统一潮流控制器控制策略的研究
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摘要
统一潮流控制器(UPFC)是由串、并联双变流器构成的FACTS设备。它在FACTS家族中,功能最齐全、最具有吸引力。它既可以把并联变流器作为静止同步补偿器单独运行来补偿系统无功和维持母线电压稳定,也可以把串联变流器作为静止同步串联补偿器单独运行来补偿输电线路电抗,而且它还可以通过联合串、并联变流器一起运行,实现母线端电压调节和输电线路有功、无功潮流控制。因此,针对UPFC的研究有其特殊的意义。
控制系统是UPFC的核心,它的控制策略决定着整个UPFC系统的性能。因此,本文的研究重点是设计UPFC控制系统的控制策略。考虑到UPFC在dq坐标系下,表现为一个多变量、强耦合、非线性系统,本文把并联变流器和串联变流器分开,分别设计其各自的控制系统,来降低控制系统设计的难度。
针对UPFC在dq坐标系下的数学模型,本文用两种控制策略设计出UPFC的控制器。第一种控制策略,通过引用状态反馈解耦附加PI控制策略和双环解耦附加PI控制策略来分别设计并联变流器和串联变流器的控制系统。这种控制策略的设计原理成熟,理论简单。但是,在设计控制系统过程中,运用的PI调节器较多,且PI调节器的比例和积分参数不易确定。另一种控制策略,是逆系统方法解耦附加变结构控制的控制策略。这种控制策略,首先采用逆系统方法,将并联变流器和串联变流器系统线性化解耦成伪线性系统,再运用变结构控制理论来设计出伪线性系统的控制律,最终构造出并、串联变流器的控制系统。这种方法的设计思路清晰,控制器参数稳定范围宽,确定容易。但是,它所运用的理论相对复杂,而且不够成熟。
在设计好UPFC的控制系统之后,本文运用MATLAB软件,建立UPFC的系统仿真实验模型以进行仿真研究。仿真结果表明,本文所设计的控制策略能够使UPFC实现其各项功能,而且与引用的控制策略相比,控制系统具有相近的响应性能,可为设计UPFC控制系统提供一种新的思路。
Unified power flow controller (UPFC) is a Flexible AC Transmission System (FACTS) device that is composed of a shunt converter and a series converter. It is the most versatile and attractive member in the FACTS family for the reason that it not only can use shunt converter as a Static Synchronous Compensator (STATCOM) to compensate the power system for reactive power and keep the bus voltage stability, and series converter as a Static Synchronous Series Compensator (SSSC) to compensate transmission line for the reactance independently, but also can be applied to regulating the bus voltage and controlling the active and reactive power flow on the transmission lines through combining the shunt converter with the series converter. Therefore, the researches on UPFC are proved significative.
The control system whose control strategy determines the performance of the system is the heart of UPFC. Designing the control method for the UPFC control system is mainly focused to in this thesis. Considering the UPFC system in the rotating coordinate system (dq coordinate system) being a multi-variable, seriously coupling and nonlinear system, UPFC is separated into a shunt converter and a series converter to design the control systems for them independently so as to reduce the difficulty of designing.
According to the mathematical model of UPFC in the dq coordinates system, two control strategies are employed to design its controllers in this thesis. The first control strategy is quoted in the paper that it takes the PI control based on state feedback decoupling method to design the shunt converter system and the PI control based on dual-loop decoupling method to devise the series converter system. The design principle of the first control strategy is simple and its theory is mature. However, it involves much difficulty that too many PI regulators of which the proportional and integral parameters are hard to be fixed are used during the whole designing process. So, the other control strategy that Inverse-System Method(ISM) and Variable Structure Control (VSC) theory are adopted to devise the UPFC control system is proposed in this thesis. In this method, first of all, the shunt converter and series converter are decoupled and linearized to be a pseudo-linear system by ISM. Then, the VSC control laws for the pseudo-linear system are laid out with the VSC control theory. Finally the control systems of the shunt converter and series converter are built by this strategy. Not only does the control strategy proposed in this thesis show a clear idea in the whole design process, but also the parameters of VSC controllers have wide stable scopes. However, the used theories are relatively complex and not mature enough.
After finished designing the control system of UPFC, the models of UPFC are established to make simulations under the support of the Simpowersystem packages in the MATLAB software. It is indicated by the simulation results that the control strategy presented in this thesis can make UPFC achieve all its functions and its response performances be similar to the control system which is designed by citing the control methods. In this way, a novel idea can be provided in this paper when one designs the control strategies for UPFC control system.
