CN108321812B - Direct power prediction control method based on fuzzy PI control - Google Patents

Direct power prediction control method based on fuzzy PI control Download PDF

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CN108321812B
CN108321812B CN201810013710.6A CN201810013710A CN108321812B CN 108321812 B CN108321812 B CN 108321812B CN 201810013710 A CN201810013710 A CN 201810013710A CN 108321812 B CN108321812 B CN 108321812B
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power
voltage
pwm rectifier
reactive power
active power
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CN108321812A (en
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林明耀
李晖
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Southeast University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/18—Arrangements for adjusting, eliminating or compensating reactive power in networks
    • H02J3/1821—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators
    • H02J3/1835—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators with stepless control
    • H02J3/1842—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators with stepless control wherein at least one reactive element is actively controlled by a bridge converter, e.g. active filters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/01—Arrangements for reducing harmonics or ripples
    • 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
    • H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
    • H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
    • H02M7/12—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/21—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/217—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M7/219—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only in a bridge configuration
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
    • Y02E40/30—Reactive power compensation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
    • Y02E40/40—Arrangements for reducing harmonics

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electrical Variables (AREA)
  • Rectifiers (AREA)

Abstract

The invention discloses a direct power control method based on fuzzy PI control prediction, which realizes the tracking control of a given power value at the beginning of the next period in each sampling period according to a dead beat power prediction model. According to the method, an alternating-current side power grid voltage sensor is not needed, so that the cost is saved and the reliability of the system is improved; the switching frequency is fixed, so that the design of a filter is facilitated; compensating active power and reactive power, and reducing current harmonic distortion rate; and the control of the prediction power is adopted, so that the static difference of active power and reactive power is avoided.

