CN107359832A - A kind of nonlinear variable structure excitation control method - Google Patents
A kind of nonlinear variable structure excitation control method Download PDFInfo
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- CN107359832A CN107359832A CN201710507854.2A CN201710507854A CN107359832A CN 107359832 A CN107359832 A CN 107359832A CN 201710507854 A CN201710507854 A CN 201710507854A CN 107359832 A CN107359832 A CN 107359832A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/14—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/14—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field
- H02P9/26—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field using discharge tubes or semiconductor devices
- H02P9/30—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field using discharge tubes or semiconductor devices using semiconductor devices
- H02P9/305—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field using discharge tubes or semiconductor devices using semiconductor devices controlling voltage
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2103/00—Controlling arrangements characterised by the type of generator
- H02P2103/20—Controlling arrangements characterised by the type of generator of the synchronous type
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Eletrric Generators (AREA)
Abstract
The invention discloses a kind of nonlinear variable structure excitation control method, comprise the following steps：The differential equation is established based on Differential Geometry, structure changes, construct Second Order state expansion observer (ESO) and proportional integration, wherein differential geometric theory is used to carry out coordinate transform to the state equation of system, variable structure theory is used to design virtual controlling amount, structural regime expands observer to realize nonlinear model LINEARIZATION WITH DYNAMIC COMPENSATION, and introduce the ratio based on set end voltage deviation and carry out integration control, the nonlinear variable structure excitation control method of the present invention is in the case of microvariations and large disturbances, the stabilization of generator angular speed and generator rotor angle can not only preferably be ensured, improve the degree of regulation of set end voltage, and robustness is preferable.
Description
Technical field
The present invention relates to power domain, specifically a kind of nonlinear variable structure excitation control method.
Background technology
Excitation Control System of Synchronization Generator is the important component of modern power systems, to the steady of whole power system
Qualitative important role.From PID control, power system stabilizer to linear optimal excitation con-trol (LOEC), significantly improve
The stability of system voltage and generator rotor angle.But they design and are based in a certain particular state lower aprons line of power system
The mathematical modeling of property.When system is by disturbing greatly, deviateing designed equalization point farther out, control effect will weaken.
In recent years, Non-Linear Control Theory is studied much in the application of power system, adapts to system mode
Wide variation, largely improve the stability of the big interference of system.Due to electric power system model and parameter have it is very big
It is uncertain so that Nonlinear excitationcontrol technology has certain error in actual applications.
The content of the invention
It is an object of the invention to overcome above-mentioned deficiency, there is provided a kind of nonlinear variable structure excitation control method,
The object of the present invention is achieved like this：A kind of nonlinear variable structure excitation control method, comprises the following steps：
Step 1, the differential equation is established based on Differential Geometry, described the step of establishing the differential equation specifically includes：
Step 101, output function is set：Y=h (x)=Δ ω=ω-ω0, wherein ω is angular speed, ω0For specified angle
Speed, h (x) are r=2 to the relationship degree of system；
Step 102, it is transformed to normal equation：Choose coordinate transform：
Mission nonlinear state equation is transformed to following standard type equation：Abbreviation obtains：
Step 2, structure changes, the structure changes specifically include following steps：
Step 201, take switching function：S=c1z1+z2；
Step 202, take exponentially approaching rule：
Step 203, with reference to the ν obtained in step 1 change：V=-c1z2-εsat(s/Δ)-ms；
Step 3, construction Second Order state expansion observer (ESO)：
Wherein m1For z2Estimate, m2To expand variable,Take controlled quentity controlled variable
Step 4, proportional integration：The proportional plus integral control of set end voltage deviation is added, to adjust set end voltage, is obtained final
Excitation con-trol rule：
The advantage of the invention is that：
1st, ESO is a dynamic process, it is only necessary to knows input and the output information of object, so that it may estimate each of object
Scalariform state variable, the real-time effect amount of ambiguous model and disturbance is compensated for；
2nd, virtual controlling amount is designed using variable structure theory, makes sliding formwork control that there is good dynamic quality；
3rd, under mechanical output disturbance and three phase short circuit fault, the control effect of designed excitation control method is better than normal
Advise nonlinear excitation controller, the degree of regulation of set end voltage can be improved, preferably ensure generator angular speed, generator rotor angle it is steady
It is fixed；
4th, due to estimating unknown parameter and nonlinear model using ESO, the complexity of controller is reduced, to system
Uncertainty has preferable robustness.
