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Control Systems PDF
Control Systems PDF
George Konstantopoulos
Control and Power Systems
Dept. of Automatic Control and Systems Engineering
The University of Sheeld
United Kingdom
Outline
Introduction
Model of some typical Power & Energy Systems
Non-linear control theory
Dissipative Hamiltonian form
Oscillator-based non-linear controller
Bounded integral controller (BIC)
Applications
Summary
George Konstantopoulos (The University of Sheeld)
Outline
Introduction
Model of some typical Power & Energy Systems
Non-linear control theory
Dissipative Hamiltonian form
Oscillator-based non-linear controller
Bounded integral controller (BIC)
Applications
Summary
George Konstantopoulos (The University of Sheeld)
Power systems
not
Bridge
Power
Bridge
Power
Bridge
Power
Outline
Introduction
Model of some typical Power & Energy Systems
Non-linear control theory
Dissipative Hamiltonian form
Oscillator-based non-linear controller
Bounded integral controller (BIC)
Applications
Summary
George Konstantopoulos (The University of Sheeld)
L
i
u=1
+
v
Applications:
Aim:
Average model
Average modelling (u )
high switching frequency
duty-ratio = tTon
Li = (1 )v + E
1
C v = (1 )i v
R
where the control input is continuous-time and [0, 1].
D1
d1
Ua
Ia
Ub
Ib
Uc
Ic
S3
D3
d3
S5
D5
d5
Va
Vb
Vdc
Vc
S2
D2
d2
S4
d4
D4
S6
D6
d6
Average modelling
+
Park transformation (a b c
George Konstantopoulos (The University of Sheeld)
q)
RL
Average model
Lid = Rid + s Lid md
Liq = Riq s Liq mq
C V dc =
Vdc
2
Vdc
2
+ Ud
+ Uq
3
V
(md id + mq iq ) dc
4
RL
Outline
Introduction
Model of some typical Power & Energy Systems
Non-linear control theory
Dissipative Hamiltonian form
Oscillator-based non-linear controller
Bounded integral controller (BIC)
Applications
Summary
George Konstantopoulos (The University of Sheeld)
Li = (1 )v + E
1
C v = (1 )i v
R
M x = (J () R ) x + Gu
v T , is the control input and
where x = i
u = E is the
external uncontrolled input.
L
0
0
(1 )
M = 0 C , J () = (1 )
,R =
0
T
0 0
,G = 1 0
1
0 R
= z1 + c
z1 =
0
k (xi xiref )
z2
k (xi xiref )
0
z1
z2
,
k >0
= z1 + c
z1 =
0
k (xi xiref )
z2
k (xi xiref )
0
z1
z2
,
k >0
Controller operation
z2
B
1
,0
2
1
A=
j* *
a-
z1,
W(0)
W(0)
Mx
= J (
x) R x
+G
with x =
T
x
M =
z1
J(x ) = 0
z2
T
R00
=0
, R
0 0,
G =
T
0 0 0
0
0
ref )
0 k (xi xi
k (xi xiref )
0
u (t ) =
g (x ()) d
u
w
=
=
w
g (x )
2
w 2 + (wq b)
k
g
(
x
)
c
2
2
umax
w
w
=
2
2
2
w q
wq
(wq b)
u 2 g (x )c
k uw
+
2
2
max
b 0, k , umax , , c > 0.
max
plant
BIC
g(x)
Proposition
The feedback interconnection of plant system with
the proposed BIC is ISpS, when the plant system is
ISpS.
ISpS: Input-to-state practical stability
The BIC introduces a zero-gain property.
