CN108631320A - A kind of micro-capacitance sensor voltage control method based on feedforward robust control - Google Patents
A kind of micro-capacitance sensor voltage control method based on feedforward robust control Download PDFInfo
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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
- H02J3/12—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load
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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
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/381—Dispersed generators
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Abstract
A kind of micro-capacitance sensor voltage control method based on feedforward robust control, including establish the state space equation of main power circuit；Construction system control channel transmission function G (s), disturb channel transmission function D (s) and feed-forward compensator transmission function function F (s)；Design internal model structure M (s) and tracing deviation weighting function We(s)；The solution that the design of Robust Feedback Controller K (s) is converted to a convex optimization problem of linear objective function obtains Robust Feedback Controller K (s) by solving the problem.The present invention can effectively reduce the output error of system.Make controller that there are good dynamic response capability and voltage output characteristics when micro battery output-power fluctuation etc. occur and interfering greatly.
Description
Technical field
The invention belongs to micro-capacitance sensor control field, more particularly to a kind of micro-capacitance sensor voltage control based on feedforward robust control
Method.
Background technology
Micro-capacitance sensor is by the distributed generation resource (distributed generation, DG) of diversified forms, energy-storage units, bears
The micro power network of the compositions such as lotus, control unit and protection can be used as controllable burden or controllable generator unit flexibility to be incorporated to distribution
Network operation, and the system of itself can be relied on to control off-grid operation.Since distributed generation resource has the characteristics that intermittent and randomness,
The fluctuation of output power or the interference of uncertain factor may make the voltage of system and frequency change, and seriously affect micro- electricity
The stability of net.To improve the anti-interference ability of all kinds of distributed generation resource output voltages and the reliability of power quality, micro- electricity
Net voltage control technology receives more and more attention.
It is found through being retrieved to existing technical literature, Distributed secondary control for islanded
microgrids a novel approach(Shafiee,Q,Guerrero,J.M,Vasquez,J.C,“Distributed
secondary control for islanded microgrids-a novel approach,”IEEE Transactions
On Power Electronics, 2014,29, (2), pp.1018-1031.) a kind of distributed Two-stage control strategy is proposed to adjust
Load voltage and frequency departure are saved, which is to formulate a local two-level controller for each distributed generation resource, is passed through
Low bandwidth communication sends real-time voltage information to each distributed generation resource.When micro-capacitance sensor output voltage fluctuates, by dead zone (Dead
Band) transmission error signal compensates the voltage magnitude of micro-capacitance sensor using PI controls.The method is controlled independent of center, because
The failure of this individual unit will not lead to the failure of whole system, even if remaining to protect in the micro-grid system with communication delay
Hold stronger stability.Coordinated V-f and P-Q control of solar photovoltaic
generators with MPPT and battery storage in microgrids(Adhikari,S,Li,F,
“Coordinated V-f and P-Q control of solar photovoltaic generators with MPPT
and battery storage in microgrids,”IEEE Transactions on Smart Grid,2014,5,
(3), pp.1270-1281.) propose a kind of coordination voltage control strategy, the strategy is by coordinating between PQ controls and V/f controls
Operating status realize the stable operation of entire micro-capacitance sensor, and the form by adding power constraints further improves
The reliability of micro-capacitance sensor output voltage.Optimal sizing and control strategy of isolated grid
with wind power and energy storage system(Luo,Y.,Shi,L.,Tu,G,“Optimal sizing
and control strategy of isolated grid with wind power and energy storage
System, " Energy Conversion and Management, 2014,80, pp.407-415.) for containing wind-powered electricity generation and energy storage
Isolated island micro-capacitance sensor, it is proposed that it is a kind of bilayer control strategy, the strategy by upper layer wide area power-balance control and lower layer energy storage V/f
Control two parts composition.Short-term forecast is carried out to wind-powered electricity generation workload demand by main control part, acquires micro-capacitance sensor real time status information, into
Row wide area power-balance controls, and then sends control signals to each control terminal, is controlled by the V/f of lower layer's energy storage inverter
Carry out the imbalance power in compensation system, with maintain micro-capacitance sensor voltage and frequency in stability range.
Existing research at present is concentrated mainly on by using deficiency present in Two-stage control compensation primary voltage control,
But Two-stage control excessively depends on information exchange ability, and the primary control in voltage control research still uses PI (bicyclic voltage)
Control, the robustness when coping with the interference greatly such as micro battery output-power fluctuation are poor.
