CN104993485B - A kind of Shunt Hybrid Active Power Filter system and its control method - Google Patents
A kind of Shunt Hybrid Active Power Filter system and its control method Download PDFInfo
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Abstract
The invention discloses a kind of parallel connection mixed type active filter system, including three groups of passive filters being connected in AC network triple line, three groups of passive filters are connected to active filter again, nonlinear load is also associated with AC network triple line, passive filter includes being sequentially connected in series electric capacity and inductance in AC network triple line, and the invention also discloses a kind of control method of parallel connection mixed type active filter system：Initially set up the mathematical modeling of parallel connection mixed type active filter system, then linear active disturbance rejection control mathematical model is set up, Repetitive control compensation linear active disturbance rejection Controlling model is set up according to internal model principle, finally combine the control of Repetitive control compensation linear active disturbance rejection and linear active disturbance rejection controls two kinds of algorithms, system is controlled, the problem of present invention solves the control accuracy difference of active filter present in prior art.
Description
Technical field
The invention belongs to active filter technical field, and in particular to a kind of Shunt Hybrid Active Power Filter system, this
Invention further relates to the control method of Shunt Hybrid Active Power Filter.
Background technology
With the fast development of Power Electronic Technique, non-linear power electronic equipment has been obtained extensively in modern electric network
General application.Using for power electronic equipment causes line voltage and electric current to occur serious distortion, have impact on the quality of electric energy,
Therefore topmost harmonic source in modern industry is become.Shunt Hybrid Active Power Filter is by active filter and passive filter
Ripple device is formed in parallel, and combines the advantage of passive filter and active filter, effectively harmonic wave can either be compensated, phase
Simple APF is compared to, can reduce cost again, starts to show extremely strong competitiveness.Nowadays, Active Power Filter-APF from
The most frequently used triangular carrier compares control and Current Hysteresis Comparison Control, is sweared to more complicated control method such as space voltage
Control, track with zero error, Self Adaptive Control etc. are measured, they there are respective advantage and disadvantage.
Triangular wave control method so that its control method is simple, switching frequency is fixed and is widely used, but have a disadvantage in that
Robustness is poor.When Active Power Filter-APF is applied to wider nonlinear load situation, it just must take into consideration stability and ask
Topic.Parameter uncertainties or Unmarried pregnancy on nonlinear load and circuit are likely to make system unstability, and this will seriously be limited
It is formed with widely using for source filter.So, seek a kind of controlling party that can be good at ensureing the stability of a system and robustness
Method and to be applied to active power filter system be very necessary.Auto Disturbances Rejection Control Technique (Auto Disturbance
Rejection Controller, ADRC) it is a kind of nonlinear control techniques proposed in recent years, the controller is independent of quilt
Control the specific mathematical modeling of object.Its core advantage is the state variable that system is observed by extended state observer
Meanwhile, and the comprehensive disturbance of system is observed, obtain generalized state error and feedforward compensation is carried out to disturbance term, offset, therefore
Control system is set all to be increased significantly in terms of stability and robustness.But Active Disturbance Rejection Control is set to theory analysis and engineering
Meter brings larger difficulty, while control design case parameter is excessive (10 or so), and gamma controller is difficult to engineering
Conventional frequency-domain analysis is gone up to determine boundary of stability.So for problem above, by all controllers and ESO all with linear shape
Formula realize obtain linear active disturbance rejection controller (Linear active disturbance rejection control,
LADRC), control parameter is dropped to 4 by LADRC, and has the clear and definite physical significance of comparison, quite convenient for engineer applied.But
Linear active disturbance rejection controller can only bucking-out system part it is non-linear, system still suffers from certain uncertainty, it is impossible to realize good
Good control accuracy.
The content of the invention
It is an object of the invention to provide a kind of Shunt Hybrid Active Power Filter system, solve present in prior art
The problem of control accuracy of active filter is poor.
It is a further object of the present invention to provide a kind of control method of Shunt Hybrid Active Power Filter system.
