CN105048466A - Compound control method for parallel hybrid active power filters - Google Patents
Compound control method for parallel hybrid active power filters Download PDFInfo
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Abstract
The invention discloses a compound control method for parallel hybrid active power filters, comprising the following steps: (1) acquiring state information of a power grid and a parallel hybrid active power filter; (2) extracting a voltage instruction from the current of the power grid; (3) calculating a voltage error signal; (4) carrying out repetitive control and PI adjustment on a voltage difference signal to obtain a modulation signal; and (5) constructing a PWM signal, wherein the parallel hybrid active power filter includes a passive part and an active part. Through the scheme, the invention can provide a compound control method for parallel hybrid active power filters. In order to overcome the defects of the existing parallel hybrid active power filter controller, a compound control method is provided. A double-loop compound control algorithm, including PI adjustment at the inner loop and repetitive control at the outer loop, is adopted. Odd harmonic, even harmonic and fundamental negative-sequence harmonic can be compensated at high precision. Moreover, the complexity of the system is greatly reduced, the cost is reduced, and the method can be easily used in engineering practice.
Description
Technical field
The present invention relates to a kind of composite control method, particularly relate to a kind of composite control method of parallel connection type hybrid active electric filter.
Background technology
Parallel connection type hybrid active electric filter is by PF(passive part) and APF(active part) two parts form, as shown in Figure 1:
By detecting the harmonic components in load or electrical network, Active Power Filter-APF APF is controlled to controlled current source I
aPFor voltage source U
aPF, one phase equivalent circuit as shown in Figure 2:
Wherein, the strategy adopting APF to be controlled to controlled current source makes APF(active part) to fundamental voltage be born, cause active capacity larger; be difficult to embody cost advantage; therefore many employing APF are controlled to the strategy of controlled voltage source at present, and adopt the voltage control of current on line side, principle is as follows:
According to principle of stacking decomposable asymmetric choice net as shown in Figure 3:
What current application was more is PI controller, in order to realize the high compensation precision under multi-frequency, also has adoption rate integral sine to control, integral control under multiple-rotating coordinate system etc., to improve the compensation precision of hybrid active filter.
Conventional PI controller can only realize DAZ gene when reference signal is direct current.And in hybrid active electric filter, its reference and feedback voltage are formed by stacking by multiple harmonic, pi regulator cannot accurately be followed the tracks of.In addition because devices switch frequency is restricted, in order to ensure the decay to switch frequency ripple, the bandwidth of pi regulator can not obtain again excessive.Therefore, conventional PI controller receives and greatly limits in the application of hybrid active filter,
Ratio integral sine controls, integral control under multiple-rotating coordinate system is all the thought compensated based on selective harmonic, therefore need under each harmonic frequency, embed controller respectively to compensate, program realizes more loaded down with trivial details in actual applications, and cannot realize harmonic compensation in full bandwidth.
Summary of the invention
The technical problem that the present invention mainly solves is: how to provide the deficiency that a kind of controller to current parallel connection type hybrid active electric filter exists, a kind of composite control method is proposed, PI inner ring is adopted to add the dicyclo complex control algorithm of Repetitive controller outer shroud formation, not only can realize odd, the high compensation precision of even and first-harmonic Negative sequence harmonic, and greatly reduce the complexity of system, provide cost savings, be easy to engineering practice.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: the composite control method providing a kind of parallel connection type hybrid active electric filter, comprising: following operating procedure,
(1) state information of electrical network, parallel connection type hybrid active electric filter is obtained;
(2) from power network current, voltage instruction is extracted;
(3) calculating voltage error signal;
(4) Repetitive controller and PI adjustment are carried out to voltage differential signal, obtain modulation signal.；
(5) pwm signal is constructed.
Wherein, described parallel connection type hybrid active electric filter comprises passive part and active part.
In a preferred embodiment of the present invention, in step (1), utilize voltage-current sensor gather line voltage, power network current, the DC bus-bar voltage of active part and active part after filtering after output voltage.
In a preferred embodiment of the present invention, in step (2), utilize phase-locked loop to extract the phase place of line voltage, according to phase place, harmonic wave instruction fetch is carried out to load current, and first by following transfer function, bandpass filtering is carried out to load current, obtain each harmonic signal of load current; Each harmonic signal is superposed to the total harmonic signal obtaining power network current; Calculate harmonic voltage instruction signal; According to the phase place of line voltage to converting, obtain axle harmonic wave of output voltage component and axle harmonic wave of output voltage component; According to the phase place of line voltage to output voltage line translation, obtain meritorious axle output voltage component, idle axle output voltage component and zero axle output voltage component.
In a preferred embodiment of the present invention, in step (3), carry out adjustment obtain DC voltage regulated quantity to DC bus-bar voltage, given DC voltage value deducts DC bus-bar voltage and obtains DC bus-bar voltage error signal; Simultaneously, DC bus-bar voltage error signal regulates through PI and obtains DC voltage regulated quantity, meritorious axle harmonic voltage instruction deducts meritorious axle actual output voltage component and obtains meritorious shaft voltage error signal, and idle axle harmonic voltage instruction deducts idle axle actual output voltage component and adds DC voltage regulated quantity and obtain idle shaft voltage error signal.
In a preferred embodiment of the present invention, in step (4), the meritorious shaft voltage error signal of order is as input, internal mold renewal is carried out to it, obtain internal mold and upgrade voltage error signal, make idle shaft voltage error signal and zero shaft voltage error signal respectively as input, obtain idle shaft voltage command signal and zero shaft voltage command signal; Meritorious shaft voltage command signal, idle shaft voltage command signal and zero shaft voltage command signal are carried out inverse transformation and obtains modulation signal.
In a preferred embodiment of the present invention, in step (5), utilize modulator that modulation signal and given triangle carrier signal are compared, production burst bandwidth modulation signals.
The invention has the beneficial effects as follows: the deficiency existed the controller of current parallel connection type hybrid active electric filter, a kind of composite control method is proposed, PI inner ring is adopted to add the dicyclo complex control algorithm of Repetitive controller outer shroud formation, not only can realize odd, the high compensation precision of even and first-harmonic Negative sequence harmonic, and greatly reduce the complexity of system, provide cost savings, be easy to engineering practice.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings, wherein:
Fig. 1 is in background technology, the passive part of parallel connection type hybrid active electric filter and active portion structural representation;
Fig. 2 is in background technology, one phase equivalent circuit figure, namely first goes here and there afterwards and mixed type one phase equivalent circuit figure;
Fig. 3 is in background technology, principle of stacking decomposable asymmetric choice net schematic diagram, and namely first the rear also mixed type voltage source of string controls one phase equivalent and split circuit figure;
Fig. 4 is the system construction drawing of composite control method one preferred embodiment of a kind of parallel connection type hybrid active electric filter of the present invention;
Fig. 5 is the whole system control system figure of the HAPF of composite control method one preferred embodiment of a kind of parallel connection type hybrid active electric filter of the present invention;
Fig. 6 is the block diagram of the composite control method of composite control method one preferred embodiment of a kind of parallel connection type hybrid active electric filter of the present invention;
Fig. 7 is the composite control method flow chart that the parallel-connection type active power filtering of composite control method one preferred embodiment of a kind of parallel connection type hybrid active electric filter of the present invention is gone;
Fig. 8 is that harmonic compensation schematic diagram is carried out in the uncontrollable rectifier load of composite control method one preferred embodiment of a kind of parallel connection type hybrid active electric filter of the present invention;
Fig. 9 is the design sketch adopting PI controller in the stable state compensation effect of composite control method one preferred embodiment of a kind of parallel connection type hybrid active electric filter of the present invention;
Figure 10 adopts composite controller design sketch in the stable state compensation effect of composite control method one preferred embodiment of a kind of parallel connection type hybrid active electric filter of the present invention;
Figure 11 is the employing complex controll load of composite control method one preferred embodiment of a kind of parallel connection type hybrid active electric filter of the present invention dynamic response design sketch when being switched to 100% by 50%.
Embodiment
Be clearly and completely described to the technical scheme in the embodiment of the present invention below, obviously, described embodiment is only a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.
The embodiment of the present invention provides following technical scheme.
The present invention relates to a kind of composite control method of parallel connection type hybrid active electric filter (HAPF).Along with the continuous progress of productivity and the high development of science and technology, the modern industries such as iron and steel, metallurgy, chemical industry, new forms of energy obtain rapid lifting, but wherein a large amount of uses of power electronic equipment also make the complexity of electric power system internal loading and diversity greatly increase.Wherein, in the electrical network that causes of the extensive application of impact wavy load and nonlinear-load, the improper phenomenon such as electric current and voltage distortion, voltage fluctuation flickering is on the rise.Reactive power compensation and harmonic decrease devices obtain to be advocated energetically and promotes.
Because traditional passive filter exists effective high material consumption, volume is large, and occupation of land is many, and easy and system generation resonance, causes Harmonics amplification, cause passive filter to transship, even burn, jeopardize the problem of power grid security.Active Power Filter-APF obtains swift and violent development at low-voltage network in recent years, but due to semiconductor device cost and withstand voltage restriction, is difficult to be applied in high-voltage web system.Traditional passive power filter and Active Power Filter-APF technology can combine by hybrid active electric filter, effectively can solve the intrinsic problem of passive filter, can effectively reduce costs again, be the widely used device of harmonic wave control in current high-pressure system.The present invention is directed to parallel connection type hybrid active electric filter and propose a kind of composite control method, effectively can improve harmonic compensation precision and the control performance of HAPF, and be easy to engineering practice, there is larger using value.
There is provided a kind of composite control method of parallel connection type hybrid active electric filter in the present embodiment, the composite control method of described parallel connection type hybrid active electric filter comprises: following operating procedure,
(1) state information of electrical network, parallel connection type hybrid active electric filter is obtained;
(2) from power network current, voltage instruction is extracted;
(3) calculating voltage error signal;
(4) Repetitive controller and PI adjustment are carried out to voltage differential signal, obtain modulation signal.；
(5) pwm signal is constructed.
Wherein, described parallel connection type hybrid active electric filter comprises passive part and active part.
In step (1), utilize voltage-current sensor gather line voltage, power network current, the DC bus-bar voltage of active part and active part after filtering after output voltage.
In step (2), utilize phase-locked loop to extract the phase place of line voltage, according to phase place, harmonic wave instruction fetch is carried out to load current, and first by following transfer function, bandpass filtering is carried out to load current, obtain each harmonic signal of load current; Each harmonic signal is superposed to the total harmonic signal obtaining power network current; Calculate harmonic voltage instruction signal; According to the phase place of line voltage to converting, obtain axle harmonic wave of output voltage component and axle harmonic wave of output voltage component; According to the phase place of line voltage to output voltage line translation, obtain meritorious axle output voltage component, idle axle output voltage component and zero axle output voltage component.
In step (3), carry out adjustment obtain DC voltage regulated quantity to DC bus-bar voltage, given DC voltage value deducts DC bus-bar voltage and obtains DC bus-bar voltage error signal; Simultaneously, DC bus-bar voltage error signal regulates through PI and obtains DC voltage regulated quantity, meritorious axle harmonic voltage instruction deducts meritorious axle actual output voltage component and obtains meritorious shaft voltage error signal, and idle axle harmonic voltage instruction deducts idle axle actual output voltage component and adds DC voltage regulated quantity and obtain idle shaft voltage error signal.
In step (4), the meritorious shaft voltage error signal of order is as input, according to following formula, internal mold renewal is carried out to it, obtain internal mold and upgrade voltage error signal, make idle shaft voltage error signal and zero shaft voltage error signal respectively as input, obtain idle shaft voltage command signal and zero shaft voltage command signal; Meritorious shaft voltage command signal, idle shaft voltage command signal and zero shaft voltage command signal are carried out inverse transformation and obtains modulation signal.
In step (5), utilize modulator that modulation signal and given triangle carrier signal are compared, production burst bandwidth modulation signals.
In a specific embodiment, the present invention is directed to by PF(passive part) and APF(active part) control of parallel connection type active electric filter of connecting, system construction drawing is as Fig. 4.
1, APF is controlled as harmonic voltage source, forces the harmonic current in load to flow into PPF, makes in power network current not containing harmonic wave.In order to reduce system loss, passive filter group only adopts 5,7,11 single tuned filters, removes coupling transformer to save cost simultaneously, adapts to high pressure applications.Wherein
i sh ,
i lh represent mains by harmonics electric current and load harmonic current respectively,
i fh for the electric current that HAPF exports, comprise fundamental reactive current and compensation harmonic electric current.
u g for line voltage,
u o for APF exports control voltage,
u dc for DC voltage.
l s for system reactance, passive filter group is by 5, and 7,11 times branch road is formed,
l f with
c f constitute inverter output filter,
r d for damping resistance.
2, wherein APF is controlled as harmonic voltage source,
The whole system control system figure of 3, HAPF is as Fig. 5: whole control system is made up of DC voltage outer shroud and harmonic voltage inner ring.Harmonic voltage inner ring control APF output packet containing the harmonic voltage of multi-frequency, therefore needs to adopt high performance controller.Flow through fundamental reactive current owing to itself having in APF, only need produce fundamental wave reactive power voltage in output voltage, just can produce and maintain the meritorious of DC side fluctuation.Therefore on the d axle of DC voltage outer shroud on q axle instead of in picture APF, and controlled quentity controlled variable is direct current signal, adopts traditional PI controller.
4, for the controller of harmonic voltage ring, the block diagram of composite control method in this paper as shown in Figure 6:
Controller controls inner ring by repetitive controller outer shroud and PI and forms, in figure
z -1 for the time delay of numerically controlled unit,
g(
s) after discretization be
g(
z),
p(
z)
=Z -1.
g(
z) be the system open loop transfer function after inner ring discretization,
pI(
z) be PI controller, be repetitive controller in empty frame,
nrepresent the sampling number of every cycle.
s(
z) for ensureing the low pass filter of Repetitive controller stability Design,
k is the phase compensation cyclenumber, Q (z) is auxiliary compensation device, in order to improve the dynamic property of system, adds forward direction express passway in Repetitive controller.
5,
s(
z) be low pass filter, the present invention adopts second order filter, and form is as follows, but the filter in this control program is including but not limited to second order filter, as long as low pass filter meets the larger attenuation amplitude of high band, ensure the gain of effective low-frequency range simultaneously.
In another one specific embodiment,
The composite control method that the parallel-connection type active power filtering that the present invention proposes is gone, as shown in Figure 7, specifically comprises the steps:
(1) state information of electrical network, HAPF is obtained.
Utilize voltage-current sensor to gather line voltage us, power network current is, APF(active part) DC bus-bar voltage udc and APF through the filtered output voltage uo of LC.
(2) from power network current, voltage instruction is extracted.
First, utilize phase-locked loop to extract the phase place of line voltage us, according to phase place, harmonic wave instruction fetch carried out to load current is:
A. by following transfer function, bandpass filtering is carried out to load current is, obtain each harmonic signal of load current is;
；
Wherein: Ki is integral coefficient, n is the sampling number of a primitive period, and m is harmonic number, and z is Z-transformation operator; In present embodiment, Ki=0.01, n=200.
B. each harmonic signal is superposed to the total harmonic signal ish obtaining power network current is;
C. harmonic voltage instruction signal is;
；
D. according to the phase place of line voltage us to U
aPFcarry out dq conversion, obtain d axle harmonic wave of output voltage component and q axle harmonic wave of output voltage component; Usual zero-axis component is effectively suppressed by the wiring of power distribution network transformer triangle, can not consider;
E. according to the phase place of line voltage us, the capable dq of output voltage Uo is converted, obtain meritorious axle output voltage component, idle axle output voltage component and zero axle output voltage component.
(3), first, adjustment is carried out to DC bus-bar voltage and obtain DC voltage regulated quantity: make given DC voltage value deduct DC bus-bar voltage and obtain DC bus-bar voltage error signal; DC bus-bar voltage error signal is regulated through PI and obtains DC voltage regulated quantity; PI regulate based on transfer function as follows:
;
Wherein: Kp and Ki is respectively proportionality coefficient and integral coefficient.
Then, make meritorious axle harmonic voltage instruction deduct meritorious axle actual output voltage component and obtain meritorious shaft voltage error signal, make idle axle harmonic voltage instruction deduct idle axle actual output voltage component and add DC voltage regulated quantity and obtain idle shaft voltage error signal.
(4) Repetitive controller and PI adjustment are carried out to voltage differential signal, obtain modulation signal.
As shown in the figure, the meritorious shaft voltage error signal of order, as input, carries out internal mold renewal according to following formula to it, obtains internal mold and upgrades voltage error signal;
U(i)＝E(i)+QE(i-n)；
Wherein: U (i) is the voltage error value of the i-th sampled point in internal mold upgrades electric error signal, E (i) is the voltage error value of the i-th sampled point in meritorious shaft voltage error signal, E (i-n) is the current error value of the i-th-n sampled point in voltage error signal, Q is attenuation coefficient, and n is the sampling number of a primitive period; Then, according to following formula, voltage error signal is upgraded to internal mold and compensate, obtain voltage error corrected signal;
Y(i)＝CY(i-1)-DY(i-2)+AU(i-n+k)+BU(i-n+k-1)+AU(i-n+k-2)；
Wherein: Y (i) is the voltage error correction value of the i-th sampled point in voltage error corrected signal, the initial value of Y (i-1) and Y (i-2) is 0, U (i-n+k) is the voltage error value of the i-th-n+k sampled point in internal mold renewal voltage error signal, A, B, C, D are second-order low-pass filter coefficient, and k is compensation points;
Make meritorious shaft voltage error signal superimposed voltage error correction signal, obtain revised voltage error signal; PI adjustment is carried out to revised voltage error signal, obtains meritorious shaft voltage command signal; PI regulate based on transfer function as follows:
；
Wherein: Kp and Ki is respectively proportionality coefficient and integral coefficient.
In like manner make idle shaft voltage error signal and zero shaft voltage error signal respectively as input, obtain idle shaft voltage command signal and zero shaft voltage command signal; Meritorious shaft voltage command signal, idle shaft voltage command signal and zero shaft voltage command signal are carried out dq inverse transformation and obtains modulation signal.
(5) pwm signal is constructed.
Utilize PWM device that modulation signal and given triangle carrier signal are compared, generate pwm signal.
In order to verify beneficial effect of the present invention further, in Matlab, build simulation model, the effect of this composite control method is verified.HAPF carries out harmonic compensation to the uncontrollable rectifier load of 10MVA in the distribution network system of 10kV.
Following table is corresponding simulation parameter, HAPF simulation model circuit parameter.
Fig. 9-10 sets forth the filter effect of the HAPF adopting independent PI controller and composite controller.The THD of load current is 28.33%.When adopting PI controller, HAPF filter effect can reach 5.39%, and when adopting composite controller, the THD of power network current drops to 3.26%, decreases 2.13%, and compensation precision greatly improves.Wherein the tracking situation of APF output voltage uses A respectively in the drawings, and B curve illustrates.By relatively finding out, after adopting complex controll, the tracking performance of harmonic voltage obviously improves.
Figure 10 for adopt composite controller time, load by 50% be switched to 100% dynamically corresponding.When the load, owing to adding forward path in complex controll, system can regulate harmonic compensation rapidly, and dynamic response time is less than 20ms.
Good effect of the present invention is:
1), compare conventional PI control device, the harmonic voltage that composite controller exports for the filtering of parallel connection type hybrid active electric has higher control precision, thus makes HAPF whole system have higher harmonic compensation precision, and has good dynamic property.
2), the ratio integral sine comparing the thought compensated based on selective harmonic controls, integral control under multiple-rotating coordinate system, composite controller adopts repetitive controller to add PI controller, required hardware resource is less, be easy to engineering practice, the high-accuracy compensation of all subharmonic within the scope of full bandwidth can be realized simultaneously.
3), the high accuracy harmonic compensation requirement of high-power can be met based on the parallel connection type active electric filter proposing composite controller herein, and the cost of whole system is lower, has larger application prospect.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize description of the present invention to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present invention.
Claims (6)
1. a composite control method for parallel connection type hybrid active electric filter, is characterized in that, comprising: following operating procedure,
(1) state information of electrical network, parallel connection type hybrid active electric filter is obtained;
(2) from power network current, voltage instruction is extracted;
(3) calculating voltage error signal;
(4) Repetitive controller and PI adjustment are carried out to voltage differential signal, obtain modulation signal;
(5) pwm signal is constructed;
Wherein, described parallel connection type hybrid active electric filter comprises passive part and active part.
2. the composite control method of parallel connection type hybrid active electric filter according to claim 1, it is characterized in that, in step (1), utilize voltage-current sensor gather line voltage, power network current, the DC bus-bar voltage of active part and active part after filtering after output voltage.
3. the composite control method of parallel connection type hybrid active electric filter according to claim 1, it is characterized in that, in step (2), phase-locked loop is utilized to extract the phase place of line voltage, according to phase place, harmonic wave instruction fetch is carried out to load current, and by transfer function, bandpass filtering is carried out to load current, obtain each harmonic signal of load current; Each harmonic signal is superposed to the total harmonic signal obtaining power network current simultaneously, calculate harmonic voltage instruction signal; Then according to the phase place of line voltage to converting, obtain axle harmonic wave of output voltage component and axle harmonic wave of output voltage component; According to the phase place of line voltage to output voltage line translation, obtain meritorious axle output voltage component, idle axle output voltage component and zero axle output voltage component.
4. the composite control method of parallel connection type hybrid active electric filter according to claim 1, it is characterized in that, in step (3), carry out adjustment to DC bus-bar voltage and obtain DC voltage regulated quantity, given DC voltage value deducts DC bus-bar voltage and obtains DC bus-bar voltage error signal; Simultaneously, DC bus-bar voltage error signal regulates through PI and obtains DC voltage regulated quantity, meritorious axle harmonic voltage instruction deducts meritorious axle actual output voltage component and obtains meritorious shaft voltage error signal, and idle axle harmonic voltage instruction deducts idle axle actual output voltage component and adds DC voltage regulated quantity and obtain idle shaft voltage error signal.
5. the composite control method of parallel connection type hybrid active electric filter according to claim 1, it is characterized in that, in step (4), the meritorious shaft voltage error signal of order is as input, internal mold renewal is carried out to it, obtain internal mold and upgrade voltage error signal, simultaneously, idle shaft voltage error signal and zero shaft voltage error signal are respectively as input, obtain idle shaft voltage command signal and zero shaft voltage command signal, meritorious shaft voltage command signal, idle shaft voltage command signal and zero shaft voltage command signal are carried out inverse transformation and obtains modulation signal.
6. the composite control method of parallel connection type hybrid active electric filter according to claim 1, is characterized in that, in step (5), utilizes modulator that modulation signal and given triangle carrier signal are compared, production burst bandwidth modulation signals.
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| CN109742758A (en) * | 2019-01-04 | 2019-05-10 | 南京亚派科技股份有限公司 | A kind of APF compensation method based on Dyn11 transformer |
| CN109742758B (en) * | 2019-01-04 | 2023-08-29 | 南京亚派科技股份有限公司 | APF compensation method based on Dyn11 transformer |
| CN111293697A (en) * | 2020-05-13 | 2020-06-16 | 能科科技股份有限公司 | Electric energy quality control system based on active filtering technology |
| CN111293697B (en) * | 2020-05-13 | 2020-08-25 | 能科科技股份有限公司 | Electric energy quality control system based on active filtering technology |
| CN113131480A (en) * | 2021-04-14 | 2021-07-16 | 国创移动能源创新中心(江苏)有限公司 | Control method and device of single-phase three-level active filter |
| CN113131480B (en) * | 2021-04-14 | 2023-11-17 | 国创移动能源创新中心(江苏)有限公司 | Control method of single-phase three-level active filter |
| CN113964837A (en) * | 2021-10-09 | 2022-01-21 | 国电南瑞科技股份有限公司 | Composite control method and system suitable for LCL type parallel active power filter |
| CN113964837B (en) * | 2021-10-09 | 2023-12-12 | 北京南瑞数字技术有限公司 | Composite control method and system suitable for LCL type parallel active power filter |
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