3URFHHGLQJVRIWKHVW&KLQHVH&RQWURO&RQIHUHQFH

-XO\+HIHL&KLQD

ะӄ人⎁᧝࡬Ⲻ伄ᵰ-Ḫ⋯ᵰ␭ਾ⭫࣑㌱㔕Ⲻ䍕㦭仇⦽᧝࡬
ะӄ人⎁᧝࡬Ⲻ伄ᵰ Ḫ⋯ᵰ␭ਾ⭫࣑㌱㔕Ⲻ䍕㦭仇⦽᧝࡬
‫⪔ߑץ‬θ䜓⦿ᱛθ䉣ᮽ
ॾे⭥࣋བྷᆖ᧗ࡦо䇑㇇ᵪᐕ〻ᆖ䲒ˈेӜ 102206
E-mail: houjunr@163.com

᪎ 㾷:仾ᵪḤ⋩ᵪ␧ਸ⭥࣋㌫㔏ᱟ‫؍‬䇱‫ٿ‬䘌ൠ४‫Ⲵ⭥׋‬ᴹ᭸᡻⇥DŽѪҶ‫؍‬ᤱ㌫㔏ᤱ㔝‫⭥׋‬䍘䟿ˈ㌫㔏仁⦷ᓄ䈕ቭ䟿
㔤ᤱѪᑨ䟿DŽᵜ᮷䟷⭘ҶสҾ亴⍻᧗ࡦⲴᆼ‫࠶ޘ‬ᮓ᧗ࡦಘ䇮䇑ᯩ⌅ሩ仾ᵪḤ⋩ᵪ␧ਸ⭥࣋㌫㔏䍏㦧仁⦷᧗ࡦ䰞仈䘋㹼
Ҷ⹄ウDŽѪҶ‫ׯ‬Ҿᐕ〻ᇎ⧠ˈᵜ᮷ሶ亴⍻᧗ࡦ䘁լѪՐ㔏ⲴPID᧗ࡦಘDŽ䟷⭘䈕ᯩ⌅ሩ仾ᵪḤ⋩ᵪ␧ਸ⭥࣋㌫㔏䘋㹼
PID䇮䇑ˈᒦоՐ㔏ⲴสҾISE(integral square error criterion)ᯩ⌅ᮤᇊⲴPID䘋㹼ሩ∄ˈԯⵏᇎ傼傼䇱Ҷᡰᨀ᧗ࡦᯩṸⲴ
ᴹ᭸ᙗ
ީ䭤䈃:仾ᵪḤ⋩ᵪ␧ਸ⭥࣋㌫㔏ˈ䍏㦧仁⦷᧗ࡦˈࣘᘱ⸙䱥᧗ࡦˈPID᧗ࡦ

Load Frequency Control of Wind Diesel Hybrid Power

Systems via Predictive Control

HOU Junrui, HAO Yuchun, TAN Wen

School of Control & Computer Engineering, North China Electric Power University, Beijing 102206, China
E-mail: houjunr@163.com

Abstract: Wind-diesel hybrid power systems are efficient in supplying power to remote areas. To maintain a sustainable and de-
pendable power supply, the frequency of the system must be kept a constant. This paper studies decentralized load frequency control
for wind-diesel hybrid systems based on predictive control. In order to implement in practice, this paper approximates the predictive
control with conventional PID control structure. The method is applied to design PID controllers for two wind-diesel hybrid power
systems. Simulation results show that the method can achieve better results compared with traditional method (ISE).
Key Words: wind diesel hybrid power system; Load frequency control (LFC); Dynamic Matrix Control; PID control

