基于能量整形输出反馈的能量整形方法研究及其应用

Energy-Shaped method that stabilizes the mechanical, electrical, and electromechanical systems presented as the Port-Hamiltonian (PH) systems is a canonical controller designed method. The existed Energy-Shaped methods use state feedback and solving partial differential matching equation to design controllers, which lead to the computational complexity, accuracy and realization problems. This project proposes some new Energy-Shaped methods to work out those problems. Firstly, a new Energy-Shaped controller based on the whole Energy-Shaped output feedback that establishes the Energy-Shaped matching equation and stabilizes the controlled system is designed. The proposed controller that avoids solving the partial differential equation, reduces the computational complexity of controller and improves the accuracy of controller is fit for the industrial equipments. Then, a CbI Potential-Shaped controller based on partial energy output feedback that reduces the systemic energy consumption and simplifies the computational complexity of Casimir function is designed. In the meanwhile, the proposed methods that are applied for the distributed multi-area load frequency control power systems designs an Energy-Shaped PID controller with the functions of disturbance decoupling, disturbance rejecting and damping injecting, which yields an application of proposed methods in the power systems.

能量整形方法是对可由Port-Hamiltonian(PH)系统表示的机械、电气和机电系统的范式控制器设计方法。现有能量整形方法利用系统状态反馈和求解偏微分形式的匹配方程设计控制器，导致控制器有计算复杂度、精度和可实现性问题。本项目基于能量整形输出反馈提出新能量整形方法解决上述问题。首先，基于整体能量整形输出反馈设计新能量整形控制器，利用该控制器建立能量整形匹配方程，完成原系统的控制。新能量整形控制器不用求解偏微分方程，降低了控制器计算复杂度，提高了控制器精度，更有利于工业设备的使用。然后，基于部分能量整形输出反馈设计CbI势能整形控制器，减少系统能量消耗和简化Casimir函数的计算复杂度。最后，利用本项目方法设计具有PH系统部分特点的包含各机型的分布式多区域负荷频率控制系统的扰动解耦与抑制、阻尼注入功能的能量整形PID控制器，获得该方法在电力系统的应用成果。

针对具有无源性的Port-Hamiltonian（PH）系统，本项目基于输出反馈能量整形思想提出了不求解偏微分方程形式的能量整形匹配方程方法，丰富了PH系统的无源性理论。进一步的，基于该方法改进了PH系统的指数稳定性问题和受执行器饱和影响的PH系统的镇定控制器问题。同时，本项目将无源性方法应用到自动发电系统和V2G系统。针对多区域自动发电系统，本项目提出了具有潮流解耦功能的PID控制器设计方法：该方法不仅能实现各个区域自动发电系统的稳定，同时也能解决由于区域联络线产生的干扰问题。上述控制器设计在理论上可行有效，在应用中具有快速响应和能量节约的优点。针对V2G系统，本项目给出了同时实现自动发电系统控制器潮流解耦功能和电动车充电器增益方法，揭示了电动车充电桩增益和自动发电系统PID控制器之间的关系。简而言之，本项目不仅从理论上丰富了无源性的理论方法，也拓展了无源性的应用领域，具有一定的科学意义和应用价值。