Description

Direct power prediction control method based on fuzzy PI control
Technical Field
The invention relates to an electric transmission technology, in particular to a direct power prediction control method based on fuzzy PI control.
Background
Currently, with the development of power electronic technology and the continuous improvement of the performance of semiconductor switching devices, three-phase PWM rectifiers have been developed from uncontrolled rectification to controllable rectification. The PWM rectifier adopts a fully-controlled device to replace a diode or a thyristor, the power factor is adjustable, energy can flow bidirectionally, and real green electric energy conversion is realized. The PWM rectifier network side has controlled source characteristics, so that the PWM rectifier network side can be applied to the fields of active power filters, static var generators, unified power flow controllers, superconducting energy storage and the like, and has great research value.
For controlling the three-phase PWM rectifier, a plurality of high-efficiency control methods are proposed by domestic and foreign scholars. According to the control object, there are vector control (VOC) and Direct Power Control (DPC). The direct power control strategy is greatly concerned by scholars at home and abroad due to simple structure and algorithm and fast dynamic response. The direct power control adopts a control structure of a power inner ring and a voltage outer ring, a proper switch table is selected through the positions of active power hysteresis loop, reactive power hysteresis loop and grid voltage vector, and then the instantaneous power of the PWM rectifier is controlled to follow a given value, but the switching frequency is not fixed, and the design of an output filter is complex.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a prediction direct power control method based on fuzzy PI control, which has fixed switching frequency and is convenient for filter design.
The technical scheme is as follows: in order to achieve the purpose, the invention adopts the following technical scheme:
the invention relates to a prediction direct power control method based on fuzzy PI control, which comprises the following steps:
s1: symmetrical three-phase current i of three-phase voltage type PWM rectifier is collecteda、ib、icDC bus voltage UdcAnd a load current iL；
S2: DC bus voltage UdcWith a given DC bus voltage
Figure BDA0001541162280000011
The difference value of the voltage and the DC bus voltage U is output through a PI regulatordcProduct of (a) given active power
Figure BDA0001541162280000012
Given reactive power
Figure BDA0001541162280000013
S3: according to symmetrical three-phase current ia、ib、icObtaining virtual flux linkage psi, active power p, reactive power q and components of grid voltage under alpha beta coordinate system according to six switching tube states of three-phase voltage type PWM rectifier
Figure BDA0001541162280000014
And
Figure BDA0001541162280000015
s4: compensating the active power p and the reactive power q to obtain an active power compensation value pcomAnd a reactive power compensation value qcom；
S5: given active power
Figure BDA0001541162280000021
And the active power compensation value pcomDifference dp of, given reactive power
Figure BDA0001541162280000022
And a reactive power compensation value qcomRespectively outputting perror and qerror through a fuzzy PI controller;
s6: perror and qerror are input to two ends of a power prediction controller, the power prediction controller obtains a voltage vector output by a three-phase voltage type PWM rectifier, space vector modulation is carried out on the voltage vector to obtain control information of six IGBT (insulated gate bipolar translator) switching tubes of the three-phase voltage type PWM rectifier, and active power p and reactive power q are enabled to follow given active power
Figure BDA0001541162280000023
And given reactive power
Figure BDA0001541162280000024
Further, the step S3 specifically includes the following steps:
s3.1: six IGBT switching tube states S of three-phase voltage type PWM rectifiera/b/cExpressed by the formula (1):
Figure BDA0001541162280000025
s3.2: obtaining DC bus voltage U by Clark conversiondcComponent u in the α β coordinate systemconvαAnd uconvβAs shown in formula (2):
Figure BDA0001541162280000026
in the formula (2), SaSix IGBT switching tube states of a-phase voltage type PWM rectifier, SbSix IGBT switching tube states of a b-phase voltage type PWM rectifier, ScThe state of six IGBT switching tubes of the c-phase voltage type PWM rectifier is shown;
s3.3: obtaining symmetrical three-phase current i by Clark transformationa、ib、icComponent i in the α β coordinate systemαAnd iβAs shown in formula (3):
Figure BDA0001541162280000027
s3.4: using formulas
Figure BDA0001541162280000028
Obtaining a component psi of the virtual magnetic linkage psi under an alpha beta coordinate systemαAnd psiβWherein: l is a filter inductor at the AC side of the three-phase voltage type PWM rectifier;
s3.5: using formulas
Figure BDA0001541162280000031
Obtaining active power p and reactive power q, wherein: omega is the angular speed of the voltage of the power grid;
s3.6: using formulas
Figure BDA0001541162280000032
Obtaining the component of the estimated grid voltage under an alpha beta coordinate system
Figure BDA0001541162280000033
And
Figure BDA0001541162280000034
further, in step S4, the active power compensation value p at time kcom(k) And a reactive power compensation value qcom(k) The expression of (a) is:
Figure BDA0001541162280000035
in the formula (4), the reaction mixture is,
Figure BDA0001541162280000036
the component of the grid voltage estimated for time k in the α β coordinate system,
Figure BDA0001541162280000037
is a DC bus voltage U at the time of kdcIn the alpha beta coordinate system, p (k) is the value of the active power at the moment k, q (k) is the value of the reactive power at the moment k, TsTo sampleAnd time L is a filter inductor.
Further, in step S5, the output expression of the fuzzy PI controller is:
u(k)＝kpe(k)+ki*Ts*∑e(k) (5)
in the formula (5), e (k) is the input value of the fuzzy PI controller, kpAs a proportional parameter, kiFor integration parameters, u (k) is the output of the fuzzy PI controller, TsIs the sampling time.
Further, in step S6, the control equation of the voltage vector output by the three-phase voltage-type PWM rectifier is shown in equation (6):
Figure BDA0001541162280000038
in the formula (6), the reaction mixture is,
Figure BDA0001541162280000039
the components of the output voltage vector of the three-phase voltage type PWM rectifier at the moment k under an alpha beta coordinate system,
Figure BDA00015411622800000310
the component of the grid voltage estimated for time k in the α β coordinate system,
perror (k) is the output value of the fuzzy PI controller at the active power side at the moment k, qerror (k) is the output value of the fuzzy PI controller at the reactive power side at the moment k, and TsIn order to be the time of sampling,
