基于IADRC的多CRH5型车网耦合系统低频振荡抑制方法
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摘要
近年来国内相继出现多起高速铁路车网耦合系统低频振荡,振荡严重时甚至导致动车组牵引封锁。针对多列CRH5型动车组升弓整备投入牵引网时发生低频振荡提出了一种有效抑制方法。首先,分析了多列CRH5型动车组同时升弓接入牵引网的多车网电气耦合系统特性。其次,基于改进自抗扰控制策略对车网系统负载CRH5型动车组整流器的控制器进行优化设计来抑制系统低频振荡。最后,相比原有动车整流器PI控制和传统自抗扰控制技术,在Matlab/Simulink平台下测试验证了基于改进自抗扰控制的多CRH5动车组升弓整备投入牵引网的车侧电气量发生低频振荡抑制的正确性和有效性。
In recent years, many low frequency oscillation of high-speed railway vehicle-network coupling system occurred in China. When the oscillation was severe, it even led to Electric Multiple Units(EMU) traction blockade. This paper presents an effective method to suppress the low frequency oscillation when the multi-CRH5 EMU pantograph is lifted and put into traction network. First, the characteristics of electric coupling system of multi-CRH5 EMUs simultaneously connecting to traction network are analyzed. Next, based on an Improved Active Disturbance Rejection Control(IADRC) strategy, the controller of CRH5 EMU rectifier load of the vehicle-network coupling system is optimized and designed to suppress the low frequency oscillation. Finally, based on the IADRC, the correctness and effectiveness of vehicle-side electrical quantity low frequency oscillation suppression when multi-CRH5 EMU pantographs are lifted and connected to traction network are verified by comparing PI control and ADRC control technology under Matlab/Simulink platform.
In recent years, many low frequency oscillation of high-speed railway vehicle-network coupling system occurred in China. When the oscillation was severe, it even led to Electric Multiple Units(EMU) traction blockade. This paper presents an effective method to suppress the low frequency oscillation when the multi-CRH5 EMU pantograph is lifted and put into traction network. First, the characteristics of electric coupling system of multi-CRH5 EMUs simultaneously connecting to traction network are analyzed. Next, based on an Improved Active Disturbance Rejection Control(IADRC) strategy, the controller of CRH5 EMU rectifier load of the vehicle-network coupling system is optimized and designed to suppress the low frequency oscillation. Finally, based on the IADRC, the correctness and effectiveness of vehicle-side electrical quantity low frequency oscillation suppression when multi-CRH5 EMU pantographs are lifted and connected to traction network are verified by comparing PI control and ADRC control technology under Matlab/Simulink platform.
引文
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[13]LIAN Qiaona,LIN Fei,SHI Wei,et al.Analysis of nonlinear oscillation of four-quadrant converter in high-speed railway based on discrete model[C]//41st Annual Conference of the IEEE Industrial Electronics Society,2016,Yokohama,Japan:2124-2129.
[14]WANG Hui,WU Mingli,SUN Juanjuan.Analysis of low-frequency oscillation in electric railways based on small-signal modeling of vehicle-grid system in dq frame[J].IEEE Transaction on Power Electronics,2015,30(9):5318-5330.
[15]付莉,张桂南,高仕斌.高速铁路车网耦合系统网压振荡模态分析与对策[J].电力系统保护与控制,2016,44(1):24-32.FU Li,ZHANG Guinan,GAO Shibin.Modal analysis and countermeasures on voltage low frequency oscillation of high-speed railway traction network and EMU coupling system[J].Power System Protection and Control,2016,44(1):24-32.
[16]吴命利,王晖.CRH5动车组网压振荡牵引丢失测试分析报告[R].北京:北京交通大学,2010.
[17]LIAO Yicheng,LIU Zhigang,ZHANG Guinan,et al.Vehicle-grid system modeling and stability analysis with forbidden region based criterion[J].IEEE Transactions on Power Electronics,2017,32(5):3499-3512.
[18]韩京清.从PID技术到自抗扰控制技术[J].控制工程,2002,9(3):13-18.
[19]廖一橙.高速铁路多车并联系统低频稳定性研究[D].成都:西南交通大学,2018:28-29.LIAO Yicheng.Research on low-frequency stability of high-speed railway system with multiple vehicles paralleled[D].Chengdu:Southwest Jiaotong University,2018:28-29.
[20]FARINI A,FUGA F,MANIGRASSO R,et al.The aims and the control structure of the Italian poly-current pendolino[C]//Proceedings of Power Electronics and Applications,1993,Brighton,England:109-116.
[21]TOREID E.Active control of reactive power in a modern electrical rail vehicle[D].Trondheim,Norway:Norwegian University of Science and Technology,2011.
[2]李宏强,王晓茹,徐家俊,等.车网耦合的牵引供电系统谐波仿真分析[J].电力系统保护与控制,2014,42(20):116-122.LI Hongqiang,WANG Xiaoru,XU Jiajun,et al.Harmonic simulation analysis of traction power supply system based on train-network coupling system[J].Power System Protection and Control,2014,42(20):116-122.
[3]林飞,连巧娜,杨中平,等.交流传动电力机车车网电压低频振荡分析[J].铁道学报,2016,38(4):32-38.LIN Fei,LIAN Qiaona,YANG Zhongping,et al.Analysis of low frequency voltage oscillation between AC drive electric locomotive and power supply networks[J].Journal of the China Railway Society,2016,38(4):32-38.