㹼Ҷ䇮䇑DŽ䈕䍏㦧仁⦷᧗ࡦಘ䟷⭘Ր㔏ⲴPIර᧗ࡦˈ
1 ᕋ䀶 ৲ᮠᮤᇊสҾᴰሿᒣᯩ䈟ᐞ˄ISE˅߶ࡉDŽԯⵏ㺘᰾
㠚18ц㓚ԕᶕˈ仾ᵪḤ⋩ᵪӂ㚄㌫㔏ቡ֌Ѫ‫ٿ‬䘌 Ḥ⋩ᵪ‫ח‬䍏㦧仁⦷᧗ࡦಘ㜭ཏᘛ䙏㔤ᤱ㌫㔏仁⦷DŽ
ൠ४Ⲵ⭥࣋ਁ⭥ᵪ㌫㔏ᗇࡠᒯ⌋Ⲵᓄ⭘ˈަ䇮䇑ǃᆹ Bhattiㅹ [6]ሶ䈕ᯩ⌅ᓄ⭘ࡠᴤ༽ᵲⲴ仾ᵪ-Ḥ⋩ᵪ-≤
㻵ԕ৺⁑රᗇࡠᒯ⌋⹄ウDŽ Hunterㅹ[1]䖳Ѫ䈖㓶ൠӻ 䖞ᵪ␧ਸ㌫㔏Ⲵ䍏㦧仁⦷᧗ࡦ⹄ウѝDŽնᱟISEᯩ⌅
㓽Ҷ仾ᵪḤ⋩ᵪӂ㚄㌫㔏Ⲵ䇮䇑оᆹ㻵ᢰᵟ˗Lipman Ⲵᣇᒢᢠᙗн֣ˈ൘ཆ⭼ᢠࣘਁ⭏ਈॆᰦˈᮤᇊ᭸᷌
ㅹ[2]⹄ウҶཊ仾ᵪоঅḤ⋩ᵪӂ㚄㌫㔏ˈᒦ࠶᷀Ҷަ ‫ٿ‬ᐞ䖳བྷDŽ⢩࡛ᱟ䲿⵰ਈ䟿Ⲵ໎ཊˈ↔㊫PID৲ᮠՈ
㓿⍾ᙗˈնᱟᒦᵚ᰾⺞ᨀࠪ⁑ර㓶㢲DŽWilrekerㅹ[3] ॆ⌅ਈᗇॱ࠶༽ᵲ
⹄ウҶཊḤ⋩ᵪоঅ仾ᵪӂ㚄㌫㔏ˈᒦሩḤ⋩ᵪ⁑ර BansalㅹӪሶ䚇Րᯩ⌅ᓄ⭘Ҿ仾ᵪḤ⋩ᵪӂ㚄
䘋㹼Ҷ࠶᷀ˈަᨀࠪⲴḤ⋩ᵪ⁑රާᴹᖸ䟽㾱Ⲵ৲㘳 ㌫㔏[7]ˈնᱟ䚇Ր᧗ࡦ㇇⌅䘀㇇䟿ᓎབྷ㘼ф⁑ර䱦⅑
ԧ٬DŽ 䖳儈ˈ㔉৲ᮠᮤᇊᑖᶕҶᶱབྷⲴഠ䳮DŽ[8-9]䪸ሩ仾ᵪ
⭥࣋㌫㔏Ⲵ仁⦷っᇊᱟ‫؍‬䳌⭥࣋ᤱ㔝ਟ䶐‫׋‬ᓄ Ḥ⋩ᵪӂ㚄㌫㔏࠶࡛䟷⭘Ҷ励ἂ᧗ࡦᯩ⌅઼⁑㋺᧗
Ⲵ䟽㾱ഐ㍐ѻаDŽ❦㘼ˈ⭡Ҿ㌫㔏ѝ䍏㦧Ⲵн⺞ᇊˈ ࡦᯩ⌅ˈնᱟ[8]ѝ᧗ࡦᯩ⌅㾱൘励ἂっᇊᙗо䰝⧟૽
ሬ㠤㌫㔏Ⲵ䗃ࠪ仁⦷ࠪ⧠ᖸབྷⲴ‫ٿ‬ᐞDŽTAN[4]䈖㓶ӻ ᓄ䙏ᓖѻ䰤䘋㹼ᣈѝDŽ[9]⁑㋺᧗ࡦಘ㲭❦ሩ⁑ර㋮⺞
㓽Ҷ䍏㦧仁⦷ਈॆӗ⭏Ⲵ৏ഐˈᤷࠪᖃ䍏㦧ᢠࣘࠪ⧠ ᙗ㾱≲н儈ˈնᱟ㌫㔏ᱟཊ䗃‫ޕ‬ཊ䗃ࠪᖒᔿᰦˈ⁑㋺
ᰦˈ⭡Ҿ䙏⦷ˈ৲ᮠⲴਈॆˈ㔃ᶴкⲴн⺞ᇊᙗԕ৺ ᧗ࡦಘቡн޽䘲ਸDŽഐ↔ሩҾ↔㊫仾Ḥӂ㚄㌫㔏ӽ❦
䙊ؑᰦᔦㅹ䰞仈䙐ᡀҶ仁⦷ⲴਈॆDŽ ᴹᗵ㾱֌䘋а↕Ⲵ⹄ウDŽ
ѪҶ‫؍‬䇱仾ᵪ-Ḥ⋩ᵪ␧ਸ⭥࣋㌫㔏Ⲵᤱ㔝‫׋‬ ᵜ ᮷ ᨀ ࠪ Ҷ а ⿽ ส Ҿ ࣘ ᘱ ⸙ 䱥 ᧗ ࡦ (DMC ˈ
⭥ˈ䍏㦧仁⦷᧗ࡦ䰞仈ҏᗇࡠ⹄ウDŽ Bhattiㅹ[5]ሩа Dynamic Matrix Control)Ⲵ仾Ḥӂ㚄㌫㔏䇮䇑ᯩ⌅DŽ
㊫仾ᵪ-Ḥ⋩ᵪ␧ਸ⭥࣋㌫㔏Ⲵ䍏㦧仁⦷᧗ࡦ৲ᮠ䘋 DMC֌Ѫа⿽亴⍻᧗ࡦ㇇⌅ˈഐަሩ⁑ර㾱≲վˈ
൘㓯䇑㇇ᯩ‫ࡦ᧗ˈׯ‬㔬ਸ䍘䟿ྭㅹՈ⛩㘼ᗇࡠᒯ⌋ᓄ
*
↔亩ᐕ֌ᗇࡠेӜᐲ㠚❦、ᆖส䠁䍴ࣙˈ亩ⴞᢩ߶ਧ˖4092083
⭘DŽᆳᱟа⿽สҾ䶎৲ᮠ⁑ර┊ࣘՈॆᇎᯭᒦ㔃ਸ৽
઼⋣ेⴱ㠚❦、ᆖส䠁䍴ࣙˈ亩ⴞᢩਧ˖F2011502069. 侸ṑ↓ⲴՈॆ᧗ࡦ㇇⌅ˈᴹ㢟ྭⲴ䐏䑚ᙗ㜭઼䖳ᕪⲴ

