阅读说明：本技术 基于模糊pid控制的同步发电机励磁系统和调压方法 (synchronous generator excitation system based on fuzzy PID control and voltage regulating method ) 是由 张淼 李博然 陈栩杰 于 2019-09-18 设计创作，主要内容包括：本申请公开了一种基于模糊PID控制的同步发电机励磁系统和调压方法,根据采样到的机端电压计算同步发电机的机端总电压；根据参考电压和机端总电压计算电压偏差和电压偏差微分,根据电压偏差和电压偏差微分确定模糊控制参数,根据模糊控制参数和参考电压对调节点进行电压环的PID调节,得到励磁电压的参考值,模糊控制参数包括比例参数P、积分参数I和微分参数D；根据检测到的发电机励磁电压与给定励磁电压的参考值,进行电流环的调节,输出调节励磁电压；对调节励磁电压进行PWM波形调制,得到PWM波信号；将PWM波信号输出到驱动电路中,驱动IGBT导通。解决了现有的同步发电机励磁系统采用传统的PID调节控制,存在发电机励磁电流/电压超调的技术问题。(the application discloses a fuzzy PID control-based synchronous generator excitation system and a voltage regulating method, wherein the generator terminal total voltage of a synchronous generator is calculated according to the sampled generator terminal voltage; calculating voltage deviation and voltage deviation differential according to the reference voltage and the total voltage at the machine end, determining a fuzzy control parameter according to the voltage deviation and the voltage deviation differential, and performing PID (proportion integration differentiation) adjustment on a voltage loop according to the fuzzy control parameter and the reference voltage to obtain a reference value of the excitation voltage, wherein the fuzzy control parameter comprises a proportional parameter P, an integral parameter I and a differential parameter D; adjusting a current loop according to the detected generator excitation voltage and a reference value of a given excitation voltage, and outputting an adjusted excitation voltage; carrying out PWM (pulse-width modulation) waveform modulation on the regulated excitation voltage to obtain a PWM wave signal; and outputting the PWM wave signal to a driving circuit to drive the IGBT to be conducted. The technical problem that the existing synchronous generator excitation system adopts the traditional PID regulation control and has generator excitation current/voltage overshoot is solved.)

1. A synchronous generator excitation system based on fuzzy PID control is characterized by comprising:

The voltage sampling calculation module is used for sampling the generator terminal voltage of the synchronous generator and calculating the generator terminal total voltage of the synchronous generator according to the sampled generator terminal voltage;

the fuzzy PID control module is used for calculating voltage deviation and voltage deviation differential according to reference voltage and the total voltage at the generator end, determining fuzzy control parameters according to the voltage deviation and the voltage deviation differential, and carrying out PID (proportion integration differentiation) adjustment on a voltage loop according to the fuzzy control parameters and the reference voltage to obtain a reference value of the excitation voltage, wherein the fuzzy control parameters comprise a proportional parameter P, an integral parameter I and a differential parameter D;

the voltage output module is used for adjusting a current loop according to the detected excitation voltage of the generator and a reference value of the excitation voltage and outputting an adjusted excitation voltage;

the waveform modulation module is used for carrying out PWM waveform modulation on the regulated excitation voltage to obtain a PWM wave signal;

and the output module is used for outputting the PWM wave signal to the driving circuit to drive the IGBT to be conducted.

2. the fuzzy PID control based synchronous generator excitation system according to claim 1, wherein the waveform modulation module is specifically configured to:

and performing triangular wave modulation on the adjusted excitation voltage to obtain a PWM wave signal.

3. the synchronous generator excitation system based on fuzzy PID control as claimed in claim 1, wherein the voltage sampling calculation module is specifically configured to:

voltage sampling is carried out on a d axis and a q axis of the synchronous generator, and generator terminal total voltage of the synchronous generator is calculated according to the sampled d axis voltage and q axis voltage, wherein the generator terminal total voltage is as follows:

Wherein U' is the total terminal voltage, U_dIs d-axis voltage, U_qIs the q-axis voltage.

