Control method of generator excitation and STATCOM under dynamic event triggering

Abstract

The application discloses a control method of generator excitation and STATCOM under dynamic event triggering, which comprises the following steps: establishing a nonlinear model of a single-machine infinite power system containing STATCOM, determining system state variables and state space expressions containing STATCOM control input and generator excitation control input; obtaining STATCOM ideal continuous control quantity and generator excitation ideal continuous control quantity based on the state space expressions; introducing control input error and dynamic auxiliary variables, and combining with the error of system state variables to respectively construct STATCOM channel dynamic event triggering condition and excitation channel dynamic event triggering condition; when the dynamic event triggering condition is satisfied, STATCOM control quantity and generator excitation control quantity are respectively updated; between adjacent triggering time, the corresponding channel control quantity adopts zero-order holding. The beneficial effect is that the dynamic triggering condition can consider communication saving and system asymptotic stability.

Description

Technical Field

[0001] This invention belongs to the field of power system control technology, specifically relating to a control method for generator excitation and STATCOM under dynamic event triggering. Background Technology

[0002] Static Synchronous Compensator (STATCOM) is a parallel reactive power compensation device with a power electronic converter at its core, capable of providing fast, continuous, and precise dynamic reactive power compensation to power systems. Generator excitation control directly regulates the generator's internal electromotive force and terminal voltage, playing a crucial role in power angle stability, voltage stability, and transient stability. Existing passive coordinated backstepping control methods for STATCOM-containing single-unit infinite bus systems typically utilize passive theory to construct a stored function, design the STATCOM reactive current control law using the backstepping method, and then design the generator excitation control law based on coordinated passive properties. This method preserves the system's nonlinear characteristics and avoids the limited applicability caused by linearization.

[0003] However, existing passive coordinated backstepping control typically employs a continuous update approach, requiring the controller to send control signals to the STATCOM and excitation system in real time. In wide-area measurement, remote coordinated control, wireless communication, or multi-controller shared network environments, this approach results in high communication overhead and frequent actuator actions. If a static event-triggered mechanism is used, a fixed positive threshold is usually introduced to avoid Zeno behavior; however, a fixed positive threshold may limit the system state to convergence only to the zero-neighborhood.

[0004] The dynamic event triggering mechanism, by introducing auxiliary dynamic variables, makes the triggering threshold depend simultaneously on the system state, control error, and dynamic variables. This allows it to achieve asymptotic convergence and eliminate Zeno behavior while reducing the number of communications. Therefore, it is necessary to combine the dynamic event triggering mechanism with STATCOM and generator excitation passive coordinated backstepping control. Summary of the Invention

[0005] The purpose of this invention is to provide a control method for generator excitation and STATCOM under dynamic event triggering, which solves the problems of frequent updates in continuous passive coordinated backstepping control and difficulty in simultaneously ensuring asymptotic stability and eliminating Zeno behavior in the prior art.

[0006] The technical solution adopted in this invention is a method for controlling generator excitation and STATCOM under dynamic event triggering, comprising the following steps: S1. Establish a nonlinear model of a single-machine infinite power system containing STATCOM, and determine the system state variables and the state-space expression containing STATCOM control input and generator excitation control input; S2. Obtain the ideal continuous control quantity of STATCOM and the ideal continuous control quantity of generator excitation based on the state-space expression; S3. Introduce control input error and dynamic auxiliary variables, and construct dynamic event triggering conditions for the STATCOM channel and excitation channel respectively, based on the error of the system state variables. S4. When the dynamic event triggering condition is met, update the STATCOM control quantity and the generator excitation control quantity respectively; between adjacent triggering times, the corresponding channel control quantity adopts zero-order hold.

[0007] The invention is further characterized by: The nonlinear model of the single-machine infinite power system in S1 includes a third-order transient model of the generator and a first-order controllable current source model of STATCOM; the system state variables include the generator power angle deviation. Rotor angular velocity deviation STATCOM reactive current deviation and q-axis transient potential deviation .