Brief description of the drawings
Fig. 1 is the principle system figure of the nonlinear variable structure excitation control method of the present invention；
Fig. 2 is the second-order system ESO structural representations of the nonlinear variable structure excitation control method of the present invention；
Fig. 3 is that the nonlinear variable structure excitation control method of the present invention and the mechanical output disturbance experiments of conventional method contrast
Figure；
Fig. 4 is the nonlinear variable structure excitation control method of the present invention and the three-phase shortcircuit experimental comparison figure of conventional method；
Wherein, in accompanying drawing 3 and accompanying drawing 4, the nonlinear variable structure excitation control method of the 1- present invention, 2- conventional methods.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
The present invention is a kind of nonlinear variable structure excitation control method, is comprised the following steps, as shown in Figure 1：
Step 1, the differential equation established based on Differential Geometry：
For one machine infinity bus system, when synchronous generator uses static controllable silicon high speed excitation system, generator is encouraged
Magnetic control system mathematical modeling can be represented with Nonlinear differential eguations, it is contemplated that the change of rotating speed is ahead of the change of generator rotor angle
It is easy to implement with control, and also to the steady-state value of output function is chosen on the origin of new coordinate system, by output function
Elect as：Y=h (x)=Δ ω=ω-ω0.By can be calculated：H (x) is r=2 to the relationship degree of system.Choose coordinate transform
Mission nonlinear state equation is transformed to following standard type equation：
Mission nonlinear state equation is transformed into standard type equation.According to differential geometric theory, obtain：
Step 2, structure changes：
According to variable structure control theory, the switching function is taken to be：S=c1z1+z2。
In order that sliding formwork control has good dynamic quality, exponentially approaching rule is selected：
V=-c can be obtained1z2-εsat(s/Δ)-ms。
Step 3, construction Second Order state expansion observer (ESO), as shown in Figure 2：
It is theoretical according to ESO dynamic feedback linearization, corresponding second order is constructed to last equation of standard type equation
ESO：
M in formula1For z2Estimate, m2To expand variable,Take controlled quentity controlled variable
Step 4. proportional integration
The proportional plus integral control of set end voltage deviation is added, to adjust set end voltage, obtains final excitation con-trol rule
Restrain and be：
There is preferable control effect in order to prove the Nonlinear excitationcontrol method designed by this paper, with conventional non-linear
Excitation control method carries out com-parison and analysis：
(1) 20% step disturbance occurs in t=1s for mechanical output disturbance experiments, as shown in Figure 3, mechanical output；
(2) three-phase shortcircuit is tested, and as shown in Figure 4, in t=1s, three-phase shortcircuit occurs for one back transmission line head end,
Failure removal after 0.2s, system single circuit power supply；
It can be seen that under mechanical output disturbance and three phase short circuit fault, the control effect of excitation control method of the invention is excellent
In conventional non-linear excitation control method, the degree of regulation of set end voltage can be improved, preferably ensure the stabilization of generator's power and angle.
Finally it should be noted that：Obviously, above-described embodiment is only intended to clearly illustrate the application example, and simultaneously
The non-restriction to embodiment.For those of ordinary skill in the field, can also do on the basis of the above description
Go out other various forms of changes or variation.There is no necessity and possibility to exhaust all the enbodiments.And thus drawn
Among the obvious changes or variations that Shen goes out is still in the protection domain of the application type.
Claims (1)
1. a kind of nonlinear variable structure excitation control method, it is characterised in that comprise the following steps：
Step 1, the differential equation is established based on Differential Geometry, described the step of establishing the differential equation specifically includes：
Step 101, output function is set：Y=h (x)=Δ ω=ω-ω0, wherein ω is angular speed, ω0For rated angular velocity,
H (x) is r=2 to the relationship degree of system；
Step 102, it is transformed to normal equation：Choose coordinate transform：
Mission nonlinear state equation is transformed to following standard type equation：Abbreviation obtains：
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Step 2, structure changes, the structure changes specifically include following steps：
Step 201, take switching function：S=c1z1+z2；
Step 202, take exponentially approaching rule：
Step 203, with reference to the ν obtained in step 1 change：V=-c1z2-εsat(s/Δ)-ms；
Step 3, construction Second Order state expansion observer (ESO)：
Wherein m1For z2Estimate, m2To expand variable,Take controlled quentity controlled variable
Step 4, proportional integration：The proportional plus integral control of set end voltage deviation is added, to adjust set end voltage, obtains final encourage
Magnetic control rule：
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1
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103208817A (en) * | 2013-04-11 | 2013-07-17 | 浙江大学 | Second-order slip form-based method for controlling doubly-fed wind generator (DFIG) |
| CN104410107A (en) * | 2014-11-27 | 2015-03-11 | 江苏科技大学 | Passive integral sliding mode control method for double-fed wind power system |
| CN105048917A (en) * | 2015-06-30 | 2015-11-11 | 西安理工大学 | ESO-based control method of double-fed wind power generation system integral sliding mode controller |
| CN105591395A (en) * | 2016-01-06 | 2016-05-18 | 清华大学 | Rotating speed recovery method of double-fed induction generator after virtual inertia control |
-
2017
- 2017-06-28 CN CN201710507854.2A patent/CN107359832A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103208817A (en) * | 2013-04-11 | 2013-07-17 | 浙江大学 | Second-order slip form-based method for controlling doubly-fed wind generator (DFIG) |
| CN104410107A (en) * | 2014-11-27 | 2015-03-11 | 江苏科技大学 | Passive integral sliding mode control method for double-fed wind power system |
| CN105048917A (en) * | 2015-06-30 | 2015-11-11 | 西安理工大学 | ESO-based control method of double-fed wind power generation system integral sliding mode controller |
| CN105591395A (en) * | 2016-01-06 | 2016-05-18 | 清华大学 | Rotating speed recovery method of double-fed induction generator after virtual inertia control |
Non-Patent Citations (1)
| Title |
|---|
| 常鲜戎: "《基于微分几何和扩张状态观测器的励磁控制》", 《电力***及其自动化学报》 * |
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Application publication date: 20171117 |