CN102354988B

CN102354988B - Linear extended state observer (LESO)-based static var compensator (SVC) control method

Info

Publication number: CN102354988B
Application number: CN201110265984.2A
Authority: CN
Inventors: 马幼捷; 于阳; 周雪松; 李超; 刘进华
Original assignee: Tianjin University of Technology
Current assignee: Tianjin University of Technology
Priority date: 2011-09-08
Filing date: 2011-09-08
Publication date: 2015-07-01
Anticipated expiration: 2031-09-08
Also published as: CN102354988A

Abstract

A SVC control method based on the linear extended state observer LESO, which includes: ① analyzing the structure of the SVC device, and determining the mathematical model of the single-infinite system including the SVC; ② collecting the given value of the bus voltage of the power system; ③ designing the linear Extended state observer LESO, proportional controller KP and differential controller KD; ④ collect the voltage, current and phase signal signals of the SVC control system, and send them to the control board after conditioning; ⑤ generate corresponding trigger pulses, namely PWM, according to the control signals signal and I/O signal, respectively control the conduction angle of TCR and TSC and then control the amount of reactive power compensation of SVC.

Description

A SVC Control Method Based on Linear Extended State Observer LESO

(一)技术领域：(1) Technical field:

本发明涉及电力系统的控制技术领域，一种基于线性扩张状态观测器LESO(Liner Active-Disturbance-Rejection Control，LADRC)的SVC控制方法。The invention relates to the technical field of power system control, and relates to a SVC control method based on a linear extended state observer LESO (Liner Active-Disturbance-Rejection Control, LADRC).

(二)背景技术：(two) background technology:

为改善电网的电压稳定性，目前普遍的做法是通过SVC对风电场进行无功补偿。SVC在电力系统中作用的发挥，不仅仅取决与装设点的地点及容量，而且还取决于其采用的控制方式。风电系统系统是个强非线性不确定系统，基于DFL理论的非线性SVC控制器虽然对常规电力系统工作点的变化具有良好的鲁棒性，但对摄动性强的风电系统并不适用。基于扩张状态观测器的SVC控制器将自抗扰技术用于SVC的控制，使SVC在快速稳定安装点的电压的同时，有效的改善系统的阻尼特性，但常规自抗扰控制器参数较多，结构复杂影响了其实际应用广泛性。基于扩张状态观测器的SVC控制器将自抗扰技术用于SVC的控制，使SVC在快速稳定安装点的电压的同时，有效的改善系统的阻尼特性，但常规自抗扰控制器参数较多，结构复杂影响了其实际应用广泛性。In order to improve the voltage stability of the power grid, the current common practice is to compensate the reactive power of the wind farm through SVC. The role of SVC in the power system depends not only on the location and capacity of the installation point, but also on the control method it adopts. The wind power system is a strongly nonlinear uncertain system. Although the nonlinear SVC controller based on DFL theory has good robustness to the change of the operating point of the conventional power system, it is not suitable for the wind power system with strong perturbation. The SVC controller based on the extended state observer uses the active disturbance rejection technology for the control of the SVC, so that the SVC can quickly stabilize the voltage at the installation point and effectively improve the damping characteristics of the system, but the conventional ADRC controller has many parameters , the complex structure affects its practical application. The SVC controller based on the extended state observer uses the active disturbance rejection technology for the control of the SVC, so that the SVC can quickly stabilize the voltage at the installation point and effectively improve the damping characteristics of the system, but the conventional ADRC controller has many parameters , the complex structure affects its practical application.

本发明针对模型不确定的非线性系统的理论，应用线性自抗扰LADRC(Linear Active-Disturbance-Rejection Control)控制理论对复杂电力系统的SVC控制，应用LESO预期可有效提高了SVC控制器的鲁棒性和适应性，改善系统的动态特性，为该领域的进一步发展提供了一定的参考价值。The present invention aims at the theory of nonlinear systems with uncertain models, applies the linear active disturbance rejection LADRC (Linear Active-Disturbance-Rejection Control) control theory to the SVC control of the complex power system, and applies the LESO expectation to effectively improve the robustness of the SVC controller. Stickiness and adaptability, improve the dynamic characteristics of the system, and provide a certain reference value for the further development of this field.

