CN106787871B - A kind of LC code converter of multivariable feedback controller - Google Patents
A kind of LC code converter of multivariable feedback controller Download PDFInfo
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- CN106787871B CN106787871B CN201611099464.8A CN201611099464A CN106787871B CN 106787871 B CN106787871 B CN 106787871B CN 201611099464 A CN201611099464 A CN 201611099464A CN 106787871 B CN106787871 B CN 106787871B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/0003—Details of control, feedback or regulation circuits
- H02M1/0016—Control circuits providing compensation of output voltage deviations using feedforward of disturbance parameters
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- Power Engineering (AREA)
- Dc-Dc Converters (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses the LC code converters and method of a kind of multivariable feedback controller, including first adder, second adder, third adder, the 4th adder, d axis controller, q axis controller, d axis compensator and q axis compensator;The input terminal of d axis controller is connected to the output end of first adder, and the first input end of third adder is connected to the output end of d axis controller, and the second input terminal is connected to the output end of d axis compensator, the input terminal connection status amount of d axis compensator;The output of third adder is d axis modulated signal;The input terminal of q axis controller is connected to the output end of second adder, and the first input end of the 4th adder is connected to the output end of q axis controller, and the second input terminal is connected to the output end of q axis compensator, the input terminal connection status amount of q axis compensator;The output of 4th adder is q axis modulated signal.The present invention has the characteristics that stability is good, stable state accuracy is high, dynamic response fluctuation is small and fireballing.
Description
Technical field
The invention belongs to LC code converter fields, more particularly, to a kind of LC code converter of multivariable feedback controller
And method.
Background technique
Three phase supply power supply increasingly increases using relatively broad and demand in power equipment, while proposing more to power quality
High target requirement.In order to be respectively controlled to active component and reactive component, three-phase inverter more selects to sit in rotation
Mark system is lower to implement control, and the direct current instruction that conventional PI control device is intrinsic under rotating coordinate system has DAZ gene energy
Power.But the coupling terms that coordinate transform introduces between rotatable coordinate axis will lead to system can not be real to active component and reactive component
Now real independent control, and the output performance of converter can be reduced.The mathematical model of three-phase LC code converter is in rotational coordinates
There are two pairs of coupling terms between axis, thus face dq decoupling problem when implementing control.In addition, single-phase LC code converter can also lead to
The realization of construction two-phase stationary coordinate system is crossed to be controlled under dq axis rotating coordinate system, because adjusting at this time is DC quantity, therefore
It can be implemented with simple PI controller.However, mathematical model and the transformation of three-phase LC type under the dq axis rotating coordinate system constructed
Device can equally introduce two pairs of coupling amounts, and output performance is caused to reduce.Therefore, dq axis coupled problem is not limited to three phase inversions
Device.For convenience of statement, involved converter is still illustrated by taking three-phase inverter as an example.
Aiming at the problem that LC code converter decoupling control under rotating coordinate system, existing literature mostly uses greatly filter inductance electric
Stream forms inner ring by sampling to improve outer voltage control object characteristic.On the basis of current inner loop, by inductive current and capacitor
Voltage passes through Proportional Feedback to current regulator output end and voltage regulator output to realize decoupling respectively.But this method
There are following two points: must sample inductive current first to form double -loop control, increase hardware cost;Secondly, capacitance voltage coupling
Closing item can realize that decoupling be that the assumed condition for being 1 based on inductive current inner ring gain is just set up by Proportional Feedback, but actually
The impossible whole frequency ranges of current inner loop gain are all close to 1, thus decoupling effect is affected by electric current loop.
Summary of the invention
In view of the drawbacks of the prior art, the purpose of the present invention is to provide a kind of transformation of the LC type of multivariable feedback controller
Device, it is intended to solve in the prior art since to there is the weak caused stability of itself damping not strong for LC code converter, and due to
Dq axis rotating coordinate system, which is implemented to introduce when control, couples caused output voltage problem of low quality.
