计及不确定时滞的有源配电网无功电压鲁棒控制
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摘要
受外界环境影响,分布式光伏出力具有波动性、不确定性且难以预测,其高渗透接入会带来局部过电压问题,同时其分散化接入的方式进一步加大了控制的难度。因此,该文提出了一种计及不确定时滞的有源配电网无功电压鲁棒控制方法,该方法充分利用光伏的无功调节能力,解决含多种不确定性因素的配电网局部过电压问题;首先,采用含光伏和负荷出力不确定性的多胞体模型设计H∞电压鲁棒控制器,实现对电压越限的抑制;其次,构建不确定时滞补偿模型来解决通信延迟和闭环控制带来的控制滞后性问题;最后,在Matlab/Simulink中搭建PG&E 69节点仿真模型并进行算例分析,验证所提控制方法可适应有源配电网运行状态变化,提高配电网控制的快速性和有效性。
The output power of distributed photovoltaic(PV) is frequently fluctuated, uncertain and difficult to predict because of environmental impacts. Its high-penetrated integration into distribution network has brought partial overvoltage problem, and its decentralized access has increased the difficulty of control further. Therefore, this paper proposed a reactive power and voltage robust control method considering uncertain delay for active distribution network. This method takes full advantage of the PV reactive power regulation ability to solve the partial overvoltage problem of the distribution network with various uncertainties. First of all, considering the uncertainty of photovoltaic output power and load in the distribution network, an H∞ robust voltage controller, based on the multi-cell model, was designed to achieve the inhibition of the overvoltage. Secondly, an uncertain delay compensation model was proposed to solve the control lag problem caused by communication delay and closed-loop control. Finally, a simulation model of PG&E 69 nodes was built in Matlab/Simulink and a case study was analyzed to show that the proposed method can adapt to the dynamic operating state of distribution network with high-penetrated distributed PVs and can improve the speed and efficiency of distribution network's voltage control.
The output power of distributed photovoltaic(PV) is frequently fluctuated, uncertain and difficult to predict because of environmental impacts. Its high-penetrated integration into distribution network has brought partial overvoltage problem, and its decentralized access has increased the difficulty of control further. Therefore, this paper proposed a reactive power and voltage robust control method considering uncertain delay for active distribution network. This method takes full advantage of the PV reactive power regulation ability to solve the partial overvoltage problem of the distribution network with various uncertainties. First of all, considering the uncertainty of photovoltaic output power and load in the distribution network, an H∞ robust voltage controller, based on the multi-cell model, was designed to achieve the inhibition of the overvoltage. Secondly, an uncertain delay compensation model was proposed to solve the control lag problem caused by communication delay and closed-loop control. Finally, a simulation model of PG&E 69 nodes was built in Matlab/Simulink and a case study was analyzed to show that the proposed method can adapt to the dynamic operating state of distribution network with high-penetrated distributed PVs and can improve the speed and efficiency of distribution network's voltage control.
引文
[1]Antoniadou-Plytaria K E,Kouveliotis-Lysikatos I N,Georgilakis P S,et al.Distributed and decentralized voltage control of smart distribution networks:models,methods,and future research[J].IEEE Transactions on Smart Grid,2017,8(6):2999-3008.
[2]丁明,王伟胜,王秀丽,等.大规模光伏发电对电力系统影响综述[J].中国电机工程学报,2014,34(1):1-14.Ding Ming,Wang Weisheng,Wang Xiuli,et al.A review on the effect of large-scale PV generation on power systems[J].Proceedings of the CSEE,2014,34(1):1-14(in Chinese).
[3]Schonardie M F,Martins D C.Application of the dq0transformation in the three-phase grid-connected PVsystems with active and reactive power control[C]//Proceedings of 2008 IEEE International Conference on Sustainable Energy Technologies.Singapore:IEEE,2008:18-23.
[4]Sansawatt T,O'Donnell J,Ochoa L F,et al.Decentralised voltage control for active distribution networks[C]//Proceedings of the 44th International Universities Power Engineering Conference.Glasgow,UK:IEEE,2009:1-5.
[5]Mehrizi-Sani A,Iravani R.Online set point adjustment for trajectory shaping in microgrid applications[J].IEEETransactions on Power Systems,2012,27(1):216-223.
[6]Mehrizi-Sani A,Iravani R.Online set point modulation to enhance microgrid dynamic response:theoretical foundation[J].IEEE Transactions on Power Systems,2012,27(4):2167-2174.