max
,u
max
umax
Normal conditions: b = 0, = 1, k > 0, c = u2wq (
2
max u )
1+
1
1
u*
wq
wq
1
wq*
umax w
W0
umax
umax
Normal conditions
George Konstantopoulos (The University of Sheeld)
Abnormal conditions
Non-linear Control in Power Systems
Integrator replacement
Bounded integral control (BIC):
output
g(x)
upper bound
bounded
output
g(x)
steady-state
lower bound
BIC
Outline
Introduction
Model of some typical Power & Energy Systems
Non-linear control theory
Dissipative Hamiltonian form
Oscillator-based non-linear controller
Bounded integral controller (BIC)
Applications
Summary
George Konstantopoulos (The University of Sheeld)
u=0
u=1
+
v
Results
simulation
experiment
24
22
20
LabVIEW
18
16
14
NI hardware
12
dc power
supply
dc/dc boost
converter
R-L load
10
0
0.5
1.5
2
time (sec)
2.5
1
0.8
X: 0.4
0.6
B Y: 0.4858
0.4
z2
0.2
0
A=
-0.2
-0.4
W(0)
-0.6
-0.8
-1
-1
-0.5
0.5
z1
3.5
JHQHUDWRUVLGHFRQYHUWHU
S
JHDUER[
D
S
D
D
Vas
Vbs
Vdc
Vcs
S
Sa
6&,*
D
S
D
S
JULGVLGHFRQYHUWHU
S
D
Sb
D
Sc
Vag
Vbg
C Rdc
Vcg
Sa
D
D
Sb
D
Sc
D
XWLOLW\JULG
ia
Lg
Rg
Va
ib
Lg
Rg
Vb
ic
Lg
Rg
Vc
D
Qg = 0)
JHQHUDWRUVLGHFRQYHUWHU
S
JHDUER[
D
S
D
D
Vas
Vbs
Vdc
Vcs
S
Sa
6&,*
D
S
D
S
JULGVLGHFRQYHUWHU
S
D
Sb
D
Sc
Vag
Vbg
C Rdc
Vcg
Sa
D
D
Sb
D
Sc
D
XWLOLW\JULG
ia
Lg
Rg
Va
ib
Lg
Rg
Vb
ic
Lg
Rg
Vc
D
Qg = 0)
x +u
,,
1 1 2
Lr , Lr , 3 Jm , Lg , Lg , 3 C
Rr L2m + R
s
L2r
Rr L2m
Lr
0
0
0
0
0
0
J = Lm
Lr p qr
1m
2
ds
0
0
0
0
Rr L2m
L2r
+ Rs
Lm p
Lr dr
Rr L2m
0
0
0
0
0
Rr
L2r
Lr
Rr
L2r
0
0
0
0
2 mqs
Lr
Lr
0
0
1
Rr L2m
Rr L2m
0
0
0
0
0
0
0
0
p r
e L
0
0
0
0
0
0
0
0
e p r
Lr
0
0
0
0
0
0
0
0
0
2b
3
0
0
0
0
0
0
0
0
Rg
0
0
Lm p qr
Lr
LLm p dr
r
0
0
0
0
0
0
0
0
0
0
0
0
Rg
0
0
0
0
0
0
0
s Lg
1
2 mdg
0
0
0
0
0
0
03
2Rdc
0
0
0
0
0
s L g
0
1
2 mqg
1m
2 ds
1m
2 qs
0
0
0
1m
2
dg
1m
2
qg
2
2
ds + mqs 1,
2
2
dg + mqg 1
2
2
ds + mqs 1,
2
2
dg + mqg 1
2
2
ds + mqs 1,
2
2
dg + mqg 1
ds =
mqs =
z1
z2
z3
k1
k1
ids idsref k2
z1
z2
ref
k1 ids ids
0
k2 r rref
ref
r r
c1 z12 + z22 + z32 1
0
z1
z2
z3
0.5
Cr 1
1
z3
disk D
0
-0.5
0.5
0.
z2
0
-0.5
z1
-0.5
iqs: [0.5pu/div]
iq: [0.5pu/div]
rref: [0.2pu/div]
ids: [0.5pu/div]
id: [0.5pu/div]
Vdc: [0.25pu/div]
vga: [1pu/div]
Pg: [0.5pu/div]
Pwind: [0.5pu/div]
Qg: [0.5pu/div]
iga: [1pu/div]
R1
L1
L2
vo
R2
i2
vr1
rC1
C1
load
iL
C2
rC 2
vr 2
Ei = E ni Qi
i = mi Pi
=
R1
L1
L2
vo
R2
i2
vr1
rC1
C1
load
iL
C2
rC 2
vr 2
Ei = Ke (E Vo ) ni Qi
i = mi Pi
accurate load sharing
output voltage regulation near E
Linear/non-linear plant + non-linear controller
=Is the closed-loop system stable?
George Konstantopoulos (The University of Sheeld)
R1
L1
L2
vo
R2
i2
vr1
rC1
C1
load
iL
C2
rC 2
vr 2
Ei = Ke (E Vo ) ni Qi
i = mi Pi
accurate load sharing
output voltage regulation near E
Linear/non-linear plant + non-linear controller
=Is the closed-loop system stable?
