基于勒让德多项式的MMC自适应反步控制策略

doi:10.11930/j.issn.1004-9649.202101098

中国电力 ›› 2022, Vol. 55 ›› Issue (3): 18-27.DOI: 10.11930/j.issn.1004-9649.202101098

基于勒让德多项式的MMC自适应反步控制策略

徐雷¹, 夏向阳¹, 敬华兵², 刘奕玹¹, 贺烨丹¹, 易海淦¹

1. 长沙理工大学电气与信息工程学院，湖南长沙 410114;
2. 株洲中车机电科技有限公司，湖南株洲 412005

收稿日期:2021-01-19 修回日期:2021-07-24 出版日期:2022-03-28 发布日期:2022-03-29
作者简介:徐雷(1997—)，男，硕士研究生，从事柔性直流输电控制技术研究，E-mail：1013216468@qq.com;夏向阳(1968—)，男，通信作者，博士，教授，从事新能源并网接入和柔性直流输电控制研究，E-mail：307351045@qq.com
基金资助:
国家自然科学基金资助项目(柔性直流输电交流侧故障下换流器多桥臂主动应对的能量调控机理及穿越控制研究，51977014)

Adaptive Back-stepping Stability Control Strategy for MMC Based on Legendre Polynomial

XU Lei¹, XIA Xiangyang¹, JING Huabing², LIU Yixuan¹, HE Yedan¹, YI Haigan¹

1. College of Electrical and Information Engineering, Changsha University of Science & Technology, Changsha 410114, China;
2. Zhuzhou CRRC Electromechanical Technology Co., Ltd., Zhuzhou 412005, China

Received:2021-01-19 Revised:2021-07-24 Online:2022-03-28 Published:2022-03-29
Supported by:
This work is supported by National Natural Science Foundation of China (Research on Energy Regulation Mechanism and Fault Ride-through Control of Multi-armed Converter of AC Side Fault in MMC-HVDC System, No. 51977014)

摘要/Abstract

摘要： 针对柔性直流输电中模块化多电平换流器在运行过程中因严重信号干扰或器件温度上升等因素造成的系统动态模型结构中参数变化，使得系统的稳定控制效果不佳，引起系统安全运行事故等问题，提出了一种基于勒让德多项式的自适应反步法稳定控制策略。该方法在静态abc坐标系下建立动态模型，利用勒让德多项式去逼近补偿模块化多电平换流器中因参数改变引起的误差值，从而消除对动态模型的影响，然后采用反步控制理论选取状态变量，构造Lyapunov函数，求得满足Lyapunov稳定性要求作为稳定控制的变量。最后，通过PSCAD/EMTDC仿真模型和实验平台的验证表明，所提出的控制策略与工程中常用的PI控制策略相比拥有更好的控制性能和鲁棒性。

关键词: 模块化多电平换流器, 动态模型, 反步法, 自适应控制, 勒让德多项式

Abstract: In view of the poor stability control performance and frequent operation faults of the flexible HVDC transmission system due to the parameter changes of system dynamic model structure caused by serious signal interference or device temperature rise during the operation of the modular multilevel converter(MMC), an adaptive back-stepping stability control strategy is proposed based on Legendre polynomial. Firstly a dynamic model is established in a static a-b-c coordinate system, and the Legendre polynomial, which has advantages of simple structure and no modeling, is used to approximately compensate for the error value caused by the parameter changes in MMC, thus eliminating its effects on dynamic model. Then, the back-stepping control theory is used to select the state variables, construct the Lyapunov function, and obtain the control variables that meet the requirements of Lyapunov stability. Finally, simulation verification is carried out through PSCAD/EMTDC, which shows that the control strategy proposed in this paper has better control ability and robustness than the conventional PI control strategy.

Key words: modular multilevel converter, dynamic model, back-stepping method, adaptive control, Legendre polynomial

徐雷, 夏向阳, 敬华兵, 刘奕玹, 贺烨丹, 易海淦. 基于勒让德多项式的MMC自适应反步控制策略[J]. 中国电力, 2022, 55(3): 18-27.