4. the synchronous generator excitation system based on fuzzy PID control as claimed in claim 1, wherein the fuzzy PID control module is specifically configured to:

fuzzifying the generator terminal total voltage and the reference voltage, calculating a voltage deviation and a voltage deviation differential of the reference voltage and the generator terminal total voltage, and expressing a membership function of the voltage deviation and the voltage deviation differential by a triangular membership function;

Dividing the fuzzy rule of the triangular membership function into seven areas, wherein the seven areas contain different state description variables and respectively correspond to states of seven levels of { negative large, negative medium, negative small, zero, positive small, positive medium and positive large } input and output variables;

According to different fuzzy functions set in different areas, fuzzy reasoning is carried out to obtain the membership degree of the PID parameters to the output variables;

performing fuzzy solving operation on the triangular membership function to obtain a proportional parameter P, an integral parameter I and a differential parameter D;

and carrying out PID (proportion integration differentiation) adjustment on the voltage ring on the voltage-regulating node according to the proportional parameter P, the integral parameter I, the differential parameter D and the reference voltage to obtain a reference value of the excitation voltage.

5. a synchronous generator voltage regulating method based on fuzzy PID control is characterized by comprising the following steps:

Sampling the generator terminal voltage of the synchronous generator, and calculating the generator terminal total voltage of the synchronous generator according to the sampled generator terminal voltage;

calculating a voltage deviation and a voltage deviation differential according to a reference voltage and the terminal total voltage;

Determining fuzzy control parameters according to the voltage deviation and the voltage deviation differential, wherein the fuzzy control parameters comprise a proportional parameter P, an integral parameter I and a differential parameter D;

carrying out PID (proportion integration differentiation) adjustment on the voltage ring on the adjusting node according to the fuzzy control parameter and the reference voltage to obtain a reference value of the excitation voltage;

Adjusting a current loop according to the detected generator excitation voltage and the reference value of the excitation voltage, and outputting an adjusted excitation voltage;

performing PWM waveform modulation on the regulated excitation voltage to obtain a PWM wave signal;

And outputting the PWM wave signal to a driving circuit to drive the IGBT to be conducted.

6. The voltage regulating method of the synchronous generator based on the fuzzy PID control of the claim 5, wherein the terminal voltage of the synchronous generator is sampled, and the terminal total voltage of the synchronous generator is calculated according to the sampled terminal voltage, specifically comprising:

Voltage sampling is carried out on a d axis and a q axis of the synchronous generator, and generator terminal total voltage of the synchronous generator is calculated according to the sampled d axis voltage and q axis voltage, wherein the generator terminal total voltage is as follows:

Wherein U' is the total terminal voltage, U_dis d-axis voltage, U_qIs the q-axis voltage.

7. the voltage regulating method of the fuzzy PID control-based synchronous generator according to claim 5, wherein the PWM waveform modulation is performed on the regulated excitation voltage to obtain a PWM wave signal, specifically comprising:

and performing triangular wave modulation on the adjusted excitation voltage to obtain a PWM wave signal.

8. the method of claim 5, wherein the determining fuzzy control parameters from the voltage deviation and the voltage deviation differential comprises:

fuzzifying the generator terminal total voltage and the reference voltage, calculating a voltage deviation and a voltage deviation differential of the reference voltage and the generator terminal total voltage, and expressing a membership function of the voltage deviation and the voltage deviation differential by a triangular membership function;

dividing the fuzzy rule of the triangular membership function into seven areas, wherein the seven areas contain different state description variables and respectively correspond to states of seven levels of { negative large, negative medium, negative small, zero, positive small, positive medium and positive large } input and output variables;

according to different fuzzy functions set in different areas, fuzzy reasoning is carried out to obtain the membership degree of the PID parameters to the output variables;

And performing fuzzy solving operation on the triangular membership function to obtain a proportional parameter P, an integral parameter I and a differential parameter D.

9. a synchronous generator voltage regulation device based on fuzzy PID control, characterized in that the device comprises a processor and a memory:

The memory is used for storing program codes and transmitting the program codes to the processor;

the processor is configured to execute the fuzzy PID control based synchronous generator voltage regulation method according to any one of claims 5 to 8 according to instructions in the program code.

10. a computer-readable storage medium for storing program code for executing the fuzzy PID control based synchronous generator voltage regulating method according to any one of claims 5 to 8.

Technical Field

the application relates to the technical field of synchronous motors, in particular to a synchronous generator excitation system and a voltage regulating method based on fuzzy PID control.

