UPFC的非线性控制与限流式UPFC研究
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摘要
现代电力系统通过大规模互联使得电网结构日益庞大和复杂,如何在确保系统安全稳定的前提下提高电网输送容量、控制线路潮流、有效限制系统短路电流水平等问题已越来越突出并备受关注。近年来柔性交流输电系统(flexible AC transmission system, FACTS)的快速发展为解决上述问题提供了新的思路。在FACTS控制器家族中,统一潮流控制器(Unified Power Flow Controller, UPFC)可以综合调节输电线路的三大参数,即电压、相位和阻抗,继而可以控制线路潮流,有效提升电力系统的稳态和动态性能,是目前综合功能最为全面的FACTS装置,因此成为了学术界的研究热点。本文在UPFC的控制以及电力系统发生故障时UPFC的安全性问题两方面做了一些研究工作。
在UPFC的控制方面,针对UPFC的非线性特性和不确定性,分别提出了一种基于状态反馈精确线性化理论的非线性最优控制策略和一种基于反馈线性化H∞理论的非线性鲁棒控制策略；针对UPFC负荷端电压存在的随机扰动,提出了一种非线性随机最优控制策略。这方面的具体研究成果概括为以下几点：
1.针对UPFC传统线性控制器的性能可能因运行点的大范围变化而恶化的缺陷,考虑UPFC的非线性特性,提出了一种基于微分几何状态反馈精确线性化理论的UPFC非线性最优控制策略。首先从数学上证明了UPFC五阶非线性模型满足可精确线性化的条件,然后通过选择李雅普诺夫型输出函数、适当的非线性坐标变换和状态反馈将UPFC五阶非线性系统完全转化为一个Brunovsky标准线性系统,最后采用线性极点配置方法设计了UPFC内部潮流控制器。仿真结果表明,该控制策略改进了传统PI控制近似线性化的缺陷,可以有效适应运行点的大范围变化,在提高电力系统暂态稳定性方面的效果明显优于传统PI控制。
2.针对UPFC在电力系统中面临的不确定性和外部干扰问题,建立了加入干扰向量的UPFC非线性鲁棒模型,在第1点工作的基础上进一步提出了一种基于反馈线性化H∞理论的UPFC非线性鲁棒控制策略。仿真结果表明,该控制器在多种外部干扰下都具有良好的鲁棒性。
3.在第2点的研究中仅考虑了不确定性,但实际电力系统中存在的干扰带有很强的随机性。针对UPFC负荷端电压存在的随机扰动问题,将精确线性化理论和随机控制理论相结合,提出了一种反馈线性化随机最优控制方法。首先建立了具有加性噪声的UPFC非线性随机模型；然后根据伊藤引理将其精确线性化为一个具有乘性噪声的线性随机系统；随后通过随机HJB方程推导了该系统的随机黎卡提矩阵微分方程及其辅助方程,并给出了上述方程的一种数值解法；最后通过控制向量反馈关系得出原UPFC系统的非线性随机最优控制策略。仿真结果表明,与传统的LQG控制方法相比,所提控制方法可以更好地抑制随机干扰,而且在多重复杂扰动下都具有良好的控制性能和稳定性。
上述三种UPFC的控制策略设计方法均可扩展应用于所有基于电压源变换器的FACTS装置,如STATCOM、SSSC、IPFC、GUPFC、VSC-HVDC等。
在电力系统发生短路故障时UPFC的运行安全性方面,提出并研制了一种新型FACTS装置——具有短路限流功能的统一潮流控制器(简称限流式UPFC).这方面的具体研究成果概括为以下几点：
1.在电力系统发生短路故障时,UPFC的串联变换器极可能因承受系统高电压和短路大电流的冲击而损毁。针对该问题,提出了一种新型FACTS装置——限流式UPFC。给出了限流式UPFC的主电路拓扑结构,对其稳态运行工作原理、短路限流动态过程及控制策略进行了研究。建立了故障下的数学模型,提出了两个关键参数——直流限流电感和直流电容的计算方法和选取原则。仿真结果证实了这种新装置的可行性和有效性。
2.研制了一套限流式UPFC实验装置,对其控制系统的硬件构成和软件设计问题进行了研究。实验结果表明,在电网正常状态下,限流式UPFC等效为常规UPFC;当(装置安装点附近)电网发生短路故障时,装置中的限流器模块能立即从零阻抗转变为高阻抗串入回路中承担大部分系统电压并将系统及流经UPFC的短路电流限制到设定数值,有效保护了UPFC免受系统高电压和短路大电流的冲击,保证了UPFC的安全性,同时也降低了系统的短路电流水平,增加了系统的可靠性和经济性。
实际上,限流式UPFC的设计也可以看成是在系统故障的大扰动下为保证装置安全性所采取的一种特殊控制方法,该方法同样可以应用于其他基于电压源变换器且具有串联部分的FACTS装置,如设计限流式SSSC、限流式IPFC、限流式GUPFC等。
Modern power systems are becoming increasingly huger and more complex through wide interconnections. Many problems such as improving transmission capacity, controlling power flow and limiting short circuit fault current are becoming more and more highlighted. In recent years the rapid development of flexible AC transmission system (FACTS) provides a new way to solve the foregoing problems. The unified power flow controller (UPFC) is a versatile FACTS device and is the emphasis of the research work in the field of power systems due to its powerful functions. An UPFC is able to control, concurrently or selectively, the transmission voltage, impedance and angle, and then, the real and reactive power flow in the line. Furthermore, an UPFC can also improve various steady-state and dynamic performances of the power system. This dissertation focuses on those problems concerning UPFC nonlinear control and the security of UPFC under short circuit fault current.
