CN116995963A - High-gain robust control voltage regulator - Google Patents
High-gain robust control voltage regulator Download PDFInfo
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- CN116995963A CN116995963A CN202310887893.5A CN202310887893A CN116995963A CN 116995963 A CN116995963 A CN 116995963A CN 202310887893 A CN202310887893 A CN 202310887893A CN 116995963 A CN116995963 A CN 116995963A
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- voltage regulator
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- 238000004804 winding Methods 0.000 claims description 15
- 238000013016 damping Methods 0.000 claims description 8
- 238000012795 verification Methods 0.000 claims description 7
- 238000013178 mathematical model Methods 0.000 abstract description 4
- 230000005284 excitation Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 3
- 150000001875 compounds Chemical class 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 210000001258 synovial membrane Anatomy 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/14—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/14—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field
- H02P9/38—Self-excitation by current derived from rectification of both output voltage and output current of generator
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Eletrric Generators (AREA)
Abstract
The invention discloses a high-gain robust control voltage regulator, which comprises: the first end of the controller is connected with the rectifier and the exciter, and the second end of the controller is connected with the three phases of the main generator; the three-stage generator voltage regulation control system does not need an accurate mathematical model, has stronger robustness, is more suitable for a three-stage generator voltage regulation control system with stability and reliability as primary targets, and simultaneously solves the problem of high jitter caused by sliding film control.
Description
Technical Field
The invention relates to the technical field of three-stage generator voltage regulator control, in particular to a high-gain robust control voltage regulator.
Background
The three-stage generator consists of a main generator, an auxiliary exciter and an exciter. The main generator is a rotating pole synchronous generator, the exciter is a rotating armature synchronous generator, and the auxiliary exciter is a rotating pole permanent magnet synchronous generator. The exciter is equipped with a rectifier which regulates the alternating current of the external armature when the generator is running, and the voltage is directly supplied to the exciting winding of the main generator by rotating the rectifier to avoid brush damage, the auxiliary exciter being specially designed to drive the voltage regulator and control safety circuits. The three-stage generator has the advantages of high reliability and easy maintenance. The three-stage generator voltage regulator controls the exciting current of the main generator by controlling the exciting current and the exciting voltage of the exciter, thereby achieving the aim of indirectly regulating the output voltage. However, many voltage regulators still have the problems of low anti-interference capability, poor stability and small stability margin at present, and the reliability of the three-stage generator is limited. At present, various unstable performances of voltage regulator control of many three-stage generators are caused by the influence of various factors such as modeling error of the three-stage generators, external environment, temperature, working condition fluctuation, device aging and the like.
For example, a method for digital voltage regulation of a variable frequency three-stage generator disclosed in chinese patent literature, publication No.: CN108429463B discloses that the pre-regulation of the exciting source voltage value is realized by a voltage-duty ratio conversion method in the rated rotation speed range, the design criterion is that the output duty ratio of the voltage regulator is constant when the no-load terminal voltage of the generator is the reference voltage at any rotation speed of the generator, so that the open-loop gain of the forward channel of the voltage regulating system is not affected by the rotation speed of the generator, but the scheme does not solve the above problems.
Disclosure of Invention
In order to solve the problems of low control precision, poor stability and small stability margin of a three-stage generator voltage regulator in the prior art, the invention provides the high-gain robust control voltage regulator, which does not need an accurate mathematical model, has stronger robustness, is more suitable for a three-stage generator voltage regulation control system with stability and reliability as primary targets, and simultaneously solves the problem of high jitter caused by synovial membrane control.
In order to achieve the above object, the present invention provides the following technical solutions:
a high gain robust control voltage regulator, comprising: the first end of the controller is connected with the rectifier and the exciter, and the second end of the controller is connected with the three phases of the main generator; the controller regulates the voltage according to the voltage model. The problem that the traditional three-stage generator voltage regulator is low in anti-interference capability, poor in stability and small in stability margin can be solved.
Preferably, the controller includes an acquisition variable end and a control output end, and the acquisition variable end and the control output end are both connected to the processor. The data monitoring and the adjustment control can be respectively carried out on different parts of the three-stage generator.
