多区域互联电力系统静止同步串联补偿器自适应反步滑模控制器设计
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摘要
针对含静止同步串联补偿器(static synchronous series compensator,SSSC)的多区域互联电力系统,基于反步法,进一步应用自适应控制以及滑模控制中的指数趋近律,设计了含SSSC的非线性控制律。首先,建立了含SSSC的两区域互联电力系统模型,将其简化为两机系统进行研究。其次,引入非线性阻尼算法(nonlinear damping algorithm,NDA)改进反步法,减小了"计算膨胀"问题,设计过程简单可行,并且闭环系统仍然是渐近稳定的;另外,对不确定参数设计了自适应律,并引入指数趋近律设计了反馈控制律,增强了SSSC控制器的鲁棒性。最后,使用MATLAB软件,对含SSSC的两区域四机系统进行研究。仿真结果表明文中提出的控制策略是可行的,并且优于传统的反步法。
Based on back stepping method, a nonlinear control rule for static synchronous series compensator(SSSC) is designed for multi-machine power system with SSSC, using ulteriorly adaptive control and exponential approximation law in sliding mode control. Firstly, a model of two-area interconnected power system with SSSC is established, as a simplified two-machine system. Secondly, nonlinear damping algorithm(NDA) is adopted to improve the backstepping method to diminish calculation expansion problem. The design process is simple and feasible, and the closed loop system is still asymptotically stable. In addition, an adaptive law is designed for the uncertain parameters, and the exponential approximation law is used to design feedback control law, to enhance robustness of the SSSC controller. Finally, a two-area four-machine system with SSSC is studied, on MATLAB simulation platform. Simulation results show that the control strategy proposed in this paper is feasible and superior to traditional backstep method.
Based on back stepping method, a nonlinear control rule for static synchronous series compensator(SSSC) is designed for multi-machine power system with SSSC, using ulteriorly adaptive control and exponential approximation law in sliding mode control. Firstly, a model of two-area interconnected power system with SSSC is established, as a simplified two-machine system. Secondly, nonlinear damping algorithm(NDA) is adopted to improve the backstepping method to diminish calculation expansion problem. The design process is simple and feasible, and the closed loop system is still asymptotically stable. In addition, an adaptive law is designed for the uncertain parameters, and the exponential approximation law is used to design feedback control law, to enhance robustness of the SSSC controller. Finally, a two-area four-machine system with SSSC is studied, on MATLAB simulation platform. Simulation results show that the control strategy proposed in this paper is feasible and superior to traditional backstep method.
引文
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[11]钱碧甫,王奔,黄崇鑫,等.静止同步串联补偿器的变结构控制器设计[J].电力系统及其自动化学报,2010,22(6):124-129.Qian Bifu,Wang Ben,Huang Chongxin,et al.Design of variable structure controller used in the static synchronous series compensator[J]. ProceedingsoftheCSU-EPSA, 2010, 22(6):124-129(in Chinese).
[12]樊华,王丹,毛承雄,等.SSSC与发电机励磁最优协调控制[J].电力系统及其自动化学报,2015,27(1):13-18.Fan Hua,Wang Dan,Mao Chengxiong,et al.Optimal coordinated controlofSSSCandgeneratorexcitation[J].Proceedingsofthe CSU-EPSA,2015,27(1):13-18(in Chinese).
[13]鹿建成,李啸骢,黄维,等.基于SSSC和励磁协调抑制次同步振荡的线性最优控制器设计[J].电力系统保护与控制,2015,43(1):21-27.LuJiancheng,LiXiaocong,HuangWei,etal.Linearoptimal controllerofstaticseriessynchronouscompensatorandexcitationto suppress sub-synchronous oscillation[J].Power System Protection and Control,2015,43(1):21-27(in Chinese).
[14]钱碧甫,王奔,徐万良.SSSC滑模控制策略研究[J].电网与清洁能源,2011,27(7):39-42.Qian Bifu,Wang Ben,Xu Wangliang.Sliding mode control strategy of SSSC[J].Power System and Clean Energy,2011,27(7):39-42(in Chinese).
[15]司文杰,王聪,董训德,等.随机时滞系统的神经网络输出反馈动态面控制[J].控制与决策,2017,32(8):1377-1385.Si Wenjie,Wang Cong,Dong Xunde,et al.Output-feedback neural DSCcontrolforstochasticnonlineartime-delaysystems[J].Control and Decision,2017,32(8):1377-1385(in Chinese).
[16]顾卓远,汤涌,孙华东,等.区域电网内弱联机群摆动对互联系统功角稳定性的影响[J].中国电机工程学报,2015,35(6):1336-1343.Gu Zhuoyuan,Tang Yong,Sun Huadong,et al.The effect of the angle swingofweak-connectiongeneratorgroupsinaregionalgridtothe angle stability of the interconnected power system[J].Proceedings of the CSEE,2015,35(6):1336-1343(in Chinese).
