CN111030486A - Non-parameter finite set model prediction control method of three-level grid-connected inverter - Google Patents

Non-parameter finite set model prediction control method of three-level grid-connected inverter Download PDF

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CN111030486A
CN111030486A CN201911240391.3A CN201911240391A CN111030486A CN 111030486 A CN111030486 A CN 111030486A CN 201911240391 A CN201911240391 A CN 201911240391A CN 111030486 A CN111030486 A CN 111030486A
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switching tube
value
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CN111030486B (en
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张兴
洪剑峰
曹仁贤
王宝基
高泽宇
许成俊
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Hefei University of Technology
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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
    • H02M7/483—Converters with outputs that each can have more than two voltages levels
    • 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
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • 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
    • H02M7/53—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 using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—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 using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/5387—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 using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
    • H02M7/53871—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 using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
    • H02M7/53875—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 using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current with analogue control of three-phase output

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Abstract

The invention discloses a parameter-free finite set model prediction control method of a three-level grid-connected inverter. The method does not need to know the actual model parameter value, and is used for the prediction control of the non-parameter finite set model only by sampling the current flowing through the three-phase L filter and the voltage of the three-phase power grid, so that the parameter robustness of the prediction control of the finite set model is improved, and meanwhile, the method is simple and effective without increasing the cost.

Description

Non-parameter finite set model prediction control method of three-level grid-connected inverter
Technical Field
The invention belongs to the technical field of control of three-level grid-connected inverters, and particularly relates to a parameter-free finite set model prediction control method of a three-level grid-connected inverter, which is used for improving grid-connected current waveform quality of the inverter and improving robustness of the finite set model prediction control under parameter mismatch of the three-level grid-connected inverter.
Background
In recent years, finite set model predictive control has received great attention in the power electronics world. Early implementations of finite set model predictive control were for current control and torque control of inverters, and have been applied to various converter topologies and power electronics. The finite set model predictive control has the advantages of quick dynamic response, simple nonlinear and constrained inclusion, multi-objective optimization, low switching frequency operation and the like.
Despite the above advantages, parameter mismatch is a key issue for finite set model predictive control, and the parameter mismatch can degrade the control performance of the system. Prior studies have proposed a number of parametric robust predictive control algorithms, including:
1. an article entitled "Robust model predictive current control for three-phase voltage source PWM rectifier based on online disturbance observer", c.xia, m.wang, z.song, and t.liu, IEEE trans.ind.inf, vol.8, No.3, pp.459-471, aug.2012 ("Robust model predictive current control for three-phase voltage source PWM rectifier based on online disturbance observer", published by IEEE industrial electronics society, 2012). A lunberg observer is used herein to observe the parameters. And the stability of the observer when there is an error in the inductive filter parameters was analyzed. The method is based on continuous control set model predictive design and use.
2. An article entitled "deadbead predicted current control with stator current and disturbance observer", x.zhang, b.hou, and y.mei, IEEE trans.ind.inf, vol.32, No.5, pp.3818-3834, May 2017. ("stator current dead-beat predicted current control for permanent magnet synchronous motors with disturbance observer", published in IEEE industrial electronics society, 2017). The sliding mode observer proposed by the article effectively suppresses model disturbance. But the buffeting phenomenon of the synovial membrane observer was not solved.
3. An article entitled "Robust predictive control for direct-drive surface-mount permanent magnet generators with out mechanical sensors", m.abdlorahem, c.hackl, z.zhang, and R, IEEE trans.energy converters, vol.33, No.1, pp.179-189, mar.2018. ("Robust predictive control of direct-drive surface-mount permanent magnet synchronous generators without mechanical sensors", published in IEEE energy conversion journal, 2018). The article provides model prediction control based on an extended Kalman filter, and a good parameter online estimation effect is achieved, but the algorithm is too complex and is not beneficial to actual engineering realization.
In view of the above documents, the prior art has the following disadvantages:
1. the existing model prediction control based on observer parameter identification and the addition of an observer make the self complex model prediction control algorithm more complex, and are not beneficial to actual implementation.
2. In the existing model predictive control based on observer parameter identification, the design of relevant parameters of an observer is complex. Improper parameter design can lead to poor control and, in more serious cases, to system instability.
3. The existing model prediction control based on observer parameter identification needs to adjust relevant parameters of an observer under the condition that the actual operation working point of a system is changed, which is quite difficult in actual implementation.
Disclosure of Invention
The invention aims to overcome the limitations of various control schemes, provides a model prediction control method without a finite set of parameters for a three-level grid-connected inverter system, and can realize effective control on grid-connected current under the condition of not knowing parameters of a system model. The proposed method does not require a complex observer, only requires sampling of the current flowing through the three-phase L filter (40) and the voltage of the three-phase power grid (60), is simple to implement and has good control effect.