[7]Molina García A,Mastromauro R A,Liserre M.Acombined centralized/decentralized voltage regulation method for PV inverters in LV distribution networks[C]//Proceedings of 2014 IEEE PES General Meeting|Conference&Exposition.National Harbor,USA:IEEE,2014:1-5.
[8]肖传亮,赵波,周金辉,等.配电网中基于网络分区的高比例分布式光伏集群电压控制[J].电力系统自动化,2017,41(21):147-155.Xiao Chuanliang,Zhao Bo,Zhou Jinhui,et al.Network partition based cluster voltage control of high-penetration distributed photovoltaic systems in distribution networks[J].Automation of Electric Power Systems,2017,41(21):147-155(in Chinese).
[9]李鹏,于航,夏曼,等.分布式光伏集群分层多模式无功控制策略[J].电网技术,2016,40(10):3038-3044.Li Peng,Yu Hang,Xia Man,et al.A hierarchical multi-mode var control strategy for grid-connected PVclusters[J].Power System Technology,2016,40(10):3038-3044(in Chinese).
[10]Balram P,Carlson O,Tuan L A.Demonstration of voltage control in a real distribution system using model predictive control[J].IET Generation,Transmission&Distribution,2017,11(16):3922-3929.
[11]蔡宇,林今,宋永华,等.基于模型预测控制的主动配电网电压控制[J].电工技术学报,2015,30(23):42-49.Cai Yu,Lin Jin,Song Yonghua,et al.Voltage control strategy in active distribution network based on model predictive control[J].Transactions of China Electrotechnical Society,2015,30(23):42-49(in Chinese).
[12]Li Peishuai,Wu Zaijun,Wang Yang,et al.Adaptive robust optimal reactive power dispatch in unbalanced distribution networks with high penetration of distributed generation[J].IET Generation,Transmission&Distribution,2018,12(6):1382-1389.
[13]Zheng Weiye,Wu Wenchuan,Zhang Boming,et al.Robust reactive power optimisation and voltage control method for active distribution networks via dual time-scale coordination[J].IET Generation,Transmission&Distribution,2017,11(6):1461-1471.
[14]王永杰,吴文传,张伯明.考虑负荷量测和光伏不确定性的主动配电网鲁棒电压控制[J].电力系统自动化,2015,39(9):138-144.Wang Yongjie,Wu Wenchuan,Zhang Boming.Robust voltage control model for active distribution network considering load and photovoltaic uncertainties[J].Automation of Electric Power Systems,2015,39(9):138-144(in Chinese).
[15]Christakou K,Paolone M,Abur A.Voltage control in active distribution networks under uncertainty in the system model:a robust optimization approach[J].IEEETransactions on Smart Grid,2018,9(6):5631-5642.
[16]赵洪山,兰晓明,王颖,等.基于平衡Gramian的电力系统电压预测控制研究[J].中国电机工程学报,2016,36(22):6038-6048.Zhao Hongshan,Lan Xiaoming,Wang Ying,et al.Research on voltage prediction control of power system based balanced Gramian[J].Proceedings of the CSEE,2016,36(22):6038-6048(in Chinese).
[17]盛戈皞,江秀臣,曾奕.考虑网络传输延迟的二级电压控制[J].电力系统自动化,2007,31(15):30-34,50.Sheng Gehao,Jiang Xiuchen,Zeng Yi.Secondary voltage control considering network transmission delays[J].Automation of Electric Power Systems,2007,31(15):30-34,50(in Chinese).
[18]盛戈皞,刘亚东,江秀臣.具有鲁棒容错特性的网络化二级电压控制[J].电力系统及其自动化学报,2012,24(1):43-48.Sheng Gehao,Liu Yadong,Jiang Xiuchen.Robust fault-tolerant control method for networked secondary voltage control[J].Proceedings of the CSU-EPSA,2012,24(1):43-48(in Chinese).
[19]姚伟,文劲宇,孙海顺,等.考虑通信延迟的分散网络化预测负荷频率控制[J].中国电机工程学报,2013,33(1):84-92.Yao Wei,Wen Jinyu,Sun Haishun,et al.Decentralized networked predictive load frequency control considering communication delays[J].Proceedings of the CSEE,2013,33(1):84-92(in Chinese).
