具有状态和输入约束的电力系统非线性控制器的设计

发布时间：2018-02-20 15:19

本文关键词： 励磁与汽门 Backstepping Minimax 障碍Lyapunov 切换机制　出处：《东北大学》2014年硕士论文　论文类型：学位论文

【摘要】：电力系统是一个极其复杂的非线性动态系统,包含输配电线路和多种设备,它们之间相互影响,相互联系而形成巨维数电力网络。随着电力工业的迅速发展,电网结构日益复杂和庞大,而实现安全、经济、可靠的供电是电力系统发展的必然趋势。而且,对于电力系统而言,主要的控制问题包括汽门开度控制和发电机励磁控制。本文综合考虑以上控制问题,基于Backstepping方法研究了励磁与汽门开度的协调控制问题。具体工作归纳如下：首先,描述了电力系统中基本控制问题,电力系统稳定性条件以及电力系统控制的研究意义及现状。并以发电机励磁和汽门非线性模型为基础,考虑系统受到的功率干扰和阻尼系数存在的不确定,完善了系统的基础模型。其次,是发电机汽门开度系统控制器的设计。针对系统内部参数不确定,采用参数映射机制设计自适应律；针对模型的非线性利用Backstepping设计控制器；针对模型中的外界干扰,在设计过程中结合Minimax方法；对系统控制量幅值约束问题,引入了切换机制,保证了控制输入的有界性。然后,由于汽门设计过程中是假设励磁电势最优,但在其设计过程中会对励磁电压造成影响,从而进一步研究了励磁和汽门开度的协调控制问题。利用自适应Backstepping结合Minimax同时设计了励磁控制输入和汽门控制输入,同样针对汽门控制输入的幅值约束问题,引入了切换机制。通过与传统控制器的对比仿真曲线,可见设计的控制器使系统响应时间较短,过渡过程更加平滑,对干扰有较强不敏感性,而且控制输入都在设定范围内。接下来,在以上研究内容的基础上,又考虑了系统状态幅值受限,设计了励磁和汽门协调控制器。根据状态的约束构造障碍Lyapunov函数,并利用自适应Backstepping结合Minimax,同时设计了励磁控制器和汽门控制器。针对汽门控制的幅值约束问题,引入了切换机制。解决了系统中参数不确定,外部干扰,状态和输入受限的问题。通过仿真图,可以看出受限的状态没有超过受限范围,且其余状态都能稳定运行。最后,对全文工作进行结论并对未来的研究方向做出展望。
[Abstract]:Power system is an extremely complex nonlinear dynamic system, including transmission and distribution lines and a variety of equipment, which interact with each other and form a huge dimensional power network. With the rapid development of the power industry, The structure of power network is becoming more and more complex and huge, and the realization of safe, economical and reliable power supply is the inevitable trend of the development of power system. The main control problems include valve opening control and generator excitation control. In this paper, the coordinated control of excitation and valve opening is studied based on Backstepping method. The main work is summarized as follows: firstly, This paper describes the basic control problems in power system, the stability conditions of power system, the significance and present situation of power system control, and based on the nonlinear model of generator excitation and valve. Considering the uncertainty of the power disturbance and damping coefficient, the basic model of the system is perfected. Secondly, the controller of the generator valve-opening system is designed. The adaptive law is designed by parameter mapping mechanism, the controller is designed by Backstepping for the nonlinear model, the Minimax method is combined in the design process for the external disturbance in the model, and the switching mechanism is introduced to the amplitude constraint problem of the system control quantity. The boundedness of the control input is ensured. Then, because the excitation potential is assumed to be optimal in the design of the valve, the excitation voltage will be affected in the design process. Thus, the coordinated control of excitation and valve opening is further studied. The excitation control input and the valve control input are designed simultaneously by using adaptive Backstepping and Minimax, and the amplitude constraint problem of the valve control input is also discussed. The switching mechanism is introduced. By comparing the simulation curve with the traditional controller, it can be seen that the controller designed can make the system response time shorter, the transition process smoother, and it is insensitive to interference. And the control input is in the set range. Then, considering the limited amplitude of the system state, the excitation and valve coordination controller is designed, and the obstacle Lyapunov function is constructed according to the state constraints. At the same time, the excitation controller and the valve controller are designed by using adaptive Backstepping and minimax. Aiming at the amplitude constraint problem of the valve control, a switching mechanism is introduced to solve the parameter uncertainty and external disturbance in the system. Through the simulation diagram, we can see that the restricted state does not exceed the limit range, and all the other states can run stably. Finally, the conclusion of the paper is made and the future research direction is prospected.
【学位授予单位】：东北大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM712

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