. according to the method described in claim 1, it is characterized in that, the introducing Robust passive control device, compensates described real-time
Disturbance after estimation, also, control the output of the active power and reactive power of double fed induction generators in the electric system
Later, it further includes：High-damping is added in into the electric system.
6. according to the method described in claim 1, it is characterized in that, the introducing Robust passive control device, compensates described real-time
Disturbance after estimation, also, control the output of the active power and reactive power of double fed induction generators in the electric system
Later, it further includes：Remold the energy of closed-loop system in the electric system.
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| CN102705158A (en) * | 2012-05-25 | 2012-10-03 | 江南大学 | Feedback control method of wind energy converting system based on fuzzy performance estimator |
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