[0008] The process of establishing the state-space expression of S1, which includes the STATCOM control input and the generator excitation control input, includes: The original dynamic equations of the system, composed of the third-order transient model of the generator and the first-order controllable current source model of STATCOM, are as follows:

[0009] in, The generator power angle, The rotor angular velocity, This is the generator's rated synchronous angular velocity. The damping coefficient is... It is the inertial constant. Electromagnetic power, For mechanical power, for shaft transient potential, For generator synchronization reactance, For the generator transient reactance, The generator time constant, For current components, This is the excitation control input. The STATCOM current loop time constant is... For STATCOM reactive current, The initial value of the reactive current of STATCOM. For STATCOM control input; Current component With electromagnetic power The expressions are as follows:

[0010]

[0011]

[0012] in, For system voltage, , = , = ;in For transformer reactance, and For line reactance; S1.2, Define the following parameters: ,

[0013] , , , , , , , , , , , ;in, This represents the initial value of the generator's transient electromotive force. = , for initial value, ; And define the state variable as , , , ; This yields the state-space expression containing the STATCOM control input and the generator excitation control input:

[0014] in, express The first derivative, express The first derivative.

[0015] The state-space expression includes a STATCOM control channel with STATCOM control inputs and a generator excitation control channel with generator excitation control inputs; the inputs of the STATCOM control channel are... The status is The input to the generator excitation control channel is The status is .

[0016] S2 specifically includes: S2.1 Define the tracking error variable , , :

[0017] in, This is the first-level virtual control quantity. This is the second-level virtual control quantity; S2.2 Design virtual control variables, first-level virtual control variables for:

[0018] in, For the parameters to be designed, ; Second-level virtual control quantity Based on the backstep design, it is used for offsetting. and The cross-coupling terms between them are as follows:

[0019] in, , For the parameters to be designed, ; S2.3, STATCOM ideal continuous control quantity for:

[0020] in, For the parameters to be designed,

[0021] S2.4, Ideal continuous control quantity for generator excitation for:

[0022] in, , For the parameters to be designed, .

[0023] The control input error in S3 includes the control input error of the STATCOM channel. and control input error of the excitation channel The specific formula is as follows:

[0024] in, This refers to the event-triggered control quantity that actually acts on the STATCOM channel. This is the event-triggered control quantity that actually acts on the excitation channel.

[0025] The dynamic auxiliary variable in S3 is designed as follows:

[0026] in, and For the positive constants to be designed, and The range of values ​​is , ; Let be a positive constant, and define:

[0027] .

[0028] STATCOM channel dynamic event triggering conditions in S3: The STATCOM channel dynamic event trigger time is:

[0029] in, For continuous time variables, This refers to the Kth trigger time of the first trigger channel. The next trigger time for the first trigger channel. Let be a positive constant to be designed, with a value range of . ; Excitation channel dynamic event triggering conditions: The trigger time for the excitation channel dynamic event is:

[0030] in, For continuous time variables, This refers to the Kth trigger time of the second trigger channel. The next trigger time for the second trigger channel. Let be a positive constant to be designed, with a value range of . .

[0031] S4 specifically includes: In actual control, when the dynamic event triggering condition of the STATCOM channel is met, the STATCOM control quantity is updated; when the dynamic event triggering condition of the excitation channel is met, the generator excitation control quantity is updated; between adjacent triggering moments, the control quantity of the previous triggering moment is kept unchanged using a zero-order hold method, that is:

[0032] .

[0033] The beneficial effects of this invention are: 1. This invention introduces a dynamic event triggering mechanism into the passive coordinated backstepping control of STATCOM and generator excitation, which can reduce the number of control signal updates while maintaining nonlinear control performance.

[0034] 2. This invention sets dynamic auxiliary variables and triggering conditions for the STATCOM control channel and the excitation control channel respectively, which can adapt to the different dynamic characteristics of the dual-input coordinated control system.

[0035] 3. The present invention adopts dynamic triggering conditions based on control input error and system energy decay term, which can balance communication saving and system asymptotic stability compared with fixed threshold event triggering method.

[0036] 4. This invention constructs an augmented energy storage function, unifying the analysis of the system's energy storage function and dynamic auxiliary variables, thus proving the stability of the closed-loop system. By proving the existence of a positive lower bound between adjacent triggering times, it can eliminate Zeno behavior that triggers infinitely within a finite time.