This dissertation is divided into two parts. The first part refers to nonlinear control of UPFC. Considering the nonlinearity of UPFC, a nonlinear optimal control strategy based on exact feedback linearization theory and a nonlinear robust control strategy based on feedback linearization H∞theory are proposed. Moreover, a nonlinear stochastic optimal control strategy is presented to suppress random disturbances on the load side voltage of the UPFC. Details are as follows:
1. The performance of the traditional linear controller for UPFC may deteriorate due to a large-scale change of the operating point. In order to solve this problem, a new nonlinear optimal control strategy for UPFC based on exact feedback linearization theory is presented. Firstly, the5th-order UPFC nonlinear model is proved to meet the conditions for exact feedback linearization. Then the nonlinear model is converted into a Brunovsky linear system via selection of a Lyapunov-like output function, an appropriate nonlinear coordinate transformation and state variable feedback. At last the pole placement method is applied on the transformed linear system to design the UPFC internal power flow controller. The simulation results demonstrate that the proposed control overcomes the inherent drawback of traditional PI control and provides better performance on power system transient stability improvement than PI control.
2. A nonlinear robust model of UPFC is established and a new nonlinear robust control strategy for UPFC based on feedback linearization H∞theory is presented to solve the uncertain disturbance rejection problem faced by an UPFC in a real power system. The simulation results demonstrate that the given controller shows excellent performances and robustness under various kinds of disturbances.
3. In the second research point above, all the disturbances which an UPFC may suffer in a real power system are formulated to a common disturbance vector. This method is generally practical but lacks the specificity and accuracy. Aimed at suppress the random disturbance on the load side voltage of UPFC, a new nonlinear stochastic optimal control strategy for UPFC is proposed. Firstly, a nonlinear stochastic model of UPFC with additive noises is established. Secondly, the model is exactly linearized to a linear stochastic system with multiplicative noises according to Ito's Lemma. Thirdly, the stochastic Riccati matrix differential equation and its assistant equation are derived from stochastic HJB equation, and then a numerical algorithm of the solutions is given. At last, the nonlinear stochastic control strategy of the original UPFC system is gained through the control vector transformation. The simulation results demonstrate that the proposed control strategy can suppress random disturbances more effectively and maintain better control performance under many complicated disturbances than that of traditional LQG control method.
The design methods of the three control strategies mentioned above can also be applied to other voltage source converter (VSC)-based FACTS devices, such as STATCOM, SSSC, GUPFC, IPFC, VSC-HVDC and so on.
In the second part of this dissertation, a novel FACTS device called Unified Power Flow Controller with Fault Current Limiting (UPFC-FCL) is presented and developed in order to deal with the security problem of UPFC in case a short circuit fault occurs in the power system. Details are as follows:
1. When a short circuit fault occurs in the power system, the series converter of UPFC may be damaged because of bearing high system voltage and large fault current. A novel FACTS device called Unified Power Flow Controller with Fault Current Limiting (UPFC-FCL) is designed to solve this problem. The topology of UPFC-FCL is given. The working principles in normal condition, dynamic process in fault condition, and corresponding control strategies of UPFC-FCL are analyzed. The mathematical model of UPFC-FCL is set up. The calculation and selection methods of DC reactor and DC capacitor are illustrated. The simulation results verify the feasibility and validity of UPFC-FCL.
2. An UPFC-FCL prototype is developed. The hardware structure and software structure of the control system of the prototype are designed. Various experiments on the prototype are conducted and the results demonstrate that:in normal condition, the UPFC-FCL is equivalent to a regular UPFC; when a short circuit fault occurs near the device in the power system, the FCL module will transform from "zero impedance" into "large impedance" immediately and automatically to limit the fault current. The UPFC-FCL can not only protect the UPFC series converter from being destroyed by the high system voltage and large fault current but also lower the fault current level in the power system, and thereby enhance the reliability and economy of the power system.
