CN110829431B - Self-adaptive DC side minimum voltage value control method - Google Patents

Self-adaptive DC side minimum voltage value control method Download PDF

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CN110829431B
CN110829431B CN201910964568.8A CN201910964568A CN110829431B CN 110829431 B CN110829431 B CN 110829431B CN 201910964568 A CN201910964568 A CN 201910964568A CN 110829431 B CN110829431 B CN 110829431B
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王瑜瑜
刘少军
王曙霞
杨春
王凡
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Xian Aeronautical Polytechnic Institute
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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
    • H02J3/01—Arrangements for reducing harmonics or ripples
    • 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
    • Y02E40/20—Active power filtering [APF]
    • 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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Abstract

The invention discloses a self-adaptive direct current side minimum voltage value control method, which comprises the following steps: and controlling the direct-current side voltage by adopting active current and reactive current. The method can adaptively maintain the direct-current side voltage at the minimum reasonable value according to load change, harmonic current and network side voltage in real time, and can enable an APF system to obtain better static and dynamic characteristics and improve the harmonic elimination rate.

Description

Self-adaptive DC side minimum voltage value control method
Technical Field
The invention belongs to the technical field of power electronic control methods, and relates to a self-adaptive direct-current side minimum voltage value control method.
Background
Since the stability of the dc side voltage of the active power filter has a great influence on the dynamic and static performance, research on the optimal control of the dc side voltage has a strong necessity, but most of the researches at present stabilize the dc side voltage of the APF at a specific value, and focus on the control strategies of the voltage of the power grid, the inductance of the main circuit, the capacitance of the dc side and the current, but the research on the optimal control of the dc side voltage value is carried out freshly. Even if the research is carried out in the aspect, only the influence of active power on the direct-current side voltage optimization control in the system dynamic process is remained, and the influence of reactive power on the direct-current side voltage optimization control in the system dynamic process is not researched.
When the APF works in an inversion state, direct-current voltages at two ends of the capacitor are continuously converted into alternating currents, so that the voltage at the ends of the capacitor is continuously reduced, the traditional direct-current side voltage control mode is not effective any more, and the situation often occurs in an APF starting or load abrupt change stage. In order not to affect the normal operation of the APF, it is common practice to add a precharge device consisting of an uncontrolled rectifierWhen the DC voltage is large enough, APF switches back and forth between rectifier and inverter states, which can basically ensure U dc Constant, but this adds significantly to the complexity and cost of the system and the harmonic cancellation rate is low.
Disclosure of Invention
The invention aims to provide a self-adaptive direct-current side minimum voltage value control method which can improve harmonic elimination rate.
The technical scheme adopted by the invention is that the self-adaptive direct current side minimum voltage value control method comprises the following steps:
and controlling the direct-current side voltage by adopting active current and reactive current, wherein the reference compensation current is as follows:
Figure BDA0002230052800000021
wherein:
Figure BDA0002230052800000022
reactive control parameter for reference compensation current, +.>
Figure BDA0002230052800000023
Is an active control parameter of the reference compensation current.
Figure BDA0002230052800000024
For reactive power change DeltaQ dc ：
Figure BDA0002230052800000025
In the above-mentioned method, the step of,
Figure BDA0002230052800000026
for DC side reference voltage, U dc Is the actual voltage of the DC side, K q Is a proportionality coefficient, K I Is an integral coefficient.
The invention is also characterized in that:
Figure BDA0002230052800000027
for active power change DeltaP dc ：/>
Figure BDA0002230052800000028
In the above-mentioned method, the step of,
Figure BDA0002230052800000029
for DC side reference voltage, U dc Is the actual voltage of the DC side, K p Is a proportionality coefficient, K II Is an integral coefficient.