控制系统是UPFC的核心,它的控制策略决定着整个UPFC系统的性能。因此,本文的研究重点是设计UPFC控制系统的控制策略。考虑到UPFC在dq坐标系下,表现为一个多变量、强耦合、非线性系统,本文把并联变流器和串联变流器分开,分别设计其各自的控制系统,来降低控制系统设计的难度。
针对UPFC在dq坐标系下的数学模型,本文用两种控制策略设计出UPFC的控制器。第一种控制策略,通过引用状态反馈解耦附加PI控制策略和双环解耦附加PI控制策略来分别设计并联变流器和串联变流器的控制系统。这种控制策略的设计原理成熟,理论简单。但是,在设计控制系统过程中,运用的PI调节器较多,且PI调节器的比例和积分参数不易确定。另一种控制策略,是逆系统方法解耦附加变结构控制的控制策略。这种控制策略,首先采用逆系统方法,将并联变流器和串联变流器系统线性化解耦成伪线性系统,再运用变结构控制理论来设计出伪线性系统的控制律,最终构造出并、串联变流器的控制系统。这种方法的设计思路清晰,控制器参数稳定范围宽,确定容易。但是,它所运用的理论相对复杂,而且不够成熟。
在设计好UPFC的控制系统之后,本文运用MATLAB软件,建立UPFC的系统仿真实验模型以进行仿真研究。仿真结果表明,本文所设计的控制策略能够使UPFC实现其各项功能,而且与引用的控制策略相比,控制系统具有相近的响应性能,可为设计UPFC控制系统提供一种新的思路。
Unified power flow controller (UPFC) is a Flexible AC Transmission System (FACTS) device that is composed of a shunt converter and a series converter. It is the most versatile and attractive member in the FACTS family for the reason that it not only can use shunt converter as a Static Synchronous Compensator (STATCOM) to compensate the power system for reactive power and keep the bus voltage stability, and series converter as a Static Synchronous Series Compensator (SSSC) to compensate transmission line for the reactance independently, but also can be applied to regulating the bus voltage and controlling the active and reactive power flow on the transmission lines through combining the shunt converter with the series converter. Therefore, the researches on UPFC are proved significative.
The control system whose control strategy determines the performance of the system is the heart of UPFC. Designing the control method for the UPFC control system is mainly focused to in this thesis. Considering the UPFC system in the rotating coordinate system (dq coordinate system) being a multi-variable, seriously coupling and nonlinear system, UPFC is separated into a shunt converter and a series converter to design the control systems for them independently so as to reduce the difficulty of designing.
According to the mathematical model of UPFC in the dq coordinates system, two control strategies are employed to design its controllers in this thesis. The first control strategy is quoted in the paper that it takes the PI control based on state feedback decoupling method to design the shunt converter system and the PI control based on dual-loop decoupling method to devise the series converter system. The design principle of the first control strategy is simple and its theory is mature. However, it involves much difficulty that too many PI regulators of which the proportional and integral parameters are hard to be fixed are used during the whole designing process. So, the other control strategy that Inverse-System Method(ISM) and Variable Structure Control (VSC) theory are adopted to devise the UPFC control system is proposed in this thesis. In this method, first of all, the shunt converter and series converter are decoupled and linearized to be a pseudo-linear system by ISM. Then, the VSC control laws for the pseudo-linear system are laid out with the VSC control theory. Finally the control systems of the shunt converter and series converter are built by this strategy. Not only does the control strategy proposed in this thesis show a clear idea in the whole design process, but also the parameters of VSC controllers have wide stable scopes. However, the used theories are relatively complex and not mature enough.
After finished designing the control system of UPFC, the models of UPFC are established to make simulations under the support of the Simpowersystem packages in the MATLAB software. It is indicated by the simulation results that the control strategy presented in this thesis can make UPFC achieve all its functions and its response performances be similar to the control system which is designed by citing the control methods. In this way, a novel idea can be provided in this paper when one designs the control strategies for UPFC control system.