In order to realize the purpose of the invention, the adopted technical scheme is as follows:
a three-level grid-connected inverter main circuit topological structure comprises a direct current side voltage source, a direct current side series capacitor, a three-level inverter, a three-phase L filter, an equivalent resistor of the three-phase L filter and a three-phase power grid, wherein the direct current side series capacitor comprises a direct current capacitor C1 and a direct current capacitor C2, the direct current capacitor C1 and the direct current capacitor C2 are connected in series and then are connected between a direct current positive bus P and a direct current negative bus N of the direct current side voltage source, the connection point of the direct current side series capacitor C2 is marked as a midpoint N, the midpoint N is connected with a neutral point O of a three-level inverter circuit, the direct current side voltage source is connected with the direct current side series capacitor in parallel and then is connected with the three-level inverter, and the three-level inverter is connected with the three-phase power grid after being connected with the equivalent resistor of the three-;
the three-level inverter consists of a, b and c three-phase bridge arms, each phase of bridge arm comprises 4 switching tubes, namely the three-level inverter comprises 12 switching tubes which are respectively marked as Sa1、Sa2、Sa3、Sa4、Sb1、Sb2、Sb3、Sb4、Sc1、Sc2、Sb3And Sc4(ii) a Defining the collector of each switch tube as positive end and the emitter of each switch tube as negative end, and for a-phase bridge arm, the switch tube Sa1The positive end of the switch tube is connected with a direct current positive bus P and a switch tube Sa1Is connected with a switch tube Sa2Positive terminal and switching tube Sa4Positive terminal and a-phase bridge arm output terminal of the switching tube Sa2Is connected with a switch tube Sa3Negative terminal of (1), switching tube Sa3The positive end of the switch tube is connected with a neutral point O and a switch tube Sa4The negative end of the direct current negative bus is connected with a direct current negative bus N; for the b-phase bridge arm, switching tube Sb1The positive end of the switch tube is connected with a direct current positive bus P and a switch tube Sb1Is connected with a switch tube Sb2Positive terminal and switching tube Sb4Positive terminal and b-phase bridge arm output terminal of (1), switching tube Sb2Is connected with a switch tube Sb3Negative terminal of (1), switching tube Sb3The positive end of the switch tube is connected with a neutral point O and a switch tube Sb4The negative end of the direct current negative bus is connected with a direct current negative bus N; for the c-phase bridge arm, the switching tube Sc1The positive end of the switch tube is connected with a direct current positive bus P and a switch tube Sc1Is connected with a switch tube Sc2Positive terminal and switching tubeSc4Positive terminal and c-phase output terminal of, switching tube Sc2Is connected with a switch tube Sc3Negative terminal of (1), switching tube Sc3The positive end of the switch tube is connected with a neutral point O and a switch tube Sc4The negative end of the direct current negative bus is connected with a direct current negative bus N;
the control method comprises the following steps:
step 1, recording the current sampling time as k time, sampling the current flowing through the three-phase L filter and recording the current as k time grid-connected current ia(k),ib(k),ic(k) Sampling the voltage of the three-phase network and recording the voltage as the voltage e of the network at the moment ka(k),eb(k),ec(k)；
Step 2, the grid voltage e at the moment k obtained by sampling in the step 1 is subjected to samplinga(k),eb(k),ec(k) And the grid-connected current i at the moment ka(k),ib(k),ic(k) Performing coordinate transformation, and obtaining the grid voltage e under the two-phase static coordinate system αβ at the moment k by adopting CLARK coordinate transformation of transforming a three-phase static coordinate system abc into a two-phase static coordinate system αβα(k),eβ(k) And grid-connected current i under the two-phase static coordinate system αβ at the moment kα(k),iβ(k) (ii) a The CLARK coordinate transformation formula is as follows:
Figure BDA0002306058630000041
Figure BDA0002306058630000042
step 3, calculating the output voltage U of the inverter under the two-phase static coordinate system αβ at the moment kα(k),Uβ(k) The calculation formula is as follows:
Figure BDA0002306058630000051
Figure BDA0002306058630000052
wherein, VdcIs straightCurrent side voltage, Sopta(k),Soptb(k),Soptc(k) The optimal switching tube action signal of the three-level grid-connected inverter at the moment k is obtained;
step 4, estimating parameters;
the inductance estimation value of the three-phase L filter is recorded as an inductance estimation value
Figure BDA0002306058630000053
The resistance estimation value of the equivalent resistance of the three-phase L filter is recorded as a resistance estimation value
Figure BDA0002306058630000054
Inductance estimation
Figure BDA0002306058630000055
And resistance estimate
Figure BDA0002306058630000056
Is calculated as follows:
Figure BDA0002306058630000057
Figure BDA0002306058630000058
wherein, TsIs the sampling period, eα(k-1),eβ(k-1) is the grid voltage under the two-phase static coordinate system αβ at the moment (k-1), iα(k-1),iβ(k-1) is the grid-connected current under the two-phase static coordinate system αβ at the moment of (k-1), Uα(k-1),Uβ(k-1) is the inverter output voltage under the two-phase static coordinate system αβ at the moment of (k-1);
step 5, recording the next sampling time as the (k +1) time, and performing the first-step prediction to obtain the predicted current value at the (k +1) time
Figure BDA0002306058630000059
And
Figure BDA00023060586300000510
the calculation formula is as follows:
Figure BDA00023060586300000511
Figure BDA00023060586300000512
step 6, recording the next two sampling moments as (k +2) moments, performing the second step of prediction, and obtaining the predicted current value under the two-phase static coordinate system αβ at the (k +2) moment
