Adaptive sliding mode fault-tolerant control method and device for broadband oscillation of new energy grid-connected system
By obtaining the state variable matrix of the new energy grid-connected system, the sliding mode surface and sliding mode fault-tolerant controller are solved, and the problem that the existing technology cannot suppress wideband oscillation is realized, the effective control of the new energy grid-connected system is improved, and the power is improved System stability.
Patent Information
- Application Number
- CN202411351791.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-26
- Publication Date
- 2024-12-17
AI Technical Summary
The existing technology cannot effectively curb broadband oscillation accidents in new energy grid-connected systems, resulting in the threat of the stability of the power system.
By obtaining the state variable matrix of the new energy grid-connected system, designing the sliding mode surface and the sliding mode fault-tolerant controller. If the sliding mode surface is stable, a sliding mode fault-tolerant controller will be obtained to achieve the suppression of the wideband oscillation of the new energy grid-connected system.
The controller design problem caused by the linearization method at the working point was overcome, and the wideband oscillation of the new energy grid-connected system was effectively suppressed, and the stability of the power system was improved.
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Figure CN119148530A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of power systems, and in particular to an adaptive sliding mode fault-tolerant control and device for broadband oscillation of a new energy grid-connected system. Background Art
[0002] New energy sources are connected to the grid through voltage source converters (VSCs), and the control dynamics of VSCs are deeply involved in the stability process of the power system. In recent years, many power system broadband oscillation accidents have occurred at home and abroad, posing major risks to the safe and stable operation of power systems. Existing research shows that VSC control systems dominate or deeply participate in broadband oscillations in power systems, and the oscillation frequency band involved is relatively wide. At present, there is no effective method to suppress the above broadband oscillation accidents. Summary of the invention
[0003] In view of this, the present invention proposes an adaptive sliding mode fault-tolerant control method and device for wide-band oscillation of a renewable energy grid-connected system, aiming to solve the problems of renewable energy control failure and oscillation suppression failure caused by the randomness of renewable energy output and the randomness of grid fault degree.
[0004] In the first aspect, an embodiment of the present invention provides an adaptive sliding mode fault-tolerant control method for wide-band oscillation of a new energy grid-connected system, comprising: obtaining a state variable matrix of the new energy grid-connected system; obtaining a sliding mode surface of a controller of the new energy grid-connected system based on the state variable matrix; if the sliding mode surface is stable, obtaining a sliding mode fault-tolerant controller.
[0005] Furthermore, the obtaining of the state variable matrix of the new energy grid-connected system includes: obtaining impedance parameters and control parameters of the new energy grid-connected system; obtaining a linearized model of the new energy grid-connected system based on the impedance parameters and control parameters, and obtaining the state variable matrix from the linearized model.
[0006] Further, according to the state variable matrix, the sliding surface of the controller of the new energy grid-connected system is obtained, including: if the state variable matrix meets the stability requirements, the sliding surface of the controller of the new energy grid-connected system is obtained according to the following formula: S : ;in, B i is the mapping matrix of the control parameters, X is the state variable matrix.
[0007] Furthermore, the state variable matrix satisfies the stability requirement, including: the state variable matrix satisfies the following formula: ;in, X is the state variable matrix, I is the unit matrix, f2 and f 3 is the feedback coefficient.
[0008] Further, if the sliding surface is stable, a sliding mode fault-tolerant controller is obtained, including: if the following formula is established, it is determined that the sliding surface is stable: ;in, K is the gain coefficient, P is the unit matrix, A i is the impedance mapping matrix, B i is the mapping matrix of the control parameters, and the operator sym ( ) indicates the sign of the result in brackets; the sliding mode fault-tolerant controller is designed according to the following formula: ;in, K is the gain coefficient, X is the state variable matrix, S is the sliding surface, B i is the mapping matrix of the control parameters, and is an adjustable constant coefficient, Indicates the calculation modulus value, Y is the output matrix of the sliding mode fault-tolerant controller.
[0009] In the second aspect, an embodiment of the present invention also provides an adaptive sliding mode fault-tolerant control device for wide-band oscillation of a new energy grid-connected system, comprising: an acquisition unit for acquiring a state variable matrix of the new energy grid-connected system; a first processing unit for obtaining a sliding mode surface of a controller of the new energy grid-connected system based on the state variable matrix; and a second processing unit for obtaining a sliding mode fault-tolerant controller if the sliding mode surface is stable.