First technical scheme of the present invention is, a kind of parallel connection mixed type active filter system, including three groups of difference
The passive filter in AC network triple line is connected to, three groups of passive filters are connected to active filter, alternating current again
Nonlinear load is also associated with net triple line.
The characteristics of first technical scheme of the invention, also resides in,
Passive filter includes being sequentially connected in series electric capacity and inductance in AC network triple line.
Second technical scheme of the present invention is, a kind of control method of parallel connection mixed type active filter system, base
In parallel connection mixed type active filter system, specifically implement according to following steps：
Step 1, the mathematical modeling for setting up parallel connection mixed type active filter system：
In formula (1)：ω is the angular frequency of circuital current, and r is the equivalent resistance of system, and L is passive filter inductance value,
C is passive filter capacitance, ia, ib, icRespectively three-phase current on line side value, udcFor DC voltage value, bawa、bbwb、bcwc
Represent the interference of switching loss, detection error and external factor to system, uj *, j=a, b, c represent that three-phase power grid voltage is equivalent
Value, sA, sB, sCRepresent on off state, sj, j=A, B, C values are as follows:
sj, j=A, B, C switch function is separately expressed as under symmetric regular-sampled SPWM controls:
In formula (3)：T represents sampling time, TcFor PWM switch periods, d is dutycycle, and m represents sampled point, m=1,2,
3 ... ..,
Formula (3) is obtained by Fourier expansion：
In formula (4), djRepresent dutycycle, TcFor PWM switch periods,
Under high switching frequency f, ignore sj, j=A, B, the high-frequency harmonic composition of C switch function, obtain low frequency model by
Fourier expansion expression formula is:
In formula (5), r is the equivalent resistance of system, and L is passive filter inductance value, and C is passive filter (1) electric capacity
Value, bawa、bbwb、bcwcRepresent the interference of switching loss, detection error and external factor to system, uj *, j=a, b, c are represented
The equivalent reduced value of three-phase power grid voltage, sA, sB, sCRepresent on off state, dj, j=A, B, C represents dutycycle,
Using triangular modulation, dutycycle dj, j=A, B, C meets following formula：
In formula (6), vrjRepresent modulation wave amplitude, VtriCarrier amplitude is represented, formula (6) is substituted into formula (5), formula (7) is obtained:
In formula (7),The differential value of three-phase current is represented, r is the equivalent resistance of system, and L is passive filter inductance
Value, C is passive filter capacitance, vrjRepresent modulation wave amplitude, VtriRepresent carrier amplitude, uj *, j=a, b, c represent three-phase
The equivalent reduced value of line voltage, bjwjRepresent the interference of switching loss, detection error and external factor to system, UdcFor direct current
Side voltage,
Formula (7) is reduced to：
In formula (8)：
uj=vrj,
B in formula (8)0It is the factor for determining that compensation is strong and weak, in the controls as adjustable ginseng for the disturbance compensation factor
Number is used, and is found out from formula (7), fjSwitching loss, detection error external disturbance information are not only included, also comprising having with output information
The information of the sign internal system dynamic characteristic of pass；
Step 2, when step 1 to parallel connection mixed type active filter system modeling terminate after, set up linear active disturbance rejection control number
Learn model：
Using linear extended state observer (Linear Extended State Observer-LESO) and linear shape
State error Feedback Control Laws (Linear State Error Feedback-LSEF) are as linear active disturbance rejection controller, linearly
The linear extended state observer of governing equation (LESO) equation and the linear state error feedback control rule of automatic disturbance rejection controller
(LSEF) equation, linear extended state observer (LESO) equation is embodied as：
In formula (9), Z21、Z22For two output variables of linear extended state observer (LESO) equation, ε is error, Icx
It is system feedback, B for compensating current signal1、B2For proportionality coefficient, known by formula (9), Z21Tracking system feeds back Icx, and it is used as control
The current feedback signal of device processed, Z22Referred to as disturbance compensation, tracking system always disturbs u (t), and is introduced directly into linear active disturbance rejection
The output end of controller, the disturbance to system carries out feedforward compensation,