Figure BDA0002306058630000061
The predicted current value in the two-phase stationary coordinate system αβ at the time (k +2)
Figure BDA0002306058630000062
The predicted current value (k +2)
Figure BDA0002306058630000063
The calculation formula is as follows:
Figure BDA0002306058630000064
wherein the content of the first and second substances,
Figure BDA0002306058630000065
the predicted value of the grid voltage under the two-phase static coordinate system αβ at the moment (k +1) is as follows:
Figure BDA0002306058630000066
Figure BDA0002306058630000067
is the predicted value of the inverter output voltage under the two-phase static coordinate system αβ at the time of (k +1), and is the predicted value of the inverter output voltage under the two-phase static coordinate system αβ at the time of (k +1)
Figure BDA0002306058630000068
Inverter output voltage predicted value recorded as (k +1) time
Figure BDA0002306058630000069
The calculation formula is as follows:
Figure BDA00023060586300000610
Figure BDA00023060586300000611
in the formula, Sa、Sb、ScRespectively corresponding to the a-phase bridge arm switching action signal, the b-phase bridge arm switching action signal and the c-phase bridge arm switching action signal, and converting the switching vector S into a switching vector SaSwitching vector SbSwitching vector ScIs denoted as (S)a、Sb、Sc) According to the action of the three-phase bridge arm switch tube, (S)a、Sb、Sc) The following 27 cases are included:
(1,1,1),(1,1,0),(1,1,-1),(1,0,1),(1,0,0),(1,0,-1),(1,-1,1),(1,-1,0),(1,-1,-1),(0,1,1),(0,1,0),(0,1,-1),(0,0,1),(0,0,0),(0,0,-1),(0,-1,1),(0,-1,0),(0,-1,-1),(-1,1,1),(-1,1,0),(-1,1,-1),(-1,0,1),(-1,0,0),(-1,0,-1),(-1,-1,1),(-1,-1,0),(-1,-1,-1)；
wherein S isa1 denotes a switching tube Sa1,Sa2Conducting and switching tube Sa3,Sa4Off, S a0 denotes a switching tube Sa2,Sa3Conducting and switching tube Sa1,Sa4Off, S a1 denotes a switching tube Sa3,Sa4Conducting and switching tube Sa1,Sa2Turning off; s b1 denotes a switching tube Sb1,Sb2Conducting and switching tube Sb3,Sb4Off, S b0 denotes a switching tube Sb2,Sb3Conducting and switching tube Sb1,Sb4Off, SbTable of which the name is-1Switch tube Sb3,Sb4Conducting and switching tube Sb1,Sb2Turning off; sc1 denotes a switching tube Sc1,Sc2Conducting and switching tube Sc3,Sc4Off, S c0 denotes a switching tube Sc2,Sc3Conducting and switching tube Sc1,Sc4Off, S c1 denotes a switching tube Sc3,Sc4Conducting and switching tube Sc1,Sc2Turning off;
according to the 27 conditions, the second step of predicting obtains the predicted value of the output voltage of the inverter at 27 (k +1) moments
Figure BDA0002306058630000071
And 27 predicted current values at (k +2) times
Figure BDA0002306058630000072
Step 7, obtaining an optimal switching tube action signal S of the three-level grid-connected inverter at the (k +1) moment through rolling optimizationopta(k+1),Soptb(k+1),Soptc(k+1)；
Step 7.1, defining the cost function as J, wherein the formula of the cost function is as follows:
Figure BDA0002306058630000073
wherein the content of the first and second substances,
Figure BDA0002306058630000074
is the current reference value under the two-phase stationary coordinate system αβ at time (k +2), and the value can be calculated as follows:
Figure BDA0002306058630000075
Figure BDA0002306058630000076
in the formula (I), the compound is shown in the specification,
Figure BDA0002306058630000077
is the current reference at the two-phase stationary coordinate system αβ given at time (k-1),
Figure BDA0002306058630000081
is the current reference value at the two-phase stationary frame αβ given at time k,
Figure BDA0002306058630000082
is the current reference value in the two-phase stationary coordinate system αβ at time (k +1),
Figure BDA0002306058630000083
is calculated as follows:
Figure BDA0002306058630000084
Figure BDA0002306058630000085
in the formula (I), the compound is shown in the specification,
Figure BDA0002306058630000086
is the current reference value at the two-phase stationary coordinate system αβ given at time (k-2);
step 7.2, predicting the current value of 27 (k +2) moments obtained in the step 6
Figure BDA0002306058630000087
Respectively substituting into the value function formula in step 7.1 to obtain 27 value function J, and obtaining the corresponding (k +2) time predicted current value when the value function value is minimum
Figure BDA0002306058630000088
As the optimum predicted current value i at the time (k +2)optα(k+2),ioptβ(k+2)；
Step 7.2, inverter output voltage predicted value at 27 (k +1) moments obtained in step 6
Figure BDA0002306058630000089
In (1), the optimal predicted current value i at the time of (k +2) is obtainedoptα(k+2),ioptβInverter output voltage predicted value at (k +1) time corresponding to (k +2)
Figure BDA00023060586300000810
Inverter output voltage value U as optimum time (k +1)optα(k+1),Uoptβ(k+1)；
Step 7.3, outputting the voltage value U of the inverter with the optimal time (k +1)optα(k+1),Uoptβ(k +1) -corresponding switching vector (S)a,Sb,Sc) Optimal switching tube action signal S of three-level grid-connected inverter at time (k +1)opta(k+1),Soptb(k+1),Soptc(k + 1): the optimal switching tube action signal S of the (k +1) time three-level grid-connected inverteropta(k+1),Soptb(k+1),Soptc(k +1) is output at the (k +1) moment and the switching action of the three-level grid-connected inverter at the (k +1) moment is realized;
and 8, assigning the (k +1) to the k at the moment of the (k +1), and returning to the step 1 to perform the prediction control at the next moment.
Compared with the prior art, the invention has the beneficial effects that:
1. the method for predictive control of the model without the parameter finite set can realize predictive control of the model without the parameter finite set only by sampling the current flowing through the three-phase L filter and the voltage of the three-phase power grid, and an observer is not required to be additionally added, so that the scheme is very simple to realize.
2. The prediction control method of the parameter-free finite set model does not need to additionally design related parameters of a controller, and the unstable control phenomenon caused by related parameter design can be avoided.
