基于改进二阶线性自抗扰技术的微网逆变器电压控制
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摘要
微网逆变系统具有非线性、强耦合、负载扰动强、并/离网模式切换灵活等特性,传统电压电流双环控制难以取得满意的控制效果。自抗扰策略将影响系统控制的不确定因素视为总和扰动予以估计和补偿,可将复杂系统校正为积分串联型以获取期望的控制性能。文中引入更具工程应用价值的线性自抗扰控制(LADRC)技术,设计以输出电压及其微分为状态变量的二阶LADRC。考虑到扩张状态观测器(ESO)是影响LADRC控制性能的核心环节,在ESO中引入输出电压误差微分项,以提高ESO的扰动观测能力;在总和扰动作用通道增加一阶惯性环节,避免观测带宽增加而引入噪声。对LADRC及典型双闭环控制系统的频率响应特性进行分析可知,改进后的LADRC较双环控制及传统LADRC具有更好的抗扰性能。仿真和实验结果证明了所提策略的有效性。
The microgrid inverter system is characterized by nonlinearity,strong coupling,violent disturbance and flexible switching mode.It is not easy to meet requirements through conventional dual loop control.As for the active disturbance rejection control(ADRC),all uncertainties of the system are regarded as total disturbances,which will be estimated and compensated dynamically.As a result,the complex system can be corrected to integral series type to achieve expected control performance.With the adoption of linear active disturbance rejection control(LADRC)technology with more engineering application value,this paper designs a second-order LADRC controller which takes the output voltage and its differential as state variables.Considering that the extended state observer(ESO)is the core of LADRC,the output voltage error derivative term is introduced to improve the observation capability of ESO.Further,a first-order inertial link is embedded into the total perturbation channel to avoid increasing observation noise.Frequency response characteristics of LADRC and typical dual loop control system show that the improved LADRC has a better disturbance rejection performance than the other two.Simulation and experimental results further prove the effectiveness of the proposed strategy.
The microgrid inverter system is characterized by nonlinearity,strong coupling,violent disturbance and flexible switching mode.It is not easy to meet requirements through conventional dual loop control.As for the active disturbance rejection control(ADRC),all uncertainties of the system are regarded as total disturbances,which will be estimated and compensated dynamically.As a result,the complex system can be corrected to integral series type to achieve expected control performance.With the adoption of linear active disturbance rejection control(LADRC)technology with more engineering application value,this paper designs a second-order LADRC controller which takes the output voltage and its differential as state variables.Considering that the extended state observer(ESO)is the core of LADRC,the output voltage error derivative term is introduced to improve the observation capability of ESO.Further,a first-order inertial link is embedded into the total perturbation channel to avoid increasing observation noise.Frequency response characteristics of LADRC and typical dual loop control system show that the improved LADRC has a better disturbance rejection performance than the other two.Simulation and experimental results further prove the effectiveness of the proposed strategy.
引文
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[9]LIU Jia, MIURA Y, ISE T.Comparison of dynamic characteristics between virtual synchronous generator and droop control in inverter-based distributed generators[J].IEEE Transactions on Power Electronics,2016,31(5):3600-3611.
[10]ZHAO Yangyang,CHAI Jianyun, WANG Shien,et al.Instantaneous power calculation based on intrinsic frequency of single-phase virtual synchronous generator[J].Journal of Modern Power Systems and Clean Energy,2017,5(6):970-978.
[11]徐海珍,张兴,刘芳,等.基于微分补偿环节虚拟惯性的虚拟同步发电机控制策略[J].电力系统自动化,2017,41(3):96-102.DOI:10.7500/AEPS20160420001.XU Haizhen,ZHANG Xing, LIU Fang,et al.Control strategy of virtual synchronous generator based on differential compensation virtual inertia[J].Automation of Electric Power Systems, 2017, 41(3):96-102. DOI:10.7500/AEPS20160420001.
[12]陈来军,王任,郑天文,等.改善独立微网频率动态特性的虚拟同步发电机模型预测控制[J].电力系统自动化,2018,42(3):40-47.DOI:10.7500/AEPS20170312003.CHEN Laijun,WANG Ren,ZHENG Tianwen,et al.Model predictive control of virtual synchronous generator to improve dynamic characteristic of frequency for isolated microgrid[J].Automation of Electric Power Systems,2018,42(3):40-47.DOI:10.7500/AEPS20170312003.
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[14]PAPADIMITRIOUCN, KLEFTAKISVA,HATZIARGYRIOU N D.Control strategy for seamless transition from islanded to interconnected operation mode of microgrids[J].Journal of Modern Power Systems and Clean Energy,2017,5(2):169-176.