Linear state error feedback control rule (LSEF) is expressed as：
In formula (10), Z11For instruction current signal, ε1For error, restrained (LSEF) as linear state error feedback control
Input, kpFor proportionality coefficient, u0For initial controlled quentity controlled variable,
Convolution (9) and formula (10), obtain automatic disturbance rejection controller and always export u, u expression formula is：
U=(u0-Z22)/b (11)
In formula (11), u0For initial controlled quentity controlled variable, b is the disturbance compensation factor,
Know that adjustable parameter is in the control process of linear active disturbance rejection controller by formula (9), formula (10), formula (11)：Linear shape
Proportionality coefficient k in state error Feedback Control Laws (LSEF)p, the proportionality coefficient B in linear extended state observer (LESO)1、
B2, disturbance compensation factor b, controlled quentity controlled variable u are ultimately applied to controlled device；
Step 3, on the basis of the linear active disturbance rejection controller that step 2 has had built up, according to internal model principle set up weight
The linear Active Disturbance Rejection Control model of multiple control compensation, be specially：Given input instruction current signalBy relatively more givenWith
Reality output compensation electric current IcxThe deviation ε (k) drawn, deviation ε (k) are through the low pass filter Q with delay link1(s)e-Ts
To after the deviation ε (k-T) in a upper sampling period, adjusted by PID, and finally gave the Repetitive controller output compensation using T as the cycle
Signal URC, the expression formula of Repetitive control compensation linear active disturbance rejection Controlling model is specific as follows：
In formula (15), ε (k) is error, is used as instruction current signalWith actual compensation electric current IcxDifference, ε (k-T)
For the error in a upper cycle, URCFor the thermal compensation signal of the Repetitive controller output using T as the cycle；
Step 4, with reference in step 3 Repetitive control compensation linear active disturbance rejection control and step 2 in linear active disturbance rejection control
Two kinds of algorithms are made, the control signal for being ultimately applied to system is
τ=UADRC+URC (16)
In formula (16), UADRCFor the output signal of linear active disturbance rejection controller, UADRCAlways exported for linear active disturbance rejection controller
U, URCFor the output thermal compensation signal of Repetitive controller；
Step 5, the control signal τ of system that is ultimately applied to drawn by more than are inputted in controlled device, are controlled：
By the control signal τ for the system that is ultimately applied to, after triangular modulation, six road pulse signals are obtained, by six tunnels
6 switching tubes of the three-phase bridge arm in pulse signal input active filter (2), are drawn actual by the control of switch tube
Compensate electric current Icx, finally realize the control of parallel connection mixed type active filter system.
The characteristics of second technical scheme of the invention, also resides in,
High switching frequency f spans are f >=fc, fcRepresent switching frequency.
The beneficial effects of the invention are as follows a kind of control method of Shunt Hybrid Active Power Filter, using linear active disturbance rejection
Control method observes the comprehensive disturbance of system while the state variable of system can be observed by extended state observer,
Obtain generalized state error and feedforward compensation is carried out to disturbance term, offset, therefore make control system in stability and robustness side
Face all increases significantly, and the repetitive control of use is the deviation and existing deviation of a upper periodic duty collectively as system
Input, can not only improve the tracking accuracy of system, additionally it is possible to improve robustness and improve system Control platform.
Brief description of the drawings
Fig. 1 is a kind of structural representation of parallel connection mixed type active filter system of the invention；
Fig. 2 be a kind of parallel connection mixed type active filter system of the invention control method in linear Active Disturbance Rejection Control block diagram；
Fig. 3 be a kind of parallel connection mixed type active filter system of the invention control method in based on repeat compensation it is linear from
The Shunt Hybrid Active Power Filter control block diagram of disturbance rejection control.
In figure, 1. passive filters, 2. active filters, 3. nonlinear loads, 4. AC networks.
Embodiment
The present invention is described in detail with reference to the accompanying drawings and detailed description.