Reactive power delta Q dc And an active power change Δp dc The specific calculation method of (2) is as follows:
step 1, performing self-adaption and self-charging function control on direct-current side voltage by adopting proportional integral, and obtaining a corresponding closed loop transfer function as follows:
Figure BDA00022300528000000210
in the above, V invxfq For the equivalent fundamental reactive voltage of the inverter, I Cxfp Active compensation current for equivalent fundamental wave, V invxfq ＝|I Cxfp ||X PPFf |≈|I Cxfp |Z；
Step 2, controlling the direct current edge voltage when the compensation system is damaged by adopting proportional integral, and obtaining a corresponding closed loop transfer function as follows:
Figure BDA0002230052800000031
in the above, I H Compensating current for system losses, an
Figure BDA0002230052800000032
Deltau is the DC side voltage fluctuation value, if the fundamental frequency of the power grid is 50Hz, the Deltau is assumed to be 5V, and the voltage can be obtained
Figure BDA0002230052800000033
Step 3, judging and stabilizing the closed loop transfer function of the formula (15) by using a Lawster's stability criterion, and deducing the value range of the direct-current side voltage control parameter as follows:
Figure BDA0002230052800000034
taking the reference voltage of the DC side
Figure BDA0002230052800000035
Minimum value->
Figure BDA0002230052800000036
Then the corresponding equation (16) is:
Figure BDA0002230052800000037
select K p ＝0.5，K II =50, obtainable from formula (15):
Figure BDA0002230052800000038
from the Bode plot of equation (20), it is possible to obtain: i Cxfp ≈I H ，U dcmax =720V, fundamental active compensation current is I Cxfp ≈6.1A，V invxfq ＝|I Cxfp ||X PPFf i≡1.63V, then corresponding to equation (14) can be obtained:
Figure BDA0002230052800000041
in the above, K q ＝1244，K I ＝1489；
Reactive power delta Q can be obtained dc And an active power change Δp dc 。
DC side reference voltage in equation (16)
Figure BDA0002230052800000042
The minimum value of (2) is calculated according to the following formula:
Figure BDA0002230052800000043
the beneficial effects of the invention are as follows: the self-adaptive direct current side minimum voltage value control method can adaptively maintain the direct current side voltage at a minimum reasonable value according to load change, harmonic current and network side voltage in real time, can enable an APF system to obtain better static and dynamic characteristics, and improves harmonic elimination rate.
Drawings
FIG. 1 is a DC side voltage adaptive control and self-charging function control diagram of an adaptive DC side minimum voltage value control method of the present invention;
FIG. 2 is a schematic block diagram of DC side voltage control when compensating system loss in a method for controlling a minimum voltage value of an adaptive DC side according to the present invention;
FIG. 3 is a Bode diagram of a transfer function of an adaptive DC-side minimum voltage control method according to the present invention;
FIG. 4 is a simulated waveform diagram after compensation by a conventional adaptive control method;
FIG. 5 is a simulated waveform after compensation by the adaptive DC-side minimum voltage control method of the present invention;
FIG. 6 is a simulated waveform diagram after compensation by a conventional adaptive control method after load abrupt change;
fig. 7 is a simulated waveform diagram of the self-adaptive dc-side minimum voltage value control method of the present invention after load abrupt change.
Detailed Description
The invention will be described in detail below with reference to the drawings and the detailed description.
Harmonic current compensation was analyzed as follows:
(1) The instantaneous active power and the instantaneous reactive power of the single-phase circuit can be expressed as follows:
Figure BDA0002230052800000051
wherein: v (v) Sα 、ν Sβ Is the corresponding voltage, i, in the alpha-beta coordinate system Lα 、i Lβ The corresponding load currents in the α - β coordinate system, when the original single-phase system is defined as a pseudo two-phase system, the instantaneous active power and the instantaneous reactive power can be expressed as follows:
Figure BDA0002230052800000052
Figure BDA0002230052800000053
wherein:
Figure BDA0002230052800000054
a DC part of instantaneous fundamental wave active power and a DC part of instantaneous fundamental wave reactive power are respectively represented; />
Figure BDA0002230052800000055
The ac part of the instantaneous fundamental active power for compensating the harmonic and the ac part of the instantaneous fundamental reactive power for compensating the harmonic are respectively represented.
Since the actual compensation current can be extracted according to the following equation:
Figure BDA0002230052800000056
in the above, i cα Actual compensation current for alpha axis, i cβ The actual compensation current is the beta axis, and therefore, the actual compensation current can be obtained by:
Figure BDA0002230052800000057
wherein:
Figure BDA0002230052800000058
the active power filter is designed to have only the function of compensating the reactive power of the load or only the harmonic current according to different requirements most of the time by combining the following formula (5)
Figure BDA0002230052800000061
Or->
Figure BDA0002230052800000062
The actual compensation current under the corresponding condition can be obtained by respectively setting zero and substituting calculation, and the active power filter researched in the invention mainly aims at harmonic treatment, so ++in the above formula can be adopted>
Figure BDA0002230052800000063
Zero is set, so equation (5) can be rewritten as:
Figure BDA0002230052800000064
as can be seen from (6), even if the active power filter is provided for implementing only the harmonic compensation function for the ac part in the instantaneous reactive power component corresponding to the harmonic compensation
Figure BDA0002230052800000065
Is also always present and should not be ignored, since the active power filter must have good dynamic reactive power compensation at the same time when compensating for harmonic currents in order to obtain good performanceCompensating performance.