The invention discloses the LC code converters and method of a kind of multivariable feedback controller, including first adder, second
Adder, third adder, the 4th adder, d axis controller, q axis controller, d axis compensator and q axis compensator;First adds
The first input end of musical instruments used in a Buddhist or Taoist mass connects capacitance voltage d axis specified rate, and the second input terminal connection capacitance voltage d axis of first adder is defeated
Output, the input terminal of d axis controller are connected to the output end of first adder, and the first input end of third adder is connected to d
The output end of axis controller, the second input terminal of third adder are connected to the output end of d axis compensator, d axis compensator it is defeated
Enter end connection d, q Spindle Status amount;The output of third adder is d axis modulated signal;The first input end of second adder connects electricity
Hold voltage q axis specified rate, the second input terminal of second adder connects capacitance voltage q axis output quantity, the input terminal of q axis controller
It is connected to the output end of second adder, the first input end of the 4th adder is connected to the output end of q axis controller, and the 4th adds
Second input terminal of musical instruments used in a Buddhist or Taoist mass is connected to the output end of q axis compensator, and the input terminal of q axis compensator connects d, q Spindle Status amount;4th
Adder output is q axis modulated signal.
Further, the d axis controller and the q axis controller are PI controller.
Further, the PI controllerWherein, KpIndicate proportionality coefficient, KiFor integral coefficient, s
It is complex variable.
Further, which is characterized in that the d axis compensator Gcom,dIt include: feedback function-GN1And feedback function GN2,
Wherein GN1=g0+sg1、GN2=sq1, g0And g1Indicate corresponding GN1Coefficient, q1Indicate corresponding GN2Coefficient, s is complex variable.
Further, which is characterized in that the q axis compensator Gcom,qIt include: feedback function GN2And feedback function GN1,
Wherein GN1=g0+sg1、GN2=sq1, g0And g1Indicate corresponding GN1Coefficient, q1Indicate corresponding GN2Coefficient, s is complex variable.
The present invention also provides a kind of multivariable feedback controller methods based on above-mentioned LC code converter, including following steps
It is rapid:
Capacitance voltage d, q axis output quantity is sent into d axis compensator, capacitance voltage d axis specified rate uc,d *With capacitance voltage d axis
Output quantity uc,dThe margin of error be sent to the input terminal of d axis controller, by the feedback function of flexible modulation d axis compensator, then
The output quantity of d axis controller is added with the output quantity of d axis compensator to get d axis modulation wave signal;At the same time, capacitance voltage
D, q axis output quantity is sent into q axis compensator, capacitance voltage q axis specified rate uc,q *With capacitance voltage q axis output quantity uc,qThe margin of error
It is sent to the input terminal of q axis controller, by the feedback function of flexible modulation q axis compensator, the then output quantity of q axis controller
Subtract each other with the output quantity of q axis compensator to get q axis modulation wave signal.
Further, closed loop of capacitance voltage d, q axis specified rate of LC code converter to capacitance voltage d, q axis output quantity
Transmission function and characteristic equation are as follows:
WhereinBy dq axis
Physical quantity indicates that d axis represents real part with plural form, and q axis represents imaginary part;If it is expected that configuration system closed loop dominant apices areAnd non-dominant pole is p3=-m ξ ωn, closed-loop zero z1=-h ξ ωn.According to state space
Theoretical knowledge configures close_loop zero pole, can obtain the expression formula of all undetermined parameters.Specifically:g1=L1C[(m+2)ξωn]/Ginv;q1=-2 ω0L1C/Ginv。
Compared with the prior art, the present invention has the following advantages:
(1) the multivariable feedback controller structure proposed can significantly improve the damping characteristic of LC code converter, realize dq axis
Full decoupled and zero pole point flexible configuration.It can make system that there is very high stability, very wide control bandwidth, to make
It is small to obtain rapid dynamic response speed, oscillation amplitude;Utilize the synergic adjustment of controller and compensator in multivariable feedback controller structure
Effect keeps output voltage quality high.
