CN112327637B - Power spring feedback linearization control method based on robust disturbance observation - Google Patents
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Abstract
The invention discloses a power spring feedback linearization control method based on robust disturbance observation, which comprises the following steps: establishing an affine model of two input/two output Liderivative of the alternating current power spring according to the dynamic mathematical model of the alternating current power spring under the dq rotation coordinate system; constructing a decoupling matrix and a state transformation matrix, and observing by combining a coupling model and a nonlinear model respectively to obtain an alternating current power spring with complete decoupling and complete linearization conversion; constructing a power loop PI controller; and establishing a robust disturbance observer. The invention realizes the complete decoupling and complete linearization design of the alternating current power spring, has the characteristics of good dynamic performance and wide stable field, provides the design of the robust disturbance observer, and enhances the stability and the robust performance of the closed-loop control system under the uncertain disturbance condition.
Description
Technical Field
The invention relates to the technical field of operation and control of a power system, in particular to a power spring feedback linearization control method based on robust disturbance observation.
Background
With the popularization and application of high-permeability renewable power generation, renewable energy sources such as wind energy, solar energy and the like are connected to an alternating current micro-grid on a large scale, but the intermittency and randomness of the renewable energy source power generation bring about the problems of electric energy quality such as voltage fluctuation of a bus of the alternating current micro-grid and active power harmonic waves, and the electric energy quality of a user side is obviously influenced. As a new demand side management technology, the alternating current power spring is simple in structure, is suitable for various application scenes, can effectively inhibit active power fluctuation of an alternating current micro-grid caused by high-permeability renewable energy power generation, and improves the power quality of a user side.
However, the alternating current power spring has typical strong coupling and nonlinear characteristics, the traditional vector decoupling control depends on model local linearization, the dynamic regulation of the alternating current power spring is realized by combining with a PI controller, a part of coupling still exists in the system to influence the control performance, the stable domain is narrow, and the controller design is complex. Therefore, aiming at the existing problems, a nonlinear control theory is utilized to design an accurate feedback linearization control method of the alternating current power spring so as to realize wide-range accurate tracking control of complete decoupling and complete linearization of the alternating current power spring.
In addition, when the system generates uncertain disturbance, the control performance of the alternating current spring accurate feedback linearization decoupling control is influenced by the unmodeled dynamic state of the system, aiming at the problem that the uncertain disturbance influences the accurate feedback linearization decoupling control performance, the observer with a simple design form eliminates the influence of the uncertain disturbance on the accurate feedback linearization control performance, and is a technical problem to be solved in the popularization and application of the alternating current power spring.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The present invention has been made in view of the above-mentioned conventional problems.
Therefore, the technical problem solved by the invention is as follows: the alternating current power spring has typical strong coupling and nonlinear characteristics, the traditional vector decoupling control depends on model local linearization, the dynamic regulation of the alternating current power spring is realized by combining with a PI (proportional integral) controller, a part of coupling still exists in the system to influence the control performance, the stable domain is narrow, the controller design is complex, and the problem of uncertain disturbance influencing the accurate feedback linearization decoupling control performance exists.
In order to solve the technical problems, the invention provides the following technical scheme: establishing an affine model of two input/two output Liderivative of the alternating current power spring according to the dynamic mathematical model of the alternating current power spring under the dq rotation coordinate system; constructing a decoupling matrix and a state transformation matrix based on the Li derivative affine model, and observing by respectively combining a coupling model and a nonlinear model to obtain an alternating current power spring with complete decoupling and complete linearization conversion; constructing a power loop PI controller based on the AC power spring after decoupling and linear conversion to obtain an output variable i of the AC power springdAnd iqThe reference value enters a power spring accurate feedback linearization control law to form a closed loop; and establishing a robust disturbance observer, and offsetting the influence of uncertain disturbance on the closed-loop control system by feedforward compensating equivalent state quantity errors to the state quantity in the state conversion matrix to complete feedback linear decoupling control.