[0037] 5. Simulation results show that, under the condition that the state response is basically the same as that of continuous control, the present invention can significantly reduce the number of control updates of STATCOM and excitation control channels and improve the communication efficiency in networked control scenarios. Attached Figure Description

[0038] Figure 1 This is a flowchart of the generator excitation and STATCOM control method under dynamic event triggering according to the present invention; Figure 2 This is a graph showing the power angle deviation-dynamic event triggered passive control curve in this invention. Figure 3 This is a diagram of the power angle deviation-continuous reverse distribution passive coordinated control curve in this invention; Figure 4 This is a graph showing the rotational speed deviation-dynamic event-triggered passive control curve in this invention. Figure 5 This is a graph showing the rotational speed deviation-continuous reverse-distribution passive coordinated control in this invention. Figure 6This is a graph showing the STATCOM current deviation-dynamic event triggered reverse passive control curve in this invention; Figure 7 This is a graph showing the STATCOM current deviation-continuous reverse-distribution passive coordinated control curve in this invention. Figure 8 This is a graph showing the transient potential deviation-dynamic event triggered passive control curve in this invention. Figure 9 This is a graph showing the transient potential deviation-continuous reverse-distribution passive coordinated control curve in this invention; Figure 10 This is a graph showing the passive control curve of STATCOM control input-dynamic event triggering in reverse distribution in this invention; Figure 11 This is a diagram of the STATCOM control input-continuous reverse-distribution passive coordinated control curve in this invention; Figure 12 This is a graph showing the excitation control input-dynamic event triggered reverse passive control curve in this invention. Figure 13 This is a graph showing the excitation control input-continuous reverse-distribution passive coordinated control curve in this invention; Figure 14 This is a comparison diagram of STATCOM sampling sequences in this invention; Figure 15 This is a comparison diagram of the excitation sampling sequence in this invention. Detailed Implementation

[0039] The following detailed description is provided in conjunction with the accompanying drawings and specific embodiments.

[0040] The method for controlling generator excitation and STATCOM under dynamic event triggering of the present invention, such as Figure 1 As shown, it includes the following steps: S1. Establish a nonlinear model of a single-machine infinite power system containing STATCOM, and determine the system state variables and the state-space expression containing STATCOM control input and generator excitation control input; The nonlinear model of a single-machine infinite power system includes a third-order transient model of the generator and a first-order controllable current source model of STATCOM; the system state variables include generator power angle deviation. Rotor angular velocity deviation STATCOM reactive current deviation and q-axis transient potential deviation .

[0041] The process of establishing the state-space expression, which includes STATCOM control inputs and generator excitation control inputs, includes: The original dynamic equations of the system, composed of the third-order transient model of the generator and the first-order controllable current source model of STATCOM, are as follows:

[0042] in, The generator power angle, The rotor angular velocity, This is the generator's rated synchronous angular velocity. The damping coefficient is... It is the inertial constant. Electromagnetic power, For mechanical power, for shaft transient potential, For generator synchronization reactance, For the generator transient reactance, The generator time constant, For current components, This is the excitation control input. The STATCOM current loop time constant is... For STATCOM reactive current, The initial value of the reactive current of STATCOM. For STATCOM control input; Current component With electromagnetic power The expressions are as follows:

[0043]

[0044]

[0045] in, For system voltage, , = , = ;in For transformer reactance, and For line reactance; S1.2 To facilitate controller design, the following parameters are defined: ,

[0046] , , , , , , , , , , , ;in, This represents the initial value of the generator's transient electromotive force. = ; for initial value, ; And define the state variable as , , , ; This yields the state-space expression containing the STATCOM control input and the generator excitation control input:

[0047] in, express The first derivative, express The first derivative.

[0048] The state-space expression includes a STATCOM control channel with STATCOM control inputs and a generator excitation control channel with generator excitation control inputs; the inputs of the STATCOM control channel are... The status is The input to the generator excitation control channel is The status is .