Figure BDA0001541162280000041
and L is a filter inductor.
Has the advantages that: the invention discloses a direct power control method based on fuzzy PI control, which has the following advantages compared with the prior art:
1) an alternating-current side power grid voltage sensor is not needed, so that the cost is saved and the reliability of the system is improved;
2) the switching frequency is fixed, so that the design of a filter is facilitated;
3) compensating active power and reactive power, and reducing current harmonic distortion rate;
4) and the control of the prediction power is adopted, so that the static difference of active power and reactive power is avoided.
Drawings
FIG. 1 is a diagram of a main circuit of a three-phase voltage type PWM rectifier according to an embodiment of the present invention;
fig. 2 is a block diagram of a control system according to an embodiment of the present invention.
Detailed Description
The technical solution of the present invention will be further described with reference to the following embodiments.
The specific embodiment discloses a direct power prediction control method based on fuzzy PI control, which comprises the following steps:
s1: symmetrical three-phase current i of three-phase voltage type PWM rectifier is collecteda、ib、icDC bus voltage UdcAnd a load current iL；
S2: DC bus voltage UdcWith a given DC bus voltage
Figure BDA0001541162280000042
The difference value of the voltage and the DC bus voltage U is output through a PI regulatordcProduct of (a) given active power
Figure BDA0001541162280000043
Given reactive power
Figure BDA0001541162280000044
S3: according to symmetrical three-phase current ia、ib、icObtaining virtual flux linkage psi, active power p, reactive power q and components of grid voltage under alpha beta coordinate system according to six switching tube states of three-phase voltage type PWM rectifier
Figure BDA0001541162280000045
And
Figure BDA0001541162280000046
s4: compensating the active power p and the reactive power q to obtain an active power compensation value pcomAnd a reactive power compensation value qcom；
S5: given active power
Figure BDA0001541162280000047
And the active power compensation value pcomDifference dp of, given reactive power
Figure BDA0001541162280000048
And a reactive power compensation value qcomRespectively outputting perror and qerror through a fuzzy PI controller;
s6: perror and qerror are input to two ends of a power prediction controller, the power prediction controller obtains a voltage vector output by a three-phase voltage type PWM rectifier, space vector modulation is carried out on the voltage vector to obtain control information of six IGBT (insulated gate bipolar translator) switching tubes of the three-phase voltage type PWM rectifier, and active power p and reactive power q are enabled to follow given active power
Figure BDA0001541162280000049
And given reactive power
Figure BDA00015411622800000410
Step S3 specifically includes the following steps:
s3.1: six IGBT switching tube states S of three-phase voltage type PWM rectifiera/b/cExpressed by the formula (1):
Figure BDA0001541162280000051
s3.2: obtaining DC bus voltage U by Clark conversiondcComponent u in the α β coordinate systemconvαAnd uconvβAs shown in formula (2):
Figure BDA0001541162280000052
in the formula (2), SaSix IGBT switching tube states of a-phase voltage type PWM rectifier, SbSix IGBT switching tube states of a b-phase voltage type PWM rectifier, ScThe state of six IGBT switching tubes of the c-phase voltage type PWM rectifier is shown;
s3.3: obtaining symmetrical three-phase current i by Clark transformationa、ib、icComponent i in the α β coordinate systemαAnd iβAs shown in formula (3):
Figure BDA0001541162280000053
s3.4: using formulas
Figure BDA0001541162280000054
Obtaining a component psi of the virtual magnetic linkage psi under an alpha beta coordinate systemαAnd psiβWherein: l is a filter inductor at the AC side of the three-phase voltage type PWM rectifier;
s3.5: using formulas
Figure BDA0001541162280000055
Obtaining active power p and reactive power q, wherein: omega is the angular speed of the voltage of the power grid;
s3.6: using formulas
Figure BDA0001541162280000056
Obtaining the component of the estimated grid voltage under an alpha beta coordinate system
Figure BDA0001541162280000057
And
Figure BDA0001541162280000058
in step S4, the active power compensation value p at time kcom(k) And a reactive power compensation value qcom(k) The expression of (a) is:
Figure BDA0001541162280000061
in the formula (4), the reaction mixture is,
Figure BDA0001541162280000062
the component of the grid voltage estimated for time k in the α β coordinate system,
Figure BDA0001541162280000063
is a DC bus voltage U at the time of kdcIn the alpha beta coordinate system, p (k) is the value of the active power at the moment k, q (k) is the value of the reactive power at the moment k, TsFor the sampling time, L is the filter inductance.
In step S5, the output expression of the fuzzy PI controller is:
u(k)＝kpe(k)+ki*Ts*∑e(k) (5)
in the formula (5), e (k) is the input value of the fuzzy PI controller, kpAs a proportional parameter, kiFor integration parameters, u (k) is the output of the fuzzy PI controller, TsIs the sampling time.
In step S6, the control equation of the voltage vector output by the three-phase voltage-type PWM rectifier is shown in equation (6):
Figure BDA0001541162280000064
in the formula (6), the reaction mixture is,
Figure BDA0001541162280000065
the components of the output voltage vector of the three-phase voltage type PWM rectifier at the moment k under an alpha beta coordinate system,
Figure BDA0001541162280000066
for the component of the grid voltage estimated at the moment k under an alpha beta coordinate system, perror (k) is the output value of the active power side fuzzy PI controller at the moment k, qerror (k) is the output value of the reactive power side fuzzy PI controller at the moment k, and TsTo adoptThe time of the sampling is as follows,
Figure BDA0001541162280000067
and L is a filter inductor.
FIG. 1 shows a topology structure diagram of a main circuit of a three-phase voltage type PWM rectifier, including a three-phase grid voltage ua/b/cA filter inductor L, a filter capacitor C and a resistance load R at the AC sideLThe rectifier bridge consists of six IGBT switching tubes; in fig. 1: r is parasitic resistance i on the filter inductor L at the AC sidea/b/cIs a symmetrical three-phase current, Sa/b/cFor six IGBT switch tube states, idcIs a direct side current, icFor filtering capacitor currents, UdcIs a DC bus voltage iLIs the load current.
The control system of the scheme is shown in fig. 2 and comprises a control circuit and a power main circuit: the control circuit comprises a Hall sensor and a main control chip, wherein the main control chip adopted in the scheme is DSP 28335; the power main circuit mainly comprises a voltage outer ring and a power inner ring.