[0010] Furthermore, the acquisition unit is also used to: acquire impedance parameters and control parameters of the new energy grid-connected system; obtain a linearized model of the new energy grid-connected system based on the impedance parameters and control parameters, and obtain a state variable matrix from the linearized model.
[0011] Furthermore, the first processing unit is further configured to: if the state variable matrix meets the stability requirement, obtain the sliding surface of the new energy grid-connected system controller according to the following design: S : ;in, B i is the mapping matrix of the control parameters, X is the state variable matrix.
[0012] Furthermore, the state variable matrix satisfies the stability requirement, including: the state variable matrix satisfies the following formula: ;in, X is the state variable matrix, I is the unit matrix, f 2 and f 3 is the feedback coefficient.
[0013] Furthermore, the second processing unit is further configured to: determine that the sliding surface is stable if the following equation holds: ;in, K is the gain coefficient, P is the unit matrix, A i is the impedance mapping matrix, B i is the mapping matrix of the control parameters, and the operator sym ( ) indicates the sign of the result in brackets; the sliding mode fault-tolerant controller is designed according to the following formula: ;in, K is the gain coefficient, X is the state variable matrix, S is the sliding surface, B i is the mapping matrix of the control parameters, and is an adjustable constant coefficient, Indicates the calculation modulus value, Y is the output matrix of the sliding mode fault-tolerant controller.
[0014] In a third aspect, an embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the adaptive sliding mode fault-tolerant control method for wide-band oscillation of a new energy grid-connected system provided in the above-mentioned embodiments is implemented.
[0015] In a fourth aspect, an embodiment of the present invention further provides an electronic device, comprising: a processor; a memory for storing executable instructions of the processor; the processor is used to read the executable instructions from the memory and execute the executable instructions to implement the adaptive sliding mode fault-tolerant control method for wide-band oscillation of new energy grid-connected systems provided in the above-mentioned embodiments.
[0016] The adaptive sliding mode fault-tolerant control method and device for wide-band oscillation of a new energy grid-connected system provided in an embodiment of the present invention obtain a state variable matrix of the new energy grid-connected system, and obtain a sliding mode surface of a controller of the new energy grid-connected system based on the state variable matrix. If the sliding mode surface is stable, a sliding mode fault-tolerant controller is obtained, which overcomes the controller design problem caused by the linearization method at the working point. The sliding mode fault-tolerant controller obtained by the design method provided in the above embodiment can effectively suppress the wide-band oscillation of the new energy grid-connected system. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 An exemplary flow chart of an adaptive sliding mode fault-tolerant control method for wide-band oscillation of a new energy grid-connected system according to an embodiment of the present invention is shown; Figure 2 It shows a schematic structural diagram of a new energy grid-connected system according to an embodiment of the present invention; Figure 3 A schematic structural diagram of an adaptive sliding mode fault-tolerant control device for wide-band oscillation of a new energy grid-connected system according to an embodiment of the present invention is shown. DETAILED DESCRIPTION
[0018] Now, exemplary embodiments of the present invention are described with reference to the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to disclose the present invention in detail and completely and to fully convey the scope of the present invention to those skilled in the art. The terms used in the exemplary embodiments shown in the accompanying drawings are not intended to limit the present invention. In the accompanying drawings, the same units / elements are marked with the same reference numerals.
[0019] Unless otherwise specified, the terms (including technical terms) used herein have the commonly understood meanings to those skilled in the art. In addition, it is understood that the terms defined in commonly used dictionaries should be understood to have the same meanings as those in the context of the relevant fields, and should not be understood as idealized or overly formal meanings.
[0020] Figure 1 An exemplary flow chart of an adaptive sliding mode fault-tolerant control method for wide-band oscillation of a new energy grid-connected system according to an embodiment of the present invention is shown.
[0021] like Figure 1 As shown, the adaptive sliding mode fault-tolerant control method for wide-band oscillation of the new energy grid-connected system includes: Step S101: Obtain the state variable matrix of the new energy grid-connected system.
[0022] Furthermore, step S101 includes: Obtain impedance parameters and control parameters of the new energy grid-connected system; Based on the impedance parameters and control parameters, a linearized model of the renewable energy grid-connected system is obtained, and a state variable matrix is obtained from the linearized model.