3. According to the invention, under the condition that the operating point of the system is changed, the observer parameter re-setting is not needed as in the observer-based model prediction control scheme, and the proposed scheme does not need additional control parameters.
Drawings
Fig. 1 is a topology structure diagram of a main circuit of a three-level grid-connected inverter in an embodiment of the present invention.
Fig. 2 is a detailed structural diagram of a three-level inverter in the embodiment of the present invention.
Fig. 3 is a structural diagram of a control method in the embodiment of the present invention.
Fig. 4 shows waveforms of an estimated parameter and an actual parameter when the parameter changes according to an embodiment of the present invention.
Fig. 5 is a waveform of phase a current tracking effect when a parameter changes according to an embodiment of the present invention.
FIG. 6 is a waveform of a phase-a grid current step response result in an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and examples.
Fig. 1 is a topology structural diagram of a main circuit of a three-level grid-connected inverter to which the present invention is applied, and fig. 2 is a detailed structural diagram of the three-level inverter in the embodiment of the present invention. As can be seen from fig. 1 and 2, the topology includes a dc-side voltage source 10, a dc-side series capacitor 20, a three-level inverter 30, a three-phase L filter 40, an equivalent resistor 50 of the three-phase L filter, and a three-phase power grid 60, where the dc-side series capacitor 20 includes a dc capacitor C1 and a dc capacitor C2, the dc capacitor C1 and the dc capacitor C2 are connected in series and then connected between a dc positive bus P and a dc negative bus N of the dc-side voltage source 10, a connection point of the dc positive bus P and the dc negative bus N is denoted as a midpoint N, the midpoint N is connected to a neutral point O of the three-level inverter circuit 30, the dc-side voltage source 10 and the dc-side series capacitor 20 are connected in parallel and then connected to the three-level inverter 30, and the three-level inverter 30 is connected to the three-phase power grid 60 after being.
The three-level inverter 30 is composed of a, b, c three-phase bridge arms, each phase of bridge arm includes 4 switching tubes, that is, the three-level inverter 30 includes 12 switching tubes, which are respectively marked as Sa1、Sa2、Sa3、Sa4、Sb1、Sb2、Sb3、Sb4、Sc1、Sc2、Sb3And Sc4(ii) a A collector electrode defining each switch tubeThe emitting electrode of each switch tube is the negative end which is the positive end, and the switch tube S is the phase a bridge arma1The positive end of the switch tube is connected with a direct current positive bus P and a switch tube Sa1Is connected with a switch tube Sa2Positive terminal and switching tube Sa4Positive terminal and a-phase bridge arm output terminal of the switching tube Sa2Is connected with a switch tube Sa3Negative terminal of (1), switching tube Sa3The positive end of the switch tube is connected with a neutral point O and a switch tube Sa4The negative end of the direct current negative bus is connected with a direct current negative bus N; for the b-phase bridge arm, switching tube Sb1The positive end of the switch tube is connected with a direct current positive bus P and a switch tube Sb1Is connected with a switch tube Sb2Positive terminal and switching tube Sb4Positive terminal and b-phase bridge arm output terminal of (1), switching tube Sb2Is connected with a switch tube Sb3Negative terminal of (1), switching tube Sb3The positive end of the switch tube is connected with a neutral point O and a switch tube Sb4The negative end of the direct current negative bus is connected with a direct current negative bus N; for the c-phase bridge arm, the switching tube Sc1The positive end of the switch tube is connected with a direct current positive bus P and a switch tube Sc1Is connected with a switch tube Sc2Positive terminal and switching tube Sc4Positive terminal and c-phase output terminal of, switching tube Sc2Is connected with a switch tube Sc3Negative terminal of (1), switching tube Sc3The positive end of the switch tube is connected with a neutral point O and a switch tube Sc4The negative end of the positive electrode is connected with a direct current negative bus N.
In fig. 1, the voltage of the dc-side voltage source 10 is denoted as the dc-side voltage VdcL is the inductance value of the three-phase L filter 40, R is the resistance value of the equivalent resistance 50 of the three-phase L filter, and Grid is the three-phase Grid 60.
The main circuit parameters in this embodiment are: voltage V at DC sidedc700V, the rated power of the three-level grid-connected inverter is 20kW, the sampling frequency is 16kHz, and the sampling period T s1/16000s, 2 mus of dead time, 380V/50Hz of rated line voltage of a three-phase power grid, 30A of rated grid-connected current of the three-phase power grid, 0.02 omega of resistance R of the equivalent resistor 50 of the three-phase L filter and 6mH/3mH of inductance L of the three-phase L filter 40.
Referring to fig. 3, the control method of the present invention includes: firstly, grid-connected current i is obtained according to sampled k timea(k),ib(k),ic(k) And the grid voltage e at time ka(k),eb(k),ec(k) Obtaining the grid voltage e under a two-phase static coordinate system αβ at the moment k by using CLARK transformationα(k),eβ(k) And grid-connected current i under the two-phase static coordinate system αβ at the moment kα(k),iβ(k) Next, the inverter output voltage U under the two-phase stationary coordinate system αβ at the time k is calculated according to step 3α(k),Uβ(k) Then, the step 4 is utilized to carry out parameter estimation to obtain an inductance estimation value
Figure BDA0002306058630000111
And resistance estimate
Figure BDA0002306058630000112
The predicted current value at the time k +1 is obtained through step 5
Figure BDA0002306058630000113
And
Figure BDA0002306058630000114
the predicted current value at the time k +2 is obtained through step 6
Figure BDA0002306058630000115
And
Figure BDA0002306058630000116
then, an optimal switching tube action signal S of the three-level grid-connected inverter at the moment of k +1 is obtained through the step 7opta(k+1),Soptb(k+1),Soptc(k +1) and outputting an optimal switching tube action signal S of the three-level grid-connected inverter at the k +1 momentopta(k+1),Soptb(k+1),SoptcAnd (k +1) realizing the switching action of the three-level grid-connected inverter at the time of k + 1.
