Closed Loop Feedback Disturbance Rejection Control Strategy for Drive Shaft Rotational Position of on-Load Tap-Changer

NAN Kaigang; YANG Fan; WANG Ke; CHENG Haiyan; ZHANG Jinhua; HONG Jun

doi:10.7652/xjtuxb202206008

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Closed Loop Feedback Disturbance Rejection Control Strategy for Drive Shaft Rotational Position of on-Load Tap-Changer

更新时间：2025-04-27

- Closed Loop Feedback Disturbance Rejection Control Strategy for Drive Shaft Rotational Position of on-Load Tap-Changer
- Vol. 56, Issue 6, Pages: 58-66(2022)
- 作者机构：
  
  1. 西安交通大学机械工程学院,西安,710049
  2. 中国电力科学研究院有限公司,北京,100192
- 作者简介：
- 基金信息：
- DOI：10.7652/xjtuxb202206008
  CLC： TP391
- Online First：10 June 2022，
  
  Published：2022
- 稿件说明：
移动端阅览
NAN Kaigang, YANG Fan, WANG Ke, et al. Closed Loop Feedback Disturbance Rejection Control Strategy for Drive Shaft Rotational Position of on-Load Tap-Changer[J]. 2022, 56(6): 58-66.
DOI：

NAN Kaigang, YANG Fan, WANG Ke, et al. Closed Loop Feedback Disturbance Rejection Control Strategy for Drive Shaft Rotational Position of on-Load Tap-Changer[J]. 2022, 56(6): 58-66. DOI： 10.7652/xjtuxb202206008.

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%。

Abstract

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%.

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references

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