CN109861563A - PWM rectifier control method based on bearing power feedforward and Repetitive controller - Google Patents
PWM rectifier control method based on bearing power feedforward and Repetitive controller Download PDFInfo
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Abstract
Present invention relates particularly to a kind of PWM rectifier control methods based on bearing power feedforward and Repetitive controller, using the PWM rectifier control system of voltage and current double circle structure, current inner loop inhibits the interference of harmonic wave using composite controller, and outer voltage feedovers to maintain the stabilization of DC voltage using bearing power；The composite controller is PI+ repetitive controller.The present invention is using PI and Repetitive controller parallel connection as current inner loop, Repetitive controller as interior mould parameter and carries out Curve guide impeller using zero phase low-pass filter, controller is allowed effectively to inhibit low-frequency harmonics, simultaneously according to the power-balance relationship at rectifier load end, outer voltage introduces bearing power feedforward control, improves the stabilizing power of DC voltage.In power grid when having disturbance there are harmonic wave and load end, using the method for the present invention obtain the jamproof ability of PWM rectifier be remarkably reinforced.
Description
Technical field
The invention belongs to rectifier control field more particularly to a kind of PWM based on bearing power feedforward and Repetitive controller
Rectifier.
Background technique
The development of electric power and national economy are closely related, it is ensured that the safety of large-scale power grid has notional economic stability operation
Very important influence.There are a large amount of power electronic equipment in large-scale power grid, these power electronic equipments are exported various humorous
Wave and reactive power pollute increasing caused by power grid, and the moment threatens the safe operation of power grid, and industrially use two
Pole pipe or silicon controlled rectifier are wherein important pollution sources, have influenced the pursuit of our development to high quality.It compares
Under PWM rectifier more meet following development trend, with that current on line side harmonic content is low, power factor is high etc. is obvious excellent
Point, but its harmonic wave injected into power grid can not be eliminated completely.PWM rectifier net side how is further increased in recent years
The research of current quality has been to be concerned by more and more people.Background harmonics present in power grid and the fluctuation of load can cause PWM whole
Flow unstable, the traditional Double closed-loop of voltage and current strategy of device DC voltage, disturbance response speed of the electric current loop to Voltage loop
Degree is slow, therefore can not solve the above problems, and it is therefore necessary to study a kind of new control method, further increases the fast of rectifier
Speed inhibits the ability of harmonic wave, guarantees that the DC voltage of rectifier has better stability.
Summary of the invention
1. technical problem to be solved:
For above the shortcomings of the prior art, the present invention provides a kind of based on bearing power feedforward and Repetitive controller
The ability of the inhibition harmonic wave of PWM rectifier and the stability of DC voltage can be remarkably reinforced in PWM rectifier control method.
2. technical solution:
A kind of PWM rectifier control method based on bearing power feedforward and Repetitive controller, it is characterised in that: use voltage
With the PWM rectifier control system of current double closed-loop structure, current inner loop inhibits the interference of harmonic wave using composite controller, electricity
Pressure outer ring feedovers to maintain the stabilization of DC voltage using bearing power；The composite controller is PI+ repetitive controller；Tool
Body control process the following steps are included:
Step 1: the three-phase voltage E that power grid exchange is surveyeda,Eb,EcSide three-phase current i is exchanged with power grida, ib, icBy
Abc/ α β Clarke transform obtains the voltage E under the static α β coordinate system of two-phaseα, EβWith electric current iα, iβ。
Step 2: voltage E under the static α β coordinate system of two-phase is measured using phase-locked loop pllα, EβBetween phase angle γ；By phase angle
γ obtains the voltage E under two-phase synchronous rotary dq coordinate system by α β/dq Parker transformd, EqWith electric current id, iq。
Step 3: current inner loop is usedControl strategy；Specifically: it willWith iqDeviation i1It is input to PI+
Repetitive controller exports u1With EqIt compares to obtain d axis DC voltage ud。
Step 4: the load current i that outer voltage will measureLAnd udIt is input to load feedforward controller and obtains output electric current
idref。
Step 5: by DC voltage desired valueWith the DC voltage u measureddcThe output compared is then
Control to obtain electric current i by PI, electric current i again with idrefIt makes comparisons and exports d shaft current desired value
Step 6: by the d shaft current desired valueWith idThe electric current i to compare2It is input to PI+ Repetitive controller
Device, composite controller export u2With EdIt compares to obtain q axis DC voltage uq。
Step 7: the u that step 3 is obtaineddThe u obtained with step 6qFirst carry out dq to abc coordinate transform, then into
The operation of row SPWM obtains the control signal of PWM rectifier.