(三)发明内容：(3) Contents of the invention:

本发明的目的在于提供了一种基于线性扩张状态观测器LESO的SVC控制方法，它可以克服现有技术的不足，是一种结构简单、运行可靠、便于实现的控制方法，可以有效提高SVC控制器的鲁棒性和适应性，改善系统的动态特性。The object of the present invention is to provide a kind of SVC control method based on linear extended state observer LESO, it can overcome the deficiencies in the prior art, is a kind of control method simple in structure, reliable in operation, easy to implement, can effectively improve SVC control The robustness and adaptability of the controller can improve the dynamic characteristics of the system.

本发明的技术方案：一种基于线性扩张状态观测器LESO的SVC控制方法，其特征在于它包括以下步骤：Technical scheme of the present invention: a kind of SVC control method based on linear extended state observer LESO is characterized in that it comprises the following steps:

①分析SVC装置的主电路拓扑结构，确定包含SVC的单机-无穷大系统的数学模型：① Analyze the main circuit topology of the SVC device, and determine the mathematical model of the stand-alone-infinite system including SVC:

$\overset{. .}{δ δ} = = Δω Δω . . {ω ω}_{00}$

$\overset{. .}{ω ω} = = \frac{{ω ω}_{00}}{{T T}_{J J}} {P P}_{m m} - - \frac{D D.}{{T T}_{J J}} Δω Δω - - \frac{{ω ω}_{00}}{{T T}_{J J}} {P P}_{e e}$

$\overset{. .}{{B B}_{L L}} = = \frac{11}{Tc Tc} ((- - {B B}_{L L} + + {B B}_{L L 00} + + {u u}_{B B}))$

式中In the formula

${P P}_{e e} = = \frac{{E E.}^{''} Vc Vc}{{x x}_{11} + + {x x}_{22} + + {x x}_{11} {x x}_{22} (({B B}_{L L} - - {B B}_{c c}))} sin sin δ δ$

其中，δ为发电机功率角，ω为发电机的转子角速度；ω₀为同步角速度；T_J为发电机惯性时间常数；P_e为发电机的电磁功率；P_m为发电机的机械功率；D为发电机阻尼系数；T_c为SVC及其调节系统的惯性时间常数；x₁，x₂为电抗参数；E’为暂态电势；V_c为无穷大母线电压；B_c为等效电容的电纳值；B_L为SVC中可调电感的电纳值；B_L0为电纳的初始值；Among them, δ is the generator power angle, ω is the rotor angular velocity of the generator; ω ₀ is the synchronous angular velocity; T _J is the inertial time constant of the generator; P _e is the electromagnetic power of the generator; P _m is the mechanical power of the generator; D is the generator damping coefficient; T _c is the inertial time constant of SVC and its regulation system; x ₁ and x ₂ are reactance parameters; E' is transient potential; V _c is infinite bus voltage; B _c is equivalent capacitance Susceptance value; B _L is the susceptance value of the adjustable inductance in SVC; B _L0 is the initial value of susceptance;

②采集电力系统的母线电压给定值U_ref和测量值U_mes作为控制器的状态量输入信号，将系统的内外扰动作为系统的总扰动Zn进行估计②Collect the given value U _ref and measured value U _mes of the bus voltage of the power system as the input signal of the state quantity of the controller, and estimate the internal and external disturbances of the system as the total disturbance Zn of the system

$\overset{. .}{{Z Z}_{11}} = = {Z Z}_{22} - - {L L}_{11} (({Z Z}_{11} - - y the y))$

$\overset{. .}{{Z Z}_{22}} = = {Z Z}_{33} - - {L L}_{22} (({Z Z}_{11} - - y the y)) + + bu bu$

$\overset{. .}{{Z Z}_{33}} = = - - {L L}_{33} (({Z Z}_{11} - - y the y));;$

③设计实现该方法的3个组成部分，线性扩张状态观测器LESO、比例控制器K_p和微分控制器K_d；③Design and realize the three components of the method, linear extended state observer LESO, proportional controller K _p and differential controller K _d ;

其中，线性扩张状态观测器(LESO)采用以下离散形式方程：Among them, the linear extended state observer (LESO) adopts the following discrete form equation:

$\overset{. .}{Z Z} = = [[A A - - LC LC]] Z Z + + [\begin{matrix} B B - - LD LD & L L \end{matrix}] {U u}_{c c}$

其中U_c＝[u y]^T是输入，Z是输出；Where U _c = [u y] ^T is the input, Z is the output;

