摘要
针对有载分接开关在实现切换工作时驱动轴存在传动不稳定、转动位置不精确的问题,提出了一种以有载分接开关驱动轴转动位置为被控量的闭环反馈抗扰控制策略。首先,根据在电动机构作用下有载分接开关工作状态对驱动轴的转动位置需求,建立了驱动轴期望位置的误差动态控制系统;其次,设计了两个跟踪微分器以计算驱动轴位置信号的光滑跟踪信号,进而可通过调节参数来控制驱动轴位置轨迹的过渡过程;然后,设计了两个扩张状态观测器去估计误差动态控制系统中的状态值及由于有载分接开关在工作中受负载变化、切换方向改变等因素引起的总和扰动值;最后,利用驱动轴位置误差信号及误差动态控制系统的状态估计值设计非线性反馈控制器,并在控制器中补偿扩张状态观测器估计的总和扰动值来实现抗扰控制效果。应用Matlab仿真软件对所提控制策略进行了验证,仿真结果表明,所提控制策略可实现有载分接开关驱动轴的期望位置控制,与传统PID控制策略相比,所提抗扰控制策略将有载分接开关驱动轴闭环反馈控制下位置误差减少了85%。
In terms of problems of unstable transmission and inaccurate rotational position for a drive shaft when an on-load tap-changer realizes switching operations,a closed-loop feedback disturbance rejection control strategy is proposed with the rotational position for the drive shaft of the on-load tap-changer taken as the controlled variable.Firstly,according to rotational position requirements of the drive shaft for the on-load tap-changer under actions of an electric mechanism,an error dynamic control system is established for the desired position of the drive shaft.Secondly,two tracking differentiators are designed to calculate smooth tracking signals of drive shaft position signals,and then transition processes of the drive shaft position trajectory can be controlled by adjusting parameters in tracking differentiators Then,two extended state observers are designed to estimate state values in the error dynamic control system and the total disturbance caused by load change,switching direction change and other factors for the on-load tap-changer during operation.Finally,a nonlinear feedback controller is designed by using the position error signal of the drive shaft and state estimation values of the error dynamic control system,and the total disturbance value estimated by the extended state observer is compensated in the nonlinear feedback controller to achieve effects of disturbance rejection control.The Matlab simulation software is used to verify the proposed control strategy.Simulation results show that the proposed control strategy can realize the desired position control of the drive shaft for the on-load tap-changer.Compared with the traditional PID control strategy,the proposed disturbance rejection control strategy reduces the position error of the drive shaft for the on-load tap-changer under closed-loop feedback control by 85%.
作者
南凯刚
杨帆
汪可
成海炎
张进华
洪军
NAN Kaigang;YANG Fan;WANG Ke;CHENG Haiyan;ZHANG Jinhua;HONG Jun(School of Mechanical Engineering,Xi’an Jiaotong University,Xi’an 710049,China;China Electrical Power Research Institute,Beijing 100192,China)
出处
《西安交通大学学报》
EI
CAS
CSCD
北大核心
2022年第6期58-66,共9页
Journal of Xi'an Jiaotong University
基金
国家电网公司总部科技项目资助(5500-202055351A-0-0-00)。
关键词
有载分接开关
误差动态控制系统
自抗扰控制
扩张状态观测器
闭环反馈控制
on-load tap-changer
error dynamic control system
active disturbance rejection control
extended state observer
closed loop feedback control
