基于等效解耦过程的交直流协调控制鲁棒稳定性研究
|
摘要
通过等效解耦过程(effective open-loop process)将多输入多输出系统中的各回路进行解耦,把多变量系统回路方程形式转换为单变量系统回路方程,从而建立起各回路独立控制的数学模型。但在多输入多输出系统中,各回路控制器之间可能存在无法协调的问题,为此,在实现等效解耦过程解耦控制的基础上,基于小增益定理,提出判断交直流系统协调控制鲁棒稳定性的量化指标;且针对发电机PSS附加控制与直流附加控制的协调控制,设计了能够协调运作且抑制低频振荡的发电机PSS附加控制器和直流附加控制器。在PSCAD中进行算例仿真验证了所提判断交直流系统协调控制鲁棒稳定性量化指标的有效性和所设计控制器的实用性。
In multi-input multi-output system, each loop can be decoupled with effective open-loop process theorem. Multi-variable system loop matrix equation is converted into many single variable system loop equations. So each loop can be independently controlled. To eliminate potential adverse interaction among loop controllers, a coordinated control robust stability index of HVDC and PSS supplementary damping control was proposed based on effective open-loop process theorem and small gain theorem. PSCAD simulation results show its effectiveness in suppressing low frequency oscillation of the designed controllers and validity of the proposed index.
In multi-input multi-output system, each loop can be decoupled with effective open-loop process theorem. Multi-variable system loop matrix equation is converted into many single variable system loop equations. So each loop can be independently controlled. To eliminate potential adverse interaction among loop controllers, a coordinated control robust stability index of HVDC and PSS supplementary damping control was proposed based on effective open-loop process theorem and small gain theorem. PSCAD simulation results show its effectiveness in suppressing low frequency oscillation of the designed controllers and validity of the proposed index.
引文
[1]李兴源.高压直流输电系统[M].北京:科学出版社,2010:1-9.
[2]赵婉君.高压直流输电工程技术[M].北京:中国电力出版社,2009:1-25.
[3]胡楠,李兴源,杨毅强,等.考虑时变时滞影响的直流广域阻尼自适应控制[J].电网技术,2014,38(2):281-288.Hu Nan,Li Xingyuan,Yang Yiqiang,et al.Adaptive wide-area damping control for HVDC transmission system considering influence of time-varying delay[J].Power System Technology,2014,38(2):281-288(in Chinese).
[4]刘取.电力系统稳定性及发电机励磁控制[M].北京:中国电力出版社,2007:308-411.
[5]李保宏,张英敏,李兴源,等.多通道高压直流附加鲁棒控制器设计[J].电网技术,2014,38(4):858-864.Li Baohong,Zhang Yingmin,Li Xingyuan,et al.Design of multi-channel additional robust controller for HVDC transmission system[J].Power System Technology,2014,38(4):858-864(in Chinese).
[6]陈实,李兴源,赵睿,等.多落点HVDC附加阻尼控制的最优控制点研究[J].电网技术,2014,38(7):1746-1752.Chen Shi,Li Xingyuan,Zhao Rui,et al.Optimal control point of supplementary damping control for multi-terminal HVDC transmission system[J].Power System Technology,2014,38(7):1746-1752(in Chinese).
[7]宋墩文,杨学涛,丁巧林,等.大规模互联电网低频振荡分析与控制方法综述[J].电网技术,2011,35(10):22-28.Song Dunwen,Yang Xuetao,Ding Qiaolin,et al.A survey on analysis on low frequency oscillation in large-scale interconnected power grid and its control measures[J].Power System Technology,2011,35(10):22-28(in Chinese).
[8]魏巍,王渝红,李兴源,等.交直流电力系统PSS和直流附加控制的协调[J].电力自动化设备,2010,30(1):53-57.Wei Wei,Wang Yuhong,Li Xingyuan,et al.Coordination of PSS and DC additional controller for AC DC power system[J].Electric Power Automation Equipment,2010,30(1):53-57(in Chinese).
[9]Magaji N,Madugu J S,Lawan A U,et al.HVDC controller for power system oscillations[C]//Adaptive Science&Technology(ICAST),2012 IEEE 4th International Conference on.Kumasi:IEEE,2012:132-136.
[10]刘晨晖.多变量过程控制系统解耦理论[M].北京:水利电力出版社,1984:282-296.
[11]Li Y,Rehtanz C,Rüberg S,et al.Wide-area robust coordination approach of HVDC and FACTS controllers for damping multiple interarea oscillations[J].IEEE Transactions on Power Delivery,2012,27(3):1096-1105.
[12]李保宏.高压直流输电附加控制策略研究[D].成都:四川大学,2015.
[13]王曦,李兴源,赵睿.基于相对增益和改进粒子群算法的PSS与直流调制协调策略[J].中国电机工程学报,2014,34(34):6177-6184.Wang Xi,Li Xingyuan,Zhao Rui.Coordination strategy of PSS and DCM based on relative gain and improved PSO[J].Proceedings of the CSEE,2014,34(34):6177-6184(in Chinese).
[14]Huang H P,Jeng J C.Monitoring and assessment of control performance for single loop systems[J].Industrial&Engineering Chemistry Research,2002,41(5):1297-1309.
[15]Xiong Q,Cai W J.Effective transfer function method for decentralized control system design of multi-input multi-output processes[J].Journal of Process Control,2006,16(8):773-784.
