Design and real-time implementation of perturbation observer based sliding-mode control for VSC-HVDC systems

Abstract This paper develops a perturbation observer based sliding-mode control (POSMC) scheme for voltage source converter based high voltage direct current (VSC-HVDC) systems. The combinatorial effect of nonlinearities, parameter uncertainties, unmodelled dynamics and time-varying external disturbances is aggregated into a perturbation, which is estimated online by a sliding-mode state and perturbation observer. POSMC does not require an accurate system model and only one state measurement is needed. Moreover, a significant robustness can be provided through the real-time compensation of the perturbation. Four case studies are carried out on the VSC-HVDC system, such as active and reactive power tracking, AC bus fault, system parameter uncertainties, and weak AC grid connection. Simulation results verify its advantages over vector control and feedback linearization sliding-mode control. Then a hardware-in-the-loop (HIL) test is undertaken to validate the implementation feasibility of the proposed approach.

[1]  Qun Zong,et al.  Brief paper: Higher order sliding mode control with self-tuning law based on integral sliding mode , 2010 .

[2]  Bao-Zhu Guo,et al.  On the convergence of an extended state observer for nonlinear systems with uncertainty , 2011, Syst. Control. Lett..

[3]  Akshaya Moharana,et al.  Input-Output Linearization and Robust Sliding-Mode Controller for the VSC-HVDC Transmission Link , 2010, IEEE Transactions on Power Delivery.

[4]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[5]  Tek Tjing Lie,et al.  Adaptive control design for VSC-HVDC systems based on backstepping method , 2007 .

[6]  Q. H. Wu,et al.  Perturbation Observer Based Multiloop Control for the DFIG-WT in Multimachine Power System , 2014, IEEE Transactions on Power Systems.

[7]  Dragan Jovcic,et al.  Phase locked loop system for FACTS , 2003 .

[8]  Q. H. Wu,et al.  Nonlinear adaptive control via sliding-mode state and perturbation observer , 2002 .

[9]  Abdelhalim Kessal,et al.  Ga-Optimized Parameters of Sliding-Mode Controller Based on Both Output voltage and Input Current With an Application in the PFC of AC/DC Converters , 2014, IEEE Transactions on Power Electronics.

[10]  Wei Huo,et al.  Predictive variable structure control of nonholonomic chained systems , 2008, Int. J. Comput. Math..

[11]  Lidong Zhang,et al.  Modeling and Control of VSC-HVDC Links Connected to Island Systems , 2011, IEEE Transactions on Power Systems.

[12]  H. Werner,et al.  Synthesis of multi-objective controllers for a VSC HVDC terminal using LMIs , 2004, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[13]  Shihua Li,et al.  Extended state observer-based sliding mode control for PWM-based DC–DC buck power converter systems with mismatched disturbances , 2015 .

[14]  Christopher Edwards,et al.  Sliding mode control : theory and applications , 1998 .

[15]  Li Sun,et al.  Enhanced decentralized PI control for fluidized bed combustor via advanced disturbance observer , 2015 .

[16]  M. Gokasan,et al.  Sliding mode based powertrain control for efficiency improvement in series hybrid-electric vehicles , 2006, IEEE Transactions on Power Electronics.

[17]  F. Blaabjerg,et al.  Direct torque control of sensorless induction motor drives: a sliding-mode approach , 2004, IEEE Transactions on Industry Applications.

[18]  Tore Undeland,et al.  Multi-Terminal VSC-HVDC System for Integration of Offshore Wind Farms and Green Electrification of Platforms in the North Sea , 2008 .

[19]  C. D. Johnson,et al.  Accomodation of external disturbances in linear regulator and servomechanism problems , 1971 .

[20]  Jingqing Han,et al.  From PID to Active Disturbance Rejection Control , 2009, IEEE Trans. Ind. Electron..

[21]  Jean-Pierre Barbot,et al.  Sliding observer-based feedback control for flexible joints manipulator , 1996, Autom..

[22]  Ming Yue,et al.  Extended state observer-based adaptive hierarchical sliding mode control for longitudinal movement of a spherical robot , 2014 .

[23]  Q. H. Wu,et al.  Perturbation estimation based coordinated adaptive passive control for multimachine power systems , 2015 .

[24]  Mingxing Fang,et al.  Improving Disturbance-Rejection Performance Based on an Equivalent-Input-Disturbance Approach , 2008, IEEE Transactions on Industrial Electronics.

[25]  Peter J. Gawthrop,et al.  A nonlinear disturbance observer for robotic manipulators , 2000, IEEE Trans. Ind. Electron..

[26]  Wan Kyun Chung,et al.  Perturbation Compensator based Robust Tracking Control and State Estimation of Mechanical Systems , 2004 .

[27]  M.E.H. Benbouzid,et al.  Sliding Mode Power Control of Variable Speed Wind Energy Conversion Systems , 2008, 2007 IEEE International Electric Machines & Drives Conference.

[28]  Dirk Van Hertem,et al.  Multi-terminal VSC HVDC for the European supergrid: Obstacles , 2010 .

[29]  Heloise Assis Fazzolari,et al.  On interval goal programming switching surface robust design for Integral Sliding Mode Control , 2014 .

[30]  V.G. Agelidis,et al.  VSC-Based HVDC Power Transmission Systems: An Overview , 2009, IEEE Transactions on Power Electronics.

[31]  Kwang Y. Lee,et al.  A Practical Multivariable Control Approach Based on Inverted Decoupling and Decentralized Active Disturbance Rejection Control , 2016 .

[32]  Hans-Peter Nee,et al.  Interconnection of Two Very Weak AC Systems by VSC-HVDC Links Using Power-Synchronization Control , 2011, IEEE Transactions on Power Systems.

[33]  Shuhui Li,et al.  Control of HVDC Light System Using Conventional and Direct Current Vector Control Approaches , 2010, IEEE Transactions on Power Electronics.

[34]  Yuanqing Xia,et al.  Back-stepping sliding mode control for missile systems based on an extended state observer , 2011 .

[35]  Tek Tjing Lie,et al.  A nonlinear control for enhancing HVDC light transmission system stability , 2007 .