[4]杨健维,贾勇,何正友,等.利用随机响应的低频振荡模式估计方法比较分析[J].电力系统保护与控制,2017,45(22):102-109.YANG Jianwei,JIA Yong,HE Zhengyou,et al.Comparison analysis for low-frequency oscillation mode estimation method using stochastic responses[J].Power System Protection and Control,2017,45(22):102-109.
[5]李林,宋宗勋,李峰,等.抑制区域间低频振荡的UPFC模糊滑模控制器[J].电力系统保护与控制,2017,45(10):104-109.LI Lin,SONG Zongxun,LI Feng,et al.UPFC fuzzy sliding mode controller for damping inter-area low frequency oscillation[J].Power System Protection and Control,2017,45(10):104-109.
[6]李志晗,张英敏,李兴源.基于H∞回路成形法的VSC-HVDC附加鲁棒阻尼控制器设计[J].电力系统保护与控制,2018,46(2):124-130.LI Zhihan,ZHANG Yingmin,LI Xingyuan.Design of additional robust damping controller for VSC-HVDCbased on H∞loop shaping[J].Power System Protection and Control,2018,46(2):124-130.
[7]母秀清,王英,何正友,等.电气化铁路多车网级联系统低频网压稳定性研究[J].铁道学报,2018,40(12):61-70.MU Xiuqing,WANG Ying,HE Zhengyou,et al.Study on low frequency voltage stability in vehicle-grid cascade system of electrical railway[J].Journal of the China Railway Society,2018,40(12):61-70.
[8]WANG Dan,WANG Ying,LI Qiyao,et al.Low frequency voltage fluctuations in electrical vehicle-grid system based on Luenberger-observer’s multivariable control[C]//2017IEEE Conference on Energy Internet and Energy System Integration(EI2),2017,Beijing,China:1-6.
[9]周毅,胡海涛,何正友,等.电气化铁路车网耦合系统低频振荡分析[J].中国电机工程学报,2017,37(9):72-80.ZHOU Yi,HU Haitao,HE Zhengyou,et al.Analysis of low-frequency oscillation in train-traction network coupling system of electrified railway[J].Proceedings of the CSEE,2017,37(9):72-80.
[10]冷月,杨洪耕,王智琦,等.一种基于二自由度内模控制的牵引网低频振荡抑制方法[J].电网技术,2017,41(1):207-213.LENG Yue,YANG Honggeng,WANG Zhiqi,et al.Amethod of suppressing low-frequency oscillation in traction network based on two-degree-of-freedom model control[J].Power System Technology,2017,41(1):207-213.
[11]陶海东,胡海涛,姜晓锋,等.牵引供电低频网压振荡影响规律研究[J].电网技术,2016,40(6):1830-1838.TAO Haidong,HU Haitao,JIANG Xiaofeng,et al.Research on low frequency voltage oscillation in traction power supply system and its affecting factors[J].Power System Technology,2016,40(6):1830-1838.
[12]LI Qiyao,WANG Ying,CHEN Xiaoqiang,et al.Study on low frequency voltage fluctuation considering different running-vehicle numbers in electrical railway[C]//9th International Conference on Modelling,Identification and Control,2017,Kunming,China:752-757.
[13]LIAN Qiaona,LIN Fei,SHI Wei,et al.Analysis of nonlinear oscillation of four-quadrant converter in high-speed railway based on discrete model[C]//41st Annual Conference of the IEEE Industrial Electronics Society,2016,Yokohama,Japan:2124-2129.
[14]WANG Hui,WU Mingli,SUN Juanjuan.Analysis of low-frequency oscillation in electric railways based on small-signal modeling of vehicle-grid system in dq frame[J].IEEE Transaction on Power Electronics,2015,30(9):5318-5330.
[15]付莉,张桂南,高仕斌.高速铁路车网耦合系统网压振荡模态分析与对策[J].电力系统保护与控制,2016,44(1):24-32.FU Li,ZHANG Guinan,GAO Shibin.Modal analysis and countermeasures on voltage low frequency oscillation of high-speed railway traction network and EMU coupling system[J].Power System Protection and Control,2016,44(1):24-32.
[16]吴命利,王晖.CRH5动车组网压振荡牵引丢失测试分析报告[R].北京:北京交通大学,2010.
[17]LIAO Yicheng,LIU Zhigang,ZHANG Guinan,et al.Vehicle-grid system modeling and stability analysis with forbidden region based criterion[J].IEEE Transactions on Power Electronics,2017,32(5):3499-3512.
[18]韩京清.从PID技术到自抗扰控制技术[J].控制工程,2002,9(3):13-18.
[19]廖一橙.高速铁路多车并联系统低频稳定性研究[D].成都:西南交通大学,2018:28-29.LIAO Yicheng.Research on low-frequency stability of high-speed railway system with multiple vehicles paralleled[D].Chengdu:Southwest Jiaotong University,2018:28-29.
[20]FARINI A,FUGA F,MANIGRASSO R,et al.The aims and the control structure of the Italian poly-current pendolino[C]//Proceedings of Power Electronics and Applications,1993,Brighton,England:109-116.
[21]TOREID E.Active control of reactive power in a modern electrical rail vehicle[D].Trondheim,Norway:Norwegian University of Science and Technology,2011.
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