CN113746110A - Improved D-STATCOM control method and system - Google Patents

Improved D-STATCOM control method and system Download PDF

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CN113746110A
CN113746110A CN202111045053.1A CN202111045053A CN113746110A CN 113746110 A CN113746110 A CN 113746110A CN 202111045053 A CN202111045053 A CN 202111045053A CN 113746110 A CN113746110 A CN 113746110A
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improved
statcom
controller
ladrc
disturbance
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周雪松
钟伟宝
马幼捷
潘俊清
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Tianjin University of Technology
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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
    • H02J3/1821—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators
    • 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
    • H02J3/16—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load by adjustment of reactive power
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
    • Y02E40/10—Flexible AC transmission systems [FACTS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
    • Y02E40/30—Reactive power compensation

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  • Power Engineering (AREA)
  • Supply And Distribution Of Alternating Current (AREA)

Abstract

The invention discloses an improved D-STATCOM control method and system, and relates to the technical field of reactive power compensation control.A first-order LADRC is used for compensating a total disturbance estimation error to obtain an improved LADRC controller; and the improved LADRC controller is used for the current inner loop of the D-STATCOM system, and the PI controller is used for the current outer loop of the D-STATCOM system. According to the invention, the LADRC controller is improved, the traditional D-STATCOM control strategy is replaced to carry out current inner loop control, the disturbance observation error of an LESO is effectively reduced, the stability and the immunity of system output are improved, the oscillation caused by active power and reactive power is effectively eliminated, the active power and the reactive power are quickly provided for a power system, the overall efficiency of a power distribution network is improved, the problem of coupling among dq-axis currents is solved, and the influence of the dq-axis current fluctuation on tracking current is avoided.