The method comprises the following specific steps:
step 1, recording the current sampling time as k time, sampling the current flowing through the three-phase L filter 40 and recording the current as k time grid-connected current ia(k),ib(k),ic(k) The voltage of the three-phase grid 60 is sampled and recorded as the grid voltage at the time kea(k),eb(k),ec(k)。
Step 2, the grid voltage e at the moment k obtained by sampling in the step 1 is subjected to samplinga(k),eb(k),ec(k) And the grid-connected current i at the moment ka(k),ib(k),ic(k) Performing coordinate transformation, and obtaining the grid voltage e under the two-phase static coordinate system αβ at the moment k by adopting CLARK coordinate transformation of transforming a three-phase static coordinate system abc into a two-phase static coordinate system αβα(k),eβ(k) And grid-connected current i under the two-phase static coordinate system αβ at the moment kα(k),iβ(k) (ii) a The CLARK coordinate transformation formula is as follows:
Figure BDA0002306058630000121
Figure BDA0002306058630000122
step 3, calculating the output voltage U of the inverter under the two-phase static coordinate system αβ at the moment kα(k),Uβ(k) The calculation formula is as follows:
Figure BDA0002306058630000123
Figure BDA0002306058630000124
wherein, VdcIs a DC side voltage, Sopta(k),Soptb(k),Soptc(k) The optimal switching tube action signal of the three-level grid-connected inverter at the moment k is obtained by controlling the last sampling moment.
Step 4, estimating parameters;
the inductance estimation value of the three-phase L filter 40 is recorded as an inductance estimation value
Figure BDA0002306058630000125
The estimated resistance value of the equivalent resistance 50 of the three-phase L filter is recorded as the resistanceEstimated value
Figure BDA0002306058630000126
Inductance estimation
Figure BDA0002306058630000127
And resistance estimate
Figure BDA0002306058630000128
Is calculated as follows:
Figure BDA0002306058630000129
Figure BDA00023060586300001210
wherein, TsIs the sampling period, eα(k-1),eβ(k-1) is the grid voltage under the two-phase static coordinate system αβ at the moment (k-1), iα(k-1),iβ(k-1) is the grid-connected current under the two-phase static coordinate system αβ at the moment of (k-1), Uα(k-1),UβAnd (k-1) is the inverter output voltage under the two-phase static coordinate system αβ at the moment of (k-1).
Step 5, recording the next sampling time as the (k +1) time, and performing the first-step prediction to obtain the predicted current value at the (k +1) time
Figure BDA0002306058630000131
And
Figure BDA0002306058630000132
the calculation formula is as follows:
Figure BDA0002306058630000133
Figure BDA0002306058630000134
step 6, recording the next two sampling moments as (k +2) moments, and performing second-step predictionThen, the predicted current value in the two-phase stationary coordinate system αβ at the time (k +2) is obtained
Figure BDA0002306058630000135
The predicted current value in the two-phase stationary coordinate system αβ at the time (k +2)
Figure BDA0002306058630000136
The predicted current value (k +2)
Figure BDA0002306058630000137
The calculation formula is as follows:
Figure BDA0002306058630000138
wherein the content of the first and second substances,
Figure BDA0002306058630000139
the predicted value of the grid voltage under the two-phase static coordinate system αβ at the moment (k +1) is as follows:
Figure BDA00023060586300001310
Figure BDA00023060586300001311
is the predicted value of the inverter output voltage under the two-phase static coordinate system αβ at the time of (k +1), and is the predicted value of the inverter output voltage under the two-phase static coordinate system αβ at the time of (k +1)
Figure BDA00023060586300001312
Inverter output voltage predicted value recorded as (k +1) time
Figure BDA00023060586300001313
The calculation formula is as follows:
Figure BDA0002306058630000141
Figure BDA0002306058630000142
in the formula, Sa、Sb、ScRespectively corresponding to the a-phase bridge arm switching action signal, the b-phase bridge arm switching action signal and the c-phase bridge arm switching action signal, and converting the switching vector S into a switching vector SaSwitching vector SbSwitching vector ScIs denoted as (S)a、Sb、Sc) According to the action of the three-phase bridge arm switch tube, (S)a、Sb、Sc) The following 27 cases are included:
(1,1,1),(1,1,0),(1,1,-1),(1,0,1),(1,0,0),(1,0,-1),(1,-1,1),(1,-1,0),(1,-1,-1),(0,1,1),(0,1,0),(0,1,-1),(0,0,1),(0,0,0),(0,0,-1),(0,-1,1),(0,-1,0),(0,-1,-1),(-1,1,1),(-1,1,0),(-1,1,-1),(-1,0,1),(-1,0,0),(-1,0,-1),(-1,-1,1),(-1,-1,0),(-1,-1,-1)。
wherein S isa1 denotes a switching tube Sa1,Sa2Conducting and switching tube Sa3,Sa4Off, S a0 denotes a switching tube Sa2,Sa3Conducting and switching tube Sa1,Sa4Off, S a1 denotes a switching tube Sa3,Sa4Conducting and switching tube Sa1,Sa2Turning off; s b1 denotes a switching tube Sb1,Sb2Conducting and switching tube Sb3,Sb4Off, S b0 denotes a switching tube Sb2,Sb3Conducting and switching tube Sb1,Sb4Off, S b1 denotes a switching tube Sb3,Sb4Conducting and switching tube Sb1,Sb2Turning off; s c1 denotes a switching tube Sc1,Sc2Conducting and switching tube Sc3,Sc4Off, S c0 denotes a switching tube Sc2,Sc3Conducting and switching tube Sc1,Sc4Off, S c1 denotes a switching tube Sc3,Sc4Conducting and switching tube Sc1,Sc2And (6) turning off.
