基于ESO和终端滑模控制的虚拟同步发电机研究
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摘要
微电网是由分布式电源、储能装置和负荷等组成的统一整体,其在孤网模式下运行时,主控微源对电压和频率的控制能力对于微电网的稳定至关重要。受电力电子器件固有特点的影响,微网孤网运行的稳定性较差。为实现主控微源对交流微网的调节作用,提高交流微电网孤网运行稳定性,在DIg SILENT中搭建了光储系统作为主电源的交流微电网。然后依据虚拟同步发电控制技术和非线性鲁棒控制技术对逆变器设计了虚拟同步发电控制器,在功频控制器中引入扩张状态观测器和终端滑模控制来改善控制性能。通过仿真分析,虚拟同步发电控制在负荷波动和光伏出力波动时能有效调节微网的电压和频率。通过与一般的控制器仿真结果进行对比,基于ESO和终端滑模控制的虚拟同步发电控制不仅能实现微网调频调压功能,还能有效提高暂态频率稳定性,增大交流微网惯性。
Microgrid is a unified whole which is composed of distributed power sources, energy storage device and load. Main source control ability of voltage and frequency is crucial to stability of microgrid when it is isolated network running. Due to inherent characteristics of power electronic devices, the stability of mircogrid isolated running is poor. In order to realize regulating function of frequency and voltage of the main control source in AC mircogrid and improve frequency stability of the AC microgrid operation, a mircogrid with solar and storage system as main power supply is built under Dig SILENT. Then a VSG controller based on virtual synchronous generation control technology and nonlinear robust control technology is designed to inverter. The Expansion State Observer(ESO) and Terminal Sliding Mode Control(TMSC) are introduced into the power-frequency controller to improve the control performance. Through simulation analysis, VSG controller can effectively regulate the frequency and voltage of microgrid when load or photovaltaic power changes. By comparing with the general controller simulation, the VSG control based on ESO and TMSC can not only realize frequency and voltage regulation of microgrid, but also improve the transient frequency stability more significantly and increase the inertia of AC microgrid.
Microgrid is a unified whole which is composed of distributed power sources, energy storage device and load. Main source control ability of voltage and frequency is crucial to stability of microgrid when it is isolated network running. Due to inherent characteristics of power electronic devices, the stability of mircogrid isolated running is poor. In order to realize regulating function of frequency and voltage of the main control source in AC mircogrid and improve frequency stability of the AC microgrid operation, a mircogrid with solar and storage system as main power supply is built under Dig SILENT. Then a VSG controller based on virtual synchronous generation control technology and nonlinear robust control technology is designed to inverter. The Expansion State Observer(ESO) and Terminal Sliding Mode Control(TMSC) are introduced into the power-frequency controller to improve the control performance. Through simulation analysis, VSG controller can effectively regulate the frequency and voltage of microgrid when load or photovaltaic power changes. By comparing with the general controller simulation, the VSG control based on ESO and TMSC can not only realize frequency and voltage regulation of microgrid, but also improve the transient frequency stability more significantly and increase the inertia of AC microgrid.
引文
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[14]刘安东,张荣超,俞立,等.基于扩张状态观测器的分散模型预测控制[J].控制与决策,2016,31(6):1093-1098.LIU Andong,ZHANG Rongchao,YU Li,et al.Extended state observer-based decentralized model predictive control[J].Control and Decision,2016,31(6):1093-1098.
[15]吴爱华,赵不贿,茅靖峰,等.基于转矩观测器的垂直轴风力发电最大功率跟踪反演控制[J].电力系统保护与控制,2017,45(2):7-13.WU Aihua,ZHAO Buhui,MAO Jingfeng,et al.Backstepping control for vertical axis wind power generation system maximum power point tracking based on torque observer[J].Power System Protection and Control,2017,45(2):7-13.
[16]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.
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[19]DASH P K,PATNAIK R K,MISHRA S P.Adaptive fractional integral terminal sliding mode power control of UPFC in DFIG wind farm penetrated multimachine power system[J].Protection and Control of Modern Power Systems,2018,3(3):79-92.DOI:10.1186/s41601-018-0079-z.
[20]赵越,刘斌.基于滑模变结构控制的永磁同步电机矢量控制[J].微电机,2016,49(11):76-80.ZHAO Yue,LIU Bin.PMSM vector control based on sliding mode variable structure control[J].Micro Motor,2016,49(11):76-80.
[21]康忠健,陈醒,崔朝丽,等.基于ESO与终端滑模控制的直流配电网母线电压控制[J].中国电机工程学报,2017,37(12):1-8.KANG Zhongjian,CHEN Xing,CUI Zhaoli,et al.Bus voltage control method of DC distribution network based on ESO and terminal sliding mode control[J].Proceedings of the CSEE,2017,37(12):1-8.
[2]吕志鹏,盛万兴,钟庆昌,等.虚拟同步发电机及其在微电网中的应用[J].中国电机工程学报,2014,34(16):2591-2603.LüZhipeng,SHENG Wanxing,ZHONG Qingchang,et al.Virtual synchronous generator and its application in microgrid[J].Proceedings of the CSEE,2014,34(16):2591-2603.
[3]周强,汪宁渤,何世恩,等.高弃风弃光背景下中国新能源发展总结及前景探究[J].电力系统保护与控制,2017,45(10):146-154.ZHOU Qiang,WANG Ningbo,HE Shien,et al.Summary and prospect of China's new energy development under the background of high abandoned new energy power[J].Power System Protection and Control,2017,45(10):146-154.
[4]杨新法,苏剑,吕志鹏,等.微电网技术综述[J].中国电机工程学报,2014,34(1):57-70.YANG Xinfa,SU Jian,LüZhipeng,et al.Summary of microgrid technology[J].Proceedings of the CSEE,2014,34(1):57-70.
[5]李光琦.电力系统暂态分析[M].3版.北京:中国电力出版社,2007.
[6]林岩,张建成,孟建辉.分布式发电虚拟同步发电机控制策略分析与比较[J].华北电力大学学报(自然科学版),2017,44(1):16-23.LIN Yan,ZHANG Jiancheng,MENG Jianhui.Analysis and comparison of virtual synchronous generator control strategy for distributed generation[J].Journal of North China Electric Power University(Natural Science Edition),2017,44(1):16-23.
[7]石荣亮,张兴,刘芳,等.虚拟同步发电机在光储柴独立微电网中的控制研究[J].电气与能效管理技术,2017(3):26-33.SHI Rongliang,ZHANG Xing,LIU Fang,et al.Virtual synchronous generator control in autonomous photovoltaicbattery-diesel micro grids[J].Electrical&Energy Management Technology,2017(3):26-33.
[8]孟建辉,王毅,石新春,等.基于虚拟同步发电机的分布式逆变电源控制策略及参数分析[J].电工技术学报,2014,29(12):1-10.MENG Jianhui,WANG Yi,SHI Xinchun,et al.Control strategy and parameter analysis of distributed inverters based on VSG[J].Transactions of China Electrotechnical Society,2014,29(12):1-10.
[9]曾正,邵伟华,冉立,等.虚拟同步发电机的模型及储能单元优化配置[J].电力系统自动化,2015,39(13):22-31.ZENG Zheng,SHAO Weihua,RAN Li,et al.Mathematical model and strategic energy storage selection of virtual synchronous generators[J].Automation of Electric Power Systems,2015,39(13):22-31.
[10]程冲,杨欢,曾正,等.虚拟同步发电机的转子惯量自适应控制方法[J].电力系统自动化,2015,39(19):82-89.CHENG Chong,YANG Huan,ZENG Zheng,et al.Rotor inertia adaptive control method of VSG[J].Automation of Electric Power Systems,2015,39(19):82-89.
[11]李东东,朱钱维,程云志,等.基于自适应惯量阻尼综合控制算法的虚拟同步发电机控制策略[J].电力系统自动化,2017,37(11):72-77.LI Dongdong,ZHU Qianwei,CHENG Yunzhi,et al.Control strategy of virtual synchronous generator based on self-adaptive rotor inertia and damping combination control algorithm[J].Automation of Electric Power Systems,2017,37(11):72-77.
[12]LIU Huixian,LI Shihua.Speed control for PMSM servo system using predictive functional control and extended state observer[J].IEEE Transactions on Industrial Electronics,2012,59(2):1171-1183.
[13]刘静,黄磊,康忠健.基于自抗扰控制技术的双馈型感应发电机功率解耦控制[J].电机与控制应用,2012,39(1):57-61.LIU Jing,HUANG Lei,KANG Zhongjian.Decoupling control of power in double-fed induction generator based on auto-disturbance rejection control technology[J].Electric Machines&Control Application,2012,39(1):57-61.
[14]刘安东,张荣超,俞立,等.基于扩张状态观测器的分散模型预测控制[J].控制与决策,2016,31(6):1093-1098.LIU Andong,ZHANG Rongchao,YU Li,et al.Extended state observer-based decentralized model predictive control[J].Control and Decision,2016,31(6):1093-1098.
[15]吴爱华,赵不贿,茅靖峰,等.基于转矩观测器的垂直轴风力发电最大功率跟踪反演控制[J].电力系统保护与控制,2017,45(2):7-13.WU Aihua,ZHAO Buhui,MAO Jingfeng,et al.Backstepping control for vertical axis wind power generation system maximum power point tracking based on torque observer[J].Power System Protection and Control,2017,45(2):7-13.
[16]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.
[17]ZAIDI A,DAHECH K,DAMAK T,et al.Maximum power point tracking of photovoltaic systems based on fast terminal sliding mode controller[J].International Journal of Renewable Energy Research,2016,6(4):1435-1445.
[18]徐世许.不确定系统的终端滑模变结构控制[D].上海:复旦大学,2012.XU Shixu.Terminal sliding mode variable structure control for uncertain systems[D].Shanghai:Fudan University,2012.
[19]DASH P K,PATNAIK R K,MISHRA S P.Adaptive fractional integral terminal sliding mode power control of UPFC in DFIG wind farm penetrated multimachine power system[J].Protection and Control of Modern Power Systems,2018,3(3):79-92.DOI:10.1186/s41601-018-0079-z.
[20]赵越,刘斌.基于滑模变结构控制的永磁同步电机矢量控制[J].微电机,2016,49(11):76-80.ZHAO Yue,LIU Bin.PMSM vector control based on sliding mode variable structure control[J].Micro Motor,2016,49(11):76-80.
[21]康忠健,陈醒,崔朝丽,等.基于ESO与终端滑模控制的直流配电网母线电压控制[J].中国电机工程学报,2017,37(12):1-8.KANG Zhongjian,CHEN Xing,CUI Zhaoli,et al.Bus voltage control method of DC distribution network based on ESO and terminal sliding mode control[J].Proceedings of the CSEE,2017,37(12):1-8.