A kind of parallel connection mixed type active filter system of the present invention, using voltage source inverter as its active part, with list
Tuning filtering device is used as its passive part, active part and single tuned filter formation hybrid active filter, structure such as Fig. 1
Shown, concrete structure is：Including three groups of passive filters 1 being connected in the triple line of AC network 4, three groups of passive filterings
Device 1 is connected in active filter 2, the triple line of AC network 4 and is also associated with nonlinear load 3 again, and passive filter 1 includes
It is sequentially connected in series electric capacity C and inductance L in the triple line of AC network 4.
Voltage source inverter regards a preferable voltage U asc, harmonic source is equivalent to ideal current source IL, it is assumed that inverter
Switch as preferable switching device, Parallel Hybrid Active Power Filter circuit structure can be reduced to construction of switch according to following formula,
Wherein uj *(j=a, b, c) represents the equivalent reduced value of three-phase power grid voltage entered in terms of transformer side.
The control method of parallel connection mixed type active filter system of the present invention, based on parallel connection mixed type active filter system, tool
Body is implemented according to following steps：
Step 1, the mathematical modeling for setting up parallel connection mixed type active filter system：
In formula (1)：ω is the angular frequency of circuital current, and r is the equivalent resistance of system, and L is passive filter inductance value,
C is passive filter capacitance, ia, ib, icRespectively three-phase current on line side value, udcFor DC voltage value, bawa、bbwb、bcwc
Represent the interference of switching loss, detection error and external factor to system, uj *, j=a, b, c represent that three-phase power grid voltage is equivalent
Reduced value, sA, sB, sCRepresent on off state, sj, j=A, B, C values are as follows:
sj, j=A, B, C switch function is separately expressed as under symmetric regular-sampled SPWM controls:
In formula (3)：T represents sampling time, TcFor PWM switch periods, d is dutycycle, and m represents sampled point, m=1,2,
3 ... ..,
Formula (3) is obtained by Fourier expansion：
In formula (4), djRepresent dutycycle, TcFor PWM switch periods,
Under high switching frequency f, high switching frequency f spans are f >=fc, fcSwitching frequency is represented, ignores sj, j=A,
B, the high-frequency harmonic composition of C switch function, obtain low frequency model is by Fourier expansion expression formula:
In formula (5), r is the equivalent resistance of system, and L is passive filter inductance value, and C is passive filter (1) electric capacity
Value, bawa、bbwb、bcwcRepresent the interference of switching loss, detection error and external factor to system, uj *, j=a, b, c are represented
The equivalent reduced value of three-phase power grid voltage, sA, sB, sCRepresent on off state, dj, j=A, B, C represents dutycycle,
Using triangular modulation, dutycycle dj, j=A, B, C meets following formula：
In formula (6), vrjRepresent modulation wave amplitude, VtriRepresent carrier amplitude,
The purpose of current follow-up control is that the compensation electric current for enabling Active Power Filter-APF to export fast and accurately is tracked
The change of instruction current signal, is a key factor for determining Active Power Filter-APF stable state and dynamic property.Current tracking
Control method directly determines the accuracy and rapidity of system,
Formula (6) is substituted into formula (5), formula (7) is obtained:
In formula (7),The differential value of three-phase current is represented, r is the equivalent resistance of system, and L is passive filter inductance
Value, C is passive filter capacitance, vrjRepresent modulation wave amplitude, VtriRepresent carrier amplitude, uj *, j=a, b, c represent three-phase
The equivalent reduced value of line voltage, bjwjRepresent the interference of switching loss, detection error and external factor to system, UdcFor direct current
Side voltage,
Formula (7) is reduced to：
In formula (8)：
uj=vrj,
B in formula (8)0It is the factor for determining that compensation is strong and weak, in the controls as adjustable ginseng for the disturbance compensation factor
Number is used, and is found out from formula (7), fjSwitching loss, detection error external disturbance information are not only included, also comprising having with output information
The information of the sign internal system dynamic characteristic of pass；
Step 2, when step 1 to parallel connection mixed type active filter system modeling terminate after, set up linear active disturbance rejection control number
Learn model：
Using linear extended state observer (Linear Extended State Observer-LESO) and linear shape
State error Feedback Control Laws (Linear State Error Feedback-LSEF) are as linear active disturbance rejection controller, linearly