[0049] S2. Obtain the ideal continuous control quantity of STATCOM and the ideal continuous control quantity of generator excitation based on the state-space expression; Specifically, it includes: S2.1 Define the tracking error variable , , :

[0050] in, This is the first-level virtual control quantity. This is the second-level virtual control quantity; S2.2 Design virtual control variables, first-level virtual control variables for:

[0051] in, For the parameters to be designed, The preferred range is ; Depend on as well as We can obtain:

[0052] Selecting the Lyapunov function for the first error subsystem for:

[0053] For this Lyapunov function After differentiation, we get:

[0054] In order to offset and Cross-coupling terms between Second-level virtual control quantity Based on the backstep design, the specific details are as follows:

[0055] in, , For the parameters to be designed, The preferred range is ; Selecting the Lyapunov function of the second error subsystem for:

[0056] For this Lyapunov function After differentiation, we get:

[0057] S2.3, In order to eliminate overlapping terms STATCOM ideal continuous control quantity for:

[0058] in, For the parameters to be designed, The preferred range is ; Depend on STATCOM ideal continuous control quantity Substituting, we get:

[0059] Choosing Lyapunov functions for:

[0060] For Lyapunov functions After differentiation, we get:

[0061] S2.4. Design the ideal continuous control law for mechanical excitation based on the passive coordination method, and let... Retrieve the stored functions of the entire system for:

[0062] Then the ideal continuous control quantity of generator excitation for:

[0063] in, , For the parameters to be designed, The preferred range is .

[0064] right After differentiation, we get:

[0065] From the above derivative results, it can be seen that the system is strictly passive with feedback. , Therefore, it can be guaranteed that the coordination system is asymptotically stable.

[0066] S3. Introduce control input error and dynamic auxiliary variables, and construct dynamic event triggering conditions for the STATCOM channel and excitation channel respectively, based on the error of the system state variables. Control input errors include control input errors of the STATCOM channel. and control input error of the excitation channel The specific formula is as follows:

[0067] in, This refers to the event-triggered control quantity that actually acts on the STATCOM channel. This is the event-triggered control quantity that actually acts on the excitation channel.

[0068] The dynamic auxiliary variable is designed as follows:

[0069] in, , For the positive constants to be designed, and The range of values ​​is , , Let be a positive constant, and define:

[0070] .

[0071] STATCOM channel dynamic event triggering conditions: The STATCOM channel dynamic event trigger time is:

[0072] in, For continuous time variables, This refers to the Kth trigger time of the first trigger channel. The next trigger time for the first trigger channel. Let be a positive constant to be designed, with a value range of . ; The meaning is: when the control input error of the STATCOM channel... More than by and When a dynamically determined threshold is reached, the STATCOM control variable is updated. Excitation channel dynamic event triggering conditions: The trigger time for the excitation channel dynamic event is:

[0073] in, For continuous time variables, This refers to the Kth trigger time of the second trigger channel. The next trigger time for the second trigger channel. Let be a positive constant to be designed, with a value range of . .

[0074] The meaning is: when the control input error of the excitation channel... More than by and When the dynamic threshold is jointly determined, the excitation control quantity is updated.

[0075] S4. When the dynamic event triggering condition is met, update the STATCOM control quantity and the generator excitation control quantity respectively; between adjacent triggering times, the corresponding channel control quantity adopts zero-order hold.

[0076] Specifically, it includes: In actual control, when the dynamic event triggering condition of the STATCOM channel is met, the STATCOM control quantity is updated; when the dynamic event triggering condition of the excitation channel is met, the generator excitation control quantity is updated; between adjacent triggering moments, the control quantity of the previous triggering moment is kept unchanged using a zero-order hold method, that is:

[0077] .

[0078] Verify the effectiveness of the generator excitation and STATCOM control method under dynamic event triggering of this invention: By constructing an augmented energy storage function that includes the system energy storage function and dynamic auxiliary variables, we prove that the closed-loop system satisfies the stability condition under the dynamic event triggering mechanism, and prove that the dual-channel triggering interval has a positive lower bound, thus excluding Zeno behavior.

[0079] After the event is triggered, the actual input error enters the closed-loop system. At this time:

[0080] right From Young's inequality, we can obtain:

[0081] at this time:

[0082] Simplifying, we get:

[0083] Similarly, under the influence of continuous input, when taking hour:

[0084] Under the event-triggered mechanism, the actual input error enters the closed-loop system:

[0085] right From Young's inequality, we can obtain:

[0086] We can obtain:

[0087] The dual-channel extended energy storage function is constructed as follows:

[0088] Differentiating the dual-channel extended energy storage function yields:

[0089] Substituting the dynamic auxiliary variable, we get:

[0090] From the upper bound of the event trigger, we can obtain:

[0091] because and All are greater than 0, when , , , hour, The system is asymptotically stable.