Preferably, the variable obtaining terminal obtains the control variable and the state variable respectively, and the variable obtaining terminal transmits the control variable and the state variable to the processor. Can simultaneously acquire control variables and state variables in real time to realize
Preferably, the state variables include three-phase stator current and ac and dc damping winding current, and the control variables include exciting voltage. The current working states of the three generators are determined by taking the three-phase stator current and the AC/DC damping winding current as state variables, and the system control is performed by taking the exciting voltage as a control variable.
Preferably, the control output outputs a control signal, the control signal being determined by the processor. And determining a control strategy and a corresponding instruction of the control system through the processor, and enabling the processor to send out a control signal through the control output end to realize system stability control.
Preferably, the control signal includes a controller gain and a control system constant, and the error amount is defined, and the controller gain and the control system constant are determined by the error amount. The formula of the compound is shown in the specification,where k is the controller gain and ε is the control system constant; e is the error amount; ρ is a constant.
Preferably, the processor is provided with a verification module, the verification module comprises a Lyapunov function model, and the Lyapunov function model outputs yes or no. And verifying whether the control system is stable in the current state through a verification module.
Preferably, the lyapunov function model includes an error function, the error function includes a gain convergence value, and the system stability error is determined according to the gain convergence value. And determining the control effect of the control system by determining the convergence value of the error function in the Lyapunov function model.
The invention has the following advantages:
the three-stage generator voltage regulation control system does not need an accurate mathematical model, has stronger robustness, is more suitable for a three-stage generator voltage regulation control system with stability and reliability as primary targets, and simultaneously solves the problem of high jitter caused by sliding film control.
Drawings
The drawings in the following description are merely exemplary and other implementations drawings may be derived from the drawings provided without inventive effort for a person of ordinary skill in the art.
Fig. 1 is a schematic diagram of a high gain robust control voltage regulator in accordance with the present invention.
In the figure:
1-a secondary exciter; a 2-rectifier; 3-exciter; 4-a main generator; 5-high gain robust voltage regulation controller.
Detailed Description
The following description of the embodiments of the invention is intended to be illustrative of the specific embodiments of the invention in which all other embodiments of the invention, as would be apparent to one skilled in the art without undue burden, are included in the scope of the invention.
As shown in fig. 1, in a preferred embodiment, the present invention discloses a high gain robust control voltage regulator, comprising: and the first end of the controller is connected with the rectifier and the exciter, and the second end of the controller is connected with the three phases of the main generator. The problem that the traditional three-stage generator voltage regulator is low in anti-interference capability, poor in stability and small in stability margin can be solved.
In a specific implementation, the auxiliary exciter 1 is included, the auxiliary exciter 1 is connected with a rectifier 2, the rectifier 2 is connected with an exciter 3 and a high-gain robust voltage regulation controller 5, the exciter 3 is connected with a main generator 4, and the main generator 4 is connected with the high-gain robust voltage regulation controller 5.
The controller comprises an acquisition variable end and a control output end, and the acquisition variable end and the control output end are both connected to the processor. The data monitoring and the adjustment control can be respectively carried out on different parts of the three-stage generator.
The variable acquisition end acquires the control variable and the state variable respectively, and the variable acquisition end transmits the control variable and the state variable to the processor. Can be used for
The state variables comprise three-phase stator currents and alternating-current and direct-axis damping winding currents, and the control variables comprise exciting voltages. The current working states of the three generators are determined by taking the three-phase stator current and the AC/DC damping winding current as state variables, and the system control is performed by taking the exciting voltage as a control variable.
The control output end outputs a control signal, and the control signal is determined by the processor. And determining a control strategy and a corresponding instruction of the control system through the processor, and enabling the processor to send out a control signal through the control output end to realize system stability control.
The control signal includes a controller gain and a control system constant, the error amount is defined, and the controller gain and the control system constant are determined by the error amount. The formula of the compound is shown in the specification,where k is the controller gain and ε is the control system constant; e is the error amount; ρ is a constant.
The processor is provided with a verification module, the verification module comprises a Lyapunov function model, and the Lyapunov function model is output to be yes or no. And verifying whether the control system is stable in the current state through a verification module.
The Lyapunov function model comprises an error function, the error function comprises a gain convergence value, and the system stability error is judged according to the gain convergence value. And determining the control effect of the control system by determining the convergence value of the error function in the Lyapunov function model.