The linear extended state observer of governing equation (LESO) equation and the linear state error feedback control rule of automatic disturbance rejection controller
(LSEF) equation, linear extended state observer (LESO) equation is embodied as：
In formula (9), Z21、Z22For two output variables of linear extended state observer (LESO) equation, ε is error, Icx
It is system feedback, B for compensating current signal1、B2For proportionality coefficient, known by formula (9), Z21Tracking system feeds back Icx, and it is used as control
The current feedback signal of device processed, Z22Referred to as disturbance compensation, tracking system always disturbs u (t), and is introduced directly into linear active disturbance rejection
The output end of controller, the disturbance to system carries out feedforward compensation,
Linear state error feedback control rule (LSEF) is expressed as：
In formula (10), Z11For instruction current signal, ε1For error, restrained (LSEF) as linear state error feedback control
Input, kpFor proportionality coefficient, u0For initial controlled quentity controlled variable,
Convolution (9) and formula (10), obtain linear active disturbance rejection controller and always export u, u expression formula is：
U=(u0-Z22)/b (11)
In formula (11), u0For initial controlled quentity controlled variable, b is the disturbance compensation factor,
Know that adjustable parameter is in the control process of linear active disturbance rejection controller by formula (9), formula (10), formula (11)：Linear shape
Proportionality coefficient k in state error Feedback Control Laws (LSEF)p, the proportionality coefficient B in linear extended state observer (LESO)1、
B2, disturbance compensation factor b, controlled quentity controlled variable u are ultimately applied to controlled device；
Linear active disturbance rejection control block diagram is as shown in Fig. 2 v (k) is given for system, x1(k) be Nonlinear Tracking Differentiator arrange mistake
Transient.z1(k)、z2(k) it is to expand observer to the estimator of system mode, z1(k) it is extended state observer to x1(k)
Observed quantity, z2(k) it is observed quantity of the extended state observer to " total disturbance ".Nonlinear state error Feedback Control Laws are exported
" compensation " after being disturbed, controlled quentity controlled variable u (k) is ultimately applied to controlled device, and y (k) is system reality output, and d (k) is
To the summation of various " disturbances " in system, Nonlinear Tracking Differentiator can track input signal and provide preferable differential quick non-overshoot
Signal, it is to avoid the overshoot of the acute variation and output quantity of the controlled quentity controlled variable caused due to setting value mutation；Expansion state is observed
Device is the core of automatic disturbance rejection controller, and each state variable can not only be estimated using it, moreover it is possible to which estimation disturbs and gives phase
It should compensate；Output from Nonlinear Tracking Differentiator takes error just to obtain system state variables error with extended state observer output,
These state variable errors are after nonlinear state error Feedback Control Laws computing, along with extended state observer is to unknown
The compensation rate of estimation is disturbed, eventually as the controlled quentity controlled variable of controlled device.Active Disturbance Rejection Control design controller has very big flexible
Property, mathematical models of the controller design independent of system simplify challenge, further, since using non-
Linear feedback, basic floating can also be realized even if without using integrator, it is to avoid the side effect of integral feedback；
Step 3, in actual applications, linear active disturbance rejection control can only bucking-out system part it is non-linear, therefore can not be real
Existing high-precision control, in order to improve the tracking accuracy of system, introduces repetitive control and output is compensated, i.e., in step 2
On the basis of the linear active disturbance rejection controller having had built up, Repetitive control compensation linear active disturbance rejection control is set up according to internal model principle
Simulation, the basic thought of Repetitive controller comes from the internal model principle in control theory, and internal model principle is pointed out, system can with stable state without
Poorly the necessary and sufficient condition of trace command signal or suppression interference signal is to stablize to include this command signal or interference in closed loop
The internal model of signal, the complete internal model M of external excitation signal is met for the cycle for T signal constructionf, MfExpression formula be：
In order to reduce gain of the control action in high band, improve the stability of system, LPF is introduced in systems
Device Q (s), complete internal model MfSeparately it is written as：
In formula (13),
TqFor filter time constant, repetitive control is introduced into improved Active Disturbance Rejection Control, to output signal
Compensate, designed Repetitive control compensation ADRC structure as shown in Figure 3, wherein Repetitive control compensation loop such as accompanying drawing
In 3 shown in RC parts,
Setting up Repetitive control compensation linear active disturbance rejection Controlling model is specially：Given input instruction current signalPass through
Compare givenWith reality output compensation electric current IcxThe deviation ε (k) drawn, deviation ε (k) are through the low pass filtered with delay link
Ripple device Q1(s)e-TsAfter the deviation ε (k-T) for obtaining a sampling period, adjusted by PID, finally give the weight using T as the cycle
Multiple control output thermal compensation signal URC, the expression formula of Repetitive control compensation linear active disturbance rejection Controlling model is specific as follows：
In formula (15), ε (k) is error, is used as instruction current signalWith actual compensation electric current IcxDifference, ε (k-T)
For the error in a upper cycle, URCFor the thermal compensation signal of the Repetitive controller output using T as the cycle；
Step 4, Repetitive controller can ensure that output accurate tracking gives, but influence of the elimination interference to output at least needs
A cycle；Automatic disturbance rejection controller can produce adjustment effect immediately to tracking error, and response speed is very fast, with reference to two kinds of algorithms
The characteristics of collective effect can ensure that system has faster dynamic responding speed and higher tracking accuracy, i.e., with reference to step 3
In Repetitive control compensation linear active disturbance rejection control and step 2 in linear active disturbance rejection control two kinds of algorithms, be ultimately applied to be
The control signal of system is
τ=UADRC+URC (16)
In formula (16), UADRCFor the output signal of linear active disturbance rejection controller, UADRCAlways exported for linear active disturbance rejection controller
U, URCFor the output thermal compensation signal of Repetitive controller；
Step 5, the control signal τ of system that is ultimately applied to drawn by more than are inputted in controlled device, are controlled：
By the control signal τ for the system that is ultimately applied to, after triangular modulation, six road pulse signals are obtained, by six tunnels
6 switching tubes of the three-phase bridge arm in pulse signal input active filter (2), are drawn actual by the control of switch tube
Compensate electric current Icx, finally realize the control of parallel connection mixed type active filter system.
Repetitive control is mainly used in the high-precision control that servo-drive system repeats track, and this method transported a upper cycle
Capable deviation and existing deviation are inputted collectively as system, can not only improve the tracking accuracy of system, additionally it is possible to improve robust
Property and improve system Control platform.
In order to verify the linear active disturbance rejection control method of parallel connection mixed type active filter system compared to triangular wave in anti-interference
The superiority of dynamic aspect, and added after Repetitive controller compared to single linear active disturbance rejection precision aspect superiority,
Emulated on MATLAB/Simulink, using parallel connection mixed type active filter system as controlled device, the tune of single tuned filter
Humorous number of times is elected as 7 times, and systematic parameter is：Net side line voltage Us：380V；Mains frequency fs：50Hz；Power network distributed inductance Ls：
0.23mH；Rectifier bridge AC inductance LAC：2mH；Passive filter electric capacity Cf：10.86uF；Passive filter inductance Lf：19.1mH；
Active filter DC bus capacitor Cdc：3300uF；Active filter DC voltage Udc：150V.
In order to compare performance comparision of the linear active disturbance rejection (LADRC) with triangular wave control in terms of disturbance rejection, in simulations
Record respectively two kinds of control methods place an order the value changes of inductance and electric capacity in tuning passive wave filter when net survey the THD values of electric current.
Two kinds of control method current on line side THD com-parison and analysis, can be drawn by table 1, in L Parameters variations when table 1 is LC Parameters variations
When, the THD changes of LADRC control methods are only 0.18%, and triangular wave becomes when turning to 0.53%, C Parameters variations, LADRC controls
The THD changes of method processed are only 0.06%, and triangular wave change turns to 0.47%, therefore it may be concluded that LADRC control methods exist
Good anti-jamming effectiveness is served during system parameter variations.