(2) The influence of harmonic current compensation on the direct-current side voltage is divided into two cases, and the specific association process among the direct-current side voltage, the harmonic compensation current and the switching state is analyzed in detail. The method specifically comprises the following steps:
when the DC side voltage value is high enough, the actual compensation current i Cx Can accurately track the reference compensation current
Figure BDA0002230052800000066
The changes, p and q, respectively refer to active and reactive power, and "x" refers to three phases a, b and c, which can finally meet +.>
Figure BDA0002230052800000067
Wherein: when the active current control mode is adopted for the direct-current side voltage control mode
Figure BDA0002230052800000068
Hold, i cxα For the actual compensation current of a phase under the alpha axis, and when the reactive current control mode is adopted for the direct current side voltage control mode, the current is +.>
Figure BDA0002230052800000069
It holds that when the dc-side dc voltage is sufficiently high, the operation state of the APF will be continuously switched between rectification and inversion, and in this case the dc-side voltage can be kept substantially constant.
The harmonic current compensation under the condition that the DC side voltage value is not high enough is carried out according to the following steps:
in this case, the current i is compensated according to the actual Cx Size, analyzed in two cases:
i Cx ＞i Cxα
the relationship between them is as follows:
i Cx ＞(i Cxα +h b ) i Cx ＞0 (7)；
i Cx ＜(i Cxα -h b ) i Cx ＜0 (8)；
wherein: h is a b Is the hysteresis width.
In this case, the APF is operated in the rectifier state, the voltage on the DC side capacitor is increased continuously, and when a sufficiently high voltage value is reached, the APF will switch the operation state from i Cx ＞i Cxα Switch to i Cx ≈i Cxα Then, the dc voltage will remain stable, that is, in this case, the APF has a self-charging function to keep the dc voltage stable in order to keep up with the reference compensation current in time.
i Cx ＜i Cxα
The relationship between them is as follows:
i Cx ＜(i Cxα +h b ) i Cx ＞0 (9)；
i Cx ＞(i Cxα -h b ) i Cx ＜0 (10)；
in this case, the APF is operated in the inverter state, and thus the voltage on the dc side capacitor is continuously reduced, so that the conventional voltage control method is disabled, and this is often the case, for example, in the start-up phase or the load abrupt phase, in order for the APF to work normally, it is usually necessary to add a precharge device, usually an uncontrollable rectifying device, to precharge the dc side capacitor, until the APF is operated normally when a sufficiently high voltage value is reached, but this additional device increases the complexity of the system and the overall device cost.
Because the reactive current is selected as the direct current side voltage control signal to obtain better control effect compared with the active current in the APF starting or load abrupt change stage, the self-adaptive direct current side minimum voltage value control method comprises the following steps:
and controlling the direct-current side voltage by adopting active current and reactive current, wherein the reference compensation current is as follows:
Figure BDA0002230052800000081
wherein:
Figure BDA0002230052800000082
reactive control parameter for reference compensation current, +.>
Figure BDA0002230052800000083
Is an active control parameter of the reference compensation current.
From the previous analysis, it can be seen that: if i Cx ＞i Cxα The APF works in a rectifying state, resulting in an increase in dc voltage across the filter capacitor; if i Cx ＜i Cxα The APF operates in an inverted state resulting in a reduction of the dc voltage across the filter capacitor. At this time, in order to increase the voltage value of the DC side, a negative reactive power DeltaQ is introduced dc ，ΔQ dc And (3) with
Figure BDA0002230052800000084
Corresponding to:
Figure BDA0002230052800000085
in the above-mentioned method, the step of,
Figure BDA0002230052800000086
for DC side reference voltage, U dc Is the actual voltage of the DC side, K q Is a proportionality coefficient, K I Is an integral coefficient.
Similarly, when the DC side voltage value is large enough, the active power DeltaP is introduced for maintaining the voltage stable dc It is associated with
Figure BDA0002230052800000087
Is corresponding to:
Figure BDA0002230052800000088
in the above-mentioned method, the step of,
Figure BDA0002230052800000089
for DC side reference voltage, U dc Is the actual voltage of the DC side, K p Is a proportionality coefficient, K II Is an integral coefficient.