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[16]WU Dan,CHEN Ken.Frequency-domain analysis of nonlinear active disturbance rejection control via the describing function method[J].IEEE Transactions on Industrial Electronics,2013,60(9):3906-3914.
[17]CHEN Wenhua,YANG Jun,GUO Lei,et al.Disturbanceobserver-based control and related methods—an overview[J].IEEE Transactions on Industrial Electronics,2016,63(2):1083-1095.
[18]GAO Zhiqiang.Scaling and bandwidth-parameterization based controller tuning[C]//American Control Conference,June 4-6,2003,Denver,USA:4989-4996.
[19]陈增强,孙明玮,杨瑞光.线性自抗扰控制器的稳定性研究[J].自动化学报,2013,39(5):574-580.CHEN Zengqiang,SUN Mingwei,YANG Ruiguang.On the stability of linear active disturbance rejection control[J].Acta Automatica Sinica,2013,39(5):574-580.
[20]袁东,马晓军,曾庆含,等.二阶系统线性自抗扰控制器频带特性与参数配置研究[J].控制理论与应用,2013,30(12):1630-1640.YUAN Dong,MA Xiaojun,ZENG Qinghan,et al.Research on frequency-band characteristics and parameters configuration of linear active disturbance rejection control for second-order systems[J].Control Theory&Applications,2013,30(12):1630-1640.
[21]GODBOLE A A,KOLHE J P,TALOLE S E.Performance analysis of generalized extended state observer in tackling sinusoidal disturbances[J].IEEE Transactions on Control Systems Technology,2013,21(6):2212-2223.
[22]XUE Wenchao,BAI Wenyan,YANG Sheng,et al.ADRC with adaptive extended state observer and its application to AirFuel ratio control in gasoline engines[J].IEEE Transactions on Industrial Electronics,2015,62(9):5847-5857.
[23]PU Zhiqiang,YUAN Ruyi,YI Jianqiang,et al.A class of adaptive extended state observers for nonlinear disturbed systems[J].IEEE Transactions on Industrial Electronics,2015,62(9):5858-5869.
[24]李杰,齐晓慧,夏元清,等.线性/非线性自抗扰切换控制方法研究[J].自动化学报,2016,42(2):202-212.LI Jie,QI Xiaohui,XIA Yuanqing,et al.On linear/nonlinear active disturbance rejection switching control[J].Acta Automatica Sinica,2016,42(2):202-212.
[25]ZHONG Q,ZHANG Y,YANG J,et al.Non-linear autodisturbance rejection control of parallel active power filters[J].IET Control Theory and Applications,2009,3(7):907-916.
[26]马幼捷,赵健,周雪松,等.并联混合型有源电力滤波器的线性自抗扰控制及稳定性分析[J].电网技术,2012,36(11):211-216.MA Youjie,ZHAO Jian,ZHOU Xuesong,et al.A linear auto disturbance rejection controller for shunt hybrid active power filters and its stability analysis[J].Power System Technology,2012,36(11):211-216.
[27]郭源博,周鑫,张晓华,等.三相电压型脉宽调制整流器的自抗扰控制[J].电力系统自动化,2011,35(16):87-93.GUO Yuanbo,ZHOU Xin,ZHANG Xiaohua,et al.Autodisturbance rejection control for three-phase voltage-type PWM rectifier[J].Automation of Electric Power Systems,2011,35(16):87-93.
[28]SONG Zhanfeng,TIAN Yanjun,YAN Zhuo,et al.Direct power control for three-phase two-level voltage-source rectifiers based on extended-state observation[J].IEEE Transactions onIndustrialElectronics, 2016, 63(7):4593-4603.
[29]XU Rong,YU Yong,YANG Rongfeng,et al.A novel control method for transformerless H-bridge cascaded STATCOM with star configuration[J].IEEE Transactions on Power Electronics,2015,30(3):1189-1202.
[30]于雁南,杨荣峰,严继池,等.级联H桥静止无功发生器的多变量自抗扰解耦控制[J].中国电机工程学报,2016,36(8):2233-2241.YU Yannan,YANG Rongfeng,YAN Jichi,et al.Multipleinput multiple-output decoupling control schemes of static var generator with cascaded H-bridge based on active disturbance rejection control[J].Proceedings of the CSEE,2016,36(8):2233-2241.
[31]赵宇,王俊杰,姚为正,等.新型改进内模解耦控制的STATCOM电流环控制方案设计[J].中国电机工程学报,2017,37(18):5409-5419.ZHAO Yu,WANG Junjie,YAO Weizheng,et al.Current loop controller design of STATCOM based on the new improved internal model decoupling control[J].Proceedings of the CSEE,2017,37(18):5409-5419.