Further, the side that the bearing power feedforward control is combined using load voltage feedforward and load-current feedforward
Method.
Further, the repeating part of the PI+ repetitive controller is by internal model link, delay link and compensation tache three
It is grouped as；Interior mould parameter Q (z) replaces common fixed numbers using zero phase low-pass filter.
3. the utility model has the advantages that
(1) structure that the present invention is in parallel using PI control and Repetitive controller, that is, improve current tracking precision, also retain
PI controls the fast feature of dynamic response, effectively harmonic voltage can be inhibited to interfere.
(2) the internal model Q (z) of the Repetitive controller of control method of the present invention is replaced common solid using zero phase low-pass filter
Fixed number value can be very good to inhibit high frequency components, improve the stability of system.
(3) present invention is feedovered using bearing power, improves the stability of DC voltage and the ability of anti-disturbance.
Detailed description of the invention
Fig. 1 is the system block diagram of control method of the present invention；
Fig. 2 is the composite controller structure of control method of the present invention；
Fig. 3 is that PI controls lower grid side input current waveform
Fig. 4 is grid side input current waveform under PI+ Repetitive controller
Fig. 5 is that PI controls lower DC voltage waveform；
Fig. 6 is DC voltage waveform under PI+ Repetitive controller；
Fig. 7 is the DC voltage waveform loaded under power feedforward and complex controll；
In figure: Ea,Eb,EcFor the three-phase voltage that power grid exchange is surveyed, ia, ib, icSide three-phase current is exchanged for power grid, L is electricity
Net side filter inductance, three-phase voltage pass through abc/ α β (Clarke transform), and the coordinate transform of α β/dq (Parker transform) is converted to together
DC quantity E under step rotation dq coordinate systemd, Eq；Three-phase current is converted to synchronous rotary dq by abc/ α β, α β/dq coordinate transform
DC quantity i under coordinate systemd, iq；udcFor DC bus-bar voltage,For the given value of DC voltage, iLFor the electricity of load end
Stream.PLL is phaselocked loop；idrefFor the output electric current for loading power feedforward controller.
Specific embodiment
The present invention is specifically described with reference to the accompanying drawing.
A kind of PWM rectifier control method based on bearing power feedforward and Repetitive controller, feature as shown in attached drawing 1,2
Be: using the PWM rectifier control system of voltage and current double circle structure, current inner loop is inhibited using composite controller
The interference of harmonic wave, outer voltage feedover to maintain the stabilization of DC voltage using bearing power；The composite controller is PI+
Repetitive controller；Specific control process the following steps are included:
Step 1: the three-phase voltage E that power grid exchange is surveyeda,Eb,EcSide three-phase current i is exchanged with power grida, ib, icBy
Abc/ α β Clarke transform obtains the voltage E under the static α β coordinate system of two-phaseα, EβWith electric current iα, iβ。
Step 2: voltage E under the static α β coordinate system of two-phase is measured using phase-locked loop pllα, EβBetween phase angle γ；By phase angle
γ obtains the voltage E under two-phase synchronous rotary dq coordinate system by α β/dq Parker transformd, EqWith electric current id, iq。
Step 3: current inner loop is usedControl strategy；Specifically: it willWith iqDeviation i1It is input to PI+ weight
Multiple controller, exports u1With EqIt compares to obtain d axis DC voltage ud。
PI+ repetitive controller is constituted by Repetitive controller is in parallel with PI control in the step 3, and design procedure is as follows:
S3.1: repetitive controller is made of internal model link, delay link and compensation tache three parts, wherein Q (z) Z-NIt is interior
Mould part, Z-NFor delay link, C (z) is compensator, for compensating the amplitude and phase of control object p (z):
C (z)=krzks(z)
Wherein: krFor Repetitive controller gain, ZkFor advanced argument, s (z) second-order low-pass filter.
S3.2: reference current irefWith feedback current iLThe error i to compareerrPass through PI controller and repetition respectively
The adjusting of controller, the two output superposition, co- controlling controlled device.