[17]王奔,钱碧甫,徐万良,等.含静止同步串联补偿器的单机系统非线性综合控制器设计[J].控制理论与应用,2012,29(3):342-346.WangBen,QianBipu,XuWanliang,etal.Designofnonlinear integratedcontrollerforsingle-machine-infinite-bussystemwith static-synchronous-series-compensator[J]. ControlTheory&Applications,2012,29(3):342-346(in Chinese).
[18]王芳,宗群,田栢苓,等.基于鲁棒自适应反步的可重复使用飞行器再入姿态控制[J].控制与决策,2014,29(1):12-18.WangFang, ZongQun, TianBailing, etal. Robustadaptive back-steppingflightcontroldesignforreentryRLV[J].Controland Decision,2014,29(1):12-18(in Chinese).
[19]郭一,刘金琨.飞行器航迹倾角的自适应动态面控制[J].北京航空航天大学学报,2013,39(2):275-279.GuoYi,LiuJinkun.Adaptivedynamicsurfacecontrolforaircraft flight path angle[J].Journal of Beijing University of Aeronautics and Astronautics,2013,39(2):275-279(in Chinese).
[20]刘金馄.滑模变结构控制MATLAB仿真[M].北京:清华大学出版社,2015:39-40.
[21]陈娇英,李啸骕,李文涛,等.基于自适应Backstepping的SVC鲁棒L2性能控制设计[J].电力系统保护与控制,2011,39(17):40-44.Chen Jiaoying,Li Xiaocong,Li Wentao,et al.Robust L2 performance controldesignforSVCbasedonself-adaptingBackstepping[J].Power System Protection and Control,2011,39(17):40-44(in Chinese).
[22]KundurP.Powersystemstabilityandcontrol[M].NewYork:McGraw-Hill,1994:813-815.
[2]赵坚鹏,宋洁莹,许建中,等.静止同步串联补偿器的优化选址定容方法[J].电网技术,2017,41(6):1941-1948.Zhao Jianpeng,Song Jieying,Xu Jianzhong,et al.Locating and sizing optimizationofstaticsynchronousseriescompensator[J]. Power System Technology,2017,41(6):1941-1948(in Chinese).
[3]李国庆,杨宏伟,于紫南.计及静止同步串联补偿器的线路P-Q曲线电压稳定分析[J].电网技术,2012,36(5):259-262.Li Guoqing,Yang Hongwei,Yu Zinan.Voltage stability analysis based on calculation of P-Q curve of power system with static synchronous seriescompensator[J].PowerSystemTechnology,2012,36(5):259-262(in Chinese).
[4]宋方方,贾秀芳,赵成勇,等.SSSC提高系统阻尼特性的控制策略优化设计[J].电网技术,2017,41(3):881-889.Song Fangfang,Jia Xiufang,Zhao Chengyong,et al.An optimized SSSCcontrolstrategyforimprovingsystemdamping characteristics[J].Power System Technology,2017,41(3):881-889(in Chinese).
[5]赵坚鹏,宋洁莹,赵成勇,等.静止同步串联补偿器的机电暂态建模[J].电力建设,2017,38(7):139-145.ZhaoJianpeng, SongJieying, ZhaoChengyong, et al.Electromechanical transient modeling of static synchronous series compensator[J].Electric Power Construction,2017,38(7):139-145(in Chinese).
[6]刘青,张立娜,陈世超.多机系统励磁与SSSC的非线性鲁棒协调控制[J].电力建设,2016,37(11):129-134.Liu Qing,Zhang Lina,Chen Shihao.Nonlinear robust coordinated controlofgeneratorexcitationandSSSCformulti-machinepower systems[J].Electric Power Construction,2016,37(11):129-134(in Chinese).
[7]颜伟,吴文胜,华智明,等.SSSC非线性控制的直接反馈线性化方法[J].中国电机工程学报,2003,23(3):65-68.YanWei,WuWensheng,HuaZhiming,etal.Directfeedback linearizationmethodfordesigningSSSCnonlinearcontrol law[J].Proceedings of the CSEE,2003,23(3):65-68(in Chinese).
[8]李娟,周兴福,李淑琴.于精确反馈线性化方法的SSSC非线性控制器[J].电网技术,2008,32(S2):12-15.Li Juan,Zhou Xingfu,Li Shuqin.Nonlinear controller of SSSC based on exact feedback linearization[J].Power System Technology,2008,32(S2):12-15(in Chinese).