XU Lei, XIA Xiangyang, JING Huabing, LIU Yixuan, HE Yedan, YI Haigan. Adaptive Back-stepping Stability Control Strategy for MMC Based on Legendre Polynomial[J]. Electric Power, 2022, 55(3): 18-27.

导出引用管理器 EndNote|Ris|BibTeX

链接本文: https://www.electricpower.com.cn/CN/10.11930/j.issn.1004-9649.202101098

https://www.electricpower.com.cn/CN/Y2022/V55/I3/18

参考文献

[1] 徐政. 柔性直流输电系统[M]. 北京: 机械工业出版社, 2013.
[2] MISHRA S, PALU I, MADICHETTY S, et al. Modelling of wind energy-based microgrid system implementing MMC[J]. International Journal of Energy Research, 2016, 40(7): 952–962.
[3] XIA X Y, ZHOU Y, FU C H, et al. Research on high voltage DC transmission system optimal control based on MMC[J]. International Journal of Electrical Power & Energy Systems, 2016, 82: 207–212.
[4] 夏向阳, 周云, 帅智康. 高压直流输电系统中模块化多电平换流器的重复预测控制[J]. 中国电机工程学报, 2015, 35(7): 1637–1643
XIA Xiangyang, ZHOU Yun, SHUAI Zhikang. Repeat predictive control of modular multilevel converter in high voltage direct current system[J]. Proceedings of the CSEE, 2015, 35(7): 1637–1643
[5] 管敏渊, 徐政, 潘武略, 等. 电网故障时模块化多电平换流器型高压直流输电系统的分析与控制[J]. 高电压技术, 2013, 39(5): 1238–1245
GUAN Minyuan, XU Zheng, PAN Wulue, et al. Analysis and control of modular multilevel converter based HVDC transmission systems during grid faults[J]. High Voltage Engineering, 2013, 39(5): 1238–1245
[6] SAAD H, FILLION Y, DESCHANVRES S, et al. On resonances and harmonics in HVDC-MMC station connected to AC grid[J]. IEEE Transactions on Power Delivery, 2017, 32(3): 1565–1573.
[7] 夏向阳, 易浩民, 邱欣, 等. 双重功率优化控制的规模化光伏并网电压越限研究[J]. 中国电机工程学报, 2016, 36(19): 5164–5171, 5397
XIA Xiangyang, YI Haomin, QIU Xin, et al. Research on dual power optimal control for scaled photovoltaic grid-connected voltage[J]. Proceedings of the CSEE, 2016, 36(19): 5164–5171, 5397
[8] 李国庆, 张林, 江守其, 等. 风电经双极混合型MMC-HVDC并网的直流故障穿越协调控制策略[J]. 电力系统保护与控制, 2021, 49(10): 27–36
LI Guoqing, ZHANG Lin, JIANG Shouqi, et al. Coordinated control strategies for DC fault ride-through of wind power integration via bipolar hybrid MMC-HVDC overhead lines[J]. Power System Protection and Control, 2021, 49(10): 27–36
[9] 朱亮亮, 陈洁, 王小军, 等. 基于改进MMC的静止无功发生器[J]. 南方电网技术, 2021, 15(7): 47–53
ZHU Liangliang, CHEN Jie, WANG Xiaojun, et al. Static VAR generator based on improved MMC[J]. Southern Power System Technology, 2021, 15(7): 47–53
[10] FELDMAN R, TOMASINI M, AMANKWAH E, et al. A hybrid modular multilevel voltage source converter for HVDC power transmission[J]. IEEE Transactions on Industry Applications, 2013, 49(4): 1577–1588.
[11] 曹春刚, 赵成勇, 陈晓芳. MMC-HVDC系统数学模型及其控制策略[J]. 电力系统及其自动化学报, 2012, 24(4): 13–18
CAO Chungang, ZHAO Chengyong, CHEN Xiaofang. Mathematical model and control strategy of MMC-HVDC[J]. Proceedings of the CSU-EPSA, 2012, 24(4): 13–18
[12] 鲁晓军, 林卫星, 安婷, 等. MMC电气系统动态相量模型统一建模方法及运行特性分析[J]. 中国电机工程学报, 2016, 36(20): 5479–5491, 5724
LU Xiaojun, LIN Weixing, AN Ting, et al. A unified dynamic phasor modeling and operating characteristic analysis of electrical system of MMC[J]. Proceedings of the CSEE, 2016, 36(20): 5479–5491, 5724