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励ἂᙗDŽᵜ᮷䟷⭘DMCሩ仾ᵪ-Ḥ⋩ᵪӂ㚄㌫㔏Ⲵ仁 䍏㦧仁⦷᧗ࡦಘ઼ẘਦ᧗ࡦಘ⴨ӂ䝽ਸˈ֯㌫㔏
⦷䘋㹼᧗ࡦˈ䈕ᯩ⌅ਟԕሩ䍏㦧ᢠ઼ࣘ仾㜭ᢠࣘ䘋㹼 䗃ࠪ仁⦷‫؍‬ᤱっᇊˈ਼ᰦˈ䈳㢲仾ᵪⲴ䗃࣏ࠪ⦷ˈ֯
൘㓯亴⍻ᒦᇎᰦ┊ࣘՈॆˈާᴹ㢟ྭⲴᣇᒢᢠ㜭࣋DŽ 仾㜭Ⲵ࡙⭘⦷䗮ࡠᴰ儈DŽ
ѪҶᯩ‫ׯ‬ᐕ〻ᇎ⧠ˈᴰਾሶ≲ࠪⲴ亴⍻᧗ࡦಘ䱽䱦Ѫ
PID᧗ࡦಘᒦо[5]ѝⲴՈॆPID䘋㹼∄䖳.ԯⵏ㔃᷌㺘 3 ะӄ人⎁᧝࡬Ⲻᇂ‫࠼ޞ‬ᮙ᧝࡬ಞⲺ䇴䇗
᰾ˈᵜ᮷Ⲵᯩ⌅૽ᓄ䙏ᓖᘛˈ䎵䈳ሿˈ㜭ཏᇎᰦᘛ䙏 DMC ᱟа⿽ިරⲴ亴⍻᧗ࡦDŽ䈕㇇⌅สҾሩ䊑
Ⲵ䐏䑚ᵏᵋ䗃ࠪˈ励ἂᙗྭˈާᴹᴤᕪⲴᣇᒢᢠ㜭 Ⲵ䱦䏳૽ᓄˈԕ亴⍻⁑රǃ┊ࣘՈॆǃ৽侸ṑ↓й亩
࣋DŽᒦф㇇⌅ㆰঅˈ᱃Ҿᇎ⧠DŽ สᵜ৏⨶Ѫส⹰ˈ䘲⭘Ҿ⑀䘋っᇊⲴ㓯ᙗሩ䊑DŽ
2 伄ᵰḪ⋯ᵰӈ㚊⁗ශ 1 ) 亴⍻⁑ර
DMC䴰㾱ሩ䊑Ⲵ䱦䏳૽ᓄ㌫ᮠˈሩҾањ⑀䘋
ᵜ᮷㘳㲁є⿽仾ᵪ-Ḥ⋩ᵪ␧ਸ⭥࣋㌫㔏⁑ර.а っᇊⲴ㓯ᙗሩ䊑 G ˈ⍻ᇊ䈕ሩ䊑Ⲵ䱦䏳૽ᓄ䟷ṧ٬
њᱟєњ仾ᵪањḤ⋩ᵪⲴӂ㚄㌫㔏ˈਖањᱟањ Ѫ˖
仾ᵪєњḤ⋩ᵪӂ㚄㌫㔏DŽ⭡Ҿ仾ᵪоḤ⋩ᵪާᴹн
ai = y ( iT ) i = 1, 2, N (1)
਼⢩ᙗˈ㘼仾ᵪާᴹ⴨լ⢩ᙗˈḤ⋩ᵪҏާᴹ⴨լ⢩
ᙗˈഐ↔к䘠єњ⁑රਟԕԓ㺘ཊњ仾ᵪоཊњḤ⋩ ަѝ T Ѫ䟷ṧઘᵏˈN ᱟањ↓ᮤᮠˈഐѪሩ䊑⑀䘋
ᵪӂ㚄Ⲵިර␧ਸ⭥࣋㌫㔏DŽ っᇊˈᡰԕਟԕ᢮ࡠањ↓ᮤᮠ N ֯ᗇሩ䊑Ⲵ䱦䏳૽
␧ਸ⭥࣋㌫㔏Ⲵ䍏㦧仁⦷᧗ࡦ䙊ᑨ䟷⭘࠶ᮓ㔃 ᓄ൘ᰦ䰤 NT ѻਾ䎻Ҿᒣっˈ䘉ṧሩ䊑Ⲵ‫ޘ‬䜘ࣘᘱؑ
ᶴDŽḤ⋩ᵪ‫ࡦ᧗ח‬ಘਆ㌫㔏䗃ࠪ仁⦷֌Ѫ৽侸ˈⴤ᧕ ᚟ቡਟԕ䘁լ⭘ᴹ䲀䳶ਸ
䈳㢲㌫㔏Ⲵ䗃ࠪ仁⦷˗㘼仾ᵪ‫ࡦ᧗ח‬ಘਆ仾ᵪ䗃ࠪᙫ a = [ a1 a2  a N ] (2)
࣏⦷Ⲵ‫ٿ‬ᐞ֌Ѫ਴њ仾ᵪⲴ৽侸ˈ䈳㢲仾ᵪ䗃࣏ࠪ⦷ ᶕ᧿䘠ˈ a ቡᶴᡀҶDMCᡰ䴰㾱Ⲵ亴⍻⁑රDŽ
䟿DŽ䘉⿽㔃ᶴਟԕᖸྭൠ࡙⭘Ḥ⋩ᵪⲴᤱ㔝‫⭥׋‬㜭 ഐѪ G Ѫ㓯ᙗሩ䊑ˈᡰԕ┑䏣喀⅑ᙗ઼ਐ࣐ᙗˈ
࣋ˈ㘼仾ᵪ‫ࡦ᧗ח‬ಘਟԕṩᦞ仾࣋䘋㹼䈳㢲ԕ䗮ࡠ仾 പਟ࡙⭘⁑ර৲ᮠ a ᶕ亴⍻ሩ䊑ᵚᶕⲴ䗃ࠪDŽ‫ٷ‬䇮൘
㜭Ⲵᴰབྷ࡙⭘.䍏㦧仁⦷᧗ࡦ㌫㔏ᴹєњᢠࣘˈањ k ᰦ࡫ˈ⋑ᴹ᧗ࡦ䟿໎䟿֌⭘ᰦˈሩᵚᶕ N њᰦ࡫ሩ
ᱟ㌫㔏䍏㦧ᢠࣘˈਖањᱟ仾࣋ᢠࣘDŽ 䊑䗃ࠪⲴࡍ࿻亴⍻٬Ѫ˖
Ḥ⋩ᵪ‫ࡦ᧗ח‬㌫㔏ྲമ1ᡰ⽪ˈަѝ K1 Ѫ䍏㦧仁 y 0 (k + i | k ) i = 1, 2 N (3)
⦷᧗ࡦಘˈ R Ѫ䈳㢲ಘ৽侸৲ᮠ,Ḥ⋩ᵪ㌫㔏৲ᮠԕ
ަѝ k + i | k 㺘⽪⭘ k ᰦ࡫Ⲵ٬ᶕ亴⍻ k + i ᰦ࡫Ⲵ
৺䖜ᆀ‫ח‬䱫ቬ৲ᮠਟ⭡[5]㧧ᗇDŽ Δf Ѫ䗃ࠪ仁⦷‫ٿ‬
٬DŽ䛓Ѹᖃ൘ k ᰦ࡫ᴹа᧗ࡦ໎䟿 Δu ( k ) ᰦˈ൘ަ֌
ᐞˈΔPl Ѫ䍏㦧ᢠࣘ䗃‫ˈޕ‬ΔPGW Ѫ仾ᵪ䗃࣏ࠪ⦷‫ٿ‬ᐞDŽ
⭘лˈᵚᶕ N њᰦ࡫Ⲵ䗃ࠪ亴⍻٬ਟ㺘⽪Ѫ˖
y1 ( k + i | k ) = y 0 ( k + i | k ) + ai Δu ( k ) (4)
1 ㊫լⲴˈᖃᴹ M њ᧗ࡦ໎䟿 Δu ( k ) ˈ Δu ( k + 1) ˈ
R  Δu ( k + M − 1) ֌⭘Ҿሩ䊑 G ᰦˈᔿ(4)ቡਈѪ˖
ΔPl
min ( M ,i )