As a preferable scheme of the robust disturbance observation based power spring feedback linearization control method of the invention, the method comprises the following steps: the two-input/two-output lie derivative affine model of the alternating current power spring comprises,
wherein the content of the first and second substances,
h(x)＝[h1(x)h2(x)]T＝[id iq]T
wherein the content of the first and second substances,
A1＝ZC/LG(ZC+ZNC)
A2＝(RGZC+ZCZNC+RGZNC)/LG(ZC+ZNC)
A3＝1/LG
wherein h (x) represents a model output function, f (x) represents a coupling function, g represents an affine function, id、iqRespectively representing the d, q components, v, of the AC bus current iG,d、vG,qRespectively representing the supply voltage v of an alternating-current microgridGD, q components of (a), ω represents the system angular frequency, ZCRepresenting the critical load impedance, ZNCRepresenting a non-critical load impedance, RGRepresents the line equivalent resistance, LGRepresents the equivalent inductance of the line, A1、A2、A3A matrix of coefficients is represented.
As a preferable scheme of the robust disturbance observation based power spring feedback linearization control method of the invention, the method comprises the following steps: the decoupling matrix E comprises a set of coefficients,
definition hi(x) First order lie derivative L with respect to said f (x)fhi(x) Comprises the following steps:
defining said Lfhi(x) First order lie derivative L with respect to said ggLfhi(x) Comprises the following steps:
constructing the decoupling matrix E:
wherein, γ1、γ2Respectively represent said h1(x)、h2(x) The relative order of the two or more of the first,
represents Lfh1(x) With respect to g1Of (gamma)1-1) a derivative of lie of order,
represents said Lfh1(x) With respect to g2Of (gamma)1-1) a derivative of lie of order,
represents Lfh2(x) With respect to g1Of (gamma)2-1) a derivative of lie of order,
represents said Lfh2(x) With respect to g2Of (gamma)2-1) lie derivatives of order.
As a preferable scheme of the robust disturbance observation based power spring feedback linearization control method of the invention, the method comprises the following steps: the state transition matrix t (x) comprises,
wherein the content of the first and second substances,
represents said h1(x) γ with respect to said f (x)1The derivative of the order of the lie is,
represents said h1(x) γ with respect to said f (x)2The derivative of the order lie.
As a preferable scheme of the robust disturbance observation based power spring feedback linearization control method of the invention, the method comprises the following steps: the alternating current power spring accurate feedback linearization control law u comprises,
u＝E-1[v-T(x)]
wherein the content of the first and second substances,
wherein E is-1An inverse matrix representing the decoupling matrix E, v represents the feedback linearized control input variable, y1,ref＝iref,d、y2,ref＝iref,qRespectively representing the output variables i of the AC power springd、iqReference value of k11、k21、k12、k22Representing the precise feedback linear controller parameter, e1＝y1,ref-y1、e2＝y2,ref-y2Respectively representing the desired current trajectory y1,ref、y2,refThe tracking error of (2).
As a preferable scheme of the robust disturbance observation based power spring feedback linearization control method of the invention, the method comprises the following steps: the expression for the PI-controller includes,
wherein k isPAnd kIRespectively representing proportional coefficient and integral coefficient of PI controller, s represents integral operator, Pin,ref、Qin,refAre respectively Pin、QinA reference value.
As a preferable scheme of the robust disturbance observation based power spring feedback linearization control method of the invention, the method comprises the following steps: the affine model of the two-input/two-output derivatives of the ac power spring under the uncertain disturbance includes,
wherein, the first and the second end of the pipe are connected with each other,
where A, C denotes a coefficient matrix and w denotes a power supply voltage relationship matrix.
As a preferable scheme of the robust disturbance observation based power spring feedback linearization control method of the invention, the method comprises the following steps: the robust disturbance observer comprises a robust disturbance observer comprising,
wherein the content of the first and second substances,
and an output variable of the robust disturbance observer is represented, and L represents an output feedback matrix.