Background

With the development of an electric power system, the national requirement on electric energy is improved, an excitation system also needs higher requirement to adapt to the development of social economy, but the stability of the electric power system is easily influenced, so that the synchronous generator needs to adjust the working state of the synchronous generator through the excitation system according to the running state of the electric power system, and the over-excitation and under-excitation running of the motor is realized to stabilize the running of the electric power system.

the power system stabilizing device is used, so that the influence of low-frequency oscillation on the power system can be reduced when the power system fluctuates, and the stable operation of the power system is ensured. The circuit block diagram of a voltage regulating system of an existing generator excitation system is shown in fig. 1, an excitation main loop adopts a three-phase full-bridge structure, terminal voltage is sampled and then compared with reference voltage, a reference value of excitation current is obtained through PID regulation, the reference value of the excitation current is compared with generator feedback excitation current, a regulation point current is obtained, the regulation point current generates PWM waves after modulation, and the PWM waves are input to a rotor main shaft through IGBT conduction rectification driven by a driving circuit. However, for a synchronous generator excitation system, the control process is nonlinear and time-varying, the traditional PID regulation control algorithm is difficult to achieve an ideal control effect, and the problem of generator excitation current/voltage overshoot exists.

Disclosure of Invention

the application provides a synchronous generator excitation system and a voltage regulating method based on fuzzy PID control, which are used for solving the technical problem that the excitation current/voltage of a generator is overshot when the existing synchronous generator excitation system adopts the traditional PID regulation control.

The application provides a synchronous generator excitation system based on fuzzy PID control in a first aspect, including:

the voltage sampling calculation module is used for sampling the generator terminal voltage of the synchronous generator and calculating the generator terminal total voltage of the synchronous generator according to the sampled generator terminal voltage;

the fuzzy PID control module is used for calculating voltage deviation and voltage deviation differential according to reference voltage and the total voltage at the generator end, determining fuzzy control parameters according to the voltage deviation and the voltage deviation differential, and carrying out PID (proportion integration differentiation) adjustment on a voltage loop according to the fuzzy control parameters and the reference voltage to obtain a reference value of the excitation voltage, wherein the fuzzy control parameters comprise a proportional parameter P, an integral parameter I and a differential parameter D;

the voltage output module is used for adjusting a current loop according to the detected excitation voltage of the generator and a reference value of the excitation voltage and outputting an adjusted excitation voltage;

the waveform modulation module is used for carrying out PWM waveform modulation on the regulated excitation voltage to obtain a PWM wave signal;

And the output module is used for outputting the PWM wave signal to the driving circuit to drive the IGBT to be conducted.

Optionally, the waveform modulation module is specifically configured to:

And performing triangular wave modulation on the adjusted excitation voltage to obtain a PWM wave signal.

Optionally, the voltage sampling calculation module is specifically configured to:

voltage sampling is carried out on a d axis and a q axis of the synchronous generator, and generator terminal total voltage of the synchronous generator is calculated according to the sampled d axis voltage and q axis voltage, wherein the generator terminal total voltage is as follows:

wherein U' is the total terminal voltage, U_dis d-axis voltage, U_qis the q-axis voltage.

Optionally, the fuzzy PID control module is specifically configured to:

fuzzifying the generator terminal total voltage and the reference voltage, calculating a voltage deviation and a voltage deviation differential of the reference voltage and the generator terminal total voltage, and expressing a membership function of the voltage deviation and the voltage deviation differential by a triangular membership function;

Dividing the fuzzy rule of the triangular membership function into seven areas, wherein the seven areas contain different state description variables and respectively correspond to states of seven levels of { negative large, negative medium, negative small, zero, positive small, positive medium and positive large } input and output variables;

according to different fuzzy functions set in different areas, fuzzy reasoning is carried out to obtain the membership degree of the PID parameters to the output variables;

performing fuzzy solving operation on the triangular membership function to obtain a proportional parameter P, an integral parameter I and a differential parameter D;

And carrying out PID (proportion integration differentiation) adjustment on the voltage ring on the voltage-regulating node according to the proportional parameter P, the integral parameter I, the differential parameter D and the reference voltage to obtain a reference value of the excitation voltage.

