学士学位论文--电力系统非线性自适应鲁棒控制研究.doc
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1、东北大学博士学位论文 摘 要 I 电力系统非线性自适应鲁棒控制研究 摘摘 要要 电力系统是一个强非线性、多维、动态大系统。随着大型电力系统互联的发展以及各种新设备的使用,在使发电、输电更经济、高效的同时,也增加了电力系统的规模和复杂性,从而暴露出很多威胁电力系统安全、经济、稳定运行的动态问题(如电力系统低频振荡、汽轮机和发电机的次同步扭转振荡)。电力系统一旦失去稳定,其暂态过程极快,处理不当可能很快波及全系统,往往造成大范围、较长时间停电,给国民经济和人民生活造成巨大损失和严重危害,在最严重的情况下,则可能使电力系统崩溃和瓦解。在这些情况下,研究和实现相应的稳定控制措施,不但可以提高系统运行的
2、可靠性,而且可以因传输能力的提高而产生直接经济效益。近年来,随着微型计算机和现代控制理论的不断进展,各种先进的控制方法也在电力系统控制方面得到了广泛应用。它们在提高电力系统性能的同时,也为解决上述问题提供了各种各样的途径。本文针对电力系统的非线性模型,采用 backstepping 方法,研究了电力系统励磁、汽门以及各种 FACTS 控制等一系列稳定控制问题。本文工作是将先进控制方法应用到电力系统的进一步尝试,其最突出的特点是:1发展了 backstepping 设计方法,针对实际系统中常常存在的参数不确定性、未建模动态以及未知干扰,在 backstepping 设计步骤中融合进非线性L2增益
3、干扰抑制理论,设计出使系统稳定的非线性自适应鲁棒控制器。简明的设计方法、优良的设计策略使得所设计的相应的控制方案更具广泛的适用性。2本文成功将上述结果推广到单/多机电力系统励磁、汽门以及各种主要的 FACTS 控制稳定中。所考虑的电力系统模型均为更贴近实际的非线性鲁棒模型。其中汽门开度的全程控制,励磁与汽门综合控制的系统模型均使用了四阶,包含两个输入。主要 FACTS 控制的系统模型均未忽略其本身的动态过程。这种设计方法在以前的文献中很少见到。从而使所设计的结果更具有实用性。通过理论分析及仿真证明所得控制器确实具有优良的性能。主要工作概括如下:(1)研究了一类具有严格反馈形式的非线性系统的自适
4、应鲁棒控制问题。东北大学博士学位论文 摘 要 II 将非线性 L2增益干扰抑制理论融合到自适应 backstepping 方法设计步骤中,针对带有常参数不确定性及外部扰动的非线性系统,设计了非线性 L2增益干扰抑制鲁棒控制器。最后指出得出的结果可应用于电力系统的稳定控制。(2)研究了励磁系统的自适应鲁棒控制问题。针对带励磁控制的单机无穷大母线系统,分别在阻尼系数不能精确测量、以及系统兼有阻尼系数不能精确测量和受外部扰动影响的情况下,首次使用自适应 backstepping 方法设计了非线性自适应鲁棒控制器及非线性 L2增益干扰抑制控制器。然后对设计结果进行了分析,讨论了控制器的实现问题。(3)
5、研究了汽门开度的非线性鲁棒控制问题。分别针对仅带有常参数不确定性和同时带有常参数不确定及外部扰动的汽轮机调速系统,首次利用自适应 backstepping 方法设计了发电机汽门非线性鲁棒控制器及非线性 L2增益干扰抑制控制器。然后对设计结果进行了讨论,指出所得控制器独立于网络结构及参数,具有很强的鲁棒性。(4)研究了中间再热汽轮发电机组汽门开度的全程非线性控制问题。其次,作为综合协调控制的例子,研究了励磁汽门综合控制的非线性鲁棒控制问题。两个问题都是在带有常参数不确定及外部扰动的四阶鲁棒模型的基础上,利用自适应 backstepping 方法设计了非线性 L2增益干扰抑制控制器。研究结果表明所
6、使用的设计方法可以应用到励磁、汽门以及 FACTS 之间的协调控制当中。(5)研究了多机系统励磁及汽门的非线性鲁棒控制问题。针对带有常参数不确定及外部扰动的多机励磁与汽门控制系统,利用自适应 backstepping 方法设计了非线性 L2增益干扰抑制控制器。所得控制器是分散的,且独立于网络结构及参数。研究结果表明所使用的设计方法完全可以应用到多机系统的励磁、汽门以及 FACTS 控制当中。(6)将研究结果应用到电力系统 FACTS 控制当中。基于带有 TCSC、STATCOM 的单机无穷大母线系统的三阶模型以及针对交直流并联输电系统,在系统兼有阻尼系数不能精确测量和受外部扰动影响的情况下,首
7、次使用自适应 backstepping 方法设计了 TCSC、STATCOM 及直流调节系统的非线性自适应鲁棒控制器。指出该方法也可用于 SVC 的控制器设计当中。关键词:电力系统 非线性系统 励磁控制 汽门控制 FACTS 控制 参数不确定性 干扰抑制 鲁棒稳定性 backstepping 方法 参数自适应 东北大学博士学位论文 摘 要 III Study on the Nonlinear Adaptive Robust Control for Power Systems Abstract Electric power systems are one of nonlinear,multidi
8、mensional,dynamic and large scale systems.With the developing of interconnection among powers system and using of some new types of devices,the power generation and transmission are made to be more efficient,but at the same time,the scales and complex nature of power systems increase also.Thereby so
9、me dynamic problems which could threaten the operation of power systems in safe,economical and stable mode are emerged,such as power systems oscillating in low frequency and second synchronization retortion of turbine and generator.Once power systems lose stability,the transient process is very quic
10、k,the whole system is likely to be spreaded if dealed with in improper ways,power failure in large scope and longer times may be caused more often than not,and then great loss and serious injury about national economy and peoples life are resulted in.The collapse and breakdown of systems may be caus
11、ed also in most grievous cases.Under these circumstances,study and realization of appropriate stability control approaches,can not only enhance the systems operation reliability,but also produce direct economic benefits because of enhancement of transmission capacity.With the uninterrupted growth of
12、 computer and modern control theory of late years,all sorts of advanced control means also find broad application in power systems control.power systems performance are improved simultaneously,various channels are also provided for solving above problems by them。In this dissertation,aiming at the no
13、nlinear model of power systems,by means of the backstepping methods,a series of stability control problems are studied,including excitation control,steam-valve control,and main FACTS devices control,etc.The research work in this dissertation is a more attempt which advanced control methods are appli
14、ed into power systems stability control.The outstanding characteristics of it are as follows:1.The backstepping design methods are developed.On the parameter uncertainties,unmodelling dynamics and unknown disturbances which exist in practical systems generally,integrating nonlinear L2 gain disturban
15、ces attenuation theory smoothly into backstepping design steps,then the nonlinear adaptive robust controller which can 东北大学博士学位论文 摘 要 IV stabilize the system has been designed.The concise design method and excellent design strategy make the designed corresponding control scheme own extensive adaptab
16、ility.2.The above results have been extended to the stability control of power systems successfully,such as excitation,steam valve of single machine and multi-machine systems,main FACTS devices,etc.The considered system models are all nonlinear robust models corresponding to reality,in which the sys
17、tem model of through control for steam-valve open and the integrated control for excitation and steam-valve are four-order and have two inputs,and the self-dynamic behavior in system models of main FACTS are not ignored.The design methods are rarely founded in the existing references.They make the d
18、esigned results to be more practical and deep theoretical analysis and simulation show validity and high performance of the controller.The main work is as follows:(1)Adaptive robust control problems for a class of nonlinear systems in strict parameter feedback are studied.In view of the system with
19、constant parameter uncertainty and external disturbances,integrating nonlinear L2 gain disturbances attenuation theory smoothly into backstepping design steps,then nonlinear L2 gain disturbances attenuation controller are designed.Lastly,it is pointed out the drawn results can be applied into power
20、systems stability control.(2)Under the condition that damping coefficient can not be measured accurately,and the condition both damping coefficient can not be measured accurately and system being perturbed by external disturbance,respectively,the nonlinear adaptive robust controller on single machin
21、e-infinite bus system with excitation control are designed using adaptive backstepping method for the first time.Then the design results are analyzed,where the realization of controller are discussed.(3)The adaptive robust control problems of steam-valve open are studied.Firstly,In view of single ma
22、chine-infinite bus system with constant parameter uncertainty only and with constant parameter uncertainty and external disturbances,respectively,the nonlinear adaptive robust controller of steam-valve open are designed using adaptive backstepping methods for the first time.Then the design results a
23、re discussed,in which it is pointed out that the obtained controllers are independent of construction and parameters of network,and own strong robustness.(4)Steam-valve whole-range nonlinear control problems of reheat-type turbine are 东北大学博士学位论文 摘 要 V studied.As the example of integrated control,the
24、n the nonlinear robust control problems of excitation and steam-valve coordinated control is studied also.These two problems are all based on the four-order robust models with constant parameter uncertainty and external disturbances,then the nonlinear L2 gain disturbance attenuation controller are d
25、esigned using adaptive backstepping methods.The study results show that the design methods can be applied into mutual coordinated control of excitation,steam-valve and FACTS.(5)The nonlinear robust problems of excitation and steam-valve in multi-machine systems are studied.The nonlinear L2 gain dist
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