According to the above 27 cases, the second step of prediction obtains the predicted value of the output voltage of the inverter at 27 (k +1) moments
Figure BDA0002306058630000143
And 27 predicted current values at (k +2) times
Figure BDA0002306058630000144
Step 7, obtaining an optimal switching tube action signal S of the three-level grid-connected inverter at the (k +1) moment through rolling optimizationopta(k+1),Soptb(k+1),Soptc(k+1)。
Step 7.1, defining the cost function as J, wherein the formula of the cost function is as follows:
Figure BDA0002306058630000151
wherein the content of the first and second substances,
Figure BDA0002306058630000152
is the current reference value under the two-phase stationary coordinate system αβ at time (k +2), and the value can be calculated as follows:
Figure BDA0002306058630000153
Figure BDA0002306058630000154
in the formula (I), the compound is shown in the specification,
Figure BDA0002306058630000155
is the current reference at the two-phase stationary coordinate system αβ given at time (k-1),
Figure BDA0002306058630000156
is the current reference value at the two-phase stationary frame αβ given at time k,
Figure BDA0002306058630000157
is two phases quiet at the time of (k +1)The current reference value in the stop coordinate system αβ,
Figure BDA0002306058630000158
is calculated as follows:
Figure BDA0002306058630000159
Figure BDA00023060586300001510
in the formula (I), the compound is shown in the specification,
Figure BDA00023060586300001511
is the current reference at the two-phase stationary coordinate system αβ given at time (k-2).
Step 7.2, predicting the current value of 27 (k +2) moments obtained in the step 6
Figure BDA00023060586300001512
Respectively substituting into the value function formula in step 7.1 to obtain 27 value function J, and obtaining the corresponding (k +2) time predicted current value when the value function value is minimum
Figure BDA00023060586300001513
As the optimum predicted current value i at the time (k +2)optα(k+2),ioptβ(k+2)。
Step 7.2, inverter output voltage predicted value at 27 (k +1) moments obtained in step 6
Figure BDA00023060586300001514
In (1), the optimal predicted current value i at the time of (k +2) is obtainedoptα(k+2),ioptβInverter output voltage predicted value at (k +1) time corresponding to (k +2)
Figure BDA00023060586300001515
Inverter output voltage value U as optimum time (k +1)optα(k+1),Uoptβ(k+1)。
Step 7.3, optimizing the (k +1) timeOutput voltage value U of inverteroptα(k+1),Uoptβ(k +1) -corresponding switching vector (S)a,Sb,Sc) Optimal switching tube action signal S of three-level grid-connected inverter at time (k +1)opta(k+1),Soptb(k+1),Soptc(k + 1): the optimal switching tube action signal S of the (k +1) time three-level grid-connected inverteropta(k+1),Soptb(k+1),SoptcAnd (k +1) is output at the time of (k +1) to realize the switching operation of the three-level grid-connected inverter at the time of (k + 1).
And 8, assigning the (k +1) to the k at the moment of the (k +1), and returning to the step 1 to perform the prediction control at the next moment.
Fig. 4 shows the estimated parameter and the actual parameter waveform when the parameter changes, and since the influence of the resistance value R of the equivalent resistance 50 of the three-phase L filter on the model prediction control is very small, the present invention verifies the parameter robustness by changing the inductance value L of the three-phase L filter 40, and changes the inductance value L of the three-phase L filter 40 from 3mH to 6mH at the time t equal to 0.05s, as can be seen from the graph, the inductance estimation value
Figure BDA0002306058630000161
The inductance value L of the three-phase L filter 40 can be quickly and accurately tracked, and the proposed scheme is proved to have strong parameter robustness.
Fig. 5 shows a waveform of the phase-a grid current tracking effect when the parameter is changed, and as in fig. 4, the inductance L of the three-phase L filter 40 is changed from 3mH to 6mH at time t of 0.05s, and the phase-a grid current reference value is changed
Figure BDA0002306058630000162
Assuming 30cos (2 × pi 50 × t), it can be seen from the figure that the actual value i of the phase a grid currentaCan quickly and accurately track the reference value of the phase-a and grid current
Figure BDA0002306058630000163
The scheme provided by the invention has a good control effect.
Fig. 6 is a waveform of a-phase current step response result. At the time when t is 0.05s, the phase a and the grid current are subjected to parameter connectionExamination value
Figure BDA0002306058630000164
From 15cos (2 × pi 50 × t) to 30cos (2 × pi 50 × t), it can be seen from the figure that the a phase and the grid current actual value iaCan quickly and accurately track the reference value of the phase-a current and the grid current at the moment of changing the parameters
Figure BDA0002306058630000165
The proposed scheme is proved to have good dynamic performance.