Description

Improved D-STATCOM control method and system
Technical Field
The invention relates to the technical field of reactive power compensation control, in particular to an improved D-STATCOM control method and system.
Background
In recent years, due to the large-scale application of smart grids and distributed energy sources such as wind power and photovoltaic, the grid structure becomes more and more complex. Meanwhile, the new energy accessed into the power distribution network also forms a great threat to the stability of the power distribution network. Furthermore, nonlinear power electronics also present significant challenges to the safe operation of power grid structures and distribution networks. The introduction of D-STATCOM for improving the performance of power distribution networks has been considered as an economical and efficient solution. The D-STATCOM serving as a dynamic reactive power compensation device can improve the power factor of a system, effectively stabilize voltage, and reduce voltage fluctuation and power loss, is important equipment for improving power supply reliability, and is also an important component in the field of electric energy quality regulation.
The main method of the traditional current loop control is a PI control strategy, and the traditional control strategy is mainly used for a system for linear processing of a D-STATCOM nonlinear mathematical model. The PI controller is simple in control structure, and can be used for decoupling the system in a dq synchronous coordinate system. As long as the parameters are properly adjusted, the D-STATCOM based on PI control can obtain satisfactory performance. However, if the operating conditions are different from the assumed conditions, especially in the case of large disturbances such as sudden load changes or short-circuit faults, the PI controller performance may be degraded. And the dynamic characteristics of the PI controller will be worse and worse due to the increase of external disturbances.
The characteristic of controlling the D-STATCOM based on the PI controller has the above defects, and therefore, how to provide a D-STATCOM control method with better control performance is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of this, the present invention provides an improved D-STATCOM Control method and system, and relates to a dual closed-loop D-STATCOM (Distribution Network Static Synchronous Compensator) compensation power Control of an LADRC (linear Disturbance Rejection Control), and performs current inner-loop Control by using a first-order LADRC to replace a conventional D-STATCOM Control strategy in combination with an effectiveness of the LADRC in a Control effect and a dual closed-loop Control structure of the D-STATCOM. LADRC adopts a form of a series integrator as a standard form of a control object, unknown disturbance and external disturbance outside a system standard model are regarded as total disturbance, and the total disturbance of the system is expanded into a new state variable. The LADRC estimates and compensates for real-time disturbances of the system and implements dynamic linear feedback through an ESO (expansion state observer, ESO), breaking the boundary between linear and nonlinear systems.
In order to achieve the purpose, the invention provides the following specific technical scheme:
the invention provides an improved D-STATCOM control method, which is characterized in that a first-order LADRC is used for compensating a total disturbance estimation error to obtain an improved LADRC controller, so that the total disturbance estimation error of a system can be compensated;
and the improved LADRC controller is used for the current inner loop of the D-STATCOM system, and the PI controller is used for the current outer loop of the D-STATCOM system.
Improved LSEF (Linear State error feedback) based on compensating total disturbance to
Figure BDA0003250873080000021
Where u is the input to the system, u0For linear state error feedback algorithm, b0Controlling the gain estimate for an unknown input, z2For the tracking value of the total disturbance f,
Figure BDA0003250873080000022
error term outside of ideal closed loop, z2For tracking the total disturbance signal.
Adding lead-lag correction to the total disturbance results in an improved second order LESO (state observer) disturbance observation transfer function
Figure BDA0003250873080000023
Wherein beta is1And beta2Is the state variable of the observer, s is the complex frequency, TeTo correct for the time constant of the link, α is a coefficient between 0 and 1.
The improved second order LESO is
Figure BDA0003250873080000031
Wherein z is1Is a tracking value of y, z3From z2Obtained by a serial correction chain, z1For tracking the input signal y, z3The total disturbance that ultimately acts on the system;
the controlled object of the LADRC controller is in the form of
Figure BDA0003250873080000032
Where u is the input to the system and y is the output of the system; w is an unknown external disturbance; a is0Is a parameter of the system; b is the unknown input control gain;
an improved LADRC controller structure with correction chaining can be obtained according to the form of the controlled object by combining the improved LSEF based on compensating the total disturbance and the improved second-order LESO disturbance observation transfer function.
The invention also provides an improved D-STATCOM control system, which comprises a D-STATCOM system, an improved LADRC controller and a PI controller;
the improved LADRC controller is used for compensating a total interference estimation error and controlling a current inner loop of a D-STATCOM system;
the PI controller is used for controlling a current outer loop of the D-STATCOM system.
The working principle of the invention is as follows: the LADRC technology is independent of an accurate mathematical model of a system, does not need to measure the disturbance of the system, takes an LESO as a core, observes the actual motion of the system through input and output, compensates the system into a linear integral series structure by using a dynamic compensation link, and then uses an LSEF to enable a closed-loop system to obtain better control performance. The LADRC technology has obvious effects on decoupling performance and anti-interference performance. The invention provides an improved first-order LADRC to compensate total interference estimation errors based on theoretical analysis of second-order LESO observation errors so as to improve the dynamic capacity of a power distribution network during various faults. The improved LADRC technology replaces the classical PI control to control the D-STATCOM current inner loop.