K1 ∑ ∑
Δf yM ( k + i | k ) = y0 ( k + i | k ) + ∑j =1
ai + j −1Δu ( k + j −1)
(5)
ΔPGW i = 1,2, N
2) ┊ࣘՈॆ
മ1.Ḥ⋩ᵪ‫ࡦ᧗ח‬㌫㔏Ṷമ
Ӿ k ᰦ࡫䎧ˈ‫ٷ‬䇮ᐢ⸕ k ᰦ࡫ਾⲴ M њ᧗ࡦ໎䟿
仾ᵪ‫ࡦ᧗ח‬㌫㔏ྲമ2ᡰ⽪ˈަѝ K 2 Ѫਦ⡷䰤䐍 Ѫ Δu ( k ) , Δu ( k + 1) Δu ( k + M − 1) ˈṩᦞᔿ(5)ਟԕ亴
᧗ࡦಘˈ g = 0.272 Ѫ໎⳺㌫ᮠˈ仾࣋ᵪ৺ਁ⭥ᵪ৲ ⍻kᰦ࡫ਾNњᰦ࡫Ⲵ䗃ࠪ٬ˈնᱟн䴰㾱䜭亴⍻ˈ
ᮠਟ৲㘳[5]DŽ ਚ亴⍻kᰦ࡫ਾⲴPњᰦ࡫Ⲵ䗃ࠪ٬ˈަѝP〠Ѫ亴⍻
ᰦฏˈ P ≤ N DŽ↔ᰦᔿ(5)ਟԕ߉ᡀྲлੁ䟿Ⲵᖒᔿ˖
K2
ΔPGW y PM ( k ) = y P 0 ( k ) + AΔuM ( k ) (6)
仾㜭䗃‫ޕ‬ ަѝ˖
⎡ yM ( k +1| k ) ⎤ ⎡ y0 ( k +1| k ) ⎤
∑ ∑ g ⎢ ⎥ ⎢ ⎥
y ( k + 2 | k ) ⎥ ⎢ y0 ( k + 2| k ) ⎥
yPM ( k ) = ⎢ M 
y
ˈ P0 ( k ) =
⎢  ⎥ ⎢  ⎥
Δf ⎢ ⎥ ⎢ ⎥
⎣⎢ yM ( k + P | k ) ⎦⎥ ⎣⎢ y0 ( k + P | k ) ⎦⎥
മ2.仾ᵪ‫ࡦ᧗ח‬㌫㔏Ṷമ