The invention has the beneficial effects that: the invention realizes the feedback decoupling linear control of the alternating current power spring and has the characteristics of good dynamic performance and wide stable field; the complete decoupling and the complete linearization conversion of the alternating current power spring are realized, and the design of the power controller is simplified; the design of the robust disturbance observer is provided, and the stability and robust performance of the closed-loop control system under the uncertain disturbance condition are enhanced.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
FIG. 1 is a schematic diagram of a basic flow of a power spring feedback linearization control method based on robust disturbance observation according to an embodiment of the present invention;
FIG. 2 is a diagram of an AC microgrid with an AC power spring according to a power spring feedback linearization control method based on robust disturbance observation provided by an embodiment of the invention;
fig. 3 is a feedback linearization decoupling control structure diagram of the power spring feedback linearization control method based on robust disturbance observation according to an embodiment of the present invention;
fig. 4 is a power waveform diagram of an ac microgrid power supply based on a robust disturbance observation-based power spring feedback linearization control method according to an embodiment of the present invention;
FIG. 5 shows the active power P output by the AC power spring during source measured power fluctuation and line parameter perturbation of the power spring feedback linearization control method based on robust disturbance observation according to an embodiment of the present inventionESReactive power QESA waveform diagram;
FIG. 6 shows an alternating current bus current component i when the source measured power fluctuation and the line parameter perturbation of the robust disturbance observation-based power spring feedback linearization control method provided by an embodiment of the present inventiond、iqA waveform diagram;
fig. 7 shows the active power P of the key load during source measured power fluctuation and line parameter perturbation of the robust disturbance observation-based power spring feedback linearization control method according to an embodiment of the present inventioninReactive power QinA waveform diagram;
fig. 8 shows non-critical load active power PNC and reactive power Q during source measured power fluctuation and line parameter perturbation of the power spring feedback linearization control method based on robust disturbance observation according to an embodiment of the present inventionNCAnd (4) waveform diagrams.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, specific embodiments accompanied with figures are described in detail below, and it is apparent that the described embodiments are a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention, shall fall within the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
The present invention will be described in detail with reference to the drawings, wherein the cross-sectional views illustrating the structure of the device are not enlarged partially in general scale for convenience of illustration, and the drawings are only exemplary and should not be construed as limiting the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Meanwhile, in the description of the present invention, it should be noted that the terms "upper, lower, inner and outer" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation and operate, and thus, cannot be construed as limiting the present invention. Furthermore, the terms first, second, or third are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The terms "mounted, connected and connected" in the present invention are to be understood broadly, unless otherwise explicitly specified or limited, for example: can be fixedly connected, detachably connected or integrally connected; they may be mechanically, electrically, or directly connected, or indirectly connected through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
Example 1
Referring to fig. 1 to 3, for an embodiment of the present invention, a robust disturbance observation-based power spring feedback linearization control method is provided, including:
s1: establishing an affine model of two input/two output Liderivative of the alternating current power spring according to the dynamic mathematical model of the alternating current power spring under the dq rotation coordinate system;
it should be noted that: the dynamic mathematical model of the power spring comprises,
wherein the content of the first and second substances,
A1＝ZC/LG(ZC+ZNC)
A2＝(RGZC+ZCZNC+RGZNC)/LG(ZC+ZNC)
A3＝1/LG
wherein id、iqRespectively representing the d, q components of the ac bus current i, vES,d、vES,qRespectively representing the output voltage v of the AC power springESD, q components of (v)G,d、vG,qRespectively representing the supply voltage v of an alternating-current microgridGD, q components of (a), ω represents the system angular frequency, ZC represents the critical load impedance, ZNCRepresenting a non-critical load impedance, RGRepresents the line equivalent resistance, LGRepresents the equivalent inductance of the line, A1、A2、A3A matrix of coefficients is represented.
Further, the two-input/two-output lie derivative affine model of the alternating current power spring comprises,
wherein the content of the first and second substances,
h(x)＝[h1(x)h2(x)]T＝[id iq]T
where h (x) represents the model output function, f (x) represents the coupling function, and g represents the affine function.
Specifically, according to an alternating current micro-grid structure containing alternating current power springs, a dynamic mathematical model of the alternating current power springs under a dq rotation coordinate system is obtained, and x ═ i is selectedd iq]TFor model state variables, u ═ u1 u2]T＝[vES,d vES,q]TFor model input variables, y ═ y1 y2]T＝[id iq]TAnd (4) solving an affine model of two input/two output derivatives of the alternating current power spring according to the dynamic mathematical model of the alternating current power spring under the dq rotation coordinate system for the model output variable.
S2: constructing a decoupling matrix and a state transformation matrix based on a Li derivative affine model, and observing by respectively combining a coupling model and a nonlinear model to obtain an alternating current power spring with complete decoupling and complete linearization conversion;
it should be noted that the decoupling matrix E includes,
definition hi(x) First order lie derivatives L with respect to said f (x)fhi(x) Comprises the following steps:
defining said Lfhi(x) First order lie derivative L with respect to said ggLfhi(x) Comprises the following steps:
constructing the decoupling matrix E:
wherein, γ1、γ2Respectively represent said h1(x)、h2(x) The relative order of the two or more of the first,
represents Lfh1(x) With respect to g1Of (gamma)1-1) a derivative of lie of order,
represents said Lfh1(x) With respect to g2Of (gamma)1-1) a derivative of lie of order,
represents Lfh2(x) With respect to g1Of (gamma)2-1) a derivative of lie of order,
represents said Lfh2(x) With respect to g2Of (gamma)2-1) lie derivatives of order.