The application provides a voltage regulating method of a synchronous generator based on fuzzy PID control, which comprises the following steps:

sampling the generator terminal voltage of the synchronous generator, and calculating the generator terminal total voltage of the synchronous generator according to the sampled generator terminal voltage;

Calculating a voltage deviation and a voltage deviation differential according to a reference voltage and the terminal total voltage;

Determining fuzzy control parameters according to the voltage deviation and the voltage deviation differential, wherein the fuzzy control parameters comprise a proportional parameter P, an integral parameter I and a differential parameter D;

carrying out PID (proportion integration differentiation) adjustment on the voltage ring on the adjusting node according to the fuzzy control parameter and the reference voltage to obtain a reference value of the excitation voltage;

adjusting a current loop according to the detected generator excitation voltage and the reference value of the excitation voltage, and outputting an adjusted excitation voltage;

Performing PWM waveform modulation on the regulated excitation voltage to obtain a PWM wave signal;

and outputting the PWM wave signal to a driving circuit to drive the IGBT to be conducted.

Optionally, the sampling of the generator-side voltage of the synchronous generator, and calculating the generator-side total voltage of the synchronous generator according to the sampled generator-side voltage specifically include:

voltage sampling is carried out on a d axis and a q axis of the synchronous generator, and generator terminal total voltage of the synchronous generator is calculated according to the sampled d axis voltage and q axis voltage, wherein the generator terminal total voltage is as follows:

Wherein U' is the total terminal voltage, U_dis d-axis voltage, U_qis the q-axis voltage.

optionally, the performing PWM waveform modulation on the adjusted excitation voltage to obtain a PWM wave signal specifically includes:

And performing triangular wave modulation on the adjusted excitation voltage to obtain a PWM wave signal.

Optionally, the determining a fuzzy control parameter according to the voltage deviation and the voltage deviation differential includes:

Fuzzifying the generator terminal total voltage and the reference voltage, calculating a voltage deviation and a voltage deviation differential of the reference voltage and the generator terminal total voltage, and expressing a membership function of the voltage deviation and the voltage deviation differential by a triangular membership function;

Dividing the fuzzy rule of the triangular membership function into seven areas, wherein the seven areas contain different state description variables and respectively correspond to states of seven levels of { negative large, negative medium, negative small, zero, positive small, positive medium and positive large } input and output variables;

According to different fuzzy functions set in different areas, fuzzy reasoning is carried out to obtain the membership degree of the PID parameters to the output variables;

and performing fuzzy solving operation on the triangular membership function to obtain a proportional parameter P, an integral parameter I and a differential parameter D.

the third aspect of the application provides a synchronous generator voltage regulating device based on fuzzy PID control, the device comprises a processor and a memory:

The memory is used for storing program codes and transmitting the program codes to the processor;

the processor is configured to execute any one of the fuzzy PID control based synchronous generator voltage regulation methods of the second aspect according to instructions in the program code.

a fourth aspect of the present application provides a computer-readable storage medium for storing program code for executing any one of the fuzzy PID control-based synchronous generator voltage regulating methods of the second aspect.

according to the technical scheme, the method has the following advantages:

The utility model provides a synchronous generator excitation system based on fuzzy PID control includes: the voltage sampling calculation module is used for sampling the generator terminal voltage of the synchronous generator and calculating the generator terminal total voltage of the synchronous generator according to the sampled generator terminal voltage; the fuzzy PID control module is used for calculating voltage deviation and voltage deviation differential according to reference voltage and terminal total voltage, determining fuzzy control parameters according to the voltage deviation and the voltage deviation differential, and carrying out PID (proportion integration differentiation) adjustment on a voltage loop according to the fuzzy control parameters and the reference voltage to obtain a reference value of the excitation voltage, wherein the fuzzy control parameters comprise a proportional parameter P, an integral parameter I and a differential parameter D; the voltage output module is used for adjusting a current loop according to the detected excitation voltage of the generator and a reference value of a given excitation voltage and outputting an adjusted excitation voltage; the waveform modulation module is used for carrying out PWM waveform modulation on the regulated excitation voltage to obtain a PWM wave signal; and the output module is used for outputting the PWM wave signal to the driving circuit and driving the IGBT to be conducted. In P, I, D control parameters of a PID controller, the I parameter is used for adjusting steady-state errors, the D parameter is used for adjusting overshoot, when a sampling value is too large in deviation with a given value, the P parameter is large, meanwhile, the I parameter and the D parameter are small, but the too large P parameter can prevent the system from quickly reacting when the system reaches the given value, and the overshoot is generated by pulling back the I parameter and the D parameter. In the field of fuzzy control, when the deviation between a real-time sampling value and an actual value is overlarge, the P parameter can be larger, but when the deviation between the sampling value and a given value is smaller, the value of the P parameter is reduced, and the I parameter and the D parameter are increased or reduced, so that the system is stable, and the generation of overshoot is avoided. The technical problem that the existing synchronous generator excitation system adopts the traditional PID regulation control and has generator excitation current/voltage overshoot is solved.