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 ⎡ a`1 ⎤ ഐ㍐ᆈ൘ˈk+1ᰦ࡫Ⲵ亴⍻䗃ࠪ٬ y1 ( k + 1| k ) ઼ᇎ䱵
⎢   ⎥ ⎡ Δu ( k ) ⎤
⎢ ⎥ ⎢ ⎥ 䗃ࠪ٬ y ( k +1) ՊнㅹDŽ㤕н৺ᰦ࡙⭘ᇎᰦؑ᚟䘋㹼ṑ
Δu ( k +1) ⎥
A = ⎢a`M  a`1 ⎥ ˈ ΔuM ( k ) = ⎢ ߶ˈ亴⍻‫ٿ‬ᐞՊ䎺ᶕ䎺བྷDŽ
⎢ ⎥ ⎢  ⎥
⎢   ⎥ ⎢
( )
⎥ ൘k+1ᰦ࡫ˈ㧧ਆᇎ䱵䗃ࠪо亴⍻䗃ࠪⲴ‫ٿ‬ᐞ
⎢⎣ a`P  a`P −M +1 ⎥⎦ ⎣Δu k + M −1 ⎦
e ( k + 1)
ᡁԜᐼᵋ亴⍻ࠪⲴPњ䗃ࠪ٬ቭਟ㜭᧕䘁㔉ᇊᵏ e ( k + 1) = y ( k + 1) − y1 ( k + 1| k ) (13)
ᵋ٬ yr ( k + i ) ˈф᧗ࡦ䟿֌⭘ᰦˈнᐼᵋ᧗ࡦ໎䟿 ❦ਾᢺṩᦞᔿ(4)ᡰᗇⲴᡰᴹ亴⍻٬䜭䙊䗷 e ( k + 1) 䘋
Δu ( k ) ਈॆཚབྷˈҾᱟਟਆkᰦ࡫ⲴՈॆᙗ㜭ᤷḷѪ˖ 㹼ṑ↓ˈᗇࠪᯠⲴ亴⍻٬ˈণ
2
P M
⎧ y new ( k + 1| k ) = y1 ( k + 1| k ) + h1e ( k + 1)
J ( k) = ∑qi ⎣⎡yr ( k +i) − yM ( k +i | k )⎦⎤ +∑rj Δu2 ( k + j −1) (7) ⎪
i =1 j =1 ⎪ y new ( k + 2 | k ) = y1 ( k + 2 | k ) + h2 e ( k + 1)
⎨ (14)
ⴞḷᱟ䘹ᤙਸ䘲Ⲵ ΔuM ( k ) ᱟJ(k)ਆᶱሿ٬DŽᔿ(7)߉ᡀ ⎪ 
ੁ䟿ᖒᔿѪ˖ ⎪⎩ y new ( k + N | k ) = y1 ( k + N | k ) + hN e ( k + 1)
T
J ( k ) = ⎡⎣ yr ( k ) − y PM ( k ) ⎤⎦ Q ⎡⎣ yr ( k ) − y PM ( k )⎤⎦ ަѝ hi ( i = 1, 2, N ) Ѫṑ↓ᵳ٬
(8)
+ ΔuM T ( k ) RΔuM ( k ) 㓿䗷ṑ߶ਾਟԕਁ⧠k+1ᰦ࡫Ⲵᯠ亴⍻٬ᐢ㓿઼
ᇎ䱵٬аṧҶDŽᢺṑ߶ਾⲴ亴⍻٬〫սˈ֌Ѫла⅑
ަѝ
ՈॆⲴ亴⍻ࡍ٬ˈণ˖
⎡ yr ( k + 1) ⎤ ⎡q ⎤ ⎡r ⎤
⎢ ( ) ⎥ ⎢ q ⎥ ⎢ r ⎥ y N0 ( k + 1) = Sy new ( k + 1) (15)
y k + 2 ⎥ ˈ Q=⎢ ⎥ˈ R= ⎢
yr ( k ) = ⎢ r ⎥
⎢  ⎥ ⎢  ⎥ ⎢  ⎥ ަѝ
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣⎢ yr ( k + P ) ⎦⎥ ⎣ q⎦ ⎣ r⎦ ⎡0 1 0⎤
⎢ 0 1 ⎥
qѪ䗃ࠪᵳ㌫ᮠˈrѪ䗃‫ޕ‬ᵳ㌫ᮠDŽ ⎢ ⎥
S=⎢ 0  ⎥
֯J(k)ਆᶱሿ٬Ⲵ ΔuM ( k ) ਟ䙊䗷≲ᶱ٬Ⲵᗵ㾱 ⎢ ⎥
⎢  1⎥
ᶑԦᶕ≲ᗇˈণ˖ ⎢⎣0 1 ⎥⎦
dJ ( k )
= 0 ⇒ ΔuM = ( AT QA+ R) AT Q( yr ( k) - yP0 ( k) )
-1
(9) к䘠й↕ᰒᱟDMCⲴ‫ޘ‬䜘৏⨶DŽӾࡽ䶒Ⲵ᧘ሬਟ
dΔuM
ԕⴻࠪˈDMCⲴสᵜᙍᜣᱟ┊ࣘՈॆˈᡰԕᗇࠪⲴ
ᔿ (9) ≲ ࠪ Ҷ Δu ( k ) , Δu ( k + 1) Δu ( k + M − 1) Ⲵ ᴰ Ո 亴⍻᧗ࡦಘ㺘⽪нᡀՐ䙂࠭ᮠⲴᖒᔿˈ䰝⧟ᙗ㜭࠶᷀
٬ˈնᱟࣘᘱ⸙䱥᧗ࡦਚਆㅜањ᧗ࡦ໎䟿 Δu ( k ) ᶴ ৺᧗ࡦ㌫㔏ᇎ⧠ᆈ൘аᇊഠ䳮DŽMorarㅹ൘1982ᒤ⹄
ᡀkᰦ࡫Ⲵᇎ䱵᧗ࡦ䟿ˈণ˖ ウࠪ޵⁑᧗ࡦ㔃ᶴᰦˈਁ⧠亴⍻᧗ࡦо޵⁑᧗ࡦᴹ⵰
u ( k ) = u ( k − 1) + Δu ( k ) (10) ᇶ࠷Ⲵ㚄㌫DŽ亴⍻᧗ࡦਟԕ䖜ॆѪ仁ฏѝⲴ޵⁑᧗ࡦ
ࡠлањᰦ࡫ˈ㌫㔏ሶ޽⅑ᨀࠪ㊫լⲴՈॆ䰞仈ˈӾ 㔃ᶴˈ㓿䗷䖜ॆˈቡਟԕ߉ࠪ亴⍻᧗ࡦಘⲴՐ䙂࠭ᮠ
лаᰦ࡫ᔰ࿻ˈ޽ੁਾ亴⍻Pњ䗃ࠪˈ❦ਾՈॆ≲ࠪ ᖒᔿDŽ
лаᰦ࡫Ⲵ᧗ࡦ໎䟿 Δu ( k + 1) ˈԕ↔㊫᧘ˈᇎ⧠┊ࣘ ᑝ㼅ᓊ൘᮷⥞[10]ѝ䈖㓶᧘ሬҶ⭘ҾSISO㌫㔏
ՈॆDŽ ⲴDMCⲴ޵⁑᧗ࡦ㔃ᶴDŽሶDMCㅹ᭸Ѫ޵⁑᧗ࡦˈ
࠶᷀ᔿ(9)ਟԕਁ⧠ˈ( AT QA + R ) AT Q н䲿┊ࣘਈ
-1 ㅹ᭸ਾⲴ㔃᷌ྲമ3ᡰ⽪˖
ॆˈሩ䊑⺞ᇊǃ৲ᮠ㔉ᇊਾቡᱟањᇊ٬ˈਟԕ⿫㓯 GC G
㇇ࠪˈ䇠Ѫ˖ D = ( AT QA + R ) AT Q DŽਆ L = [1 0  0] ˈ
-1