(2) the multivariable feedback controller Parameters design proposed can combine the stability of LC code converter, control
Bandwidth processed, stable state accuracy etc. carry out control parameter design in the case where requiring, it is easy to guarantee that system has superior sound state
Performance.
(3) the multivariable feedback controller structure and Parameters design proposed can guarantee that system parameter becomes in larger range
Still there is very strong robustness when change, therefore significantly improve the Ability of Resisting Disturbance of LC code converter, in operating condition mutation
Output voltage remains to obtain preferable response wave shape.
(4) the multivariable feedback controller Parameters design proposed can obtain controller, compensator multiple parameters simultaneously
Design result, thus design procedure facilitate it is succinct.
Detailed description of the invention
Fig. 1 is the multivariable feedback controller structural block diagram of LC code converter
Fig. 2 is the main circuit diagram of LC code converter
Fig. 3 is the multivariable feedback controller block diagram of LC code converter
Fig. 4 is the block diagram of d axis compensator and q axis compensator in multivariable feedback controller
Specific implementation method
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The present invention utilizes complex vector analysis method for LC code converter, proposes a kind of multivariable feedback controller structure.
On this basis, the Parameters design of multivariable feedback controller structure is proposed.The multivariable feedback controller strategy can change
Kind damping capacity realizes the full decoupled and flexible configuration due to zero pole point of rotational coordinates between centers and significantly improves dynamic
Energy.
For the LC code converter of further description multivariable feedback controller provided in an embodiment of the present invention, now in conjunction with
Details are as follows for accompanying drawings and embodiments:
Fig. 1 is the multivariable feedback controller structural block diagram of LC code converter, including d axis controller, q axis controller, d axis benefit
Repay device, q axis compensator, LC code converter equivalent gain and LC mode filter (control object).The control of LC code converter is being revolved
Turn to implement under coordinate system, capacitance voltage d, q axis output quantity and (the LC type transformation of d, q Spindle Status amount are detected first from control object
Capacitance voltage d, q axis output quantity is also quantity of state in device).Secondly, by capacitance voltage d axis specified rateIt is defeated with capacitance voltage d axis
Output xdThe margin of error be sent to d axis controller (can be PI control, Repetitive controller or resonance control etc.) input terminal;Together
Reason, by capacitance voltage q axis specified rateWith capacitance voltage q axis output quantity xqThe margin of error be sent to q axis controller and (can be PI
Control, Repetitive controller or resonance control etc.) input terminal.Again, quantity of state (ad,aq...) and be sent to d axis compensator (can be with
It is a feedback function, can also be multiple feedback functions) after, by the feedback function of flexible modulation d axis compensator, then by d
The output quantity of axis controller is added with the output quantity of d axis compensator, and resulting value is the d axis modulated signal of LC code converter;
Similarly, quantity of state (ad,aq...) and it is sent to q axis compensator (can be a feedback function, can also be multiple feedback functions)
Afterwards, by the feedback function of flexible modulation q axis compensator, then by the output quantity of the output quantity of q axis controller and q axis compensator
Subtract each other, resulting value is the q axis modulated signal of LC code converter.D, q axis modulated signal passes through amplifier respectively and obtains LC
Corresponding d, q shaft voltage u of bridge arm midpoint output voltage of code converterinv,dAnd uinv,q.This multivariable feedback controller structure can
To be effectively improved the damping characteristic of LC code converter, the full decoupled zero pole point with arbitrary disposition system of dq axis is realized.