[20]Ndiaye I,Wu Xinhui,Agamy M.Impact of micro-inverter reactive power support capability in high penetration residential PV networks[C]//Proceedings of the IEEE42nd Photovoltaic Specialist Conference.New Orleans,LA,USA:IEEE,2015:1-6.
[21]徐志成,赵波,丁明,等.基于电压灵敏度的配电网光伏消纳能力随机场景模拟及逆变器控制参数优化整定[J].中国电机工程学报,2016,36(6):1578-1587.Xu Zhicheng,Zhao Bo,Ding Ming,et al.Photovoltaic hosting capacity evaluation of distribution networks and inverter parameters optimization based on node voltage sensitivity[J].Proceedings of the CSEE,2016,36(6):1578-1587(in Chinese).
[22]姜偕富,徐文立.线性离散时滞系统滞后相关型H?状态反馈控制[J].控制与决策,2003,18(4):464-467.Jiang Xiefu,Xu Wenli.Delay-dependent H?feedback control for linear discrete time-delay system[J].Control and Decision,2003,18(4):464-467(in Chinese).
[23]王国权,王森,刘华勇,等.基于自适应的动态三次指数平滑法的风电场风速预测[J].电力系统保护与控制,2014,42(15):117-122.Wang Guoquan,Wang Sen,Liu Huayong,et al.Self-adaptive and dynamic cubic ES method for wind speed forecasting[J].Power System Protection and Control,2014,42(15):117-122(in Chinese).
[24]Wang Zhaoyu,Wang Jianhui,Chen Bokan,et al.MPC-based voltage/var optimization for distribution circuits with distributed generators and exponential load models[J].IEEE Transactions on Smart Grid,2014,5(5):2412-2420.
[2]丁明,王伟胜,王秀丽,等.大规模光伏发电对电力系统影响综述[J].中国电机工程学报,2014,34(1):1-14.Ding Ming,Wang Weisheng,Wang Xiuli,et al.A review on the effect of large-scale PV generation on power systems[J].Proceedings of the CSEE,2014,34(1):1-14(in Chinese).
[3]Schonardie M F,Martins D C.Application of the dq0transformation in the three-phase grid-connected PVsystems with active and reactive power control[C]//Proceedings of 2008 IEEE International Conference on Sustainable Energy Technologies.Singapore:IEEE,2008:18-23.
[4]Sansawatt T,O'Donnell J,Ochoa L F,et al.Decentralised voltage control for active distribution networks[C]//Proceedings of the 44th International Universities Power Engineering Conference.Glasgow,UK:IEEE,2009:1-5.
[5]Mehrizi-Sani A,Iravani R.Online set point adjustment for trajectory shaping in microgrid applications[J].IEEETransactions on Power Systems,2012,27(1):216-223.
[6]Mehrizi-Sani A,Iravani R.Online set point modulation to enhance microgrid dynamic response:theoretical foundation[J].IEEE Transactions on Power Systems,2012,27(4):2167-2174.
[7]Molina García A,Mastromauro R A,Liserre M.Acombined centralized/decentralized voltage regulation method for PV inverters in LV distribution networks[C]//Proceedings of 2014 IEEE PES General Meeting|Conference&Exposition.National Harbor,USA:IEEE,2014:1-5.
[8]肖传亮,赵波,周金辉,等.配电网中基于网络分区的高比例分布式光伏集群电压控制[J].电力系统自动化,2017,41(21):147-155.Xiao Chuanliang,Zhao Bo,Zhou Jinhui,et al.Network partition based cluster voltage control of high-penetration distributed photovoltaic systems in distribution networks[J].Automation of Electric Power Systems,2017,41(21):147-155(in Chinese).
[9]李鹏,于航,夏曼,等.分布式光伏集群分层多模式无功控制策略[J].电网技术,2016,40(10):3038-3044.Li Peng,Yu Hang,Xia Man,et al.A hierarchical multi-mode var control strategy for grid-connected PVclusters[J].Power System Technology,2016,40(10):3038-3044(in Chinese).
[10]Balram P,Carlson O,Tuan L A.Demonstration of voltage control in a real distribution system using model predictive control[J].IET Generation,Transmission&Distribution,2017,11(16):3922-3929.
[11]蔡宇,林今,宋永华,等.基于模型预测控制的主动配电网电压控制[J].电工技术学报,2015,30(23):42-49.Cai Yu,Lin Jin,Song Yonghua,et al.Voltage control strategy in active distribution network based on model predictive control[J].Transactions of China Electrotechnical Society,2015,30(23):42-49(in Chinese).
[12]Li Peishuai,Wu Zaijun,Wang Yang,et al.Adaptive robust optimal reactive power dispatch in unbalanced distribution networks with high penetration of distributed generation[J].IET Generation,Transmission&Distribution,2018,12(6):1382-1389.
[13]Zheng Weiye,Wu Wenchuan,Zhang Boming,et al.Robust reactive power optimisation and voltage control method for active distribution networks via dual time-scale coordination[J].IET Generation,Transmission&Distribution,2017,11(6):1461-1471.
[14]王永杰,吴文传,张伯明.考虑负荷量测和光伏不确定性的主动配电网鲁棒电压控制[J].电力系统自动化,2015,39(9):138-144.Wang Yongjie,Wu Wenchuan,Zhang Boming.Robust voltage control model for active distribution network considering load and photovoltaic uncertainties[J].Automation of Electric Power Systems,2015,39(9):138-144(in Chinese).
[15]Christakou K,Paolone M,Abur A.Voltage control in active distribution networks under uncertainty in the system model:a robust optimization approach[J].IEEETransactions on Smart Grid,2018,9(6):5631-5642.
[16]赵洪山,兰晓明,王颖,等.基于平衡Gramian的电力系统电压预测控制研究[J].中国电机工程学报,2016,36(22):6038-6048.Zhao Hongshan,Lan Xiaoming,Wang Ying,et al.Research on voltage prediction control of power system based balanced Gramian[J].Proceedings of the CSEE,2016,36(22):6038-6048(in Chinese).
[17]盛戈皞,江秀臣,曾奕.考虑网络传输延迟的二级电压控制[J].电力系统自动化,2007,31(15):30-34,50.Sheng Gehao,Jiang Xiuchen,Zeng Yi.Secondary voltage control considering network transmission delays[J].Automation of Electric Power Systems,2007,31(15):30-34,50(in Chinese).
[18]盛戈皞,刘亚东,江秀臣.具有鲁棒容错特性的网络化二级电压控制[J].电力系统及其自动化学报,2012,24(1):43-48.Sheng Gehao,Liu Yadong,Jiang Xiuchen.Robust fault-tolerant control method for networked secondary voltage control[J].Proceedings of the CSU-EPSA,2012,24(1):43-48(in Chinese).
[19]姚伟,文劲宇,孙海顺,等.考虑通信延迟的分散网络化预测负荷频率控制[J].中国电机工程学报,2013,33(1):84-92.Yao Wei,Wen Jinyu,Sun Haishun,et al.Decentralized networked predictive load frequency control considering communication delays[J].Proceedings of the CSEE,2013,33(1):84-92(in Chinese).
[20]Ndiaye I,Wu Xinhui,Agamy M.Impact of micro-inverter reactive power support capability in high penetration residential PV networks[C]//Proceedings of the IEEE42nd Photovoltaic Specialist Conference.New Orleans,LA,USA:IEEE,2015:1-6.
[21]徐志成,赵波,丁明,等.基于电压灵敏度的配电网光伏消纳能力随机场景模拟及逆变器控制参数优化整定[J].中国电机工程学报,2016,36(6):1578-1587.Xu Zhicheng,Zhao Bo,Ding Ming,et al.Photovoltaic hosting capacity evaluation of distribution networks and inverter parameters optimization based on node voltage sensitivity[J].Proceedings of the CSEE,2016,36(6):1578-1587(in Chinese).
[22]姜偕富,徐文立.线性离散时滞系统滞后相关型H?状态反馈控制[J].控制与决策,2003,18(4):464-467.Jiang Xiefu,Xu Wenli.Delay-dependent H?feedback control for linear discrete time-delay system[J].Control and Decision,2003,18(4):464-467(in Chinese).
[23]王国权,王森,刘华勇,等.基于自适应的动态三次指数平滑法的风电场风速预测[J].电力系统保护与控制,2014,42(15):117-122.Wang Guoquan,Wang Sen,Liu Huayong,et al.Self-adaptive and dynamic cubic ES method for wind speed forecasting[J].Power System Protection and Control,2014,42(15):117-122(in Chinese).
[24]Wang Zhaoyu,Wang Jianhui,Chen Bokan,et al.MPC-based voltage/var optimization for distribution circuits with distributed generators and exponential load models[J].IEEE Transactions on Smart Grid,2014,5(5):2412-2420.