George Konstantopoulos (The University of Sheeld)
qi = (Ke (E Vo ) ni Qi ) cEi
= vri = 2Ei zi
z
BDC operation
RMS voltage dynamics
Eqi
frequency dynamics
zqi
starting point
Eqi 0
desired steady-state
equilibrium point
i Vi
j*
starting
point
a- E *
i
Ei
j*
rotating with
angular velocity
equal to i
a-
zi
Wi 0
i = (Ke (E Vo ) ni Qi ) c
i = mi Pi
i , Eqi [Vi , V
i]
[
zi , zqi
1, 1]
Therefore vri = 2Ei zi 2Vi , 2Vi BDC
RDC
P2: [400W/div]
P2: [400W/div]
P1: [400W/div]
P1: [400W/div]
Q1: [400Var/div]
Q1: [400Var/div]
Q2: [400Var/div]
Q2: [400Var/div]
vo: [200V/div]
vo: [200V/div]
i1: [10A/div]
i1: [10A/div]
i2: [10A/div]
i2: [10A/div]
zq1: [1/div]
z1: [1/div]
Rs , L
Rotation
Field voltage
Rs , L
Rs , L
Synchronverter parts
Power Part
+
Rs, Ls
VDC
ea
eb
ec
Rg, Lg
Circuit
Breaker
ia
va
ib
vb
vgb
ic
vc
vgc
vga
C
-
Control Part
R
a
a
DC
b
Reset
Pset
Tm
1
Js
Te
a
DC
1
Ks
Qs
M f if
e
i
Vn
b PWM
generation
c
Dq
c
a
Formulas
of Te, Q, e
b
Qset
1
s
Vg
Dp
Qs: [500Var/div]
fg-fn: [0.1Hz/div]
f-fn: [0.1Hz/div]
Time: [5s/div]
Time: [5s/div]
va: [10V/div]
E: [0.5pu/div]
V-Vg: [0.5V/div]
iga: [10A/div]
Time: [5s/div]
Time: [20ms/div]
reference
+
error
Controller
controller
output
BIBO
Plant
plant
output
Sensor
reference
+
error
Controller
controller
output
BIBO
Plant
plant
output
Sensor
reference
+
error
Controller
controller
output
BIBO
Plant
plant
output
Sensor
vs
L
u
+
v
-
di
dt
dV
CVdc dc
dt
L
RL
= ri v + vs
=
vi
Vdc2
RL
Control tasks:
ref
dc output voltage regulation at Vdc
unity power factor operation (ac side)
Control input: converter voltage v
iL
+
Vdc
L
u
+
v
vs
iL
+
vdc
RL
Hysteresis
current control
-
sin(t)
PLL
I*
vdcref
PI
v (t )
w
w q
w (t )i (t )
"
cw
w 2q
max
ref
Vdc Vdc
Vdc Vdcref
2
k (www2m ) + wq2 1
max
cwq
#
w wm
wq
v (t ) = w i (t )
which guarantees unity power factor at the input of
the rectier.
George Konstantopoulos (The University of Sheeld)
Experimental results
normal operation:
Vdcref
= 90V 115V
Vdc
(ripple)
Vdc
vs
vs
i
Time: [100ms/div]
Time: [10ms/div]
Imax = 4A:
(ripple)
Vdc
vs
vs
i
i
Time: [10ms/div]
Time: [100ms/div]
Outline
Introduction
Model of some typical Power & Energy Systems
Non-linear control theory
Dissipative Hamiltonian form
Oscillator-based non-linear controller
Bounded integral controller (BIC)
Applications
Summary
George Konstantopoulos (The University of Sheeld)
Summary
Stability and advanced operation of power systems
require:
accurate system modelling (average analysis
dissipative Hamiltonian structure)
non-linear control design (parameter-free)
Oscillator-based non-linear controller
Bounded integral controller
Control applications
Power converters
Renewable energy systems (wind, solar, etc.)
Parallel operation of inverters
Grid-friendly inverters (Synchronverters)
many more...
Control applications
Power converters
Renewable energy systems (wind, solar, etc.)
Parallel operation of inverters
Grid-friendly inverters (Synchronverters)
many more...