The design methodology of the UPFC-FCL can also be applied to other VSC-based serial FACTS devices, and then giving birth to SSSC-FCL, IPFC-FCL, GUPFC-FCL, etc.
在UPFC的控制方面,针对UPFC的非线性特性和不确定性,分别提出了一种基于状态反馈精确线性化理论的非线性最优控制策略和一种基于反馈线性化H∞理论的非线性鲁棒控制策略；针对UPFC负荷端电压存在的随机扰动,提出了一种非线性随机最优控制策略。这方面的具体研究成果概括为以下几点：
1.针对UPFC传统线性控制器的性能可能因运行点的大范围变化而恶化的缺陷,考虑UPFC的非线性特性,提出了一种基于微分几何状态反馈精确线性化理论的UPFC非线性最优控制策略。首先从数学上证明了UPFC五阶非线性模型满足可精确线性化的条件,然后通过选择李雅普诺夫型输出函数、适当的非线性坐标变换和状态反馈将UPFC五阶非线性系统完全转化为一个Brunovsky标准线性系统,最后采用线性极点配置方法设计了UPFC内部潮流控制器。仿真结果表明,该控制策略改进了传统PI控制近似线性化的缺陷,可以有效适应运行点的大范围变化,在提高电力系统暂态稳定性方面的效果明显优于传统PI控制。
2.针对UPFC在电力系统中面临的不确定性和外部干扰问题,建立了加入干扰向量的UPFC非线性鲁棒模型,在第1点工作的基础上进一步提出了一种基于反馈线性化H∞理论的UPFC非线性鲁棒控制策略。仿真结果表明,该控制器在多种外部干扰下都具有良好的鲁棒性。
3.在第2点的研究中仅考虑了不确定性,但实际电力系统中存在的干扰带有很强的随机性。针对UPFC负荷端电压存在的随机扰动问题,将精确线性化理论和随机控制理论相结合,提出了一种反馈线性化随机最优控制方法。首先建立了具有加性噪声的UPFC非线性随机模型；然后根据伊藤引理将其精确线性化为一个具有乘性噪声的线性随机系统；随后通过随机HJB方程推导了该系统的随机黎卡提矩阵微分方程及其辅助方程,并给出了上述方程的一种数值解法；最后通过控制向量反馈关系得出原UPFC系统的非线性随机最优控制策略。仿真结果表明,与传统的LQG控制方法相比,所提控制方法可以更好地抑制随机干扰,而且在多重复杂扰动下都具有良好的控制性能和稳定性。
上述三种UPFC的控制策略设计方法均可扩展应用于所有基于电压源变换器的FACTS装置,如STATCOM、SSSC、IPFC、GUPFC、VSC-HVDC等。
在电力系统发生短路故障时UPFC的运行安全性方面,提出并研制了一种新型FACTS装置——具有短路限流功能的统一潮流控制器(简称限流式UPFC).这方面的具体研究成果概括为以下几点：
1.在电力系统发生短路故障时,UPFC的串联变换器极可能因承受系统高电压和短路大电流的冲击而损毁。针对该问题,提出了一种新型FACTS装置——限流式UPFC。给出了限流式UPFC的主电路拓扑结构,对其稳态运行工作原理、短路限流动态过程及控制策略进行了研究。建立了故障下的数学模型,提出了两个关键参数——直流限流电感和直流电容的计算方法和选取原则。仿真结果证实了这种新装置的可行性和有效性。
2.研制了一套限流式UPFC实验装置,对其控制系统的硬件构成和软件设计问题进行了研究。实验结果表明,在电网正常状态下,限流式UPFC等效为常规UPFC;当(装置安装点附近)电网发生短路故障时,装置中的限流器模块能立即从零阻抗转变为高阻抗串入回路中承担大部分系统电压并将系统及流经UPFC的短路电流限制到设定数值,有效保护了UPFC免受系统高电压和短路大电流的冲击,保证了UPFC的安全性,同时也降低了系统的短路电流水平,增加了系统的可靠性和经济性。
实际上,限流式UPFC的设计也可以看成是在系统故障的大扰动下为保证装置安全性所采取的一种特殊控制方法,该方法同样可以应用于其他基于电压源变换器且具有串联部分的FACTS装置,如设计限流式SSSC、限流式IPFC、限流式GUPFC等。
Modern power systems are becoming increasingly huger and more complex through wide interconnections. Many problems such as improving transmission capacity, controlling power flow and limiting short circuit fault current are becoming more and more highlighted. In recent years the rapid development of flexible AC transmission system (FACTS) provides a new way to solve the foregoing problems. The unified power flow controller (UPFC) is a versatile FACTS device and is the emphasis of the research work in the field of power systems due to its powerful functions. An UPFC is able to control, concurrently or selectively, the transmission voltage, impedance and angle, and then, the real and reactive power flow in the line. Furthermore, an UPFC can also improve various steady-state and dynamic performances of the power system. This dissertation focuses on those problems concerning UPFC nonlinear control and the security of UPFC under short circuit fault current.