[0092] Proof of no Zeno behavior: Since the continuous ideal control input is piecewise differentiable over any time interval, it is known that there exists a constant. ;

[0093] This invention uses proof by contradiction to prove that Zeno behavior does not exist. Assume the first... If the Zeno phenomenon exists in each channel, then there is a finite time. , making ; Within any trigger interval, the actual control input remains constant, therefore ; As can be seen from the above, there exist positive numbers. , making ; And because the triggering condition is ; and Therefore, the necessary condition for triggering this event is: ; Depend on The positive lower bound can be obtained for any finite time interval. Inside,

[0094] Because after each departure ,and Therefore, the time interval between two consecutive triggers satisfies the following formula:

[0095] Notation:

[0096] but ; This indicates that the first Each channel has a positive lower bound on the adjacent trigger intervals within any finite time interval, therefore it is impossible for an infinite number of triggers to occur within a finite time period. Because... Both are true, and the dual-channel dynamic event triggering mechanism does not exhibit the Zeno phenomenon.

[0097] The feasibility of this invention is verified below using simulation waveforms: Figures 2 to 9 The state response results are shown in the diagram. It can be seen that the power angle deviation, speed deviation, STATCOM current deviation, and transient potential deviation under dynamic event-triggered control are basically consistent with the continuous control results. The differences are very small, indicating that the event-triggered mechanism has little impact on the dynamic performance of the excitation channel.

[0098] Depend on Figure 10 and Figure 11 It can be seen that under continuous backstepping passive control, the maximum value of the STATCOM control input is approximately 3.4234; under dynamic event-triggered backstepping passive control, the maximum value is approximately 3.3654. The peak values ​​of the two are very close, indicating that the event-triggered mechanism does not weaken the STATCOM's rapid adjustment capability. Figure 12 and Figure 13 It can be seen that the two excitation control input curves almost completely overlap, with the maximum difference being very small. This indicates that the dynamic event triggering mechanism has a very limited impact on the excitation control input, and can reduce the burden of communication and control updates while maintaining the accuracy of excitation control.

[0099] Figure 14 and Figure 15 The figures show a comparison of the STATCOM sampling sequence and the excitation sampling sequence. The experimental results show that the STATCOM channel was triggered only 591 times during the entire simulation, saving approximately 70.45% of communication compared to 2000 periodic samplings. The excitation control input is less affected by event-triggered sampling and holding, resulting in a smoother control process. The excitation channel was triggered a total of 614 times, achieving a communication saving rate of 69.30%, significantly reducing the number of control signal updates while maintaining excitation control accuracy.

[0100] Example 1 The control method for generator excitation and STATCOM triggered by dynamic events includes the following steps: S1. Establish a nonlinear model of a single-machine infinite power system containing STATCOM, and determine the system state variables and the state-space expression containing STATCOM control input and generator excitation control input; S2. Obtain the ideal continuous control quantity of STATCOM and the ideal continuous control quantity of generator excitation based on the state-space expression; S3. Introduce control input error and dynamic auxiliary variables, and construct dynamic event triggering conditions for the STATCOM channel and excitation channel respectively, based on the error of the system state variables. S4. When the dynamic event triggering condition is met, update the STATCOM control quantity and the generator excitation control quantity respectively; between adjacent triggering times, the corresponding channel control quantity adopts zero-order hold.

[0101] Example 2 Based on Example 1, the nonlinear model of the S1 single-machine infinite power system includes a third-order transient model of the generator and a first-order controllable current source model of STATCOM; the system state variables include generator power angle deviation. Rotor angular velocity deviation STATCOM reactive current deviation and q-axis transient potential deviation .