䇠 GM

d T = C ( AT QA + R ) AT Q = [ d1 d 2  d N ] 
-1
GF

ࡉㅜањ᧗ࡦ໎䟿䘈ਟԕ䙊䗷лᔿ≲ࠪ˖ മ3 ޵⁑᧗ࡦ㔃ᶴമ
Δu ( k ) = L ( A QA + R ) A Q ( yr ( k ) - y P0 ( k ) )
T -1 T ަѝ G Ѫᇎ䱵ሩ䊑
 
= d T ( yr ( k ) - y P0 ( k ) )  GM = a1 z −1 + (a2 − a1 ) z −2 +  + (aN − aN −1 ) z − N 

3) ৽侸ṑ↓˖ dτ
GC = 
ᖃ≲ࠪkᰦ࡫Ⲵ᧗ࡦ໎䟿 Δu ( k ) ᰦˈṩᦞᔿ(4)ਟ 1−(b2 −1)z + (b3 −b2 )z−2 +(bN −bN−1)z−(N−1)
−1

ԕ亴⍻ࠪk+1ᰦ࡫Ⲵ䗃ࠪ٬ y1 ( k + 1| k ) ˈ㘼ᇎ䱵кᖃ c2 + (c3 − c2 )z−1 +(cN − cN −1)z−( N −2) 

GF =
⸕䚃Ҷkᰦ࡫Ⲵ᧗ࡦ໎䟿ᰦˈk+1ᰦ࡫Ⲵ䗃ࠪᇎ䱵٬ dτ (1+ (h2 −1)z−1 + (h3 − h2 )z−2 +(hN − hN −1)z−( N −1) )
y ( k + 1) ᐢ㓿ਟԕ≲ࠪˈ⭡Ҿ⁑රཡ䝽ˈ⧟ຳᒢᢠㅹ 

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 GM Ѫㅹ᭸ਾⲴሩ䊑⁑රˈ GC Ѫㅹ᭸ਾⲴ޵⁑᧗ࡦ ሩ Ҿ Ḥ ⋩ ᵪ ‫ ˈ ח‬䘹 ਆ 亴 ⍻᧗ࡦⲴ৲ᮠѪ P = 40 ˈ
ಘˈ GF Ѫㅹ᭸ਾⲴ└⌒ಘ. a1 , a2  aN ᱟ㌫㔏൘⇿њ䟷 M = 10 ˈ N = 50 ˈ r = 0 ˈ q = 0.01 ˈਟ≲ࠪḤ⋩ᵪ‫ח‬
ṧᰦ࡫Tǃ2Tǃ…ǃNTᰦⲴ䱦䏳૽ᓄ㌫ᮠDŽ ᧗ࡦಘѪ˖
ަѝ 0.0625
 K D ( s ) = 27.3484 + + 13.5425s (27)
P
s
 dτ = ∑ di  
i =1 ሩҾ仾ᵪ‫ˈח‬ ਼ṧ䘹ਆ亴⍻᧗ࡦⲴ৲ᮠѪ P = 40 ,
P M = 10 ˈ N = 50 ˈ r = 0 ˈ q = 0.01 ˈਟ≲ࠪ仾ᵪ‫᧗ח‬
 bi = ∑ d j ai + j −1  
j =1
ࡦಘѪ˖
533.1675