Reactive power delta Q dc And an active power change Δp dc The specific calculation method of (2) is as follows:
step 1, as shown in fig. 1, performing self-adaption and self-charging function control on the direct-current side voltage by adopting proportional integral, and obtaining a corresponding closed loop transfer function as follows:
Figure BDA00022300528000000810
in the above, V invxfq For the equivalent fundamental reactive voltage of the inverter, I Cxfp Active compensation current for equivalent fundamental wave, V invxfq ＝|I Cxfp ||X PPFf |≈|I Cxfp |Z，C dc Is a direct-current side capacitor X PPFf Z is the equivalent complex impedance of the inverter and V is the equivalent reactance of the inverter x And s is the complex domain and is the equivalent voltage of the inverter.
Step 2, as shown in fig. 2, the direct current edge voltage when the compensation system is damaged is controlled by adopting proportional integral, so that a corresponding closed loop transfer function can be obtained as follows:
Figure BDA0002230052800000091
in the above, I H Compensating current for system losses, an
Figure BDA0002230052800000092
U s For the phase voltage of the power grid, deltau is the fluctuation value of the direct-current side voltage, if the fundamental frequency of the power grid is 50Hz, if Deltau is 5V, the Deltau can be estimated to be +.>
Figure BDA0002230052800000093
L is APF main circuit equivalent inductance, R is main circuit equivalent resistance, and C is DC side equivalent capacitance.
Step 3, judging and stabilizing the closed loop transfer function of the formula (15) by using a Lawster's stability criterion, and deducing the value range of the direct-current side voltage control parameter as follows:
Figure BDA0002230052800000094
taking the reference voltage of the DC side
Figure BDA0002230052800000095
The minimum value of (2) can be calculated according to the following formula:
Figure BDA0002230052800000096
in the above, U sn Is the effective voltage value of the power grid, omega is the fundamental frequency angular frequency of the power grid, I Ln Is the effective value of the n-order harmonic current of the load current, U c-max The maximum module length of the output voltage of the inverter is L represents the equivalent inductance of the APF main circuit, R represents the equivalent resistance of the main circuit, n represents the n-order harmonic of the power grid, and m is the modulation coefficient of the SVPWM modulation mode, so that m= 1.1547;
Figure BDA0002230052800000101
/>
the DC side reference voltage is calculated by the above method
Figure BDA0002230052800000102
Minimum value->
Figure BDA0002230052800000103
Then the corresponding equation (16) is:
Figure BDA0002230052800000104
select K p ＝0.5，K II =50, obtainable from formula (15):
Figure BDA0002230052800000105
the baud plot according to equation (20), as shown in fig. 3, can be obtained: i Cxfp ≈I H ，U dcmax =720V, fundamental active compensation current is I Cxfp ≈6.1A，V invxfq ＝|I Cxfp ||X PPFf i≡1.63V, then corresponding to equation (14) can be obtained:
Figure BDA0002230052800000106
in the above, K q ＝1244，K I ＝1489；
The result of the formula (21) is added into the formulas (12) and (13) to obtain reactive power delta Q dc And an active power change Δp dc 。
Simulation verification is carried out on the method:
the MATLAB simulation software is utilized to simulate the novel minimum direct current edge voltage self-adaptive control provided by the invention, and simulation and experimental parameters are shown as 1.
Table 1 circuit parameters
Figure BDA0002230052800000111
For ease of analysis and comparison, the single-order harmonic cancellation ratio is defined as follows:
Figure BDA0002230052800000112
wherein: i Before-compensatoin Is corresponding to a certain single-order harmonic current effective value before compensation, I After-compensatoin Is the compensated effective value of the corresponding single-order harmonic current.
When the load resistance is R L =15Ω, the dc edge reference current at this time is calculated according to equation (17)Pressing
Figure BDA0002230052800000113
Minimum value->
Figure BDA0002230052800000114
The magnitude and cancellation ratio of each harmonic current obtained after compensating the initial harmonic current by the conventional adaptive method and the new adaptive method proposed herein are shown in table 1 below, in which both even harmonic current and more than 30 harmonic currents are ignored.
TABLE 1 harmonic cancellation effects of conventional and novel adaptive control methods
Figure BDA0002230052800000121
The simulation waveforms of the compensation effects of the conventional adaptive method and the new adaptive method proposed herein on the dc-side voltage, the compensation current and the grid-side current are shown in fig. 4 and 5 below.
Abrupt change to R when the load is at 0.3s L When the voltage is 7.5 omega, the DC side reference voltage is calculated according to the formula (17)
Figure BDA0002230052800000122
Minimum value->
Figure BDA0002230052800000123
The fundamental current and harmonic current corresponding to table 1 after the load mutation are increased, the magnitude and elimination rate of each subharmonic current obtained after the initial harmonic current is compensated by the conventional adaptive method and the new adaptive method proposed herein are shown in table 3 below, and the compensation effect simulation waveforms for the dc side voltage, the compensation current and the grid side current are shown in fig. 6 and 7 below.