By the technical scheme, the invention discloses and provides an improved D-STATCOM control method and system, and compared with the prior art, the improved D-STATCOM control method and system have the following beneficial effects:
(1) compared with the traditional mode in which only the PI controller is used for controlling the system, the method can quickly adjust the time, has good reactive current tracking performance of the D-STATCOM system, has smaller output fluctuation of active power and reactive power, and can quickly reach a stable state.
(2) The invention also improves the LADRC controller to obtain an improved LADRC controller for compensating the total disturbance error, replaces the traditional D-STATCOM control strategy to carry out current inner loop control, effectively reduces the disturbance observation error of a state observer LESO, improves the stability and the immunity of system output, effectively eliminates the oscillation caused by active power and reactive power, quickly provides the active power and the reactive power for the power system, better reduces the voltage fluctuation caused by the system and improves the overall efficiency of the power distribution network. The current loop solves the coupling problem among the dq axis currents by applying the improved LADRC technology, and avoids the influence of the dq axis current fluctuation on the tracking current.
(3) LADRC can not depend on the accurate mathematical model of the controlled system, thereby achieving better control effect, and having simple design and convenient realization.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is an overall structural diagram of a D-STATCOM system;
FIG. 2 is a block diagram of an improved LADRC controller of the present invention;
FIG. 3 is a diagram of a D-STATCOM control system based on an improved LADRC controller according to the present invention;
FIG. 4 is a schematic diagram comparing the reactive current tracking curves of the control method of the present invention and a conventional PI controller under low voltage ride through;
FIG. 5 is a schematic diagram comparing the reactive current tracking curves of the control method of the present invention and the conventional PI controller under the condition of varying load;
6 a-6 b are schematic diagrams comparing the reactive power and active power waveforms respectively using the control method of the present invention and a conventional PI controller under low voltage ride through;
fig. 7 a-7 b are schematic diagrams showing the comparison of the reactive power and active power waveforms of the conventional PI controller and the control method of the present invention under the condition of varying load.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses an improved D-STATCOM control method and a system, and the specific implementation mode is as follows:
step one, establishing a model structure diagram of a D-STATCOM system
Fig. 1 is an overall structure of a D-STATCOM system, and six bridge arms of an inverter are composed of fully-controlled switching devices, namely IGBTs and freewheeling diodes. The D-STATCOM has the following mathematical relationship in a three-phase abc coordinate system:
Figure BDA0003250873080000061
wherein u issa、usb、uscRepresenting a three-phase grid voltage; i.e. ica、icb、iccIs to supplementThe actual output current of the compensator; u. ofca、ucb、uccIs the D-STATCOM output voltage; sk(k ═ a, b, c) is a switching function; u. ofdcRepresenting the DC-side capacitor voltage idcRepresenting the dc bus current, C is the dc bus capacitance, and R, L is the filter equivalent resistance and inductance between the D-STATCOM and the grid connection point, respectively.
Obtaining a mathematical model under dq rotation coordinate system through coordinate transformation:
Figure BDA0003250873080000062
Figure BDA0003250873080000063
wherein u issd、usqThe voltage components of d and q axes at the side of the power grid are obtained; i.e. icd、icqInjecting D and q axis components of the power grid current for the D-STATCOM; u. ofcd、ucqThe output voltage of the D-STATCOM on D and q axes is obtained; sd、sqAnd the d-axis and q-axis switching function components are shown, and omega is the electrical angular velocity (rad/s). As can be seen from equations (2) and (3), the D-STATCOM can be regarded as a first-order system, and for a measurable first-order system, the state variables and the total disturbance of the system can be observed by designing an appropriate linear extended state observer.
Step 2: traditional first-order LADRC introduction
Since LADRC does not depend on a specific mathematical model of the controlled object, the differential equation of the controlled object can be written in the following general form:
Figure BDA0003250873080000064
in the formula (4), u and y are input and output of the system, respectively; w is an unknown external disturbance; a is0Is a parameter of the system; b is the unknown input control gain, assuming the estimated value b0。
Let x1Y, f (y, w) — a0y + w + (b-b0) u is defined as a generalized disturbance of the system, which includes all uncertainties and unknown external disturbances in the system.
Let x2＝f(y,w)，
Figure BDA0003250873080000071
The state equation for the system can be written as follows:
Figure BDA0003250873080000072
establishing a second-order LESO:
Figure BDA0003250873080000073
in formula (6), z1And z2The input signal y and the total disturbance signal are tracked separately. Beta is a1And beta2Is the state variable of the observer, and can realize the state variable of the real-time tracking system by selecting proper parameters.
By extending the state variable z2The disturbance compensation procedure can be designed as follows:
Figure BDA0003250873080000074
the Linear State Error Feedback (LSEF) law for a system can be designed as follows:
u0＝kp(v-z1) (8)
wherein k ispIs the proportional control gain.
The observer and controller parameters can be simplified by the pole placement approach:
β1＝2ω0,β2＝ω0 2 (9)
kp＝ωc (10)
the two parameters can be reasonably adjusted to obtain a better control effect.
And 3, step 3: improved first order LADRC controller
The estimation error of the second order LESO is defined as:
e1＝z1-y,e2＝z2-f (11)
according to equations (5), (6), the transfer function of the total disturbance to the estimation error is obtained:
Figure BDA0003250873080000081
from equation (12), the only contributing factor to the LESO estimation error is the total perturbation f.
The effect of tracking error of the total disturbance of the LESO on the lardc control performance is taken into account and improved on the controller. Taking the first-order system control law as an example:
Figure BDA0003250873080000082
the actual closed loop system of the LESO estimation error is:
Figure BDA0003250873080000083
wherein
Figure BDA0003250873080000084
The total error is estimated for the LESO.
An improved control law can be obtained:
Figure BDA0003250873080000085
equation (5) can obtain the conventional second-order LESO perturbation observation transfer function:
Figure BDA0003250873080000086
in practical control systems, only medium and low frequency signals are often of interest. It is apparent that omega0When sufficiently large, the medium-low frequency coefficient beta1、β2Significantly greater than 1, and thus, equation (16) may be approximately equivalent to:
Figure BDA0003250873080000087
inverse Laplace transform is performed on the formula (17) in parallel
Figure BDA0003250873080000088
The following can be obtained:
Figure BDA0003250873080000091
bringing equation (18) into a closed loop system:
Figure BDA0003250873080000092
the compensation term for the estimation error at this time is:
Figure BDA0003250873080000093
the improved LSEF based on compensating the total disturbance is:
Figure BDA0003250873080000094
adding the lead-lag correction to the total interference yields:
Figure BDA0003250873080000095
in the formula: t iseTo correct the time constant of the link;alpha is a coefficient between 0 and 1.
Improved second order LESO is obtained from equations (6) and (22):
Figure BDA0003250873080000096
wherein z is3From z2The total disturbance that is ultimately applied to the system is obtained by the series correction chain.
The structure of the LADRC controller with correction chaining can be obtained by equations (4), (21) and (22) as shown in fig. 2.
And 4, step 4: D-STATCOM system structure design based on LADRC
The D-STATCOM control system is a double closed-loop structure consisting of a voltage outer loop and a current inner loop, wherein the outer loop generates D-axis and q-axis reference currents id-refAnd iq-refAnd sent to a current inner loop feedback controller.
The outer ring obtains a d-axis reference i through a difference value between an expected value and an actual capacitor voltage by a capacitor voltage controllerd-ref(ii) a Obtaining q-axis current reference i through alternating current system bus voltage or reactive power controllerq-ref. The inner current loop controller ensures the d-axis component i of the actual currentcdTracking d-axis current reference id-ref(ii) a Q-axis component i of the actual currentcqTracking q-axis current reference iq-ref. The control of the capacitor voltage is actually achieved by regulating the active power absorbed by the D-STATCOM system. The synchronization between the voltage and the actual voltage of the D-STATCOM is performed by a Phase Locked Loop (PLL) from which the dq components of the voltage and current are calculated. Wherein the reactive power passes through a current component icqRegulation, active power passing through current component icdAnd (6) adjusting.
According to the technical scheme, the embodiment of the invention designs the double closed-loop controller of the D-STATCOM system based on the active disturbance rejection technology. And an active disturbance rejection controller is applied to the current inner ring, and a PI controller is applied to the voltage outer ring. The overall structure of the dq vector control of the D-STATCOM system is shown in FIG. 3.
And 5, step 5: control effect comparison based on improved LADRC and traditional PI controller
And establishing a simulation model of the D-STATCOM system by using SIMULINK, and comparing the tracking performance of reactive current, the reactive power output performance and the active power output performance under two control modes. Fig. 4 is a comparison of reactive current tracking curves of the two control methods when 50% low-voltage ride through occurs on the grid side at 0.3s and the original voltage is restored at 0.5 s. Fig. 5 is a comparison of the reactive current tracking curves of the two control methods when the load is doubled by 0.3s and the original load is restored by 0.5 s. Fig. 6a is a schematic diagram showing comparison of reactive power output by two control methods when 50% low-voltage ride through occurs on the network side at 0.3s and the original voltage is restored by 0.5s, and fig. 6b is a schematic diagram showing comparison of active power output by two control methods when 50% low-voltage ride through occurs on the network side at 0.3s and the original voltage is restored by 0.5 s. Fig. 7a is a schematic diagram showing comparison of reactive power output by two control methods when the load is doubled by 0.3s and the original load is restored by 0.5s, and fig. 7b is a schematic diagram showing comparison of active power output by two control methods when the load is doubled by 0.3s and the original load is restored by 0.5 s. From fig. 4-5, it can be seen that the improved LADRC has a fast regulation time, and the reactive current tracking performance of the D-STATCOM is very good. As can be seen from fig. 6a, 6b, 7a, and 7b, the active power and reactive power output of the improved LADRC controlled D-STATCOM system have relatively small fluctuation, and can quickly reach a steady state. In conclusion, the improved LADRC is less affected by the voltage fault of the power grid side, and the anti-interference performance is higher.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (5)