[0102] The process of establishing the state-space expression, which includes STATCOM control inputs and generator excitation control inputs, includes: The original dynamic equations of the system, composed of the third-order transient model of the generator and the first-order controllable current source model of STATCOM, are as follows:

[0103] in, The generator power angle, The rotor angular velocity, This is the generator's rated synchronous angular velocity. The damping coefficient is... It is the inertial constant. Electromagnetic power, For mechanical power, for shaft transient potential, For generator synchronization reactance, For the generator transient reactance, The generator time constant, For current components, This is the excitation control input. The STATCOM current loop time constant is... For STATCOM reactive current, The initial value of the reactive current of STATCOM. For STATCOM control input; Current component With electromagnetic power The expressions are as follows:

[0104]

[0105]

[0106] in, For system voltage, , = , = ;in For transformer reactance, and For line reactance; S1.2, Define the following parameters: ,

[0107] , , , , , , , , , , , ;in, This represents the initial value of the generator's transient electromotive force. = , for initial value, ; And define the state variable as , , , ; This yields the state-space expression containing the STATCOM control input and the generator excitation control input:

[0108] in, express The first derivative, express The first derivative.

[0109] The state-space expression includes a STATCOM control channel with STATCOM control inputs and a generator excitation control channel with generator excitation control inputs; the inputs of the STATCOM control channel are... The status is The input to the generator excitation control channel is The status is .

[0110] Example 3 Based on Example 2, S2 specifically includes: S2.1 Define the tracking error variable , , :

[0111] in, This is the first-level virtual control quantity. This is the second-level virtual control quantity; S2.2 Design virtual control variables, first-level virtual control variables for:

[0112] in, For the parameters to be designed, =3.5; Second-level virtual control quantity Based on the backstep design, it is used for offsetting. and The cross-coupling terms between them are as follows:

[0113] in, , For the parameters to be designed, , =1.5; S2.3, STATCOM ideal continuous control quantity for:

[0114] in, For the parameters to be designed, , =2.2; S2.4, Ideal continuous control quantity for generator excitation for:

[0115] in, , For the parameters to be designed, , =6.5.

[0116] Example 4 Based on Example 3, the S3 control input error includes the control input error of the STATCOM channel. and control input error of the excitation channel The specific formula is as follows:

[0117] in, This refers to the event-triggered control quantity that actually acts on the STATCOM channel. This is the event-triggered control quantity that actually acts on the excitation channel.

[0118] The S3 dynamic auxiliary variable is designed as follows:

[0119] in, and For the positive constants to be designed, =0.1, =0.05, Let be a positive constant, and define:

[0120] .

[0121] Example 5 Based on Example 4, the dynamic event triggering conditions for the STATCOM channel in S3 are as follows: The STATCOM channel dynamic event trigger time is:

[0122] in, For continuous time variables, This refers to the Kth trigger time of the first trigger channel. The next trigger time for the first trigger channel. For the positive constants to be designed, =0.4; The meaning is: when the control input error of the STATCOM channel... More than by and When a dynamically determined threshold is reached, the STATCOM control variable is updated. Excitation channel dynamic event triggering conditions: The trigger time for the excitation channel dynamic event is:

[0123] in, For continuous time variables, This refers to the Kth trigger time of the second trigger channel. The next trigger time for the second trigger channel. For the positive constants to be designed, =0.4.

[0124] The meaning is: when the control input error of the excitation channel... More than by and When the dynamic threshold is jointly determined, the excitation control quantity is updated.

[0125] Example 6 Based on Example 5, S4 specifically includes: In actual control, when the dynamic event triggering condition of the STATCOM channel is met, the STATCOM control quantity is updated; when the dynamic event triggering condition of the excitation channel is met, the generator excitation control quantity is updated; between adjacent triggering moments, the control quantity of the previous triggering moment is kept unchanged using a zero-order hold method, that is:

[0126] .

Claims

1. A control method for generator excitation and STATCOM triggered by dynamic events, characterized in that, Includes the following steps: S1. Establish a nonlinear model of a single-machine infinite power system containing STATCOM, and determine the system state variables and the state-space expression containing STATCOM control input and generator excitation control input; S2. Obtain the ideal continuous control quantity of STATCOM and the ideal continuous control quantity of generator excitation based on the state-space expression; S3. Introduce control input error and dynamic auxiliary variables, and construct dynamic event triggering conditions for the STATCOM channel and excitation channel respectively, based on the error of the system state variables. S4. When the dynamic event triggering condition is met, update the STATCOM control quantity and the generator excitation control quantity respectively; between adjacent triggering times, the corresponding channel control quantity adopts zero-order hold.