Two kinds of control method current on line side THD are analyzed and compared during 1 LC Parameters variations of table
For the compensation precision for comparing linear active disturbance rejection with repeating linear active disturbance rejection, two methods are emulated, table 2
For LADRC and the THD com-parison and analysis for repeating current on line side under linear Active Disturbance Rejection Control mode.As can be seen from Table 2, in identical
Under operating mode, repeating linear Auto-disturbance-rejection Control has current on line side after higher tracking altitude, compensation compared to linear active disturbance rejection
THD it is lower, the superiority of control method proposed by the present invention by simulating, verifying.
The THD analyses of 2 two kinds of control mode current on line side of table
| Control method | Current on line side THD/ (%) |
| LADRC | 2.23 |
| Repeat linear active disturbance rejection | 2.09 |
The present invention is respectively compared the deviation of instruction current and compensation electric current in three linear active disturbance rejection controllers, by delay
Link obtains the deviation in a sampling period, is handled by PID controller and internal model link, finally gives periodic weight
Multiple control output thermal compensation signal, the output for linear active disturbance rejection controller that this thermal compensation signal is added to inputs controlled device jointly,
Not only the uncertainty that inside is present is estimated and compensated with external disturbance, systematic tracking accuracy, robust can also be improved
Property and improve system Control platform.
The present invention is applied to Parallel Hybrid Active Power Filter, to the Parameter uncertainties on nonlinear load and circuit
And change has stronger robustness, with good dynamic property, the current follow-up control to solving the problems, such as active filter
It is very suitable for.
Claims (2)
1. a kind of control method of parallel connection mixed type active filter system, based on parallel connection mixed type active filter system, its feature
It is, specifically implements according to following steps：
Step 1, the mathematical modeling for setting up parallel connection mixed type active filter system：
In formula (1)：ω is the angular frequency of circuital current, and r is the equivalent resistance of system, and L is passive filter inductance value, and C is
Passive filter capacitance, ia, ib, icRespectively three-phase current on line side value, udcFor DC voltage value, bawa、bbwb、bcwcTable
Show the interference of switching loss, detection error and external factor to system, uj *, j=a, b, c represent the equivalent folding of three-phase power grid voltage
Calculation value, sA, sB, sCRepresent on off state, sj, j=A, B, C values are as follows:
sj, j=A, B, C switch function is separately expressed as under symmetric regular-sampled SPWM controls:
In formula (3)：T represents sampling time, TcFor PWM switch periods, d is dutycycle, and m represents sampled point, m=1,2,
3 ... ..,
Formula (3) is obtained by Fourier expansion：
In formula (4), djRepresent dutycycle, TcFor PWM switch periods,
Under high switching frequency f, ignore sj, j=A, B, the high-frequency harmonic composition of C switch function obtains low frequency model by Fourier
Series expansion expression formula is:
In formula (5), r is the equivalent resistance of system, and L is passive filter inductance value, and C is passive filter capacitance, bawa、
bbwb、bcwcRepresent the interference of switching loss, detection error and external factor to system, uj *, j=a, b, c represent three phase network
The equivalent reduced value of voltage, sA, sB, sCRepresent on off state, dj, j=A, B, C represents dutycycle,
Using triangular modulation, dutycycle dj, j=A, B, C meets following formula：
In formula (6), vrjRepresent modulation wave amplitude, VtriCarrier amplitude is represented, formula (6) is substituted into formula (5), formula (7) is obtained:
In formula (7),The differential value of three-phase current is represented, r is the equivalent resistance of system, and L is passive filter inductance value, and C is
Passive filter capacitance, vrjRepresent modulation wave amplitude, VtriRepresent carrier amplitude, uj *, j=a, b, c represent three phase network electricity
Press equivalent reduced value, bjwjRepresent the interference of switching loss, detection error and external factor to system, UdcFor DC side electricity
Pressure,
Formula (7) is reduced to：
In formula (8)：
uj=vrj,
B in formula (8)0For the disturbance compensation factor, it is the factor for determining that compensation is strong and weak, makes in the controls as adjustable parameter