Drawings

in order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a circuit block diagram of a voltage regulation system of a conventional generator excitation system;

FIG. 2 is a schematic structural diagram of a synchronous generator excitation system based on fuzzy PID control provided in an embodiment of the present application;

FIG. 3 is a step response curve for the system of FIG. 1;

FIG. 4 is a diagram of a MATLAB simulation of a waveform of generator exciting current output by conventional PID control;

FIG. 5 is a schematic diagram of a MATLAB simulation of a waveform of generator exciting current output by fuzzy PID control;

FIG. 6 is a schematic diagram of the terminal voltage obtained using conventional PID control;

FIG. 7 is a schematic diagram of the terminal voltage obtained using fuzzy PID control;

FIG. 8 is a two-dimensional triangular function representation of a membership function e;

FIG. 9 is a two-dimensional triangular function representation of a membership function ec;

FIG. 10 is a membership function k_pA two-dimensional triangular function representation of (a);

FIG. 11 is a membership function k_ii is a two-dimensional triangular function representation;

FIG. 12 is a membership function k_dA two-dimensional triangular function representation of (a);

FIG. 13 is a block diagram of fuzzy rule control simulation;

FIG. 14 is a representation of rule statement input in the process of establishing a fuzzy;

FIG. 15 is a block diagram of a fuzzy control portion of the system according to an embodiment of the present application;

fig. 16 is a schematic flow chart of a voltage regulating method of a synchronous generator based on fuzzy PID control according to an embodiment of the present application.

Detailed Description

In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

For ease of understanding, referring to fig. 2, an embodiment of a synchronous generator excitation system based on fuzzy PID control is provided herein, comprising:

the voltage sampling calculation module 101 is used for sampling the generator terminal voltage of the synchronous generator and calculating the generator terminal total voltage of the synchronous generator according to the sampled generator terminal voltage;

The fuzzy PID control module 102 is used for calculating voltage deviation and voltage deviation differential according to the reference voltage and the terminal total voltage, determining fuzzy control parameters according to the voltage deviation and the voltage deviation differential, and carrying out PID (proportion integration differentiation) adjustment on the voltage loop according to the fuzzy control parameters and the reference voltage to obtain a reference value of the excitation voltage, wherein the fuzzy control parameters comprise a proportional parameter P, an integral parameter I and a differential parameter D;

The voltage output module 103 is used for adjusting a current loop according to the detected generator excitation voltage and a reference value of a given excitation voltage, and outputting an adjusted excitation voltage;

The waveform modulation module 104 is configured to perform PWM waveform modulation on the adjusted excitation voltage to obtain a PWM wave signal;

And the output module 105 is used for outputting the PWM wave signal to the driving circuit to drive the IGBT to be conducted.

In the embodiment of the present application, the input variables of the fuzzy PID controller are the voltage deviation e and the deviation change rate ec, the deviation change rate ec is represented by the differential of the voltage deviation e, the output variable is the output variable of the fuzzy PID controller is the fuzzy control parameter P, I, D, and k is used as k_p、k_i、k_dand (4) showing. As shown in fig. 3, when the voltage deviation e is large, i.e. the system is in the section a, in order to increase the response speed of the system, the parameter k_pthe value should be large, and in order to avoid the transient differential saturation phenomenon of the voltage deviation e and prevent the system from generating large overshoot and saturation, the value of k is small_i. When the voltage deviation e and the deviation change rate ec are in medium size, that is, the system is in section B, C, the voltage deviation e and the deviation change rate ec have the same sign, the controlled amount changes towards the direction deviating from the given amount, and k is used for ensuring that the overshoot of the system is small_p，k_dThe voltage deviation e and the deviation change rate ec are changed in the direction of the controlled quantity deviating from the given quantity, and k is used for reducing the overshoot of the system_p，k_dWhen the voltage deviation e and the deviation change rate ec are small and close to a given value, k is increased to ensure that the system has good steady-state performance and to ensure the system robustness_p，k_iAnd k is also calculated when the deviation change rate ec is small_dthe value should be appropriately larger and vice versa.