The state transition matrix t (x) includes,
wherein the content of the first and second substances,
represents said h1(x) γ with respect to said f (x)1The derivative of the order of the lie is,
represents said h1(x) γ with respect to said f (x)2The derivative of the order lie.
Further, the alternating current power spring accurate feedback linearization control law u comprises,
u＝E-1[v-T(x)]
wherein the content of the first and second substances,
wherein E is-1An inverse matrix representing the decoupling matrix E, v represents the feedback linearized control input variable, y1,ref＝iref,d、y2,ref＝iref,qRespectively representing the output variables i of the AC power springd、iqReference value of k11、k21、k12、k22Representing the precise feedback linear controller parameter, e1＝y1,ref-y1、e2＝y2,ref-y2Respectively representing the desired current trajectory y1,ref、y2,refThe tracking error of (2).
Specifically, when the decoupling matrix and the alternating current power spring coupling model are jointly observed, the alternating current power spring can be equivalent to a fully decoupled d-q two-phase current integrator, so that complete decoupling control is realized; and establishing a state transformation matrix T (x) to obtain an accurate feedback linearization control law u of the alternating current power spring, wherein when the feedback linearization control law and the nonlinear model of the alternating current power spring are jointly observed, the alternating current power spring can be equivalent to a completely linearized model, and the completely linearized control is realized.
S3: constructing a power loop PI controller based on the AC power spring after decoupling and linear conversion to obtain an output variable i of the AC power springdAnd iqThe reference value enters a power spring accurate feedback linearization control law to form a closed loop;
it should be noted that: the expression for the PI-controller includes,
wherein k isPAnd kIRespectively representing proportional coefficient and integral coefficient of the PI controller, and s represents an integral operator.
Further, the active power P of the AC microgrid of the AC power spring is injected into the public coupling pointinReactive power QinRespectively comprises the following steps:
wherein v isCRepresenting the critical load voltage, i.e. the voltage at the point of common coupling,
representing the critical load voltage vCIn the form of a vector of (a),
representing the conjugate vector form, v, of the alternating bus current iC,d、vC,qRespectively representing the critical load voltage vCD, q components of (c).
Specifically, active power P injected into public coupling point of alternating current micro-grid containing alternating current power springinReactive power QinRespectively expressed as:
setting vCThe voltage vector coincides with its d-axis voltage component in the dq-rotation coordinate system, i.e. the q-axis voltage component v C,q0, then active power P at the point of common coupling is injectedinReactive power QinComprises the following steps:
Pin＝vC,did
Qin＝-vC,diq
building PI controller to realize AC power spring active power and reactive power tracking power reference value Pin,refAnd Qin,refThe output of the PI controller is the output variable i of the AC power spring in the stepd、iqReference value i ofref,dAnd iref,qThe expression for the PI controller is as shown above.
S4: establishing a robust disturbance observer, and offsetting the influence of uncertain disturbance on a closed-loop control system by feedforward compensating equivalent state quantity errors to state quantities in a state conversion matrix to complete feedback linearization decoupling control;
it should be noted that: the robust disturbance observer comprises a robust disturbance observer comprising,
wherein the content of the first and second substances,
and an output variable of the robust disturbance observer is represented, and L represents an output feedback matrix.
Further, the two-input/two-output lie derivative affine model of the alternating current power spring under the uncertain disturbance condition comprises,
wherein the content of the first and second substances,
where A, C denotes a coefficient matrix and w denotes a power supply voltage relationship matrix.
Specifically, the AC power spring is provided with two inputsThe model parameter deviation of the two-output lie derivative affine model is delta f and delta g, and the model parameter deviation meets the norm bounded condition, so that the two-input/two-output lie derivative affine model of the alternating current power spring under the uncertain disturbance condition is as shown above; defining an observation error as
I.e. the equivalent state quantity error Δ idAnd Δ iqCompensating the equivalent state quantity error Δ i by feedforwarddAnd Δ iqTo the state quantity i in the state transition matrix T (x) in the above stepdAnd iqThe influence of the uncertain disturbance on the closed-loop control system is counteracted, the stability and robustness of the system are enhanced, and the design of the robust disturbance observer still keeps the decoupling characteristic.