1. An improved D-STATCOM control method is characterized in that,
compensating the total disturbance estimation error by using the first-order LADRC to obtain an improved LADRC controller;
and the improved LADRC controller is used for the current inner loop of the D-STATCOM system, and the PI controller is used for the current outer loop of the D-STATCOM system.
2. An improved D-STATCOM control method as in claim 1, wherein the improved LSEF based on compensating the total disturbance is
Figure FDA0003250873070000011
Where u is the input to the system, u0For linear state error feedback algorithm, b0Controlling the gain estimate for an unknown input, z2For the tracking value of the total disturbance f,
Figure FDA0003250873070000012
error term outside of ideal closed loop, z2For tracking the total disturbance signal.
3. An improved D-STATCOM control method according to claim 2, characterized in that the lead-lag correction is added to the total disturbance to obtain an improved second order LESO disturbance observation transfer function
Figure FDA0003250873070000013
Wherein beta is1And beta2Is the state variable of the observer, s is the complex frequency, TeTo correct for the time constant of the link, α is a coefficient between 0 and 1.
4. An improved D-STATCOM control method as in claim 3, wherein the improved second-order LESO is
Figure FDA0003250873070000014
Wherein z is1Is a tracking value of y, z3From z2Obtained by a serial correction chain, z1For tracking the input signal y, z3The total disturbance that ultimately acts on the system;
the controlled object of the LADRC controller is in the form of
Figure FDA0003250873070000021
Where u is the input to the system and y is the output of the system; w is an unknown external disturbance; a is0Is a parameter of the system; b is the unknown input control gain;
and according to the form of the controlled object, combining the improved LSEF based on the compensation total disturbance and the improved second-order LESO disturbance observation transfer function to obtain an improved LADRC controller structure with a correction link.
5. An improved D-STATCOM control system is characterized in that,
the system comprises a D-STATCOM system, an improved LADRC controller and a PI controller;
the improved LADRC controller is used for compensating a total interference estimation error and controlling a current inner loop of a D-STATCOM system;
the PI controller is used for controlling a current outer loop of the D-STATCOM system.
CN202111045053.1A 2021-09-07 2021-09-07 Improved D-STATCOM control method and system Pending CN113746110A (en)

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Publication number Priority date Publication date Assignee Title
CN112104000A (en) * 2020-09-18 2020-12-18 天津理工大学 Novel double-closed-loop linear active disturbance rejection control method for energy storage grid-connected inverter
CN113346785A (en) * 2021-04-30 2021-09-03 云南电网有限责任公司楚雄供电局 Adaptive error compensation control system and method for inverter

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