[13] 杨晓峰, 李泽杰, 郑琼林. 基于虚拟阻抗滑模控制的MMC环流抑制策略[J]. 中国电机工程学报, 2018, 38(23): 6893–6904, 7123
YANG Xiaofeng, LI Zejie, ZHENG qionglin. A novel MMC circulating current suppressing strategy based on virtual impedance sliding mode control[J]. Proceedings of the CSEE, 2018, 38(23): 6893–6904, 7123
[14] DA SILVA G S, VIEIRA R P, RECH C. Discrete-time sliding-mode observer for capacitor voltage control in modular multilevel converters[J]. IEEE Transactions on Industrial Electronics, 2018, 65(1): 876–886.
[15] 黄智, 夏向阳, 赵昕昕, 等. 模块化多电平换流器优化模型预测控制策略[J]. 中南大学学报(自然科学版), 2020, 51(1): 86–93
HUANG Zhi, XIA Xiangyang, ZHAO Xinxin, et al. Optimized model predictive control strategy of modular multilevel converter[J]. Journal of Central South University (Science and Technology), 2020, 51(1): 86–93
[16] RIAR B S, GEYER T, MADAWALA U K. Model predictive direct current control of modular multilevel converters: modeling, analysis, and experimental evaluation[J]. IEEE Transactions on Power Electronics, 2015, 30(1): 431–439.
[17] YANG S F, TANG Y, XU Z, et al. Feedback linearization based current control strategy for modular multilevel converters[C]//2017 IEEE Applied Power Electronics Conference and Exposition (APEC). Tampa, FL, USA. IEEE, 2017: 659–665.
[18] 李正, 郝全睿, 王淑颖, 等. 基于状态反馈精确线性化的MMC非线性解耦控制研究[J]. 中国电机工程学报, 2019, 39(12): 3646–3659
LI Zheng, HAO Quanrui, WANG Shuying, et al. Nonlinear decoupling control of MMC based on feedback linearization theory[J]. Proceedings of the CSEE, 2019, 39(12): 3646–3659
[19] ZHANG J L, YAN J G, ZHANG P. Multi-UAV formation control based on a novel back-stepping approach[J]. IEEE Transactions on Vehicular Technology, 2020, 69(3): 2437–2448.
[20] 张春燕, 盛安冬, 戚国庆, 等. 基于反步法的有限时间机器人环航控制器设计[J]. 自动化学报, 2019, 45(3): 540–552
ZHANG Chunyan, SHENG Andong, QI Guoqing, et al. Finite-time standoff tracking control of moving target by means of backstepping for non-holonmic robot[J]. Acta Automatica Sinica, 2019, 45(3): 540–552
[21] 尹忠刚, 靳海旭, 张彦平, 等. 基于扰动观测器的交流伺服系统低速爬行滤波反步控制方法[J]. 电工技术学报, 2020, 35(增刊1): 203–211
YIN Zhonggang, JIN Haixu, ZHANG Yanping, et al. Disturbance observer-based filter backstepping control with low speed crawling for AC servo system[J]. Transactions of China Electrotechnical Society, 2020, 35(S1): 203–211
[22] SUN D, WANG X H, FANG Y. Backstepping direct power control without phase-locked loop of AC/DC converter under both balanced and unbalanced grid conditions[J]. IET Power Electronics, 2016, 9(8): 1614–1624.
[23] GIRI F, ABOULOIFA A, LACHKAR I, et al. Formal framework for nonlinear control of PWM AC/DC boost rectifiers—controller design and average performance analysis[J]. IEEE Transactions on Control Systems Technology, 2010, 18(2): 323–335.
[24] ZHU S Y, HUANG J J, ZHANG X T, et al. Backstepping based nonlinear control for the modular multilevel converter to against parameters variation[C]//2019 14th IEEE Conference on Industrial Electronics and Applications (ICIEA). Xi'an, China. IEEE, 2019: 2254–2259.