系统的线性ESO为The linear ESO of the system is

$\overset{. .}{{Z Z}_{33}} = = - - {L L}_{33} (({Z Z}_{11} - - y the y));;$

观测器的增益向量L由特征方程的两个极点的放置位置所决定：The gain vector L of the observer is determined by the placement of the two poles of the characteristic equation:

λ(s)＝|sI-(A-LC)|＝(s+ω₀)³ λ(s)=|sI-(A-LC)|=(s+ω ₀ ) ³

L＝[3ω₀,3ω₀ ²,ω₀ ³]^T L＝[3ω ₀ ,3ω ₀ ² ,ω ₀ ³ ] ^T

L1＝3ω₀，L2＝3ω₀ ²，L3＝3ω₀ ³；ω₀是观测器的带宽，ω_c是控制器的带宽，一般ω_c＝2ω₀，K_p＝ω_c ²，K_d＝2ω_c；L1=3ω ₀ , L2=3ω ₀ ² , L3=3ω ₀ ³ ; ω ₀ is the bandwidth of the observer, ω _c is the bandwidth of the controller, generally ω _c =2ω ₀ , K _p =ω _c ² , K _d = 2ω _c ;

④采集SVC控制系统的电压和电流及相位信号信号，经调理处理后传给控制主板；在控制主板上，由TMS320LF2407A DSP负责进行数据采集、数据实时处理、数据显示和与上位机通讯及对IGBT进行控制；TMS320LF2407A将A/D采来的数据进行实时处理，送入LCD显示各种电量参数，同时根据采样回来的数据进行控制计算，LCD可显示功率因数、电压、电流、有功功率和无功功率数据；④ Collect the voltage, current and phase signals of the SVC control system, and transmit them to the control board after conditioning; on the control board, TMS320LF2407A DSP is responsible for data collection, real-time data processing, data display, communication with the host computer and IGBT Control; TMS320LF2407A processes the data collected by the A/D in real time, sends them to the LCD to display various power parameters, and at the same time performs control calculations based on the sampled data. The LCD can display power factor, voltage, current, active power and reactive power. power data;

⑤根据控制信号产生相应的触发脉冲即PWM信号及I/O信号，分别控制TCR及TSC的导通角进而控制SVC的无功补偿量。⑤ According to the control signal, generate corresponding trigger pulses, namely PWM signal and I/O signal, respectively control the conduction angle of TCR and TSC and then control the amount of reactive power compensation of SVC.

本发明的工作原理：本发明应用线性自抗扰控制技术。线性自抗扰控制器由K_p、K_d和线性扩张状态观测器(LESO)组成。其核心部分LESO估计对象的各阶状态变量Z1,Z2,…,Zn-1,Zn和对象总扰动的实时作用量Zn+1，然后通过比例控制器K_P和微分控制器K_d得到系统的BSVC，通过Bsvc得到SVC的TCR和TSC的触发角，实现SVC对系统的补偿无功、稳定电压，实现了对SVC的有效控制。Working principle of the present invention: the present invention applies linear active disturbance rejection control technology. The linear active disturbance rejection controller consists of K _p , K _d and the linear extended state observer (LESO). Its core part, LESO, estimates the state variables Z1, Z2,..., Zn-1, Zn of each order of the object and the real-time action Zn+1 of the total disturbance of the object, and then obtains the system through the proportional controller K _P and the differential controller K _d BSVC obtains the TCR of SVC and the firing angle of TSC through Bsvc, realizes reactive power compensation and stable voltage of SVC to the system, and realizes effective control of SVC.

本发明的优越性在于：本发明提高了SVC控制器的鲁棒性和适应性，使SVC可快速稳定安装点的电压，改善系统的动态特性，以TI公司的TMS320LF2407A型DSP为控制核心，其结构简单，易于实现，工业上具有广阔的应用前景。The advantage of the present invention is that: the present invention improves the robustness and adaptability of the SVC controller, enables the SVC to quickly stabilize the voltage at the installation point, and improves the dynamic characteristics of the system. The TMS320LF2407A DSP of TI Company is used as the control core, and its The structure is simple, easy to implement, and has broad application prospects in industry.