S3.3:, Q (z) uses zero phase low-pass filter, will not impact to low frequency signal.It is fast in high-band gain
The decaying of speed can be very good to inhibit high frequency components, improve the stability of system.The expression formula of zero phase low-pass filter is such as
Under:
Whereinα in formulaiFor specify harmonic wave under constant, I be filter allow by frequency
Rate.
The stability analysis of the step 3 composite controller.
S3.4 tracking error and the relationship for giving constant current:
Characteristic equation are as follows:
Step3.5, in characteristic equation:
1+z-1GPI(z) p (z)=0
Above formula be in system containing only PI control when characteristic equation, i.e., the stable precondition of multiplex control system first is that
System is only stable under PI control.
Step3.6
Above formula is system using the characteristic equation after Repetitive controller, i.e., the stable condition of multiplex control system second is that in weight
Lower multiple control is also stable.It can be seen that PI control cooperates with Repetitive controller, interacts, altogether in multiplex control system
With the ideal control performance of realization.
Step 4: the load current i that outer voltage will measureLAnd udIt is input to load feedforward controller and obtains output electric current
idref。
The design procedure of bearing power feedforward controller is as follows in the step 4:
S4.1 guarantees the balance and stability of power first, so that pac=pdc, wherein pacTo exchange power scale, pdcFor direct current
Side power.The switching loss for ignoring line loss and switching device, then have:
In view of Eq=0 and when stable stateIt is available:
S4.2, due to the rapidity of electric current loop, electric current loop Dynamic Regulating Process can be ignored, it is believed that id=idref.If taking ginseng
Examine electric current:
idref=K 'fiL
Substitution formula:
It obtains:
For load-current feedforward signal in load sudden change, control command is passed to corresponding electric current by tracking load current variation
Ring, alternating current inlet wire electric current make quick adjustment by electric current loop, make power input can with the variation of the power of load and
Make corresponding variation.
S4.3, as seen from the above equation, network voltage and busbar voltage are directly related relationships at this time, so before load current
It is poor to present controlled Network Voltage Stability.It takes thus:
idref=K "f/Ed
Substitution formula:
Have:
This is a kind of mode of voltage feed-forward control.It is unrelated with stable state busbar voltage from the available network voltage of above formula
Conclusion.
Step4.4 integrates two kinds of feedforward controls of Step4.2 above and Step4.3.
It takes: idref=KfiL/Ed
Substitution formula:
Then have:
Above formula shows that network voltage and load are unrelated with stable state busbar voltage.When network voltage or load variation, feedforward
Signal formula:
idref=KfiL/Ed
It will all change therewith, adjust input current quickly, output is balanced with input power, to guarantee busbar voltage
Stablize.
Step 5: by DC voltage desired valueWith the DC voltage u measureddcThe output compared is then
Control to obtain electric current i by PI, electric current i again with idrefIt makes comparisons and exports d shaft current desired value
Step 6: by the d shaft current desired valueWith idThe electric current i to compare2It is input to PI+ Repetitive controller
Device, composite controller export u2With EdIt compares to obtain q axis DC voltage uq。
Step 7: the u that step 3 is obtaineddThe u obtained with step 6qFirst carry out dq to abc coordinate transform, then into
The operation of row SPWM obtains the control signal of PWM rectifier.
Further, bearing power feedforward control described in step 4 is using load voltage feedforward and load-current feedforward phase
In conjunction with method.
Further, the repeating part of the PI+ repetitive controller in step 6 is by internal model link, delay link and benefit
Repay link three parts composition；Interior mould parameter Q (z) replaces common fixed numbers using zero phase low-pass filter.
For the feasibility of the control strategy in verifying text, complete system reality is constructed on the basis of above-mentioned theory analysis
Platform is tested, wherein respectively to current inner loop using conventional PI control strategy, the Compound Control Strategy and voltage of PI+ Repetitive controller
Outer ring carries out necessary experimental analysis using load Feed-forward Control Strategy.Major parameter involved in system experimentation analysis: it hands over
Flow side input voltage AC 380V (three-phase regulator simulating grid voltage is used in experiment)；It is 5mH that inductance is surveyed in exchange；Purely resistive
Load is 100 Ω；Sample frequency is 10kHZ；DC side given voltage is 800V.
Grid side current waveform when Fig. 3 is network voltage addition harmonic component under PI control condition, Fig. 4 are PI+ repetition
Grid side current waveform under control, as can be seen from the figure the harmonic wave in grid side electric current is inhibited well.