In the case of a specific implementation of the present invention,
the voltage equation expression of converting the excitation voltage mathematical model of the alternating current exciter of the known three-stage generator into a rotary coordinate system through park transformation is as follows:
wherein u is d 、u q 、u 0 Is three-phase stator voltage, i d 、i q 、i 0 Is three-phase stator current, i Q 、i D 、r Q 、r D U is the current and resistance of the AC/DC damping winding f 、i f For field winding voltage and field winding current, ω is the electrical angular velocity of the main generator, r s 、r f Respectively the internal resistance of the armature winding and the internal resistance of the exciting winding,
L d 、L q 、L 0 、L f 、L D 、L Q for the self-inductance of each winding, m xy Mutual inductance for each winding, p is a differential operator;
the relationship of the excitation voltage of the ac exciter can be expressed as:
wherein,,
and selecting the exciting voltage of the alternating current exciter as a control variable to control the main generator to output stable voltage. The three-phase stator current and the AC/DC damping winding current are selected as state variables, and can be expressed as:
x 1 ＝I f (t)
written in a state space standard form of a nonlinear system, can be expressed as:
wherein a constant ρ is present such that A < ρ
Defining an error amount E, which is:
where u is the controller of the design.
Order theWhere k is the controller gain and ε is the control system constant.
And verifying the stability of the designed controller, and setting the Lyapunov function as:
ρ is present such that Ax is+.ρx.
When (when)When the method is used, the following steps are included:
introducing s (t) > 0, and solving the inequality of the differential equation to obtain:
，
the stability of the control system is obtained by the lyapunov stability theorem. Wherein the error function eventually converges toNamely:
in another embodiment, a high-gain robust control voltage regulation method is disclosed, comprising the following steps of converting an excitation voltage model of an alternating current exciter of a three-stage generator into a voltage model through park transformation, taking the excitation voltage in the voltage model as a control variable, and outputting a stable voltage; taking three-phase stator current and alternating-axis and direct-axis damping winding current as state variables; then converting the voltage model into a state space model, and determining the gain of the controller and the constant of the control system through the state space model; and taking the state space model as a controller to regulate the voltage.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (8)
1. A high gain robust control voltage regulator, comprising: the first end of the controller is connected with the rectifier and the exciter, and the second end of the controller is connected with the three phases of the main generator; the controller regulates the voltage according to the voltage model.
2. The high gain robust control regulator of claim 1, wherein the controller includes an acquisition variable terminal and a control output terminal, both connected to the processor.
3. The high gain robust control regulator of claim 2, wherein the acquisition variable terminal acquires the control variable and the state variable, respectively, and wherein the acquisition variable terminal transmits the control variable and the state variable to the processor.
4. A high gain robust control voltage regulator according to claim 3, wherein said state variables include three phase stator currents and ac and dc damping winding currents, and said control variables include field voltage.
5. A high gain robust control voltage regulator according to claim 2, 3 or 4, wherein the control output outputs a control signal, the control signal being determined by the processor.
6. The high gain robust control regulator of claim 5, wherein the control signal comprises a controller gain and a control system constant, the error amount being defined, the controller gain and the control system constant being determined by the error amount.
7. The high gain robust control voltage regulator of claim 6, wherein the processor is provided with a verification module comprising a lyapunov function model, the lyapunov function model outputting yes or no.
8. The high gain robust control voltage regulator of claim 7, wherein the lyapunov function model includes an error function, the error function includes a gain convergence value, and the system stability error is determined based on the gain convergence value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310887893.5A CN116995963A (en) | 2023-07-19 | 2023-07-19 | High-gain robust control voltage regulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310887893.5A CN116995963A (en) | 2023-07-19 | 2023-07-19 | High-gain robust control voltage regulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116995963A true CN116995963A (en) | 2023-11-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310887893.5A Pending CN116995963A (en) | 2023-07-19 | 2023-07-19 | High-gain robust control voltage regulator |
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| Country | Link |
|---|---|
| CN (1) | CN116995963A (en) |
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2023
- 2023-07-19 CN CN202310887893.5A patent/CN116995963A/en active Pending
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