發(fā)布時(shí)間：2018-02-20 15:19

  本文關(guān)鍵詞： 勵(lì)磁與汽門 Backstepping Minimax 障礙Lyapunov 切換機(jī)制　出處：《東北大學(xué)》2014年碩士論文　論文類型：學(xué)位論文

【摘要】：電力系統(tǒng)是一個(gè)極其復(fù)雜的非線性動(dòng)態(tài)系統(tǒng),包含輸配電線路和多種設(shè)備,它們之間相互影響,相互聯(lián)系而形成巨維數(shù)電力網(wǎng)絡(luò)。隨著電力工業(yè)的迅速發(fā)展,電網(wǎng)結(jié)構(gòu)日益復(fù)雜和龐大,而實(shí)現(xiàn)安全、經(jīng)濟(jì)、可靠的供電是電力系統(tǒng)發(fā)展的必然趨勢(shì)。而且,對(duì)于電力系統(tǒng)而言,主要的控制問題包括汽門開度控制和發(fā)電機(jī)勵(lì)磁控制。本文綜合考慮以上控制問題,基于Backstepping方法研究了勵(lì)磁與汽門開度的協(xié)調(diào)控制問題。具體工作歸納如下：首先,描述了電力系統(tǒng)中基本控制問題,電力系統(tǒng)穩(wěn)定性條件以及電力系統(tǒng)控制的研究意義及現(xiàn)狀。并以發(fā)電機(jī)勵(lì)磁和汽門非線性模型為基礎(chǔ),考慮系統(tǒng)受到的功率干擾和阻尼系數(shù)存在的不確定,完善了系統(tǒng)的基礎(chǔ)模型。其次,是發(fā)電機(jī)汽門開度系統(tǒng)控制器的設(shè)計(jì)。針對(duì)系統(tǒng)內(nèi)部參數(shù)不確定,采用參數(shù)映射機(jī)制設(shè)計(jì)自適應(yīng)律；針對(duì)模型的非線性利用Backstepping設(shè)計(jì)控制器；針對(duì)模型中的外界干擾,在設(shè)計(jì)過程中結(jié)合Minimax方法；對(duì)系統(tǒng)控制量幅值約束問題,引入了切換機(jī)制,保證了控制輸入的有界性。然后,由于汽門設(shè)計(jì)過程中是假設(shè)勵(lì)磁電勢(shì)最優(yōu),但在其設(shè)計(jì)過程中會(huì)對(duì)勵(lì)磁電壓造成影響,從而進(jìn)一步研究了勵(lì)磁和汽門開度的協(xié)調(diào)控制問題。利用自適應(yīng)Backstepping結(jié)合Minimax同時(shí)設(shè)計(jì)了勵(lì)磁控制輸入和汽門控制輸入,同樣針對(duì)汽門控制輸入的幅值約束問題,引入了切換機(jī)制。通過與傳統(tǒng)控制器的對(duì)比仿真曲線,可見設(shè)計(jì)的控制器使系統(tǒng)響應(yīng)時(shí)間較短,過渡過程更加平滑,對(duì)干擾有較強(qiáng)不敏感性,而且控制輸入都在設(shè)定范圍內(nèi)。接下來,在以上研究?jī)?nèi)容的基礎(chǔ)上,又考慮了系統(tǒng)狀態(tài)幅值受限,設(shè)計(jì)了勵(lì)磁和汽門協(xié)調(diào)控制器。根據(jù)狀態(tài)的約束構(gòu)造障礙Lyapunov函數(shù),并利用自適應(yīng)Backstepping結(jié)合Minimax,同時(shí)設(shè)計(jì)了勵(lì)磁控制器和汽門控制器。針對(duì)汽門控制的幅值約束問題,引入了切換機(jī)制。解決了系統(tǒng)中參數(shù)不確定,外部干擾,狀態(tài)和輸入受限的問題。通過仿真圖,可以看出受限的狀態(tài)沒有超過受限范圍,且其余狀態(tài)都能穩(wěn)定運(yùn)行。最后,對(duì)全文工作進(jìn)行結(jié)論并對(duì)未來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.
【學(xué)位授予單位】：東北大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TM712

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