in order to illustrate the technical effect of solving the overshoot problem of the synchronous generator excitation system based on the fuzzy PID control provided in the embodiment of the present application, simulation comparison is performed below on the current waveform and the voltage waveform obtained by the conventional PID control method and the fuzzy PID control method. Referring to fig. 4 to 7, fig. 4 is a schematic diagram illustrating simulation of a waveform MATLAB of a generator exciting current outputted by conventional PID control, fig. 5 is a schematic diagram illustrating simulation of a waveform MATLAB of a generator exciting current outputted by fuzzy PID control, fig. 6 is a schematic diagram illustrating a terminal voltage obtained by conventional PID control, and fig. 7 is a schematic diagram illustrating a terminal voltage obtained by fuzzy PID control, it can be seen that overshoot points (i.e., inflection points in the drawings) exist in both fig. 4 and 6, and the current waveform and the voltage waveform of fig. 5 and 7 are smooth and no overshoot point occurs.

in P, I, D control parameters of a PID controller, the I parameter is used for adjusting steady-state errors, the D parameter is used for adjusting overshoot, when a sampling value is too large in deviation with a given value, the P parameter is large, meanwhile, the I parameter and the D parameter are small, but the too large P parameter can prevent the system from quickly reacting when the system reaches the given value, and the overshoot is generated by pulling back the I parameter and the D parameter. In the field of fuzzy control, when the deviation between a real-time sampling value and an actual value is overlarge, the P parameter can be larger, but when the deviation between the sampling value and a given value is smaller, the value of the P parameter is reduced, and the I parameter and the D parameter are increased or reduced, so that the system is stable, and the generation of overshoot is avoided. The technical problem that the existing synchronous generator excitation system adopts the traditional PID regulation control and has generator excitation current/voltage overshoot is solved.

As a more specific improvement, the waveform modulation module 104 in the embodiment of the present application is specifically configured to:

And performing triangular wave modulation on the regulated excitation voltage to obtain a PWM wave signal.

In the embodiment of the present application, a triangular wave is used to perform waveform modulation on the regulated excitation voltage, so as to obtain a PWM signal.

the voltage sampling calculation module 101 is specifically configured to:

Voltage sampling is carried out on a d axis and a q axis of the synchronous generator, and generator end total voltage of the synchronous generator is calculated according to the sampled d axis voltage and q axis voltage, wherein the generator end total voltage is as follows:

wherein U' is the total terminal voltage, U_dis d-axis voltage, U_qis the q-axis voltage.

The fuzzy PID control module 102 is specifically configured to:

Fuzzifying the total voltage at the generator end and the reference voltage, calculating the voltage deviation and the voltage deviation differential of the reference voltage and the total voltage at the generator end, and expressing the membership function of the voltage deviation and the voltage deviation differential by a triangular membership function;

dividing fuzzy rules of the triangular membership functions into seven areas, wherein the seven areas contain different state description variables and respectively correspond to states of seven levels of { negative large, negative medium, negative small, zero, positive small, positive medium and positive large } input and output variables;

According to different fuzzy functions set in different areas, fuzzy reasoning is carried out to obtain the membership degree of the PID parameters to the output variables;

Performing fuzzy solving operation on the triangular membership function to obtain a proportional parameter P, an integral parameter I and a differential parameter D;

And carrying out PID (proportion integration differentiation) adjustment on the voltage ring on the voltage-regulating node according to the proportional parameter P, the integral parameter I, the differential parameter D and the reference voltage to obtain a reference value of the excitation voltage.