With finding out from formula (7), fjSwitching loss, detection error external disturbance information are not only included, also comprising relevant with output information
Characterize the information of internal system dynamic characteristic；
Step 2, when the step 1 to parallel connection mixed type active filter system modeling terminate after, set up linear active disturbance rejection control number
Learn model：
Using linear extended state observer and linear state error feedback control rule as linear active disturbance rejection controller, linearly certainly
The linear extended state observer equation of governing equation and linear state error feedback control the rule equation of disturbance rejection control device, linearly
Extended state observer equation is embodied as：
In formula (9), Z21、Z22For two output variables of linear extended state observer equation, ε is error, IcxFor compensation electric current
Signal, is system feedback, B1、B2For proportionality coefficient, known by formula (9), Z21Tracking system feeds back Icx, and it is used as the electric current of controller
Feedback signal, Z22Referred to as disturbance compensation, tracking system always disturbs u (t), and is introduced directly into the defeated of linear active disturbance rejection controller
Go out end, the disturbance to system carries out feedforward compensation,
Linear state error feedback control rule is expressed as：
In formula (10), Z11For instruction current signal, ε1For error, the input restrained as linear state error feedback control, kpFor than
Example coefficient, u0For initial controlled quentity controlled variable,
Convolution (9) and formula (10), obtain linear active disturbance rejection controller and always export u, u expression formula is：
U=(u0-Z22)/b (11)
In formula (11), u0For initial controlled quentity controlled variable, b is the disturbance compensation factor,
Know that adjustable parameter is in the control process of linear active disturbance rejection controller by formula (9), formula (10), formula (11)：Linear condition is missed
Proportionality coefficient k in poor Feedback Control Lawsp, the proportionality coefficient B in linear extended state observer1、B2, disturbance compensation factor b,
Controlled quentity controlled variable u is ultimately applied to controlled device；
Step 3, on the basis of the linear active disturbance rejection controller that the step 2 has had built up, according to internal model principle set up weight
The linear Active Disturbance Rejection Control model of multiple control compensation, be specially：Given input instruction current signalBy relatively more givenWith
Reality output compensation electric current IcxThe deviation ε (k) drawn, deviation ε (k) are through the low pass filter Q with delay link1(s)e-Ts
To after the deviation ε (k-T) in a upper sampling period, adjusted by PID, and finally gave the Repetitive controller output compensation using T as the cycle
Signal URC, the expression formula of Repetitive control compensation linear active disturbance rejection Controlling model is specific as follows：
In formula (15), ε (k) is error, is used as instruction current signalWith actual compensation electric current IcxDifference, ε (k-T) is upper
The error in one cycle, URCFor the thermal compensation signal of the Repetitive controller output using T as the cycle；
Step 4, with reference to linear from anti-in the control of Repetitive control compensation linear active disturbance rejection and the step 2 in the step 3
Two kinds of algorithms of control are disturbed, the control signal for being ultimately applied to system is
τ=UADRC+URC (16)
In formula (16), UADRCFor the output signal of linear active disturbance rejection controller, i.e. UADRCU is always exported for linear active disturbance rejection controller,
URCFor the output thermal compensation signal of Repetitive controller；
Step 5, the control signal τ of system that is ultimately applied to drawn by more than are inputted in controlled device, are controlled：
By the control signal τ for the system that is ultimately applied to, after triangular modulation, six road pulse signals are obtained, by six tunnel pulses
6 switching tubes of the three-phase bridge arm in signal input active filter, actual compensation electricity is drawn by the control of switch tube
Flow Icx, finally realize the control of parallel connection mixed type active filter system.
2. the control method of a kind of parallel connection mixed type active filter system according to claim 1, it is characterised in that described
High switching frequency f spans are f >=fc, fcRepresent switching frequency.
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