[16]Cai W J,Ni W,He M J,et al.Normalized decoupling-a new approach for MIMO processes control system design[J].Industrial&Engineering Chemistry Research,2008,47(19):7347-7356.
[17]Huang H P,Jeng J C,Chiang C H,et al.A direct method for multi-loop PI/PID controller design[J].Journal of Process Control,2003,13(8):769-786.
[18]梅生伟,申铁龙,刘康志.现代鲁棒控制理论与应用[M].北京:清华大学出版社,2008:218-242.
[19]高磊,刘玉田,汤涌,等.基于多FACTS的网侧阻尼协调控制量化指标研究[J].中国电机工程学报,2014,34(31):5633-5641.Gao Lei,Liu Yutian,Tang Yong,et al.Coordinated control and interaction analysis study for multiple FACTS damping controllers based on effective open-loop process theorem[J].Proceedings of the CSEE,2014,34(31):5633-5641(in Chinese).
[2]赵婉君.高压直流输电工程技术[M].北京:中国电力出版社,2009:1-25.
[3]胡楠,李兴源,杨毅强,等.考虑时变时滞影响的直流广域阻尼自适应控制[J].电网技术,2014,38(2):281-288.Hu Nan,Li Xingyuan,Yang Yiqiang,et al.Adaptive wide-area damping control for HVDC transmission system considering influence of time-varying delay[J].Power System Technology,2014,38(2):281-288(in Chinese).
[4]刘取.电力系统稳定性及发电机励磁控制[M].北京:中国电力出版社,2007:308-411.
[5]李保宏,张英敏,李兴源,等.多通道高压直流附加鲁棒控制器设计[J].电网技术,2014,38(4):858-864.Li Baohong,Zhang Yingmin,Li Xingyuan,et al.Design of multi-channel additional robust controller for HVDC transmission system[J].Power System Technology,2014,38(4):858-864(in Chinese).
[6]陈实,李兴源,赵睿,等.多落点HVDC附加阻尼控制的最优控制点研究[J].电网技术,2014,38(7):1746-1752.Chen Shi,Li Xingyuan,Zhao Rui,et al.Optimal control point of supplementary damping control for multi-terminal HVDC transmission system[J].Power System Technology,2014,38(7):1746-1752(in Chinese).
[7]宋墩文,杨学涛,丁巧林,等.大规模互联电网低频振荡分析与控制方法综述[J].电网技术,2011,35(10):22-28.Song Dunwen,Yang Xuetao,Ding Qiaolin,et al.A survey on analysis on low frequency oscillation in large-scale interconnected power grid and its control measures[J].Power System Technology,2011,35(10):22-28(in Chinese).
[8]魏巍,王渝红,李兴源,等.交直流电力系统PSS和直流附加控制的协调[J].电力自动化设备,2010,30(1):53-57.Wei Wei,Wang Yuhong,Li Xingyuan,et al.Coordination of PSS and DC additional controller for AC DC power system[J].Electric Power Automation Equipment,2010,30(1):53-57(in Chinese).
[9]Magaji N,Madugu J S,Lawan A U,et al.HVDC controller for power system oscillations[C]//Adaptive Science&Technology(ICAST),2012 IEEE 4th International Conference on.Kumasi:IEEE,2012:132-136.
[10]刘晨晖.多变量过程控制系统解耦理论[M].北京:水利电力出版社,1984:282-296.
[11]Li Y,Rehtanz C,Rüberg S,et al.Wide-area robust coordination approach of HVDC and FACTS controllers for damping multiple interarea oscillations[J].IEEE Transactions on Power Delivery,2012,27(3):1096-1105.
[12]李保宏.高压直流输电附加控制策略研究[D].成都:四川大学,2015.
[13]王曦,李兴源,赵睿.基于相对增益和改进粒子群算法的PSS与直流调制协调策略[J].中国电机工程学报,2014,34(34):6177-6184.Wang Xi,Li Xingyuan,Zhao Rui.Coordination strategy of PSS and DCM based on relative gain and improved PSO[J].Proceedings of the CSEE,2014,34(34):6177-6184(in Chinese).
[14]Huang H P,Jeng J C.Monitoring and assessment of control performance for single loop systems[J].Industrial&Engineering Chemistry Research,2002,41(5):1297-1309.
[15]Xiong Q,Cai W J.Effective transfer function method for decentralized control system design of multi-input multi-output processes[J].Journal of Process Control,2006,16(8):773-784.
[16]Cai W J,Ni W,He M J,et al.Normalized decoupling-a new approach for MIMO processes control system design[J].Industrial&Engineering Chemistry Research,2008,47(19):7347-7356.
[17]Huang H P,Jeng J C,Chiang C H,et al.A direct method for multi-loop PI/PID controller design[J].Journal of Process Control,2003,13(8):769-786.
[18]梅生伟,申铁龙,刘康志.现代鲁棒控制理论与应用[M].北京:清华大学出版社,2008:218-242.
[19]高磊,刘玉田,汤涌,等.基于多FACTS的网侧阻尼协调控制量化指标研究[J].中国电机工程学报,2014,34(31):5633-5641.Gao Lei,Liu Yutian,Tang Yong,et al.Coordinated control and interaction analysis study for multiple FACTS damping controllers based on effective open-loop process theorem[J].Proceedings of the CSEE,2014,34(31):5633-5641(in Chinese).