This dissertation is divided into two parts. The first part refers to nonlinear control of UPFC. Considering the nonlinearity of UPFC, a nonlinear optimal control strategy based on exact feedback linearization theory and a nonlinear robust control strategy based on feedback linearization H∞theory are proposed. Moreover, a nonlinear stochastic optimal control strategy is presented to suppress random disturbances on the load side voltage of the UPFC. Details are as follows:
1. The performance of the traditional linear controller for UPFC may deteriorate due to a large-scale change of the operating point. In order to solve this problem, a new nonlinear optimal control strategy for UPFC based on exact feedback linearization theory is presented. Firstly, the5th-order UPFC nonlinear model is proved to meet the conditions for exact feedback linearization. Then the nonlinear model is converted into a Brunovsky linear system via selection of a Lyapunov-like output function, an appropriate nonlinear coordinate transformation and state variable feedback. At last the pole placement method is applied on the transformed linear system to design the UPFC internal power flow controller. The simulation results demonstrate that the proposed control overcomes the inherent drawback of traditional PI control and provides better performance on power system transient stability improvement than PI control.
2. A nonlinear robust model of UPFC is established and a new nonlinear robust control strategy for UPFC based on feedback linearization H∞theory is presented to solve the uncertain disturbance rejection problem faced by an UPFC in a real power system. The simulation results demonstrate that the given controller shows excellent performances and robustness under various kinds of disturbances.
3. In the second research point above, all the disturbances which an UPFC may suffer in a real power system are formulated to a common disturbance vector. This method is generally practical but lacks the specificity and accuracy. Aimed at suppress the random disturbance on the load side voltage of UPFC, a new nonlinear stochastic optimal control strategy for UPFC is proposed. Firstly, a nonlinear stochastic model of UPFC with additive noises is established. Secondly, the model is exactly linearized to a linear stochastic system with multiplicative noises according to Ito's Lemma. Thirdly, the stochastic Riccati matrix differential equation and its assistant equation are derived from stochastic HJB equation, and then a numerical algorithm of the solutions is given. At last, the nonlinear stochastic control strategy of the original UPFC system is gained through the control vector transformation. The simulation results demonstrate that the proposed control strategy can suppress random disturbances more effectively and maintain better control performance under many complicated disturbances than that of traditional LQG control method.
The design methods of the three control strategies mentioned above can also be applied to other voltage source converter (VSC)-based FACTS devices, such as STATCOM, SSSC, GUPFC, IPFC, VSC-HVDC and so on.
In the second part of this dissertation, a novel FACTS device called Unified Power Flow Controller with Fault Current Limiting (UPFC-FCL) is presented and developed in order to deal with the security problem of UPFC in case a short circuit fault occurs in the power system. Details are as follows:
1. When a short circuit fault occurs in the power system, the series converter of UPFC may be damaged because of bearing high system voltage and large fault current. A novel FACTS device called Unified Power Flow Controller with Fault Current Limiting (UPFC-FCL) is designed to solve this problem. The topology of UPFC-FCL is given. The working principles in normal condition, dynamic process in fault condition, and corresponding control strategies of UPFC-FCL are analyzed. The mathematical model of UPFC-FCL is set up. The calculation and selection methods of DC reactor and DC capacitor are illustrated. The simulation results verify the feasibility and validity of UPFC-FCL.
2. An UPFC-FCL prototype is developed. The hardware structure and software structure of the control system of the prototype are designed. Various experiments on the prototype are conducted and the results demonstrate that:in normal condition, the UPFC-FCL is equivalent to a regular UPFC; when a short circuit fault occurs near the device in the power system, the FCL module will transform from "zero impedance" into "large impedance" immediately and automatically to limit the fault current. The UPFC-FCL can not only protect the UPFC series converter from being destroyed by the high system voltage and large fault current but also lower the fault current level in the power system, and thereby enhance the reliability and economy of the power system.
The design methodology of the UPFC-FCL can also be applied to other VSC-based serial FACTS devices, and then giving birth to SSSC-FCL, IPFC-FCL, GUPFC-FCL, etc.
引文
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