[0023] Figure 2 FIG. 2 shows a schematic diagram of the structure of a new energy grid-connected system according to an embodiment of the present invention. Figure 2As shown in the figure, the linearization model is determined based on the impedance parameters and control parameters of the new energy grid-connected system. The impedance parameters involved include the grid-connected resistance R , Grid-connected Reactance L The control parameters involved include the phase-locked loop parameters of the new energy grid-side controller k p3 and k i3 , active outer loop parameters ( k p1 and k i1 ) and reactive outer loop parameters ( k p2 and k i2 ). The established linear model is as follows: ; In the formula, the variables are: ; In the formula, X is the state variable matrix of the new energy grid-connected system, x 1 is the state variable of the outer loop of the fixed active power, x 2 is the state variable of the outer loop for determining reactive power, x 3 is the virtual angle of the phase-locked loop, x 4 is the virtual speed of the phase-locked loop, and the above-mentioned state variables are all digital quantities measured in real time from the controller. U is the input matrix, u 1 is the reference value of active power, u 2 It is the reference value of reactive power.
[0024] Among them, the parameters are: In the formula, A i is the impedance mapping matrix, where each parameter is related to the impedance parameters of the new energy grid-connected system R and L related; Bi is the mapping matrix of the control parameters, where each parameter and the phase-locked loop parameter k p3 and k i3 , active outer loop parameters ( k p1 and k i1 ) and reactive outer loop parameters (k p2 and k i2 ) related; is the fuzzy mapping matrix, where each parameter is set manually; C i is the output matrix, where each parameter is set manually.
[0025] Step S102: Obtain the sliding surface of the new energy grid-connected system controller according to the state variable matrix.
[0026] Further, step S102 includes: If the state variable matrix meets the stability requirements, the sliding surface of the controller of the new energy grid-connected system can be obtained according to the following design: S : ; in, B i is the mapping matrix of the control parameters, X is the state variable matrix.
[0027] Furthermore, the state variable matrix meets the stability requirements, including: The state variable matrix satisfies the following formula: ; in, X is the state variable matrix, I is the unit matrix, f 2 and f 3 is the feedback coefficient.
[0028] Specifically, first, check the state variable matrix X Whether the stability requirements are met: If the following formula is established, the requirements are met, which can be based on the state variable matrix X Design of sliding surface of controller for renewable energy grid-connected system: ; In the formula, I is the unit matrix, f 2 and f 3 is the feedback coefficient. Preferably, f 2 = 1, f 3 = 1.
[0029] Afterwards, for the qualified state variable matrix X , design the sliding surface of the controller of the new energy grid-connected system according to the following formula: S : .
[0030] Step S103: If the sliding surface is stable, a sliding mode fault-tolerant controller is obtained.
[0031] Furthermore, step S103 includes: If the following equation holds, the sliding surface is considered stable: ; in, K is the gain coefficient, P is the unit matrix, A i is the impedance mapping matrix, B i is the mapping matrix of the control parameters, and the operator sym ( ) indicates the symbol for taking the result in brackets; The sliding mode fault-tolerant controller is designed according to the following formula: ; in, K is the gain coefficient, X is the state variable matrix, S is the sliding surface, B i is the mapping matrix of the control parameters, and is an adjustable constant coefficient, Indicates the calculation modulus value, Y is the output matrix of the sliding mode fault-tolerant controller.
[0032] Specifically, firstly, the stability of the sliding surface of the designed new energy grid-connected system controller is judged. If the following inequality holds, the new energy grid-connected system can obtain an effective linearization result under the control of the designed sliding surface: ; In the formula, K is the gain coefficient, P is the unit matrix, and the operator sym() in the formula represents the sign of the result in the brackets.
[0033] Afterwards, the designed sliding mode fault-tolerant controller is described as follows: ; In the formula, and is an adjustable constant coefficient, Indicates the calculated modulus value. The output matrix obtained from the above formula is Y is the output matrix of the additional controller, y 1 ,y 2 , y 3 and y 4 All are output signals.
[0034] In summary, the design of the sliding mode fault-tolerant controller is completed.
[0035] The above mentioned randomness of renewable energy output and randomness of grid fault degree result in the state matrix X Random fluctuations within a certain range, the sliding surface S According to the state matrix X = [ x 1 , x 2 , x 3 , x 4 ]Adaptive control is realized on the new energy grid-connected system, thereby establishing a linear model.
[0036] In addition, the controller gain matrix is obtained by solving a sufficient linear matrix inequality condition.
[0037] In the above embodiment, a state variable matrix of the new energy grid-connected system is obtained, and a sliding mode surface of the controller of the new energy grid-connected system is obtained based on the state variable matrix. If the sliding mode surface is stable, a sliding mode fault-tolerant controller is obtained, which overcomes the controller design problem caused by the linearization method at the working point. The sliding mode fault-tolerant controller obtained by the design method provided in the above embodiment can effectively suppress the wide-band oscillation of the new energy grid-connected system.