Example 2
Referring to fig. 4 to 8, which are second embodiments of the present invention, in order to verify the effectiveness of the present invention, simulation is performed based on an MATLAB platform, and simulation system parameters are shown in table 1; setting the supply voltage v of an alternating-current microgridGThe system consists of a stable alternating current power supply and renewable power supplies such as wind power generation and photovoltaic power generation and is used for simulating source-side active power fluctuation caused by high-permeability renewable energy power generation; setting a power outer loop active power reference value Pin,ref60W, reactive power reference Qin,ref＝0var。
Table 1: and (5) simulating a system parameter table.
Setting output active power P of alternating-current micro-grid power supplyGThe source side active power P is changed once every 0.25s, namely when t is 0.25sGThe source side active power P is increased from 60.4W to 66.6W when t is 0.5sGSuddenly reduced from 66.6W to 53.9W, and the source side reactive power QGThe fluctuating ac microgrid power supply power with 0 remaining unchanged is shown in fig. 4, and when the microgrid line impedance value is considered to have a sudden change, the line resistance value R is 0.25sGSudden increase from rated value of 0.1 omegaTo 0.11 Ω; line inductance L when t is 0.5sGA sudden increase from the nominal value of 2.4mH to 2.64 mH; the control performance of the alternating current power spring is compared with that of a Vector Decoupling Control (VDC) method based on feedback linear decoupling control based on robust disturbance observation, and the robust performance of a closed-loop control system under the conditions of source power measurement fluctuation and line parameter perturbation is tested.
Active power P output by AC power springESReactive power QESThe waveform is shown in FIG. 5; as can be seen from fig. 5, when t is 0.25s and t is 0.5s, line impedance sudden increases occur while the source side power fluctuates, transient changes of the output power of the ac power spring using the proposed FLDC-RDO method are not obvious, but the output power of the ac power spring using the VDC method is more overshoot than that without sudden changes of the line impedance, which indicates that the VDC method is more sensitive to unmodeled dynamic disturbance of the system, and the proposed FLDC-RDO method has stronger suppression capability on unmodeled parameter fluctuations.
AC bus current component id、iqThe waveform is shown in FIG. 6; as can be seen from the analysis of FIG. 6, when the source side power fluctuation and the line impedance mutation occur simultaneously, the proposed FLDC-RDO method realizes the alternating current bus current i through the robust disturbance observerd、iqThe feedforward compensation of the current control system can counteract the influence of the line parameter change on the control performance of the accurate feedback linearization method, namely the alternating current bus current id、iqThe response is fast and smooth, with less overshoot and shorter settling time than the VDC method.
Active power P of key loadinAnd reactive power QinThe waveforms are shown in FIG. 7; fig. 7 shows that, by applying the FLDC-RDO method, it can be ensured that when the source-side power fluctuates and the line impedance value changes suddenly, the active power and the reactive power of the critical load recover to operate stably through rapid transient fluctuation, and the influence of the source-side power fluctuation and the line impedance sudden change on the system power tracking performance is effectively suppressed, whereas the VDC method has a large overshoot, and the adjustment time increases。
Active power P of non-critical loadNCReactive power QNCThe waveform is shown in FIG. 8; as can be seen from the analysis of fig. 8, when t is 0.25s, the active power P of the non-critical load isNCThe increase from 121W to 195.3W is greater than when only source side active power fluctuations occur, indicating that the non-critical load is undertaking more active power changes due to abrupt changes in line impedance. When t is 0.5s, the active power P of the non-critical loadNCFrom 195.3W down to 46.5W, the ac power spring serves the main active power regulation function, less than if the source side active power fluctuation were to occur alone.