(四)附图说明：(4) Description of drawings:

图1为本发明所涉一种基于线性扩张状态观测器LESO的SVC控制方法中PI控制器的SVC用于风电场的结构框图；Fig. 1 is a structural block diagram of the SVC of the PI controller used in a wind farm in a SVC control method based on a linear extended state observer LESO according to the present invention;

图2为本发明所涉一种基于线性扩张状态观测器LESO的SVC控制方法中用于风电场SVC的LESO控制器结构框图；Fig. 2 is a structural block diagram of the LESO controller used for wind farm SVC in a SVC control method based on the linear extended state observer LESO according to the present invention;

图3为本发明所涉一种基于线性扩张状态观测器LESO的SVC控制方法中LESO控制器的SVC用于风电场的结构框图；Fig. 3 is a structural block diagram of the SVC of the LESO controller used in a wind farm in a SVC control method based on a linear extended state observer LESO according to the present invention;

图4为本发明所涉一种基于线性扩张状态观测器LESO的SVC控制方法中基于DSP的控制器硬件原理图。FIG. 4 is a hardware schematic diagram of a DSP-based controller in an SVC control method based on a linear extended state observer LESO according to the present invention.

(五)具体实施方式：(5) Specific implementation methods:

实施例：一种基于线性扩张状态观测器LESO的SVC控制方法，其特征在于它包括以下步骤：Embodiment: a kind of SVC control method based on linear extended state observer LESO is characterized in that it comprises the following steps:

①分析SVC装置的主电路拓扑结构(见图1)，确定包含SVC的单机-无穷大系统的数学模型：① Analyze the main circuit topology of the SVC device (see Figure 1), and determine the mathematical model of the stand-alone-infinite system including SVC:

$\overset{. .}{δ δ} = = Δω Δω . . {ω ω}_{00}$

式中In the formula

$\overset{. .}{{Z Z}_{33}} = = - - {L L}_{33} (({Z Z}_{11} - - y the y));;$

其中，线性扩张状态观测器(LESO)(见图2、图3)采用以下离散形式方程：Among them, the linear extended state observer (LESO) (see Fig. 2, Fig. 3) adopts the following discrete form equation:

其中U_c＝[u y]^T是输入，Z是输出。where U _c =[u y] ^T is the input and Z is the output.

系统的线性ESO为The linear ESO of the system is

$\overset{. .}{{Z Z}_{33}} = = - - {L L}_{33} (({Z Z}_{11} - - y the y));;$

λ(s)＝|sI-(A-LC)|＝(s+ω₀)³ λ(s)=|sI-(A-LC)|=(s+ω ₀ ) ³

L＝[3ω₀,3ω₀ ²,ω₀ ³]^T L＝[3ω ₀ ,3ω ₀ ² ,ω ₀ ³ ] ^T

L₁＝3ω₀，L₂＝3ω₀ ²，L₃＝3ω₀ ³；ω₀是观测器的带宽，ω_c是控制器的带宽，一般ω_c＝2ω₀，K_p＝ω_c ²，K_d＝2ω_c；L ₁ =3ω ₀ , L ₂ =3ω ₀ ² , L ₃ =3ω ₀ ³ ; ω ₀ is the bandwidth of the observer, ω _c is the bandwidth of the controller, generally ω _c =2ω ₀ , K _p =ω _c ² , K _d =2ω _c ;

④采集SVC控制系统的电压和电流及相位信号信号，经调理处理后传给控制主板；在控制主板上，由TMS320LF2407A DSP负责进行数据采集、数据实时处理、数据显示和与上位机通讯及对IGBT进行控制；TMS320LF2407A将A/D采来的数据进行实时处理，送入LCD显示各种电量参数，同时根据采样回来的数据进行控制计算，LCD可显示功率因数、电压、电流、有功功率和无功功率数据(见图4)。④ Collect the voltage, current and phase signals of the SVC control system, and transmit them to the control board after conditioning; on the control board, TMS320LF2407A DSP is responsible for data collection, real-time data processing, data display, communication with the host computer and IGBT Control; TMS320LF2407A processes the data collected by the A/D in real time, sends them to the LCD to display various power parameters, and at the same time performs control calculations based on the sampled data. The LCD can display power factor, voltage, current, active power and reactive power. Power data (see Figure 4).