[0038] Figure 3 A schematic structural diagram of an adaptive sliding mode fault-tolerant control device for wide-band oscillation of a new energy grid-connected system according to an embodiment of the present invention is shown.
[0039] like Figure 3 As shown, the adaptive sliding mode fault-tolerant control device for wide-band oscillation of the new energy grid-connected system includes: An acquisition unit 301 is used to acquire a state variable matrix of a new energy grid-connected system; The first processing unit 302 is used to obtain a sliding surface of the new energy grid-connected system controller according to the state variable matrix; The second processing unit 303 is configured to obtain a sliding mode fault-tolerant controller if the sliding surface is stable.
[0040] Furthermore, the acquisition unit 301 is further configured to: Obtain impedance parameters and control parameters of the new energy grid-connected system; Based on the impedance parameters and control parameters, a linearized model of the renewable energy grid-connected system is obtained, and a state variable matrix is obtained from the linearized model.
[0041] Furthermore, the first processing unit 302 is further configured to: If the state variable matrix meets the stability requirements, the sliding surface of the controller of the new energy grid-connected system can be obtained according to the following design: S : ; in, B i is the mapping matrix of the control parameters, X is the state variable matrix.
[0042] Furthermore, the state variable matrix meets the stability requirements, including: The state variable matrix satisfies the following formula: ; in, X is the state variable matrix, I is the unit matrix, f 2 and f 3 is the feedback coefficient.
[0043] Furthermore, the second processing unit 303 is further configured to: If the following equation holds, the sliding surface is considered stable: ; in, K is the gain coefficient, P is the unit matrix, A i is the impedance mapping matrix, B i is the mapping matrix of the control parameters, and the operator sym ( ) indicates the symbol for taking the result in brackets; The sliding mode fault-tolerant controller is designed according to the following formula: ; in, K is the gain coefficient, X is the state variable matrix, S is the sliding surface, B i is the mapping matrix of the control parameters, and is an adjustable constant coefficient, Indicates the calculation modulus value, Y is the output matrix of the sliding mode fault-tolerant controller.
[0044] In the above embodiment, a state variable matrix of the new energy grid-connected system is obtained, and a sliding mode surface of the controller of the new energy grid-connected system is obtained based on the state variable matrix. If the sliding mode surface is stable, a sliding mode fault-tolerant controller is obtained, which overcomes the controller design problem caused by the linearization method at the working point. The sliding mode fault-tolerant controller obtained by the design method provided in the above embodiment can effectively suppress the wide-band oscillation of the new energy grid-connected system.
[0045] It should be noted that the device provided in the above embodiment only uses the division of the above functional modules as an example to implement its functions. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiment belong to the same concept, and their specific implementation process is detailed in the method embodiment, which will not be repeated here.
[0046] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the adaptive sliding mode fault-tolerant control method for wide-band oscillation of a new energy grid-connected system provided in the above-mentioned embodiments is implemented.
[0047] An embodiment of the present invention also provides an electronic device, comprising: a processor; a memory for storing processor executable instructions; the processor is used to read the executable instructions from the memory and execute the instructions to implement the adaptive sliding mode fault-tolerant control method for wide-band oscillation of new energy grid-connected systems provided in the above-mentioned embodiments.
[0048] The invention has been described above with reference to a few embodiments. However, it is readily apparent to a person skilled in the art that other embodiments than the ones disclosed above are equally within the scope of the invention, as defined by the appended patent claims.
[0049] Generally, all terms used in the claims are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise herein. All references to "a / said / the [means, components, etc.]" are to be openly interpreted as at least one instance of the means, components, etc., unless explicitly stated otherwise. The steps of any method disclosed herein do not necessarily have to be performed in the exact order disclosed, unless explicitly stated otherwise.
[0050] It should be understood by those skilled in the art that the embodiments of the present invention may be provided as methods, systems or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
[0051] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.
[0052] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.
[0053] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.
[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.
Claims
1. An adaptive sliding mode fault-tolerant control method for broadband oscillation of a new energy grid-connected system, characterized in that: include: Obtain the state variable matrix of the new energy grid-connected system; According to the state variable matrix, a sliding surface of the new energy grid-connected system controller is obtained; If the sliding surface is stable, a sliding mode fault-tolerant controller is obtained.