Claims (1)

1. A direct power control method based on fuzzy PI control prediction is characterized in that: the method comprises the following steps:
s1: symmetrical three-phase current i of three-phase voltage type PWM rectifier is collecteda、ib、icDC bus voltage UdcAnd a load current iL；
S2: DC bus voltage UdcWith a given DC bus voltage
Figure FDA0002629106620000011
The difference value of the voltage and the DC bus voltage U is output through a PI regulatordcProduct of (a) given active power
Figure FDA0002629106620000012
Given reactive power
Figure FDA0002629106620000013
S3: according to symmetrical three-phase current ia、ib、icObtaining virtual flux linkage psi, active power p, reactive power q and components of grid voltage under alpha beta coordinate system according to six switching tube states of three-phase voltage type PWM rectifier
Figure FDA0002629106620000014
And
Figure FDA0002629106620000015
step S3 specifically includes the following steps:
s3.1: six IGBT switching tube states S of three-phase voltage type PWM rectifiera/b/cExpressed by the formula (1):
Figure FDA0002629106620000016
s3.2: obtaining DC bus voltage U by Clark conversiondcComponent u in the α β coordinate systemconvαAnd uconvβAs shown in formula (2):
Figure FDA0002629106620000017
in the formula (2), SaSix IGBT switching tube states of a-phase voltage type PWM rectifier, SbSix IGBT switching tube states of a b-phase voltage type PWM rectifier, ScThe state of six IGBT switching tubes of the c-phase voltage type PWM rectifier is shown;
s3.3: obtaining symmetrical three-phase current i by Clark transformationa、ib、icComponent i in the α β coordinate systemαAnd iβAs shown in formula (3):
Figure FDA0002629106620000018
s3.4: using formulas
Figure FDA0002629106620000019
Obtaining a component psi of the virtual magnetic linkage psi under an alpha beta coordinate systemαAnd psiβWherein: l is a filter inductor at the AC side of the three-phase voltage type PWM rectifier;
s3.5: using formulas
Figure FDA0002629106620000021
Obtaining active power p and reactive power q, wherein: omega is the angular speed of the voltage of the power grid;
s3.6: using formulas
Figure FDA0002629106620000022
Obtaining the component of the estimated grid voltage under an alpha beta coordinate system
Figure FDA0002629106620000023
And
Figure FDA0002629106620000024
s4: compensating the active power p and the reactive power q to obtain an active power compensation value pcomAnd a reactive power compensation value qcom(ii) a In step S4, the active power compensation value p at time kcom(k) And a reactive power compensation value qcom(k) The expression of (a) is:
Figure FDA0002629106620000025
in the formula (4), the reaction mixture is,
Figure FDA0002629106620000026
the component of the grid voltage estimated for time k in the α β coordinate system,
Figure FDA0002629106620000027
is a DC bus voltage U at the time of kdcIn the alpha beta coordinate system, p (k) is the value of the active power at the moment k, q (k) is the value of the reactive power at the moment k, TsIs sampling time, L is filter inductance;
s5: given active power
Figure FDA0002629106620000028
And the active power compensation value pcomDifference dp of, given reactive power
Figure FDA0002629106620000029
And a reactive power compensation value qcomRespectively outputting perror and qerror through a fuzzy PI controller; in step S5, the output expression of the fuzzy PI controller is:
u(k)＝kpe(k)+ki*Ts*∑e(k) (5)
in the formula (5), e (k) is the input value of the fuzzy PI controller, kpAs a proportional parameter, kiFor integration parameters, u (k) is the output of the fuzzy PI controller, TsIs the sampling time;
s6: perror and qerror are input to two ends of a power prediction controller, the power prediction controller obtains a voltage vector output by a three-phase voltage type PWM rectifier, space vector modulation is carried out on the voltage vector to obtain control information of six IGBT (insulated gate bipolar translator) switching tubes of the three-phase voltage type PWM rectifier, and active power p and reactive power q are enabled to follow given active power
Figure FDA00026291066200000210
And given reactive power
Figure FDA00026291066200000211
In step S6, the control equation of the voltage vector output by the three-phase voltage-type PWM rectifier is shown in equation (6):
Figure FDA0002629106620000031
in the formula (6), the reaction mixture is,
Figure FDA0002629106620000032
the components of the output voltage vector of the three-phase voltage type PWM rectifier at the moment k under an alpha beta coordinate system,
Figure FDA0002629106620000033
for the component of the grid voltage estimated at the moment k under an alpha beta coordinate system, perror (k) is the output value of the active power side fuzzy PI controller at the moment k, qerror (k) is the output value of the reactive power side fuzzy PI controller at the moment k, and TsIn order to be the time of sampling,
Figure FDA0002629106620000034
and L is a filter inductor.
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