Claims (1)

1. A three-level grid-connected inverter main circuit topological structure comprises a direct current side voltage source (10), a direct current side series capacitor (20), a three-level inverter (30), a three-phase L filter (40), an equivalent resistor (50) of the three-phase L filter and a three-phase power grid (60), wherein the direct current side series capacitor (20) comprises a direct current capacitor C1 and a direct current capacitor C2, the direct current capacitor C1 and the direct current capacitor C2 are connected in series and then are connected between a direct current positive bus P and a direct current negative bus N of the direct current side voltage source (10), a connection point of the direct current side positive bus P and the direct current negative bus N is a midpoint N, the midpoint N is connected with a neutral point O of the three-level inverter circuit (30), the direct current side voltage source (10) is connected with the three-level inverter (30) after being connected with the equivalent resistor (50) of the three-phase L filter in parallel with the direct current side series capacitor (20), and the three-level inverter (30) is connected with the equivalent resistor (50) Accessing a three-phase power grid (60);
the three-level inverter (30) consists of a, b and c three-phase bridge arms, each phase of bridge arm comprises 4 switching tubes, namely the three-level inverter (30) comprises 12 switching tubes which are respectively marked as Sa1、Sa2、Sa3、Sa4、Sb1、Sb2、Sb3、Sb4、Sc1、Sc2、Sb3And Sc4(ii) a Defining the collector of each switch tube as positive end and the emitter of each switch tube as negative end, and for a-phase bridge arm, the switch tube Sa1The positive end of the switch tube is connected with a direct current positive bus P and a switch tube Sa1Is connected with a switch tube Sa2Positive terminal and switching tube Sa4To the positive terminal ofAnd the output end of the a-phase bridge arm and the switching tube Sa2Is connected with a switch tube Sa3Negative terminal of (1), switching tube Sa3The positive end of the switch tube is connected with a neutral point O and a switch tube Sa4The negative end of the direct current negative bus is connected with a direct current negative bus N; for the b-phase bridge arm, switching tube Sb1The positive end of the switch tube is connected with a direct current positive bus P and a switch tube Sb1Is connected with a switch tube Sb2Positive terminal and switching tube Sb4Positive terminal and b-phase bridge arm output terminal of (1), switching tube Sb2Is connected with a switch tube Sb3Negative terminal of (1), switching tube Sb3The positive end of the switch tube is connected with a neutral point O and a switch tube Sb4The negative end of the direct current negative bus is connected with a direct current negative bus N; for the c-phase bridge arm, the switching tube Sc1The positive end of the switch tube is connected with a direct current positive bus P and a switch tube Sc1Is connected with a switch tube Sc2Positive terminal and switching tube Sc4Positive terminal and c-phase output terminal of, switching tube Sc2Is connected with a switch tube Sc3Negative terminal of (1), switching tube Sc3The positive end of the switch tube is connected with a neutral point O and a switch tube Sc4The negative end of the direct current negative bus is connected with a direct current negative bus N;
the control method is characterized by comprising the following steps:
step 1, recording the current sampling time as k time, sampling the current flowing through a three-phase L filter (40) and recording the current as k time grid-connected current ia(k),ib(k),ic(k) Sampling the voltage of the three-phase network (60) and recording the voltage as the network voltage e at the moment ka(k),eb(k),ec(k)；
Step 2, the grid voltage e at the moment k obtained by sampling in the step 1 is subjected to samplinga(k),eb(k),ec(k) And the grid-connected current i at the moment ka(k),ib(k),ic(k) Performing coordinate transformation, and obtaining the grid voltage e under the two-phase static coordinate system αβ at the moment k by adopting CLARK coordinate transformation of transforming a three-phase static coordinate system abc into a two-phase static coordinate system αβα(k),eβ(k) And grid-connected current i under the two-phase static coordinate system αβ at the moment kα(k),iβ(k) (ii) a The CLARK coordinate transformation formula is as follows:
Figure FDA0002306058620000021
Figure FDA0002306058620000022
step 3, calculating the output voltage U of the inverter under the two-phase static coordinate system αβ at the moment kα(k),Uβ(k) The calculation formula is as follows:
Figure FDA0002306058620000023
Figure FDA0002306058620000024
wherein, VdcIs a DC side voltage, Sopta(k),Soptb(k),Soptc(k) The optimal switching tube action signal of the three-level grid-connected inverter at the moment k is obtained;
step 4, estimating parameters;
the inductance estimation value of the three-phase L filter (40) is recorded as an inductance estimation value
Figure FDA0002306058620000031
The resistance estimation value of the equivalent resistance (50) of the three-phase L filter is recorded as a resistance estimation value
Figure FDA0002306058620000032
Inductance estimation
Figure FDA0002306058620000033
And resistance estimate
Figure FDA0002306058620000034
Is calculated as follows:
Figure FDA0002306058620000035
Figure FDA0002306058620000036
wherein, TsIs the sampling period, eα(k-1),eβ(k-1) is the grid voltage under the two-phase static coordinate system αβ at the moment (k-1), iα(k-1),iβ(k-1) is the grid-connected current under the two-phase static coordinate system αβ at the moment of (k-1), Uα(k-1),Uβ(k-1) is the inverter output voltage under the two-phase static coordinate system αβ at the moment of (k-1);
step 5, recording the next sampling time as the (k +1) time, and performing the first-step prediction to obtain the predicted current value at the (k +1) time