Invention content
For the above deficiency, the present invention proposes a kind of micro-capacitance sensor voltage control method based on feedforward robust control, the party
Method is started with from primary voltage control strategy is improved, and is devised the closed loop feedback control device containing internal model structure, is enhanced the Shandong of system
Stick can promptly inhibit to disturb caused by load variations；Outer shroud feedforward is designed by using the mode that approximation compensates entirely
Compensator improves the dynamic responding speed of system, can effectively reduce the output error of system.There is micro battery output work
Make controller that there are good dynamic response capability and voltage output characteristics when the big interference such as rate fluctuation.
The technical solution that the present invention takes is：
A kind of micro-capacitance sensor voltage control method based on feedforward robust control, includes the following steps：
Step 1：According to Kirchhoff's theorem, state space equation of the main power source under α β coordinate systems is：
Choose inductive current if1,αβWith filter capacitor voltage vc,αβAs state variable xαβ；Micro-capacitance sensor electric current ig1,αβAnd ginseng
Examine voltage vrefAs external input amount ωαβ；Micro-capacitance sensor voltage vabc1,αβAs control input quantity uαβ；Wherein state variable xαβ、
External input variable ωαβWith control input quantity uαβExpression formula is：
xαβ=[if1,α vc,α if1,β vc,β]T, wαβ=[ig1,α vref,α ig1,β vref,β]T
uαβ=[vabc1,α vabc1,β]T
Based on state space theory, system state equation and output equation are：
The above matrix expression shows that the system can regard 2 independent systems as under α β coordinate systems, i.e.,
Matrix A, B1、B2、C、D1And D2For：C=[0-1],
D1=[0 1], D2=0, and x=[if1,α vc,α]TOr [if1,β vc,β]T；Y=yαOr yβ；W=[ig1,α vref,α]TOr [ig1,β
vref,β]T；U=Vabc1,αOr Vabc1,β。
Wherein, A is sytem matrix, B1、B2For input matrix, C is output matrix, D1、D2For direct transfer matrix, Lf1For
Filter inductance, Cf1For filter capacitor, Rf1For resistance.For the first differential form of state variable, x indicates state variable；Y is indicated
System output variables, w indicate that external input amount, u indicate control input quantity.if1,α、vc,α、ig1,α、vref,αAnd vabc1,αRespectively
The component of inductive current, filter capacitor voltage, micro-capacitance sensor electric current, reference voltage and micro-capacitance sensor voltage on α axis；
if1,β、vc,β、ig1,β、vref,βAnd vabc1,βRespectively inductive current, filter capacitor voltage, micro-capacitance sensor electric current, reference
The component of voltage and micro-capacitance sensor voltage on β axis.
Step 2：Construction system control channel transmission function G (s), the transmission function D (s) and feed-forward compensator for disturbing channel
Transmission function F (s), be represented by：
G (s)=D2+C(sI-A)-1B2
D (s)=D1+C(sI-A)-1B1
Wherein, I is unit matrix, is hadW0(s) it is expressed as weighting function.
Step 3：The design of internal model structure M (s), by a low-pass filter We(s) and a time delay processComposition,
Internal model structure can be expressed as：
Wherein, delay time TdIt is expressed as：τd=τ -1/wc.τ is primitive period, wcFor cutoff frequency.
We(s) tracing deviation weighting function is indicated, for limiting the input tracking error of system.We(s) mathematic(al) representation
For：
Wherein, M is frequency response peak-peak, and N is the worst error of systematic steady state,For system minimum bandwidth frequency.
Step 4：The design of Robust Feedback Controller K (s) is converted into asking for convex optimization problem of linear objective function
Solution, can be expressed as：
By solving the problem, Robust Feedback Controller K (s) is obtained.
Wherein, χ indicates that the set for meeting the controller that control requires, ξ indicate weight coefficient.S (s) is sensitivity function,
It indicates to measure interference signal d to the closed loop transfer function, of system output signal y, has：S (s)=[1+G (s) K (s)]-1；Tur(s)
It is mending sensitivity functions of the reference-input signal r to controlled quentity controlled variable signal u：Tur(s)=K (s) [1+G (s) K (s)]-1；Tyd(s) it is
Measure the mending sensitivity function of interference signal d to system output signal y：Tyd(s)=D (s) [1+G (s) K (s)]-1.K (s) is institute
The transmission function for the Robust Feedback Controller to be solved, Wt(s) it is robust performance weighting function, Wu(s) weighting inputted in order to control
Function, D (s) are the transmission function for disturbing channel.
A kind of micro-capacitance sensor voltage control method based on feedforward robust control of the present invention, advantage are：The voltage controlling party
Method is feedforward path to be added in the control loop of system, and use open-loop design feed-forward compensator, its main feature is that not exporting
Time lag, signal fluctuation the defects of, ability of tracking of the controlled device to reference-input signal can be improved, effectively reduce system
Output error.The design of inner ring Robust Feedback Controller is to be based on control theory, in processing parameter variation, load disturbance
When, show stronger inhibiting effect.For the control method when coping with micro battery output-power fluctuation, load voltage can be quickly extensive
It is multiple to stablize, show good robustness.
Description of the drawings
Fig. 1 is micro-capacitance sensor structure chart.
Fig. 2 is the energy storage main circuit control structure block diagram based on feedforward robust control method.
Load voltage oscillogram when Fig. 3 (a) is micro-capacitance sensor micro battery output-power fluctuation.
Load current oscillogram when Fig. 3 (b) is micro-capacitance sensor micro battery output-power fluctuation.
The partial enlarged view of Fig. 3 (c) Fig. 3 (a).
Specific implementation mode
In order to make goal of the invention, technical solution and its advantageous effects of the present invention be more clear, below in conjunction with attached drawing
And specific implementation mode, the present invention will be described in further detail.It should be understood that specific reality described in this specification
Mode is applied just for the sake of explaining the present invention, is not intended to limit the present invention.
A kind of micro-capacitance sensor voltage control method based on feedforward robust control, the voltage control method is by feedforward compensation and Shandong
Stick internal model feedback control two parts form.The design of feed-forward compensator is based on opened loop control, in such a way that approximation compensates entirely；Shandong
The design of stick feedback controller is realized by solving the convex optimization problem of linear objective function.Designed controller is being answered
When to micro battery output-power fluctuation, load voltage can be stablized quick-recovery soon, show good robustness.
Fig. 1 is targeted micro-capacitance sensor structure chart.As shown, with points of common connection (Point of Common
Coupling, PCC) it is that micro-capacitance sensor is divided into left and right two parts by boundary, left area is energy storage main power source module, and right area is light
It lies prostrate from power module.Points of common connection is connected with power distribution network or load, and when PCC is disconnected, entire micro-grid system is converted to
Islet operation.Wherein energy-storage battery main power source is controlled using V/f, and stable voltage and frequency are provided for whole system, photovoltaic from
Power supply is mutually coordinated to realize the power-balance of whole system jointly with main power source using PQ controls.
Fig. 1 micro-capacitance sensor energy storage main power source parameters are as follows：Series filtering inductance Lf1=1.4mH, series filtering capacitance Cf1
=45 μ F, series resistance Rf1=0.1 Ω, neutral end voltage Vabc1=311V, system frequency f0=50Hz, switching frequency fsw=
10kHz。
Fig. 2 is the energy storage main circuit control structure block diagram based on feedforward robust control method.G (s) and D (s) is by energy storage
The control channel and disturbance channel that main circuit parameter construction generates.The control method that this patent proposes includes feed-forward compensator F
(s), internal model structure M (s) and three parts Robust Feedback Controller K (s).
According to micro-capacitance sensor energy storage main power source parameter, the transmission function F (s) of feed-forward compensator is：
Internal model structure M (s) is by a low-pass filter We(s) and a time delay processComposition.System internal model control letter
Number is：Delay time Td0.0196s, cutoff frequency is taken to take wc=2500rad/s.
The transmission function K (s) of Robust Feedback Controller is：
Fig. 3 (a), Fig. 3 (b) are the oscillograms of load voltage and electric current in micro-capacitance sensor micro battery output-power fluctuation.From
It can be seen that, in t=0.4s, micro battery output power increases to 30kW, load electricity suddenly from 10kW in Fig. 3 (a), Fig. 3 (b)
Pressure after 1 period merely through restoring stable state.The experimental results showed that when coping with micro battery output-power fluctuation, based on feedforward robust
The micro-capacitance sensor voltage control method of control shows stronger robustness.
Claims (5)
1. a kind of micro-capacitance sensor voltage control method based on feedforward robust control, it is characterised in that include the following steps：
Step 1：Establish the state space equation of main power circuit；
Step 2：Construction system control channel transmission function G (s), disturb channel transmission function D (s) and feed-forward compensator biography
Delivery function function F (s)；
Step 3：Design internal model structure M (s) and tracing deviation weighting function We(s)；
Step 4：The design of Robust Feedback Controller K (s) is converted to the solution of a convex optimization problem of linear objective function, is led to
It crosses and solves the problem, obtain Robust Feedback Controller K (s).
2. a kind of micro-capacitance sensor voltage control method based on feedforward robust control according to claim 1, it is characterised in that：Institute
It states in step 1, establishes state space equation：
According to Kirchhoff's theorem, state space equation of the main power source under α β coordinate systems is：
Choose inductive current if1,αβWith filter capacitor voltage vc,αβAs state variable xαβ；Micro-capacitance sensor electric current ig1,αβAnd reference voltage
vrefAs external input amount ωαβ；Micro-capacitance sensor voltage vabc1,αβAs control input quantity uαβ；Wherein state variable xαβ, it is external defeated
Enter variable ωαβWith control input quantity uαβExpression formula is：
xαβ=[if1,α vc,α if1,β vc,β]T, wαβ=[ig1,α vref,α ig1,β vref,β]T
uαβ=[vabc1,α vabc1,β]T
Based on state space theory, system state equation and output equation are：
The above matrix expression shows that the system can regard 2 independent systems as under α β coordinate systems, i.e.,：
Matrix A, B1、B2、C、D1And D2For：C=[0-1], D1=[0
1], D2=0, and x=[if1,α vc,α]TOr [if1,β vc,β]T；Y=yαOr yβ；W=[ig1,α vref,α]TOr [ig1,β vref,β]T；u
=Vabc1,αOr Vabc1,β；
Wherein, A is sytem matrix, B1、B2For input matrix, C is output matrix, D1、D2For direct transfer matrix, Lf1For filtering
Inductance, Cf1For filter capacitor, Rf1For resistance；X indicates state variable,For the first differential form of state variable；Y indicates system
Output variable, w indicate that external input amount, u indicate control input quantity；if1,α、vc,α、ig1,α、vref,αAnd vabc1,αRespectively inductance
The component of electric current, filter capacitor voltage, micro-capacitance sensor electric current, reference voltage and micro-capacitance sensor voltage on α axis；if1,β、vc,β、ig1,β、
vref,βAnd vabc1,βRespectively inductive current, filter capacitor voltage, micro-capacitance sensor electric current, reference voltage and micro-capacitance sensor voltage are on β axis
Component.
3. a kind of micro-capacitance sensor voltage control method based on feedforward robust control according to claim 1, it is characterised in that：Institute
It states in step 2, constructs the biography of system control channel transmission function G (s), the transmission function D (s) and feed-forward compensator that disturb channel
Delivery function F (s) is represented by：
G (s)=D2+C(sI-A)-1B2
D (s)=D1+C(sI-A)-1B1
Wherein, I is unit matrix, is hadW0(s) it is expressed as weighting function.
4. a kind of micro-capacitance sensor voltage control method based on feedforward robust control according to claim 1, it is characterised in that：Institute
It states in step 3, the design of internal model structure M (s), by a low-pass filter We(s) and a time delay processComposition, internal model
Structure can be expressed as：
Wherein, delay time TdIt is expressed as：τd=τ -1/wc；τ is primitive period, wcFor cutoff frequency；
We(s) tracing deviation weighting function is indicated, for limiting the input tracking error of system；We(s) mathematic(al) representation is：
Wherein, M is frequency response peak-peak, and N is the worst error of systematic steady state,For system minimum bandwidth frequency.
5. a kind of micro-capacitance sensor voltage control method based on feedforward robust control according to claim 1, it is characterised in that：Institute
It states in step 4, the design of Robust Feedback Controller K (s) is converted to the solution of a convex optimization problem of linear objective function, it can
It is expressed as：
By solving the problem, Robust Feedback Controller K (s) is obtained；
Wherein, χ indicates that the set for meeting the controller that control requires, ξ indicate weight coefficient；S (s) is sensitivity function, is indicated
Interference signal d is measured to the closed loop transfer function, of system output signal y, is had：S (s)=[1+G (s) K (s)]-1；Tur(s) it is ginseng
Examine the mending sensitivity function of input signal r to controlled quentity controlled variable signal u：Tur(s)=K (s) [1+G (s) K (s)]-1；Tyd(s) it is to measure
Mending sensitivity functions of the interference signal d to system output signal y：Tyd(s)=D (s) [1+G (s) K (s)]-1；K (s) is required
The transmission function of the Robust Feedback Controller of solution, Wt(s) it is robust performance weighting function, Wu(s) the weighting letter inputted in order to control
Number, D (s) are the transmission function for disturbing channel.
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Application publication date: 20181009 |