TABLE 2 comparison of harmonic currents after control by two different adaptive control methods after load mutation
Figure BDA0002230052800000131
As can be seen from Table 2, the DC side reference voltage is applied by the method of the present invention after the load is changed
Figure BDA0002230052800000132
The minimum value of (2) is increased from 630V to 645V, and the harmonic cancellation rates before and after the load fluctuation are almost uniform as compared with table 1, but the method of the present invention is superior to the conventional adaptive method in terms of the harmonic cancellation rates regardless of the load fluctuation.
As can be seen from fig. 6 and 7, after the load changes, the method of the present invention can make the system regain stability within 1 period, whereas the conventional adaptive method requires about 2 periods to make the system regain stability, so that the method of the present invention has better dynamic response rapidity than the conventional adaptive method.
Through the mode, the self-adaptive direct-current side minimum voltage value control method disclosed by the invention not only can self-adaptively maintain the direct-current side voltage at the minimum reasonable value according to load change, harmonic current and network side voltage, but also can enable an APF system to obtain better dynamic performance and harmonic treatment effect.

Claims (1)

1. The self-adaptive direct current side minimum voltage value control method is characterized by comprising the following steps of:
and controlling the direct-current side voltage by adopting active current and reactive current, wherein the reference compensation current is as follows:
Figure FDA0004138114360000011
wherein:
Figure FDA0004138114360000012
reactive control parameter for reference compensation current, +.>
Figure FDA0004138114360000013
Compensating for a reference currentActive control parameters;
the said
Figure FDA0004138114360000014
For reactive power change DeltaQ dc ：
Figure FDA0004138114360000015
In the above-mentioned method, the step of,
Figure FDA0004138114360000016
for DC side reference voltage, U dc Is the actual voltage of the DC side, K q Is a proportionality coefficient, K I Is an integral coefficient;
the said
Figure FDA0004138114360000017
For active power change DeltaP dc ：
Figure FDA0004138114360000018
In the above-mentioned method, the step of,
Figure FDA0004138114360000019
for DC side reference voltage, U dc Is the actual voltage of the DC side, K p Is a proportionality coefficient, K II Is an integral coefficient;
the reactive power change DeltaQ dc And an active power change Δp dc The specific calculation method of (2) is as follows:
step 1, performing self-adaption and self-charging function control on direct-current side voltage by adopting proportional integral, and obtaining a corresponding closed loop transfer function as follows:
Figure FDA00041381143600000110
in the above, V invxfq For the equivalent fundamental reactive voltage of the inverter, I Cxfp Active compensation current for equivalent fundamental wave, V invxfq ＝|I Cxfp ||X PPFf |≈|I Cxfp |Z；
Step 2, controlling the direct current edge voltage when the compensation system is damaged by adopting proportional integral, and obtaining a corresponding closed loop transfer function as follows:
Figure FDA0004138114360000021
in the above, I H Compensating current for system losses, an
Figure FDA0004138114360000022
Deltau is the DC side voltage fluctuation value, if the fundamental frequency of the power grid is 50Hz, if Deltau is 5V, the Deltau can be estimated to be +.>
Figure FDA0004138114360000023
Step 3, judging and stabilizing the closed loop transfer function of the formula (15) by using a Lawster's stability criterion, and deducing the value range of the direct-current side voltage control parameter as follows:
Figure FDA0004138114360000024
taking the reference voltage of the DC side
Figure FDA0004138114360000025
Minimum value->
Figure FDA0004138114360000026
Then the corresponding equation (16) is:
Figure FDA0004138114360000027
select K p ＝0.5，K II =50, obtainable from formula (15):
Figure FDA0004138114360000028
from the Bode plot of equation (20), it is possible to obtain: i Cxfp ≈I H ，U dcmax =720V, fundamental active compensation current is I Cxfp ≈6.1A，V invxfq ＝|I Cxfp ||X PPFf i≡1.63V, then corresponding to equation (14) can be obtained:
Figure FDA0004138114360000031
in the above, K q ＝1244，K I ＝1489；
Reactive power delta Q can be obtained dc And an active power change Δp dc ；
DC side reference voltage in equation (16)
Figure FDA0004138114360000032
The minimum value of (2) is calculated according to the following formula:
Figure FDA0004138114360000033
/>
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