Fig. 5 is in the case where system power inner ring is controlled using PI, when there are direct currents when harmonic voltage component in power grid
The experimental waveform of side voltage, from, it can be seen that DC voltage is larger by the interference of harmonic wave under PI control condition, PI is controlled in waveform
It makes not satisfactory for the ability of the inhibition of harmonic wave.
Fig. 6 is when system power inner ring uses the control strategy of PI+ Repetitive controller, when there are harmonic voltages point in power grid
The waveform of DC voltage when the load resistance of amount and DC side drops into 50 Ω from 100 Ω, it can be seen that PI+ from waveform
The control strategy of Repetitive controller has better harmonic inhibition capability relative to PI control, can realize direct current in 0.02s or so
The stabilization of side voltage, but since the wave phenomenon of direct current lateral load causes the voltage stabilization of DC side to slow, voltage goes out
Existing fuctuation within a narrow range phenomenon.
Fig. 7 is to use PI+ Repetitive controller in the outer voltage addition load feedforward control of PWM rectifier and in current inner loop
Control strategy under voltage waveform, from waveform it can be seen that after load feedforward is added, the harmonic component of DC voltage into
One step is reduced, and voltage is stablized in 0.01s in 800V, and voltage fluctuation phenomenon also reduces.
Although the present invention has been described by way of example and in terms of the preferred embodiments, they be not it is for the purpose of limiting the invention, it is any ripe
This those skilled in the art is practised, without departing from the spirit and scope of the invention, can make various changes or retouch from working as, therefore guarantor of the invention
Shield range should be subject to what claims hereof protection scope was defined.
Claims (3)
1. a kind of PWM rectifier control method based on bearing power feedforward and Repetitive controller, it is characterised in that: using voltage and
The PWM rectifier control system of current double closed-loop structure, current inner loop inhibit the interference of harmonic wave, voltage using composite controller
Outer ring feedovers to maintain the stabilization of DC voltage using bearing power；The composite controller is PI+ repetitive controller；Specifically
Control process the following steps are included:
Step 1: the three-phase voltage E that power grid exchange is surveyeda,Eb,EcSide three-phase current i is exchanged with power grida, ib, icBy abc/ α β
Clarke transform obtains the voltage E under the static α β coordinate system of two-phaseα, EβWith electric current iα, iβ；
Step 2: voltage E under the static α β coordinate system of two-phase is measured using phase-locked loop pllα, EβBetween phase angle γ；Phase angle γ is led to
It crosses α β/dq Parker transform and obtains the voltage E under two-phase synchronous rotary dq coordinate systemd, EqWith electric current id, iq；
Step 3: current inner loop is usedControl strategy；Specifically: it willWith iqDeviation i1PI+ is input to repeat to control
Device processed exports u1With EqIt compares to obtain d axis DC voltage ud；
Step 4: the load current i that outer voltage will measureLAnd udIt is input to load feedforward controller and obtains output electric current idref；
Step 5: by DC voltage desired valueWith the DC voltage u measureddcThen PI is passed through in the output compared
Control obtains electric current i, electric current i again with idrefIt makes comparisons and exports d shaft current desired value
Step 6: by the d shaft current desired valueWith idThe electric current i to compare2It is input to PI+ repetitive controller, it is multiple
Hop controller exports u2With EdIt compares to obtain q axis DC voltage uq；
Step 7: the u that step 3 is obtaineddThe u obtained with step 6qThe coordinate transform for first carrying out dq to abc, then carries out
The operation of SPWM obtains the control signal of PWM rectifier.
2. a kind of PWM rectifier control method based on bearing power feedforward and Repetitive controller as described in claim 1, feature
It is: the method that the bearing power feedforward control is combined using load voltage feedforward and load-current feedforward.
3. the PWM rectifier control method as claimed in claim 1 or 2 based on bearing power feedforward and Repetitive controller, feature
It is, the repeating part of the PI+ repetitive controller is made of internal model link, delay link and compensation tache three parts；Internal model
Parameter Q (z) replaces common fixed numbers using zero phase low-pass filter.
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| CN113708693A (en) * | 2021-09-07 | 2021-11-26 | 北京国家新能源汽车技术创新中心有限公司 | Compensation control method and system for permanent magnet synchronous motor |
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| CN115800721A (en) * | 2023-02-07 | 2023-03-14 | 武汉理工大学 | Method for eliminating grid-connected current harmonic distortion by three-phase grid-connected conversion circuit |
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