[2]王成山,李鹏.分布式发电、微网与智能配电网的发展与挑战[J].电力系统自动化,2010,34(2):10-14.WANG Chengshan,LI Peng.Development and challenges of distributed generation,the micro-grid and smart distribution system[J].Automation of Electric Power Systems,2010,34(2):10-14.
[3]LIU Nian,WANG Jie,WANG Lingfeng.Distributed energy management for interconnected operation of combined heat and power-based microgrids with demand response[J].Journal of Modern Power Systems and Clean Energy,2017,5(3):478-488.
[4]曾正,李辉,冉立.交流微电网逆变器控制策略述评[J].电力系统自动化,2016,40(9):142-151.DOI:10.7500/AEPS20150226006.ZENG Zheng, LI Hui, RAN Li.Comparison on control151strategies of inverters in AC microgrids[J].Automation of Electric Power Systems,2016,40(9):142-151.DOI:10.7500/AEPS20150226006.
[5]郭倩,林燎源,武宏彦,等.一种改进的分布式电源无功功率精确分配下垂控制策略[J].电力系统自动化,2015,39(15):30-34.DOI:10.7500/AEPS20140922009.GUO Qian,LIN Liaoyuan,WU Hongyan,et al.An improved droop control strategy for accurate reactive power sharing among distributed generators[J].Automation of Electric Power Systems, 2015, 39(15):30-34. DOI:10.7500/AEPS20140922009.
[6]SHUAI Zhikang, MO Shanglin, WANG Jun,et al.Droop control method for load share and voltage regulation in highvoltage microgrids[J].Journal of Modern Power Systems and Clean Energy,2016,4(1):76-86.
[7]OUREILIDIS K O,BAKIRTZIS E A,DEMOULIAS C S.Frequency-based control of islanded microgrid with renewable energy sources and energy storage[J].Journal of Modern Power Systems and Clean Energy,2016,4(1):54-62.
[8]SHI Rongliang,ZHANG Xing,HU Chao,et al.Self-tuning virtual synchronous generator control for improving frequency stability in autonomous photovoltaic-diesel microgrids[J].Journal of Modern Power Systems and Clean Energy,2018,6(3):482-494.
[9]LIU Jia, MIURA Y, ISE T.Comparison of dynamic characteristics between virtual synchronous generator and droop control in inverter-based distributed generators[J].IEEE Transactions on Power Electronics,2016,31(5):3600-3611.
[10]ZHAO Yangyang,CHAI Jianyun, WANG Shien,et al.Instantaneous power calculation based on intrinsic frequency of single-phase virtual synchronous generator[J].Journal of Modern Power Systems and Clean Energy,2017,5(6):970-978.
[11]徐海珍,张兴,刘芳,等.基于微分补偿环节虚拟惯性的虚拟同步发电机控制策略[J].电力系统自动化,2017,41(3):96-102.DOI:10.7500/AEPS20160420001.XU Haizhen,ZHANG Xing, LIU Fang,et al.Control strategy of virtual synchronous generator based on differential compensation virtual inertia[J].Automation of Electric Power Systems, 2017, 41(3):96-102. DOI:10.7500/AEPS20160420001.
[12]陈来军,王任,郑天文,等.改善独立微网频率动态特性的虚拟同步发电机模型预测控制[J].电力系统自动化,2018,42(3):40-47.DOI:10.7500/AEPS20170312003.CHEN Laijun,WANG Ren,ZHENG Tianwen,et al.Model predictive control of virtual synchronous generator to improve dynamic characteristic of frequency for isolated microgrid[J].Automation of Electric Power Systems,2018,42(3):40-47.DOI:10.7500/AEPS20170312003.
[13]SHINTAI T,MIURA Y,ISE T.Oscillation damping of a distributed generator using a virtual synchronous generator[J].IEEE Transactions on Power Delivery,2014,29(2):668-676.
[14]PAPADIMITRIOUCN, KLEFTAKISVA,HATZIARGYRIOU N D.Control strategy for seamless transition from islanded to interconnected operation mode of microgrids[J].Journal of Modern Power Systems and Clean Energy,2017,5(2):169-176.
[15]韩京清.自抗扰控制技术:估计补偿不确定因素的控制技术[M].北京:国防工业出版社,2008.HANJingqing. Activedisturbancerejectioncontrol technology:the control technology for estimating and compensating the uncertainties[M].Beijing:National Defense Industry Press,2008.