[9]邓大磊,王奔,尹维恒.基于状态反馈精确线性化变结构控制的SSSC控制器设计[J].现代电力,2013,30(4):50-54.DengDalei,WangBen,YinWeiheng.DesignofSSSCcontroller basedonexactlinearizationviafeedbackandvariable-structure[J].Modern Electric Power,2013,30(4):50-54(in Chinese).
[10]赵洋,肖湘宁.基于微分几何方法的静止同步串联补偿器非线性控制[J].电工技术学报,2008,23(4):132-136.ZhaoYang,XiaoXiangning.StudyofnonlinearcontrolofSSSC basedondifferentialgeometryapproach[J].TransactionsofChina Electrotechnical Society,2008,23(4):132-136(in Chinese).
[11]钱碧甫,王奔,黄崇鑫,等.静止同步串联补偿器的变结构控制器设计[J].电力系统及其自动化学报,2010,22(6):124-129.Qian Bifu,Wang Ben,Huang Chongxin,et al.Design of variable structure controller used in the static synchronous series compensator[J]. ProceedingsoftheCSU-EPSA, 2010, 22(6):124-129(in Chinese).
[12]樊华,王丹,毛承雄,等.SSSC与发电机励磁最优协调控制[J].电力系统及其自动化学报,2015,27(1):13-18.Fan Hua,Wang Dan,Mao Chengxiong,et al.Optimal coordinated controlofSSSCandgeneratorexcitation[J].Proceedingsofthe CSU-EPSA,2015,27(1):13-18(in Chinese).
[13]鹿建成,李啸骢,黄维,等.基于SSSC和励磁协调抑制次同步振荡的线性最优控制器设计[J].电力系统保护与控制,2015,43(1):21-27.LuJiancheng,LiXiaocong,HuangWei,etal.Linearoptimal controllerofstaticseriessynchronouscompensatorandexcitationto suppress sub-synchronous oscillation[J].Power System Protection and Control,2015,43(1):21-27(in Chinese).
[14]钱碧甫,王奔,徐万良.SSSC滑模控制策略研究[J].电网与清洁能源,2011,27(7):39-42.Qian Bifu,Wang Ben,Xu Wangliang.Sliding mode control strategy of SSSC[J].Power System and Clean Energy,2011,27(7):39-42(in Chinese).
[15]司文杰,王聪,董训德,等.随机时滞系统的神经网络输出反馈动态面控制[J].控制与决策,2017,32(8):1377-1385.Si Wenjie,Wang Cong,Dong Xunde,et al.Output-feedback neural DSCcontrolforstochasticnonlineartime-delaysystems[J].Control and Decision,2017,32(8):1377-1385(in Chinese).
[16]顾卓远,汤涌,孙华东,等.区域电网内弱联机群摆动对互联系统功角稳定性的影响[J].中国电机工程学报,2015,35(6):1336-1343.Gu Zhuoyuan,Tang Yong,Sun Huadong,et al.The effect of the angle swingofweak-connectiongeneratorgroupsinaregionalgridtothe angle stability of the interconnected power system[J].Proceedings of the CSEE,2015,35(6):1336-1343(in Chinese).
[17]王奔,钱碧甫,徐万良,等.含静止同步串联补偿器的单机系统非线性综合控制器设计[J].控制理论与应用,2012,29(3):342-346.WangBen,QianBipu,XuWanliang,etal.Designofnonlinear integratedcontrollerforsingle-machine-infinite-bussystemwith static-synchronous-series-compensator[J]. ControlTheory&Applications,2012,29(3):342-346(in Chinese).
[18]王芳,宗群,田栢苓,等.基于鲁棒自适应反步的可重复使用飞行器再入姿态控制[J].控制与决策,2014,29(1):12-18.WangFang, ZongQun, TianBailing, etal. Robustadaptive back-steppingflightcontroldesignforreentryRLV[J].Controland Decision,2014,29(1):12-18(in Chinese).
[19]郭一,刘金琨.飞行器航迹倾角的自适应动态面控制[J].北京航空航天大学学报,2013,39(2):275-279.GuoYi,LiuJinkun.Adaptivedynamicsurfacecontrolforaircraft flight path angle[J].Journal of Beijing University of Aeronautics and Astronautics,2013,39(2):275-279(in Chinese).
[20]刘金馄.滑模变结构控制MATLAB仿真[M].北京:清华大学出版社,2015:39-40.
[21]陈娇英,李啸骕,李文涛,等.基于自适应Backstepping的SVC鲁棒L2性能控制设计[J].电力系统保护与控制,2011,39(17):40-44.Chen Jiaoying,Li Xiaocong,Li Wentao,et al.Robust L2 performance controldesignforSVCbasedonself-adaptingBackstepping[J].Power System Protection and Control,2011,39(17):40-44(in Chinese).
[22]KundurP.Powersystemstabilityandcontrol[M].NewYork:McGraw-Hill,1994:813-815.