基于勒让德多项式的MMC自适应反步控制策略

Adaptive Back-stepping Stability Control Strategy for MMC Based on Legendre Polynomial

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

[1]	赵静波, 李文博, 朱鑫要, 孙庆斌, 郝全睿. 海上风电经柔直送出系统受端扰动自适应控制策略[J]. 中国电力, 2025, 58(1): 26-38.
[2]	辛业春, 李尚轩, 王延旭, 朱益华, 余佳微, 常东旭. 基于直流电流反馈的MMC-HVDC系统的中高频振荡抑制策略[J]. 中国电力, 2025, 58(1): 39-49.
[3]	曹宇, 胡鹏飞, 蔡婉琪, 王曦, 江道灼, 梁一桥. 基于MMC的超级电容与蓄电池混合储能系统及其混合同步控制策略[J]. 中国电力, 2024, 57(6): 78-89.
[4]	周原冰, 龚乃玮, 王皓界, 肖晋宇, 张赟. 中国电动汽车发展及车网互动对新型储能配置的影响[J]. 中国电力, 2024, 57(10): 1-11.
[5]	薛飞, 李宏强, 田蓓, 马鑫. 储能辅助的孤岛微网自适应事件触发二次调频策略[J]. 中国电力, 2023, 56(9): 196-205.
[6]	刘道兵, 鲍妙生, 李世春, 郭汉琮, 郭营营, 齐越. 不平衡电网下MMC的PCHD模型无源滑模控制策略[J]. 中国电力, 2023, 56(8): 109-116.
[7]	徐文哲, 张哲任, 徐政. 适用于大规模纯新能源发电基地送出的混合式直流输电系统[J]. 中国电力, 2023, 56(4): 17-27.
[8]	杨舒婷, 陈新, 黄通, 魏麒璇. 考虑MMC环流控制的海上风电经柔直送出系统阻抗塑造方法[J]. 中国电力, 2023, 56(4): 38-45.
[9]	郭汉臣, 王琛, 范莹, 王毅, 田艳军, 谭开东. 可改善中压MMC谐波特性的无差拍控制策略[J]. 中国电力, 2022, 55(8): 165-170.
[10]	李奇南, 夏勇军, 张晓林, 孙宝奎, 孙华东, 张帆, 李兰芳, 杨岳峰, 韩情涛. 渝鄂柔性直流输电系统中高频振荡影响因素及抑制策略[J]. 中国电力, 2022, 55(7): 11-21.
[11]	李奇南, 夏勇军, 张晓林, 孙宝奎, 孙华东, 张帆, 李兰芳, 杨岳峰, 韩情涛. 计及电压测量特性的MMC中高频阻抗建模及稳定性分析[J]. 中国电力, 2022, 55(5): 84-93.
[12]	席嫣娜, 李笑彤, 李子明, 魏应冬, 李笑倩, 王方敏, 李伟, 李伟瑞. 用于城轨直流牵引系统的混合型MMC全桥子模块比例设计方法[J]. 中国电力, 2022, 55(4): 54-62.
[13]	游广增, 宋钊, 贵子航, 李玲芳, 朱欣春, 舒德兀. 基于SoC系统的模块化多电平换流器全电磁暂态实时仿真[J]. 中国电力, 2022, 55(2): 159-165,189.
[14]	贺烨丹, 夏向阳, 尹旭, 邓文华, 王灿, 熊富强, 周晗靓. 不对称电压暂降下最大功率输出的MMC协调控制策略[J]. 中国电力, 2022, 55(12): 160-167.
[15]	范世源, 杨贺雅, 向鑫, 杨欢, 李武华, 何湘宁. 具有直流故障穿越能力的模块化多电平换流拓扑推演与对比[J]. 中国电力, 2021, 54(10): 38-45.

模态框（Modal）标题

基于勒让德多项式的MMC自适应反步控制策略

Adaptive Back-stepping Stability Control Strategy for MMC Based on Legendre Polynomial

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics