CN112039084A - 一种同步静止补偿器改进二阶滑模控制方法 - Google Patents
一种同步静止补偿器改进二阶滑模控制方法 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
- H02J3/18—Arrangements for adjusting, eliminating or compensating reactive 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
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- H02J3/26—Arrangements for eliminating or reducing asymmetry in polyphase 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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- H—ELECTRICITY
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- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
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- Y02E40/30—Reactive power compensation
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Abstract
Description
技术领域
本发明涉及一种同步静止补偿器改进二阶滑模控制方法。
背景技术
同步静止补偿器是一种以电压型或电流型三相桥式变流器为核心的新型无功补偿装置。具有无功补偿、抑制电压闪变和三相不平衡等功能,相较于传统的静止无功补偿装置具有运行范围广、结构紧凑、无功补偿迅速,不易发生谐振等诸多优点成为电力***柔***流输电领域的热点。
同步静止补偿器复杂的非线性强耦合***,控制***成为影响同步静止补偿器运行特性的关键。逆***的方法可以进行原***线性化解耦,引入PI控制器,可以实现有功电流和无功电流解耦,然而存在控制精度不高,抗扰动性能差的缺点。滑模可以实现同步静止补偿器电流和直流电压的非线性控制,传统的一阶滑模存在控制不连续和固有抖振问题,影响了***的控制效果。高阶滑模可以消除传统滑模控制***切换的抖振,线性补偿项可以实现提高***远离平衡点时的收敛速度,减小输出抖震,增强***鲁棒性。
发明内容
本发明的目的在于提供一种同步静止补偿器改进二阶滑模控制方法,能够有效解决上述问题。
为了解决上述技术问题,本发明是通过以下技术方案实现的:一种同步静止补偿器改进二阶滑模控制方法,采用无功电流控制器和直流侧电容电压控制器,所述无功电流控制其采用基于超螺旋算法设计的滑模控制器,低阶项引入线性补偿项,改进无功电流控制器;直流侧电容电压控制器采用基于超螺旋算法设计的滑模控制器,设计的滑模面为低阶项、高阶项分别引入线性补偿项,直流侧电容电压控制器。
优选的,无功电流控制器、直流侧电容电压控制器的滑模面设计分别为s1、s2:
优选的,无功电流控制器设计为:
其中,sign(s1)为符号函数,γ1、λ1、λ2、λ3为控制器参数,λ3s1为无功电流控制器的线性补偿项,v1为过程控制量。
优选的,直流侧电容电流控制器设计为:
其中,sign(s2)为符号函数,γ2、λ4、λ5、λ6为控制器参数,λ7s2为直流侧电容电流控制器高阶的线性补偿项,λ5s2为低阶的线性补偿项,v2为过程控制量。
优选的,控制输入U=[u1 u2]T=[Sd Sq]T,输出Y=[y1 y2]T=[iq Udc]T,控制
器求得的输入量可以表示如下:
与现有技术相比,本发明的优点是:
1、本发明设计了一种同步静止补偿器无功电流控制器,实现了无功补偿电流的精确控制,无抖震输出,提高了无功补偿电流动态响应能力。
2、本发明设计了一种同步静止补偿器直流侧电容电压控制器,提高了步补偿器直流侧电容电压的动态响应能力,减小输出抖震。
3、上述两种控制器应用于同步静止补偿器控制***可以实现公共耦合处电压均快速稳定,减小电压超调量,增强***鲁棒性。
附图说明
图1是同步静止补偿器电路拓扑结构示意图;
图2是本发明提出的同步静止补偿器控制器原理图;
图3是改进二阶滑模控制的直流侧电压仿真波形;
图4是电压突变情况下改进二阶滑模控制的无功补偿电流仿真波形;
图5是电压突变情况下改进二阶滑模控制的直流侧电压仿真波形.
具体实施方式
下面详细描述本发明的实施例,所述实施例的示例在附图中示出。下面通过参考附图描述的实施例是示例性的,旨在用于解释本发明,而不能理解为对本发明的限制。
图1为同步静止补偿器电路拓扑结构示意图,三相逆变器由6个绝缘栅双极晶体管组成,Ug为电网电压,Uea、Ueb、Uec分别为公共耦合处的A、B、C相电压,I1a、I1b、I1c分别为A、B、C相电流,Isa、Isb、Isc分别为A、B、C相补偿电流,Udc为直流侧电容电压值,C为直流滤波电容值,Ua、Ub、Uc逆变交流电压,L、R分别为连接电感和电阻。逆变器根据电网运行情况,根据控制器,通过滤波装置和变压器向电网注入无功电流。
针对图1至图5所示同步静止补偿器无功电流控制器进行交流侧电压、无功补偿电流进行PARK变换,PARK变换矩阵如下:
得到,ud和uq为PCC处d,q轴电压;id和iq为PCC处d,q轴电流。
参考图2同步静止补偿器控制器原理图进行控制器的设计,公共交叉点q轴电压Ueq与参考电压Ueq *的误差经PI控制器输出q轴目标无功电流Ieq *,采用超螺旋设计同步静止补偿器无功电流控制器,选取滑模面为:
s1=e1
其中e1为无功电流误差:
引入线性补偿项λ3s1,改进超螺旋算法,设计无功电流控制器为:
其中,sign(s1)为符号函数,γ1、λ1、λ2、λ3为控制器参数,v1为过程控制量。
并且,采用超螺旋设计同步静止补偿器无功电流控制器,选取滑模面为:
其中e2为直流侧电容电压误差:
超螺旋算法高阶项引入线性补偿项λ7s2,低阶项引线性补偿项入λ5s2,改进超螺旋算法,设计直流侧电容电压控制器为:
其中,sign(s2)为符号函数,γ2、λ4、λ5、λ6为控制器参数,v2为过程控制量。
控制器求得的输入量可以表示如下:
通过反PARK变换得到逆变器A、B、C相上的开关函数Sa、Sb、Sc,通过SVPWM控制策略,实现同步静止补偿器的有效控制。
最后,通过SIMLINK仿真平台验证了此控制方法的,采用本发明所属控制器所得同步静止补偿器直流电压Udc、公共耦合处电压Ueq、无功电流Iq,验证了本发明的有效性和优越性。
以上所述仅为本发明的具体实施例,但本发明的技术特征并不局限于此,任何本领域的技术人员在本发明的领域内,所作的变化或修饰皆涵盖在本发明的专利范围之中。
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