P
ci = ∑ d j hi + j −1   KW ( s ) = 3846.9 + + 19.4742 s (28)
s
j =1
മ5㠣മ6㔉ࠪҶw1d2㌫㔏࠶࡛൘䍏㦧ᢠࣘл઼
ṑ↓ᵳ٬ hi а㡜ਟਆ1DŽѪҶᗇࡠањ‫ׯ‬Ҿ༽⧠
仾㜭ᢠࣘлⲴ䗃ࠪ૽ᓄᴢ㓯ˈമ5Ѫ䍏㦧ᢠࣘ䗃‫ޕ‬Ѫ
઼ᓄ⭘ⲴPID᧗ࡦಘˈ䴰㾱ᢺк䘠޵⁑᧗ࡦಘ䘋а↕ 1%䱦䏳Ⲵ㌫㔏仁⦷‫ٿ‬ᐞᴢ㓯ˈമ6Ѫ仾㜭ᢠࣘ䗃‫ޕ‬Ѫ
䖜ॆѪᑨ㿴৽侸᧗ࡦ㔃ᶴˈ䖜ॆਾྲമ4ᡰ⽪DŽ 1%䱦䏳Ⲵ仁⦷‫ٿ‬ᐞᴢ㓯DŽമѝ a Ѫ仁⦷‫ٿ‬ᐞ Δf ˈ
b ˈ c ࠶࡛Ѫ‫ؙ‬Ḥ⋩ᵪ࣏⦷‫ٿ‬ᐞ ΔPGD1 ˈ ΔPGD 2 ˈ d Ѫ
F C P 仾ᵪ࣏⦷‫ٿ‬ᐞ ΔPGW DŽമѝ䘈㔉ࠪ⭡Ր㔏ISEՈॆᗇࡠ
ⲴPID᧗ࡦ㌫㔏Ⲵ૽ᓄᴢ㓯DŽਟԕⴻࠪˈISEᗇࡠⲴ
PID᧗ࡦᥟ㦑ᰦ䰤䮯ˈᴰ㓸䗃ࠪ㔃᷌ᆈ൘っᘱ䈟ᐞˈ
മ4 IMCㅹ᭸ⲴՐ㔏৽侸㔃ᶴ 㘼DMCᮤᇊⲴPID᧗ࡦ᭸᷌൘4sѻ޵ቡਟԕ䗮ࡠっ
ަѝ ᇊˈっᘱ䈟ᐞ㜭ཏᖸྭⲴ‫؍‬ᤱࡠ0ˈ䈤᰾DMCⲴ᧗ࡦ
᭸᷌൘㌫㔏仁⦷‫ٿ‬ᐞ઼Ḥ⋩ᵪǃ仾ᵪ࣏⦷‫ٿ‬ᐞᯩ䶒䜭
GC GF
 C=   㾱ՈҾISEᯩ⌅DŽ
1 − GM GC GF
 F = GF −1  
4.2 ӂ伄жḪδw2d1ε᧝࡬㌱㔕䇴䇗
ሩҾ䍏㦧仁⦷᧗ࡦ䰞仈ˈ䇮ᇊ٬ᱟ仁⦷‫ٿ‬ᐞˈণ
䇮ᇊ٬Ѫ0ˈᡰԕ F нՊᖡ૽㌫㔏Ⲵᙗ㜭ˈਟԕн࣐ ਼⨶䟷⭘DMC亴⍻᧗ࡦᯩ⌅ሩҼњ仾ᵪањḤ
ԕ㘳㲁DŽਖཆˈ⭘DMC⌅≲ࠪⲴ᧗ࡦಘ䱦⅑䜭∄䖳 ⋩ᵪ˄w2d1˅Ⲵ␧ਸ㌫㔏䘋㹼PIDᮤᇊDŽ
儈ˈ㾱ᗇࡠPID᧗ࡦಘ䴰㾱ሩަ䘋㹼䱽䀓༴⨶ˈѪ↔ ሩҾḤ⋩ᵪ‫ˈח‬䘹ਆ亴⍻᧗ࡦⲴ৲ᮠѪ P = 40 ˈ
ᡁԜ䟷⭘[11]ѝᨀࡠⲴ䱽䱦ᯩ⌅䘁լᗇࡠањPID᧗ M = 10 ˈ N = 50 ˈ r = 0 ˈ q = 0.01 ˈਟ≲ࠪḤ⋩ᵪ‫ח‬
ࡦಘDŽ䱽䱦䗷〻ྲл˖ ᧗ࡦಘѪ˖
1˅䘹ਆ䘲ᖃ仁ฏ㤳തˈ䇑㇇ K(jω ) Ⲵ仁⦷૽ᓄ˗ 0.0927
K D ( s ) = 47.4254 + + 17.5815s (29)
2˅᢮ࠪ֯ K(jω z ) 䗮ࡠަᴰሿ٬Ⲵ仁⦷ ωz ˗ s
ሩҾ仾ᵪ‫ˈח‬䘹ਆ亴⍻᧗ࡦⲴ৲ᮠѪ P = 40 ˈ
3˅ᗇࡠ䘁լⲴPID᧗ࡦಘᱟ K PID (s)=k p + ki + k d s ˗ M = 10 ˈ N = 50 ˈ r = 0 ˈ q = 0.01 ˈਟ≲ࠪ仾ᵪ‫᧗ח‬
s
ࡦಘѪ˖
ᗇࡠⲴPIDⲴ਴њ৲ᮠྲл˖
33.8790
k p =Re[K(jωz )] (24) KW ( s ) = 7058.2 + + 1466.3s (30)
s
ki = K(jωS ) ωs (25) മ7㠣മ8㔉ࠪҶw2d1㌫㔏࠶࡛൘䍏㦧ᢠࣘл઼
kd = Im [ K(jωz )-ki / ( jω z )] / ωz (26) 仾㜭ᢠࣘлⲴ䗃ࠪ૽ᓄᴢ㓯DŽമ7Ѫ䍏㦧ᢠࣘ䗃‫ޕ‬Ѫ
1%䱦䏳Ⲵ㌫㔏仁⦷‫ٿ‬ᐞᴢ㓯ˈമ8Ѫ仾㜭ᢠࣘ䗃‫ޕ‬Ѫ
ަѝ ωs Ѫањԫ᜿Ⲵሿ仁⦷( ωs = 0.001 ˅ˈ䙊䗷䈳㢲 1%䱦䏳Ⲵ仁⦷‫ٿ‬ᐞᴢ㓯.മѝ a Ѫ仁⦷‫ٿ‬ᐞ Δf ˈb Ѫ
亴⍻᧗ࡦⲴਟ䈳৲ᮠণਟᗇࡠ┑䏣ᙗ㜭ⲴPID᧗ࡦ Ḥ⋩ᵪ‫ٿ‬ᐞ ΔPGD ˈ c ˈ d Ѫ仾ᵪ࣏⦷‫ٿ‬ᐞ ΔPGW 1 ˈ
ಘDŽ ΔPGW 2 DŽ਼ṧਟԕⴻࡠˈDMC᧗ࡦ֌⭘лˈw2d1㌫
4 䇴䇗фԵⵕ 㔏仁⦷‫ٿ‬ᐞ䗃ࠪԕ৺࣏⦷‫ٿ‬ᐞ䗃ࠪⲴ䈳㢲᭸᷌䜭Ո
ҾISE᧗ࡦᯩ⌅.
4.1 ж伄ӂḪδw1d2ε᧝࡬㌱㔕䇴䇗
䟷⭘DMC亴⍻᧗ࡦᯩ⌅ሩањ仾ᵪєњḤ⋩ᵪ
(w1d2)␧ਸ㌫㔏䘋㹼PIDᮤᇊਟᗇࠪҶ᧗ࡦಘ৲ᮠDŽ