It can be known from the analysis of fig. 4 to 8 that when source side power fluctuation and line impedance mutation occur simultaneously, the alternating current power spring feedback linearization decoupling control method based on robust disturbance observation provided by the invention keeps better dynamic response performance, realizes the inhibition of the adverse influence of unmodeled line parameter change on the control performance of the accurate feedback linearization method, and the closed-loop control system has better stability and verifies the effectiveness of the invention. Compared with a vector decoupling control method, the method has better dynamic performance and robustness.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (7)
1. A power spring feedback linearization control method based on robust disturbance observation is characterized by comprising the following steps:
establishing an alternating current power spring two-input/two-output lie derivative affine model according to an alternating current power spring dynamic mathematical model under a dq rotation coordinate system;
the two-input/two-output litude derivative affine model of the alternating current power spring comprises,
wherein, the first and the second end of the pipe are connected with each other,
h(x)＝[h1(x)h2(x)]T＝[id iq]T
wherein the content of the first and second substances,
A1＝ZC/LG(ZC+ZNC)
A2＝(RGZC+ZCZNC+RGZNC)/LG(ZC+ZNC)
A3＝1/LG
wherein h (x) represents a model output function, f (x) represents a coupling function, g represents an affine function, id、iqRespectively representing the output variables, v, of the AC power springG,d、vG,qRespectively representing the supply voltage v of an alternating-current microgridGD, q components of (a), ω represents the system angular frequency, ZCRepresenting the critical load impedance, ZNCRepresenting a non-critical load impedance, RGRepresents the line equivalent resistance, LGRepresents the equivalent inductance of the line, A1、A2、A3Representing a coefficient matrix;
constructing a decoupling matrix and a state transformation matrix based on the Li derivative affine model, and observing by respectively combining a coupling model and a nonlinear model to obtain an alternating current power spring with complete decoupling and complete linearization conversion;
constructing a power loop PI controller based on the AC power spring after decoupling and linear conversion to obtain the AC power springOutput variable idAnd iqThe reference value enters a power spring accurate feedback linearization control law to form a closed loop;
and establishing a robust disturbance observer, and offsetting the influence of uncertain disturbance on the closed-loop control system by feedforward compensating equivalent state quantity errors to the state quantity in the state conversion matrix.
2. The robust disturbance observation based power spring feedback linearization control method of claim 1, wherein: the decoupling matrix E comprises a set of coefficients,
definition hi(x) First order lie derivatives L with respect to said f (x)fhi(x) Comprises the following steps:
defining said Lfhi(x) First order lie derivative L with respect to said ggLfhi(x) Comprises the following steps:
constructing the decoupling matrix E:
wherein, γ1、γ2Respectively represent said h1(x)、h2(x) The relative order of the two or more of the first,
represents Lfh1(x) With respect to g1Of (gamma)1-1) a derivative of lie of order,
represents said Lfh1(x) With respect to g2Of (gamma)1-1) a derivative of lie of order,
represents Lfh2(x) With respect to g1Of (gamma)2-1) a derivative of lie of order,
represents said Lfh2(x) With respect to g2Of (gamma)2-1) lie derivatives of order.
3. The robust disturbance observation based power spring feedback linearization control method of claim 1 or 2, wherein: the state transition matrix t (x) comprises,
wherein, the first and the second end of the pipe are connected with each other,
represents said h1(x) γ with respect to said f (x)1The derivative of the order of the lie derivative,
represents said h1(x) γ with respect to said f (x)2The derivative of the order lie.
4. The robust disturbance observation based power spring feedback linearization control method of claim 3, wherein: the alternating current power spring accurate feedback linearization control law u comprises,
u＝E-1[v-T(x)]
wherein the content of the first and second substances,
wherein E is-1An inverse matrix representing the decoupling matrix E, v represents the feedback linearized control input variable, y1,ref＝iref,d、y2,ref＝iref,qRespectively representing the output variables i of the AC power springd、iqReference value of k11、k21、k12、k22Representing the precise feedback linear controller parameter, e1＝y1,ref-y1、e2＝y2,ref-y2Respectively representing the desired current trajectory y1,ref、y2,refThe tracking error of (2).
5. The robust disturbance observation based power spring feedback linearization control method of claim 4, wherein: the expression for the PI-controller includes,
wherein k isPAnd kIRespectively representing proportional coefficient and integral coefficient of PI controller, s represents integral operator, Pin,ref、Qin,refAre respectively Pin、QinA reference value.
6. The robust disturbance observation based power spring feedback linearization control method of claim 5, wherein: the affine model of the two-input/two-output derivatives of the ac power spring under the uncertain disturbance includes,
wherein the content of the first and second substances,
where A, C denotes a coefficient matrix and w denotes a power supply voltage relationship matrix.
7. The robust disturbance observation based power spring feedback linearization control method of claim 6, wherein: the robust disturbance observer comprises a robust disturbance observer comprising,
wherein the content of the first and second substances,
and an output variable of the robust disturbance observer is represented, and L represents an output feedback matrix.
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