the fuzzy control input voltage deviation e, the deviation change rate ec, and the fuzzy control output k are set as follows_p、k_i、k_dthe basic domains of discourse are respectively:

e∈[-1，+1]；ec∈[-8，+8]；k_d∈[-1，+1]；k_i∈[-1，+1]；k_p∈[-1，+1]。

Meanwhile, { negative large, negative medium, negative small, zero, positive small, positive medium, positive large } or { NB, NM, NS, ZE, PB, PM, PB } describes the states of input and output, and the specific settings of the variables in the ambiguity domain are as follows:

e：{-6，-4，-2，0，2，4，6}；

ec：{-6，-4，-2，0，2，4，6}；

k_p：{-3，-2，-1，0，1，2，3}；

k_i：{-3，-2，-1，0，1，2，3}；

k_d：{-3，-2，-1，0，1，2，3}。

The degrees of membership { NB, NM, NS, ZE, PB, PM, PB } are expressed by triangular membership functions as shown in FIGS. 8,9,10,11, and 12, FIG. 8 is a two-dimensional triangular function representation of a membership function e, FIG. 9 is a two-dimensional triangular function representation of a membership function ec, and FIG. 10 is a membership function k_pIs a two-dimensional triangular function representation of (1), FIG. 11 is a membership function k_ii, fig. 12 is a membership function k_dIs represented by a two-dimensional triangular function of (1).

establishing fuzzy control rules, and establishing e, e and e in the control block diagram shown in figure 13,ec、k_p、k_i、k_dthe argument ranges of the variables are shown in Table 1 (e-variable argument range Table), Table 2 (ec-variable argument range Table), and Table 3 (k)_p、k_i、k_dTable of argument magnitudes).

TABLE 1

	-6	-5	-4	-3	-2	-1	0	1	2	3	4	5	6
														NB	1.0	0.7	0.5	0.25	0	0	0	0	0	0	0	0	0
NM	0.3	0.7	1.0	0.7	0.3	0	0	0	0	0	0	0	0
														NS	0	0	0.3	0.7	1.0	0.7	0.3	0	0	0	0	0	0
ZE	0	0	0	0	0.3	0.7	1.0	0.7	0.3	0	0	0	0
														PS	0	0	0	0	0	0.3	0.7	1.0	0.7	0.3	0	0	0
PM	0	0	0	0	0	0	0	0	0.3	0.7	1.0	0.7	0.3
														PB	0	0	0	0	0	0	0	0	0	0.2	0.5	0.7	1.0

TABLE 2

	-6	-5	-4	-3	-2	-1	0	1	2	3	4	5	6
														NB	1.0	0.7	0.5	0.25	0	0	0	0	0	0	0	0	0
NM	0.3	0.7	1.0	0.7	0.3	0	0	0	0	0	0	0	0
														NS	0	0	0.3	0.7	1.0	0.7	0.3	0	0	0	0	0	0
ZE	0	0	0	0	0.3	0.7	1.0	0.7	0.3	0	0	0	0
														PS	0	0	0	0	0	0.3	0.7	1.0	0.7	0.3	0	0	0
PM	0	0	0	0	0	0	0	0	0.3	0.7	1.0	0.7	0.3
														PB	0	0	0	0	0	0	0	0	0	0.2	0.5	0.7	1.0

TABLE 3

The fuzzy rule base is built by the structure of IF … THEN …, and since the fuzzy PID controller of the system has two inputs and three outputs, and the linguistic values of the inputs and the outputs are all 7, 7 × 7 to 49 fuzzy rule sentences are generated according to the mathematical combinational logic, as shown in fig. 14.

Finally, solving fuzzy processing according to a weighted average algorithm, wherein the specific membership function is as follows:

The synchronous generator excitation system based on fuzzy PID control provided by the embodiment of the application can carry out nonlinear processing on control parameters according to the input and the given deviation, can improve the dynamic performance of the system when the system error is large, and can ensure the steady-state precision of the system when the system is close to the steady state.

the structure of the fuzzy control part of the system in the embodiment of the present application is shown in fig. 15, whereinThe triangle function frame part is a fuzzy control function, which comprises a process of establishing a fuzzy rule and resolving the fuzzy, wherein the resolving process is automatically finished by the interior of a fuzzy logic Controller in MATLAB to output k finally_p、k_i、k_dAnd (4) parameters.