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 മ5: 1%䍏㦧ᢠࣘ䗃ࠪᴢ㓯 മ 6: 1%仾࣋ᢠࣘ䗃ࠪᴢ㓯
˄w1d2:ᇎ㓯ѪDMC-PIDˈ㲊㓯ѪISE-PID˅ ˄w1d2:ᇎ㓯ѪDMC-PIDˈ㲊㓯ѪISE-PID˅


മ7: 1%䍏㦧ᢠࣘ䗃ࠪᴢ㓯 മ8: 1%仾࣋ᢠࣘ䗃ࠪሩ∄
˄w2d1:ᇎ㓯ѪDMC-PIDˈ㲊㓯ѪISE-PID˅ ˄w2d1:ᇎ㓯ѪDMC-PIDˈ㲊㓯ѪISE-PID˅

䇱൘ᢠࣘᛵߥлˈӂ㚄㌫㔏仁⦷っᇊˈ䇮䇑ҶสҾ
5 㔉䇰
DMCⲴᆼ‫࠶ޘ‬ᮓ亴⍻᧗ࡦಘˈᒦሶ≲ࠪⲴ亴⍻᧗ࡦ
ᵜ᮷ѫ㾱⹄ウҶє⿽仾ᵪ-Ḥ⋩ᵪ␧ਸ⭥࣋㌫㔏 ಘ䱽䱦Ѫ࡙Ҿᐕ〻ᇎ⧠ⲴPID᧗ࡦಘDŽԯⵏ㔃᷌㺘
⁑රⲴ䍏㦧仁⦷᧗ࡦ䰞仈˖а⿽ᱟє仾ᵪаḤ⋩ᵪӂ ᰾ˈᵜ᮷䇮䇑Ⲵ᧗ࡦಘ᧗ࡦ᭸᷌㢟ྭˈоՐ㔏PIDᮤ
㚄㌫㔏ˈਖа⿽ᱟа仾ᵪєḤ⋩ᵪӂ㚄㌫㔏DŽѪҶ‫؍‬ ᇊ⴨∄ˈ૽ᓄ䙏ᓖᘛˈ䎵䈳ሿˈ㜭ཏᇎᰦᘛ䙏Ⲵ䐏䑚

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ᵏᵋ䗃ࠪˈ励ἂᙗྭˈާᴹᴤᕪⲴᣇᒢᢠ㜭࣋DŽнӵ
㜭ཏ‫؍‬䇱൘ᢠࣘᶑԦл䍏㦧仁⦷Ⲵっᇊˈ㘼ф䘈㜭֯
ᢠࣘᶑԦлḤ⋩ᵪ઼仾ᵪⲴ࣏⦷‫ٿ‬ᐞᴤሿDŽㅹ᭸Ѫ
PIDਾҏ‫ׯ‬Ҿᐕ〻ᇎ䐥, ާᴹ䖳ྭⲴᓄ⭘ԧ٬DŽ
৸㘹ᮽ⥤
৸㘹ᮽ⥤
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to the technology and its implementation [M]. Cambridge
University Press, 1994.
[2] Lipman, N. H, De Bonte, J. A. N, Lundsager, P. An Overview
of Wind/Diesel Integration: Operating Strategies and Eco-
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[5] Bhatti, T. S, Al-Ademi, A. A. F and Bansal, N. K, Load
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tems [J]. Energy Convers. Manage, 1997, 38(9):829-837.
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