2. The adaptive sliding mode fault-tolerant control method for broadband oscillation of a new energy grid-connected system according to claim 1, characterized in that: The step of obtaining a state variable matrix of a new energy grid-connected system includes: Obtain impedance parameters and control parameters of the new energy grid-connected system; Based on the impedance parameters and control parameters, a linearized model of the new energy grid-connected system is obtained, and a state variable matrix is obtained from the linearized model.
3. The adaptive sliding mode fault-tolerant control method for broadband oscillation of a new energy grid-connected system according to claim 1, characterized in that: According to the state variable matrix, the sliding surface of the new energy grid-connected system controller is obtained, including: If the state variable matrix meets the stability requirements, the sliding surface of the new energy grid-connected system controller is designed according to the following formula: S : ； in, B i is the mapping matrix of the control parameters, X is the state variable matrix.
4. The adaptive sliding mode fault-tolerant control method for broadband oscillation of a new energy grid-connected system according to claim 4, characterized in that: The state variable matrix meets the stability requirements, including: The state variable matrix satisfies the following formula: ； in, X is the state variable matrix, I is the unit matrix, f 2 and f 3 is the feedback coefficient.
5. The adaptive sliding mode fault-tolerant control method for broadband oscillation of a new energy grid-connected system according to claim 1, characterized in that: If the sliding surface is stable, a sliding mode fault-tolerant controller is obtained, including: If the following equation holds true, the sliding surface is considered stable: ； in, K is the gain coefficient, P is the unit matrix, A i is the impedance mapping matrix, B i is the mapping matrix of the control parameters, and the operator sym ( ) indicates the symbol for taking the result in brackets; The sliding mode fault-tolerant controller is designed according to the following formula: ； in, K is the gain coefficient, X is the state variable matrix, S is the sliding surface, B i is the mapping matrix of the control parameters, and is an adjustable constant coefficient, Indicates the calculation modulus value, Y is the output matrix of the sliding mode fault-tolerant controller.
6. An adaptive sliding mode fault-tolerant control device for broadband oscillation of a new energy grid-connected system, characterized in that: include: An acquisition unit, used for acquiring a state variable matrix of a new energy grid-connected system; A first processing unit, configured to obtain a sliding surface of a new energy grid-connected system controller according to the state variable matrix; The second processing unit is used to obtain a sliding mode fault-tolerant controller if the sliding mode surface is stable.
7. The adaptive sliding mode fault-tolerant control device for broadband oscillation of a new energy grid-connected system according to claim 6, characterized in that: The acquisition unit is further used for: Obtain impedance parameters and control parameters of the new energy grid-connected system; Based on the impedance parameters and control parameters, a linearized model of the new energy grid-connected system is obtained, and a state variable matrix is obtained from the linearized model.
8. The adaptive sliding mode fault-tolerant control device for broadband oscillation of a new energy grid-connected system according to claim 6, characterized in that: The first processing unit is further configured to: If the state variable matrix meets the stability requirements, the sliding surface of the new energy grid-connected system controller is designed according to the following formula: S : ； in, B i is the mapping matrix of the control parameters, X is the state variable matrix.
9. The adaptive sliding mode fault-tolerant control device for broadband oscillation of a new energy grid-connected system according to claim 8, characterized in that: The state variable matrix meets the stability requirements, including: The state variable matrix satisfies the following formula: ； in, X is the state variable matrix, I is the unit matrix, f 2 and f 3 is the feedback coefficient.
10. The adaptive sliding mode fault-tolerant control device for broadband oscillation of a new energy grid-connected system according to claim 6, characterized in that: The second processing unit is further configured to: If the following equation holds true, the sliding surface is considered stable: ； in, K is the gain coefficient, P is the unit matrix, A i is the impedance mapping matrix, B i is the mapping matrix of the control parameters, and the operator sym ( ) indicates the symbol for taking the result in brackets; The sliding mode fault-tolerant controller is designed according to the following formula: ； in, K is the gain coefficient, X is the state variable matrix, S is the sliding surface, B i is the mapping matrix of the control parameters, and is an adjustable constant coefficient, Indicates the calculation modulus value, Y is the output matrix of the sliding mode fault-tolerant controller.
11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the adaptive sliding mode fault-tolerant control method for wide-band oscillation of a new energy grid-connected system as described in any one of claims 1-5 is implemented.
12. An electronic device comprising: processor; a memory for storing instructions executable by the processor; The processor is used to read the executable instructions from the memory and execute the executable instructions to implement the adaptive sliding mode fault-tolerant control method for wide-band oscillation of the new energy grid-connected system as described in any one of claims 1-5.