Fig. 2 gives the main circuit diagram of LC code converter.L1a、L1bAnd L1cRespectively transducer side A, B, C three-phase filtered electrical
Sense, R1a、R1bAnd R1cRespectively transducer side A, B, C three-phase considers the equivalent series resistance of inductance, the transformation dead zone bridge PWM effect
It answers, the synthesis equivalent resistance of the damping factors such as switching tube conduction voltage drop and line resistance.Cab、CbcAnd CcaFor tri- phase transformation of A, B, C
The triangular form structure filter capacitor of parallel operation.udcFor DC terminal voltage, uinv,a、uinv,bAnd uinv,cFor A, B, C three-phase bridge arm midpoint phase
Voltage, uC,a、uC,bAnd uC,cRespectively A, B, C three-phase filter capacitor phase voltage, i1,b、i1,bAnd i1,cRespectively tri- phase transformation of A, B, C
The filter inductance phase current of parallel operation side, iC,a、iC,bAnd iC,cRespectively A, B, C three-phase filter capacitor phase current, io,a、io,bAnd io,c
Respectively A, B, C threephase load electric current.
As shown in Fig. 2, the main circuit equation expression formula under ABC coordinate system is obtained using KVL and KCL theorem, using
After CLARK and PRAK transformation, it can obtain under dq rotating coordinate system shown in LC code converter circuit equation such as formula (1):
Wherein, uinv,dq=[uinv,d,uinv,q]TIt is expressed as corresponding d, q axis electricity of LC code converter bridge arm midpoint phase voltage
Pressure, i1,dq=[i1,d,i1,q]TIt is expressed as corresponding d, q shaft current of LC code converter side inductive current, uc,dq=[uc,d,uc,q]T
It is expressed as corresponding d, q shaft voltage of filter capacitor phase voltage (i.e. capacitance voltage d, q axis output quantity) of LC code converter, io,dq=
[io,d,io,q]TIt is expressed as corresponding d, q shaft current of load current of LC code converter.ω0It is expressed as fundamental wave frequency, j is indicated
For the imaginary axis.A, B, C three-phase LC code converter main circuit parameter are consistent under normal circumstances, therefore can simply remember: L1a=L1b=L1c=
L1, Cab=Cbc=Cca=C/3, R1a=R1b=R1c=R1。
Fig. 3 is the multivariable feedback controller block diagram of LC code converter, it is contemplated that the stability problem of LC code converter, therefore
Ignore stray resistance R1To represent a kind of worst situation of damping.At the same time, the resonance frequency of LC mode filter isD axis controller and q axis controller are G in multivariable feedback controller block diagramu, d axis compensator and q axis
Compensator is respectively Gcom,dAnd Gcom,q.By capacitance voltage d, q axis output quantity [uc,d,uc,q]TIt is sent into d axis compensator, capacitance voltage d
Axis specified rate uc,d *With capacitance voltage d axis output quantity uc,dThe margin of error be sent to the input terminal of d axis controller, by flexibly adjusting
The feedback function of d axis compensator is saved, then the output quantity of d axis controller is added with the output quantity of d axis compensator to get d axis tune
Wave signal processed;At the same time, capacitance voltage d, q axis output quantity [uc,d,uc,q]TIt is sent into q axis compensator, capacitance voltage q axis is given
Measure uc,q *With capacitance voltage q axis output quantity uc,qThe margin of error be sent to the input terminal of q axis controller, pass through flexible modulation q axis and mend
The feedback function of device is repaid, then the output quantity of q axis controller and the output quantity of q axis compensator are subtracted each other to get q axis modulating wave letter
Number.Although only with capacitance voltage feedback control, be equally applicable to introduce other Variable feedback controls be composed it is more
A Variable feedback control, therefore can be collectively referred to as multivariable feedback controller structure.
Fig. 4 gives the block diagram of d axis compensator and q axis compensator in multivariable feedback controller structure.D axis compensator
Input terminal is capacitance voltage d, q axis output quantity, successively multiplied by-GN1And GN2, the sum of they are the output end of d axis compensator;Together
The input terminal of reason, q axis compensator is capacitance voltage d, q axis output quantity, successively multiplied by GN2And GN1, the sum of they are the compensation of q axis
The output end of device.