Figure FDA0002306058620000037
And
Figure FDA0002306058620000038
the calculation formula is as follows:
Figure FDA0002306058620000039
Figure FDA00023060586200000310
step 6, recording the next two sampling moments as (k +2) moments, performing the second step of prediction, and obtaining the predicted current value under the two-phase static coordinate system αβ at the (k +2) moment
Figure FDA00023060586200000311
The predicted current value in the two-phase stationary coordinate system αβ at the time (k +2)
Figure FDA00023060586200000312
The predicted current value (k +2)
Figure FDA00023060586200000313
The calculation formula is as follows:
Figure FDA0002306058620000041
wherein the content of the first and second substances,
Figure FDA0002306058620000042
the predicted value of the grid voltage under the two-phase static coordinate system αβ at the moment (k +1) is as follows:
Figure FDA0002306058620000043
Figure FDA0002306058620000044
is the predicted value of the inverter output voltage under the two-phase static coordinate system αβ at the time of (k +1), and is the predicted value of the inverter output voltage under the two-phase static coordinate system αβ at the time of (k +1)
Figure FDA0002306058620000045
Inverter output voltage predicted value recorded as (k +1) time
Figure FDA0002306058620000046
The calculation formula is as follows:
Figure FDA0002306058620000047
Figure FDA0002306058620000048
in the formula, Sa、Sb、ScRespectively corresponding to the a-phase bridge arm switching action signal, the b-phase bridge arm switching action signal and the c-phase bridge arm switching action signal, and converting the switching vector S into a switching vector SaSwitching vector SbSwitching vector ScIs denoted as (S)a、Sb、Sc) According to the action of the three-phase bridge arm switch tube, (S)a、Sb、Sc) The following 27 cases are included:
(1,1,1),(1,1,0),(1,1,-1),(1,0,1),(1,0,0),(1,0,-1),(1,-1,1),(1,-1,0),(1,-1,-1),(0,1,1),(0,1,0),(0,1,-1),(0,0,1),(0,0,0),(0,0,-1),(0,-1,1),(0,-1,0),(0,-1,-1),(-1,1,1),(-1,1,0),(-1,1,-1),(-1,0,1),(-1,0,0),(-1,0,-1),(-1,-1,1),(-1,-1,0),(-1,-1,-1)；
wherein S isa1 denotes a switching tube Sa1,Sa2Conducting and switching tube Sa3,Sa4Off, Sa0 denotes a switching tube Sa2,Sa3Conducting and switching tube Sa1,Sa4Off, Sa1 denotes a switching tube Sa3,Sa4Conducting and switching tube Sa1,Sa2Turning off; sb1 denotes a switching tube Sb1,Sb2Conducting and switching tube Sb3,Sb4Off, Sb0 denotes a switching tube Sb2,Sb3Conducting and switching tube Sb1,Sb4Off, Sb1 denotes a switching tube Sb3,Sb4Conducting and switching tube Sb1,Sb2Turning off; sc1 denotes a switching tube Sc1,Sc2Conducting and switching tube Sc3,Sc4Off, Sc0 denotes a switching tube Sc2,Sc3Conducting and switching tube Sc1,Sc4Off, Sc1 denotes a switching tube Sc3,Sc4Conducting and switching tube Sc1,Sc2Turning off;
according to the 27 conditions, the second step of predicting obtains the predicted value of the output voltage of the inverter at 27 (k +1) moments
Figure FDA0002306058620000051
And 27 predicted current values at (k +2) times
Figure FDA0002306058620000052
Step 7, obtaining (k +1) time three-level grid connection through rolling optimizationInverter optimal switch tube action signal Sopta(k+1),Soptb(k+1),Soptc(k+1)；
Step 7.1, defining the cost function as J, wherein the formula of the cost function is as follows:
Figure FDA0002306058620000053
wherein the content of the first and second substances,
Figure FDA0002306058620000054
is the current reference value under the two-phase stationary coordinate system αβ at time (k +2), and the value can be calculated as follows:
Figure FDA0002306058620000055
Figure FDA0002306058620000056
in the formula (I), the compound is shown in the specification,
Figure FDA0002306058620000057
is the current reference at the two-phase stationary coordinate system αβ given at time (k-1),
Figure FDA0002306058620000058
is the current reference value at the two-phase stationary frame αβ given at time k,
Figure FDA0002306058620000059
is the current reference value in the two-phase stationary coordinate system αβ at time (k +1),
Figure FDA00023060586200000510
is calculated as follows:
Figure FDA0002306058620000061
Figure FDA0002306058620000062
in the formula (I), the compound is shown in the specification,
Figure FDA0002306058620000063
is the current reference value at the two-phase stationary coordinate system αβ given at time (k-2);
step 7.2, predicting the current value of 27 (k +2) moments obtained in the step 6
Figure FDA0002306058620000064
Respectively substituting into the value function formula in step 7.1 to obtain 27 value function J, and obtaining the corresponding (k +2) time predicted current value when the value function value is minimum
Figure FDA0002306058620000065
As the optimum predicted current value i at the time (k +2)optα(k+2),ioptβ(k+2)；
Step 7.2, inverter output voltage predicted value at 27 (k +1) moments obtained in step 6
Figure FDA0002306058620000066
In (1), the optimal predicted current value i at the time of (k +2) is obtainedoptα(k+2),ioptβInverter output voltage predicted value at (k +1) time corresponding to (k +2)
Figure FDA0002306058620000067
Inverter output voltage value U as optimum time (k +1)optα(k+1),Uoptβ(k+1)；
Step 7.3, outputting the voltage value U of the inverter with the optimal time (k +1)optα(k+1),Uoptβ(k +1) -corresponding switching vector (S)a,Sb,Sc) Optimal switching tube action signal S of three-level grid-connected inverter at time (k +1)opta(k+1),Soptb(k+1),Soptc(k + 1): the (k +1) time is three-level andoptimal switch tube action signal S of grid inverteropta(k+1),Soptb(k+1),Soptc(k +1) is output at the (k +1) moment and the switching action of the three-level grid-connected inverter at the (k +1) moment is realized;
and 8, assigning the (k +1) to the k at the moment of the (k +1), and returning to the step 1 to perform the prediction control at the next moment.
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