[16]WU Dan,CHEN Ken.Frequency-domain analysis of nonlinear active disturbance rejection control via the describing function method[J].IEEE Transactions on Industrial Electronics,2013,60(9):3906-3914.
[17]CHEN Wenhua,YANG Jun,GUO Lei,et al.Disturbanceobserver-based control and related methods—an overview[J].IEEE Transactions on Industrial Electronics,2016,63(2):1083-1095.
[18]GAO Zhiqiang.Scaling and bandwidth-parameterization based controller tuning[C]//American Control Conference,June 4-6,2003,Denver,USA:4989-4996.
[19]陈增强,孙明玮,杨瑞光.线性自抗扰控制器的稳定性研究[J].自动化学报,2013,39(5):574-580.CHEN Zengqiang,SUN Mingwei,YANG Ruiguang.On the stability of linear active disturbance rejection control[J].Acta Automatica Sinica,2013,39(5):574-580.
[20]袁东,马晓军,曾庆含,等.二阶系统线性自抗扰控制器频带特性与参数配置研究[J].控制理论与应用,2013,30(12):1630-1640.YUAN Dong,MA Xiaojun,ZENG Qinghan,et al.Research on frequency-band characteristics and parameters configuration of linear active disturbance rejection control for second-order systems[J].Control Theory&Applications,2013,30(12):1630-1640.
[21]GODBOLE A A,KOLHE J P,TALOLE S E.Performance analysis of generalized extended state observer in tackling sinusoidal disturbances[J].IEEE Transactions on Control Systems Technology,2013,21(6):2212-2223.
[22]XUE Wenchao,BAI Wenyan,YANG Sheng,et al.ADRC with adaptive extended state observer and its application to AirFuel ratio control in gasoline engines[J].IEEE Transactions on Industrial Electronics,2015,62(9):5847-5857.
[23]PU Zhiqiang,YUAN Ruyi,YI Jianqiang,et al.A class of adaptive extended state observers for nonlinear disturbed systems[J].IEEE Transactions on Industrial Electronics,2015,62(9):5858-5869.
[24]李杰,齐晓慧,夏元清,等.线性/非线性自抗扰切换控制方法研究[J].自动化学报,2016,42(2):202-212.LI Jie,QI Xiaohui,XIA Yuanqing,et al.On linear/nonlinear active disturbance rejection switching control[J].Acta Automatica Sinica,2016,42(2):202-212.
[25]ZHONG Q,ZHANG Y,YANG J,et al.Non-linear autodisturbance rejection control of parallel active power filters[J].IET Control Theory and Applications,2009,3(7):907-916.
[26]马幼捷,赵健,周雪松,等.并联混合型有源电力滤波器的线性自抗扰控制及稳定性分析[J].电网技术,2012,36(11):211-216.MA Youjie,ZHAO Jian,ZHOU Xuesong,et al.A linear auto disturbance rejection controller for shunt hybrid active power filters and its stability analysis[J].Power System Technology,2012,36(11):211-216.
[27]郭源博,周鑫,张晓华,等.三相电压型脉宽调制整流器的自抗扰控制[J].电力系统自动化,2011,35(16):87-93.GUO Yuanbo,ZHOU Xin,ZHANG Xiaohua,et al.Autodisturbance rejection control for three-phase voltage-type PWM rectifier[J].Automation of Electric Power Systems,2011,35(16):87-93.
[28]SONG Zhanfeng,TIAN Yanjun,YAN Zhuo,et al.Direct power control for three-phase two-level voltage-source rectifiers based on extended-state observation[J].IEEE Transactions onIndustrialElectronics, 2016, 63(7):4593-4603.
[29]XU Rong,YU Yong,YANG Rongfeng,et al.A novel control method for transformerless H-bridge cascaded STATCOM with star configuration[J].IEEE Transactions on Power Electronics,2015,30(3):1189-1202.
[30]于雁南,杨荣峰,严继池,等.级联H桥静止无功发生器的多变量自抗扰解耦控制[J].中国电机工程学报,2016,36(8):2233-2241.YU Yannan,YANG Rongfeng,YAN Jichi,et al.Multipleinput multiple-output decoupling control schemes of static var generator with cascaded H-bridge based on active disturbance rejection control[J].Proceedings of the CSEE,2016,36(8):2233-2241.
[31]赵宇,王俊杰,姚为正,等.新型改进内模解耦控制的STATCOM电流环控制方案设计[J].中国电机工程学报,2017,37(18):5409-5419.ZHAO Yu,WANG Junjie,YAO Weizheng,et al.Current loop controller design of STATCOM based on the new improved internal model decoupling control[J].Proceedings of the CSEE,2017,37(18):5409-5419.