Under dq rotating coordinate system, PI controller energy DAZ gene DC quantity, so most of selection PI controllers.?
On the basis of this, required controller and compensator parameter can be directly obtained from whole system close_loop zero pole arrangement angles
Design method.Propose the control parameter design method for being applied to the multivariable feedback controller structure of LC code converter.
The physical quantity in dq axis is indicated with plural form with complex vector modeling method in motor control by Fig. 3,
Middle d axis represents real part, and q axis represents imaginary part.Capacitance voltage d, q axis specified rate of LC code converter can be obtained to capacitance voltage d, q
The closed loop transfer function, of axis output quantity are as follows:
U in above formulaC,dq *=[uC,d *,uC,q *]TIndicate corresponding d, q axis specified rate of LC code converter capacitance voltage specified rate,
GinvFor LC code converter equivalent gain.D axis controller and q axis controller are Gu, and are as follows:
Wherein KpIndicate proportionality coefficient, KiFor integral coefficient, s is complex variable.
Since LC code converter itself damping is weak, while two pairs of coupling amounts are introduced under rotating coordinate system again, thus needs to mention
The damping of high LC code converter, and realize that dq axis is full decoupled.When two penalty functions are assumed to be GN1=g0+sg1And GN2=
sq1, the damping of LC code converter can be improved and realize the full decoupled control of dq axis.The closed loop of LC code converter can be obtained by arranging
Transmission function and characteristic equation are as follows:
WhereinRespectively indicate LC
The real and imaginary parts part of code converter closed loop transform function.
If it is expected that configuration system closed loop dominant apices areAnd non-dominant pole is p3=-m ξ
ωn, closed-loop zero z1=-h ξ ωn.Wherein ξ indicates the system damping ratio of expectation configuration, ωnIndicate the system angle of expectation configuration
Frequency, m then indicate that the multiple that non-dominant pole is with a distance from the imaginary axis and dominant pole is with a distance from the imaginary axis, h indicate closed-loop zero from void
Wheelbase is from the multiple with dominant pole with a distance from the imaginary axis.According to state space theory knowledge distribution close_loop zero pole, can must own
The expression formula of undetermined parameter, specific as follows:
Practical main circuit parameter and desired configuration parameter according to formula (6) and are successively substituted into, the control of LC code converter can be obtained
Device and all parameters of compensator.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (5)
1. a kind of LC code converter of multivariable feedback controller characterized by comprising first adder, second adder,
Three adders, the 4th adder, d axis controller, q axis controller, d axis compensator and q axis compensator;
The first input end of the first adder is for connecting capacitance voltage d axis specified rate, and the second of the first adder
Input terminal is used to connect the capacitance voltage d axis output quantity of LC code converter;By capacitance voltage d axis specified rate in first adder
Subtract each other with capacitance voltage d axis output quantity;The input terminal of the d axis controller is connected to the output end of the first adder, institute
The first input end for stating third adder is connected to the output end of the d axis controller, the second input of the third adder
End is connected to the output end of the d axis compensator, by the output quantity of d axis controller and d axis compensator in third adder
Output quantity is added;The input terminal of the d axis compensator is used to connect capacitance voltage d, q axis output quantity of LC code converter;It is described
The output end of third adder is for exporting d axis modulated signal;
The first input end of the second adder is for connecting capacitance voltage q axis specified rate, and the second of the second adder
Input terminal is used to connect the capacitance voltage q axis output quantity of LC code converter;By capacitance voltage q axis specified rate in second adder
Subtract each other with capacitance voltage q axis output quantity;The input terminal of the q axis controller is connected to the output end of the second adder, institute