引文
[1]The EPRI Journal for April-May 1986 addresses flexible AC transmission
[2]Hingorani N G;Laszio Gyugyi.Understanding FACTS:conception and technology of flexible AC transmission systems.New York:The institute of electrical and electronics engineering,1999
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[5]杨安民.柔性交流输电(FACTS)技术综述[J].华东电力,2006,34(2):74-76
[6]何大愚.柔性交流输电控制器及对我国开发应用的建议[J].电网技术,1996,20(7):1-4
[7]李乃湖,李扬,陈珩.灵活交流输电技术在互联电网中的应用[J].中国电力,1995,4:2-6
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[28]Rao,P.;Crow,M.L.;Yang,Z.STATCOM control for power system voltage control applications[J].IEEE Transactions on Power Delivery,2000,15(4):1311-1317
[29]接峰,黄进.三相PWM整流器直接功率控制的新调制方法[J].电力电子技术,2006,40(4):9-11
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[2]Hingorani N G;Laszio Gyugyi.Understanding FACTS:conception and technology of flexible AC transmission systems.New York:The institute of electrical and electronics engineering,1999
[3]邢士辉.柔性交流输电技术的现状及未来[J].电力建设,2005,26(8):21-24
[4]谢小荣,姜齐荣.柔性交流输电系统的原理与应用[M].北京:清华大学出版社,2006
[5]杨安民.柔性交流输电(FACTS)技术综述[J].华东电力,2006,34(2):74-76
[6]何大愚.柔性交流输电控制器及对我国开发应用的建议[J].电网技术,1996,20(7):1-4
[7]李乃湖,李扬,陈珩.灵活交流输电技术在互联电网中的应用[J].中国电力,1995,4:2-6
[81陈光大.统一潮流控制器物理模型研究[D].武汉:武汉大学博士研究生论文,2004
[9]L.Gyugyi.Unified power flow control concept for flexible AC transmission systems[J],IEE PROCEEDINGS-C,1992,139(4):323-331
[10]孙元章,刘前进.FACTS控制技术综述--模型、目标与策略[J].电力系统自动化,1999,23(6):1-7
[11]Maryam Hashemi Namin.Using UPFC in order to power flow control[C].IEEE International Conference on Industrial Technology,2006:1486-1491
[12]Rajabi-Ghahnavieh.A;Fotuhi-Firuzabad.M;Feuillet.R.Evaluation of UPFC Impacts on power system reliability[C].IEEE Transmission and Distribution Conference and Exposition,2008:1-8
[13]刘小园.统一潮流控制器.并联变流器的设计与实现[D].武汉:华中科技大学硕士研究生论文,2005
[14]Kohno.H;Yokoyama.A.Control system design of UPFC for power system damping enhancement taking into account rating of converter during oscillation[C].International Conference on Electric Power Engineering,1999,Page(s):164
[15]奚玲玲,艾芊,陈陈.UPFC新型非线性控制策略[M].电力自动化设备,2007,27(4):55-59
[16]Aihong Tang;Jiaoyu Liu;Shijie Cheng.Supplement controller study for UPFC using eigenvalue methodiC].Control and Decision Conference,2008,Page(s):882-886
[17]S.Kannan;Shesha Jayaram;M.M.Salama.Real and reactive power coordination for a unified power flow controller[J].IEEE Transactions on Power Systems,2004,19(3):1454-1461
[18]Yuan Zhichang;Song Qiang;Liu Wenhua,elta.A nonlinear controller for unified power flow controller[J].Automation of Electric Power Systems.2005,29(19):36-39
[19]刘黎明,康勇,陈坚.统一潮流控制器控制策略的研究与实现[J].中国电机工程学报,2005,26(10):114-119
[20]CARSON W.TAYLOR著,王伟胜译.电力系统电压稳定[M].北京:中国电力出版社,2002
[21]韩民晓,尹忠东,徐永海等.柔性电力技术--电力电子技术在电力系统中的应用[M].北京:中作水利水电出版社,2007
[22]何仰赞,温增银.电力系统分析(下)[M].武汉:华中科技大学出版社,2002
[23]Liu Liming;Zhu Pengcheng;Kang Yong,elta.Power-flow control performance analysis of a unified power-flow controller in a novel control scheme[J].IEEE Trasations on Power Delivery,2007,22(3):1613-1619
[24]Karegar,H.K.;Golmohamadzadeh,S.A new method for small signal modeling of UPFC[C].2~(nd) IEEE International Conference on Power and Energy,2008 Page(s):844-848
[25]粟时平,刘桂英.静止无功功率补偿技术[M].北京:中国电力出版社,2006
[26]朱鹏程.用于UPFC的串、并联双变流器控制策略研究[D].武汉:华中科技大学博士研究生学位论文,2005
[27]Yang,Z.;Shen,C.;Zhang,L.Integration of a STATCOM and battery energy storage[J].IEEE Transactions on Power Systems,2001,16(2):254-260
[28]Rao,P.;Crow,M.L.;Yang,Z.STATCOM control for power system voltage control applications[J].IEEE Transactions on Power Delivery,2000,15(4):1311-1317
[29]接峰,黄进.三相PWM整流器直接功率控制的新调制方法[J].电力电子技术,2006,40(4):9-11
[30]Wu R;Dewan S B;Slemon G R.Analysis of an AC to DC voltage source converter using PWM with phase and amptitude control[J].IEEE Transations on Industry Applications,1991,21(2):355-363
[31]王勉华.三相PWM整流器研究.电工技术学报,1996,11(4):27-30
[32]倪以信,陈寿孙,张宝霖.动态电力系统的理论和分析[M].北京:清华大学出版社,2002
[33]张崇巍,张兴.PWM整流器及其控制[M].北京:机械工业出版社,2003
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