Claims

1. A SVC control method based on linear extended state observer LESO, is characterized in that it comprises the following steps:

① Analyze the main circuit topology of the SVC device, and determine the mathematical model of the stand-alone-infinite system including SVC:

\overset{\cdot &Center Dot;}{δ δ} = = Δω Δω . . {ω ω}_{00}

\overset{\cdot \cdot}{ω ω} = = \frac{{ω ω}_{00}}{{T T}_{J J}} {P P}_{m m} - - \frac{D D.}{{T T}_{J J}} Δω Δω - - \frac{{ω ω}_{00}}{{T T}_{J J}} {P P}_{e e}

{\overset{\cdot \cdot}{B B}}_{L L} = = \frac{11}{Tc Tc} ((- - {B B}_{L L} + + {B B}_{L L 00} + + {u u}_{B B}))

In the formula

{P P}_{e e} = = \frac{E E.' ' Vc Vc}{{x x}_{11} + + {x x}_{22} + + {x x}_{11} {x x}_{22} (({B B}_{L L} - - {B B}_{c c}))} sin sin δ δ

Among them, δ is the generator power angle, ω is the rotor angular velocity of the generator; ω ₀ is the synchronous angular velocity; T _J is the inertial time constant of the generator; P _e is the electromagnetic power of the generator; P _m is the mechanical power of the generator; D is the generator damping coefficient; T _c is the inertial time constant of SVC and its regulation system; x ₁ and x ₂ are reactance parameters; E' is transient potential; Vc is infinite bus voltage; B _c is the capacitance of equivalent capacitance Susceptance value; B _L is the susceptance value of the adjustable inductance in SVC; B _L0 is the initial value of susceptance;

②Collect the given value U _ref and measured value U _mes of the bus voltage of the power system as the input signal of the state quantity of the controller, and estimate the internal and external disturbances of the system as the total disturbance Zn of the system

{\overset{\cdot \cdot}{Z Z}}_{11} = = {Z Z}_{22} - - {L L}_{11} (({Z Z}_{11} - - y the y))

{\overset{\cdot \cdot}{Z Z}}_{22} = = {Z Z}_{33} - - {L L}_{22} (({Z Z}_{11} - - y the y)) + + bu bu

{\overset{\cdot \cdot}{Z Z}}_{33} = = - - {L L}_{33} (({Z Z}_{11} - - y the y));;

③Design and realize the three components of the method, linear extended state observer LESO, proportional controller K _p and differential controller K _d ;

Among them, the linear extended state observer (LESO) adopts the following discrete form equation:

\overset{\cdot &Center Dot;}{Z Z} = = [[A A - - LC LC]] Z Z + + [\begin{matrix} B B - - LD LD & L L \end{matrix}] {U u}_{c c}

Where U _c = [u y] ^T is the input, Z is the output;

The linear ESO of the system is

{\overset{\cdot &Center Dot;}{Z Z}}_{11} = = {Z Z}_{22} - - {L L}_{11} (({Z Z}_{11} - - y the y))

{\overset{\cdot &Center Dot;}{Z Z}}_{22} = = {Z Z}_{33} - - {L L}_{22} (({Z Z}_{11} - - y the y)) + + bu bu

{\overset{\cdot &Center Dot;}{Z Z}}_{33} = = - - {L L}_{33} (({Z Z}_{11} - - y the y));;

The gain vector L of the observer is determined by the placement of the two poles of the characteristic equation:

λ(s)=|sI-(A-LC)|=(s+ω ₀ ) ³

L＝[3ω ₀ ,3ω ₀ ² ,ω ₀ ³ ] ^T

L ₁ =3ω ₀ , L ₂ =3ω ₀ ² , L ₃ =3ω ₀ ³ ; ω ₀ is the bandwidth of the observer, ω _c is the bandwidth of the controller, generally ω _c =2ω ₀ , K _p =ω _c ² , K _d =2ω _c ;

④ Collect the voltage, current and phase signals of the SVC control system, and transmit them to the control board after conditioning; on the control board, TMS320LF2407A DSP is responsible for data collection, real-time data processing, data display, communication with the host computer and IGBT Control; TMS320LF2407A processes the data collected by the A/D in real time, sends them to the LCD to display various power parameters, and at the same time performs control calculations based on the sampled data. The LCD can display power factor, voltage, current, active power and reactive power. power data;

⑤ According to the control signal, generate corresponding trigger pulses, namely PWM signal and I/O signal, respectively control the conduction angle of TCR and TSC and then control the amount of reactive power compensation of SVC.