2. The control method for generator excitation and STATCOM under dynamic event triggering according to claim 1, characterized in that, The nonlinear model of the single-machine infinite power system described in S1 includes a third-order transient model of the generator and a first-order controllable current source model of STATCOM; the system state variables include generator power angle deviation. Rotor angular velocity deviation STATCOM reactive current deviation and q-axis transient potential deviation .

3. The control method for generator excitation and STATCOM under dynamic event triggering according to claim 2, characterized in that, The process of establishing the state-space expression containing STATCOM control input and generator excitation control input as described in S1 includes: The original dynamic equations of the system, composed of the third-order transient model of the generator and the first-order controllable current source model of STATCOM, are as follows: in, The generator power angle, The rotor angular velocity, This is the generator's rated synchronous angular velocity. The damping coefficient is... It is the inertial constant. Electromagnetic power, For mechanical power, for shaft transient potential, For generator synchronization reactance, For the generator transient reactance, The generator time constant, For current components, This is the excitation control input. The STATCOM current loop time constant is... For STATCOM reactive current, The initial value of the reactive current of STATCOM. For STATCOM control input; Current component With electromagnetic power The expressions are as follows: in, For system voltage, , = , = ;in For transformer reactance, and For line reactance; S1.2, Define the following parameters: ， , , , , , , , , , , , ;in, This represents the initial value of the generator's transient electromotive force. = , for initial value, ; And define the state variable as , , , ; This yields the state-space expression containing the STATCOM control input and the generator excitation control input: in, express The first derivative, express The first derivative.

4. The control method for generator excitation and STATCOM under dynamic event triggering according to claim 3, characterized in that, The state-space expression includes a STATCOM control channel with STATCOM control input as input and a generator excitation control channel with generator excitation control input as input; the input of the STATCOM control channel is... The status is The input to the generator excitation control channel is... The status is .

5. The control method for generator excitation and STATCOM under dynamic event triggering according to claim 4, characterized in that, S2 specifically includes: S2.1 Define the tracking error variable , , : in, This is the first-level virtual control quantity. This is the second-level virtual control quantity; S2.2 Design virtual control variables, first-level virtual control variables for: in, For the parameters to be designed, ; Second-level virtual control quantity Based on the backstep design, it is used for offsetting. and The cross-coupling terms between them are as follows: in, , For the parameters to be designed, ; S2.3, STATCOM ideal continuous control quantity for: in, For the parameters to be designed, ; S2.4, Ideal continuous control quantity for generator excitation for: in, , For the parameters to be designed, .

6. The control method for generator excitation and STATCOM under dynamic event triggering according to claim 5, characterized in that, S3 refers to the control input error, which includes the control input error of the STATCOM channel. and control input error of the excitation channel The specific formula is as follows: in, This refers to the event-triggered control quantity that actually acts on the STATCOM channel. This is the event-triggered control quantity that actually acts on the excitation channel.

7. The control method for generator excitation and STATCOM under dynamic event triggering according to claim 6, characterized in that, The dynamic auxiliary variable mentioned in S3 is: in, and For the positive constants to be designed, and The range of values ​​is , ; Let be a positive constant, and define: 。 8. The control method for generator excitation and STATCOM under dynamic event triggering according to claim 7, characterized in that, S3 describes the triggering conditions for dynamic events in the STATCOM channel: The STATCOM channel dynamic event trigger time is: in, For continuous time variables, This refers to the Kth trigger time of the first trigger channel. The next trigger time for the first trigger channel. Let be a positive constant to be designed, with a value range of . ; The excitation channel dynamic event triggering conditions are as follows: The trigger time for the excitation channel dynamic event is: in, For continuous time variables, This refers to the Kth trigger time of the second trigger channel. The next trigger time for the second trigger channel. Let be a positive constant to be designed, with a value range of . .

9. The control method for generator excitation and STATCOM under dynamic event triggering according to claim 8, characterized in that, S4 specifically includes: In actual control, when the dynamic event triggering condition of the STATCOM channel is met, the STATCOM control quantity is updated; when the dynamic event triggering condition of the excitation channel is met, the generator excitation control quantity is updated; between adjacent triggering moments, the control quantity of the previous triggering moment is kept unchanged using a zero-order hold method, that is: 。

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