The first input end for stating the 4th adder is connected to the output end of the q axis controller, the second input of the 4th adder
End is connected to the output end of the q axis compensator, by the output quantity of q axis controller and q axis compensator in the 4th adder
Output quantity is subtracted each other;The input terminal of the q axis compensator is used to connect capacitance voltage d, q axis output quantity of LC code converter;It is described
The output end of 4th adder is for exporting q axis modulated signal;
The d axis compensator Gcom,dIt include: feedback function-GN1And feedback function GN2, wherein GN1=g0+sg1、GN2=sq1, g0With
g1Indicate corresponding GN1Coefficient, q1Indicate corresponding GN2Coefficient, s is complex variable;
The q axis compensator Gcom,qIt include: feedback function GN2And feedback function GN1, wherein GN1=g0+sg1、GN2=sq1, g0With
g1Indicate corresponding GN1Coefficient, q1Indicate corresponding GN2Coefficient, s is complex variable;
The input terminal of d axis compensator is capacitance voltage d, q axis output quantity, and d axis output quantity is multiplied by-GN1, q axis output quantity is multiplied by GN2,
The sum of they are the output end of d axis compensator;Similarly, the input terminal of q axis compensator is capacitance voltage d, q axis output quantity, d axis
Output quantity is multiplied by GN2, q axis output quantity is multiplied by GN1, the sum of they are the output end of q axis compensator.
2. LC code converter as described in claim 1, which is characterized in that the d axis controller and the q axis controller are
PI controller.
3. LC code converter as claimed in claim 2, which is characterized in that the PI controllerWherein, KpTable
Show proportionality coefficient, KiFor integral coefficient, s is complex variable.
4. a kind of multivariable feedback controller method based on LC code converter described in claim 1, which is characterized in that including under
State step:
Capacitance voltage d, q axis output quantity is sent into d axis compensator, capacitance voltage d axis specified rate uc,d *It is exported with capacitance voltage d axis
Measure uc,dThe margin of error be sent to the input terminal of d axis controller, by the feedback function of flexible modulation d axis compensator, then d axis
The output quantity of controller is added with the output quantity of d axis compensator to get d axis modulation wave signal;At the same time, capacitance voltage d, q
Axis output quantity is sent into q axis compensator, capacitance voltage q axis specified rate uc,q *With capacitance voltage q axis output quantity uc,qThe margin of error be sent into
To the input terminal of q axis controller, by the feedback function of flexible modulation q axis compensator, the then output quantity and q of q axis controller
The output quantity of axis compensator is subtracted each other to get q axis modulation wave signal.
5. multivariable feedback controller method as claimed in claim 4, which is characterized in that capacitance voltage d, q of LC code converter
The closed loop transfer function, and characteristic equation of axis specified rate to capacitance voltage d, q axis output quantity are as follows:
WhereinBy the physical quantity of dq axis
It is indicated with plural form, d axis represents real part, and q axis represents imaginary part;If it is expected that configuration system closed loop dominant apices areAnd non-dominant pole is p3=-m ξ ωn, closed-loop zero z1=-h ξ ωn, according to state space
Theoretical knowledge configures close_loop zero pole, can obtain all undetermined parameters and obtain expression formula, specifically:g1=L1C[(m+2)ξωn]/Ginv;q1=-2 ω0L1C/Ginv;Wherein, LC code converter is three-phase
Inverter, GinvFor LC code converter equivalent gain coefficient, L1For the single inductance value of inverter side of LC code converter, C is triangle
The capacitance of three capacitors of type Structure Filter capacitor, ω0For fundamental wave frequency, ξ is the system damping ratio of expectation configuration, ωnFor
It is expected that the system angular frequency of configuration, m is the multiple that non-dominant pole is with a distance from the imaginary axis and dominant pole is with a distance from the imaginary axis, and h is to close
The multiple that circulation layer point is with a distance from the imaginary axis and dominant pole is with a distance from the imaginary axis, ωrFor the resonance frequency of LC mode filter.
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