The established fuzzy control rule can be subjected to fuzzy reasoning to decide a fuzzy subset of the control variable, which is a fuzzy quantity that can not directly control the controlled object, so that the best effect of fuzzy control can be exerted only by converting the fuzzy quantity into an accurate quantity through a reasonable method, and the process of converting the fuzzy quantity into the accurate quantity is called as clarification or deblurring. The method comprises a gravity center method, a function inference method and a weighted average method, wherein the weighted average method is used in the embodiment of the application, and the main method is described by a first sentence rule in fig. 13:

for IF (E IS NB) AND (EC IS NB), THEN (KP IS PB), (KI IS NB), (KD IS PS), the membership functions are calculated as: u shape_P1＝U_NB(e)∧U_NB(ec)＝MIN{U_NB(e),U_NB(ec) } similarly, U can also be obtained_i1，U_d1the membership function of (1), i.e. the PID parameter of the first rule, has a total of 49 statements, so that a fuzzy subset at a certain time can be obtained, and then the fuzzy subset is processed by a weighted average method, that is:

in the formula of U_pj(K_P) (j 1.2.3.. 49) and the like are k obtained from membership corresponding to e and ec_p，k_i，k_dThe expression of which is shown in detail in fig. 13, the following table can be obtained by sorting all the sentences of fig. 13:

k_p，k_i，k_drespectively correspond to the data in the table, e.g. k for e being NB (negative large) and ec being NB (negative large)_p，k_i，k_dCorresponding to (PB, NB, PS) i.e. (positive large, negative large, positive small). C_Pj、C_ij、C_djIs a parameter k_p，k_i，k_dthe theoretical threshold value is taken, i.e., { -3, +3} in FIGS. 10,11, 12.

For ease of understanding, referring to fig. 16, an embodiment of a method for regulating voltage of a synchronous generator based on fuzzy PID control is provided, including:

and step S1, sampling the terminal voltage of the synchronous generator, and calculating the terminal total voltage of the synchronous generator according to the sampled terminal voltage.

and step S2, calculating the voltage deviation and the voltage deviation differential according to the reference voltage and the terminal total voltage.

And step S3, determining fuzzy control parameters according to the voltage deviation and the voltage deviation differential, wherein the fuzzy control parameters comprise a proportional parameter P, an integral parameter I and a differential parameter D.

and step S4, carrying out PID adjustment of the voltage ring on the voltage regulation node according to the fuzzy control parameter and the reference voltage to obtain a reference value of the excitation voltage.

And step S5, adjusting the current loop according to the detected generator excitation voltage and the reference value of the given excitation voltage, and outputting the adjusted excitation voltage.

and step S6, performing PWM waveform modulation on the regulated excitation voltage to obtain a PWM wave signal.

step S7 is to output the PWM wave signal to the drive circuit to drive the IGBT on.

Specifically, step S1 specifically includes: voltage sampling is carried out on a d axis and a q axis of the synchronous generator, and generator end total voltage of the synchronous generator is calculated according to the sampled d axis voltage and q axis voltage, wherein the generator end total voltage is as follows:

Wherein U' is the total terminal voltage, U_dis d-axis voltage, U_qIs the q-axis voltage.

Specifically, step S6 specifically includes:

And performing triangular wave modulation on the regulated excitation voltage to obtain a PWM wave signal.

specifically, step S3 specifically includes:

Fuzzifying the total voltage at the generator end and the reference voltage, calculating the voltage deviation and the voltage deviation differential of the reference voltage and the total voltage at the generator end, and expressing the membership function of the voltage deviation and the voltage deviation differential by a triangular membership function;

dividing fuzzy rules of the triangular membership functions into seven areas, wherein the seven areas contain different state description variables and respectively correspond to states of seven levels of { negative large, negative medium, negative small, zero, positive small, positive medium and positive large } input and output variables;

According to different fuzzy functions set in different areas, fuzzy reasoning is carried out to obtain the membership degree of the PID parameters to the output variables;

And performing fuzzy solving operation on the triangular membership function to obtain a proportional parameter P, an integral parameter I and a differential parameter D.

The application provides an embodiment of a synchronous generator voltage regulating device based on fuzzy PID control, the device comprises a processor and a memory:

the memory is used for storing the program codes and transmitting the program codes to the processor;

the processor is used for executing the synchronous generator voltage regulating method based on the fuzzy PID control in the synchronous generator voltage regulating method based on the fuzzy PID control according to the instructions in the program codes.

a computer readable storage medium is provided herein for storing program code for executing the fuzzy PID control based synchronous generator voltage regulating method in the aforementioned fuzzy PID control based synchronous generator voltage regulating method embodiment.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

in addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.